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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 19 records

Optimized resolved rate control of seven-degree-of-freedom Laboratory Telerobotic Manipulator (LTM) with application to three-dimensional graphics simulation

The Laboratory Telerobotic Manipulator (LTM) is a seven-degree-of-freedom robot arm. Two of the arms were delivered to Langley Research Center for ground-based research to assess the use of redundant degree-of-freedom robot arms in space operations. Resolved-rate control equations for the LTM are derived. The equations are based on a scheme developed at the Oak Ridge National Laboratory for computing optimized joint angle rates in real time. The optimized joint angle rates actually represent a trade-off, as the hand moves, between small rates (least-squares solution) and those rates which work toward satisfying a specified performance criterion of joint angles. In singularities where the optimization scheme cannot be applied, alternate control equations are devised. The equations developed were evaluated using a real-time computer simulation to control a 3-D graphics model of the LTM.

Barker, L. Keith↗

A VTOL translational rate control system study on a six degrees-of-freedom motion simulator

A linearized translational rate system for near hover flight was optimized on a large motion simulator under the constraints of no disturbances and limited control power. Both lateral and longitudinal modes were considered with the primary variables of investigation being control sensitivity and response stiffness and secondarily system damping. Yaw and height control characteristics were represented by an angular rate and acceleration system, respectively. General regions of desired sensitivity and stiffness for the longitudinal and lateral modes were determined under VFR conditions for both the rapid maneuver task and the station keeping/mild maneuver task.

Corliss, L. D.↗

Telerobotic control of a dextrous manipulator using master and six-DOF hand-controllers for space assembly and servicing tasks

Two studies were conducted evaluating methods of controlling a telerobot; bilateral force reflecting master controllers and proportional rate six degrees of freedom (DOF) hand controllers. The first study compared the controllers on performance of single manipulator arm tasks, a peg-in-the-hole task, and simulated satellite orbital replacement unit changeout. The second study, a Space Station truss assembly task, required simultaneous operation of both manipulator arms (all 12 DOFs) and complex multiaxis slave arm movements. Task times were significantly longer and fewer errors were committed with the hand controllers. The hand controllers were also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers were rated significantly higher in physical workload. There were no significant differences in ratings of manipulator control quality.

O'Hara, John M.↗

Control strategies for a telerobot

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Ohara, John↗

Portable Temperature Set-Point Controller

Two off-the-shelf instruments combine to control chamber temperature over wide range. Portable controller for environmental test chambers changes temperatures automatically over range of -300 degrees to +400 degrees F (-184 degrees to + 204 degrees C). Unit controls rate of temperature change and time at given temperature. Controller developed to meet NASA Shuttle test requirements.

Milner, J. F.↗

Echocardiograms during six hours of bedrest at head-down and head-up tilt and during space flight

Left ventricular end-diastolic volume increased after 4 1/2 to 6 hours of space flight, but was significantly decreased after 5 to 6 days of space flight. To determine the role of acute gravitational effects in this phenomenon, responses to a 6-hour bedrest model of 0 gravity (G; 5 degrees head-down tilt) were compared with those of fractional gravity loads of 1/6 G, 1/3 G, and 2/3 G by using head-up tilts of 10 degrees, 20 degrees, and 42 degrees, respectively. On 4 different days, six healthy male subjects were tilted at one of the four angles for 6 hours. Cardiac dimensions and volumes were determined from two-dimensional and M-mode echocardiograms in the left lateral decubitus position at control (0), 2, 4, and 6 hours. Stroke volume decreased with time (P < .05) for all tilt angles when compared with control. Ejection fraction (EF) at -5 degrees was greater than at +20 degrees and +42 degrees (not significant); EF at +10 degrees was greater than at +42 degrees (not significant). For the tilt angles of -5 degrees, +10 degrees, and +20 degrees, mean heart rate decreased during the first 2 hours, and returned to control or was slightly elevated above control (+20 degrees) by 6 hours (not significant). At the +42 degrees angle of tilt, heart rate was increased above control at hours 2, 4, and 6. There were no significant differences in cardiac output at any time point for any tilt angle.(ABSTRACT TRUNCATED AT 250 WORDS).

Flight Experiment↗

An in flight investigation of pitch rate flight control systems and application of frequency domain and time domain predictive criteria

The degree of attitude control provided by current integral-proportional pitch rate command-type control systems, while a prerequisite for flared landing, is insufficient for 'Level 1' performance. The pilot requires 'surrogate' feedback cues to precisely control flight path in the landing flare. Monotonic stick forces and pilot station vertical acceleration are important cues which can be provided by means of angle-of-attack and pitch rate feedback in order to achieve conventional short period and phugoid characteristics. Integral-proportional pitch rate flight control systems can be upgraded to Level 1 flared landing performance by means of lead/lag and washout prefilters in the command path. Strong pilot station vertical acceleration cues can provide Level 1 flared landing performance even in the absence of monotonic stick forces.

