Remotely controlled system couples and decouples large diameter pipes
Remote control, air-motor driven, chain-drive system engages and disengages a flange coupling from large-diameter, high pressure fluid lines.
Griffin, P. A.↗
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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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Advanced solid state sensor system for remote sensing from satellite
Discussion of approaches to providing the needed performance improvement in solid state sensor systems for remote sensing from future resources surveying satellites. An advanced breadboard line array imaging system using long detector arrays from a number of small chips has been built. Test results and typical imagery produced by the breadboard system demonstrate the capabilities of solid state imager technology.
Thompson, L. L.↗
Study of roles of remote manipulator systems and EVA for shuttle mission support, volume 1
Alternate extravehicular activity (EVA) and remote manipulator system (RMS) configurations were examined for their relative effectiveness in performing an array of representative shuttle and payload support tasks. Initially a comprehensive analysis was performed of payload and shuttle support missions required to be conducted exterior to a pressurized inclosure. A set of task selection criteria was established, and study tasks were identified. The EVA and RMS modes were evaluated according to their applicability for each task and task condition. The results are summarized in tabular form, showing the modes which are chosen as most effective or as feasible for each task/condition. Conclusions concerning the requirements and recommendations for each mode are presented.
Malone, T. B.↗
The Shuttle Remote Manipulator System and its use in orbital operations
It is pointed out that the Shuttle Remote Manipulator System (RMS) is a key element in the Space Transportation System's ability to deploy, retrieve, and handle payloads in space. In addition, the RMS has the capability of performing other critical tasks such as inspection, construction, and satellite servicing. The present investigation is concerned with various end of arm tool concepts which could augment the RMS's capability enabling it to perform functions such as pushing/holding (applying pressure), prying, clamping (nonimpulse release) and shearing. Attention is also given to a tool for satellite servicing, a method for augmenting the operator's 'feel' for the job by force/moment sensing, and a possible four phase program for implementation of the tool system. A description is given of the key elements of RMS flight testing carried out to date.
Sachdev, S. S.↗
Prototype part task trainer: A remote manipulator system simulator
The Part Task Trainer program (PTT) is a kinematic simulation of the Remote Manipulator System (RMS) for the orbiter. The purpose of the PTT is to supply a low cost man-in-the-loop simulator, allowing the student to learn operational procedures which then can be used in the more expensive full scale simulators. PTT will allow the crew members to work on their arm operation skills without the need for other people running the simulation. The controlling algorithms for the arm were coded out of the Functional Subsystem Requirements Document to ensure realistic operation of the simulation. Relying on the hardware of the workstation to provide fast refresh rates for full shaded images allows the simulation to be run on small low cost stand alone work stations, removing the need to be tied into a multi-million dollar computer for the simulation. PTT will allow the student to make errors which in full scale mock up simulators might cause failures or damage hardware. On the screen the user is shown a graphical representation of the RMS control panel in the aft cockpit of the orbiter, along with a main view window and up to six trunion and guide windows. The dials drawn on the panel may be turned to select the desired mode of operation. The inputs controlling the arm are read from a chair with a Translational Hand Controller (THC) and a Rotational Hand Controller (RHC) attached to it.
Shores, David↗
Multivariable control of the Space Shuttle Remote Manipulator System
Linear controllers are designed to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in position hold mode. Design techniques used include H2 and H-infinity optimization. The nonlinear SRMS is linearized by modeling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability using both the small gain theorem with an H-infinity norm and the less conservative mu-analysis test. Regulator designs offer significant improvement over the current system for the nominal plant. Unfortunately, the SRMS model suffers from lightly damped poles with real parametric uncertainty. Under such conditions, the mu-analysis test, which allows for complex perturbations, cannot guarantee robust stability.
Adams, Neil J.↗
Neural joint control for Space Shuttle Remote Manipulator System
Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.
Atkins, Mark A.↗
Radar Safety Interlock for a Remote Sensing System
A radar initiated interlock system which protects overflying aircraft from the laser radiation from the remote sensing systems located at Table Mountain Facility of the Jet Propulsion Laboratory is described in detail.
