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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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At least 127 records · Page 7

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NASA NTRS1990

Two arm robot path planning in a static environment using polytopes and string stretching

The two arm robot path planning problem has been analyzed and reduced into components to be simplified. This thesis examines one component in which two Puma-560 robot arms are simultaneously holding a single object. The problem is to find a path between two points around obstacles which is relatively fast and minimizes the distance. The thesis involves creating a structure on which to form an advanced path planning algorithm which could ideally find the optimum path. An actual path planning method is implemented which is simple though effective in most common situations. Given the limits of computer technology, a 'good' path is currently found. Objects in the workspace are modeled with polytopes. These are used because they can be used for rapid collision detection and still provide a representation which is adequate for path planning.

Schima, Francis J., III↗

NASA NTRS1994

Retractable Rotary-Bit Tool

Tool designed to be part of end effector of robot retracted when not in use to provide clear workspace. Built-in springs extend tool to working position. When tool no longer needed, telescoping assembly compressed until conical head on inner end of tool bit engages lip of sliding block, latching tool in retracted position.

Voellmer, George↗

NASA NTRS1994

Wire Stripper Holds Insulation Debris

Attachment to standard wire-stripping tool catches bits of insulation as they are removed from electrical wire and retains them for proper disposal. Prevents insulation particles from falling at random, contaminating electronic equipment and soiling workspace. Commercial tool modified by attaching small collection box to one of the jaws.

Cook, Allen D.↗

NASA NTRS1994

Optimized Resolved-Rate Control Of Telerobotic Manipulator

Laboratory Telerobotic Manipulator (LTM) is seven-degree-of-freedom robot arm built for evaluation in ground-based research to assess role of redundant-degree-of-freedom arms in outerspace operations. Each arm has three pitch/yaw joints: one at shoulder, another at elbow, and third at wrist. Seventh degree of freedom provided by wrist-roll joint. Offers advantages of more efficient use of workspaces and ability to reach around obstacles, redundant manipulators used in mobile robots and teleoperators for hazardous environments, automotive assembly, welding, and spray painting.

Barker, L. Keith↗

NASA NTRS1989

A dual-armed free flyer

This summary presents the main conclusions and results of the design studies conducted by a group of 13 students at the University of Maryland. The students, all participants in the spring 1989 course ENEE418 in the Electrical Engineering Department, met weekly in a two-hour class to discuss and evaluate design alternatives. The main problem considered was the design and control of a planar testbed simulating a free-flying space robot for applications in satellite servicing. This project grew out of the 1988 class where a dual-armed free flyer (DAFF) was designed and partially built. This year, a group of six students continued the development of the DAFF, achieving computer-controlled motion of the DAFF's arms. All fabrication and testing of the DAFF is being conducted in the Intelligent Servosystems Laboratory at the University of Maryland. While the work related to the design and development of the DAFF is the main subject of the report, it should be noted that other students in the ENEE418 class have investigated additional issues related to manipulation in space. For example, one group studied a new parallel linkage based manipulator for fine motion applications such as in assembly operations in space. They investigated the mechanism's kinematics, its reachable workspace, and precision of applying forces and torques. In yet another project, a student set out to measure and map the friction characteristics of the actuators used in the Modular Dextrous Hand, which has been recently developed in the Intelligent Servosystems Laboratory. The results are expected to help compensate for this friction, which is a highly nonlinear disturbance and presents significant problems in high-precision, low-speed operations. This summary continues with the discussion of the results obtained by the group of students who have been working on developing the DAFF testbed.

