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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 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Inverse kinematic-based robot control

A fundamental problem which must be resolved in virtually all non-trivial robotic operations is the well-known inverse kinematic question. More specifically, most of the tasks which robots are called upon to perform are specified in Cartesian (x,y,z) space, such as simple tracking along one or more straight line paths or following a specified surfacer with compliant force sensors and/or visual feedback. In all cases, control is actually implemented through coordinated motion of the various links which comprise the manipulator; i.e., in link space. As a consequence, the control computer of every sophisticated anthropomorphic robot must contain provisions for solving the inverse kinematic problem which, in the case of simple, non-redundant position control, involves the determination of the first three link angles, theta sub 1, theta sub 2, and theta sub 3, which produce a desired wrist origin position P sub xw, P sub yw, and P sub zw at the end of link 3 relative to some fixed base frame. Researchers outline a new inverse kinematic solution and demonstrate its potential via some recent computer simulations. They also compare it to current inverse kinematic methods and outline some of the remaining problems which will be addressed in order to render it fully operational. Also discussed are a number of practical consequences of this technique beyond its obvious use in solving the inverse kinematic question.

Wolovich, W. A.↗
NASA NTRS1989

The 3-D vision system integrated dexterous hand

Most multifingered hands use a tendon mechanism to minimize the size and weight of the hand. Such tendon mechanisms suffer from the problems of striction and friction of the tendons resulting in a reduction of control accuracy. A design for a 3-D vision system integrated dexterous hand with motor control is described which overcomes these problems. The proposed hand is composed of three three-jointed grasping fingers with tactile sensors on their tips, a two-jointed eye finger with a cross-shaped laser beam emitting diode in its distal part. The two non-grasping fingers allow 3-D vision capability and can rotate around the hand to see and measure the sides of grasped objects and the task environment. An algorithm that determines the range and local orientation of the contact surface using a cross-shaped laser beam is introduced along with some potential applications. An efficient method for finger force calculation is presented which uses the measured contact surface normals of an object.

Luo, Ren C.↗
NASA NTRS1990

Generalized compliant motion task description and execution within a complete telerobotic system

A motion primitive for use in compliant motion robot task execution is described. The primitive has a rich input parameter set to provide for execution of a variety of specific tasks such as door opening, crank turning, bolt seating and turning, pushing, sliding, pin insertion/removal, and leveling, as well as termination conditions which specify conditions for ending the motion, such as allowable position and force error bounds. A split rate force control technique is used for force control. Force and torque data from a six-axis force sensor are read, and gravity compensation using load mass properties is done to determine contact forces.

Backes, Paul G.↗
NASA NTRS1992

Mission Control Center enhancement opportunities in the 1990's

The purpose of this paper is to present a framework for understanding the major enhancement opportunities for Air Force Mission Control Center/Test Support Centers (MCC's/TSC's) in the 1990's. Much of this paper is based on the findings of Study 232 and work currently underway in Study 2-6 for the Air Force Systems Command, Space System Division, Network Program Office. In this paper, we will address MCC/TSC enhancement needs primarily from the operator perspective, in terms of the increased capabilities required to improve space operations task performance.

Hartman, Wayne↗
NASA NTRS2009

Spatial Cognitive Performance During Adaptation to Conflicting Tilt-Translation Stimuli as a Sensorimotor Spaceflight Analog

The need to resolve new patterns of sensory feedback in altered gravitoinertial environments requires cognitive processes to develop appropriate reference frames for spatial orientation awareness. The purpose of this study was to examine deficits in spatial cognitive performance during adaptation to conflicting tilt-translation stimuli. Fourteen subjects were tilted within a lighted enclosure that simultaneously translated at one of 3 frequencies. Tilt and translation motion was synchronized to maintain the resultant gravitoinertial force aligned with the longitudinal body axis, resulting in a mismatch analogous to spaceflight in which the canals and vision signal tilt while the otoliths do not. Changes in performance on different spatial cognitive tasks were compared 1) without motion, 2) with tilt motion alone (pitch at 0.15, 0.3 and 0.6 Hz or roll at 0.3 Hz), and 3) with conflicting tilt-translation motion. The adaptation paradigm was continued for up to 30 min or until the onset of nausea. The order of the adaptation conditions were counter-balanced across 4 different test sessions. There was a significant effect of stimulus frequency on both motion sickness and spatial cognitive performance. Only 3 of 14 were able to complete the full 30 min protocol at 0.15 Hz, while 7 of 14 completed 0.3 Hz and 13 of 14 completed 0.6 Hz. There were no changes in simple visual-spatial cognitive tests, e.g., mental rotation or match-to-sample. There were significant deficits during 0.15 Hz adaptation in both accuracy and reaction time during a spatial reference task in which subjects are asked to identify a match of a 3D reoriented cube assemblage. Our results are consistent with antidotal reports of cognitive impairment that are common during sensorimotor adaptation with G-transitions. We conclude that these cognitive deficits stem from the ambiguity of spatial reference frames for central processing of inertial motion cues.