Radar Lidar↗
Atmospheric Boundary Layer Sensors for Application in a Wake Vortex Advisory System
Remote sensing of the atmospheric boundary layer has advanced in recent years with the development of commercial off-the-shelf (COTS) radar, sodar, and lidar wind profiling technology. Radio acoustic sounding systems for vertical temperature profiles of high temporal scales (when compared to routine balloon soundings- (radiosondes) have also become increasingly available as COTS capabilities. Aircraft observations during landing and departures are another source of available boundary layer data. This report provides an updated assessment of available sensors, their performance specifications and rough order of magnitude costs for a potential future aircraft Wake Vortex Avoidance System (WakeVAS). Future capabilities are also discussed. Vertical profiles of wind, temperature, and turbulence are anticipated to be needed at airports in any dynamic wake avoidance system. Temporal and spatial resolution are dependent on the selection of approach and departure corridors to be protected. Recommendations are made for potential configurations of near-term sensor technologies and for testing some of the sensor systems in order to validate performance in field environments with adequate groundtruth.
Zak, J. Allen↗
Development of a system for remote sensing of ionospheric motions and microstructure - The Kinesonde in France, 1970
Kinesonde experiment for development of system for remote sensing of ionospheric motions and microstructure
Fedor, L. S.↗
Support requirements for remote sensor systems on unmanned planetary missions, phase 3
The results of a study to determine the support requirements for remote sensor systems on unmanned planetary flyby and orbiter missions are presented. Sensors and experiment groupings for selected missions are also established. Computer programs were developed to relate measurement requirements to support requirements. Support requirements were determined for sensors capable of performing required measurements at various points along the trajectories of specific selected missions.
Source record↗
Data-Acquisition System With Remotely Adjustable Amplifiers
Improved data-acquisition system has both centralized and decentralized characteristics developed. Provides infrastructure for automation and standardization of operation, maintenance, calibration, and adjustment of many transducers. Increases efficiency by reducing need for diminishing work force of highly trained technicians to perform routine tasks. Large industrial and academic laboratory facilities benefit from systems like this one.
Nurge, Mark A.↗
Detecting transition in agricultural systems
Remote sensing of agricultural phenomena has been largely concentrated on analysis of agriculture at the field level. Concern has been to identify crop status, crop condition, and crop distribution, all of which are spatially analyzed on a field-by-field basis. A more general level of abstraction is the agricultural system, or the complex of crops and other land cover that differentiate various agricultural economies. The paper reports on a methodology to assist in the analysis of the landscape elements of agricultural systems with Landsat digital data. The methodology involves tracing periods of photosynthetic activity for a fixed area. Change from one agricultural system to another is detected through shifts in the intensity and periodicity of photosynthetic activity as recorded in the radiometric return to Landsat. The Landsat-derived radiometric indicator of photosynthetic activity appears to provide the ability to differentiate agricultural systems from each other as well as from conterminous natural vegetation.
Neary, P. J.↗
Software for Simulating Remote Sensing Systems
The Application Research Toolbox (ART) is a collection of computer programs that implement algorithms and mathematical models for simulating remote sensing systems. The ART is intended to be especially useful for performing design-tradeoff studies and statistical analyses to support the rational development of design requirements for multispectral imaging systems. Among other things, the ART affords a capability to synthesize coarser-spatial-resolution image-data sets from finer-spatial-resolution data sets and multispectral-image-data products from hyperspectral-image-data products. The ART also provides for synthesis of image-degradation effects, including point-spread functions, misregistration of spectral images, and noise. The ART can utilize real or synthetic data sets, along with sensor specifications, to create simulated data sets. In one example of a typical application, simulated data pertaining to an existing multispectral sensor system are used to verify the data collected by the system in operation. In the case of a proposed sensor system, the simulated data can be used to conduct trade studies and statistical analyses to ensure that the sensor system will satisfy the requirements of potential scientific, academic, and commercial user communities.