Beck, D.↗

NASA NTRS1991

Virtual acoustic displays

A 3D auditory display can potentially enhance information transfer by combining directional and iconic information in a quite naturalistic representation of dynamic objects in the interface. Another aspect of auditory spatial clues is that, in conjunction with other modalities, it can act as a potentiator of information in the display. For example, visual and auditory cues together can reinforce the information content of the display and provide a greater sense of presence or realism in a manner not readily achievable by either modality alone. This phenomenon will be particularly useful in telepresence applications, such as advanced teleconferencing environments, shared electronic workspaces, and monitoring telerobotic activities in remote or hazardous situations. Thus, the combination of direct spatial cues with good principles of iconic design could provide an extremely powerful and information-rich display which is also quite easy to use. An alternative approach, recently developed at ARC, generates externalized, 3D sound cues over headphones in realtime using digital signal processing. Here, the synthesis technique involves the digital generation of stimuli using Head-Related Transfer Functions (HRTF's) measured in the two ear-canals of individual subjects. Other similar approaches include an analog system developed by Loomis, et. al., (1990) and digital systems which make use of transforms derived from normative mannikins and simulations of room acoustics. Such an interface also requires the careful psychophysical evaluation of listener's ability to accurately localize the virtual or synthetic sound sources. From an applied standpoint, measurement of each potential listener's HRTF's may not be possible in practice. For experienced listeners, localization performance was only slightly degraded compared to a subject's inherent ability. Alternatively, even inexperienced listeners may be able to adapt to a particular set of HRTF's as long as they provide adequate cues for localization. In general, these data suggest that most listeners can obtain useful directional information from an auditory display without requiring the use of individually-tailored HRTF's.

Wenzel, Elizabeth M.↗

NASA NTRS1991

Implementation of a three degree of freedom, motor/brake hybrid force output device for virtual environment control tasks

The advent of high resolution, physical model based computer graphics has left a gap in the design of input/output technology appropriate for interacting with such complex virtual world models. Since virtual worlds consist of physical models, it is appropriate to output the inherent force information necessary for the simulation to the user. The detailed design, construction, and control of a three degree freedom force output joystick will be presented. A novel kinematic design allows all three axes to be uncoupled, so that the system inertia matrix is diagonal. The two planar axes are actuated through an offset gimbal, and the third through a sleeved cable. To compensate for friction and inertia effects, this transmission is controlled by a force feedforward and a closed force feedback proportional loop. Workspace volume is a cone of 512 cubic inches, and the device bandwidth is maximized at 60 Hz for the two planar and 30 Hz for the third axis. Each axis is controlled by a motor/proportional magnetic particle brake combination fixed to the base. The innovative use of motors and brakes allows objects with high resistive torque requirements to be simulated without the stability and related safety issues involved with high torque, energy storing motors alone. Position, velocity, and applied endpoint force are sensed directly. Different control strategies are discussed and implemented, with an emphasis on how virtual environment force information, generated by the MIT Media Lab Computer Graphics and Animation Group BOLIO system, is transmitted to the device controller. The design constraints for a kinesthetic force feedback device can be summarized as: How can the symbiosis between the sense of presence in the virtual environment be maximized without compromising the interaction task under the constraints of the mechanical device limitations? Research in this field will yield insights to the optimal human sensory feedback mix for a wide spectrum of control and interaction problems. A flexible research tool that is designed as an easily reproducible product prototype has been constructed to explore the variety of possible force interaction.

Russo, Massimo↗

NASA NTRS1995

A microcontroller-based three degree-of-freedom manipulator testbed

A wheeled exploratory vehicle is under construction at the Mars Mission Research Center at North Carolina State University. In order to serve as more than an inspection tool, this vehicle requires the ability to interact with its surroundings. A crane-type manipulator, as well as the necessary control hardware and software, has been developed for use as a sample gathering tool on this vehicle. The system is controlled by a network of four Motorola M68HC11 microcontrollers. Control hardware and software were developed in a modular fashion so that the system can be used to test future control algorithms and hardware. Actuators include three stepper motors and one solenoid. Sensors include three optical encoders and one cable tensiometer. The vehicle supervisor computer provides the manipulator system with the approximate coordinates of the target object. This system maps the workspace surrounding the given location by lowering the claw, along a set of evenly spaced vertical lines, until contact occurs. Based on this measured height information and prior knowledge of the target object size, the system determines if the object exists in the searched area. The system can find and retrieve a 1.25 in. diameter by 1.25 in. tall cylinder placed within the 47.5 sq in search area in less than 12 minutes. This manipulator hardware may be used for future control algorithm verification and serves as a prototype for other manipulator hardware.

