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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 163 records · Page 9
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NASA NTRS1988

Mg I absorption features in the solar spectrum near 9 and 12 microns

High-resolution FTS observations from the Kitt Peak National Solar Observatory and the Spacelab 3 ATMOS experiment have revealed additional infrared transitions due to Mg I in the spectra of both quiet sun and sunspot penumbra. In contrast to previous observations, these transitions are seen in absorption, not emission. Absorption intensities range from 1 to 7 percent of the continuum in the quiet sun. In the penumbra, the same features appear to show Zeeman splitting. Modeling of the line profiles in the photospheric spectrum shows evidence for a factor of three overabundance in the n = 5 or more levels of Mg I in the upper photosphere, but with no deviations from a Planck source function. It is concluded that whatever the process that produces the emission (including the Lemke and Holweger mechanism), it must occur well above the tau(5000) = 0.01 level.

Glenar, David A.↗
NASA NTRS1989

Onorbit electron beam welding experiment definition

The proposed experiment design calls for six panels to be welded, each having unique characteristics selected to yield specific results and information. The experiment is completely automated and the concept necessitated the design of a new, miniaturized, self-contained electron beam (EB) welding system, for which purpose a separate IR and D was funded by the contractor, Martin Marietta Corporation. Since future tasks beyond the proposed experiment might call for astronauts to perform hand-held EB gun repairs or for the gun to be interfaced with a dexterous robot such as the planned flight telerobotic servicer (FTS), the EB gun is designed to be dismountable from the automated system. In the experiment design, two separate, identical sets of weld panels will be welded, one on earth in a vacuum chamber and the other onorbit in the aft cargo bay of an orbiter. Since the main objective of the experiment is to demonstrate that high quality welds can be achieved under onorbit conditions, the welds produced will be subjected to a wide range of discriminating non-destructive Q.C. procedures and destructive physical tests. However, advantage will be taken of the availability of a fairly large quantity of welded material in the two series of welded specimens to widen the circle of investigative talent by providing material to academic and scientific institutions for examination.

William H. Hooper↗
NASA NTRS1989

Robotics program at the NASA Goddard Space Flight Center

The NASA Goddard telerobotic program is structured to increase the scope and efficiency of what man can accomplish in space through the use of robotics. The main focus is to service Space Station Freedom and its payloads, but robotic assembly of Space Station Freedom and platforms is also anticipated. The approach being taken to achieve this by telerobotics, where manipulators can be controlled by human operators or computer programs. The Goddard Space Flight Center (GSFC) has the responsability to develop the Flight Telerobotic Servicer (FTS) for Space Station Freedom. The current plan at GSFC in support of telerobotics for Space Station Freedom and the in-orbit servicing of platforms are reviewed. Plans for ground demonstrations involving the use of an engineering test bed and an operational facility are discussed.

Ollendorf, Stanford↗
NASA NTRS1990

SDIO robotics in space applications

Robotics in space supporting the Strategic Defense System (SDS) program is discussed. Ongoing initiatives which are intended to establish an initial Robotics in Space capability are addressed. This is specifically being referred to as the Satellite Servicing System (SSS). This system is based on the NASA Orbital Maneuvering Vehicle (OMV) with a Robotic Manipulator(s) based on the NASA Flight Telerobotic Servicer (FTS) and other SSS equipment required to do the satellite servicing work attached to the OMV. Specific Robotics in Space Requirements which have resulted from the completion of the Robotics Requirements Study Contract are addressed.

Iliff, Richard↗
NASA NTRS1990

Human factors issues in telerobotic systems for Space Station Freedom servicing

Requirements for Space Station Freedom servicing are described and the state-of-the-art for telerobotic system on-orbit servicing of spacecraft is defined. The projected requirements for the Space Station Flight Telerobotic Servicer (FTS) are identified. Finally, the human factors issues in telerobotic servicing are discussed. The human factors issues are basically three: the definition of the role of the human versus automation in system control; the identification of operator-device interface design requirements; and the requirements for development of an operator-machine interface simulation capability.

