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At least 271 records · Page 15

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NASA NTRS1986

Anthropometric considerations for a 4-axis side-arm flight controller

A data base on multiaxis side-arm flight controls was generated. The rapid advances in fly-by-light technology, automatic stability systems, and onboard computers have combined to create flexible flight control systems which could reduce the workload imposed on the operator by complex new equipment. This side-arm flight controller combines four controls into one unit and should simplify the pilot's task. However, the use of a multiaxis side-arm flight controller without complete cockpit integration may tend to increase the pilot's workload.

Debellis, W. B.↗

NASA NTRS1987

Molecular clouds in the Carina arm - Large-scale properties of molecular gas and comparison with H I

Results from the first large-scale survey in the CO (J = 1 - 0) line of the Vela-Carina-Centaurus region of the southern Milky Way are reported. The results demonstrate that molecular clouds in the Galaxy are largely confined to the spiral arms and that CO is therefore an extremely good tracer of the large-scale structure of the system. The Carina arm is the dominant feature in the data. Its abrupt tangent at l of roughly 280 deg and characteristic loop in the (l, v) diagram are unmistakable evidence for CO spiral structure. When the emission is integrated over velocity and latitude, the height of the step seen in the tangent direction indicate that the arm-interarm contrast is at least 13:1.

Grabelsky, D. A.↗

NASA NTRS1988

Position And Force Control For Multiple-Arm Robots

Number of arms increased without introducing undue complexity. Strategy and computer architecture developed for simultaneous control of positions of number of robot arms manipulating same object and of forces and torques that arms exert on object. Scheme enables coordinated manipulation of object, causing it to move along assigned trajectory and be subjected to assigned internal forces and torques.

Hayati, Samad A.↗

NASA NTRS1988

Accurate positioning of long, flexible ARM's (Articulated Robotic Manipulator)

An articulated robotic manipulator (ARM) system is being designed for space applications. Work being done on a concept utilizing an infinitely stiff laser beam for position reference is summarized. The laser beam is projected along the segments of the ARM, and the position is sensed by the beam rider modules (BRM) mounted on the distal ends of the segments. The BRM concept is the heart of the system. It utilizes a combination of lateral displacements and rotational and distance measurement sensors. These determine the relative position of the two ends of the segments with respect to each other in six degrees of freedom. The BRM measurement devices contain microprocessor controlled data acquisition and active positioning components. An indirect adaptive controller is used to accurately control the position of the ARM.

Malachowski, Michael J.↗

NASA NTRS1986

Dynamic coordination of two robot arms

This paper presents a new control method for coordinated control of two robot arms. The two arms are assumed to work on the same object simultaneously. The control method uses a dynamic coordinator acting on relative position and velocity task space errors and on relative force-torque errors between the two arms as sensed at the end effectors. This method is novel because the position and velocity error feedback could be superimposed with the force-torque error feedback in the task space simultaneously.

Tarn, T. J.↗

NASA NTRS1986

Optimal output fast feedback in two-time scale control of flexible arms

Control of lightweight flexible arms moving along predefined paths can be successfully synthesized on the basis of a two-time scale approach. A model following control can be designed for the reduced order slow subsystem. The fast subsystem is a linear system in which the slow variables act as parameters. The flexible fast variables which model the deflections of the arm along the trajectory can be sensed through strain gage measurements. For full state feedback design the derivatives of the deflections need to be estimated. The main contribution of this work is the design of an output feedback controller which includes a fixed order dynamic compensator, based on a recent convergent numerical algorithm for calculating LQ optimal gains. The design procedure is tested by means of simulation results for the one link flexible arm prototype in the laboratory.

Siciliano, B.↗

NASA NTRS1987

Control strategy for a dual-arm maneuverable space robot

A simple strategy for the attitude control and arm coordination of a maneuverable space robot with dual arms is proposed. The basic task for the robot consists of the placement of marked rigid solid objects with specified pairs of gripping points and a specified direction of approach for gripping. The strategy consists of three phases each of which involves only elementary rotational and translational collision-free maneuvers of the robot body. Control laws for these elementary maneuvers are derived by using a body-referenced dynamic model of the dual-arm robot.

