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NASA NTRS2005

Control Software for a High-Performance Telerobot

A computer program for controlling a high-performance, force-reflecting telerobot has been developed. The goal in designing a telerobot-control system is to make the velocity of the slave match the master velocity, and the environmental force on the master match the force on the slave. Instability can arise from even small delays in propagation of signals between master and slave units. The present software, based on an impedance-shaping algorithm, ensures stability even in the presence of long delays. It implements a real-time algorithm that processes position and force measurements from the master and slave and represents the master/slave communication link as a transmission line. The algorithm also uses the history of the control force and the slave motion to estimate the impedance of the environment. The estimate of the impedance of the environment is used to shape the controlled slave impedance to match the transmission-line impedance. The estimate of the environmental impedance is used to match the master and transmission-line impedances and to estimate the slave/environment force in order to present that force immediately to the operator via the master unit.

Kline-Schoder, Robert J.↗

NASA NTRS2016

Component Control System for a Vehicle

A vehicle includes a chassis, a modular component, and a central operating system. The modular component is supported by the chassis. The central operating system includes a component control system, a primary master controller, and a secondary master controller. The component control system is configured for controlling the modular component. The primary and secondary master controllers are in operative communication with the component control system. The primary and secondary master controllers are configured to simultaneously transmit commands to the component control system. The component control system is configured to accept commands from the secondary master controller only when a fault occurs in the primary master controller.

Fraser-Chanpong, Nathan↗

NASA NTRS1982

A comparison of control modes for time-delayed remote manipulation

Transmission time delay in the communication channel of a manual control system is investigated. A time delay can exist in remote manipulation systems, caused by long communication distances or bandwidth limitations. Ferrell 1 conducted the first research in time-delayed manipulation using a two degree-of-freedom manipulator. His subjects, working at time delays of 1.0, 2.1, and 3.2 s, could accomplish tasks even requiring great accuracy. The subjects spontaneously adopted a pattern of moving cautiously, then waiting to see the results of their actions. In experiments with a six degree-of-freedom master-slave manipulator system and time delays of 1.0 to 6 s, Black 2 saw that subjects tried to use the move-and-wait strategy; but there were often difficulties. The subjects seemed to have a problem in holding the master arm stationary while waiting for feedback. Any undesired drifting of the master arm introduced a discrepancy between the positions of the master and slave. This discrepancy was not perceived because of the time delay. The subject would then begin his next move with an inherent error. The difficulty of effectively using the move-and-wait strategy with a master-slave manipulator suggested that rate control might be a more effective control mode with time delay.

Starr, G. P.↗

NASA NTRS1989

Development of a software interface for optical disk archival storage for a new life sciences flight experiments computer

The current Life Sciences Laboratory Equipment (LSLE) microcomputer for life sciences experiment data acquisition is now obsolete. Among the weaknesses of the current microcomputer are small memory size, relatively slow analog data sampling rates, and the lack of a bulk data storage device. While life science investigators normally prefer data to be transmitted to Earth as it is taken, this is not always possible. No down-link exists for experiments performed in the Shuttle middeck region. One important aspect of a replacement microcomputer is provision for in-flight storage of experimental data. The Write Once, Read Many (WORM) optical disk was studied because of its high storage density, data integrity, and the availability of a space-qualified unit. In keeping with the goals for a replacement microcomputer based upon commercially available components and standard interfaces, the system studied includes a Small Computer System Interface (SCSI) for interfacing the WORM drive. The system itself is designed around the STD bus, using readily available boards. Configurations examined were: (1) master processor board and slave processor board with the SCSI interface; (2) master processor with SCSI interface; (3) master processor with SCSI and Direct Memory Access (DMA); (4) master processor controlling a separate STD bus SCSI board; and (5) master processor controlling a separate STD bus SCSI board with DMA.

