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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 145 records · Page 8
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

A testbed for a unified teleoperated-autonomous dual-arm robotic system

This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.

Hayati, S.↗
NASA NTRS1992

Manipulator design and development for the Ranger satellite servicing vehicle

The Ranger program is a planned series of low cost telerobotics flight experiments, based on the use of Pegasus launch vehicles. As the first step towards this goal, the Space Systems Lab was developing a neutral buoyancy version of Ranger for use in design verification and operations testing. The design approach and results of the Ranger manipulator development program is related. Ranger is designed to incorporate four appendages: a pair of dexterous, seven degree of freedom manipulators for general manipulation; a six DOF grappling arm for securing the vehicle to the local work site; and a five DOF positioning manipulator for the stereo camera pair that provide feedback to the remote operator. Each of these manipulators incorporate unique approaches to satisfying design requirements. The numerical and operational requirements are given for Ranger manipulators, and the evolution is discussed of the differing design approaches based on similarities and differences in the requirements. Testing results for individual joints and manipulator assemblies are presented, followed by initial results of operational testing on satellite servicing tasks with the integrated Ranger neutral buoyancy vehicle.

Howard, Russell D.↗
NASA NTRS1998

Cloud-Scale Numerical Modeling of the Arctic Boundary Layer

The interactions between sea ice, open ocean, atmospheric radiation, and clouds over the Arctic Ocean exert a strong influence on global climate. Uncertainties in the formulation of interactive air-sea-ice processes in global climate models (GCMs) result in large differences between the Arctic, and global, climates simulated by different models. Arctic stratus clouds are not well-simulated by GCMs, yet exert a strong influence on the surface energy budget of the Arctic. Leads (channels of open water in sea ice) have significant impacts on the large-scale budgets during the Arctic winter, when they contribute about 50 percent of the surface fluxes over the Arctic Ocean, but cover only 1 to 2 percent of its area. Convective plumes generated by wide leads may penetrate the surface inversion and produce condensate that spreads up to 250 km downwind of the lead, and may significantly affect the longwave radiative fluxes at the surface and thereby the sea ice thickness. The effects of leads and boundary layer clouds must be accurately represented in climate models to allow possible feedbacks between them and the sea ice thickness. The FIRE III Arctic boundary layer clouds field program, in conjunction with the SHEBA ice camp and the ARM North Slope of Alaska and Adjacent Arctic Ocean site, will offer an unprecedented opportunity to greatly improve our ability to parameterize the important effects of leads and boundary layer clouds in GCMs.

Krueger, Steven K.↗
NASA NTRS1998

Assimilation of Goes-Derived Skin Temperature Tendencies into Mesoscale Models to Improve Forecasts of near Surface Air Temperature and Mixing Ratio

A technique has been developed for assimilating GOES-FR skin temperature tendencies into the surface energy budget equation of a mesoscale model so that the simulated rate of temperature chance closely agrees with the satellite observations. A critical assumption of the technique is that the availability of moisture (either from the soil or vegetation) is the least known term in the model's surface energy budget. Therefore, the simulated latent heat flux, which is a function of surface moisture availability, is adjusted based upon differences between the modeled and satellite-observed skin temperature tendencies. An advantage of this technique is that satellite temperature tendencies are assimilated in an energetically consistent manner that avoids energy imbalances and surface stability problems that arise from direct assimilation of surface shelter temperatures. The fact that the rate of change of the satellite skin temperature is used rather than the absolute temperature means that sensor calibration is not as critical. An advantage of this technique for short-range forecasts (0-48 h) is that it does not require a complex land-surface formulation within the atmospheric model. As a result, the need to specify poorly known soil and vegetative characteristics is eliminated. The GOES assimilation technique has been incorporated into the PSU/NCAR MM5. Results will be presented to demonstrate the ability of the assimilation scheme to improve short- term (0-48h) simulations of near-surface air temperature and mixing ratio during the warm season for several selected cases which exhibit a variety of atmospheric and land-surface conditions. In addition, validation of terms in the simulated surface energy budget will be presented using in situ data collected at the Southern Great Plains (SGP) Cloud And Radiation Testbed (CART) site as part of the Atmospheric Radiation Measurements Program (ARM).

