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At least 109 records · Page 6

Implementation and integration of a counterbalanced CRT-based stereoscopic display for interactive viewpoint control in virtual environment applications

The NASA-Ames Counterbalanced CRT-based Stereoscopic Viewer (CCSV), which is being used as a viewing device for biomechanical CAD environments, is uniquely suited for applications in which the user frequently moves between desk work and virtual environment viewing, or in which high resolution views of the virtual environment are required, or in which the viewing device must be shared among collaborators in a group setting. The CCSV hardware encompasses a dual-CRT-based stereoscopic viewer with wide-angle optics, a video electronics box, a dedicated microprocessor system monitoring joint angles in the linkage, and a host computer interpreting sensor values and running the application which renders the right and left views for reader CRTs.

Mcdowall, I. E.↗

Micro-video display with ocular tracking and interactive voice control

In certain space-restricted environments, many of the benefits resulting from computer technology have been foregone because of the size, weight, inconvenience, and lack of mobility associated with existing computer interface devices. Accordingly, an effort to develop a highly miniaturized and 'wearable' computer display and control interface device, referred to as the Sensory Integrated Data Interface (SIDI), is underway. The system incorporates a micro-video display that provides data display and ocular tracking on a lightweight headset. Software commands are implemented by conjunctive eye movement and voice commands of the operator. In this initial prototyping effort, various 'off-the-shelf' components have been integrated into a desktop computer and with a customized menu-tree software application to demonstrate feasibility and conceptual capabilities. When fully developed as a customized system, the interface device will allow mobile, 'hand-free' operation of portable computer equipment. It will thus allow integration of information technology applications into those restrictive environments, both military and industrial, that have not yet taken advantage of the computer revolution. This effort is Phase 1 of Small Business Innovative Research (SBIR) Topic number N90-331 sponsored by the Naval Undersea Warfare Center Division, Newport. The prime contractor is Foster-Miller, Inc. of Waltham, MA.

Miller, James E.↗

Control of Interacting Vortex Flows at Subsonic and Transonic Speeds Using Passive Porosity

A wind tunnel experiment was conducted in the NASA Langley Research Center (LaRC) 8-foot Transonic Pressure Tunnel (TPT) to determine the effects of passive surface porosity on vortex flow interactions about a general research fighter configuration at subsonic and transonic speeds. Flow- through porosity was applied to a wind leading-edge extension (LEX) mounted to a 65 deg cropped delta wind model to promote large nose-down pitching moment increments at high angles of attack. Porosity decreased the vorticity shed from the LEX, which weakened the LEX vortex and altered the global interactions of the LEX and wing vortices at high angles of attack. Six-component forces and moments and wing upper surface static pressure distributions were obtained at free- stream Mach numbers of 0.50, 0.85, and 1.20, Reynolds number of 2.5(10(exp-6) per foot, angles of attack up to 30 deg and angles of sideslip to plus or minus 8 deg. The off-surface flow field was visualized in selected cross-planes using a laser vapor screen flow visualization technique. Test data were obtained with a centerline vertical tail and with alternate twin, wing-mounted vertical fins having 0 deg and 30 deg cant angles. In addition, the porosity of the LEX was compartmentalized to determine the sensitivity of the vortex- dominated aerodynamics to the location and level of porosity applied to the LEX.

NATO FURNISHED↗

Control of Interacting Vortex Flows at Subsonic and Transonic Speeds Using Passive Porosity

A wind tunnel experiment was conducted in the NASA Langley Research Center (LaRC) 8-Foot Transonic Pressure Tunnel (TPT) to determine the effects of passive surface porosity on vortex flow interactions about a general research fighter configuration at subsonic and transonic speeds. Flow-through porosity was applied to a wing leading-edge extension (LEX) mounted to a 65 deg cropped delta wing model to promote large nose-down pitching moment increments at high angles of attack. Porosity decreased the vorticity shed from the LEX, which weakened the LEX vortex and altered the global interactions of the LEX and wing vortices at high angles of attack. Six-component forces and moments and wing upper surface static pressure distributions were obtained at free-stream Mach numbers of 0.50, 0.85, and 1.20, Reynolds number of 2.5(10(exp 6)) per foot, angles of attack up to 30 deg, and angles of sideslip to +/- 8 deg. The off-surface flow field was visualized in selected cross-planes using a laser vapor screen flow visualization technique. Test data were obtained with a centerline vertical tail and with alternate twin, wing-mounted vertical fins having 0 deg and 30 deg cant angles. In addition, the porosity of the LEX was compartmentalized to determine the sensitivity of the vortex-dominated aerodynamics to the location and level of porosity applied to the LEX.