Bartram, Peter N.↗

NASA NTRS2005

Monitoring Eruptive Activity at Mount St. Helens with TIR Image Data

Thermal infrared (TIR) data from the MASTER airborne imaging spectrometer were acquired over Mount St. Helens in Sept and Oct, 2004, before and after the onset of recent eruptive activity. Pre-eruption data showed no measurable increase in surface temperatures before the first phreatic eruption on Oct 1. MASTER data acquired during the initial eruptive episode on Oct 14 showed maximum temperatures of similar to approximately 330 C and TIR data acquired concurrently from a Forward Looking Infrared (FLIR) camera showed maximum temperatures similar to approximately 675 C, in narrow (approximately 1-m) fractures of molten rock on a new resurgent dome. MASTER and FLIR thermal flux calculations indicated a radiative cooling rate of approximately 714 J/m(exp 2)/s over the new dome, corresponding to a radiant power of approximately 24 MW. MASTER data indicated the new dome was dacitic in composition, and digital elevation data derived from LIDAR acquired concurrently with MASTER showed that the dome growth correlated with the areas of elevated temperatures. Low SO2 concentrations in the plume combined with sub-optimal viewing conditions prohibited quantitative measurement of plume SO2. The results demonstrate that airborne TIR data can provide information on the temperature of both the surface and plume and the composition of new lava during eruptive episodes. Given sufficient resources, the airborne instrumentation could be deployed rapidly to a newly-awakening volcano and provide a means for remote volcano monitoring.

thermal emissions↗

NASA NTRS2007

Wireless Data-Acquisition System for Testing Rocket Engines

A prototype wireless data-acquisition system has been developed as a potential replacement for a wired data-acquisition system heretofore used in testing rocket engines. The traditional use of wires to connect sensors, signal-conditioning circuits, and data acquisition circuitry is time-consuming and prone to error, especially when, as is often the case, many sensors are used in a test. The system includes one master and multiple slave nodes. The master node communicates with a computer via an Ethernet connection. The slave nodes are powered by rechargeable batteries and are packaged in weatherproof enclosures. The master unit and each of the slave units are equipped with a time-modulated ultra-wide-band (TMUWB) radio transceiver, which spreads its RF energy over several gigahertz by transmitting extremely low-power and super-narrow pulses. In this prototype system, each slave node can be connected to as many as six sensors: two sensors can be connected directly to analog-to-digital converters (ADCs) in the slave node and four sensors can be connected indirectly to the ADCs via signal conditioners. The maximum sampling rate for streaming data from any given sensor is about 5 kHz. The bandwidth of one channel of the TM-UWB radio communication system is sufficient to accommodate streaming of data from five slave nodes when they are fully loaded with data collected through all possible sensor connections. TM-UWB radios have a much higher spatial capacity than traditional sinusoidal wave-based radios. Hence, this TM-UWB wireless data-acquisition can be scaled to cover denser sensor setups for rocket engine test stands. Another advantage of TM-UWB radios is that it will not interfere with existing wireless transmission. The maximum radio-communication range between the master node and a slave node for this prototype system is about 50 ft (15 m) when the master and slave transceivers are equipped with small dipole antennas. The range can be increased by changing to larger antennas and/or greater transmission power. The battery life of a slave node ranges from about six hours during operation at full capacity to as long as three days when the system is in a "sleep" mode used to conserve battery charge during times between setup and rocket-engine testing. Batteries can be added to prolong operational lifetimes. The radio transceiver dominates the power consumption.

Lin, Chujen↗

NASA NTRS2016

The New Sun-Sky-Lunar Cimel CE318-T Multiband Photometer - A Comprehensive Performance Evaluation

