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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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Anthropomorphic Telemanipulation System in Terminus Control Mode

This paper describes a prototype anthropomorphic kinesthetic telepresence system that is being developed at JPL. It utilizes dexterous terminus devices in the form of an exoskeleton force-sensing master glove worn by the operator and a replica four finger anthropomorphic slave hand. The newly developed master glove is integrated with our previously developed non-anthropomorphic six degree of freedom (DOF) universal force-reflecting hand controller (FRHC). The mechanical hand and forearm are mounted to an industrial robot (PUMA 560), replacing its standard forearm. The notion of 'terminus control mode' refers to the fact that only the terminus devices (glove and robot hand) are of anthropomorphic nature, and the master and slave arms are non-anthropomorphic. The system is currently being evaluated, focusing on tool handling and astronaut equivalent task executions. The evaluation revealed the system's potential for tool handling but it also became evident that hand tool manipulations and space operations require a dual arm robot. This paper describes the system's principal components, its control and computing architecture, discusses findings of the tool handling evaluation, and explains why common tool handling and EVA space tasks require dual arm robots.

glove exoskeleton force-sensing master glove EVA s↗
NASA NTRS1989

A global approach for using kinematic redundancy to minimize base reactions of manipulators

An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.

Chung, C. L.↗
NASA NTRS1972

Pilot dynamics for instrument approach tasks: Full panel multiloop and flight director operations

Measurements and interpretations of single and mutiloop pilot response properties during simulated instrument approach are presented. Pilot subjects flew Category 2-like ILS approaches in a fixed base DC-8 simulaton. A conventional instrument panel and controls were used, with simulated vertical gust and glide slope beam bend forcing functions. Reduced and interpreted pilot describing functions and remmant are given for pitch attitude, flight director, and multiloop (longitudinal) control tasks. The response data are correlated with simultaneously recorded eye scanning statistics, previously reported in NASA CR-1535. The resulting combined response and scanning data and their interpretations provide a basis for validating and extending the theory of manual control displays.

Weir, D. H.↗
NASA NTRS1960

Centrifuge Study of Pilot Tolerance to Acceleration and the Effects of Acceleration on Pilot Performance

A research program the general objective of which was to measure the effects of various sustained accelerations on the control performance of pilots, was carried out on the Aviation Medical Acceleration Laboratory centrifuge, U.S. Naval Air Development Center, Johnsville, PA. The experimental setup consisted of a flight simulator with the centrifuge in the control loop. The pilot performed his control tasks while being subjected to acceleration fields such as might be encountered by a forward-facing pilot flying an atmosphere entry vehicle. The study was divided into three phases. In one phase of the program, the pilots were subjected to a variety of sustained linear acceleration forces while controlling vehicles with several different sets of longitudinal dynamics. Here, a randomly moving target was displayed to the pilot on a cathode-ray tube. For each combination of acceleration field and vehicle dynamics, pilot tracking accuracy was measured and pilot opinion of the stability and control characteristics was recorded. Thus, information was obtained on the combined effects of complexity of control task and magnitude and direction of acceleration forces on pilot performance. These tests showed that the pilot's tracking performance deteriorated markedly at accelerations greater than about 4g when controlling a lightly damped vehicle. The tentative conclusion was also reached that regardless of the airframe dynamics involved, the pilot feels that in order to have the same level of control over the vehicle, an increase in the vehicle dynamic stability was required with increases in the magnitudes of the acceleration impressed upon the pilot. In another phase, boundaries of human tolerance of acceleration were established for acceleration fields such as might be encountered by a pilot flying an orbital vehicle. A special pilot restraint system was developed to increase human tolerance to longitudinal decelerations. The results of the tests showed that human tolerance of longitudinal deceleration forces was considerably improved through use of the special restraint system.

Creer, Brent Y.↗
NASA NTRS2002

Identifying head-trunk and lower limb contributions to gaze stabilization during locomotion

The goal of the present study was to determine how the multiple, interdependent full-body sensorimotor subsystems respond to a change in gaze stabilization task constraints during locomotion. Nine subjects performed two gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2 m in front at the level of their eyes. While subjects performed the tasks we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, tibia and foot, accelerations along the vertical axis at the head and the tibia, and the vertical forces acting on the support surface. We tested the hypothesis that with the increased demands placed on visual acuity during the number recognition task, subjects would modify full-body segmental kinematics in order to reduce perturbations to the head in order to successfully perform the task. We found that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movement was on average 22% greater despite the fact that the trunk pitch and trunk vertical translation movement control were not significantly changed; 2) coordination patterns between head and trunk as reflected by the peak cross correlation between the head pitch and trunk pitch motion as well as the peak cross correlation between the head pitch and vertical trunk translation motion were not significantly changed; 3) knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle; 4) peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects. This was so even when the peak acceleration at the tibia and the transmission of the shock wave at heel strike (measured by the peak acceleration ratio of the head/tibia and the time lag between the tibial and head peak accelerations) remained unchanged. Taken together these results provide further evidence that the full body contributes to gaze stabilization during locomotion, and that its different functional elements can be modified online to contribute to gaze stabilization for different visual task constraints.