Malone, Thomas B.↗
NASA NTRS1990

Laboratory studies, analysis, and interpretation of the spectra of hydrocarbons present in planetary atmospheres including cyanoacetylene, acetylene, propane, and ethane

Combining broadband Fourier transform spectrometers (FTS) from the McMath facility at NSO and from NRC in Ottawa and narrow band TDL data from the laboratories with computational physics techniques has produced a broad range of results for the study of planetary atmospheres. Motivation for the effort flows from the Voyager/IRIS observations and the needs of Voyager analysis for laboratory results. In addition, anticipation of the Cassini mission adds incentive to pursue studies of observed and potentially observable constituents of planetary atmospheres. Current studies include cyanoacetylene, acetylene, propane, and ethane. Particular attention is devoted to cyanoacetylen (H3CN) which is observed in the atmosphere of Titan. The results of a high resolution infrared laboratory study of the line positions of the 663, 449, and 22.5/cm fundamental bands are presented. Line position, reproducible to better than 5 MHz for the first two bands, are available for infrared astrophysical searches. Intensity and broadening studies are in progress. Acetylene is a nearly ubiquitous atmospheric constituent of the outer planets and Titan due to the nature of methane photochemistry. Results of ambient temperature absolute intensity measurements are presented for the fundamental and two two-quantum hotband in the 730/cm region. Low temperature hotband intensity and linewidth measurements are planned.

Blass, William E.↗
NASA NTRS1989

Test and validation for robot arm control dynamics simulation

The Flight Telerobotic Servicer (FTS) program will require an ability to develop, in a cost effective manner, many simulation models for design, analysis, performance evaluation, and crew training. Computational speed and the degree of modeling fidelity associated with each simulation must be commensurate with problem objectives. To demonstrate evolving state-of-the-art general purpose multibody modeling capabilities, to validate these by laboratory testing, and to expose their modeling shortcomings, two focus problems at the opposite ends of the simulation spectrum are defined: (1) Coarse Acquisition Control Dynamics. Create a real time man-in-the-control-loop simulator. Provide animated graphical display of robot arm dynamics and tactile feedback sufficient for cueing the operator. Interface simulator software with human operated tactile feedback controller; i.e., the Kraft mini-master. (2) Fine, Precision Mode Control Dynamics. Create a high speed, high fidelity simulation model for the design, analysis, and performance evaluation of autonomous 7 degree-of-freedom (DOF) trajectory control algorithms. This model must contain detail dynamic models for all significant dynamics elements within the robot arm, such as joint drive mechanisms.

Yae, K. Harold↗
NASA NTRS1990

Tracking atmospheric trace gases by spectroscopy from Kitt Peak

Researchers analyzed solar spectra obtained with the 1-m Fourier Transfer Spectrometer (FTS) for absorption by CO2, CH4, N2, CO, HF, and HCl. During the period 1979 to 1985, they found that the CO2 total column amount was increasing 0.4 percent/year, CH4 was up 1.1 percent/year, while N2O shows no detectable trend. CO undergoes a large seasonal variation that masks any long-term trend within the observational time span. Stratospheric HF doubles in strength, displaying a conspicuous single-point increase that coincided with the mystery volcanic event of that era. Researchers are now attempting to resume the observations as resources permit.

Wallace, Lloyd↗
NASA NTRS1991

The development test flight of the flight telerobotic servicer

The Development Test Flight (DTF-1) is the first of two shuttle flights to test operations of the Flight Telerobotic Servicer (FTS) in space and to demonstrate its capabilities in performing tasks for Space Station Freedom. The DTF-1 system, which Martin Marietta Astronautics Group is designing and building for the Goddard Space Flight Center, will be flown in December, 1991, as an attached payload on the shuttle. The design of the DTF-1 system, the tests to be performed, and the data to be gathered are discussed.