This paper presents the new photometer CE318-T, able to perform daytime and night-time photometric measurements using the sun and the moon as light source. Therefore,this new device permits a complete cycle of diurnal aerosol and water vapour measurements valuable to enhance atmospheric monitoring to be extracted. In this study wehave found significantly higher precision of triplets when comparing the CE318-T master instrument and the Cimel AErosol RObotic NET work (AERONET) master (CE318-AERONET) triplets as a result of the new CE318-T tracking system. Regarding the instrument calibration, two new methodologies to transfer the calibration from a reference instrument using only daytime measurements (Sun Ratio and Sun-Moon gain factor techniques) are presented and discussed. These methods allow the reduction of the previous complexities inherent to nocturnal calibration. A quantitative estimation of CE318-T AOD uncertainty by means of error propagation theory during daytime revealed AOD uncertainties (u(sup D)(sub AOD)) for Langley-calibrated instruments similar to the expected values for other reference instruments (0.002-0.009). We have also found u(sup D)(sub AOD) values similar to the values reported in sun photometry for field instruments (approximately 0.015). In the case of the night-time period, the CE318-T-estimated standard combined uncertainty (u(sup N)(sub AOD)) is dependent not only on the calibration technique but also on illumination conditions and the instrumental noise. These values range from 0.011-0.018 for Lunar Langley-calibrated instruments to 0.012-0.021 for instruments calibrated using the Sun Ratio technique. In the case of moon-calibrated instruments using the Sun-Moon gain factor method and sun calibrated using the Langley technique, we found u(sup N)(sub AOD) ranging from 0.016 to 0.017 (up to 0.019 in 440 nm channel), not dependent on any lunar irradiance model. A subsequent performance evaluation including CE318-T and collocated measurements from independent reference instruments has served to assess the CE318-T performance as well as to confirm its estimated uncertainty. Daytime AOD evaluation, performed at Izana station from March to June 2014, encompassed measurements from a reference CE318-T, a CE318-AERONET master instrument, a Precision Filter Radiometer (PFR) and a Precision Spectroradiometer (PSR) prototype, reporting low AOD discrepancies between the four instruments (up to 0.006). The nocturnal AOD evaluation was performed using CE318-T- and starphotometer-collocated measurements and also by means of a day/night coherence transition test using the CE318-T master instrument and the CE318 daytime data from the CE318-AERONET master instrument. Results showed low discrepancies with the star photometer at 870 and 500 nm channels(less tna or equal to 0.013) and differences with AERONET daytime data (1 h after and before sunset and sunrise) in agreement with the estimated u(sup N)(sub AOD) values at all illumination conditions in the case of channels within the visible spectral range, and only for high moon's illumination conditions in the case of near infrared channels. Perceptible water vapour (PWV) validation showed a good agreement between CE318-T and Global Navigation Satellite System (GNSS) PWV values for all illumination conditions, within the expected precision for sun photometry. Finally, two case studies have been included to highlight the ability of the new CE318-T to capture the diurnal cycle of aerosols and water vapour as well as short-term atmospheric variations, critical for climate studies.

Barreto, Africa↗

NASA NTRS2017

Systemic Microgravity Response: Utilizing GeneLab to Develop Hypotheses for Spaceflight Risks

Biological risks associated with microgravity is a major concern for space travel. Although determination of risk has been a focus for NASA research, data examining systemic (i.e., multi- or pan-tissue) responses to space flight are sparse. The overall goal of our work is to identify potential master regulators responsible for such responses to microgravity conditions. To do this we utilized the NASA GeneLab database which contains a wide array of omics experiments, including data from: 1) different flight conditions (space shuttle (STS) missions vs. International Space Station (ISS); 2) different tissues; and 3) different types of assays that measure epigenetic, transcriptional, and protein expression changes. We have performed meta-analysis identifying potential master regulators involved with systemic responses to microgravity. The analysis used 7 different murine and rat data sets, examining the following tissues: liver, kidney, adrenal gland, thymus, mammary gland, skin, and skeletal muscle (soleus, extensor digitorum longus, tibialis anterior, quadriceps, and gastrocnemius). Using a systems biology approach, we were able to determine that p53 and immune related pathways appear central to pan-tissue microgravity responses. Evidence for a universal response in the form of consistency of change across tissues in regulatory pathways was observed in both STS and ISS experiments with varying durations; while degree of change in expression of these master regulators varied across species and strain, some change in these master regulators was universally observed. Interestingly, certain skeletal muscle (gastrocnemius and soleus) show an overall down-regulation in these genes, while in other types (extensor digitorum longus, tibialis anterior and quadriceps) they are up-regulated, suggesting certain muscle tissues may be compensating for atrophy responses caused by microgravity. Studying these organtissue-specific perturbations in molecular signaling networks, we demonstrate the value of GeneLab in characterizing potential master regulators associated with biological risks for spaceflight.

Microgravity↗

NASA NTRS1972

Separation negatives from Kodak film types SO-368 and SO-242

Two master resolution friskets were produced on Kodak film types SO-368 and SO-242. These target masters consisted of 21 density steps with three-bar resolution targets at five modulation levels within each step. The target masters were contact printed onto Kodak separation negative film, type 4131, using both a contact printing frame and enlarger as one method of exposure, and a Miller-Holzwarth contact printer as the other exposing device. Red, green, and blue Wratten filters were used to filter the exposing source. Tray processing was done with DK-50 developer diluted 1:2 at a temperature of 70 F. The resolution values were read for the SO-368 and SO-242 target masters, and the red, green, and blue separation negatives.

