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At least 37 records · Page 2

Automation in teleoperation from a man-machine interface viewpoint

Teleoperation can be defined as the use of robotic devices having mobility, manipulative and some sensing capabilities, and remotely controlled by a human operator. The purpose of this paper is to discuss and exemplify technology issues related to the use of robots as man-extension or teleoperator systems in space. The main thrust of the paper is focused at research and development in the area of sensing- and computer-based automation from the viewpoint of man-machine interface devices and techniques. The objective of this R and D effort is to render space teleoperation efficient and safe through the use of devices and techniques which will permit integrated and task-level ('intelligent') two-way control communication between human operator and teleoperator machine in earth orbit.

Bejczy, A. K.↗

Advanced ground station architecture

This paper describes a new station architecture for NASA's Ground Network (GN). The architecture makes efficient use of emerging technologies to provide dramatic reductions in size, operational complexity, and operational and maintenance costs. The architecture, which is based on recent receiver work sponsored by the Office of Space Communications Advanced Systems Program, allows integration of both GN and Space Network (SN) modes of operation in the same electronics system. It is highly configurable through software and the use of charged coupled device (CCD) technology to provide a wide range of operating modes. Moreover, it affords modularity of features which are optional depending on the application. The resulting system incorporates advanced RF, digital, and remote control technology capable of introducing significant operational, performance, and cost benefits to a variety of NASA communications and tracking applications.

Zillig, David↗

DEVELOPMENT AND DEMONSTRATION TESTBED FOR THE REMOTE OPERATIONS AND MONITORING OF MICROREACTORS

The nuclear industry is rapidly developing many advanced-reactor concepts for near-term deployment in both traditional and non-traditional nuclear-powered applications. One such category of advanced reactor is the microreactor, a class of reactor with less than 20MWth power output, intended for applications where the economics or logistics of traditional power sources are difficult. This includes applications such as remote communities, mining sites, defense installations, or humanitarian and disaster-relief missions. One key enabling feature for the successful deployment of microreactors is a remote operations capability. Remote operations provide monitoring and control capabilities which can significantly reduce staffing costs by eliminating the need for licensed operators at each reactor facility and improve the economic viability for microreactor deployment. A remote concept of operations is not currently an established capability in the nuclear industry. In addition, no demonstration microreactor is expected to complete construction or go critical until at least 2026. This leaves two major capability gaps: the successful demonstration of a remote concept of operations for microreactors and a test bed suitable for said demonstration. Both gaps must be addressed in order to advance the remote concepts of nuclear operation and, more broadly, microreactors themselves from paper to reality. This paper aims to fill these gaps and describes a test bed that would support development and deployment of a remote concept of nuclear operations, initial experimental results from that test bed, and the application of the test bed and experimental results for a digital-twin-based remote concept of operations underdevelopment at Idaho National Laboratory (INL). The platform chosen as a remote concept of nuclear operations test bed is the Single Primary Heat Extraction and Removal Emulator, known as SPHERE, located at INL. SPHERE is a small-scale non-nuclear test bed that emulates thermal behavior of a microreactor. The small-scale and non-nuclear nature of SHPERE limit safety concerns associated with remote operations while still providing the physical response representative of a microreactor. A network connection was added to SPHERE that enables remote-monitoring capability. This allows for real-time data streaming to networked workstations, data historians, and human-machine interfaces (HMIs). These are all critical components in a remote concept of operations, thus providing a robust development and demonstration platform. An initial experiment was performed using the SPHERE remote operations testbed. This included running a comprehensively instrumented SPHERE through a series of steady-state and transient operating scenarios in both normal and abnormal operating conditions, all while streaming live test data to a remote HMI and data warehouse. This initial experiment served three purposes: (1) characterizing the response of SPHERE, (2) demonstrating the remote connection to SPHERE, and (3) providing a baseline data set for development of a digital-twin-based remote concept of operations that is under development at INL.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DEVELOPMENT AND DEMONSTRATION TESTBED FOR THE REMOTE OPERATIONS AND MONITORING OF MICROREACTORS