Kayanickupuram, A. J.↗
NASA NTRS2000

Flying Qualities Evaluation of a Commuter Aircraft With an Ice Contaminated Tailplane

During the NASA/FAA (Federal Aviation Administration) Tailplane Icing Program, pilot evaluations of aircraft flying qualities were conducted with various ice shapes attached to the horizontal tailplane of the NASA Twin Otter Icing Research Aircraft. Initially, only NASA pilots conducted these evaluations, assessing the differences in longitudinal flight characteristics between the baseline or clean aircraft, and the aircraft configured with an Ice Contaminated Tailplane (ICT). Longitudinal tests included Constant Airspeed Flap Transitions, Constant Airspeed Thrust Transitions, zero-G Pushovers, Repeat Elevator Doublets, and Simulated Approach and Go-Around tasks. Later in the program, guest pilots from government and industry were invited to fly the NASA Twin Otter configured with a single full-span artificial ice shape attached to the leading edge of the horizontal tailplane. This shape represented ice formed due to a 'Failed Boot' condition, and was generated from tests in the Glenn Icing Research Tunnel on a full-scale tailplane model. Guest pilots performed longitudinal handling tests, similar to those conducted by the NASA pilots, to evaluate the ICT condition. In general, all pilots agreed that longitudinal flying qualities were degraded as flaps were lowered, and further degraded at high thrust settings. Repeat elevator doublets demonstrated reduced pitch damping effects due to ICT, which is a characteristic that results in degraded flying qualities. Pilots identified elevator control force reversals (CFR) in zero-G pushovers at a 20 deg flap setting, a characteristic that fails the FAR 25 no CFR certification requirement. However, when the same pilots used the Cooper-Harper rating scale to perform a simulated approach and go-around task at the 20 deg flap setting, they rated the airplane as having Level I and Level II flying qualities respectively. By comparison, the same task conducted at the 30 deg flap setting, resulted in Level II flying qualities for the approach portion, and Level III for the go-around portion.The results of this program indicate that safe and acceptable flying qualities with an ICT condition, can be effectively assessed by task-oriented pilot maneuvers. In addition, other maneuvers such as repeat elevator doublets provide good qualitative and quantitative assessments of pitch damping and elevator effectiveness, which are characteristics that correlate well with pilot task ratings. The results of this testing indicate that the FAR 25 zero-G pushover maneuver, which requires no CFR during its execution, may be an overly conservative pass/fail criteria for aircraft certification.

Ranaudo, Richard J.↗
NASA NTRS1978

Dual-loop model of the human controller

A dual-loop model of the human controller in single-axis compensatory tracking tasks is introduced. This model possesses an inner-loop closure that involves feeding back that portion of controlled element output rate that is due to control activity. A novel feature of the model is the explicit appearance of the human's internal representation of the manipulator-controlled element dynamics in the inner loop. The sensor inputs to the human controller are assumed to be system error and control force. The former can be sensed via visual, aural, or tactile displays, whereas the latter is assumed to be sensed in kinesthetic fashion. A set of general adaptive characteristics for the model is hypothesized, including a method for selecting simplified internal models of the manipulator-controlled element dynamics. It is demonstrated that the model can produce controller describing functions that closely approximate those measured in four laboratory tracking tasks in which the controlled element dynamics vary considerably in terms of ease of control. An empirically derived expression for the normalized injected error remnant spectrum is introduced.

