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At least 595 records · Page 33

Space station proximity operations and window design

On-orbit proximity operations (PROX-OPS) consist of all extravehicular activity (EVA) within 1 km of the space station. Because of the potentially large variety of PROX-OPS, very careful planning for space station windows is called for and must consider a great many human factors. The following topics are discussed: (1) basic window design philosophy and assumptions; (2) the concept of the local horizontal - local vertical on-orbit; (3) window linear dimensions; (4) selected anthropomorphic considerations; (5) displays and controls relative to windows; and (6) full window assembly replacement.

Haines, Richard F.↗

Method and apparatus for configuration control of redundant robots

A method and apparatus to control a robot or manipulator configuration over the entire motion based on augmentation of the manipulator forward kinematics is disclosed. A set of kinematic functions is defined in Cartesian or joint space to reflect the desirable configuration that will be achieved in addition to the specified end-effector motion. The user-defined kinematic functions and the end-effector Cartesian coordinates are combined to form a set of task-related configuration variables as generalized coordinates for the manipulator. A task-based adaptive scheme is then utilized to directly control the configuration variables so as to achieve tracking of some desired reference trajectories throughout the robot motion. This accomplishes the basic task of desired end-effector motion, while utilizing the redundancy to achieve any additional task through the desired time variation of the kinematic functions. The present invention can also be used for optimization of any kinematic objective function, or for satisfaction of a set of kinematic inequality constraints, as in an obstacle avoidance problem. In contrast to pseudoinverse-based methods, the configuration control scheme ensures cyclic motion of the manipulator, which is an essential requirement for repetitive operations. The control law is simple and computationally very fast, and does not require either the complex manipulator dynamic model or the complicated inverse kinematic transformation. The configuration control scheme can alternatively be implemented in joint space.

Seraji, Homayoun↗

NASA Graduate Student Researchers Program (GSRP)

The primary area of research that Dr. Prinzel conducted was concerned with the effects of automation on the ability to perform various tasks which simulated those performed in an airplane cockpit. While automation is generally considered to be a positive addition to the cockpit, it also has some negative effects. The primary negative effect is related to the decrease in the number of tasks the pilot needs to perform. Having less to do can actually result in a decreased ability to be aware of and react to ongoing events, some of which may be critical to flight operations. The research was concerned with the ability of adaptive automation using psychophysiological measures, specifically brain waves (i.e. EEG), to control the degree to which tasks are automated as a function of the subject's level of alertness. Dr. Prinzel conducted and participated in the running of a number of experiments that examined adaptive automation in conjunction with the MultiAttribute Task Battery. Since there has been very little research conducted in this area, experiments needed to be conducted which established basic parameters for future research. The experiments that Dr. Prinzel was involved with examined the optimum number and location of electrode sites for recording EEG, the types of tasks which could readily be automated, the number of tasks which could be controlled by the adaptive automation system, and various EEG recording parameters which affect system functioning. A secondary area in which Dr. Prinzel conducted research concerned performance on vigiliance tasks. This research, while not initially directly related to adaptive automation, does have implication for such systems. Vigilance requires long term monitoring which often leads to the kind of negative effects seen when automation is introduced into a work environment. A third area of research in which Dr. Prinzel conducted research was concerned with gender differences in cognitive functioning and how that related to strategies for performing various tasks.

Freeman, Frederick G.↗

Effectiveness of basic display augmentation in vehicular control by visual field cues

The paper investigates the effectiveness of different basic display augmentation concepts - fixed reticle, velocity vector, and predicted future vehicle path - for RPVs controlled by a vehicle-mounted TV camera. The task is lateral manual control of a low flying RPV along a straight reference line in the presence of random side gusts. The man-machine system and the visual interface are modeled as a linear time-invariant system. Minimization of a quadratic performance criterion is assumed to underlie the control strategy of a well-trained human operator. The solution for the optimal feedback matrix enables the explicit computation of the variances of lateral deviation and directional error of the vehicle and of the control force that are used as performance measures.

Grunwald, A. J.↗

Laminar flow integration: Flight tests status and plans

Under the Aircraft Energy Efficiency - Laminar Flow Control Program, there are currently three flight test programs under way to address critical issues concerning laminar flow technology application to commercial transports. The Leading-Edge Flight Test (LEFT) with a JetStar aircraft is a cooperative effort with the Ames/Dryden Flight Research Facility to provide operational experience with candidate leading-edge systems representative of those that might be used on a future transport. In the Variable Sweep Transition Flight Experiment (VSTFE), also a cooperative effort between Langley and Ames/Dryden, basic transition data on an F-14 wing with variable sweep will be obtained to provide a data base for laminar flow wing design. Finally, under contract to the Boeing Company, the acoustic environment on the wing of a 757 aircraft will be measured and the influence of engine noise on laminar flow determined with a natural laminar flow glove on the wing. The status and plans for these programs are reported.