Brown, Robert Michael, Jr.↗

NASA NTRS1996

Control Of A Serpentine Robot For Inspection Tasks

Efficient, robust kinematic control scheme developed to control serpentine robot designed to inspect complex structure. Takes full advantage of multiple redundant degrees of freedom of robot to provide considerable dexterity for maneuvering through workspace cluttered with stationary obstacles at initially unknown positions. Control scheme produces slithering motion.

Seraji, Homayoun↗

NASA NTRS1996

A Feasibility Study on a Parallel Mechanism for Examining the Space Shuttle Orbiter Payload Bay Radiators

The goal of the project was to develop the necessary analysis tools for a feasibility study of a cable suspended robot system for examining the space shuttle orbiter payload bay radiators These tools were developed to address design issues such as workspace size, tension requirements on the cable, the necessary accuracy and resolution requirements and the stiffness and movement requirements of the system. This report describes the mathematical models for studying the inverse kinematics, statics, and stiffness of the robot. Each model is described by a matrix. The manipulator Jacobian was also related to the stiffness matrix, which characterized the stiffness of the system. Analysis tools were then developed based on the singular value decomposition (SVD) of the corresponding matrices. It was demonstrated how the SVD can be used to quantify the robot's performance and to provide insight into different design issues.

Roberts, Rodney G.↗

NASA NTRS1997

Design of a Minimum Surface-Effect Tendon-Based Microactuator for Micromanipulation

A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplification from the PZT stack. In addition to motion amplification, the nonlinear transmission was designed via optimization methods to distort the highly non-uniform properties of a piezoelectric actuator so that the achievable actuation force is nearly constant throughout the actuator workspace. The package also includes sensors that independently measure actuator output force and displacement, so that a manipulator structure need not incorporate sensors nor the associated wires. Specifically, the actuator was designed to output a maximum force of at least one Newton through a stroke of at least one millimeter. For purposes of small-scale precision position and/or force control, the actuator/sensor package was designed to eliminate stick-slip friction and backlash. The overall dimensions of the actuator/sensor package are approximately 40 x 65 x 25 mm.

Goldfarb, Michael↗

NASA NTRS1997

Using Computer Simulation for Neurolab 2 Mission Planning

This paper presents an overview of the procedure used in the creation of a computer simulation video generated by the Graphics Research and Analysis Facility at NASA/Johnson Space Center. The simulation was preceded by an analysis of anthropometric characteristics of crew members and workspace requirements for 13 experiments to be conducted on Neurolab 2 which is dedicated to neuroscience and behavioral research. Neurolab 2 is being carried out as a partnership among national domestic research institutes and international space agencies. The video is a tour of the Spacelab module as it will be configured for STS-90, scheduled for launch in the spring of 1998, and identifies experiments that can be conducted in parallel during that mission. Therefore, this paper will also address methods for using computer modeling to facilitate the mission planning activity.

Sanders, Betty M.↗

NASA NTRS1997

Web-Based Collaborative Publications System: R&Tserve

R&Tserve is a publications system based on 'commercial, off-the-shelf' (COTS) software that provides a persistent, collaborative workspace for authors and editors to support the entire publication development process from initial submission, through iterative editing in a hierarchical approval structure, and on to 'publication' on the WWW. It requires no specific knowledge of the WWW (beyond basic use) or HyperText Markup Language (HTML). Graphics and URLs are automatically supported. The system includes a transaction archive, a comments utility, help functionality, automated graphics conversion, automated table generation, and an email-based notification system. It may be configured and administered via the WWW and can support publications ranging from single page documents to multiple-volume 'tomes'.

Abrams, Steve↗

NASA NTRS1998

Collaboration in Complex Medical Systems

Improving our understanding of collaborative work in complex environments has the potential for developing effective supporting technologies, personnel training paradigms, and design principles for multi-crew workplaces. USing a sophisticated audio-video-data acquisition system and a corresponding analysis system, the researchers at University of Maryland have been able to study in detail team performance during real trauma patient resuscitation. The first study reported here was on coordination mechanisms and on characteristics of coordination breakdowns. One of the key findings was that implicit communications were an important coordination mechanism (e.g. through the use of shared workspace and event space). The second study was on the sources of uncertainty during resuscitation. Although incoming trauma patients' status is inherently uncertain, the findings suggest that much of the uncertainty felt by care providers was related to communication and coordination. These two studies demonstrate the value of and need for creating a real-life laboratory for studying team performance with the use of comprehensive and integrated data acquisition and analysis tools.

