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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 271 records · Page 15
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

A design framework for teleoperators with kinesthetic feedback

The application of a hybrid two-port model to teleoperators with force and velocity sensing at the master and slave is presented. The interfaces between human operator and master, and between environment and slave, are ports through which the teleoperator is designed to exchange energy between the operator and the environment. By computing or measuring the input-output properties of this two-port network, the hybrid two-port model of an actual or simulated teleoperator system can be obtained. It is shown that the hybrid model (as opposed to other two-port forms) leads to an intuitive representation of ideal teleoperator performace and applies to several teleoperator architectures. Thus measured values of the h matrix or values computed from a simulation can be used to compare performance with th ideal. The frequency-dependent h matrix is computed from a detailed SPICE model of an actual system, and the method is applied to a proposed architecture.

Hannaford, Blake↗
NASA NTRS1989

Design issues in 2-port network models of bilateral remote manipulation

A two-port impedance-network model of a single-degree-of-freedom remote manipulation system in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. The design of the network involves the selection of feedback gains for the servomechanisms that transmit motion and force information from one port of the two-port to the other in both directions. The proposed methodology allows this selection to be based on both stability requirements and specifications of desired port impedances, given models of the task and the human operator. The resulting design guidelines guarantee stability for any passive task object at the slave port and any passive human impedance at the master port.

Raju, G. Jagannath↗
NASA NTRS1990

Master/Programmable-Slave Computer

Unique modular computer features compactness, low power, mass storage of data, multiprocessing, and choice of various input/output modes. Master processor communicates with user via usual keyboard and video display terminal. Coordinates operations of as many as 24 slave processors, each dedicated to different experiment. Each slave circuit card includes slave microprocessor and assortment of input/output circuits for communication with external equipment, with master processor, and with other slave processors. Adaptable to industrial process control with selectable degrees of automatic control, automatic and/or manual monitoring, and manual intervention.

Smaistrla, David↗
NASA NTRS1989

An adaptive controller for enhancing operator performance during teleoperation

An adaptive controller is developed for adjusting robot arm parameters while manipulating payloads of unknown mass and inertia. The controller is tested experimentally in a master/slave configuration where the adaptive slave arm is commanded via human operator inputs from a master. Kinematically similar six-joint master and slave arms are used with the last three joints locked for simplification. After a brief initial adaptation period for the unloaded arm, the slave arm retrieves different size payloads and maneuvers them about the workspace. Comparisons are then drawn with similar tasks where the adaptation is turned off. Several simplifications of the controller dynamics are also addressed and experimentally verified.

Carignan, Craig R.↗
NASA NTRS1990

A laboratory breadboard system for dual-arm teleoperation

The computing architecture of a novel dual-arm teleoperation system is described. The novelty of this system is that: (1) the master arm is not a replica of the slave arm; it is unspecific to any manipulator and can be used for the control of various robot arms with software modifications; and (2) the force feedback to the general purpose master arm is derived from force-torque sensor data originating from the slave hand. The computing architecture of this breadboard system is a fully synchronized pipeline with unique methods for data handling, communication and mathematical transformations. The computing system is modular, thus inherently extendable. The local control loops at both sites operate at 100 Hz rate, and the end-to-end bilateral (force-reflecting) control loop operates at 200 Hz rate, each loop without interpolation. This provides high-fidelity control. This end-to-end system elevates teleoperation to a new level of capabilities via the use of sensors, microprocessors, novel electronics, and real-time graphics displays. A description is given of a graphic simulation system connected to the dual-arm teleoperation breadboard system. High-fidelity graphic simulation of a telerobot (called Phantom Robot) is used for preview and predictive displays for planning and for real-time control under several seconds communication time delay conditions. High fidelity graphic simulation is obtained by using appropriate calibration techniques.

Bejczy, A. K.↗
NASA NTRS1989

Control strategies for a telerobot

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Ohara, John↗
NASA NTRS1989

Force-reflective teleoperated system with shared and compliant control capabilities

The force-reflecting teleoperator breadboard is described. It is the first system among available Research and Development systems with the following combined capabilities: (1) The master input device is not a replica of the slave arm. It is a general purpose device which can be applied to the control of different robot arms through proper mathematical transformations. (2) Force reflection generated in the master hand controller is referenced to forces and moments measured by a six DOF force-moment sensor at the base of the robot hand. (3) The system permits a smooth spectrum of operations between full manual, shared manual and automatic, and full automatic (called traded) control. (4) The system can be operated with variable compliance or stiffness in force-reflecting control. Some of the key points of the system are the data handling and computing architecture, the communication method, and the handling of mathematical transformations. The architecture is a fully synchronized pipeline. The communication method achieves optimal use of a parallel communication channel between the local and remote computing nodes. A time delay box is also implemented in this communication channel permitting experiments with up to 8 sec time delay. The mathematical transformations are computed faster than 1 msec so that control at each node can be operated at 1 kHz servo rate without interpolation. This results in an overall force-reflecting loop rate of 200 Hz.