Wagner, R. D.↗

What procedure to choose while designing a fuzzy control? Towards mathematical foundations of fuzzy control

Fuzzy control has been successfully applied in industrial systems. However, there is some caution in using it. The reason is that it is based on quite reasonable ideas, but each of these ideas can be implemented in several different ways, and depending on which of the implementations chosen different results are achieved. Some implementations lead to a high quality control, some of them not. And since there are no theoretical methods for choosing the implementation, the basic way to choose it now is experimental. But if one chooses a method that is good for several examples, there is no guarantee that it will work fine in all of them. Hence the caution. A theoretical basis for choosing the fuzzy control procedures is provided. In order to choose a procedure that transforms a fuzzy knowledge into a control, one needs, first, to choose a membership function for each of the fuzzy terms that the experts use, second, to choose operations of uncertainty values that corresponds to 'and' and 'or', and third, when a membership function for control is obtained, one must defuzzy it, that is, somehow generate a value of the control u that will be actually used. A general approach that will help to make all these choices is described: namely, it is proved that under reasonable assumptions membership functions should be linear or fractionally linear, defuzzification must be described by a centroid rule and describe all possible 'and' and 'or' operations. Thus, a theoretical explanation of the existing semi-heuristic choices is given and the basis for the further research on optimal fuzzy control is formulated.

Kreinovich, Vladik YA.↗

Equipment management user's handbook for property custodians

The NASA Equipment Management User's Handbook for Property Custodians is issued as an instructional guide for personnel designated as property custodians and technical personnel involved in the acquisition, management, and use of NASA-owned equipment. This handbook provides general information and basic operational procedures for processing equipment transactions through the agency-wide NASA Equipment Management System (NEMS). Each NASA installation must prepare supplementary instructions for local requirements beyond the scope of NASA-wide policies and procedures contained herein, or as specified for local implementation in NHB 4200.1, 'NASA Equipment Management Manual.' NHB 4200.1 sets forth policy, uniform performance standards, and procedural guidance to NASA personnel for the acquisition, management, and use of NASA-owned equipment. This handbook is a controlled document, issued in loose-leaf form and revised by page changes. Additional copies for internal use may be obtained through normal distribution.

Source record↗

Putting Our Industry's Data to Work: A Case Study of Large-Scale Data Aggregation: Preprint

With increasing deployment of Advanced Metering Infrastructure (AMI), Building Automation System (BAS) controls, Internet of Things (IoT) network devices, and data-driven evaluation, measurement, and verification studies, the building sector is currently generating a staggering amount of energy-related data. In the right hands, these data sets can contribute to increased comfort and energy savings for building occupants and a more reliable electrical grid; however, due to a combination of factors, including significant privacy concerns, much of the data that are presently generated and stored are not used outside of basic operational applications. In the past year, our team has dedicated over 2,000 person-hours to accessing building energy data for a project funded by the U.S. Department of Energy (DOE) Building Technologies Office. We sought whole-building or end-use (e.g., lighting) timeseries data at the individual-building or equipment level where possible or aggregated information, such as timeseries averages and quartiles by building type (e.g., office, retail, hospital), where sharing individual building information was not an option. We are additionally working with IoT and BAS data sets to derive information important to the project. We have assembled an extensive data set that will enable the development of publicly available end-use load profiles to benefit the U.S. building and electricity industries. Here we present an overview of the data set that we have assembled to date, the motivators and approaches that got us here, and the lessons we learned through our efforts. We also discuss work underway that presents additional options for future data access.

building energy data↗

Industry Initiated Core Safety Attributes for Human Spaceflight for the 7th IAASS Conference

Now that the NASA Commercial Crew Program (CCP) is beginning its full certification contract for crew transportation to the International Space Station (ISS), is it time for industry to embrace a minimum set of core safety attributes? Those attributes can then be evolved into an industry-led set of basic safety standards and requirements. After 50 years of human space travel sponsored by governments, there are two basic conditions that now exist within the international space industry. The first, there is enough of a space-faring history to encourage the space industry to design, develop and operate human spaceflight systems without government contracts for anything other than services. Second, industry is capable of defining and enforcing a set of industry-based safety attributes and standards for human spaceflight to low-Earth orbit (LEO). This paper will explore both of these basic conditions with a focus on the safety attributes and standards. In the United States, the Federal Aviation Administration (FAA) is now starting to dialogue with industry about the basic safety principles and attributes needed for potential future regulatory oversight. This process is not yet formalized and will take a number of years once approval is given to move forward. Therefore, throughout the next few years, it is an excellent time and opportunity for industry to collaborate together and develop the core set of attributes and standards. As industry engages and embraces a common set of safety attributes, then government agencies, like the FAA and NASA can use that industry-based product to strengthen their efforts on a safe commercial spaceflight foundation for the future. As the commercial space industry takes the lead role in establishing core safety attributes, and then enforcing those attributes, the entire planet can move away from governmental control of design and development and let industry expand safe and successful space operations in LEO. At that point the governmental agencies can focus on oversight of the industries' defined standards and enforcement for common welfare of the space-faring populous and overall public safety.