Weinstein, M. S.↗

NASA NTRS1979

The viscoelastic behavior of a composite in a thermal environment

A proposed method for the accelerated predictions of modulus and life times for time dependent polymer matrix composite laminates is presented. The method, based on the time temperature superposition principle and lamination theory, is described in detail. Unidirectional reciprocal of compliance master curves and the shift functions needed are presented and discussed. Master curves for arbitrarily oriented unidirectional laminates are predicted and compared with experimantal results obtained from master curves generated from 15 minute tests and with 25 hour tests. Good agreement is shown. Predicted 30 deg and 60 deg unidirectional strength master curves are presented and compared to results of creep rupture tests. Reasonable agreement is demonstrated. In addition, creep rupture results for a (90 deg + or - 60 deg/90 deg) sub 2s laminate are presented.

Morris, D. H.↗

NASA NTRS1988

A Very Large Area Network (VLAN) knowledge-base applied to space communication problems

This paper first describes a hierarchical model for very large area networks (VLAN). Space communication problems whose solution could profit by the model are discussed and then an enhanced version of this model incorporating the knowledge needed for the missile detection-destruction problem is presented. A satellite network or VLAN is a network which includes at least one satellite. Due to the complexity, a compromise between fully centralized and fully distributed network management has been adopted. Network nodes are assigned to a physically localized group, called a partition. Partitions consist of groups of cell nodes with one cell node acting as the organizer or master, called the Group Master (GM). Coordinating the group masters is a Partition Master (PM). Knowledge is also distributed hierarchically existing in at least two nodes. Each satellite node has a back-up earth node. Knowledge must be distributed in such a way so as to minimize information loss when a node fails. Thus the model is hierarchical both physically and informationally.

Zander, Carol S.↗

NASA NTRS1989

Local area network with fault-checking, priorities, and redundant backup

This invention is a redundant error detecting and correcting local area networked computer system having a plurality of nodes each including a network connector board within the node for connecting to an interfacing transceiver operably attached to a network cable. There is a first network cable disposed along a path to interconnect the nodes. The first network cable includes a plurality of first interfacing transceivers attached thereto. A second network cable is disposed in parallel with the first cable and, in like manner, includes a plurality of second interfacing transceivers attached thereto. There are a plurality of three position switches each having a signal input, three outputs for individual selective connection to the input, and a control input for receiving signals designating which of the outputs is to be connected to the signal input. Each of the switches includes means for designating a response address for responding to addressed signals appearing at the control input and each of the switches further has its signal input connected to a respective one of the input/output lines from the nodes. Also, one of the three outputs is connected to a repective one of the plurality of first interfacing transceivers. There is master switch control means having an output connected to the control inputs of the plurality of three position switches and an input for receiving directive signals for outputting addressed switch position signals to the three position switches as well as monitor and control computer means having a pair of network connector boards therein connected to respective ones of one of the first interfacing transceivers and one of the second interfacing transceivers and an output connected to the input of the master switch means for monitoring the status of the networked computer system by sending messages to the nodes and receiving and verifying messages therefrom and for sending control signals to the master switch to cause the master switch to cause respective ones of the nodes to use a desired one of the first and second cables for transmitting and receiving messages and for disconnecting desired ones of the nodes from both cables.

Morales, Sergio↗

NASA NTRS1990

Telefunctioning - An approach to telerobotic manipulations

This study introduces three concepts: telefunctioning, a control method for achieving telefunctioning, and an approach to the analysis of human-robot interaction when telefunctioning governs the system behavior. Telefunctioning facilitates maneuvering of loads by creating a perpetual sense of the load dynamics for the operator. Telefunctioning is defined as a robotic manipulation method in which the dynamic behaviors of the slave robot and the master robot are functions of each other; these functions are the designer's choice and depend on the application. In a subclass of telefunctioning called telepresence, all of the relationships between the master and the slave are specified as unity so that all of the master and slave variables (e.g., position and velocity) are dynamically equal. To create telefunctioning, a minimum number of functions relating the robots' variables is identified. A control architecture which guarantees that the defined functions govern the dynamic behavior of the system is then developed. The stability of the closed-loop system (master robot, slave robot, human, and the load being manipulated) is analyzed, and sufficient conditions for stability are derived.