NASA Center JSC↗
NASA NTRS2003

Identifying Head-Trunk and Lower Limb Contributions to Gaze Stabilization During Locomotion

The goal of the present study was to determine how the multiple, interdependent full-body sensorimotor subsystems respond to a change in gaze stabilization task constraints during locomotion. Nine subjects performed two gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2m in front at the level of their eyes. While subjects performed the tasks we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. We tested the hypothesis that with the increased demands placed on visual acuity during the number recognition task, subjects would modify full-body segmental kinematics in order to reduce perturbations to the head in order to successfully perform the task. We found that while reading numeral characters as - compared to the central point target: 1) compensatory head pitch movement was on average 22% greater despite the fact that the trunk pitch and trunk vertical translation movement control were not significantly changed; 2) coordination patterns between head and trunk as reflected by the peak cross correlation between the head pitch and trunk pitch motion as well as the peak cross correlation between the head pitch and vertical trunk translation motion were not significantly changed; 3) knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle; 4) peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects. This was so even when the peak acceleration at the shank and the transmissibility of the shock wave at heel strike (measured by the peak acceleration ratio of the head/shank) remained unchanged. Taken together these results provide further evidence that the full body contributes to gaze stabilization during locomotion, and that its different functional elements can be modified online to contribute to gaze stabilization for different visual task constraints.

Mulavara, Ajitkumar P.↗
NASA NTRS1974

Effects of wing/elevon gap sealing flapper doors on orbiter elevon effectiveness of model 16-0 in the NAAL 7.75 by 11 foot continuous flow wind tunnel (OA119A)

Space shuttle orbiter elevon effectiveness was measured with the 6 inch elevon/elevon and elevon/fuselage gaps and various configurations of wing/elevon upper hingeline gap sealing flapper doors. The elevon configuration parametric variations consisted of sealing the lower hingeline to prevent flow-through and testing a long chord flapper door, a short chord flapper door, no flapper door (elevon/wing gap upper hingeline completely open), and a completely sealed elevon at elevon deflections from +20 deg to -40 deg. Preliminary data analysis indicates loss of elevon effectiveness at deflections more negative than -20 deg, and little or no effect of flapper door configuration on elevon effectiveness. Flow visualization photographs taken at alpha = 15 deg for two flapper door configurations substantiated the force data results. Aerodynamic force and moment data were measured in the body axis by a 2.5 inch task type internal strain gage balance. The model was sting supported through the base region with a nominal angle of attack range of -10 deg less than or equal to alpha less than or equal to 24 deg at a model angle of sideslip of Beta equal to 0 deg.

Mennell, R.↗
NASA NTRS1991

Performance capabilities of a JPL dual-arm advanced teleoperation system

The system comprises: (1) two PUMA 560 robot arms, each equipped with the latest JPL developed smart hands which contain 3-D force/moment and grasp force sensors; (2) two general purpose force reflecting hand controllers; (3) a NS32016 microprocessors based distributed computing system together with JPL developed universal motor controllers; (4) graphics display of sensor data; (5) capabilities for time delay experiments; and (6) automatic data recording capabilities. Several different types of control modes are implemented on this system using different feedback control techniques. Some of the control modes and the related feedback control techniques are described, and the achievable control performance for tracking position and force trajectories are reported. The interaction between position and force trajectory tracking is illustrated. The best performance is obtained by using a novel, task space error feedback technique.

Szakaly, Z. F.↗
NASA NTRS1992

Fixed Or Controlled-Movement Foot Restraint

Foot restraint gives user three options: holds user's feet in fixed position, allows them to slide sideways, or allows them to pivot independently about axis through ball of foot, as user chooses. Selects degree of restraint to suit task at hand. Movements to enter and leave foot restraint simple and direct. Simply forces each cleat lightly into space between rails until spring force of movable rail secures it. Body movements for sliding and rotation equally straightforward. Designed for use in absence of gravitation, restraint useful on Earth, underwater or in some hazardous locations where movements restricted.

