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At least 973 records · Page 54

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NASA NTRS1987

Design of a reconfigurable modular manipulator system

Using manipulators with a fixed configuration for specific tasks is appropriate when the task requirements are known beforehand. However, in less predictable situations, such as an outdoor construction site or aboard a space station, a manipulator system requires a wide range of capabilities, probably beyond the limitations of a single, fixed-configuration manipulator. To fulfill this need, researchers have been working on a Reconfigurable Modular Manipulator System (RMMS). Researchers have designed and are constructing a prototype RMMS. The prototype currently consists of two joint modules and four link modules. The joints utilize a conventional harmonic drive and torque motor actuator, with a small servo amplifier included in the assembly. A brushless resolver is used to sense the joint position and velocity. For coupling the modules together, a standard electrical connector and V-band clamps for mechanical connection are used, although more sophisticated designs are under way for future versions. The joint design yields an output torque to 50 ft-lbf at joint speeds up to 1 radian/second. The resolver and associated electronics have resolutions of 0.0001 radians, and absolute accuracies of plus or minus 0.001 radians. Manipulators configured from these prototype modules will have maximum reaches in the 0.5 to 2 meter range. The real-time RMMS controller consists of a Motorola 68020 single-board computer which will perform real time servo control and path planning of the manipulator. This single board computer communicates via shared memory with a SUN3 workstation, which serves as a software development system and robot programming environment. Researchers have designed a bus communication network to provide multiplexed communication between the joint modules and the computer controller. The bus supports identification of modules, sensing of joint states, and commands to the joint actuator. This network has sufficient bandwidth to allow servo sampling rates in excess of 500 Hz.

Schmitz, D.↗

NASA NTRS1989

Contamination concerns in the modular containerless processing facility

This paper describes the problems of the control and management of contamination in the Modular Containerless Processing Facility (MCPF), that is being currently developed at the JPL for the Space Station, and in the MCPF's precursor version, called the Drop Physics Module (DPM), which will be carried aboard one or more Space Shuttle missions. Attention is given to the identification of contamination sources, their mode of transport to the sample positioned within the chamber, and the protection of the sample, as well as to the mathematical simulatiom of the contaminant transport. It is emphasized that, in order to choose and implement the most appropriate contamination control strategy for each investigator, a number of simplified mathematical simulations will have to be developed, and ground-based contamination experiments will have to be carried out with identical materials.

Seshan, P. K.↗

NASA NTRS1988

Radiometric calibration of the reflective bands of NS001-Thematic Mapper Simulator (TMS) and modular multispectral radiometers (MMR)

The NS001 Thematic Mapper Simulator scanner (TMS) and several modular multispectral radiometers (MMRs) are among the primary instruments used in the First ISLSCP (International Satellite Land Surface Climatology Project) Field Experiment (FIFE). The NS001 has a continuously variable gain setting. Calibration of the NS001 data is influenced by drift in the dark current level of up to six counts during a mirror scan at typical gain settings. The MMR instruments are being used in their 1 deg FOV configuration on the helicopter and 15 deg FOV on the ground.

Markham, Brian L.↗

NASA NTRS1989

The Modular Combustion Facility for the Space Station Laboratory - A Requirements and Capabilities Study

This paper describes a modular combustion facility for the Space Station, designed to provide facility-level services to interchangeable experiment modules, each of which designed specifically for the needs of a particular combustion experiment. The facility-level services are to include computer devices for the data acquisition, experimental control, and data reduction and analysis; the electrical power conversion and control; video cameras and recordings; the cooling-loop supply; waste management; gas supply; precision gas-mixing; and the combustion diagnostics support. Summarized categories of the data base are provided, which were developed to assimilate and to process the responses from the investigators.

Sacksteder, K. R.↗

NASA NTRS1989

Improving the on-board computing capability of the NASA Multimission Modular Spacecraft

This paper presents the development of onboard computing improvements for NASA's Multimission Modular Spacecraft. The first MMS spacecraft being enhanced by an additional flight computer is the Explorer Platform. The selection process for both the flight hardware (MIL-STD-1750A Co-Processor) and flight software (Ada high level language) are discussed, followed by the lessons learned during the last three years.

Scott, Barbara↗

NASA NTRS1989

Initial characterization of a modular heat exchanger with an integral heat pipe

As part of the Civil Space Technology Initiative (CSTI) Advanced Technology program, a conceptual design of the Stirling space engibe (SSE) was generated to develop the technology base needed to meet the long duration, high capacity power requirements for future NASA space missions. The free-piston Stirling engine (FPSE) was chosen as the growth option in the CSTI program. An existing FPSE was modified as a test bed for a modular heat exchanger evaluation. Evaluation of the individual heat pipes before installation in the engine is described.