Kazerooni, H.↗

NASA NTRS1992

Computational structures technology at Grumman: Current practice/future needs

The current practice for the design analysis of new airframe structural systems is to construct a master finite element model of the vehicle in order to develop internal load distributions. The inputs to this model include the geometry which is taken directly from CADAM and CATIA structural layout and aerodynamic loads and mass distribution computer models. This master model is sufficiently detailed to define major load paths and for the computation of dynamic mode shapes and structural frequencies, but not detailed enough to define local stress gradients and notch stresses. This master model is then used to perform structural optimization studies that will provide minimum weights for major structural members. The post-processed output from the master model, load, stress, and strain analysis is then used by structural analysts to perform detailed stress analysis of local regions in order to design local structure with all its required details. This local analysis consists of hand stress analysis and life prediction analysis with the assistance of manuals, design charts, computer stress and structural life analysis and sometimes finite element or boundary element analysis. The resulting design is verified by fatigue tests.

Pifko, Allan B.↗

NASA NTRS1994

The two-way time synchronization system via a satellite voice channel

A newly developed two-way time synchronization system is described in this paper. The system uses one voice channel at a SCPC satellite digital communication earth station, whose bandwidth is only 45 kHz, thus saving satellite resources greatly. The system is composed of one master station and one or several, up to sixty-two, secondary stations. The master and secondary stations are equipped with the same equipment, including a set of timing equipment, a synthetic data terminal for time synchronizing, and a interface unit between the data terminal and the satellite earth station. The synthetic data terminal for time synchronization also has an IRIG-B code generator and a translator. The data terminal of master station is the key part of whole system. The system synchronization process is full automatic, which is controlled by the master station. Employing an autoscanning technique and conversational mode, the system accomplishes the following tasks: linking up liaison with each secondary station in turn, establishing a coarse time synchronization, calibrating date (years, months, days) and time of day (hours, minutes, seconds), precisely measuring the time difference between local station and the opposite station, exchanging measurement data, statistically processing the data, rejecting error terms, printing the data, calculating the clock difference and correcting the phase, thus realizing real-time synchronization from one point to multiple points. We also designed an adaptive phase circuit to eliminate the phase ambiguity of the PSK demodulator. The experiments have shown that the time synchronization accuracy is better than 2 mu S. The system has been put into regular operation.

Heng-Qiu, Zheng↗

NASA NTRS1996

Common View Time Transfer Using Worldwide GPS and DMA Monitor Stations

Analysis of the on-orbit Navstar clocks and the Global Positioning System (GPS) monitor station reference clocks is performed by the Naval Research Laboratory using both broadcast and postprocessed precise ephemerides. The precise ephemerides are produced by the Defense Mapping Agency (DMA) for each of the GPS space vehicles from pseudo-range measurements collected at five GPS and at five DMA monitor stations spaced around the world. Recently, DMA established an additional site co-located with the US Naval Observatory precise time site. The time reference for the new DMA site is the DoD Master Clock. Now, for the first time, it is possible to transfer time every 15 minutes via common view from the DoD Master Clock to the 11 GPS and DMA monitor stations. The estimated precision of a single common-view time transfer measurement taken over a 15-minute interval was between 1.4 and 2.7 nanoseconds. Using the measurements from all Navstar space vehicles in common view during the 15-minute interval, typically 3-7 space vehicles, improved the estimate of the precision to between 0.65 and 1.13 nanoseconds. The mean phase error obtained from closure of the time transfer around the world using the 11 monitor stations and the 25 space vehicle clocks over a period of 4 months had a magnitude of 31 picoseconds. Analysis of the low noise time transfer from the DoD Master Clock to each of the monitor stations yields not only the bias in the time of the reference clock, but also focuses attention on structure in the behaviour of the reference clock not previously seen. Furthermore, the time transfer provides a a uniformly sampled database of 15-minute measurements that make possible, for the first time, the direct and exhaustive computation of the frequency stability of the monitor station reference clocks. To lend perspective to the analysis, a summary is given of the discontinuities in phase and frequency that occurred in the reference clock at the Master Control Station during the period covered by the analysis.

