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Metal/halide and similar gas-discharge lamps are powered from low-voltage dc source using small efficient converter. Converter is useful whenever 60-cycle ac power is not available or where space and weight allocations are limited. Possible applications are offshore platforms, mobile homes, and emergency lighting. Design innovations give supply high reliability and efficiency up to 75 percent.
The optical radar measurements considered in the present investigation are those which have been obtained routinely at Hampton, VA (37.1 deg N, 76.3 deg W) since 1974. The dustsonde measurements are those made monthly at Laramie, WY (41.2 deg N, 105 deg W). The extensive data sets acquired with these two instruments during the time period 1974-80 permit a long-term comparison of the two different measurement techniques. The balloon-borne dustsonde pumps ambient air in a well-defined stream through an illuminated chamber where individual aerosol particles scatter light into photodetectors. The optical radar system used in the studies has a ruby laser with a 48-inch Cassegrainian configured telescope mounted on a mobile platform to collect the backscattered laser light. The investigation shows that optical radar measurements, dustsonde measurements, and realistic optical models together give a very consistent picture of stratospheric aerosol behavior.
A design concept for the construction of an offset-fed antenna is discussed. Antennas of this type are of interest for space applications because the configuration eliminates the effects of feed and feed-support blockage. The proposed construction concept is developed around the assembly of a stiff truss substructure by pressure-suited astronauts operating in extravehicular activity (EVA) assisted by a mobile platform that moves along the structure to position the astronauts at joint locations where they can latch members in place. Construction can be accomplished from the shuttle cargo bay in the course of a normal flight or from a space station platform. The concepts demonstrates the versatility of machine assisted manned assembly and is only one of many potential applications.
The NASA K sub u band Radar Ocean Wave Spectrometer (ROWS) is an experimental prototype of a possible future satellite instrument for low data rate global waves measurements. The ROWS technique, which utilizes short pulse radar altimeters in a conical scan mode near vertical incidence to map the directional slope spectrum in wave number and azimuth, is briefly described. The potential of the technique is illustrated by some specific case studies of wave physical processes utilizing the aircraft ROWS data. These include: (1) an evaluation of numerical hindcast model performance in storm sea conditions, (2) a study of fetch limited wave growth, and (3) a study of the fully developed sea state. Results of these studies, which are briefly summarized, show how directional wave spectral observations from a mobile platform can contribute enormously to our understanding of wave physical processes.
The present article is concerned with a helicopter-borne spectrometer (Heloscat), which has been developed to permit high-quality scattering measurements from a mobile platform at remote sites. The term 'spectrometer' referes to a class of scatterometers. The term 'scatterometer' is employed to denote a specialized radar for measuring scattering coefficients as a function of angle. A spectrometer, on the other hand, is a scatterometer which can measure backscatter at several frequencies. The Heloscat system is discussed, taking into account two antennas, RF hardware, and an externally mounted pendulum for angle encoding. A dual-antenna configuration is used for cross-polarized measurements, while a single-antenna system is used for like-polarized measurements. Attention is also given to oscillator characteristics, efficient data handling, and aspects of calibration.
The mobile remote manipulator system (MRMS) was initially developed for transit about the trusses of the delta space station; however, it can be utilized just as easily for transit about the trusses of the dual keel station. The MRMS is comprised of a mobile platform having a rail system formed of transversely disposed T-shaped tracks, which engage with guide pins located at the nodes of the trusses. The guide pins form a grid and the tracks are so designed as to permit travel in either of two orthogonal directions. The present invention provides a near-uniform traversing velocity with minimal dynamic loading on the system. Pivoting changers move the platform from one face to another.
The authors use the concept of sliding surfaces for generating two types of tracking control laws for a free-flying robot engaged in zero-gravity assembly tasks. Suction control, developed elsewhere for controlling manipulators with stationary bases, is used here to track workspace trajectories for manipulators mounted on mobile platforms. Zone control is formulated for the purpose of stationkeeping a robot maneuvering unit during payload manipulation. Experimental results are described for tests performed on an air-bearing robot tracking payload trajectories along a glass surface.
