227 research outputs found

    Advanced flight control system study

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    The architecture, requirements, and system elements of an ultrareliable, advanced flight control system are described. The basic criteria are functional reliability of 10 to the minus 10 power/hour of flight and only 6 month scheduled maintenance. A distributed system architecture is described, including a multiplexed communication system, reliable bus controller, the use of skewed sensor arrays, and actuator interfaces. Test bed and flight evaluation program are proposed

    Joint University Program for Air Transportation Research, 1982

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    A summary of the research on air transportation is addressed including navigation; guidance, control and display concepts; and hardware, with special emphasis on applications to general aviation aircraft. Completed works and status reports are presented also included are annotated bibliographies of all published research sponsored on these grants since 1972

    Inertial measurement unit modelling

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    Inerciální měřící jednotka (IMU) patří mezi základní senzorické vybavení současných mobilních robotů, kde se používá především pro odhadování ohamžité orientace robotu v prostoru. V této práci se komplexně zabývám simulací IMU v robotickém simulátoru Gazebo za účelem co nejvěrnějšího modelování odhadovaného úhlu natočení robotu, který je jedním z přímých výstupů IMU senzoru Bosch BNO055. Pro podporu vyhodnocení kvality IMU modelu vzhledem k reálným datům z BNO055 jsem navrhl a implementoval simulační prostřední v rámci Robotického Operačního Systému (ROS), které aproximuje zadanou trajektorii, uloží data ze simulovaného IMU a vygeneruje podklady pro vyhodnocení kvality IMU modelu vzhledem k reálným datům z BNO055. Na základě nejlepších dostupných IMU pluginů v Gazebu jsem implementoval dva URDF/SDF modely IMU sensoru, jejichž funkčnost byla následně ověřena řadou experimentů v simulátoru. Provedené simulace potvrdily funkčnost modelů a zároveň poukázaly na limity realističnosti současných pluginů v Gazebu a nastínily možnosti dalšího vývoje pro zvýšení věrnosti simulací IMU.The inertial measurement unit (IMU) sensors are massively used in mobile service robots to provide orientation estimation. This thesis is concerned with modeling and simulation of IMU sensor in the robotics simulator Gazebo. The main goal of this thesis is to simulate the heading angle output of a real IMU sensor Bosch BNO055 with high fidelity. To enable the IMU model evaluation I designed and implmented a custom IMU simulation framework as a ROS package. This framework approximates the given trajectory with the help of a Gazebo simulation of a robot model with attached IMU sensor model, captures the simulated IMU output and generates data for the comparison concerning provided dataset measured by real BNO055. I used the best currently available IMU plugins to implement two different URDF/SDF IMU models. The simulations demonstrated the functionality of implemented IMU models, but also revealed the fidelity limitations of current IMU plugins in Gazebo, and led to a discussion about possible future improvements

    NA

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    http://archive.org/details/stateoftheartass00neilNAN

    NASA Tech Briefs, December 1989

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    Topics include: Electronic Components and Circuits. Electronic Systems, Physical Sciences, Materials, Computer Programs, Mechanics, Machinery, Fabrication Technology, Mathematics and Information Sciences, and Life Sciences

    Novel smart glove technology as a biomechanical monitoring tool

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    Developments in Virtual Reality (VR) technology and its overall market have been occurring since the 1960s when Ivan Sutherland created the world’s first tracked head-mounted display (HMD) – a goggle type head gear. In society today, consumers are expecting a more immersive experience and associated tools to bridge the cyber-physical divide. This paper presents the development of a next generation smart glove microsystem to facilitate Human Computer Interaction through the integration of sensors, processors and wireless technology. The objective of the glove is to measure the range of hand joint movements, in real time and empirically in a quantitative manner. This includes accurate measurement of flexion, extension, adduction and abduction of the metacarpophalangeal (MCP), Proximal interphalangeal (PIP) and Distal interphalangeal (DIP) joints of the fingers and thumb in degrees, together with thumb-index web space movement. This system enables full real-time monitoring of complex hand movements. Commercially available gloves are not fitted with sufficient sensors for full data capture, and require calibration for each glove wearer. Unlike these current state-of-the-art data gloves, the UU / Tyndall Inertial Measurement Unit (IMU) glove uses a combination of novel stretchable substrate material and 9 degree of freedom (DOF) inertial sensors in conjunction with complex data analytics to detect joint movement. Our novel IMU data glove requires minimal calibration and is therefore particularly suited to multiple application domains such as Human Computer interfacing, Virtual reality, the healthcare environment

    Navigation System Design with Application to the Ares I Crew Launch Vehicle and Space Launch Systems

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    For a launch vehicle, the Navigation System is responsible for determining the vehicle state and providing state and state derived information for Guidance and Controls. The accuracy required of the Navigation System by the vehicle is dependent upon the vehicle, vehicle mission, and other consideration, such as impact foot print. NASAs Ares I launch vehicle and SLS are examples of launch vehicles with are/where to employ inertial navigation systems. For an inertial navigation system, the navigation system accuracy is defined by the inertial instrument errors to a degree determined by the method of estimating the initial navigation state. Utilization of GPS aiding greatly reduces the accuracy required in inertial hardware to meet the same accuracy at orbit insertion. For a launch vehicle with lunar bound payload, the navigation accuracy can have large implications on propellant required to correct for state errors during trans-lunar injection

    Airborne Advanced Reconfigurable Computer System (ARCS)

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    A digital computer subsystem fault-tolerant concept was defined, and the potential benefits and costs of such a subsystem were assessed when used as the central element of a new transport's flight control system. The derived advanced reconfigurable computer system (ARCS) is a triple-redundant computer subsystem that automatically reconfigures, under multiple fault conditions, from triplex to duplex to simplex operation, with redundancy recovery if the fault condition is transient. The study included criteria development covering factors at the aircraft's operation level that would influence the design of a fault-tolerant system for commercial airline use. A new reliability analysis tool was developed for evaluating redundant, fault-tolerant system availability and survivability; and a stringent digital system software design methodology was used to achieve design/implementation visibility

    Aerial Vehicles

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    This book contains 35 chapters written by experts in developing techniques for making aerial vehicles more intelligent, more reliable, more flexible in use, and safer in operation.It will also serve as an inspiration for further improvement of the design and application of aeral vehicles. The advanced techniques and research described here may also be applicable to other high-tech areas such as robotics, avionics, vetronics, and space

    Aeronautical engineering: A continuing bibliography with indexes, supplement 140

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    This bibliography lists 386 reports, articles, and other documents introduced into the NASA scientific and technical information system in September 1981
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