Schreiber, Jeffrey G.↗

NASA NTRS1990

Thermal grease replacement for the modular power subsystem

A comparative thermal conductance test was conducted to evaluate thermal interface materials for use on the Modular Power Subsystem. Materials tested included three thermal pads, four RTV adhesives, bare metal, and one thermal grease. The tests were conducted in a bell jar at vacuum conditions using a 1400 square centimeter footprint and two relatively low contact pressures, 207 kPa and 620 kPa. Power inputs ranged from 100 to 500 watts, and the thermal interface conductance values ranged from 100 to 1700 W/m2 C for the interstitial materials tested. In general, the thermal pads performed a little better than bare metal, while the RTV adhesives performed significantly better than the bare metal and comparable to the thermal grease.

Lapinski, John R., Jr.↗

NASA NTRS1990

Automatic generation of forward and inverse kinematics for a reconfigurable modular manipulator system

An algorithm is proposed for automatically generating both the forward and inverse kinematics of a serial-link N-degree-of-freedom reconfigurable manipulator (RM). Generation of the kinematic equations that govern a modular manipulator starts with geometric descriptions of the units, or modules, as well as their sequence in the manipulator. This geometric information is used to obtain the Denavit-Hartenberg (DH) parameters of an RM. The DH kinematic parameters are then used to obtain the forward kinematic transformation of the system. The problem of obtaining the inverse kinematics of RMs is addressed, and the idea of scaling an RM to automate the inverse kinematics and make the procedure as general as possible is proposed.

Kelmar, Laura↗

NASA NTRS1991

Modular, Multilayer Perceptron

Combination of proposed modular, multilayer perceptron and algorithm for its operation recognizes new objects after relatively brief retraining sessions. (Perceptron is multilayer, feedforward artificial neural network fully connected and trained via back-propagation learning algorithm.) Knowledge pertaining to each object to be recognized resides in subnetwork of full network, therefore not necessary to retrain full network to recognize each new object.

Cheng, Li-Jen↗

NASA NTRS1990

Modular Containerless Processing Facility

The Modular Containerless Processing Facility (MCPF) of the Space Station Freedom, being developed by the Jet Propulsion Laboratory, is described. The MCPF will be capable of positioning, manipulating, and performing processing operations on samples completely free of container walls. It will be comprised of a host facility and a series of interchangeable plug-in modules. Initial iterations of MCPF modules will be flown on the U.S. Microgravity Laboratory (USML) series of Shuttle flights. The Drop Physics Module schedualed to fly on USML-1 in March 1992 is also considered.

Morrison, Andrew D.↗

NASA NTRS1991

Subscale LOX/hydrogen testing with a modular chamber and a swirl coaxial injector

To support basic injector and chamber technology, the response of a modular calorimeter chamber to an injector with swirl coaxial elements was investigated. The tests supported both the Advanced Launch System (ALS) and the Space Shuttle Main Engine programs. Original test plans included chamber pressures up to 2250 psia, the current ALS engine criteria, but hardware limitations forced conditions to be reduced. With four different chamber configurations, a variety of data was obtained with chamber pressures ranging from 1483 psia to 1679 psia and mixture ratios from 5.24 to 6.90. The swirl coaxial injector showed good chamber wall compatibility, despite misaligned elements, and its high performance was independent of fuel. Heating rates and wall temperatures were acceptable and close to predict profiles, and after scaling to a chamber pressure of 2250 psia, heating rates remained acceptable. In addition, a chamber spool made with the vacuum plasma spray process survived hot-fire testing with no detrimental effects.

Elam, Sandra K.↗

NASA NTRS1992

Modular Heat Exchanger With Integral Heat Pipe

Modular heat exchanger with integral heat pipe transports heat from source to Stirling engine. Alternative to heat exchangers depending on integrities of thousands of brazed joints, contains only 40 brazed tubes.

Schreiber, Jeffrey G.↗

NASA NTRS1992

Modular antenna pointing system for the Explorer platform satellite

A Modular Antenna Pointing System (MAPS) is described which was designed for on-orbit servicing and on-orbit exchange. The MAPS provides a data link between the Explorer Platform (EP) satellite and the Tracking and Data Relay Satellite (TDRS). The MAPS consists of a two axis gimbal set used fo position a High Gain Antenna (HGA) toward TDRS, system control electronics, and an extendable mast. The system was qualified and integrated with the EP satellite for an April 1992 launch.

