SEARCH · Search NASA
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.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
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.
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.
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.
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.
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.
A study of the environmental constraints and engineering aspects of the acoustic portion of a system for making geodetic ties between undersea reference points and others on land is described. Important areas in which to make such observations initially would be from the California mainland out to oceanic points seaward of the San Andreas fault, and across the Aleutian Trench. The overall approach would be to operate a GPS receiver in a relative positioning (interferometric) mode to provide the long range element of the baseline determination (10 to 1,000 km) and an array of precision sea floor acoustic transponders to link the locally moving sea surface GPS antenna location to a fixed sea floor point. Analyses of various environmental constrants (tides, waves, currents, sound velocity variations) lead to the conclusion that, if one uses a properly designed transponder having a remotely controllable precise retransmission time delay, and is careful with regard to methods for installing these on the sea floor, one should, in many ocean locations, be able to achieve sub-decimeter overall system accuracy. Achievements of cm accuracy or better will require additional understanding of time and space scales of variation of sound velocity structure in the ocean at relevant locations.
This paper reviews the state-of-the-art in fire control techniques and identifies important issues for continuing research, technology, and standards. For the future permanent orbiting facility, the space station, fire prevention and control calls for not only more stringent fire safety due to the long-term and complex missions, but also for simplified and flexible safety rules to accommodate the variety of users. Future research must address a better understanding of the microgravity space environment as it influences fire propagation and extinction and the application of the technology of fire detection, extinguishment, and material assessment. Spacecraft fire safety should also consider the adaptation of methods and concepts derived from aircraft and undersea experience.
Research into the impact of personality factors on groups in various settings is reviewed as an introduction to a brief discussion of personality and group behavior research needs relevant to the space program. Significant findings of some earlier research are summarized, and methodological problems are touched on. The study of intergroup and intragroup conflict in a stressful environment, as exemplified particularly by undersea habitats, is seen as being of consequence for long-term space missions. It is concluded that adequate research can only be conducted as an adjunct to data collection from operational stressful environments, and not from laboratory experiments.
Pellets made from powder mixtures of potassium superoxide, KO2, and calcium superoxide, Ca(O2)2, proven markedly superior to pellets of pure KO2 for adding O2 to and removing CO2 from atmospheric-pressure flow of humidified CO2 in He. Superoxides used extensively to supply O2 and scrub CO2 in variety of ambient-pressure life-support applications, including portable self-contained breathing apparatuses, spacecraft, and undersea submersible craft.
Self-contained undersea working environments with applications to space station EVA environments are discussed. Physiological limitations include decompression, inert gas narcosis, high-pressure nervous system, gas toxicity, and thermal limitations. Work task requirements include drilling support, construction, inspection, and repair. Work systems include hyperbaric diving, atmospheric work systems, tele-operated work systems, and hybrid systems. Each type of work system is outlined in terms of work capabilities, special interface requirements, and limitations. Various operational philosophies are discussed. The evolution of work systems in the subsea industry has been the result of direct operational experience in a competitive market.
The utility of analog environments as sources of data for future, long duration space missions is discussed. The undersea habitat is evaluated on a point-by-point basis for similarities and differences with Space Station and a possible lunar base. The comparability of Antarctic wintering-over stations is also considered. Critical issues for research are described, as well as the requirement that participants be involved in the conduct of meaningful work.
The SKITTER 2 design is a monocoque version of the proposed lunar three-legged walker. By the definition of monocoque, the body and legs are a shell with no internal ribbing or supports added for absorbing stresses. The purpose of the monocoque is to encase the elements used for power transmission, power supply, and control of the motion. The material for the structure is a vinyl ester resin, Derakane 8084. This material is easily formable and locally obtainable. The body consists of a hexagonally shaped cylinder with truncated hexagonal pyramids on the top and botton. The legs are eight inch diameter cylinders. The legs are comprised of a tibia section and a femur section. The SKITTER 2 is powered by six actuators which provide linear forces that are transformed into rotary torques by a series of chains and sprockets. The joints connect the femur to the body and the tibia to the femur. Surrounding the joints are flexible rubber hoses that fully encase the chains and sprockets. The SKITTER 2 is capable of walking upside down, righting itself after being overturned, and has the ability to perform in many environments. Applications for this walker include lunar transport or drilling, undersea exploration, and operation in severe surroundings such as arctic temperatures or high radiation.