Hess, R. A.↗
NASA NTRS1984

Aeroelastic formulations for turbomachines and propellers

The task of the aeroelastic analysis is to combine the formulations of the structural dynamic and unsteady aerodynamic models in a consistent manner, to solve the resulting aeroelastic model to determine the dynamic behavior (e.g., stability, forced vibration), and to interpret those results for both qualitative trends, and quantitative detail. A review of the various formulations of the aeroelastic problem and a comparison of their relative advantages will be the subject of this paper. Specifically, the topics to be addressed are: the formulation of the aeroelastic problem, including a summary of the relations necessary to transform various diverse structural and aerodynamic models to a consistent notation for oscillatory motion; an approximate transformation for arbitrary temporal behavior; and a brief review of the applicable solution techniques.

Crawley, E. F.↗
NASA NTRS1993

Rarefied-flow shuttle aerodynamics flight model

A model of the Shuttle Orbiter rarefied-flow aerodynamic force coefficients has been derived from the ratio of flight acceleration measurements. The in-situ, low frequency, low level acceleration measurements are made during atmospheric reentry. The experiment equipment designed and used for this task is the High Resolution Accelerometer Package (HiRAP), one of the sensor packages in the Orbiter Experiments Program. To date, 12 HiRAP reentry mission data sets spanning a period of about 10 years have been processed. The HiRAP derived aerodynamics model is described in detail. The model includes normal and axial hypersonic continuum coefficient equations as functions of angle-of-attack, body flap deflection, and elevon deflection. Normal and axial free molecule flow coefficient equations as a function of angle-of-attack are also presented, along with flight derived rarefied-flow transition bridging formulas. Comparisons are made between the aerodynamics model and data from the Orbiter Operational Aerodynamic Design Data Book, and applicable computer simulations and wind-tunnel data.

Blanchard, Robert C.↗
NASA NTRS1998

A link-segment model of upright human posture for analysis of head-trunk coordination

Sensory-motor control of upright human posture may be organized in a top-down fashion such that certain head-trunk coordination strategies are employed to optimize visual and/or vestibular sensory inputs. Previous quantitative models of the biomechanics of human posture control have examined the simple case of ankle sway strategy, in which an inverted pendulum model is used, and the somewhat more complicated case of hip sway strategy, in which multisegment, articulated models are used. While these models can be used to quantify the gross dynamics of posture control, they are not sufficiently detailed to analyze head-trunk coordination strategies that may be crucial to understanding its underlying mechanisms. In this paper, we present a biomechanical model of upright human posture that extends an existing four mass, sagittal plane, link-segment model to a five mass model including an independent head link. The new model was developed to analyze segmental body movements during dynamic posturography experiments in order to study head-trunk coordination strategies and their influence on sensory inputs to balance control. It was designed specifically to analyze data collected on the EquiTest (NeuroCom International, Clackamas, OR) computerized dynamic posturography system, where the task of maintaining postural equilibrium may be challenged under conditions in which the visual surround, support surface, or both are in motion. The performance of the model was tested by comparing its estimated ground reaction forces to those measured directly by support surface force transducers. We conclude that this model will be a valuable analytical tool in the search for mechanisms of balance control.

NASA Discipline Neuroscience↗
NASA NTRS2004

Perceptual learning through optimization of attentional weighting: human versus optimal Bayesian learner

Human performance in visual detection, discrimination, identification, and search tasks typically improves with practice. Psychophysical studies suggest that perceptual learning is mediated by an enhancement in the coding of the signal, and physiological studies suggest that it might be related to the plasticity in the weighting or selection of sensory units coding task relevant information (learning through attention optimization). We propose an experimental paradigm (optimal perceptual learning paradigm) to systematically study the dynamics of perceptual learning in humans by allowing comparisons to that of an optimal Bayesian algorithm and a number of suboptimal learning models. We measured improvement in human localization (eight-alternative forced-choice with feedback) performance of a target randomly sampled from four elongated Gaussian targets with different orientations and polarities and kept as a target for a block of four trials. The results suggest that the human perceptual learning can occur within a lapse of four trials (<1 min) but that human learning is slower and incomplete with respect to the optimal algorithm (23.3% reduction in human efficiency from the 1st-to-4th learning trials). The greatest improvement in human performance, occurring from the 1st-to-2nd learning trial, was also present in the optimal observer, and, thus reflects a property inherent to the visual task and not a property particular to the human perceptual learning mechanism. One notable source of human inefficiency is that, unlike the ideal observer, human learning relies more heavily on previous decisions than on the provided feedback, resulting in no human learning on trials following a previous incorrect localization decision. Finally, the proposed theory and paradigm provide a flexible framework for future studies to evaluate the optimality of human learning of other visual cues and/or sensory modalities.