To prevent hole collapse during lunar drilling operations, a casing has been devised of a graphite reinforced polyimide composite which will be able to withstand the lunar environment. Additionally, this casing will be inserted into the ground in segments two meters long which will penetrate the regolith simultaneously with the auger. The vertical action of the mobile platform will provide a downward force to the casing string through a special adaptor, giving the casing the needed impetus to sink the anticipated depth of ten meters. Casing segments will be connected with a simple snap arrangement. Excess casing will be cut off by a cylindrical cutting tool which will also transport the excess casing away from the hole. A footplate will be incorporated to grasp the auger rod string during rod segment additions or removals. The footplate grasping mechanism will consist of a set of vice-like arms, one end of each bearing threaded to a common power screw. The power screw will be threaded such that one end's thread pitch opposes that of the other end. The weight of the auger and rod string will be transmitted through the arms to the power screw and absorbed by a set of three ball bearing assemblies. The power screw will be driven by a one-half horsepower brushless motor actuated by radio control. The footplate will rest on four short legs and be anchored with pins that are an integral part of each leg.
A micro-coring apparatus for lunar exploration applications, that is compatible with the other components of the Walking Mobile Platform, was designed. The primary purpose of core sampling is to gain an understanding of the geological composition and properties of the prescribed environment. This procedure has been used extensively for Earth studies and in limited applications during lunar explorations. The corer is described and analyzed for effectiveness.
Robot manipulators installed on legged mobile platforms are suggested for enlarging robot workspace. To plan the motion of such a system, the arm-platform motion coordination problem is raised, and a task decomposition is proposed to solve the problem. A given task described by the destination position and orientation of the end effector is decomposed into subtasks for arm manipulation and for platform configuration, respectively. The former is defined as the end-effector position and orientation with respect to the platform, and the latter as the platform position and orientation in the base coordinates. Three approaches are proposed for the task decomposition. The approaches are also evaluated in terms of the displacements, from which an optimal approach can be selected.
Proposed as a baseline configuration, this rotary drill apparatus is designed to produce 100-mm diameter holes in the lunar surface at depths up to 50 meters. The drill is intended to acquire samples for scientific analysis, mineral resource location, calibration of electronic exploration devices, and foundation analysis at construction sites. It is also intended to prepare holes for emplacement of scientific instruments, the setting of structural anchors, and explosive methods in excavation and mining activities. Defined as a deep drill because of the modular drill string, it incorporates an automatic rod changer. The apparatus is teleoperated from a remote location, such as earth, utilizing supervisory control techniques. It is thus suitable for unmanned and man-tended operation. Proven terrestrial drilling technology is used to the extent it is compatible with the lunar environment. Augers and drive tubes form holes in the regolith and may be used to acquire loose samples. An inertial cutting removal system operates intermittently while rock core drilling is in progress. The apparatus is carried to the work site by a three-legged mobile platform which also provides a 2-meter feed along the hole centerline, an off-hole movement of approximately .5 meters, an angular alignment of up to 20 deg. from gravity vertical, and other dexterity required in handling rods and samples. The technology can also be applied using other carriers which incorporate similar motion capabilities. The apparatus also includes storage racks for augers, rods, and ancillary devices such as the foot-plate that holds the down-hole tooling during rod changing operations.
The relatively new field of Evolvable Hardware studies how simulated evolution can reconfigure, adapt, and design hardware structures in an automated manner. Space applications, especially those requiring autonomy, are potential beneficiaries of evolvable hardware. For example, robotic drilling from a mobile platform requires high-bandwidth controller circuits that are difficult to design. In this paper, we present automated design techniques based on evolutionary search that could potentially be used in such applications. First, we present a method of automatically generating analog circuit designs using evolutionary search and a circuit construction language. Our system allows circuit size (number of devices), circuit topology, and device values to be evolved. Using a parallel genetic algorithm, we present experimental results for five design tasks. Second, we investigate the use of coevolution in automated circuit design. We examine fitness evaluation by comparing the effectiveness of four fitness schedules. The results indicate that solution quality is highest with static and co-evolving fitness schedules as compared to the other two dynamic schedules. We discuss these results and offer two possible explanations for the observed behavior: retention of useful information, and alignment of problem difficulty with circuit proficiency.