Berthe, C. J.↗

Control of a serpentine manipulator with collision avoidance

The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law.

Byers, Robert M.↗

Hand controller commonality evaluation process

A hand controller evaluation process has been developed to determine the appropriate hand controller configurations for supporting remotely controlled devices. These devices include remote manipulator systems (RMS), dexterous robots, and remotely-piloted free flyers. Standard interfaces were developed to evaluate six different hand controllers in three test facilities including dynamic computer simulations, kinematic computer simulations, and physical simulations. The hand controllers under consideration were six degree-of-freedom (DOF) position and rate minimaster and joystick controllers, and three-DOF rate controllers. Task performance data, subjective comments, and anthropometric data obtained during tests were used for controller configuration recommendations to the SSF Program.

Stuart, Mark A.↗

Baroreflex buffering and susceptibility to vasoactive drugs

BACKGROUND: The overall effect of vasoactive drugs on blood pressure is determined by a combination of the direct effect on vascular tone and an indirect baroreflex-mediated effect, a baroreflex buffering of blood pressure. Differences in baroreflex function affect the responsiveness to vasoactive medications, particularly baroreflex buffering of blood pressure; however, the magnitude is not known. METHODS AND RESULTS: We characterized baroreflex function and responses to vasoactive drugs in patients with idiopathic orthostatic intolerance, patients with essential hypertension, patients with monogenic hypertension and brachydactyly, patients with multiple system atrophy, and control subjects. We used phenylephrine sensitivity during ganglionic blockade as a measure of baroreflex buffering. Phenylephrine (25 microg) increased systolic blood pressure 6+/-1.6 mm Hg in control subjects, 6+/-1.1 mm Hg in orthostatic intolerance patients, 18+/-3.9 mm Hg in patients with essential hypertension, 31+/-3.4 mm Hg in patients with monogenic hypertension, and 25+/-3.4 mm Hg in patients with multiple system atrophy. Similar differences in sensitivities between groups were observed with nitroprusside. The sensitivity to vasoactive drugs was highly correlated with baroreflex buffering function and to a lesser degree with baroreflex control of heart rate. In control subjects, sensitivities to nitroprusside and phenylephrine infusions were correlated with baroreflex heart rate control and sympathetic nerve traffic. CONCLUSIONS: Our findings are consistent with an important effect of baroreflex blood pressure buffering on the sensitivity to vasoactive drugs. They suggest that even moderate changes in baroreflex function may have a substantial effect on the sensitivity to vasoactive medications.

NASA Discipline Regulatory Physiology↗

In Situ Electrochemical Deposition of Microscopic Wires

A method of fabrication of wires having micron and submicron dimensions is built around electrochemical deposition of the wires in their final positions between electrodes in integrated circuits or other devices in which the wires are to be used. Heretofore, nanowires have been fabricated by a variety of techniques characterized by low degrees of controllability and low throughput rates, and it has been necessary to align and electrically connect the wires in their final positions by use of sophisticated equipment in expensive and tedious post-growth assembly processes. The present method is more economical, offers higher yields, enables control of wire widths, and eliminates the need for post-growth assembly. The wires fabricated by this method could be used as simple electrical conductors or as transducers in sensors. Depending upon electrodeposition conditions and the compositions of the electroplating solutions in specific applications, the wires could be made of metals, alloys, metal oxides, semiconductors, or electrically conductive polymers. In this method, one uses fabrication processes that are standard in the semiconductor industry. These include cleaning, dry etching, low-pressure chemical vapor deposition, lithography, dielectric deposition, electron-beam lithography, and metallization processes as well as the electrochemical deposition process used to form the wires. In a typical case of fabrication of a circuit that includes electrodes between which microscopic wires are to be formed on a silicon substrate, the fabrication processes follow a standard sequence until just before the fabrication of the microscopic wires. Then, by use of a thermal SiO-deposition technique, the electrodes and the substrate surface areas in the gaps between them are covered with SiO. Next, the SiO is electron-beam patterned, then reactive-ion etched to form channels having specified widths (typically about 1 m or less) that define the widths of the wires to be formed. Drops of an electroplating solution are placed on the substrate in the regions containing the channels thus formed, then the wires are electrodeposited from the solution onto the exposed portions of the electrodes and into the channels. The electrodeposition is a room-temperature, atmospheric-pressure process. The figure shows an example of palladium wires that were electrodeposited into 1-mm-wide channels between gold electrodes.

