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Environmental control underground low level radiation counting facility of Lunar Receiving Laboratory for gamma ray spectrometry, including radon adsorption system
Control of electrolyte level in nickel-cadmium cells with metal and plastic bellows
Traditional hazard analysis techniques utilize a two-dimensional representation of the results determined by relative likelihood and severity of the residual risk. These matrices present a quick-look at the Likelihood (Y-axis) and Severity (X-axis) of the probable outcome of a hazardous event. A three-dimensional method, described herein, utilizes the traditional X and Y axes, while adding a new, third dimension, shown as the Z-axis, and referred to as the Level of Control. The elements of the Z-axis are modifications of the Hazard Elimination and Control steps (also known as the Hazard Reduction Precedence Sequence). These steps are: 1. Eliminate risk through design. 2. Substitute less risky materials for more hazardous materials. 3. Install safety devices. 4. Install caution and warning devices. 5. Develop administrative controls (to include special procedures and training.) 6. Provide protective clothing and equipment. When added to the twodimensional models, the level of control adds a visual representation of the risk associated with the hazardous condition, creating a tall-pole for the least-well-controlled failure while establishing the relative likelihood and severity of all causes and effects for an identified hazard. Computer modeling of the analytical results, using spreadsheets and threedimensional charting gives a visual confirmation of the relationship between causes and their controls
Traditional hazard analysis techniques utilize a two-dimensional representation of the results determined by relative likelihood and severity of the residual risk. These matrices present a quick-look at the Likelihood (Y-axis) and Severity (X-axis) of the probable outcome of a hazardous event. A three-dimensional method, described herein, utilizes the traditional X and Y axes, while adding a new, third dimension, shown as the Z-axis, and referred to as the Level of Control. The elements of the Z-axis are modifications of the Hazard Elimination and Control steps (also known as the Hazard Reduction Precedence Sequence). These steps are: 1. Eliminate risk through design. 2. Substitute less risky materials for more hazardous materials. 3. Install safety devices. 4. Install caution and warning devices. 5. Develop administrative controls (to include special procedures and training.) 6. Provide protective clothing and equipment. When added to the two-dimensional models, the level of control adds a visual representation of the risk associated with the hazardous condition, creating a tall-pole for the leastwell-controlled failure while establishing the relative likelihood and severity of all causes and effects for an identified hazard. Computer modeling of the analytical results, using spreadsheets and three-dimensional charting gives a visual confirmation of the relationship between causes and their controls.
Traditional hazard analysis techniques utilize a two-dimensional representation of the results determined by relative likelihood and severity of the residual risk. These matrices present a quick-look at the Likelihood (Y-axis) and Severity (X-axis) of the probable outcome of a hazardous event. A three-dimensional method, described herein, utilizes the traditional X and Y axes, while adding a new, third dimension, shown as the Z-axis, and referred to as the Level of Control. The elements of the Z-axis are modifications of the Hazard Elimination and Control steps (also known as the Hazard Reduction Precedence Sequence). These steps are: 1. Eliminate risk through design. 2. Substitute less risky materials for more hazardous materials. 3. Install safety devices. 4. Install caution and warning devices. 5. Develop administrative controls (to include special procedures and training.) 6. Provide protective clothing and equipment. When added to the two-dimensional models, the level of control adds a visual representation of the risk associated with the hazardous condition, creating a tall-pole for the least-well-controlled failure while establishing the relative likelihood and severity of all causes and effects for an identified hazard. Computer modeling of the analytical results, using spreadsheets and three-dimensional charting gives a visual confirmation of the relationship between causes and their controls.
Altered thermoregulation following exposure to prolonged (12-14 days) of bed rest and 6 hr of head-down thermoneutral water immersion in humans, and cage confinement (8 weeks) in male, mongrel dogs resulted in occasional increased core temperature (Tcore) at rest, but consistent "excessive" increase in Tcore during submaximal exercise. This excessive increase in Tcore in nonexercising and exercising subjects was independent of the mode (isometric or isotonic) of exercise training during bed rest, and was associated with the consistent hypovolemia in men but not in women taking estrogen supplementation (1.25 mg premarin/ day) which restored plasma volume during bed rest to ambulatory control levels. Post-bed rest exercise sweating (evaporative heat loss) was unchanged or higher than control levels; however, calculated tissue heat conductance was significantly lower in men, and forearm venoconstriction was greater (venous volume was reduced) in women during exercise after bed rest. Because sweating appeared proportional to the increased level of Tcore, these findings suggest that one major factor for the excessive hyperthermia is decreased core to periphery heat conduction. Exercising dogs respond like humans with excessive increase in both rectal (Tre) and exercising muscle temperatures (Tmu) after confinement and, after eight weeks of exercise training on a treadmill following confinement, they had an attenuated rate of increase of Tre even below ambulatory control levels. Intravenous infusion of glucose also attenuated not only the rise in Tre during exercise in normal dogs, but also the excessive rise in Tre and exercising Tmu after confinement. Oral glucose also appeared to reduce the rate of increase in excessive Tre in men after immersion deconditioning. There was a greater rate of rise in Tcore in two cosmonauts during supine submaximal exercise (65% VO2 max) on the fifth recovery day after the 115-day Mir 18 mission. Thus, the excessive rise in core temperature after deconditioning appears to be caused by decreased peripheral vasodilation in humans. Factors related to glucose metabolism may influence this mechanism.