Erickson, Gary E.↗

Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence.

Sanders, Adam M.↗

Study of design and control of remote manipulators. Modeling manipulator arms with distributed flexibility for design and control

The interactions of control system and distributed flexible structural dynamics is explored for mechanical arms. A modeling process using 4 x 4 transfer matrices is described which permits the closed loop response of many current arm configurations to be evaluated. Root locus, frequency response, modal shapes, and time impulse response have all been obtained from the digital computer implementation of this model, which is oriented to arm design and allows for easy variation of the arm configuration through data cards. The model corresponds with experimentally observed natural frequencies with an average error of less than 5% in the first three flexible modes in the seven cases considered. The model was used to explore the limits imposed by structural flexibility on a nondimensionalized two link arm with one and two joints for planar motion.

Book, W. J.↗

A New Method for the Adaptive Control of Vortex-Wall Interactions

The control of vortical flows is gaining significance in the design of aeronautical and marine structures. While passive devices have been used effectively in the past, active control strategies have the potential of allowing a leap in the performance of future configurations. The efficiency of control schemes is strongly dependent on the development of accurate flow models that can be devised using information that is available not only from numerical solutions of the governing Navier-Stokes equations but also can be measured experimentally. In that context it is desirable to construct adaptive control schemes using information that can be measured at the wall.

Koumoutsakos, P.↗

Spacecraft environmental interactions: A joint Air Force and NASA research and technology program

A joint Air Force/NASA comprehensive research and technology program on spacecraft environmental interactions to develop technology to control interactions between large spacecraft systems and the charged-particle environment of space is described. This technology will support NASA/Department of Defense operations of the shuttle/IUS, shuttle/Centaur, and the force application and surveillance and detection missions, planning for transatmospheric vehicles and the NASA space station, and the AFSC military space system technology model. The program consists of combined contractual and in-house efforts aimed at understanding spacecraft environmental interaction phenomena and relating results of ground-based tests to space conditions. A concerted effort is being made to identify project-related environmental interactions of concern. The basic properties of materials are being investigated to develop or modify the materials as needed. A group simulation investigation is evaluating basic plasma interaction phenomena to provide inputs to the analytical modeling investigation. Systems performance is being evaluated by both groundbased tests and analysis.

Pike, C. P.↗

Design and analysis of a flexible body instrument pointing system for the GOES Meteorological Satellites

A servomechanism control system design is presented for the Sounder instrument on board the next generation GOES (NOAA) Meteorological Satellites. The design is presented as a practical aerospace example of a challenging structural-control interaction problem which occurs in control systems with high bandwidth requirements. Structural modeling, compensation, and design techniques which are applicable to systems that contain similar problems are discussed.

Lightsey, E. Glenn↗

Human operator control of a bilateral teleoperator in part-simulation of zero gravity

Remote manipulators (teleoperators) are defined as mechanical devices which extend human manipulative ability to operational environments which are either hostile to or remote from the human operator. Teleoperation involves the explicit and active inclusion of the human operator (HO) in the system control loop. An investigation of human/teleoperator control interactions in the orbital operational environment has been conducted, taking into account the employment of a model describing human neuromotor control as a linear damped harmonic oscillator. The application of this model for the specification of the end point position in teleoperator control is explored, and two experiments are conducted. The results indicate the potential utility of relatively simple models of neuromotor control processes in investigating the interaction of the human operator and controller in teleoperation.

