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Control system enables robot hand to grasp objects of varied shapes. Key features of system: reflective proximity sensors furnishing data on position, orientation, and distance of object and software protocol controlling sequence of operations in approaching and grasping objects. Reflected-beam sensing concept applied to simple opposed-jaw industrial grippers as well as to dexterous robot hands.
An interactive, graphical proximity operations planning system was developed which allows on-site design of efficient, complex, multiburn maneuvers in the dynamic multispacecraft environment about the space station. Maneuvering takes place in, as well as out of, the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of relative orbital motion trajectories and complex operational constraints, which are both time varying and highly dependent on the mission scenario. This difficulty is greatly overcome by visualizing the relative trajectories and the relative constraints in an easily interpretable, graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of the space station and co-orbiting spacecraft on the background of the station's orbital plane. The operator has control over two modes of operation: (1) a viewing system mode, which enables him or her to explore the spatial situation about the space station and thus choose and frame in on areas of interest; and (2) a trajectory design mode, which allows the interactive editing of a series of way-points and maneuvering burns to obtain a trajectory which complies with all operational constraints. Through a graphical interactive process, the operator will continue to modify the trajectory design until all operational constraints are met. The effectiveness of this display format in complex trajectory design is presently being evaluated in an ongoing experimental program.
Soybean plants were grown for 90 days at 500, 1000, 2000, and 5000 ubar (ppm) carbon dioxide (CO2) and compared for proximate nutritional value. For both cultivars (MC and PX), seed protein levels were highest at 1000 (39.3 and 41.9 percent for MC and PX) and lowest at 2000 (34.7 and 38.9 percent for MC and PX). Seed fat (oil) levels were highest at 2000 (21.2 and 20.9 percent for MC and PX) and lowest at 5000 (13.6 and 16.6 percent for MC and PX). Seed carbohydrate levels were highest at 500 (31.5 and 28.4 percent for MC and PX) and lowest at 2000 (20.9 and 20.8 percent for MC and PX). When adjusted for total seed yield per unit growing area, the highest production of protein and carbohydrate occurred with MC at 1000, while equally high amounts of fat were produced with MC at 1000 and 2000. Seed set and pod development at 2000 were delayed in comparison to other CO2 treatments; thus the proportionately high fat and low protein at 2000 may have been a result of the delay in plant maturity rather than CO2 concentration. Stem crude fiber and carbohydrate levels for both cultivars increased with increased CO2. Leaf protein and crude fiber levels also tended to rise with increased CO2 but leaf carbohydrate levels decreased as CO2 was increased. The results suggest that CO2 effects on total seed yield out-weighed any potential advantages to changes in seed composition.
Key to an efficient accomplishment of space station servicing operations is the development of a scenario where the presence of man in space is well integrated with the capability of teleoperated and automatic robot system outside the stations. Results focusing on mission requirements, trajectory sequences, propulsion subsystem features, and manipulative kit characteristics relevant to proximity servicing during a Man Tended Free Flyers Robotic Mission (MTFF-RM) are illustrated.
The development of Short Takeoff Vertical Landing (STOVL) aircraft has historically been an empirical- and experienced-based technology. A 3-D turbulent flow CFD code was used to calculate the hot gas environment around an STOVL aircraft operating in ground proximity. Preliminary calculations are reported for a typical STOVL aircraft configuration to identify key features of the flow field, and to demonstrate and assess the capability of current 3-D CFD codes to calculate the temperature of the gases ingested at the engine inlet as a function of flow and geometric conditions.
A procedure was developed for modeling wind tunnel flows using computational fluid dynamics. Using this method, a numerical study was undertaken to explore the effects of solid wind tunnel wall proximity and Reynolds number on a two-dimensional airfoil model at low speed. Wind tunnel walls are located at varying wind tunnel height to airfoil chord ratios and the results are compared with freestream flow in the absence of wind tunnel walls. Discrepancies between the constrained and unconstrained flows can be attributed to the presence of the walls. Results are for a Mach Number of 0.25 at angles of attack through stall. A typical wind tunnel Reynolds number of 1,200,000 and full-scale flight Reynolds number of 6,000,000 were investigated. At this low Mach number, wind tunnel wall corrections to Mach number and angle of attack are supported. Reynolds number effects are seen to be a consideration in wind tunnel testing and wall interference correction methods. An unstructured grid Navier-Stokes code is used with a Baldwin-Lomax turbulence model. The numerical method is described since unstructured flow solvers present several difficulties and fundamental differences from structured grid codes, especially in the area of turbulence modeling and grid generation.