Non-NASA Center↗
NASA NTRS1975

Comparative airship economics

As future LTA vehicles will be doomed right from the start if they do not fill a real need, some differences in transport philosophy between design engineers on the one hand and freight forwarders on the other are discussed. Watching rising costs of energy necessary to transport our cargo from A to B, and realizing that this price of energy is always included in the product's selling price at B, the apparent correlation between installed specific tractive force per unit of cargo weight and pure freighting cost are contemplated. Very speedy and progressive Airship designs are mistrusted, because the key to any low cost transport tool is to design it for its given task only, without any unnecessary sophistication.

Harthoorn, R.↗
NASA NTRS1985

Motion analysis report

Human motion analysis is the task of converting actual human movements into computer readable data. Such movement information may be obtained though active or passive sensing methods. Active methods include physical measuring devices such as goniometers on joints of the body, force plates, and manually operated sensors such as a Cybex dynamometer. Passive sensing de-couples the position measuring device from actual human contact. Passive sensors include Selspot scanning systems (since there is no mechanical connection between the subject's attached LEDs and the infrared sensing cameras), sonic (spark-based) three-dimensional digitizers, Polhemus six-dimensional tracking systems, and image processing systems based on multiple views and photogrammetric calculations.

Badler, N. I.↗
NASA NTRS1996

Recruitment of the Rhesus soleus and medial gastrocnemius before, during and after spaceflight

Electromyograms were recorded from the soleus and medial gastrocnemius muscles and tendon force from the medial gastrocnemius muscle of 2 juvenile Rhesus monkeys before, during and after Cosmos flight 2229 and of ground control animals. Recording sessions were made while the Rhesus were performing a foot pedal motor task. Preflight testing indicated normal patterns of recruitment between the soleus and medial gastrocnemius, i.e. a higher level of recruitment of the soleus compared to the medial gastrocnemius during the task. Recording began two days into the spaceflight and showed that the media gastrocnemius was recruited preferentially over the soleus. This observation persisted throughout the flight and for the 2 week period of postflight testing. These data indicate a significant change in the relative recruitment of slow and fast extensor muscles under microgravity conditions. The appearance of clonic-like activity in one muscle of each Rhesus during flight further suggests a reorganization in the neuromotor system in a microgravity environment.

NASA Discipline Musculoskeletal↗
NASA NTRS2008

Estimation of Nutation Time Constant Model Parameters for On-Axis Spinning Spacecraft

Calculating an accurate nutation time constant for a spinning spacecraft is an important step for ensuring mission success. Spacecraft nutation is caused by energy dissipation about the spin axis. Propellant slosh in the spacecraft fuel tanks is the primary source for this dissipation and can be simulated using a forced motion spin table. Mechanical analogs, such as pendulums and rotors, are typically used to simulate propellant slosh. A strong desire exists for an automated method to determine these analog parameters. The method presented accomplishes this task by using a MATLAB Simulink/SimMechanics based simulation that utilizes the Parameter Estimation Tool.