Corker, K.↗

A Simulation Base Investigation of High Latency Space Systems Operations

NASA's human space program has developed considerable experience with near Earth space operations. Although NASA has experience with deep space robotic missions, NASA has little substantive experience with human deep space operations. Even in the Apollo program, the missions lasted only a few weeks and the communication latencies were on the order of seconds. Human missions beyond the relatively close confines of the Earth-Moon system will involve missions with durations measured in months and communications latencies measured in minutes. To minimize crew risk and to maximize mission success, NASA needs to develop a better understanding of the implications of these types of mission durations and communication latencies on vehicle design, mission design and flight controller interaction with the crew. To begin to address these needs, NASA performed a study using a physics-based subsystem simulation to investigate the interactions between spacecraft crew and a ground-based mission control center for vehicle subsystem operations across long communication delays. The simulation, built with a subsystem modeling tool developed at NASA's Johnson Space Center, models the life support system of a Mars transit vehicle. The simulation contains models of the cabin atmosphere and pressure control system, electrical power system, drinking and waste water systems, internal and external thermal control systems, and crew metabolic functions. The simulation has three interfaces: 1) a real-time crew interface that can be use to monitor and control the vehicle subsystems; 2) a mission control center interface with data transport delays up to 15 minutes each way; 3) a real-time simulation test conductor interface that can be use to insert subsystem malfunctions and observe the interactions between the crew, ground, and simulated vehicle. The study was conducted at the 21st NASA Extreme Environment Mission Operations (NEEMO) mission between July 18th and Aug 3rd of year 2016. The NEEMO mission provides ideal conditions for this study with crew in the loop, an active control center, and real-time flow of high latency communications and data. NEEMO crew and ground support will work through procedures including activation of the transit vehicle power system, opening the hatch between the transit vehicle and a Mars ascent vehicle, transferring simulated crewmembers between vehicles, overcoming subsystem malfunctions, sending simulated crewmember on extra-vehicular activities, and other housekeeping activities. This study is enhancing the understanding of high latency operations and the advantages and disadvantages of different communication methods. It is also providing results that will help improve the design of simulation interfaces and inform the design of Mars transit vehicles.

Li, Zu Qun↗

A Real-Time Rover Executive based On Model-Based Reactive Planning

This paper reports on the experimental verification of the ability of IDEA (Intelligent Distributed Execution Architecture) effectively operate at multiple levels of abstraction in an autonomous control system. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting control agents, each organized around the same fundamental structure. Two IDEA agents, a system-level agent and a mission-level agent, are designed and implemented to autonomously control the K9 rover in real-time. The system is evaluated in the scenario where the rover must acquire images from a specified set of locations. The IDEA agents are responsible for enabling the rover to achieve its goals while monitoring the execution and safety of the rover and recovering from dangerous states when necessary. Experiments carried out both in simulation and on the physical rover, produced highly promising results.

Bias, M. Bernardine↗

Space shuttle orbiter rear mounted reaction control system jet interaction study

The effect of interaction between the reaction control system (RCS) jets and the flow over the space shuttle orbiter in the atmosphere was investigated in the NASA Langley 31-inch continuous flow hypersonic tunnel at a nominal Mach number of 10.3 and in the AEDC continuous flow hypersonic tunnel B at a nominal Mach number of 6, using 0.01 and .0125 scale force models with aft RCS nozzles mounted both on the model and on the sting of the force model balance. The data show that RCS nozzle exit momentum ratio is the primary correlating parameter for effects where the plume impinges on an adjacent surface and mass flow ratio is the parameter when the plume interaction is primarily with the external stream. An analytic model of aft mounted RCS units was developed in which the total reaction control moments are the sum of thrust, impingement, interaction, and cross-coupling terms.

Rausch, J. R.↗

Passive shock wave/boundary layer control for transonic airfoil drag reduction

An investigation of the passive shock wave/boundary layer interaction control for reducing the drag in 12 percent thick circular arc and 14 percent thick supercritical airfoils was conducted in a 3 in. x 15.4 in. transonic wind tunnel at transonic Mach numbers. A porous surface with a cavity beneath it was positioned on the area of the airfoils, mounted on the test section bottom wall, where the shock wave occurs. The static pressure distributions over the airfoil, the wake impact pressure data for determining the profile drag, and the Schlieren photographs for porous surface airfoils are presented and compared with the results for solid surface airfoils. With the porous surface the normal shock wave for solid surface was changed to a lambda shock wave system, and the wake impact pressure data indicated an appreciable drag reduction for both airfoils with the porous surface at transonic speeds while causing little or no loss of lift. The effect of porosity and cavity size is investigated and off-design performance is discussed.