Andary, J.↗
NASA NTRS1990

Requirements for a near-earth space tug vehicle

The requirement for a small but powerful space tug, which will be capable of autonomous orbital rendezvous, docking and translating cargos between near-earth orbits by the end of this decade to support the growing national and international space infrastructure focused near the Space Station Freedom, is described. An aggregate of missions drives the need for a space tug including reboosting decaying satellites back to their operational altitudes, retrieving failed or exhausted satellites to Shuttle or SSF for on-orbit refueling or repair, and transporting a satellite servicer system with an FTS to ailing satellites for supervised in-place repair. It is shown that the development and operation of a space tug to perform such numerous missions is more cost effective than separate module and satellite systems to perform the same tasks.

Gunn, Charles R.↗
NASA NTRS1992

The double universal joint wrist on a manipulator: Solution of inverse position kinematics and singularity analysis

This paper presents three methods to solve the inverse position kinematics position problem of the double universal joint attached to a manipulator: (1) an analytical solution for two specific cases; (2) an approximate closed form solution based on ignoring the wrist offset; and (3) an iterative method which repeats closed form position and orientation calculations until the solution is achieved. Several manipulators are used to demonstrate the solution methods: cartesian, cylindrical, spherical, and an anthropomorphic articulated arm, based on the Flight Telerobotic Servicer (FTS) arm. A singularity analysis is presented for the double universal joint wrist attached to the above manipulator arms. While the double universal joint wrist standing alone is singularity-free in orientation, the singularity analysis indicates the presence of coupled position/orientation singularities of the spherical and articulated manipulators with the wrist. The cartesian and cylindrical manipulators with the double universal joint wrist were found to be singularity-free. The methods of this paper can be implemented in a real-time controller for manipulators with the double universal joint wrist. Such mechanically dextrous systems could be used in telerobotic and industrial applications, but further work is required to avoid the singularities.

Williams, Robert L., III↗
NASA NTRS1992

Software architecture for a distributed real-time system in Ada, with application to telerobotics

The architecture structure and software design methodology presented is described in the context of telerobotic application in Ada, specifically the Engineering Test Bed (ETB), which was developed to support the Flight Telerobotic Servicer (FTS) Program at GSFC. However, the nature of the architecture is such that it has applications to any multiprocessor distributed real-time system. The ETB architecture, which is a derivation of the NASA/NBS Standard Reference Model (NASREM), defines a hierarchy for representing a telerobot system. Within this hierarchy, a module is a logical entity consisting of the software associated with a set of related hardware components in the robot system. A module is comprised of submodules, which are cyclically executing processes that each perform a specific set of functions. The submodules in a module can run on separate processors. The submodules in the system communicate via command/status (C/S) interface channels, which are used to send commands down and relay status back up the system hierarchy. Submodules also communicate via setpoint data links, which are used to transfer control data from one submodule to another. A submodule invokes submodule algorithms (SMA's) to perform algorithmic operations. Data that describe or models a physical component of the system are stored as objects in the World Model (WM). The WM is a system-wide distributed database that is accessible to submodules in all modules of the system for creating, reading, and writing objects.

Olsen, Douglas R.↗
NASA NTRS1990

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Source record↗
NASA NTRS1992

The SIMPSONS project: An integrated Mars transportation system

In response to the Request for Proposal (RFP) for an integrated transportation system network for an advanced Martian base, Frontier Transportation Systems (FTS) presents the results of the SIMPSONS project (Systems Integration for Mars Planetary Surface Operations Networks). The following topics are included: the project background, vehicle design, future work, conclusions, management status, and cost breakdown. The project focuses solely on the surface-to-surface transportation at an advanced Martian base.

Kaplan, Matthew↗
NASA NTRS1991

Magnetic end effectors for space operations

The Magnetic End Effector (MEE) to be flown as part of the Dexterous End Effector (DEE) flight experiment was designed to operate with the Shuttle Remote Manipulator System (SRMS). Grappling or attachment of payloads is accomplished magnetically with two fault tolerant operations. The small magnetic grapple plate weighs far less than the standard grapple fixture; allows stacking and close spacing of payloads; and eliminates secondary release mechanisms. In addition to specifics regarding the MEE, the DEE project, Magnetic Attachment Tool (MAT), RMS-Force Torque Sensor (RMS-FTS), and Targeting and Reflective Alignment Concept (TRAC) are discussed.