The nuclear industry is rapidly developing many advanced-reactor concepts for near-term deployment in both traditional and non-traditional nuclear-powered applications. One such category of advanced reactor is the microreactor, a class of reactor with less than 20MWth power output, intended for applications where the economics or logistics of traditional power sources are difficult. This includes applications such as remote communities, mining sites, defense installations, or humanitarian and disaster-relief missions. One key enabling feature for the successful deployment of microreactors is a remote operations capability. Remote operations provide monitoring and control capabilities which can significantly reduce staffing costs by eliminating the need for licensed operators at each reactor facility and improve the economic viability for microreactor deployment. A remote concept of operations is not currently an established capability in the nuclear industry. In addition, no demonstration microreactor is expected to complete construction or go critical until at least 2026. This leaves two major capability gaps: the successful demonstration of a remote concept of operations for microreactors and a test bed suitable for said demonstration. Both gaps must be addressed in order to advance the remote concepts of nuclear operation and, more broadly, microreactors themselves from paper to reality. This paper aims to fill these gaps and describes a test bed that would support development and deployment of a remote concept of nuclear operations, initial experimental results from that test bed, and the application of the test bed and experimental results for a digital-twin-based remote concept of operations underdevelopment at Idaho National Laboratory (INL). The platform chosen as a remote concept of nuclear operations test bed is the Single Primary Heat Extraction and Removal Emulator, known as SPHERE, located at INL. SPHERE is a small-scale non-nuclear test bed that emulates thermal behavior of a microreactor. The small-scale and non-nuclear nature of SHPERE limit safety concerns associated with remote operations while still providing the physical response representative of a microreactor. A network connection was added to SPHERE that enables remote-monitoring capability. This allows for real-time data streaming to networked workstations, data historians, and human-machine interfaces (HMIs). These are all critical components in a remote concept of operations, thus providing a robust development and demonstration platform. An initial experiment was performed using the SPHERE remote operations testbed. This included running a comprehensively instrumented SPHERE through a series of steady-state and transient operating scenarios in both normal and abnormal operating conditions, all while streaming live test data to a remote HMI and data warehouse. This initial experiment served three purposes: (1) characterizing the response of SPHERE, (2) demonstrating the remote connection to SPHERE, and (3) providing a baseline data set for development of a digital-twin-based remote concept of operations that is under development at INL.

22 - GENERAL STUDIES OF NUCLEAR REACTORS↗

Information management system breadboard data acquisition and control system.

Description of a breadboard configuration of an advanced information management system based on requirements for high data rates and local and centralized computation for subsystems and experiments to be housed on a space station. The system is to contain a 10-megabit-per-second digital data bus, remote terminals with preprocessor capabilities, and a central multiprocessor. A concept definition is presented for the data acquisition and control system breadboard, and a detailed account is given of the operation of the bus control unit, the bus itself, and the remote acquisition and control unit. The data bus control unit is capable of operating under control of both its own test panel and the test processor. In either mode it is capable of both single- and multiple-message operation in that it can accept a block of data requests or update commands for transmission to the remote acquisition and control unit, which in turn is capable of three levels of data-handling complexity.

Mallary, W. E.↗

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

Stoker, Carol↗

Advanced Electric Distribution, Switching, and Conversion Technology for Power Control