Szakaly, Z.↗
NASA NTRS1989

Multi-level manual and autonomous control superposition for intelligent telerobot

Space telerobots are recognized to require cooperation with human operators in various ways. Multi-level manual and autonomous control superposition in telerobot task execution is described. The object model, the structured master-slave manipulation system, and the motion understanding system are proposed to realize the concept. The object model offers interfaces for task level and object level human intervention. The structured master-slave manipulation system offers interfaces for motion level human intervention. The motion understanding system maintains the consistency of the knowledge through all the levels which supports the robot autonomy while accepting the human intervention. The superposing execution of the teleoperational task at multi-levels realizes intuitive and robust task execution for wide variety of objects and in changeful environment. The performance of several examples of operating chemical apparatuses is shown.

Hirai, Shigeoki↗
NASA NTRS1990

Cooperating systems: Layered MAS

Distributed intelligent systems can be distinguished by the models that they use. The model developed focuses on layered multiagent system conceived of as a bureaucracy in which a distributed data base serves as a central means of communication. The various generic bureaus of such a system is described and a basic vocabulary for such systems is presented. In presenting the bureaus and vocabularies, special attention is given to the sorts of reasonings that are appropriate. A bureaucratic model has a hierarchy of master system and work group that organizes E agents and B agents. The master system provides the administrative services and support facilities for the work groups.

Rochowiak, Daniel↗
NASA NTRS1992

Phase stability of injection-locked beam of semiconductor lasers

An experiment on the phase stability of an injection locked beam was done by using AlGaAs semiconductor lasers. The coherence of two beams from master and slave lasers was measured by interference between the beams in the Twymann-Green interferometer. The phase change of the output beam of the slave laser as a function of the driving current was measured in a Mach-Zehnder interferometer consisting of the master and slave lasers, and a value of 2.5 radians/mA was obtained.

Kwon, Jin Hyuk↗
NASA NTRS1992

Grasp force control in telemanipulation

This paper presents two experiments which focus upon the issue of grasp force control in telemanipulation. The first experiment examines the ability to control and stabilize master-controller grasp force during a 30-s compensatory tracking task under different levels of master controller digit mass, friction, and backlash. The second experiment explores the potential for substituting tactile feedback in lieu of direct force-feedback to gage and control remote grasp force. Results show that subjects were better able to control force when mass and friction levels were increased. Even when perceptual gains between tactile and direct force feedback displays were matched, force reflection produced better grasp control. The lack of backlash effects and improvements in performance with direct force reflection in comparison to tactile feedback are attributable to reflexive short-loop adjustment of grasp tension afforded by the muscle's length-tension control system. The criterion of acceptable operator performance, dependent upon both the quality of the transmission of control commands and feedback, and the response of the remote device, is discussed.

Wiker, Steven F.↗
NASA NTRS1993

Interactive DIF Generator

Interactive DIF Generator (IDG) computer program serves as utility to generate and manipulate directory interchange format (DIF) files. Creates and updates DIF files, sent to NASA's Master Directory, also referred to as International Global Change Directory at Goddard Space Flight Center. Many government and university data systems use Master Directory to advertise availability of research data. IDG is interactive software tool and requires mouse or trackball to operate. Written in C language.

Preheim, Larry E.↗
NASA NTRS1993

Bilateral Impedance Control For Telemanipulators

Telemanipulator system includes master robot manipulated by human operator, and slave robot performing tasks at remote location. Two robots electronically coupled so slave robot moves in response to commands from master robot. Teleoperation greatly enhanced if forces acting on slave robot fed back to operator, giving operator feeling he or she manipulates remote environment directly. Main advantage of bilateral impedance control: enables arbitrary specification of desired performance characteristics for telemanipulator system. Relationship between force and position modulated at both ends of system to suit requirements of task.