Schlee, Keith↗
NASA NTRS2010

Use of Dynamic Models and Operational Architecture to Solve Complex Navy Challenges

The United States Navy established 8 Maritime Operations Centers (MOC) to enhance the command and control of forces at the operational level of warfare. Each MOC is a headquarters manned by qualified joint operational-level staffs, and enabled by globally interoperable C41 systems. To assess and refine MOC staffing, equipment, and schedules, a dynamic software model was developed. The model leverages pre-existing operational process architecture, joint military task lists that define activities and their precedence relations, as well as Navy documents that specify manning and roles per activity. The software model serves as a "computational wind-tunnel" in which to test a MOC on a mission, and to refine its structure, staffing, processes, and schedules. More generally, the model supports resource allocation decisions concerning Doctrine, Organization, Training, Material, Leadership, Personnel and Facilities (DOTMLPF) at MOCs around the world. A rapid prototype effort efficiently produced this software in less than five months, using an integrated process team consisting of MOC military and civilian staff, modeling experts, and software developers. The work reported here was conducted for Commander, United States Fleet Forces Command in Norfolk, Virginia, code N5-0LW (Operational Level of War) that facilitates the identification, consolidation, and prioritization of MOC capabilities requirements, and implementation and delivery of MOC solutions.

Grande, Darby↗
NASA NTRS2015

Affordable Development and Demonstration of a Small NTR Engine and Stage: A Preliminary NASA, DOE, and Industry Assessment

In FY11, NASA formulated a plan for Nuclear Thermal Propulsion (NTP) development that included Foundational Technology Development followed by system-level Technology Demonstrations. The ongoing NTP project, funded by NASA's Advanced Exploration Systems (AES) program, is focused on Foundational Technology Development and includes 5 key task activities: (1) Fuel element fabrication and non-nuclear validation testing of heritage fuel options; (2) Engine conceptual design; (3) Mission analysis and engine requirements definition; (4) Identification of affordable options for ground testing; and (5) Formulation of an affordable and sustainable NTP development program. Performance parameters for Point of Departure designs for a small criticality-limited and full size 25 klb (sub f) (kip, or 1000 pound-force)-class engine were developed during FYs 13-14 using heritage fuel element designs for both Rover NERVA (Nuclear Engine for Rocket Vehicle Applications) Graphite Composite (GC) and Ceramic Metal (Cermet) fuel forms. To focus the fuel development effort and maximize use of its resources, the AES program decided, in FY14, that a leader-follower down-selection between GC and cermet fuel was required. An Independent Review Panel (IRP) was convened by NASA and tasked with reviewing the available fuel data and making a recommendation to NASA. In February 2015, the IRP recommended and the AES program endorsed GC as the leader fuel In FY14, a preliminary development schedule DDTE (Design Development Test and Evaluation) plan was produced by GRC (Glenn Research Center), DOE (Department of Energy) and industry for the AES program. Assumptions, considerations and key task activities are presented here. At the direction of NASA HQ (32515), NASA and DOE are to work together to formulate a detailed development plan and schedule allowing the affordable development of a small (7.5-16.5 klbf) GC engine for possible flight technology demonstration (FTD) mission within a 10-year timeframe.

Lunar Flyby Mission↗
NASA NTRS1990

Intelligent Robotic Systems Study (IRSS), phase 2

Under the Intelligent Robotics System Study (IRSS) contract, a generalized robotic control architecture was developed for use with the ProtoFlight Manipulator Arm (PFMA). The controller built for the PFMA provides localized position based force control, teleoperation and advanced path recording and playback capabilities. Various hand controllers can be used with the system in conjunction with a synthetic time delay capability to provide a realistic test bed for typical satellite servicing tasks. The configuration of the IRSS system is illustrated and discussed. The PFMA has six computer controllable degrees of freedom (DOF) plus a seventh manually indexable DOF, making the manipulator a pseudo 7 DOF mechanism. Because the PFMA was not developed to operate in a gravity field, but rather in space, it is counter balanced at the shoulder, elbow and wrist and a spring counterbalance has been added near the wrist to provide additional support. Built with long slender intra-joint linkages, the PFMA has a workspace nearly 2 meters deep and possesses sufficient dexterity to perform numerous satellite servicing tasks. The manipulator is arranged in a shoulder-yaw, pitch, elbow-pitch, and wrist-pitch, yaw, roll configuration, with an indexable shoulder roll joint. Digital control of the PFMA is implemented using a variety of single board computers developed by Heurikon Corporation and other manufacturers. The IRSS controller is designed to be a multi-rate, multi-tasking system. Independent joint servos run at a 134 Hz rate and position based impedance control functions at 67 Hz. Autonomous path generation and hand controller inputs are processed at a 33 Hz.

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