The Electrical Power Control Unit currently under development by Sundstrand Aerospace for use on the Fluids Combustion Facility of the International Space Station is the precursor of modular power distribution and conversion concepts for future spacecraft and aircraft applications. This unit combines modular current-limiting flexible remote power controllers and paralleled power converters into one package. Each unit includes three 1-kW, current-limiting power converter modules designed for a variable-ratio load sharing capability. The flexible remote power controllers can be used in parallel to match load requirements and can be programmed for an initial ON or OFF state on powerup. The unit contains an integral cold plate. The modularity and hybridization of the Electrical Power Control Unit sets the course for future spacecraft electrical power systems, both large and small. In such systems, the basic hybridized converter and flexible remote power controller building blocks could be configured to match power distribution and conversion capabilities to load requirements. In addition, the flexible remote power controllers could be configured in assemblies to feed multiple individual loads and could be used in parallel to meet the specific current requirements of each of those loads. Ultimately, the Electrical Power Control Unit design concept could evolve to a common switch module hybrid, or family of hybrids, for both converter and switchgear applications. By assembling hybrids of a common current rating and voltage class in parallel, researchers could readily adapt these units for multiple applications. The Electrical Power Control Unit concept has the potential to be scaled to larger and smaller ratings for both small and large spacecraft and for aircraft where high-power density, remote power controllers or power converters are required and a common replacement part is desired for multiples of a base current rating.

Soltis, James V.↗

A Prototype System for Ground Control Space Telerobotics

A telerobotics system is described which provides supervised autonomous control capability for time-delayed ground-remote control applications. The system includes a local site operator interface for interactive task description and a remote site task execution system. Interactive stereo graphics overlay on video is provided at the local site to update the remote environmental model. The remote site system is capable of nominal task execution as well as monitoring and reflex action. Execution utilizes multiple control modules which execute based upon command parameterization.

robotics autonomous control telerobotics manipulat↗

Microgrid Service Restoration Incorporating Unmonitored Automatic Voltage Controllers and Net Metered Loads

Islanded microgrids may experience voltage and frequency instability due to uncontrolled state changes of voltage regulation devices and inaccurate demand forecasts. Uncontrolled state changes can occur if optimal microgrid restoration and dispatch algorithms, used for generating control commands for distributed energy resources, do not incorporate the behavior of automatic controllers of voltage regulation devices. Inaccurate demand forecasts may be encountered since post-outage demand of behind-the-meter net metered (NM) loads can vary significantly from their historical NM profiles. Here, this paper proposes an optimization formulation which allows optimal control of voltage regulators and capacitor banks without remote control and communication capabilities. A generalized demand model for NM loads is proposed which incorporates the cold load pickup phenomenon and their time varying post-outage demand in accordance with the IEEE 1547 standard. The time dependent optimal control formulation and the NM demand model are integrated in a sequential microgrid restoration algorithm by linearization of the involved logic propositions. A detailed case study on the unbalanced IEEE 123-node test system in OpenDSS validates the effectiveness of the proposed approach.

30 DIRECT ENERGY CONVERSION↗

Contribution of the Spacelab data management system to lower cost space research

This paper reviews the design and operation of the Spacelab data management system as it has evolved. Significant improvements and extensions of the original baseline system have been incorporated and will be discussed. They include the capability for the remote control of Spacelab subsystems, improved remote data acquisition units, a high-rate digital data multiplexer, and an improved high-rate digital recorder. Emphasis will be placed on the overall system aspects, including considerations on the use of minicomputers as an adjunct to the basic Spacelab data system. The approach for experiment related software production and integration will be addressed as well. The paper focuses on the contributions of the data management system in reducing the cost of research in Spacelab.

Burger, J. J.↗

A dedicated 26-m SETI sky survey instrument facility: A feasibility study

The feasibility of converting a deactivated GSTDN 26 m facility into a dedicated SETI Instrument Facility is examined. Additional benefits that would accrue from the proposed utilization of these facilities are the capability for remote and control the Deep Space Communications Complex (DSCC) Signal Processing Center, combined with a reduction in ground-induced radio frequency interference due to the physical distance to the other DSCC front end areas and the Signal Processing Center.

Berman, A. L.↗

Gigapan Voyage for Robotic Recon

Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group

Lee, Susan Y.↗

Lunabotics Mining: Evolution of ARTEMIS PRIME

This slide presentation reviews the development of Amassing Regolith with Topper Engineers eMploying Innovative Solutions (ARTEMIS) in a competition to develop robotic lunar mining capabilities. The goal of the competition was to design, build and operate a remotely controlled device that is capable of excavating, transporting and discharging lunar regolith simulant in a lunar environment over a 13 minute period.