Wang, P. K. C.↗

NASA NTRS1987

Concept development of a tendon arm manipulator and anthropomorphic robotic hand

AMETEK/ORED inhouse research and development efforts leading toward a next-generation robotic manipulator arm and end-effector technology is summarized. Manipulator arm development has been directed toward a multiple-degree-of-freedom, flexible, tendon-driven concept referred to here as a Tendon Arm Manipulator (TAM). End-effector development has been directed toward a three-fingered, dextrous, tendon-driven, anthropomorphic configuration which is referred to as an Anthropomorphic Robotic Hand (ARH). Key technology issues are identified for both concepts.

Tolman, C. T.↗

NASA NTRS1990

Balancing Loads Among Robotic-Manipulator Arms

Paper presents rigorous mathematical approach to control of multiple robot arms simultaneously grasping one object. Mathematical development focuses on relationship between ability to control degrees of freedom of configuration and ability to control forces within grasped object and robot arms. Understanding of relationship leads to practical control schemes distributing load more equitably among all arms while grasping object with proper nondamaging forces.

Kreutz, Kenneth K.↗

NASA NTRS1990

Secondary arm coarsening and microsegregation in superalloy PWA-1480 single crystals: Effect of low gravity

Single crystal specimens of nickel base superalloy PWA-1480 were directionally solidified on ground and during low gravity (20 sec) and high gravity (90 sec) parabolic maneuver of KC-135 aircraft. Thermal profiles were measured during solidification by two in-situ thermocouples positioned along the sample length. The samples were quenched during either high or low gravity cycles so as to freeze the structures of the mushy zone developing under different gravity levels. Microsegregation was measured by examining the solutal profiles on several transverse cross-sections across primary dendrites along their length in the quenched mushy zone. Effect of gravity level on secondary arm coarsening kinetics and microsegregation have been investigated. The results indicate that there is no appreciable difference in the microsegregation and coarsening kinetics behavior in the specimens grown under high or low gravity. This suggests that short duration changes in gravity/levels (0.02 to 1.7 g) do not influence convection in the interdendritic region. Examination of the role of natural convection, in the melt near the primary dendrite tips, on secondary arm spacings requires low gravity periods longer than presently available on KC-135. Secondary arm coarsening kinetics show a reasonable fit with the predictions from a simple analytical model proposed by Kirkwood for a binary alloy.

Vijayakumar, M.↗

NASA NTRS1989

Modeling, design, and control of flexible manipulator arms: Status and trends

The desire for higher performance manipulators has lead to dynamic behavior in which the flexibility is an essential aspect. The mathematical representations commonly used in modeling flexible arms and arms with flexible drives are examined first. Then design considerations directly arising from the flexible nature of the arm are discussed. Finally, controls of joints for general and tip motion are discussed.

Book, Wayne J.↗

NASA NTRS1989

Computed torque control of a free-flying cooperat ing-arm robot

The unified approach to solving free-floating space robot manipulator end-point control problems is presented using a control formulation based on an extension of computed torque. Once the desired end-point accelerations have been specified, the kinematic equations are used with momentum conservation equations to solve for the joint accelerations in any of the robot's possible configurations: fixed base or free-flying with open/closed chain grasp. The joint accelerations can then be used to calculate the arm control torques and internal forces using a recursive order N algorithm. Initial experimental verification of these techniques has been performed using a laboratory model of a two-armed space robot. This fully autonomous spacecraft system experiences the drag-free, zero G characteristics of space in two dimensions through the use of an air cushion support system. Results of these initial experiments are included which validate the correctness of the proposed methodology. The further problem of control in the large where not only the manipulator tip positions but the entire system consisting of base and arms must be controlled is also presented. The availability of a physical testbed has brought a keener insight into the subtleties of the problem at hand.