Moore, Christopher L.↗
NASA NTRS1992

The preservation of LANDSAT data by the National Land Remote Sensing Archive

Digital data, acquired by the National Landsat Remote Sensing Program, document nearly two decades of global agricultural, environmental, and sociological change. The data were widely applied and continue to be essential to a variety of geologic, hydrologic, agronomic, and strategic programs and studies by governmental, academic, and commercial researchers. Landsat data were acquired by five observatories that use primarily two digital sensor systems. The Multispectral Scanner (MSS) was onboard all five Landsats, which have orbited over 19 years; the higher resolution Thematic Mapper (TM) sensor acquired data for the last 9 years on Landsats 4 and 5 only. The National Land Remote Sensing Archive preserves the 800,000 scenes, which total more than 60 terabytes of data, on master tapes that are steadily deteriorating. Data are stored at two terabytes of data, on master tapes that are steadily deteriorating. Data are stored at two locations (Sioux Falls, South Dakota and Landover, Maryland), in three archive formats. The U.S. Geological Survey's EROS Data Center has initiated a project to consolidate and convert, over the next 4 years, two of the archive formats from antiquated instrumentation tape to rotary-recorded cassette magnetic tape. The third archive format, consisting of 300,000 scenes of MSS data acquired from 1972 through 1978, will not be converted because of budgetary constraints. This data preservation project augments EDC's experience in data archiving and information management, expertise that is critical to EDC's role as a Distributed Active Archive Center for the Earth Observing System, a new and much larger national earth science program.

Boyd, John E.↗
NASA NTRS1993

NEP power subsystem modeling

The Nuclear Electric Propulsion (NEP) system optimization code consists of a master module and various submodules. Each of the submodules represents a subsystem within the total NEP power system. The master module sends commands and input data to each of the submodules and receives output data back. Rocketdyne was responsible for preparing submodules for the power conversion (both K-Rankine and Brayton), heat rejection, and power management and distribution.

Harty, Richard B.↗
NASA NTRS1993

Ruled and holographic experiment (AO 138-5)

The AO 138-5 experiment was designed, via the FRECOPA (FRench COoperative PAyload) experiment with the aim to study the optical behavior of different diffraction gratings submitted to space vacuum long exposure and solar irradiation. Samples were ruled and holographic gratings, masters or replica, and some additional control mirrors with various coatings. The experiment was located on the B3, trailing edge of the LDEF and was protected against Atomic Oxygen flux. The experienced thermal cycling was evaluated from -23 C to 66 C during the flight, 34,000 orbits. The samples (two batches of four pieces) were located on a dedicated plate, by a pair of equivalent gratings or mirrors; optical faces were located on the external side. The plate was inside a canister, which had been opened in space for ten months. When the satellite returned to Kennedy Space Center, the remaining vacuum in the canister was still correct. The analysis focused on the triple point characterization including light efficiency, wavefront flatness quality and stray light level. Tests were conducted on control mirrors and gratings (rules and holographic master or replica) loaded but not exposed to cosmic dust or direct solar irradiations. They did not show any significant variations. Solar exposure had damaged the coating (aluminum and platinum) reflectivity in the Ultra-Violet region; the degradation is higher with the gratings, in terms of efficiency. However, wavefront flatness quality and stray light level tests revealed no additional changes.

Bonnemason, Francis↗
NASA NTRS1993

Raman scattering measurements of vibrational and rotational distributions in expanding nitrogen

Vibrational and rotational population distributions in expanding nitrogen in the supersonic nozzle of a reflected shock tunnel were investigated using spontaneous Raman scattering spectroscopy. The experimental data are compared with two multitemperature nonequilibrium calculations, one based on the Landau-Teller model for vibrational relaxation, the other on the solution of the vibrational master equations. Good agreement was found between both the Landau-Teller and the master equation solutions for the vibrational energy mode, but the experimentally inferred rotational temperatures were found to be systematically low, due to collisional narrowing. The dramatic increase in vibrational relaxation rates for a cooling flowfield reported in most previous studies was not reproduced by the present experiments.

Gillespie, Walter D.↗
NASA NTRS1992

An advanced teleoperator control system - Design and evaluation

The design goal of an advanced teleoperator control system is twofold: 1) to allow the operator's manual control to be robust to system nonlinearities such as time delays and operator's control errors, and 2) to support the high performance of teleoperation while reducing the operator's control burden by providing the master and slave arms with desirable dynamic properties and by allowing the slave arm to automatically perform such control tasks as compliance and force control in the form of task sharing. The authors present a novel teleoperator control system achieving the above design goal by taking the following into consideration: the human dynamics involved in generating control command based on visual and forced feedback is modeled and incorporated into the controller design and evaluation; the dynamic characteristics of slave and master arms are actively modified in such a way as to implement the desirable dynamic characteristics; and the force feedback is redefined in terms of the combination of opposition and force discrepancies in order to establish the required man/machine dynamic coordination under shared control. The proposed control system with human dynamics in the control loop is simulated and compared with a number of conventional methods in the presence of human control errors and time delays.

Lee, Sukhan↗