crew transportation↗

LANDSAT-D ground segment operations plan, revision A

The basic concept for the utilization of LANDSAT ground processing resources is described. Only the steady state activities that support normal ground processing are addressed. This ground segment operations plan covers all processing of the multispectral scanner and the processing of thematic mapper through data acquisition and payload correction data generation for the LANDSAT 4 mission. The capabilities embedded in the hardware and software elements are presented from an operations viewpoint. The personnel assignments associated with each functional process and the mechanisms available for controlling the overall data flow are identified.

Evans, B.↗

Multibus-based parallel processor for simulation

A Multibus-based parallel processor simulation system is described. The system is intended to serve as a vehicle for gaining hands-on experience, testing system and application software, and evaluating parallel processor performance during development of a larger system based on the horizontal/vertical-bus interprocessor communication mechanism. The prototype system consists of up to seven Intel iSBC 86/12A single-board computers which serve as processing elements, a multiple transmission controller (MTC) designed to support system operation, and an Intel Model 225 Microcomputer Development System which serves as the user interface and input/output processor. All components are interconnected by a Multibus/IEEE 796 bus. An important characteristic of the system is that it provides a mechanism for a processing element to broadcast data to other selected processing elements. This parallel transfer capability is provided through the design of the MTC and a minor modification to the iSBC 86/12A board. The operation of the MTC, the basic hardware-level operation of the system, and pertinent details about the iSBC 86/12A and the Multibus are described.

Ogrady, E. P.↗

Retransmission error control with memory

In this paper, an error control technique that is a basic improvement over automatic-repeat-request ARQ is presented. Erroneously received blocks in an ARQ system are used for error control. The technique is termed ARQ-with-memory (MRQ). The general MRQ system is described, and simple upper and lower bounds are derived on the throughput achievable by MRQ. The performance of MRQ with respect to throughput, message delay and probability of error is compared to that of ARQ by simulating both systems using error data from a VHF satellite channel being operated in the ALOHA packet broadcasting mode.

Sindhu, P. S.↗

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗

Synthetic Jets in Quiescent Air

An oscillatory jet with zero net mass flow is generated by a cavity-pumping actuator. Among the three test cases selected for the Langley CFD validation workshop to assess the current CFD capabilities to predict unsteady flow fields, this basic oscillating jet flow field is the least complex and is selected as the first test case. Increasing in complexity, two more cases studied include jet in cross flow boundary layer and unsteady flow induced by suction and oscillatory blowing with separation control geometries. In this experiment, velocity measurements from three different techniques, hot-wire anemometry, Laser Doppler Velocimetry (LDV) and Particle Image Velocimetry (PIV), documented the synthetic jet flow field. To provide boundary conditions for computations, the experiment also monitored the actuator operating parameters including diaphragm displacement, internal cavity pressure, and internal cavity temperature.

Yao, C. S.↗

Long-Wavelength Infrared (LWIR) Quantum Dot Infrared Photodetector (QDIP) Focal Plane Array