This task concerns the design, development, testing, and evaluation of a new proximity operations planning and flight guidance display and control system for manned space operations. A forecast, derivative manned maneuvering unit (MMU) was identified as a candidate for the application of a color, highway-in-the-sky display format for the presentation of flight guidance information. A silicon graphics 4D/20-based simulation is being developed to design and test display formats and operations concepts. The simulation includes the following: (1) real-time color graphics generation to provide realistic, dynamic flight guidance displays and control characteristics; (2) real-time graphics generation of spacecraft trajectories; (3) MMU flight dynamics and control characteristics; (4) control algorithms for rotational and translational hand controllers; (5) orbital mechanics effects for rendezvous and chase spacecraft; (6) inclusion of appropriate navigation aids; and (7) measurement of subject performance. The flight planning system under development provides for: (1) selection of appropriate operational modes, including minimum cost, optimum cost, minimum time, and specified ETA; (2) automatic calculation of rendezvous trajectories, en route times, and fuel requirements; (3) and provisions for manual override. Man/machine function allocations in planning and en route flight segments are being evaluated. Planning and en route data are presented on one screen composed of two windows: (1) a map display presenting a view perpendicular to the orbital plane, depicting flight planning trajectory and time data attitude display presenting attitude and course data for use en route; and (2) an attitude display presenting local vertical-local horizontal attitude data superimposed on a highway-in-the-sky or flight channel representation of the flight planned course. Both display formats are presented while the MMU is en route. In addition to these displays, several original display elements are being developed, including a 3DOF flight detector for attitude commanding, a different flight detector for translation commands, and a pictorial representation of velocity deviations.
An interactive graphical planning system for on-site planning of proximity operations in the congested multispacecraft environment about the space station is presented. The system shows the astronaut a bird's eye perspective of the space station, the orbital plane, and the co-orbiting spacecraft. The system operates in two operational modes: (1) a viewpoint mode, in which the astronaut is able to move the viewpoint around in the orbital plane to range in on areas of interest; and (2) a trajectory design mode, in which the trajectory is planned. Trajectory design involves the composition of a set of waypoints which result in a fuel-optimal trajectory which satisfies all operational constraints, such as departure and arrival constraints, plume impingement constraints, and structural constraints. The main purpose of the system is to present the trajectory and the constraints in an easily interpretable graphical format. Through a graphical interactive process, the trajectory waypoints are edited until all operational constraints are satisfied. A series of experiments was conducted to evaluate the system. Eight airline pilots with no prior background in orbital mechanics participated in the experiments. Subject training included a stand-alone training session of about 6 hours duration, in which the subjects became familiar with orbital mechanics concepts and performed a series of exercises to familiarize themselves with the control and display features of the system. They then carried out a series of production runs in which 90 different trajectory design situations were randomly addressed. The purpose of these experiments was to investigate how the planning time, planning efforts, and fuel expenditures were affected by the planning difficulty. Some results of these experiments are presented.
A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.
An algorithm is presented for the recognition and localization of thre-dimensional polyhedral objects based on an optical proximity sensor system capable of measuring the depth and orientation of a local area of an object surface. Emphasis is given to the determination of an optimal sensor trajectory or an optimal probing, for efficient discrimination among all the possible interpretations. The determination of an optimal sensor trajectory for the next probing consists of the selection of optimal beam orientations based on the surface normal vector distribution of the multiple interpretation image (MII) and the selection of an optimal probing plane by projecting the MII onto the projection plane perpendicular to a selected beam orientation and deriving the optimal path on the projection plane. The selection of optimal beam orientation and probing plane is based on the measure of discrimination power of a cluster of surfaces of an MII. Simulation results are shown.
Capacitive proximity sensor on robot arm detects nearby object via capacitive effect of object on frequency of oscillator. Sensing element part of oscillator circuit operating at about 20 kHz. Total capacitance between sensing element and ground constitutes tuning capacitance of oscillator. Sensor circuit includes shield driven by replica of alternating voltage applied to sensing element. Driven shield concentrates sensing electrostatic field in exterior region to enhance sensitivity to object. Sensitivity and dynamic range has corresponding 12-to-1 improvement.
As part of the Research Institute for Computing and Information Systems (RICIS) activity, the reinforcement learning techniques developed at Ames Research Center are being applied to proximity and docking operations using the Shuttle and Solar Max satellite simulation. This activity is carried out in the software technology laboratory utilizing the Orbital Operations Simulator (OOS). This interim report provides the status of the project and outlines the future plans.