A series of Mars missions are proposed for the August 2005 launch opportunity on a medium class Evolved Expendable Launch Vehicle (EELV) with a injected mass capability of 2600 to 2750 kg. Known as the Ranger class, the primary objective of these Mars mission concepts are: (1) Deliver a mobile platform to Mars surface with large payload capability of 150 to 450 kg (depending on launch opportunity of 2005 or 2007); (2) Develop a robust, safe, and reliable workhorse entry, descent, and landing (EDL) capability for landed mass exceeding 750 kg; (3) Provide feed forward capability for the 2007 opportunity and beyond; and (4) Provide an option for a long life telecom relay orbiter. A number of future Mars mission concepts desire landers with large payload capability. Among these concepts are Mars sample return (MSR) which requires 300 to 450 kg landed payload capability to accommodate sampling, sample transfer equipment and a Mars ascent vehicle (MAV). In addition to MSR, large in situ payloads of 150 kg provide a significant step up from the Mars Pathfinder (MPF) and Mars Polar Lander (MPL) class payloads of 20 to 30 kg. This capability enables numerous and physically large science instruments as well as human exploration development payloads. The payload may consist of drills, scoops, rock corers, imagers, spectrometers, and in situ propellant production experiment, and dust and environmental monitoring.
The Mars 2003 Mission may include a rover to acquire remote sensing and in-situ measurements of surface materials, including rock surfaces that have been cleared of dust and coatings by use of an abrasion tool. Mars Sample Return Missions for 2005 and beyond may include rovers with remote sensing and in-situ measurement capabilities. Further, these mobility platforms may have systems to drill into rocks and collect cores, acquire soil samples, and place the rock and soil samples in ascent vehicles. The point of this abstract is to document that these operations have already been shown to be tractable based on continuing field trials of the FIDO Mars prototype rover.
We deployed a suite of ground-based remote sensing instruments - SMART (Surface Measurements for Atmospheric Radiative Transfer), at the Roosevelt Road Naval Station in Puerto Rico during the Puerto Rico Dust Experiment (PRIDE). The instruments include several solar and infrared broadband radiometers, a sunphotometer, a shadow-band radiometer, a micro-pulse lidar, a total-sky imager, a microwave radiometer, and two solar spectrometers. These radiometers were set up on a mobile platform and a solar tracker. During 27 June - 23 July, about 25 days of data were acquired under partially cloudy sky conditions. The diurnal air temperature was fluctuating around 28.6 C to within a few degrees. Daytime average of solar irradiance reaching at the surface was ranged from about 400 W/sq m on a rainy day to about 640 W/sq m on a cloud-free day. The infrared irradiance at the surface during the measurement period was averaged about 408 W/sq m. The heights of boundary layer, dusts and clouds were captured by lidar images. Based on sunphotometer and shadow-band radiometer retrievals, the aerosol optical thickness varied from below 0.1 to over 0.6. Combining with radiative transfer modeling and other in-situ and remote sensing measurements, our ground-based measurements provide vital information on understanding the long-range transport of African dust into the Caribbean.
The goal of 'Estimate' is to take advantage of attitude information to produce better pose while staying flexible and robust. Currently there are several instruments that are used for attitude: gyros, inclinometers, and compasses. However, precise and useful attitude information cannot come from one instrument. Integration of rotational rates, from gyro data for example, would result in drift. Therefore, although gyros are accurate in the short-term, accuracy in the long term is unlikely. Using absolute instruments such as compasses and inclinometers can result in an accurate measurement of attitude in the long term. However, in the short term, the physical nature of compasses and inclinometers, and the dynamic nature of a mobile platform result in highly volatile and therefore useless data. The solution then is to use both absolute and relative data. Kalman Filtering is known to be able to combine gyro and compass/inclinometer data to produce stable and accurate attitude information. Since the model of motion is linear and the data comes in as discrete samples, a Discrete Kalman Filter was selected as the core of the new estimator. Therefore, 'Estimate' can be divided into two parts: the Discrete Kalman Filter and the code framework.