Lapenta, William M.↗
NASA NTRS1999

Vertical Distribution of Aerosol in the Troposphere

The paper addresses the issue of the vertical distribution of aerosol in the troposphere and the relation to causative mechanisms. The focus is on visible wavelength, aerosol extinction cross sections. A background on the state of knowledge will be presented, but the emphasis is on experimental results from several field programs, The GLOBE project (GLobal aerosol Backscatter Experiment) involved a series of flights by the NASA DC-8 throughout the Pacific basin region with comprehensive in situ and multi-spectral lidar aerosol distribution measurements. The data has been extensively analyzed. The results show the existence of a background mode for aerosol loading in the troposphere and a pattern of distribution for transport and boundary layer aerosol for the Pacific region. The ARM (Atmospheric Radiation Measurement) program, operates surface based monitoring sites. For several years at sites in the central great plains and northern coast of Alaska of North America and a site in the tropical western Pacific have been acquiring comprehensive radiation measurements including multispectral aerosol optical thickness and near continuous lidar profiling. Data have been analyzed for typical and special case aerosol events including smoke aerosol from biomass burning for the tropical West Pacific site. Measurements with continuous lidar and multispectral were similarly acquired from a site at Tenerife, Canary Islands during the Aerosol Characterization Experiment and include analysis of the Saharan dust layer. Various measurements will be compared and summarized.

Spinhirne, James↗
NASA NTRS2019

A New Method to Retrieve the Diurnal Variability of Planetary Boundary Layer Height from Lidar Under Different Thermodynamic Stability Conditions

The planetary boundary layer height (PBLH) is an important parameter for understanding the accumulation of pollutants and the dynamics of the lower atmosphere. Lidar has been used for tracking the evolution of PBLH by using aerosol backscatter as a tracer, assuming aerosol is generally well-mixed in the PBL; however, the validity of this assumption actually varies with atmospheric stability. This is demonstrated here for stable boundary layers (SBL), neutral boundary layers (NBL), and convective boundary layers (CBL) using an 8-year dataset of micropulse lidar (MPL) and radiosonde (RS) measurements at the ARM Southern Great Plains, and MPL at the GSFC site. Due to weak thermal convection and complex aerosol stratification, traditional gradient and wavelet methods can have difficulty capturing the diurnal PBLH variations in the morning and forenoon, as well as under stable conditions generally. A new method is developed that combines lidar-measured aerosol backscatter with a stability dependent model of PBLH temporal variation (DTDS). The latter helps “recalibrate” the PBLH in the presence of a residual aerosol layer that does not change in harmony with PBL diurnal variation. The hybrid method offers significantly improved PBLH detection, with better correlation and smaller biases, under most thermodynamic conditions, especially for SBL and CBL. Relying on the physical process of PBL diurnal development, different schemes are developed for growing, maintenance, and decaying periods. Comprehensive evaluation of this new method shows much better tracking of diurnal PBLH variation and significantly smaller biases under various pollution levels.

Tianning Su↗
NASA NTRSDate not supplied

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗
NASA NTRS1992

Ground-remote control for space station telerobotics with time delay

The study proposes a ground-remote telerobot control architecture which could be used for control of Space Station Freedom manipulators. The architecture provides two local-site operator control stations representing potential earth-based and remote Space Station-based operator control stations. A unified control system at the remote site provides autonomous, shared, and teleoperation control for single-and dual-arm task execution. An operational laboratory system which demonstrates the feasibility of various technologies in the proposed architecture, including teleoperation, shared control, and supervised autonomy, is described. Enhancements to the system currently under development, including remote site implementation in Ada, integration and control of a redundant 7-DOF manipulator, and local site advanced operator aids, are also described.

Backes, Paul G.↗
NASA NTRS2019

ARIEL: Autonomous Excavation Site Selection for Europa Lander Mission Concept

This paper presents ARIEL (Autonomous Ranking and Interrogation of Excavation Location), an autonomy system for selecting an excavation site on-board for NASA’s Europa Lander Mission Concept. Historically, excavation site selection has been performed by a lengthy ground-in-the-loop (GITL) process involving manual inspections, assessments, and decision making in past missions. However, as Europa Lander would have approximately 20 days of lifetime after the landing, many surface activities, including excavation site selection, must be autonomously performed on-board. This paper describes the overall system of ARIEL as well as its two major algorithmic components: vision-based candidate selection and smart interrogation, which estimates the physical properties of the icy surface through physical contact with the robotic arm’s endeffector. Preliminary results are presented using images from Earth analogue sites. The Europa Lander mission returned to the formulation phases in early 2019 while ARIEL was at an early stage of development. Described in this paper is a snapshot of ARIEL as of the project suspension. This paper also describes the remaining challenges to be solved, should the mission resume in the future.

