The telerobot testbed: An architecture for remote servicing

The NASA/OAST Telerobot Testbed will reach its next increment in development by the end of FY-89. The testbed will have the capability for: force reflection in teleoperation, shared control, traded control, operator designate and relative update. These five capabilities will be shown in a module release and exchange operation using mockups of Orbital Replacement Units (ORU). This development of the testbed shows examples of the technologies needed for remote servicing, particularly under conditions of delay in transmissions to the servicing site. Here, the following topics are presented: the system architecture of the testbed which incorporates these telerobotic technologies for servicing, the implementation of the five capabilities and the operation of the ORU mockups

Formation of metallic and metal hydrous oxide dispersions

The formation, via hydrothermally induced precipitation from homogeneous solution, of a variety of well-defined dispersions of metallic and hydrous metal in the conditions under which the particles are produced (e.g., pH and composition of the growth medium, aging temperature, rate of heating, or degree of agitation) can be readily discerned by following changes in the mass, composition, and morphology of the final solid phase. The generation of colloidal dispersions in the absence of gravity convection or sedimentation effects may result in the appearance of morphological modifications not previously observed in terrestrially formed hydrosols

System engineering techniques for establishing balanced design and performance guidelines for the advanced telerobotic testbed

Novel system engineering techniques have been developed and applied to establishing structured design and performance objectives for the Telerobotics Testbed that reduce technical risk while still allowing the testbed to demonstrate an advancement in state-of-the-art robotic technologies. To estblish the appropriate tradeoff structure and balance of technology performance against technical risk, an analytical data base was developed which drew on: (1) automation/robot-technology availability projections, (2) typical or potential application mission task sets, (3) performance simulations, (4) project schedule constraints, and (5) project funding constraints. Design tradeoffs and configuration/performance iterations were conducted by comparing feasible technology/task set configurations against schedule/budget constraints as well as original program target technology objectives. The final system configuration, task set, and technology set reflected a balanced advancement in state-of-the-art robotic technologies, while meeting programmatic objectives and schedule/cost constraints

A system architecture for a planetary rover

Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations)

Model of Controlled Synthesis of Uniform Colloid Particles: Cadmium Sulfide

The recently developed two-stage growth model of synthesis of monodispersed polycrystalline colloidal particles is utilized and improved to explain growth of uniform cadmium sulfide spheres. The model accounts for the coupled processes of nucleation, which yields nanocrystalline precursors, and aggregation of these subunits to form the final particles. The key parameters have been identified that control the size selection and uniformity of the CdS spheres, as well as the dynamics of the process. This approach can be used to generally describe the formation of monodispersed colloids by precipitation from homogeneous solutions.Comment: 20 pages in PD

The NASA/OAST telerobot testbed architecture

Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented

Micro-abrasion resistance of thermochemically treated steels in aqueous solutions: Mechanisms, maps, materials selection

The area of micro-abrasion is an interesting and relatively recent area in tribo-testing methodologies, where small particles of less than 10 μm are employed between interacting surfaces. It is topical for a number of reasons; its direct relation to the mechanisms of the wear process in bio-tribological applications, ease in conducting tests and the good repeatability of the test results. It has widespread applications in conditions used in the space and offshore industries to bio-engineering for artificial joints and implants. There have been many recent studies on the micro-abrasion performance of materials, ranging from work basic metals to nano-structured coatings. However, no significant work is reported on the micro-abrasion resistance of thermochemically treated steels. Hence, this paper looks at the performance of two thermochemically treated steels, Tenifer bath nitride stainless steel (T-SS) and vanadized carbon steel (V-CS) in such conditions with reference to the stainless steel (SS) by varying the applied load and sliding distance. The results indicated that T-SS demonstrates exceptionally poor resistance to micro-abrasion. It was observed that the heat treatment process and properties of the hardened layer (hardness and thickness) are extremely important in determining the micro-abrasion resistance of such steels. Finally, the results were used to develop micro-abrasion mechanism and wastage maps, which can be used to optimize the surface treated materials for micro-abrasion resistance