Bertke, Sarah↗

Determination of the Critical Parameters for Remote Microscope Control

As part of a program to determine the capabilities of Telescience as applied to Microgravity Materials Science the need for a remotely controlled microscope was recognized. For this purpose we equipped a microscope with an X-Y-Z positioning device and motors on the zoom and focus controls. Computer control of these devices allowed remote operation. A standard TV camera was mounted to the computer controlled video board which could compress the image in resolution and grey scale. The operator control console was programmed to display three still video pictures as well as provide command access. A standard data transfer network was used to transmit the video data files and the command interaction was via a high speed phone modem. This system, with the microscope in the Microgravity Materials Science Laboratory (MMSL) at LeRC and the control at RPI, was used to determine the accuracy of setting, time required to achieve setting and the operator ease factor. It was found that the focus setting could be established well within the resolution limit of the TV system and that each motion took about 50 seconds and approximately 12 minutes was required to reach ?best? focus. These times could be reduced significantly with operator experience. The operators were provided with ancillary equipment which provided assistance in making the necessary decisions and they reported satisfaction with the control.

Hahn, R. C.↗

Tuning and scanning control system for high resolution alexandrite lasers

An alexandrite laser is spectrally narrowed and tuned by the use of three optical elements. Each element provides a successively higher degree of spectral resolution. The digitally controlled tuning and scanning control servo system simultaneously positions all three optical elements to provide continuous high resolution laser spectral tuning. The user may select manual, single, or continuous modes of automated scanning of ranges up to 3.00/cm and at scan rates up to 3.85/cm/min. Scanning over an extended range of up to 9.999/cm may be achieved if the highest resolution optic is removed from the system. The control system is also capable of being remotely operated by another computer or controller via standard RS-232 serial data link.

Smith, James C.↗

Large-Scale Cryogen Systems and Test Facilities

NASA has completed initial construction and verification testing of the Integrated Systems Test Facility (ISTF) Cryogenic Testbed. The ISTF is located at Complex 20 at Cape Canaveral Air Force Station, Florida. The remote and secure location is ideally suited for the following functions: (1) development testing of advanced cryogenic component technologies, (2) development testing of concepts and processes for entire ground support systems designed for servicing large launch vehicles, and (3) commercial sector testing of cryogenic- and energy-related products and systems. The ISTF Cryogenic Testbed consists of modular fluid distribution piping and storage tanks for liquid oxygen/nitrogen (56,000 gal) and liquid hydrogen (66,000 gal). Storage tanks for liquid methane (41,000 gal) and Rocket Propellant 1 (37,000 gal) are also specified for the facility. A state-of-the-art blast proof test command and control center provides capability for remote operation, video surveillance, and data recording for all test areas.

Johnson, R. G.↗

Teleoperator maneuvering system

The Teleoperator Maneuvering System (TMS) is a Shuttle launched, free-flying, remotely controlled reusable propulsive stage capable of performing spacecraft and payload placement services, retrieval functions, assembly/servicing support for large space systems, dexterous manipulator operations for planned or contingency satellite servicing, satellite viewing, and subsatellite science support. The basic TMS segments, subsystems and performance are described, beginning with the criteria and requirements derived from mission models. Examples of TMS benefits to the STS and user communities are demonstrated. TMS applications such as support and servicing of Space Station, materials processing and subsatellite missions are presented.

Turner, J. R.↗

Teleoperator maneuvering system

The teleoperator maneuvering system (TMS), consisting of the vehicle, the shuttle orbiter bay cradle with airborne support equipment, and the aft flight deck control station, is described. The vehicle is a reusable remotely controlled free flying vehicle capable of a variety of missions including payload placement, retrieval, servicing, viewing, and large space systems assembly support. The TMS flies preprogrammed trajectories as well as being controlled or reprogrammed from the aft flight deck or the ground. A building block design philosophy is described which permits the evolution of capability as it is needed and delays cost as much as possible. Various mission operations are discussed.

Turner, J. R.↗