Reilly, Gloria B.↗
NASA NTRS1991

Hand controller study of force and control mode

The objectives are to compare and evaluate the utility and effectiveness of various input control devices, e.g., hand controllers, with respect to the relative importance of force and operation control mode (rate or position) for Space Station Freedom (SSF) related tasks. The topics are presented in viewgraph form and include the: Intelligent Research Systems Lab (ISRL) experimental design; Telerobotic Systems Research Laboratory (TSRL) final experimental design; and factor analysis summary of results.

A Terry Morris↗
NASA NTRS1993

Comparison Of Telerobot Control Modes

Report presents evaluation of three different modes of telerobot control: teleoperation with position control only; teleoperation with force reflection; and teleoperation with shared control, in which operator controls some elements of task while autonomous system controls other elements of task. Evaluation involved experiments in which nine trained operators used telerobot system to perform tasks of increasing difficulty - removal and insertion of electrical connector, removal and insertion of orbital replacement unit, and removal and insertion of electronic-circuit board in electronic chassis.

Zimmerman, Wayne F.↗
NASA NTRS1994

Dual-Arm Generalized Compliant Motion With Shared Control

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Backes, Paul G.↗
NASA NTRS2000

A Comparison of Active Sidestick and Conventional Inceptors for Helicopter Flight Envelope Tactile Cueing

This paper will compare the results of two ground-based piloted simulation studies of helicopter flight envelope tactile cueing. The objective of these trials was to develop methods of assisting the pilot in respecting flight envelope limits in a high workload environment. Both trials looked at the same aggressive hover and forward-flight tasks, the difference being that in the first trial, large-displacement programmable force-feel inceptors were used while in the second programmable short active sidesticks were used.

Whalley, Matthew S.↗
NASA NTRS2012

Observing Campaign for Potential Deep Impact Flyby Target 163249 (2002 GT)

The Deep Impact spacecraft is currently on course for a Jan. 4, 2020 flyby of the sub-kilometer near-Earth asteroid 163249 (2002 GT). The re-targeting will be complete with a final small maneuver scheduled for Oct. 4, 2012. 2002 GT, which is also designated as a Potentially Hazardous Asteroid (PHA), has a well-determined orbit and is approx 800 m in diameter (H=18.3). Little more is known about the nature of this object, but in mid-2013 it will pass near the Earth, affording an exceptional opportunity for ground-based characterization. At this apparition 2002 GT will be in range of Arecibo. In addition to Doppler measurements, radar delay observations with precisions of a few microseconds are expected and have a good chance of revealing whether the system is binary or not. The asteroid will be brighter than 16th mag., which will facilitate a host of observations at a variety of wavelengths. Light curve measurements across a wide range of viewing perspectives will reveal the rotation rate and ultimately lead to strong constraints on the shape and pole orientation. Visible and infrared spectra will constrain the mineralogy, taxonomy, albedo and size. Along with the radar observations, optical astrometry will further constrain the orbit, both to facilitate terminal guidance operations and to potentially reveal nongravitational forces acting on the asteroid. Coordinating all of these observations will be a significant task and we encourage interested observers to collaborate in this effort. The 2013 apparition of 2002 GT represents a unique opportunity to characterize a potential flyby target, which will aid interpretation of the high-resolution flyby imagery and aid planning and development of the flyby imaging sequence. The knowledge gained from this flyby will be highly relevant to the human exploration program at NASA, which desires more information on the physical characteristics of sub-kilometer near-Earth asteroids.

Pittichova, Jana↗
NASA NTRS1995

TADS: A CFD-based turbomachinery and analysis design system with GUI. Volume 1: Method and results

The primary objective of this study was the development of a CFD (Computational Fluid Dynamics) based turbomachinery airfoil analysis and design system, controlled by a GUI (Graphical User Interface). The computer codes resulting from this effort are referred to as TADS (Turbomachinery Analysis and Design System). This document is the Final Report describing the theoretical basis and analytical results from the TADS system, developed under Task 18 of NASA Contract NAS3-25950, ADPAC System Coupling to Blade Analysis & Design System GUI. TADS couples a throughflow solver (ADPAC) with a quasi-3D blade-to-blade solver (RVCQ3D) in an interactive package. Throughflow analysis capability was developed in ADPAC through the addition of blade force and blockage terms to the governing equations. A GUI was developed to simplify user input and automate the many tasks required to perform turbomachinery analysis and design. The coupling of the various programs was done in such a way that alternative solvers or grid generators could be easily incorporated into the TADS framework. Results of aerodynamic calculations using the TADS system are presented for a highly loaded fan, a compressor stator, a low speed turbine blade and a transonic turbine vane.