Ono, Hiro↗
NASA NTRS2019

ARMS: A Developing Metadata Standard for Describing Astrobiology Research Products

These presentation slides introduce the Astrobiology Resource Metadata Standard (ARMS), a new metadata standard under development at NASA Ames Research Center, in conjunction with the Astrobiology Habitable Environments Database (AHED) project. The intent of this standard is to enable uniform, internet-based search and discovery of astrobiology 'resources', i.e. virtually any product of astrobiology research, including datasets, physical samples, software, publications, websites, images, video, presentations, etc. The current draft of ARMS defines 16 different metadata properties used to describe a given resource, including routine information such as name, resource type, description, personnel, funding, and related publications. But the true power in ARMS lies in four astrobiology-specific pieces of metadata: field site location enables geospatially-restricted search for resources using placenames or geospatial coordinates; research theme associates resources with one of six broad areas of astrobiological research (as identified in the 2015 NASA Astrobiology Strategy document); astrobiology disciplines captures the set of science disciplines most relevant to creation or use of resources; and finally, astrobiology keywords characterize resources in much in the same summarizing way that journal article keywords describe publications. An initial draft of the ARMS standard is being prepared for circulation to the astrobiology community for feedback and revision.

Science Metadata↗
NASA NTRS1997

Fingerprints of nucleosynthesis in the local spiral arm

The local spiral arm with its inherent massive star population is a natural site of recent nucleosynthesis activity. The features found in 1.8 MeV observation of candidate Al-26 sources situated in this structure are discussed. The emphasis is on Loop 1, a nearby superbubble which is possibly the site of a recent supernova explosion.

Knoedlseder, J.↗
NASA NTRS2011

Variability in Surface BRDF at Different Spatial Scales (30 m-500 m) Over a Mixed Agricultural Landscape as Retrieved from Airborne and Satellite Spectral Measurements

Over the past decade, the role of multiangle remote sensing has been central to the development of algorithms for the retrieval of global land surface properties including models of the bidirectional reflectance distribution function (BRDF), albedo, land cover/dynamics, burned area extent, as well as other key surface biophysical quantities represented by the anisotropic reflectance characteristics of vegetation. In this study, a new retrieval strategy for fine-to-moderate resolution multiangle observations was developed, based on the operational sequence used to retrieve the Moderate Resolution Imaging Spectroradiometer (MODIS) Collection 5 reflectance and BRDF/albedo products. The algorithm makes use of a semiempirical kernel-driven bidirectional reflectance model to provide estimates of intrinsic albedo (i.e., directional-hemispherical reflectance and bihemispherical reflectance), model parameters describing the BRDF, and extensive quality assurance information. The new retrieval strategy was applied to NASA's Cloud Absorption Radiometer (CAR) data acquired during the 2007 Cloud and Land Surface Interaction Campaign (CLASIC) over the well-instrumented Atmospheric Radiation Measurement Program (ARM) Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site in Oklahoma, USA. For the case analyzed, we obtained approx.1.6 million individual surface bidirectional reflectance factor (BRF) retrievals, from nadir to 75 off-nadir, and at spatial resolutions ranging from 3 m - 500 m. This unique dataset was used to examine the interaction of the spatial and angular characteristics of a mixed agricultural landscape; and provided the basis for detailed assessments of: (1) the use of a priori knowledge in kernel-driven BRDF model inversions; (2) the interaction between surface reflectance anisotropy and instrument spatial resolution; and (3) the uncertain ties that arise when sub-pixel differences in the BRDF are aggregated to a moderate resolution satellite pixel. Results offer empirical evidence concerning the influence of scale and spatial heterogeneity in kernel-driven BRDF models; providing potential new insights into the behavior and characteristics of different surface radiative properties related to land/use cover change and vegetation structure.

Roman, Miguel O.↗
NASA NTRS2012

Variability in Surface BRDF at Different Spatial Scales (30m-500m) Over a Mixed Agricultural Landscape as Retrieved from Airborne and Satellite Spectral Measurements