Reid, Wilson G.↗

NASA NTRS2000

Autonomy Architectures for a Constellation of Spacecraft

Until the past few years, missions typically involved fairly large expensive spacecraft. Such missions have primarily favored using older proven technologies over more recently developed ones, and humans controlled spacecraft by manually generating detailed command sequences with low-level tools and then transmitting the sequences for subsequent execution on a spacecraft controller. This approach toward controlling a spacecraft has worked spectacularly on previous missions, but it has limitations deriving from communications restrictions - scheduling time to communicate with a particular spacecraft involves competing with other projects due to the limited number of deep space network antennae. This implies that a spacecraft can spend a long time just waiting whenever a command sequence fails. This is one reason why the New Millennium program has an objective to migrate parts of mission control tasks onboard a spacecraft to reduce wait time by making spacecraft more robust. The migrated software is called a "remote agent" and has 4 components: a mission manager to generate the high level goals, a planner/scheduler to turn goals into activities while reasoning about future expected situations, an executive/diagnostics engine to initiate and maintain activities while interpreting sensed events by reasoning about past and present situations, and a conventional real-time subsystem to interface with the spacecraft to implement an activity's primitive actions. In addition to needing remote planning and execution for isolated spacecraft, a trend toward multiple-spacecraft missions points to the need for remote distributed planning and execution. The past few years have seen missions with growing numbers of probes. Pathfinder has its rover (Sojourner), Cassini has its lander (Huygens), and the New Millenium Deep Space 3 (DS3) proposal involves a constellation of 3 spacecraft for interferometric mapping. This trend is expected to continue to progressively larger fleets. For example, one mission proposed to succeed DS3 would have 18 spacecraft flying in formation in order to detect earth-sized planets orbiting other stars. A proposed magnetospheric constellation would involve 5 to 500 spacecraft in Earth orbit to measure global phenomena within the magnetosphere. This work describes and compares three autonomy architectures for a system that continuously plans to control a fleet of spacecraft using collective mission goals instead of goals or command sequences for each spacecraft. A fleet of self-commanding spacecraft would autonomously coordinate itself to satisfy high level science and engineering goals in a changing partially-understood environment making feasible the operation of tens or even a hundred spacecraft (such as for interferometry or plasma physics missions). The easiest way to adapt autonomous spacecraft research to controlling constellations involves treating the constellation as a single spacecraft. Here one spacecraft directly controls the others as if they were connected. The controlling "master" spacecraft performs all autonomy reasoning, and the slaves only have real-time subsystems to execute the master's commands and transmit local telemetry/observations. The executive/diagnostics module starts actions and the master's real-time subsystem controls the action either locally or remotely through a slave. While the master/slave approach benefits from conceptual simplicity, it relies on an assumption that the master spacecraft's executive can continuously monitor the slaves' real-time subsystems, and this relies on high-bandwidth highly-reliable communications. Since unintended results occur fairly rarely, one way to relax the bandwidth requirements involves only monitoring unexpected events in spacecraft. Unfortunately, this disables the ability to monitor for unexpected events between spacecraft and leads to a host of coordination problems among the slaves. Also, failures in the communications system can result in losing slaves. The other two architectures improve robustness while reducing communications by progressively distributing more of the other three remote agent components across the constellation. In a teamwork architecture, all spacecraft have executives and real-time subsystems - only the leader has the planner/scheduler and mission manager. Finally, distributing all remote agent components leads to a peer-to-peer approach toward constellation control.

Barrett, Anthony↗

NASA NTRS1998

System and method for controlling the phase of an antenna array

A system and method for controlling power transferred to an aircraft. The system includes a master antenna and a plurality of slave antennas on the ground. Each slave antenna transmits an uplink signal of a unique phase modulated frequency. The master antenna transmits a master uplink signal. The aircraft receives all the uplink signals and modulates a composite of those signals to produce a downlink beacon that has multiple phase components, each of which corresponds to one of the slave antennas and has a unique frequency. Each of the slave antennas receives the downlink beacon and uses the corresponding phase component to adjust the phase of the slave uplink signal relative to the master uplink signal.

Conroy, Bruce↗