Monford, Leo↗
NASA NTRS1993

Hand controller commonality evaluation process

Hand controller selection for NASA's Orbiter and Space Station Freedom is an important area of human-telerobot interface design and evaluation. These input devices will control remotely operated systems that include large crane-like manipulators (e.g., Remote Manipulator System or RMS), smaller, more dexterous manipulators (e.g., Flight Telerobotic Servicer or FTS), and free flyers (e.g., Orbital Maneuvering Vehicle or OMV). Candidate hand controller configurations for these systems vary in many ways: shape, size, number of degrees-of-freedom (DOF), operating modes, provision of force reflection, range of movement, and 'naturalness' of use. Unresolved design implementation issues remain, including such topics as how the current Orbiter RMS rotational and translational rate hand controllers compare with the proposed Space Station Freedom hand controllers, the advantages that position hand controllers offer for these applications, and whether separate hand controller configurations are required for each application. Since previous studies contain little empirical hand controller task performance data, a controlled study is needed that tests Space Station Freedom candidate hand controllers during representative tasks. This study also needs to include anthropometric and biomechanical considerations.

Stuart, Mark A.↗
NASA NTRS1994

A Spectral Atlas of the Nu(sub 12) Fundamental of (13)C(12)CH6 in the 12 Micron Region

The recent discovery of the minor isotopomer of ethane, (13)C(12)CH6, in the planetary atmospheres of Jupiter and Neptune, added ethane to the molecules which can be used to determine isotopic (12)C(12)C ratios for the jovian planets. The increased spectral resolution and coverage of the IR and far-IR instruments to be carried on the Cassini mission to Saturn and Titan may enable the detection of the minor isotopomer. Accurate frequency and cross-section measurements of the nu(sub 12) fundamental under controlled laboratory condition are important to interpret current and future planetary spectra. High resolution spectra of the minor isotopomer (13)C(12)CH6 have been recorded in the 12.2 micron region using the Kitt Peak Fourier Transform (FTS) and the Goddard Tunable Diode Laser spectrometer (TDL). In a global fit to 19 molecular constants in a symmetric top Hamiltonian, transition frequencies of the nu(sub 12) fundamental ranging up to J=35 and K=20 have been determined with a standard deviation of less than 0.0005 cm(exp -1). From selected line intensity measurements, a vibrational dipole moment for the nu(sub 12) fundamental has been derived. Observed and calculated spectra covering the region from 740 cm(exp -1) and to 910 cm(exp -1) are presented. A compilation of transition frequencies, line intensities, and lower state energies are included for general use in the astronomical community.

Weber, Mark↗
NASA NTRS1994

On the apparent velocity of integrated sunlight. 2: 1983-1992 and comparisons with magnetograms

We report additional results in our program to monitor the wavelength stability of lines in the 2.3 micrometer spectrum of integrated sunlight. We use the McMath Fourier transform spectrometer (FTS) of the National Solar Observatory to monitor 16 delta V = 2 lines of (12)C(16)O, as well as five atomic lines. Wavenumber calibration is achieved using a low-pressure N2O absorption cell and checked against terrestrial atmospheric lines. Imperfect optical integration of the solar disk remains the principal source of error, but this error has been reduced by improved FTS/telescope collimation and observing procedures. The present results include data from an additional 13 quarterly observing runs since 1985. We continue to find that the apparent velocity of integrated sunlight is variable, in the sense of having a greater reshift at solar maximum. This is supported by the temporal dependence of the integrated light velocity, and by the presence of a correlation between velocity and the disk-averaged magnetic flux derived from Kitt Peak magnetograms. The indicated peak-to-peak apparent velocity amplitude over a solar cycle is approximately the same as the velocity amplitude of the Sun's motion about the solar system barycenter. This represents about half the amplitude which we inferred in Paper I (Deming et al. 1987), but the present result has a much greater statistical significance. Our results have implications for those investigations which search for the Doppler signatures of planetary-mass companions to solar-type stars. We contrast our results to the recent finding by McMillan et al. 1993 that solar absorption lines in the violet spectral region are wavelength-stable over the solar cycle.

Deming, Drake↗