Andrus, James↗

NASA NTRS1992

Application of the integrated modular engine (IME) to space vehicle concepts

The incorporation of integrated modular engines (IME) in space vehicles offers attractive benefits which include improved system reliability and fault tolerance, increased I(sp) and thrust/weight ratio, and improved operability and maintainability. This paper summarizes a study that was performed to define concepts for three cryogenic space vehicles incorporating the IME: a trans-lunar injection stage, a lunar lander, and an upper stage for a launch vehicle. The goals of the study were to quantify potential IME benefits, identify issues that must be addressed, and define the technical and programmatic actions required to develop the IME.

Cramer, John M.↗

NASA NTRS1992

Modular techniques for dynamic fault-tree analysis

It is noted that current approaches used to assess the dependability of complex systems such as Space Station Freedom and the Air Traffic Control System are incapable of handling the size and complexity of these highly integrated designs. A novel technique for modeling such systems which is built upon current techniques in Markov theory and combinatorial analysis is described. It enables the development of a hierarchical representation of system behavior which is more flexible than either technique alone. A solution strategy which is based on an object-oriented approach to model representation and evaluation is discussed. The technique is virtually transparent to the user since the fault tree models can be built graphically and the objects defined automatically. The tree modularization procedure allows the two model types, Markov and combinatoric, to coexist and does not require that the entire fault tree be translated to a Markov chain for evaluation. This effectively reduces the size of the Markov chain required and enables solutions with less truncation, making analysis of longer mission times possible. Using the fault-tolerant parallel processor as an example, a model is built and solved for a specific mission scenario and the solution approach is illustrated in detail.

Patterson-Hine, F. A.↗

NASA NTRS1992

Design of an Ada expert system shell for the VHSIC avionic modular flight processor

The Embedded Computer System Expert System Shell (ES Shell) is an Ada-based expert system shell developed at the Avionics Laboratory for use on the VHSIC Avionic Modular Processor (VAMP) running under the Ada Avionics Real-Time Software (AARTS) Operating System. The ES Shell provides the interface between the expert system and the avionics environment, and controls execution of the expert system. Testing of the ES Shell in the Avionics Laboratory's Integrated Test Bed (ITB) has demonstrated its ability to control a non-deterministic software application executing on the VAMP's which can control the ITB's real-time closed-loop aircraft simulation. The results of these tests and the conclusions reached in the design and development of the ES Shell have played an important role in the formulation of the requirements for a production-quality expert system inference engine, an ingredient necessary for the successful use of expert systems on the VAMP embedded avionic flight processor.

Fanning, F. Jesse↗

NASA NTRS1993

A modular, programmable measurement system for physiological and spaceflight applications

The NASA-Ames Sensors 2000! Program has developed a small, compact, modular, programmable, sensor signal conditioning and measurement system, initially targeted for Life Sciences Spaceflight Programs. The system consists of a twelve-slot, multi-layer, distributed function backplane, a digital microcontroller/memory subsystem, conditioned and isolated power supplies, and six application-specific, physiological signal conditioners. Each signal condition is capable of being programmed for gains, offsets, calibration and operate modes, and, in some cases, selectable outputs and functional modes. Presently, the system has the capability for measuring ECG, EMG, EEG, Temperature, Respiration, Pressure, Force, and Acceleration parameters, in physiological ranges. The measurement system makes heavy use of surface-mount packaging technology, resulting in plug in modules sized 125x55 mm. The complete 12-slot system is contained within a volume of 220x150x70mm. The system's capabilities extend well beyond the specific objectives of NASA programs. Indeed, the potential commercial uses of the technology are virtually limitless. In addition to applications in medical and biomedical sensing, the system might also be used in process control situations, in clinical or research environments, in general instrumentation systems, factory processing, or any other applications where high quality measurements are required.

Hines, John W.↗

NASA NTRS1993

Reliability studies of integrated modular engine system designs

A study was performed to evaluate the reliability of Integrated Modular Engine (IME) concepts. Comparisons were made between networked IME systems and non-networked discrete systems using expander cycle configurations. Both redundant and non-redundant systems were analyzed. Binomial approximation and Markov analysis techniques were employed to evaluate total system reliability. In addition, Failure Modes and Effects Analyses (FMEA), Preliminary Hazard Analyses (PHA), and Fault Tree Analysis (FTA) were performed to allow detailed evaluation of the IME concept. A discussion of these system reliability concepts is also presented.

Hardy, Terry L.↗