SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 8: Aerothermodynamics Automation and Robotics (A/R) systems sensors, high-temperature superconductivity

Viewgraphs of briefings presented at the SSTAC/ARTS review of the draft Integrated Technology Plan (ITP) on aerothermodynamics, automation and robotics systems, sensors, and high-temperature superconductivity are included. Topics covered include: aerothermodynamics; aerobraking; aeroassist flight experiment; entry technology for probes and penetrators; automation and robotics; artificial intelligence; NASA telerobotics program; planetary rover program; science sensor technology; direct detector; submillimeter sensors; laser sensors; passive microwave sensing; active microwave sensing; sensor electronics; sensor optics; coolers and cryogenics; and high temperature superconductivity

Large space structures and systems in the space station era: A bibliography with indexes (supplement 05)

Bibliographies and abstracts are listed for 1363 reports, articles, and other documents introduced into the NASA scientific and technical information system between January 1, 1991 and July 31, 1992. Topics covered include technology development and mission design according to system, interactive analysis and design, structural and thermal analysis and design, structural concepts and control systems, electronics, advanced materials, assembly concepts, propulsion and solar power satellite systems

Bimanual cross-coupling in space telerobotics

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 54-61).Astronauts spend much time training to control the robotic arm aboard the International Space Station, and must perform a variety of challenging, three-dimensional tasks. They use a unique, bimanual control system to control the velocity of the end-effector; the left hand controls translation in three axes while the right hand simultaneously controls rotation in three axes. Operator inputs to the bimanual controllers can cross-couple through not only inter-manual neuromotor pathways, when movement of one hand affects movement of the other hand, but also through intramanual pathways, when movement of one hand affects movement of the same hand in an unintended control axis. We developed a measurement technique to quantify these directional cross-coupling pathways based on the detection of frequency-coded command signals in a bimanual tracking task. The technique allowed us to characterize the interactions among all six control axes in the form of a cross-coupling matrix of coupling strengths. An experiment using these techniques suggested two principal pathways of intermanual coupling and one of intramanual coupling. By combining information across 18 human subjects to typify the cross-coupling response due to the bimanual control system, we found that the two intermanual pathways exhibited 21% yaw to lateral translation and 15% pitch to vertical translation mean coupling even after significant training. The intramanual pathway exhibited 41% roll to yaw mean coupling. We found significant differences in bimanual cross-coupling between subjects, and demonstrated that subjects could significantly reduce intermanual cross-coupling with practice, suggesting that these metrics may be useful indicators of control device mastery. We found statistically significant negative correlations between early-stage intramanual coupling and subsequent performance in a simulated space telerobotics track and capture task, suggesting that an intramanual coupling metric may be useful as a predictor of human telerobotic performance. The test technique could ultimately be applied to evaluate cross-coupling during astronaut training and also to reduce undesired cross-coupling through improved hand controller design. Our results supported an ergonomic basis for intermanual cross-coupling that incorporated both biomechanical effects and sensorimotor effects.by Victor Wang.S.M