Over the past decade, the role of multiangle 1 remote sensing has been central to the development of algorithms for the retrieval of global land surface properties including models of the bidirectional reflectance distribution function (BRDF), albedo, land cover/dynamics, burned area extent, as well as other key surface biophysical quantities represented by the anisotropic reflectance characteristics of vegetation. In this study, a new retrieval strategy for fine-to-moderate resolution multiangle observations was developed, based on the operational sequence used to retrieve the Moderate Resolution Imaging Spectroradiometer (MODIS) Collection 5 reflectance and BRDF/albedo products. The algorithm makes use of a semiempirical kernel-driven bidirectional reflectance model to provide estimates of intrinsic albedo (i.e., directional-hemispherical reflectance and bihemispherical reflectance), model parameters describing the BRDF, and extensive quality assurance information. The new retrieval strategy was applied to NASA's Cloud Absorption Radiometer (CAR) data acquired during the 2007 Cloud and Land Surface Interaction Campaign (CLASIC) over the well-instrumented Atmospheric Radiation Measurement Program (ARM) Southern Great Plains (SGP) Cloud and Radiation Testbed (CART) site in Oklahoma, USA. For the case analyzed, we obtained approx.1.6 million individual surface bidirectional reflectance factor (BRF) retrievals, from nadir to 75deg off-nadir, and at spatial resolutions ranging from 3 m - 500 m. This unique dataset was used to examine the interaction of the spatial and angular 18 characteristics of a mixed agricultural landscape; and provided the basis for detailed assessments of: (1) the use of a priori knowledge in kernel-driven BRDF model inversions; (2) the interaction between surface reflectance anisotropy and instrument spatial resolution; and (3) the uncertainties that arise when sub-pixel differences in the BRDF are aggregated to a moderate resolution satellite pixel. Results offer empirical evidence concerning the influence of scale and spatial heterogeneity in kernel-driven BRDF models; providing potential new insights into the behavior and characteristics of different surface radiative properties related to land/use cover change and vegetation structure.

Roman, Miguel O.↗
NASA NTRS2016

CALIPSO-Inferred Aerosol Direct Radiative Effects: Bias Estimates Using Ground-Based Raman Lidars

Observational constraints on the change in the radiative energy budget caused by the presence of aerosols, i.e. the aerosol direct radiative effect (DRE), have recently been made using observations from the Cloud- Aerosol Lidar and Infrared Pathfinder Satellite (CALIPSO). CALIPSO observations have the potential to provide improved global estimates of aerosol DRE compared to passive sensor-derived estimates due to CALIPSO's ability to perform vertically-resolved aerosol retrievals over all surface types and over cloud. In this study we estimate the uncertainties in CALIPSO-inferred aerosol DRE using multiple years of observations from the Atmospheric Radiation Measurement (ARM) program's Raman lidars (RL) at midlatitude and tropical sites. Examined are assumptions about the ratio of extinction-to-backscatter (i.e. the lidar ratio) made by the CALIPSO retrievals, which are needed to retrieve the aerosol extinction profile. The lidar ratio is shown to introduce minimal error in the mean aerosol DRE at the top-of-atmosphere and surface. It is also shown that CALIPSO is unable to detect all radiatively-significant aerosol, resulting in an underestimate in the magnitude of the aerosol DRE by 30-50%. Therefore, global estimates of the aerosol DRE inferred from CALIPSO observations are likely too weak.

Thorsen, Tyler↗
NASA NTRS2016

Flux Cancellation Leading to CME Filament Eruptions

Solar filaments are strands of relatively cool, dense plasma magnetically suspended in the lower density hotter solar corona. They trace magnetic polarity inversion lines (PILs) in the photosphere below, and are supported against gravity at heights of up to approx.100 Mm above the chromosphere by the magnetic field in and around them. This field erupts when it is rendered unstable, often by magnetic flux cancellation or emergence at or near the PIL. We have studied the evolution of photospheric magnetic flux leading to ten observed filament eruptions. Specifically, we look for gradual magnetic changes in the neighborhood of the PIL prior to and during eruption. We use Extreme Ultraviolet (EUV) images from the Atmospheric Imaging Assembly (AIA), and magnetograms from the Helioseismic and Magnetic Imager (HMI), both on board the Solar Dynamics Observatory (SDO), to study filament eruptions and their photospheric magnetic fields. We examine whether flux cancellation or/and emergence leads to filament eruptions. We find that continuous flux cancellation was present at the PIL for many hours prior to each eruption. We present two CME-producing eruptions in detail and find the following: (a) the pre-eruption filament-holding core field is highly sheared and appears in the shape of a sigmoid above the PIL; (b) at the start of the eruption the opposite arms of the sigmoid reconnect in the middle above the site of (tether-cutting) flux cancellation at the PIL; (c) the filaments first show a slow-rise, followed by a fast-rise as they erupt. We conclude that these two filament eruptions result from flux cancellation in the middle of the sheared field, and thereafter evolve in agreement with the standard model for a CME/flare filament eruption from a closed bipolar magnetic field [flux cancellation (van Ballegooijen and Martens 1989 and Moore and Roumelrotis 1992) and runaway tether-cutting (Moore et. al 2001)].

filament↗
NASA NTRS2001

Scanning Raman Lidar Measurements During the WVIOP2000 and AFWEX Field Experiments