The next stage of Mars exploration will include the use of rovers to seek out specific mineralogies. Understanding the mineralogical diversity of the locale will be used to determining which targets should be investigated with the full suite of in situ capability on the rover. Visible to Short Wavelength Infrared (VSWIR) spectroscopy is critical in evaluating the mineralogical diversity and to validate the global remote sensing data sets to be collected by Mars Express and the Mars Reconnaissance Orbiter. However, spectroscopy on mobile platforms present challenges in both the design of instruments and in the efficient operation of the instrument and mission. Field-testing and validation on Earth can be used to develop instrument requirements analysis tools needed for used on Mars.
NASA Glenn Research Center at Lewis Field's aviation Weather Information Communications (WINCOMM) and NASA Langley Research Center's Aviation Weather Information (AWIN) programs collaborated in a flight test and evaluation of a worldwide weather data-link capability using satellites. This successful flight testing moves NASA closer to its goal of developing advanced communications and information technologies to enable high-quality and timely dissemination of aviation weather information to all relevant users on the aviation information network. Recognized as a major contributing factor in aviation accidents and incidents, weather contributes directly or indirectly to nearly 80 percent of fatal general aviation (small private aircraft) accidents. In 1997, the Aeronautics Safety Investment Strategy Team s weather team produced a prioritized list of investment areas under weather accident prevention. Weather data dissemination is the most critical and highest ranked priority on the list. NASA's Aviation Safety Program founded the Aviation Weather Information initiative to focus efforts on significantly reducing the number of weather-related aviation fatalities. Access to accurate and timely weather data could contribute to a major reduction of weather-related incidents and accidents. However, a cost-effective solution has eluded most general aviation pilots because of the high cost of onboard weather radar equipment. Rockwell Collins, through a contract with NASA and in cooperation with WorldSpace Corporation, successfully completed ground and flight testing of a receiver and antenna in Johannesburg, South Africa. This NASA/Rockwell Collins project is an evaluation of worldwide weather data-link capability using transmissions from the Satellite Digital Audio Radio Services (S DARS) AfriStar satellite. Owned and operated by WorldSpace, AfriStar is a geostationary satellite that broadcasts commercial digital audio services to stationary and mobile platforms. S DARS satellites are the most powerful communications satellites produced to date, allowing users to receive signals using simple, low-cost patch antennas instead of more expensive, beam-steered antenna arrays. Engineers connected an inexpensive, commercially available radio receiver to a laptop computer and an antenna designed and built by Rockwell Collins, enabling them to receive WorldSpace signals from the AfriStar satellite during flight tests. WorldSpace broadcast their composite color graphical weather data files, which were multiplexed with normal audio streams, to the flat patch antenna mounted on a single-engine aircraft. The aircraft was equipped with a modified commercial S-DARS receiver, a Global Positioning Satellite (GPS) receiver, and a laptop computer with color display. Continuous data reception occurred during normal aircraft maneuvers performed throughout takeoff, cruise, and landing operations. In addition, engineers monitored receiver power levels during steep turns and banks. In most instances, the receiver was able to maintain acceptable power levels during all phases of flight and to obtain weather data with little or with the successful completion of ground and flight testing of a receiver and antenna in Johannesburg, South Africa, the team has started to prepare for experiments using highspeed aircraft in areas of the world with limited access to timely weather data. NASA plans to provide a more advanced antenna design and consultation support. This successful test of real-time aviation-related weather data is a positive step toward solving communications-specific issues associated with the dissemination of weather data directly to the cockpit.