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In new electronic chassis support, machined honeycomb members are used to change basic relationship between chassis and support structure. Improved chassis combines internal and external support and heat dissipation by altering chassis internal geometry. Honeycomb materials allow mechanical support and thermal load sharing to be combined at lower weight and lower cost than previous equipment.
The invention relates to the insertion and extraction of rack mounted electronic units and in particular to a screw thread insert tightening and extract device, for chassis units having a collar which may be rotatably positioned manually for the insert tightening or extraction of various associated chassis units, as desired.
Early in its electric vehicle (EV) test program, JPL recognized that EV test procedures were too vague and too loosely defined to permit much meaningful data to be obtained from the testing. Therefore, JPL adopted more stringent test procedures and chose the chassis dynamometer rather than the track as its principal test technique. Through the years, test procedures continued to evolve towards a methodology based on chassis dynamometers which would exhibit good correlation with track testing. Based on comparative dynamometer and track test results on the ETV-1 vehicle, the test methods discussed in this report demonstrate a means by which excellent track-to-dynamometer correlation can be obtained.
Group One of the NASA Lunar Enabler Project has designed the primary chassis and boom structures for the lunar vehicle. Both components also feature V-clamps that were adapted to interface connections within the structure. The chassis features a front end, rear end section, middle cross-section, and face plate. The rear section contains an extra compartment for the engine, hydraulic pump, fuel bottles, and oil reservoir necessary for the wheel drives. Each section consists of tubular aluminum 6061-T6. The boom features four degrees of freedom system, where the minimum factor of safety of any part is 1.5 (but, normally much higher). It consists of a tapered upper boom, lower boom, and three elbows that complement the articulation joints. Each section of the boom has been constructed from aluminum 6061-T6. There are four joints and eight V-clamps in the boom assembly. The V-clamps feature support rings that prevent axial rotation. They provide easy adaptability and assembly.
A system of modular chassis structures has simplified the design for mounting a number of printed circuit boards. This design is structurally adaptable to computer and industrial control system applications.
Rack mounted chassis units are quickly inserted or extracted by a device which is driven in either direction by turning a simple hand crank. This device is used in aircraft and water craft.
The primary goal of our design project was to develop articulation joints for the chassis and boom of the proof-of-concept lunar vehicle. This is an ongoing project and the work of previous student groups was extensively reviewed. Some of the ideas generated are variations of past proposals. Although the project is funded by NASA/USRA, it is totally a student design effort.
Electronic connector adapted from readily available components simplifies electronic packaging and interconnection wiring in assemblies that consist of several identical printed-wiring boards.
The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.
Signal-conditioning amplifier recorders (SCAmpRs) have been proposed as a means of simplifying and upgrading the Kennedy Space Center (KSC) Ground Measurement System (GMS), which is a versatile data-acquisition system that gathers and records a variety of measurement data before and during the launch of a space shuttle. In the present version of the GMS system, signal conditioning amplifiers digitize and transmit data to a VME chassis that multiplexes up to 416 channels. The data is transmitted via a high-speed data bus to a second VME chassis where it is available for snapshots. The data is passed from the second VME chassis to a high-speed data recorder. This process is duplicated for installations at two launch pads and the Vehicle Assembly Building (VAB). Since any failure of equipment in the data path results in loss of data, much of the system is redundant. The architecture of the existing GMS limits expansion or any modification to the system to meet changing requirements because of the cost and time required. A SCAmpR-based system is much more flexible. The basis of the simplification, flexibility, and reliability is the shifting of the recording function to the individual amplifier channels. Each SCAmpR is a self-contained single channel data acquisition system, which in its current implementation, has a data storage capacity of up to 30 minutes when operating at the fastest data sampling rates. The SCAmpR channels are self-configuring and self-calibrating. Multiple SCAmpR channels are ganged on printed circuit boards and mounted in a chassis that provides power, a network hub, and Inter-Range Instrument Group (IRIG) time signals. The SCAmpR channels share nothing except physical mounting on a circuit board. All circuitry is electrically separate for each channel. All that is necessary to complete the data acquisition system is a single master computer tied to the SCAmpR channels by standard network equipment. The size of the data acquisition system dictates the requirements for the specific network equipment.
Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.
An excavator includes a mobile chassis with a first bucket drum and a second bucket drum coupled thereto. The first bucket drum and second bucket drum are coupled to the chassis for positioning thereof on the surface at opposing ends of the chassis. Each first scoop on the first bucket drum is a mirror image of one second scoop on the second bucket drum when (i) the first bucket drum and second bucket drum are on the surface adjacent opposing ends of the chassis, and (ii) the first bucket drum is rotated in one direction and the second bucket drum is simultaneously rotated in an opposing direction.