Zanoni, Vicki↗
Software for Simulating Remote Sensing Systems
The Application Research Toolbox (ART) is a collection of computer programs that implement algorithms and mathematical models for simulating remote sensing systems. The ART is intended to be especially useful for performing design-tradeoff studies and statistical analyses to support the rational development of design requirements for multispectral imaging systems. Among other things, the ART affords a capability to synthesize coarser-spatial-resolution image-data sets from finer-spatial-resolution data sets and multispectral-image-data products from hyperspectral-image-data products. The ART also provides for synthesis of image-degradation effects, including point-spread functions, misregistration of spectral images, and noise. The ART can utilize real or synthetic data sets, along with sensor specifications, to create simulated data sets. In one example of a typical application, simulated data pertaining to an existing multispectral sensor system are used to verify the data collected by the system in operation. In the case of a proposed sensor system, the simulated data can be used to conduct trade studies and statistical analyses to ensure that the sensor system will satisfy the requirements of potential scientific, academic, and commercial user communities.
Vicki Zanoni↗
Simulating Remote Sensing Systems
The Application Research Toolbox (ART) is a collection of computer programs that implement algorithms and mathematical models for simulating remote sensing systems. The ART is intended to be especially useful for performing design-tradeoff studies and statistical analyses to support the rational development of design requirements for multispectral imaging systems. Among other things, the ART affords a capability to synthesize coarser-spatial-resolution image-data products. The ART also provides for simulations of image-degradation effects, including point-spread functions, misregistration of spectral images, and noise. The ART can utilize real or synthetic data sets, along with sensor specifications, to create simulated data sets. In one example of a particular application, simulated imagery of a coarse resolution system was created using high-resolution imagery from another system in order to perform a radiometric cross-comparison. In the case of a proposed sensor system, the simulated data can be used to conduct trade studies and statistical analyses to ensure that the sensor system will satisfy the requirements of potential scientific, academic, and commercial user communities.
Zanoni, Vicki↗
Payload installation and deployment aid for space shuttle orbiter spacecraft remote manipulator system
An aid concept known as the PIDA (Payload Installation and Deployment Aid) is presented as a way to assist the Remote Manipulator System (RMS) by relaxing the accuracy required during payload handling in the payload bay. The aid concept was designed and developed to move payloads through a prescribed path between the confined quarters of the payload bay and a position outside the critical maneuvering area of the Orbiter. An androgynous docking mechanism is used at the payload/PIDA interfaces for normal docking functions that also serves as the structural connection between the payload and the Orbiter, that is capable of being loosened to prevent transfer of loads between a stowed payload and the PIDA structure. A gearmotor driven drum/cable system is used in the docking mechanism in a unique manner to center the attenuator assembly, align the ring and guide assembly (docking interface) in roll, pitch, and yaw, and rigidize the mechanism at a nominal position. A description of the design requirements and the modes of operation of the various functions of the deployment and the docking mechanisms are covered.
Ross, T. O.↗
Multivariable control of the Space Shuttle remote manipulator system using H2 and H(infinity) optimization
Three linear controllers are desiged to regulate the end effector of the Space Shuttle Remote Manipulator System (SRMS) operating in Position Hold Mode. In this mode of operation, jet firings of the Orbiter can be treated as disturbances while the controller tries to keep the end effector stationary in an orbiter-fixed reference frame. The three design techniques used include: the Linear Quadratic Regulator (LQR), H2 optimization, and H-infinity optimization. The nonlinear SRMS is linearized by modelling the effects of the significant nonlinearities as uncertain parameters. Each regulator design is evaluated for robust stability in light of the parametric uncertanties using both the small gain theorem with an H-infinity norm and the less conservative micro-analysis test. All three regulator designs offer significant improvement over the current system on the nominal plant. Unfortunately, even after dropping performance requirements and designing exclusively for robust stability, robust stability cannot be achieved. The SRMS suffers from lightly damped poles with real parametric uncertainties. Such a system renders the micro-analysis test, which allows for complex peturbations, too conservative.
Prakash, OM, II↗