The NASA/Goddard Space Flight Center Scanning Raman Lidar (SRL) participated in the Water Vapor IOP 2000 (WVIOP2000) and ARM FIRE Water Vapor Experiment (AFWEX) at the DOE SGP CART site in northern Oklahoma. These experiments occurred during the period of September and December, 2000. The goals of both the WVIOP2000 and AFWEX were to better characterize the water vapor measurement capability of numerous sensors in the lower atmosphere and upper troposphere, respectively. The SRL received several hardware upgrades in anticipation of these experiments that permitted improved measurements of water vapor during the daytime and in the upper troposphere (UT). The daytime SRL water vapor error statistics were demonstrated a factor of 2-3 improvement compared to the permanently stationed CART Raman lidar (CARL). The performance of the SRL in the UT showed improvements as well. The technological upgrades that permitted these improved SRL measurements could also be implemented in the CARL system. Data examples demonstrating the new daytime and upper tropospheric measurement capability of the SRL will be shown at the meeting. In addition, preliminary analysis will be presented on several topics: 1) inter comparison of the water vapor measurements for several water vapor sensors including SRL, CARL, the NASA/Langley Lidar Atmospheric Sensing Experiment (LASE) flown onboard the NASA DC-8, in-situ sensors flown on the DC-8, and the Max Planck Institute Differential Absorption Lidar 2) comparison of cirrus cloud measurements using SRL and CARL and 3) case studies of meteorological events that occurred during the IOPs such as a cold frontal passage on the night of September 23.

Whiteman, David N.↗
NASA NTRSDate not supplied

Comparison of Observed Longwave, Shortwave Irradiance and Surface Temperature from “MOSAiC” to CERES Radiative Transfer Calculations and Inputs

As atmospheric temperatures rise due to increased anthropogenic forcing, the effect is expected to be larger over the arctic than midlatitude and tropics, known as polar amplification. A multi-national program, the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) was ran between Sept 2019 and Oct 2020. The project deployed scientific instruments on board the German research vessel Polarstern with the ship remaining across a year to observe all aspects of polar climate. The US DOE deployed the ARM AMF2 aboard the ship along with several off-ship sites for extended spatial observations. Of particular importance was the measurement of the energetics of the ice/ocean/atmosphere interactions through observations of surface irradiance and surface temperatures. NASA’s Clouds and the Earth’s Radiant Energy System (CERES) project produces the SYN1deg Edition 4 data product. This product provides high quality, hourly, globally gridded and temporally complete maps of top of atmosphere (TOA), in atmosphere, and surface irradiances. TOA fluxes are derived from CERES instruments and geostationary satellites. In addition, TOA, in atmosphere, and surface irradiances are computed using the Langley Fu and Liou radiative transfer model. The radiative transfer model is run hourly at 1 degree ~equal area spatial resolution. Meteorological profiles are provided by Global Modeling and Assimilation Office’s GEOS-541 reanalysis product. Cloud properties are derived solely from Terra and Aqua MODIS imagers northward of 60°. Here we compare SYN1deg hourly calculations of surface irradiance to observations from the AMF2 to validate the products estimates of surface irradiance in this challenging area. Along with the irradiance comparisons we take a close look at the surface temperature record in the GEOS-541 product and compare it over both time and space to several surface observations provided by MOSAiC. Along with the comparison to the re-analysis record we will compare these observed surface temperatures to those derived from the AIRS product, which is known to have some difficulty in extreme high latitude areas. The goals of this study are 1) understand computed surface downward irradiance and temperature error separated by surface type (e.g. sea ice or open water) and by season, and 2) error covariance in spatial and temporal space. We seek to use this information to extrapolate the error from the MOSAiC domain to a larger arctic region.

David A Rutan↗
NASA NTRS1991

Synchronized computational architecture for generalized bilateral control of robot arms

A master six degree of freedom Force Reflecting Hand Controller (FRHC) is available at a master site where a received image displays, in essentially real time, a remote robotic manipulator which is being controlled in the corresponding six degree freedom by command signals which are transmitted to the remote site in accordance with the movement of the FRHC at the master site. Software is user-initiated at the master site in order to establish the basic system conditions, and then a physical movement of the FRHC in Cartesean space is reflected at the master site by six absolute numbers that are sensed, translated and computed as a difference signal relative to the earlier position. The change in position is then transmitted in that differential signal form over a high speed synchronized bilateral communication channel which simultaneously returns robot-sensed response information to the master site as forces applied to the FRHC so that the FRHC reflects the feel of what is taking place at the remote site. A system wide clock rate is selected at a sufficiently high rate that the operator at the master site experiences the Force Reflecting operation in real time.

Szakaly, Zoltan F.↗