It is our hypothesis that interstitial fluid flow plays a role in the bone remodeling response to mechanical loading. The fluid flow-induced expression of three proteins (collagen, osteopontin, and alkaline phosphatase) involved in bone remodeling was investigated. Rat calvarial osteoblasts subjected to pulsatile fluid flow at an average shear stress of 5 dyne/cm2 showed decreased alkaline phosphatase (AP) mRNA expression after only 1 hour of flow. After 3 hours of flow, AP mRNA levels had decreased to 30% of stationary control levels and remained at this level for an additional 5 hours of flow. Steady flow (4 dyne/cm2 fluid shear stress), in contrast, resulted in a delayed and less dramatic decrease in AP mRNA expression to 63% of control levels after 8 hours of flow. The reduced AP mRNA expression under pulsatile flow conditions was followed by reduced AP enzyme activity after 24 hours. No changes in collagen or osteopontin mRNA expression were detected over 8 hours of pulsatile flow. This is the first time fluid flow has been shown to affect gene expression in osteoblasts.
Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up to the use of expert systems for more advanced supervision capabilities.
Carbon dioxide (CO2) is an anthropogenic gas that accumulates in spacecraft to much higher levels than earth-normal levels. Controlling concentrations of this gas to acceptable levels to ensure crew health and optimal performance demands major commitment of resources. NASA has many decades of experience monitoring and controlling CO2, yet we are uncertain of the levels at which subtle performance decrements develop. There is limited evidence from ground-based studies that visual disturbances can occur during brief exposures and visual changes have been noted in spaceflight crews. These changes may be due to CO2 alone or in combination with other known spaceflight factors such as increased intracranial pressure due to fluid shifts. Discerning the comparative contribution of each to performance decrements is an urgent issue if we hope to optimize astronaut performance aboard the ISS. Long-term, we must know the appropriate control levels for exploration-class missions to ensure that crewmembers can remain cooperative and productive in a highly stressful environment. Furthermore, we must know the magnitude of interindividual variability in susceptibility to the adverse effects of CO2 so that the most tolerant crewmembers can be identified. Ground-based studies have been conducted for many years to set exposure limits for submariners; however, these studies are typically limited and incompletely reported. Nonetheless, NASA, in cooperation with the National Research Council, has set exposure limits for astronauts using this limited database. These studies do not consider the interactions of spaceflight-induced fluid shifts and CO2 exposures. In an attempt to discern whether CO2 levels affect the incidence of headache and visual disturbances in astronauts we performed a retrospective study comparing average CO2 levels and the prevalence of headache and visual disturbances. Our goal is to narrow gaps in the risk profile for in-flight CO2 exposures. Such studies can provide no more than partial answers to the questions of environmental interactions, interindividual variability, and optimal control levels. Future prospective studies should involve assessment of astronaut well being using sophisticated measures during exposures to levels of CO2 in the range from 2 to 8 mmHg.
A schematic description of the steering control process is presented. It is shown that this process can be described in terms of levels of control. Level of control will depend on driver's skill in making use of 'clever' strategies which may be related to knowledge about the path to follow (input) and/or the vehicle under control. This knowledge may be referred to as an internal model of a particular task element. Internal information, as derived from these internal models will probably be used together with proprioceptive feedback. It is hypothesized that the efficiency of the higher levels of control will be dependent on the accuracy of both the internal and proprioceptive information. Based on this research philosophy a series of experiments is carried out. Two primary experiments were done in order to analyse subjects' ability to reproduce steering-wheel positions and movements without visual feedback. Steering-wheel angle amplitude, steering force and movement frequency were involved as independent variables.
The laboratory simulation of a scaled single-axis dual-level control system for a large space telescope is demonstrated. The dual-level control system consists of a coarse-body-pointing system and a fine-pointing system, which uses an image motion compensator, an image dissector tube, and digital electronics. The results of the simulation indicate that the dual-level system can be used to provide tracking capability within one-tenth of a diffraction-limited image diameter of a 3-meter f/100 telescope for stars up to a +12.3 visual magnitude.
Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.
An approach to the application of multilevel control techniques for large space structures is presented. Gauss-Seidel second level controls and an extension of standard linear quadratic regulator techniques are applied to a model consisting of a flexible space vehicle comprising three rigid bodies rotating about a common axis. The method incorporates second order derivatives with respect to time, entailing the use of a two level hierarchy of subsystems. Gauss-Seidel second level control formulations were chosen to avoid the necessity of having as many controls as constraints or using gradient techniques in the choice of the Hamiltonian. The modular nature of the resulting control system allows applications for spacecraft with larger numbers of modules.
