Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

The DS-Pnet modeling formalism for cyber-physical system development

This work presents the DS-Pnet modeling formalism (Dataflow, Signals and Petri nets), designed for the development of cyber-physical systems, combining the characteristics of Petri nets and dataflows to support the modeling of mixed systems containing both reactive parts and data processing operations. Inheriting the features of the parent IOPT Petri net class, including an external interface composed of input and output signals and events, the addition of dataflow operations brings enhanced modeling capabilities to specify mathematical data transformations and graphically express the dependencies between signals. Data-centric systems, that do not require reactive controllers, are designed using pure dataflow models. Component based model composition enables reusing existing components, create libraries of previously tested components and hierarchically decompose complex systems into smaller sub-systems. A precise execution semantics was defined, considering the relationship between dataflow and Petri net nodes, providing an abstraction to define the interface between reactive controllers and input and output signals, including analog sensors and actuators. The new formalism is supported by the IOPT-Flow Web based tool framework, offering tools to design and edit models, simulate model execution on the Web browser, plus model-checking and software/hardware automatic code generation tools to implement controllers running on embedded devices (C,VHDL and JavaScript). A new communication protocol was created to permit the automatic implementation of distributed cyber-physical systems composed of networks of remote components communicating over the Internet. The editor tool connects directly to remote embedded devices running DS-Pnet models and may import remote components into new models, contributing to simplify the creation of distributed cyber-physical applications, where the communication between distributed components is specified just by drawing arcs. Several application examples were designed to validate the proposed formalism and the associated framework, ranging from hardware solutions, industrial applications to distributed software applications

A Multi-functional Touch Panel for Multi-Dimensional Sensing in Interactive Displays

This thesis presents a flexible graphene/polyvinylidene difluoride (PVDF)/graphene sandwich for three-dimensional touch interactivity. Here, an x-y plane touch is sensed using graphene capacitive elements, while force sensing in the z-direction is by a piezoelectric PVDF/graphene sandwich. By employing different frequency bands for the capacitive- and force-induced electrical signals, the two stimuli are detected simultaneously, achieving three-dimensional touch sensing. Static force sensing and elimination of propagated stress are achieved by augmenting the transient piezo output with the capacitive touch, thus overcoming the intrinsic inability of the piezoelectric material in detecting non-transient force signals and avoiding force touch mis-registration by propagated stress. As a capacitive signal is important for force touch interpretation, optimization algorithms have been developed and implemented. With correlated double sampling (CDS) and spatial low-pass filtering (SLPF) based techniques, the signal-to-noise ratio (SNR) of the capacitive touch signal is boosted by 15.6 dB, indicating improved detection accuracy. In terms of the readout speed, fixed pattern and random pattern related down-sampling techniques are applied, giving rise to reductions in both readout time (11.3 ms) and power consumption (8.79 mW).China Scholarship Counci

NASA Tech Briefs, December 1990

Topics: New Product Ideas; NASA TU Services; Electronic Components and Circuits; Electronic Systems; Physical Sciences; Materials; Computer Programs; Mechanics; Machinery; Fabrication Technology; Mathematics and Information Sciences; Life Sciences

Advanced sensors technology survey

This project assesses the state-of-the-art in advanced or 'smart' sensors technology for NASA Life Sciences research applications with an emphasis on those sensors with potential applications on the space station freedom (SSF). The objectives are: (1) to conduct literature reviews on relevant advanced sensor technology; (2) to interview various scientists and engineers in industry, academia, and government who are knowledgeable on this topic; (3) to provide viewpoints and opinions regarding the potential applications of this technology on the SSF; and (4) to provide summary charts of relevant technologies and centers where these technologies are being developed

Measurements, Models, Systems and Design

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Effects of different push-to-talk solutions on driving performance

Police officers have been using the Project54 system in their vehicles for a number of years. They have also started using the handheld version of Project54 outside their vehicles recently. There is a need to connect these two instances of the system into a continuous user interface. On the other hand, research has shown that the PTT button location affects driving performance. This thesis investigates the difference between the old, fixed PTT button and a new wireless PTT glove, that could be used in and outside of the car. The thesis describes the design of the glove and the driving simulator experiment that was conducted to investigate the glove\u27s merit. The main results show that the glove allows more freedom of operation, appears to be easier and more efficient to operate and it reduces the visual distraction of the drivers

Definition of avionics concepts for a heavy lift cargo vehicle, volume 2

A cost effective, multiuser simulation, test, and demonstration facility to support the development of avionics systems for future space vehicles is defined. The technology needs and requirements of future Heavy Lift Cargo Vehicles (HLCVs) are analyzed and serve as the basis for sizing of the avionics facility although the lab is not limited in use to support of HLCVs. Volume 2 is the technical volume and provides the results of the vehicle avionics trade studies, the avionics lab objectives, the lab's functional requirements and design, physical facility considerations, and a summary cost estimate

Tactile force-sensing for dynamic gripping using piezoelectric force- sensors

Thesis (M. Tech.) -- Central University of Technology, Free State, 200