Macronutrients persist in the surface layer of the equatorial Pacific because the production of phytoplankton is limited; the nature of this limitation has yet to be resolved. Measurements of photosynthesis as a function of irradiance (P-I) provide information on the control of primary productivity, a question of great biogeochemical importance. Accordingly, P-I was measured in the equatorial Pacific along 150 deg W, during February-March 1988. Diel variability of P-I showed a pattern consistent with nocturnal vertical mixing in the upper 20 m followed by diurnal stratification, causing photoinhibition near the surface at midday. Otherwise, the distribution of photosynthetic parameters with depth and the stability of P-I during simulated in situ incubations over 2 days demonstrated that photoadaptation was nearly complete at the time of sampling: photoadaptation had not been effectively countered by upwelling or vertical mixing. Measurements of P-I and chlorophyll during manipulations of trace elements showed that simple precautions to minimize contamination were sufficient to obtain valid rate measurements and that the specific growth rates of phytoplankton were fairly high in situ, a minimum of 0.6/d. Diel variability of beam attenuation also indicated high specific growth rates of phytoplankton and a strong coupling of production with grazing. It appears that grazing is the proximate control on the standing crop of phytoplankton. Nonetheless, the supply of a trace nutrient such as iron might ultimately regulate productivity by influencing species composition and food-web structure.
Improved capacitive proximity sensors constructed by incorporating one or more additional driven shield(s). Sensitivity and range of sensor altered by adjusting driving signal(s) applied to shield(s). Includes sensing electrode and driven isolating shield that correspond to sensing electrode and driven shield.
Proximity operations can be defined as the maneuvering of two or more spacecraft within 1 nautical mile range, with relative velocity less than 10 feet per second. The passive vehicle is nontranslating and should provide for maintenance of the desired approach attitude. It must accommodate the active (translating) vehicle induced structural loads and performance characteristics (mating hardware tolerances), and support sensor compatibility (transponder, visual targets, etc.). The active vehicle must provide adequate sensor systems (relative state information, field-of-view, redundancy), flight control hardware (thruster sizing, minimal cross-coupling, performance margins, redundancy) and software (reconfigurable, attitude/rate modes, translation and rotation fine control authority) characteristic, and adequate non-propulsive consumables such as power. Operational concerns must be considered. These include the following: (1) the desired approach trajectory and relative orientation; (2) the active vehicle thruster plume effects (forces, torques, contamination) on the passive vehicle; and (3) procedures for contingencies such as loss of communications, sensor or propulsion failures, and target vehicle loss of control.
Future multi-vehicle operations will involve multiple scenarios that will require a planning tool for the rapid, interactive creation of fuel-efficient trajectories. The planning process must deal with higher-order, non-linear processes involving dynamics that are often counter-intuitive. The optimization of resulting trajectories can be difficult to envision. An interaction proximity operations planning system is being developed to provide the operator with easily interpreted visual feedback of trajectories and constraints. This system is hosted on an IRIS 4D graphics platform and utilizes the Clohessy-Wiltshire equations. An inverse dynamics algorithm is used to remove non-linearities while the trajectory maneuvers are decoupled and separated in a geometric spreadsheet. The operator has direct control of the position and time of trajectory waypoints to achieve the desired end conditions. Graphics provide the operator with visualization of satisfying operational constraints such as structural clearance, plume impingement, approach velocity limits, and arrival or departure corridors. Primer vector theory is combined with graphical presentation to improve operator understanding of suggested automated system solutions and to allow the operator to review, edit, or provide corrective action to the trajectory plan.
With the advent of multiple-vehicle operations in support of the space station, on-orbit refurbishment, and several other missions, there is a need to intelligently plan proximity operations trajectories that will conserve limited available fuel while avoiding collisions. Upon reaching the objective, the capture process entails several unique considerations, such as coordinating motion with a tumbling target, the capture itself, and adapting to control of the new configuration resulting from the capture operation. This paper outlines a systematic process of technical development over several years at the Draper laboratory, culminating in a capability to perform manual augmented or fully autonomous rendezvous, capture, and control of the resulting configuration.
IR&D efforts in recent years have focused on effective means of performing automated rendezvous and proximity operations. The primary focus for application has been to the Space Shuttle Orbiter and potential derivations, such as the Reusable Cargo Vehicle (RCV), studied in FY 1990. All candidate vehicle mission scenarios have included approach to docking or berthing with the Space Station Freedom (SSF). Results to date indicate that application of appropriate guidance algorithms can reduce docking contact or relative offset conditions, resulting in potential simplification of capture systems.