The effects of orchiectomy (GDX) and of subsequent administration of testosterone propionate (TP) or 17(beta)-estradiol (E2) on the maximum binding (Bmax) and apparent Kd of the cytosolic androgen receptor in levator ani (LA) and skeletal muscles of adult male Sprague-Dawley rats are investigated experimentally. The results are presented in graphs and discussed. In LA, BMAX is found to rise from a control level of 2.5 fmol/mg protein to 280, 600, 478, and 133 percent of control at 12 h, 14 d, 30 d, and 44 d after GDX, respectively, while Kd increased only insignificantly (from 680 to 960 fM); Bmax is held at control levels for 6 h by cycloheximide given at GDX, is unaffected by TP given at 30 d, and is further increased (by 480 percent at 44 d) by administration of E2 at 30 d. Bmax in skeletal muscles is found to increase to 139, 212, 220, and 158 percent of control at 12 h, 14 d, 30 d, and 44 d, respectively; Bmax is returned to control at 44 d by TP at 30 d but is not affected by E2. The effect of E2 in LA is attributed to either induction of the cytosolic receptor or a decreased rate of receptor degradation.
A set of atmospheric analysis and prediction models was developed in support of the SEASAT Program existing objective analysis models which utilize a 125x125 polar stereographic grid of the Northern Hemisphere, which were modified in order to incorporate and assess the impact of (real or simulated) satellite data in the analysis of a two-day meteorological scenario in January 1979. Program/procedural changes included: (1) a provision to utilize winds in the sea level pressure and multi-level height analyses (1000-100 MBS); (2) The capability to perform a pre-analysis at two control levels (1000 MBS and 250 MBS); (3) a greater degree of wind- and mass-field coupling, especially at these controls levels; (4) an improved facility to bogus the analyses based on results of the preanalysis; and (5) a provision to utilize (SIRS) satellite thickness values and cloud motion vectors in the multi-level height analysis.
Serum-deprived mouse osteoblastic cells (MC3T3-E1a) were centrifuged under a regime designed to simulate a space shuttle launch (maximum of 3g). Messenger RNA levels for eight genes involved in bone growth and maintenance were determined using RT-PCR. Following 30 min of centrifugation, mRNA level for early response gene c-fos was significantly increased 89% (P < 0.05). The c-fos induction was transient and returned to control levels after 3 h. The mRNA level for the mineralization marker gene osteocalcin was significantly decreased to 44% of control level (P < 0.005) 3 h after centrifugation. No changes in mRNA levels were detected for c-myc, TGFbeta1, TGFbeta2, cyclophilin A, or actin. No basal mRNA level for TGFbeta3 was detected. In addition, no change in the steady-state synthesis of prostaglandin E2 was detected, possibly due to lack of lipid substrates in serum-deprived cells, suggesting that the increase in c-fos mRNA in response to gravitational loading is a result of mechanical stimulation. These results indicate that a small magnitude mechanical loading, such as that experienced during a shuttle launch, can alter mRNA levels in quiescent osteoblastic cells.
Immersive simulation is a staple of training for many complex system operators, including astronauts and ground operators of spacecraft. However, while much has been written about simulators, simulation facilities, and operator certification programs, the topic of how one develops simulation scenarios to train a spacecraft operator is relatively understated in the literature. In this paper, an approach is presented for using control theory as the basis for developing the immersive simulation scenarios for a spacecraft operator training program. The operator is effectively modeled as a high level controller of lower level hardware and software control loops that affect a select set of system state variables. Simulation scenarios are derived from a STAMP-based hazard analysis of the operator's high and low level control loops. The immersive simulation aspect of the overall training program is characterized by selecting a set of scenarios that expose the operator to the various inadequate control actions that stem from control flaws and inadequate control executions in the different sections of the typical control loop. Results from the application of this approach to the Lunar Atmosphere and Dust Environment Explorer (LADEE) mission are provided through an analysis of the simulation scenarios used for operator training and the actual anomalies that occurred during the mission. The simulation scenarios and inflight anomalies are mapped to specific control flaws and inadequate control executions in the different sections of the typical control loop to illustrate the characteristics of anomalies arising from the different sections of the typical control loop (and why it is important for operators to have exposure to these characteristics). Additionally, similarities between the simulation scenarios and inflight anomalies are highlighted to make the case that the simulation scenarios prepared the operators for the mission.
The Theory of Intelligent Machines proposes a hierarchical organization for the functions of an autonomous robot based on the Principle of Increasing Precision With Decreasing Intelligence. An analytic formulation of this theory using information-theoretic measures of uncertainty for each level of the intelligent machine has been developed in recent years. A computer architecture that implements the lower two levels of the intelligent machine is presented. The architecture supports an event-driven programming paradigm that is independent of the underlying computer architecture and operating system. Details of Execution Level controllers for motion and vision systems are addressed, as well as the Petri net transducer software used to implement Coordination Level functions. Extensions to UNIX and VxWorks operating systems which enable the development of a heterogeneous, distributed application are described. A case study illustrates how this computer architecture integrates real-time and higher-level control of manipulator and vision systems.