Tektite 1 - Two gas atmosphere sensor system development Final report
Two gas atmosphere sensor system operation in high pressure undersea environment
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Inertial navigation systems analysis.
This volume offers the avionic systems engineer a fundamental exposition of the mechanization and error analysis of inertial navigation systems. While the material is applicable to spacecraft and undersea navigation, emphasis is placed upon terrestrial applications on or slightly above the earth's surface. As a result, practical considerations are geared toward those aircraft navigation systems of particular current interest. Extensive use is made of perturbation techniques to develop linearized system equations, whose solutions closely approximate those obtained by nonlinear differential equations. A unified error analysis technique is developed that is applicable to virtually all system configurations. The technique provides a greatly simplified method for comparing the performance of competing system configurations.
Britting, K. R.↗
Two-watt radioisotope power generators for underwater applications
Materials and design considerations are discussed for a low-cost, reliable radio-isotope-fueled thermoelectric generator for use in an undersea application. Plutonium has been selected as fuel, and the generator has to meet design goals of 2 watts after 20 years with a direct output voltage of 6-8 volts. The pressed and sintered form of Bi2Te3 appears to be the most appropriate thermoelectric material. Both fibrous and multilayer foil insulation could be used with proper processing and quality control, but there is less risk with fibrous type insulation. Min-K 1400 is recommended with a nitrogen cover gas. The heat source recommended is a three-layer capsule using T-111 for both the liner and strength member with an outer liner of Hastelloy-C.
Caputo, R. S.↗
Systems design of long-life systems
A long-life system is defined as a system which cannot be life-tested in its operational environment. Another restriction is that preventive maintenance and repair shall be either impossible or economically disadvantageous. Examples of such systems include planetary spacecraft, communication satellites, undersea telephone cables, and nuclear power plants. The questions discussed are related to the implementation of system functions, approaches to determine the required level of system reliability, and aspects of tradeoffs between requirements and reliability.
Miles, R. F., Jr.↗
Automatic channel trimming for control systems: A concept
Set of bias signals added to channel inputs automatically normalize differences between channels. Algorithm and second feedback loop compute trim biases. Concept could be applied to regulators and multichannel servosystems for remote manipulators in undersea mining.
Vandervoort, R. J.↗
The 2nd Conference on Remotely Manned Systems (RMS): Technology and Applications
Control theory and the design of manipulators, teleoperators, and robots are considered. Applications of remotely manned vehicles to space maintenance and orbital assembly, industry and productivity, undersea operations, and rehabilitation systems are emphasized.
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Compound hydraulic shear-modulated vortex amplifiers
A novel two-stage shear-modulated hydraulic vortex amplifier (U.S. patent 3,520,317) has been fabricated and put through preliminary steady-state testing at the 1000 psi supply pressure level with flows up to 15 gpm. The invention comprises a conventional fluidic vortex power stage and a shear-modulated pilot stage. In the absence of any mechanical moving parts, water may be used as the hydraulic medium thus opening the way to many underseas applications. At blocked load, a control input from 0 to 150 psi was required to achieve an output from 0 to 900 psi; at wide-open load, a control input of 0 to 120 psi was needed to achieve an output from 0 to 15 gpm. The power stage has been found unsuitable for the proportional control mode because of its nonlinear performance in the intermediate load range and because of strong pressure fluctuations (plus or minus 150 psi) in the intermediate control range. The addition of the shear-modulated pilot stage improves intermediate load linearity.
Goldschmied, F. R.↗
Robots and Manipulator Systems. Part 2
This book represents a conference on robots and manipulator systems. Topics discussed include: mathematical modeling systems integrators, the use of TV monitors for remote operation of machinery on earth and in space, an evaluation of various control modes, remotely piloted aircraft, undersea operations, and prosthetic devices for the physically handicapped.
Heer, E.↗
The 14th Annual Conference on Manual Control
Human operator dynamics during actual manual control or while monitoring the automatic control systems involved in air-to-air tracking, automobile driving, the operator of undersea vehicles, and remote handling are examined. Optimal control models and the use of mathematical theory in representing man behavior in complex man machine system tasks are discussed with emphasis on eye/head tracking and scanning; perception and attention allocation; decision making; and motion simulation and effects.