Topp, D. A.↗
NASA NTRS1989

Adjustable impedance, force feedback and command language aids for telerobotics (parts 1-4 of an 8-part MIT progress report)

Projects recently completed or in progress at MIT Man-Machine Systems Laboratory are summarized. (1) A 2-part impedance network model of a single degree of freedom remote manipulation system is presented in which a human operator at the master port interacts with a task object at the slave port in a remote location is presented. (2) The extension of the predictor concept to include force feedback and dynamic modeling of the manipulator and the environment is addressed. (3) A system was constructed to infer intent from the operator's commands and the teleoperation context, and generalize this information to interpret future commands. (4) A command language system is being designed that is robust, easy to learn, and has more natural man-machine communication. A general telerobot problem selected as an important command language context is finding a collision-free path for a robot.

Sheridan, Thomas B.↗
NASA NTRS1992

Exoskeleton master controller with force-reflecting telepresence

A thorough understanding of the requirements for successful master-slave robotic systems is becoming increasingly desirable. Such systems can aid in the accomplishment of tasks that are hazardous or inaccessible to humans. Although a history of use has proven master-slave systems to be viable, system requirements and the impact of specifications on the human factors side of system performance are not well known. In support of the next phase of teleoperation research being conducted at the Armstrong Research Laboratory, a force-reflecting, seven degree of freedom exoskeleton for master-slave teleoperation has been concepted, and is presently being developed. The exoskeleton has a unique kinematic structure that complements the structure of the human arm. It provides a natural means for teleoperating a dexterous, possibly redundant manipulator. It allows ease of use without operator fatigue and faithfully follows human arm and wrist motions. Reflected forces and moments are remotely transmitted to the operator hand grip using a cable transmission scheme. This paper presents the exoskeleton concept and development results to date. Conceptual design, hardware, algorithms, computer architecture, and software are covered.

Burke, James B.↗
NASA NTRS2005

Integrated Locomotor Function Tests for Countermeasure Evaluation

Following spaceflight crewmembers experience locomotor dysfunction due to inflight adaptive alterations in sensorimotor function. Countermeasures designed to mitigate these postflight gait alterations need to be assessed with a new generation of tests that evaluate the interaction of various sensorimotor sub-systems central to locomotor control. The goal of the present study was to develop new functional tests of locomotor control that could be used to test the efficacy of countermeasures. These tests were designed to simultaneously examine the function of multiple sensorimotor systems underlying the control of locomotion and be operationally relevant to the astronaut population. Traditionally, gaze stabilization has been studied almost exclusively in seated subjects performing target acquisition tasks requiring only the involvement of coordinated eye-head movements. However, activities like walking involve full-body movement and require coordination between lower limbs and the eye-head-trunk complex to achieve stabilized gaze during locomotion. Therefore the first goal of this study was to determine how the multiple, interdependent, full-body sensorimotor gaze stabilization subsystems are functionally coordinated during locomotion. In an earlier study we investigated how alteration in gaze tasking changes full-body locomotor control strategies. Subjects walked on a treadmill and either focused on a central point target or read numeral characters. We measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, shank and foot, accelerations along the vertical axis at the head and the shank, and the vertical forces acting on the support surface. In comparison to the point target fixation condition, the results of the number reading task showed that compensatory head pitch movements increased, peak head acceleration was reduced and knee flexion at heel-strike was increased. In a more recent study we investigated the adaptive remodeling of the full-body gaze control systems following exposure to visual-vestibular conflict. Subjects walked on a treadmill before and after a 30- minute exposure to 0.5X minifying during which self-generated sinusoidal vertical head rotations were performed while seated. Following exposure to visual-vestibular conflict subjects showed a restriction in compensatory head movements, increased knee and ankle flexion after heel-strike and a decrease in the rate of body loading during the rapid weight transfer phase after the heel strike event. Taken together, results from both studies provide evidence that the full body contributes to gaze stabilization during locomotion, and that different functional elements are responsive to changes in visual task constraints and are subject to adaptive alterations following exposure to visual-vestibular conflict. This information provides the basis for the design of a new generation of integrative tests that incorporate the evaluation of multiple neural control systems relevant to astronaut operational performance.

Bloomberg, J. J.↗