Koningstein, Ross↗

NASA NTRS1990

M51: Molecular spiral arms, GMAs and superclouds

Researchers present an aperture synthesis image of M51 in the CO 1 to 0 line at 9 seconds x 7 seconds resolution made with the Owens Valley Millimeter Interferometer. The image is a mosaic of 30 one-arcminute fields. The image shows narrow spiral arms which are coincident with the optical dust lanes and non-thermal radio emission, but are offset from the ridges of H alpha emission. Many dense concentrations of CO emission, termed Giant Molecular Associations (GMAs), are seen both along and between the arms. The typical GMA mass is about 3 times 10(exp 7) solar mass. Most of the on-arm GMAs appear to be gravitationally bound. These GMAs consist of several spectral components (Molecular Superclouds) with typical mass 10(exp 7) solar mass, which also appear to be bound. The observed streaming motions in the GMAs are consistent with density wave theory. The interarm GMAs are not gravitationally bound, and are likely to be due to a secondary compression of the density wave.

Rand, Richard J.↗

NASA NTRS1990

Dissociation and ionization of molecular gas in the spiral arms of M51

Researchers derive the star formation rate and efficiency in the arm and interarm regions of M51 from observations of the molecular (Lo et al. 1987) and ionized (van der Hulst et al. 1988) phases of the interstellar medium, and show that the HI observations of Tilanus and Allen (1989) are consistent with dissociation of molecular gas by these young, massive stars if n sub H greater than or equal to 200 cm (-2). However, these stars are not able to dissociate or ionize all the gas, and at least 60 percent must remain molecular in the interarm regions. The efficiency of star formation in M51 seems to be similar to that in the Galaxy, and does not appear to be enhanced in the spiral arms. Therefore, the effect of the strong density wave may be only to concentrate the gas, and hence the young stars, to the arm regions.

Lees, J. F.↗

NASA NTRS1991

Open-loop frequency acquisition for suppressed-carrier biphase signals using one-pole arm filters

Open loop frequency acquisition performance is discussed for suppressed carrier binary phase shift keyed signals in terms of the probability of detecting the carrier frequency offset when the arms of the Costas loop detector have one pole filters. The approach, which does not require symbol timing, uses fast Fourier transforms (FFTs) to detect the carrier frequency offset. The detection probability, which depends on both the 3 dB arm filter bandwidth and the received symbol signal to noise ratio, is derived and is shown to be independent of symbol timing. It is shown that the performance of this technique is slightly better that other open loop acquisition techniques which use integrators in the arms and whose detection performance varies with symbol timing.

Shah, B.↗

NASA NTRS1992

Lidar Development for the Atmospheric Radiation Measurement (ARM) Program

The Atmospheric Radiation Measurement (ARM) Program was initiated by the Department of Energy's Atmospheric and Climate Research Division (DOE/ACRD) to improve parameterizations of cloud radiative effects in general circulation models of the Earth's climate. The Instrument Development Program (IDP), a major component of ARM, is directed toward the improvement of radiometric and remote sensing instrumentation pertinent to near real-time characterizations of atmospheric parameters. The ultimate goal of this program is to provide state-of-the-art instruments suitable for installation and extended use in ARM's field measurement component, the Cloud and Radiation Testbed (CART).

Griffin, J.↗

NASA NTRS1992

A real-time robot arm collision avoidance system

A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system simulating a multirobot workspace. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3D space into eight equal cubic octants until each octant meets some decomposition criteria. The N-objects octree, which indexes a collection of 3D primitive solids is used. These primitives make up the two (seven-degrees-of-freedom) robot arms and workspace modeled by the system. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Cycle time for interpreting current arm joint angles, updating the octree to reflect new positions, and detecting/reporting imminent collisions averages 30 ms on an Intel 80386 processor running at 20 MHz.

Shaffer, Clifford A.↗

NASA NTRS1993

Secondary and tertiary dendrite arm spacing relationships in directionally solidified Al-Si alloys

Secondary, lambda sub 2, and tertiary, lambda sub 3, dendrite arm spacings have been measured from Al-Si alloys which were directionally solidified as functions of growth velocity, V, temperature gradient, G, and composition, Co. Both lambda sub 2 and lambda sub 3 decreased as the imposed growth velocity and silicon concentrations were increased, and for each function a systematic variance in the rate was seen. Complications with measuring secondary arm spacings are shown and it was found that the tertiary arm data agree much better with coarsening theory, the implication being that lambda sub 3, when measurable, is a more representative and reliable measure of the solidification history than lambda sub 2.

Grugel, R. N.↗