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Present-day plate motions
An instantaneous plate-motion model, Relative Motion 2 (RM2), is obtained by inverting a data set comprising 110 spreading rates, 78 transform fault azimuths, and 142 earthquake slip vectors. RM2 is compared with angular velocity vectors which best fit the data along individual plate boundaries and, while the model performs close to optimally in most regions, attention is directed to those regions which are not suitably described by the model. Reasons for the discrepancies between RM2 and observations for the India-Antarctica plate boundary, the Pacific-India plate boundary, and the east-west trending transform fault azimuths observed in the French-American Mid-Ocean Undersea Study area are discussed.
Minster, J. B.↗
Cable-splice detector
Detector has possible uses in aerial cable-car systems, equipment handling in mines, boreholes, and undersea operations, and other applications where moving steel cable must be measured, monitored, or controlled. Detector consists of Hall-effect magnetic sensor located close to cable. Magnetic markings on cable are converted to electrical signals. Signals are filtered, amplified, and can actuate alarm.
Lee, R. D.↗
Zero-torque spanner wrench
Wrench converts gripping action of hand to rotary motion without imparting reactive moments or forces on part being turned or on operator. Wrench should be useful in undersea operations and other delicate work where reactive forces and torques have to be controlled. In design for valve tightening, tool resembles cross between conventional spanner wrench and pilers. One handle engages valve body; second handle has ratchet pawl that engages toothed coupling ring on perimeter of valve handle. When operator squeezes wrench handles, valve handle rotates with respect to valve body.
Friedell, M. V.↗
Interlocking wedge joint is easily assembled
Wedge joint links structural members in manual, remote, or automated assemblies. Joint is simple enough to be assembled by undersea divers, workers in nuclear reactors, and other wearing gloves or bulky clothing. Combination of wedging angles on parts overcomes structural misalinements and forces assembly into true position as locking sleeve moves into place. Joint transmits tension, compression, bending moments and torsion and is inherently insensitive to thermal excursions, vibration, and machining tolerance buildup.
Long, M. J.↗
Integrated Structural and Cable Connector
Ball-and-socket coupling includes fiber-optic cable. Three steps couple two parts of fiber-optic cable: ball is inserted into socket; cone is released in, and cable moves toward plug. Sleeve is pulled to end of its travel and cable and plug are mated. Device is a quick-connect/disconnect coupling that has application in hazardous environments, such as space, undersea and nuclear installations.
Totah, R. S.↗
Device Acquires, Orients, and Clamps
Proposed mechanism secures an object in three stages: initial acquisition, alinement, and clamping. Originally developed to aid Space Shuttle crews in retrieving satellites, concept may also be useful in undersea work or as a machine-tool attachment for quick changes of tools.
Pruett, E. C.↗
Explosive Separation of Electrical Connectors
Concept proposed for separating electrical cable that connects the Space Shuttle to deployable payloads could be used to sever electrical connections in other inaccessible environments. Although triggered explosively, connector would not release combustion products that could damage sensitive electronics. Suggested applications are undersea exploration, chemical processing and areas with high levels of radiation.
Barbour, R. T.↗
Robots in modern industry
A survey is presented of robotic device types and capabilities, and an assessment is made of the relative benefits they confer in present and planned numbers on such industrial countries as Japan, the U.S., and West Germany. Attention is also given to possible social impacts of large-scale implementation, and the need for close consultation between management and labor is stressed. It is reported that, while the hourly cost of robot labor remained at between $4.00 and $4.60 over the period 1960-present, human hourly labor costs (including fringe benefits) have risen from less than $4.00 to nearly $17.00. Among the types of devices described are: (1) remotely controlled manipulator vehicles; (2) undersea robotic craft; (3) servo-controlled robots; and (4) articulated robots. Also covered are robot programming languages derived from such standard languages as ALGOL, FORTRAN, and BASIC.
Heer, E.↗
Robots and manipulators
Robots are defined and described for various applications. The key feature of robots is programmability, which allows teleoperation, repair work in hazardous situations, and unsupervised operation in industrial functions. Two types of robots now exist: special purpose, with equipment for a specific task; and general purpose, which include nonservo-controlled robots, servo-controlled robots, and sensory control robots. Sensory robots are the most sophisticated, and are equipped with both internal control sensors and external sensors such as TV cameras, pressure detectors, laser range finders, etc. Sensory feedback to a central computer enables the robots to make appropriate modifications to the control program to adapt to new situations. Pattern recognition and scans for size are features of the TV sensors, and programs to develop a universal effector (hand) are outlined. Finally, robot programming in terms of manual, walkthrough, and textual methods are described, and the potential uses of robots for space and undersea construction and repair are discussed.
Heer, E.↗