In an accepted method of measuring D region electron density with a rocket-borne dc-mode Langmuir probe, the resulting fine-structure signal is modified by a high-pass filter. While this form of data has been successfully used for power spectral analysis, it fails to reveal important spatial domain features without further processing. It is demonstrated that the broadband signal can be recovered by use of a digital filter that corrects for the on-board high-pass filter effects. The D-region broadband structure so recovered for a daytime equatorial flight shows variations in electron density consistent with a model of Kelvin-Helmholtz billows, and not consistent with inertial range turbulence. The isolated regions of irregularity are about 100 m thick near an altitude of 75 km, imbedded in a region with a staircase-structure electron density profile with about 200-m steps. Suggestive similarities to a numerical model of KHI are to undersea observations of KHI-caused microstructure are shown.
Proposed truss joint designed for assembly by robot. Requires only simple motions of end effector of robot, tolerates relatively large initial misalignment of strut, and assembled with little feedback. Principal features of joint: expanding collet latches it to node ball and collet expanded by flexible drive shaft operated by robot. Developed for Space Station, also used for robotic construction in hazardous or undersea locations.
Time delays and limited sensory feedback of remote telerobotic systems tend to disorient teleoperators and dramatically decrease the operator's performance. To remove the effects of time delays, key components were designed and developed of a prototype forward simulation subsystem, the Global-Local Environment Telerobotic Simulator (GLETS) that buffers the operator from the remote task. GLETS totally immerses an operator in a real-time, interactive, simulated, visually updated artificial environment of the remote telerobotic site. Using GLETS, the operator will, in effect, enter into a telerobotic virtual reality and can easily form a gestalt of the virtual 'local site' that matches the operator's normal interactions with the remote site. In addition to use in space based telerobotics, GLETS, due to its extendable architecture, can also be used in other teleoperational environments such as toxic material handling, construction, and undersea exploration.
A robot for space applications will be required to complete a variety of tasks in an uncertain, harsh environment. This fact presents unusual and highly difficult challenges to ensuring the safety of astronauts and keeping the equipment they depend on from becoming damaged. The systematic approach being taken to control hazards that could result from introducing robotics technology in the space environment is described. First, system safety management and engineering principles, techniques, and requirements are discussed as they relate to Shuttle payload design and operation in general. The concepts of hazard, hazard category, and hazard control, as defined by the Shuttle payload safety requirements, is explained. Next, it is shown how these general safety management and engineering principles are being implemented on an actual project. An example is presented of a hazard control system for controlling one of the hazards identified for the Development Test Flight (DTF-1) of NASA's Flight Telerobotic Servicer, a teleoperated space robot. How these schemes can be applied to terrestrial robots is discussed as well. The same software monitoring and control approach will insure the safe operation of a slave manipulator under teleoperated or autonomous control in undersea, nuclear, or manufacturing applications where the manipulator is working in the vicinity of humans or critical hardware.
The effects of technological change in the aerospace workplace on pilot performance are discussed. Attention is given to individual and physiological problems, crew and interpersonal problems, environmental and task problems, organization and management problems, training and intervention problems. A philosophy and conceptual framework for conducting research on these problems are presented and two aerospace studies are examined which investigated: (1) the effect of leader personality on crew effectiveness and (2) the working undersea habitat known as Aquarius.
An account is given of what has been learned from space analog environments, which mimic such significant features of space as isolation, confinement, risk, and deprivation; emphasis is placed on the especially successful environments constituted by extended submarine research, undersea habitats, and Antarctic station wintering. Attention is also given to the advantages and limitations of the use of analog environments for space human factors research, and possibilities for such research efforts' management.