Xiao, Yan↗

NASA NTRS1999

Summary of Work for Joint Research Interchanges with DARWIN Integrated Product Team 1998

The intent of Stanford University's SciVis group is to develop technologies that enabled comparative analysis and visualization techniques for simulated and experimental flow fields. These techniques would then be made available under the Joint Research Interchange for potential injection into the DARWIN Workspace Environment (DWE). In the past, we have focused on techniques that exploited feature based comparisons such as shock and vortex extractions. Our current research effort focuses on finding a quantitative comparison of general vector fields based on topological features. Since the method relies on topological information, grid matching and vector alignment is not needed in the comparison. This is often a problem with many data comparison techniques. In addition, since only topology based information is stored and compared for each field, there is a significant compression of information that enables large databases to be quickly searched. This report will briefly (1) describe current technologies in the area of comparison techniques, (2) will describe the theory of our new method and finally (3) summarize a few of the results.

Hesselink, Lambertus↗

NASA NTRS1999

Summary of Work for Joint Research Interchanges with DARWIN Integrated Product Team

The intent of Stanford University's SciVis group is to develop technologies that enabled comparative analysis and visualization techniques for simulated and experimental flow fields. These techniques would then be made available un- der the Joint Research Interchange for potential injection into the DARWIN Workspace Environment (DWE). In the past, we have focused on techniques that exploited feature based comparisons such as shock and vortex extractions. Our current research effort focuses on finding a quantitative comparison of general vector fields based on topological features. Since the method relies on topological information, grid matching an@ vector alignment is not needed in the comparison. This is often a problem with many data comparison techniques. In addition, since only topology based information is stored and compared for each field, there is a significant compression of information that enables large databases to be quickly searched. This report will briefly (1) describe current technologies in the area of comparison techniques, (2) will describe the theory of our new method and finally (3) summarize a few of the results.

Hesselink, Lambertus↗

NASA NTRS1997

Robotic Assisted Microsurgery - RAMS FY'97

JPL and Microdexterity Systems collaborated to develop new surgical capabilities. They developed a Robot Assisted Microsurgery (RAM) tool for surgeons to use for operating on the eye, ear, brain, and blood vessels with unprecedented dexterity. A surgeon can hold the surgical instrument with motions of 6 degrees of freedom with an accuracy of 25 microns in a 70 cu cm workspace. In 1996 a demonstration was performed to remove a microscopic particle from a simulated eyeball. In 1997, tests were performed at UCLA to compare telerobotics with mechanical operations. In 5 out of 7 tests, the RAM tool performed with a significant improvement of preciseness over mechanical operation. New design features include: (1) amplified forced feedback; (2) simultaneous slave robot instrumentation; (3) index control switch on master handle; and (4) tool control switches. Upgrades include: (1) increase in computational power; and (2) installation of hard disk memory storage device for independent operation and independent operation of forceps. In 1997 a final demonstration was performed using 2 telerobotics simultaneously in a microsurgery suture procedure to close a slit in a thin sheet of latex rubber which extended the capabilities of microsurgery procedures. After completing trials and demonstrations for the FDA the potential benefits for thousands of operations will be exposed.

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NASA NTRS1998

STS-95: Discovery Flight Crew at SPACEHAB

This NASA Kennedy Space Center (KSC) sponsored video release presents members of the STS-95 flight crew: Curtis L. Brown, Commander, Steven W. Lindsey, Pilot, Pedro Duque (ESA), Chiaki Mukai (NASDA) Payload Specialist, John H. Glenn, Payload Specialist, and mission specialists, Scott E. Parazynski, and Stephen K. Robinson becoming familiar with the spacecraft module SPACEHAB stored at the KSC launch complex. The SPACEHAB module being flown on STS-95 provides additional pressurized workspace for experiments, cargo and crew activities. SPACEHAB modules have supported various Shuttle science missions along with several of the joint Shuttle-Mir missions. Members of the Japanese Space Agency (NASDA) are included in the video assisting the NASA flight crew in SPACEHAB training.

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