Test results using an engineering model Advanced NEXT thruster are presented to identify different arc types utilizing ground test hardware. Three distinct arc types were observed: grid-to-grid arcs, high voltage-to-chassis arcs, and a combination of both. The frequency of high voltage-to-chassis arcs ranged from 4-30%, depending on operating conditions and hardware configuration. Higher beam currents were typically associated with more frequent high voltage-to-chassis arcs. During these arcs, the measured chassis current levels ranged from 20-70 A, however a significant portion of the output beam current returned to the beam supply via the neutralizer cathode plasma, which may be a ground test facility effect. The paper also discusses conducted susceptibility tests that can be performed at the spacecraft level to address the transients associated with arcing events.
This paper presents empirical results of cable noise reduction techniques as demonstrated in a TEM cell operating with radiated fields from 2 - 200 MHz. It is the first part of a two-paper series. This first paper discusses cable types and shield connections. In the second paper, the effects of load and source resistances and chassis connections are examined. For each topic, well established theories are compared to data from a real-world physical system. Finally, recommendations for minimizing cable susceptibility (and thus cable emissions) are presented. There are numerous papers and textbooks that present theoretical analyses of cable noise reduction techniques. However, empirical data is often targeted to low frequencies (e.g. <50 KHz) or high frequencies (>100 MHz). Additionally, a comprehensive study showing the relative effects of various noise reduction techniques is needed. These include the use of dedicated return wires, twisted wiring, cable shielding, shield connections, changing load or source impedances, and implementing load- or source-to-chassis isolation. We have created an experimental setup that emulates a real-world electrical system, while still allowing us to independently vary a host of parameters. The goal of the experiment was to determine the relative effectiveness of various noise reduction techniques when the cable is in the presence of radiated emissions from 2 MHz to 200 MHz. The electronic system (Fig. 1) consisted of two Hammond shielded electrical enclosures, one containing the source resistance, and the other containing the load resistance. The boxes were mounted on a large aluminium plate acting as the chassis. Cables connecting the two boxes measured 81 cm in length and were attached to the boxes using standard D38999 military-style connectors. The test setup is shown in Fig. 2. Electromagnetic fields were created using an HP8657B signal generator, MiniCircuits ZHL-42W-SMA amplifier, and an EMCO 5103 TEM cell. Measurements were taken using an Agilent E4401B spectrum analyzer and HP1141a differential probes.
This study investigates the feasibility of using a heavy-lift variant of the Lunar Surface Manipulator System (LSMS-H) to lift and handle a 12 metric ton payload. Design challenges and requirements particular to handling heavy cargo were examined. Differences between the previously developed first-generation LSMS and the heavy-lift version are highlighted. An in-depth evaluation of the tip-over risk during LSMS-H operations has been conducted using the Synergistic Engineering Environment and potential methods to mitigate that risk are identified. The study investigated three specific offloading scenarios pertinent to current Lunar Campaign studies. The first involved offloading a large element, such as a habitat or logistics module, onto a mobility chassis with a lander-mounted LSMS-H and offloading that payload from the chassis onto the lunar surface with a surface-mounted LSMS-H. The second scenario involved offloading small pressurized rovers with a lander-mounted LSMS-H. The third scenario involved offloading cargo from a third-party lander, such as the proposed ESA cargo lander, with a chassis-mounted LSMS-H. In all cases, the analyses show that the LSMS-H can perform the required operations safely. However, Chariot-mounted operations require the addition of stabilizing outriggers, and when operating from the Lunar surface, LSMS-H functionality is enhanced by adding a simple ground anchoring system.
By using a hot-air gun with a small orifice, heat may be localized to the soldering area of the chassis. The solder is placed around the capacitor which is inserted in the mounting hole so the ring is in contact with the chassis.
The design, integration, fabrication, test results, and flight performance of the battery system for the Mariner Mars spacecraft launched in May 1971 are presented. The battery consists of 26 20-Ah hermetically sealed nickel-cadmium cells housed in a machined magnesium chassis. The battery package weighs 29.5 kg and is unique in that the chassis also serves as part of the spacecraft structure. Active thermal control is accomplished by louvers mounted to the battery baseplate. Battery charge is accomplished by C/10 and C/30 constant current chargers. The switch from the high-rate to low-rate charge is automatic, based on terminal voltage. Additional control is possible by ground command or onboard computer. The performance data from the flight battery is compared to the data from various battery tests in the laboratory. Flight battery data was predictable based on ground test data.