Yun, Minhee↗

Investigation of selected disk systems

The large disk systems offered by IBM, UNIVAC, Digital Equipment Corporation, and Data General were examined. In particular, these disk systems were analyzed in terms of how well available operating systems take advantage of the respective disk controller's transfer rates, and to what degree all available data for optimizing disk usage is effectively employed. In the course of this analysis, generic functions and components of disk systems were defined and the capabilities of the surveyed disk system were investigated.

Source record↗

Water Storage and Transport Processes During Impact Experiments on Nominally Anhydrous Minerals

Water, in the form of structurally bound hydrogen in the crystal lattice of nominally anhydrous minerals (NAMs), strongly influences many important physical processes on terrestrial planets and planetary objects. Water enhances the rates of plastic deformation and controls the degree of partial melting in silicate rocks, which influences the generation of melt and therefore the nature of planetary volcanism. Water has also been experimentally demonstrated to influence the nature of lattice preferred orientation in deformed aggregates, and thus may be important in the interpretation of seismic anisotropy data collected from planetary bodies, such as from the current InSight mission on Mars. Therefore, much attention has been focused on characterizing the distribution and concentration of water in the planets and rocky bodies of our solar system.

Tielke, J.↗

Optimized Resolved-Rate Control Of Telerobotic Manipulator

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

Barker, L. Keith↗

Venus climate stability and volcanic resurfacing rates

The climate of Venus is to a large degree controlled by the radiative properties of its massive atmosphere. In addition, outgassing due to volcanic activity, exospheric escape processes, and surface/atmosphere interactions may all be important in moderating the abundances of atmospheric CO2 and other volatiles. We have developed an evolutionary climate model for Venus using a systems approach that emphasizes feedbacks between elements in the climate system. Modules for atmospheric radiative transfer, surface/atmosphere interactions, tropospheric chemistry, and exospheric escape processes have so far been developed. Climate feedback loops result from interconnections between modules, in the form of the environmental parameters pressure, temperature, and atmospheric mixing ratios. The radiative transfer module has been implemented by using Rosseland mean opacities in a one dimensional grey radiative-convective model. The model has been solved for the static (time independent) case to determine climate equilibrium points. The dynamics of the model have also been explored by employing reaction/diffusion kinetics for possible surface atmosphere heterogeneous reactions over geologic timescales. It was found that under current conditions, the model predicts that the climate of Venus is at or near an unstable equilibrium point. The effects of constant rate volcanism and corresponding exsolution of volatiles on the stability of the climate model were also explored.

Bullock, M. A.↗

Control Circuit For Two Stepping Motors

Control circuit operates two independent stepping motors, one at a time. Provides following operating features: After selected motor stepped to chosen position, power turned off to reduce dissipation; Includes two up/down counters that remember at which one of eight steps each motor set. For selected motor, step indicated by illumination of one of eight light-emitting diodes (LED's) in ring; Selected motor advanced one step at time or repeatedly at rate controlled; Motor current - 30 mA at 90 degree positions, 60 mA at 45 degree positions - indicated by high or low intensity of LED that serves as motor-current monitor; Power-on reset feature provides trouble-free starts; To maintain synchronism between control circuit and motors, stepping of counters inhibited when motor power turned off.

Ratliff, Roger↗

Kinematic equations for resolved-rate control of an industrial robot arm

An operator can use kinematic, resolved-rate equations to dynamically control a robot arm by watching its response to commanded inputs. Known resolved-rate equations for the control of a particular six-degree-of-freedom industrial robot arm and proceeds to simplify the equations for faster computations are derived. Methods for controlling the robot arm in regions which normally cause mathematical singularities in the resolved-rate equations are discussed.

Barker, L. K.↗

Simulation of jet cooling effects on Czochralski crystal growth

The effects of cooling the crystal side surface by blowing a jet of an inert gas are examined in detail for Czochralski crystal growth. A combined model of the crystal + melt, which incorporates the detailed radiation calculations, the shape of the melt-gas meniscus, predicts the growth rate and the crystal-melt interface shape, is used for this study. The convective heat transfer coefficient for the jet is estimated from the correlation available in the literature. The effect of the jet cooling on the interface shape and the pulling rate is significant. The crystal diameter as well as the interface shape tend to be more stable in the environment of the rapid cooling of the crystal by the jet. The crystal diameter or the interface shape can be easily controlled by adjusting the gas flow rate through the jet. This gives the Czochralski pulling an additional degree of freedom facilitating the control of crystal diameter and interface shape.

Srivastava, R. K.↗