Bahi, L.↗

Experimental Evaluation of CTAS/FMS Integration in TRACON Airspace

A CTAS/FMS integration project at Ames Research Center addresses extensions to the CTAS air traffic management concept, among them the introduction of arrival routes specially designed for the use with a Flight Management System. These FMS arrival routes shall allow for the use of the INS' lateral and vertical navigation capabilities throughout the arrival until final approach. For the use in this project CTAS controller support tools that compliment the concept have been created. These tools offer controllers access to CTAS' prediction and planning capabilities in terms of speed and route advisories. The objective is to allow for a more strategic way of controlling aircraft. Expected benefits are an increase in arrival rate and a reduction of average travel times through TRACER airspace. A real time simulation is being conducted at Ames to investigate how FMS arrivals and approach transitions - with and without the support of CTAS tools - effect the flow of arriving traffic within TRACER airspace and the controllers' task performance. Four conditions will be investigated and compared to today's technique of controlling traffic with tactical vectoring: 1. FMS arrivals and approach transitions are available for controllers to issue to equipped aircraft - traffic permitting; 2. Speed advisories that match CTAS' runway balancing and sequencing plan are displayed to Feeder controllers; 3. Approach transition advisories (e.g., location of the base turn point) are displayed to Final controllers for tactical clearances ("Turn base now"); and 4. Approach transition advisories (voice and data link) are generated by CTAS and displayed to final controllers for strategic voice clearances ("Turn base five miles after waypoint xyz") or prepared in terms of a trajectory description for strategic data link clearance. Scenarios used in the study will represent current traffic and vary in density of arriving traffic and the kind and mix of equipage of arriving aircraft. Data will be collected from experiment runs with active TRACON controllers on the final approach spacing, the aircraft's speed profiles, the controllers interaction with CTAS tools, and number and timing of pilot controllers communications under the described conditions.

Romahn, Stephen↗

A spacecraft integrated power/attitude control system

A study to determine the viability and application of a system capable of performing the dual function of power storage/generation and attitude control has been conducted. Results from the study indicate that an integrated power/attitude control system (IPACS) can satisfy future mission requirements while providing significant savings in weight, volume, and cost over conventional systems. A failure-mode configuration of an IPACS was applied to a shuttle-launched RAM free-flyer and simulated using make-do hardware linked to a hybrid computer. Data from the simulation runs indicate that control interactions resulting from heavy power demands have minimal effect on system control effectiveness. The system was shown to be capable of meeting the stringent pointing requirements of 1 arc-second while operating under the influence of an orbital disturbance environment and during periods of momentum variations imposed by energy transfer requirements.

Keckler, C. R.↗

Software For A Laser Vibrometer

Vibration Pattern Imager (VPI) system and software designed to control and acquire data from laser vibrometer sensors. Based on personal computer, includes digital signal-processing (DSP) board and analog input/output (I/O) circuit board to control sensors and process data. Originally developed for use with Ometron VPI Sensor, adapted to any commercially available sensor that provides analog output signal and requires analog inputs for control of mirror position. VPI system includes graphical user interface providing for interactive control through keyboard and mouse-selected menu options. Main menu controls all functions for setup, acquisition of data, display, file operations, and leaving program. Two types of data acquired with system: single point or "full field". Written in C language and Texas Instrument' TMS320C30 assembly language.

Rizzi, Stephen A.↗

Controls-structures-electromagnetics interaction program

A technology development program is described involving Controls Structures Electromagnetics Interaction (CSEI) for large space structures. The CSEI program was developed as part of the continuing effort following the successful kinematic deployment and RF tests of the 15 meter Hoop/Column antenna. One lesson learned was the importance of making reflector surface adjustment after fabrication and deployment. Given are program objectives, ground based test configuration, Intelsat adaptive feed, reflector shape prediction model, control experiment concepts, master schedule, and Control Of Flexible Structures-II (COFS-II) baseline configuration.

Grantham, William L.↗