We have exploited the artificial atomlike properties of epitaxially self-assembled quantum dots for the development of high operating temperature long wavelength infrared (LWIR) focal plane arrays. Quantum dots are nanometer-scale islands that form spontaneously on a semiconductor substrate due to lattice mismatch. QDIPs are expected to outperform quantum well infrared detectors (QWIPs) and are expected to offer significant advantages over II-VI material based focal plane arrays. QDIPs are fabricated using robust wide bandgap III-V materials which are well suited to the production of highly uniform LWIR arrays. We have used molecular beam epitaxy (MBE) technology to grow multi-layer LWIR quantum dot structures based on the InAs/InGaAs/GaAs material system. JPL is building on its significant QWIP experience and is basically building a Dot-in-the-Well (DWELL) device design by embedding InAs quantum dots in a QWIP structure. This hybrid quantum dot/quantum well device offers additional control in wavelength tuning via control of dot-size and/or quantum well sizes. In addition the quantum wells can trap electrons and aide in ground state refilling. Recent measurements have shown a 10 times higher photoconductive gain than the typical QWIP device, which indirectly confirms the lower relaxation rate of excited electrons (photon bottleneck) in QDPs. Subsequent material and device improvements have demonstrated an absorption quantum efficiency (QE) of approx. 3%. Dot-in-the-well (DWELL) QDIPs were also experimentally shown to absorb both 45 deg. and normally incident light. Thus we have employed a reflection grating structure to further enhance the quantum efficiency. JPL has demonstrated wavelength control by progressively growing material and fabricating devices structures that have continuously increased in LWIR response. The most recent devices exhibit peak responsivity out to 8.1 microns. Peak detectivity of the 8.1 micrometer devices has reached approx. 1 x 10(exp 10) Jones at 77 K. Furthermore, we have fabricated the first long-wavelength 640x512 pixels QDP focal plane array. This QDIP focal plane may has produced excellent infrared imagery with noise equivalent temperature difference of 40 mK at 60K operating temperature. In addition, we have managed to increase the quantum efficiency of these devices from 0.1% (according to the data published in literature) to 20% in discrete devices. This is a factor of 200 increase in quantum efficiency. With these excellent results, for the first time QDIP performance has surpassed the QWIP performance. Our goal is to operate these long-wavelength detectors at much higher operating temperature than 77K which can be passively achieved in space. This will be a huge leap in high performance infrared detectors specifically applicable to space science instruments.

infrared imaging↗

The first Spacelab mission

The purpose of Spacelab, an Orbiter-mounted NASA/ESA laboratory, is to include in the Space Transportation System (STS) a payload carrier with maximum flexibility to accommodate multidisciplinary scientific payloads. The major Spacelab configurations obtained by combination of two basic elements, the module and pallet, are described along with the anticipated program of experiments and payloads, and mission management general concept. The first Spacelab 7-day mission is scheduled for flight in the second half of 1980, with the primary objective being to verify system performance capabilities. Detailed attention is given to the payload mission management responsibilities for the first flight, including program control, science management, payload interfaces, integrated payload mission planning, integration requirements, payload specialist training, payload integration, launch site integration, payload flight/mission operations, and postmission activities. The Spacelab configuration (including the long module and one pallet) and the overall schedule for this mission are presented.

Pace, R. E., Jr.↗

Retrievable Payload Carrier (RPC): Next generation Long Duration Exposure Facility

The Retrievable Payload Carrier (RPC) is described which is a multi-experiment, free-flyer spacecraft being privately developed to make in-space experimentation more accessible and economically feasible for research and development organizations. The carrier concept was derived from NASA's highly successful and flight proven Long Duration Exposure Facility (LDEF). The LDEF capabilities were enhanced to meet new customer requirements. This reusable payload carrier is planned for launch and retrieval by the space shuttle on a regular basis. The RPC's compact design facilitates flexible manifesting of the shuttle cargo bay space, thereby, permitting timely launches and retrievals. The vehicle is designed so that either the entire carrier can be retrieved from orbit, or individual experiment pallets can be removed and replaced in orbit. This gives customers even greater control over their experiment recoveries. A fully operational RPC System consists of: (1) a carrier spacecraft; (2) a ground control station for communication with customer payloads and the carrier; (3) a ground processing facility to provide refurbishment, final checkout, and integration of customer payloads and the carrier; and (4) the personnel required to support both the development and operation phases of the program. Customer payloads will fly 6 to 18 month missions, or longer, as required. Spreading launch, operations, and retrieval costs over multiple experimental payloads results in minimized customer costs. The RPC Program's initial objective is to operate a simple carrier system which meets basic customer service needs.

Perry, Arthur T.↗

Modified optimal control pilot model for computer-aided design and analysis

This paper presents the theoretical development of a modified optimal control pilot model based upon the optimal control model (OCM) of the human operator developed by Kleinman, Baron, and Levison. This model is input compatible with the OCM and retains other key aspects of the OCM, such as a linear quadratic solution for the pilot gains with inclusion of control rate in the cost function, a Kalman estimator, and the ability to account for attention allocation and perception threshold effects. An algorithm designed for each implementation in current dynamic systems analysis and design software is presented. Example results based upon the analysis of a tracking task using three basic dynamic systems are compared with measured results and with similar analyses performed with the OCM and two previously proposed simplified optimal pilot models. The pilot frequency responses and error statistics obtained with this modified optimal control model are shown to compare more favorably to the measured experimental results than the other previously proposed simplified models evaluated.

Davidson, John B.↗