The dynamic effects of internal robots on Space Station Freedom

Many of the planned experiments of the Space Station Freedom (SSF) will require acceleration levels to be no greater than microgravity (10 exp -6 g) levels for long periods of time. Studies have demonstrated that without adequate control, routine operations may cause disturbances which are large enough to affect on-board experiments. One way to both minimize disturbances and make the SSF more autonomous is to utilize robots instead of astronauts for some operations. The present study addresses the feasibility of using robots for microgravity manipulation. Two methods for minimizing the dynamic disturbances resulting from the robot motions are evaluated. The first method is to use a robot with kinematic redundancy (redundant links). The second method involves the use of a vibration isolation device between the robot and the SSF laboratory module. The results from these methods are presented along with simulations of robots without disturbance control

Reaction-compensation technology for microgravity laboratory robots

Robots operating in the microgravity environment of an orbiting laboratory should be capable of manipulating payloads such that the motion of the robot does not disturb adjacent experiments. The current results of a NASA Lewis Research Center technology program to develop smooth, reaction-compensated manipulation based on both mechanism technology and trajectory planning strategies are present. Experimental validation of methods to reduce robot base reactions through the use of redundant degrees of freedom is discussed. Merits of smooth operation roller-driven robot joints for microgravity manipulators are also reviewed

Ursinus College Alumni Journal, Spring 1943

Current comment • President\u27s page • War and the college program • Notable speakers address college organizations • Campus activities in war time • Fall and winter sports • Secretary\u27s letter • Ursinus Women\u27s Club notes • Alumni Association nominees • Organ • Ursinus College to get $25,000 from church • Changes about the Library • Alumni news notes • Alumni serving with the colorshttps://digitalcommons.ursinus.edu/alumnijournal/1017/thumbnail.jp

Ursinus College Alumni Journal, Spring 1943

Current comment • President\u27s page • War and the college program • Notable speakers address college organizations • Campus activities in war time • Fall and winter sports • Secretary\u27s letter • Ursinus Women\u27s Club notes • Alumni Association nominees • Organ • Ursinus College to get $25,000 from church • Changes about the Library • Alumni news notes • Alumni serving with the colorshttps://digitalcommons.ursinus.edu/alumnijournal/1017/thumbnail.jp

The Ursinus Weekly, November 17, 1941

Vespers speaker urges cultivation of latent powers • Zu Loewenstein, exile from Germany, to address first forum December 3 • Cruise to carnival of roses will be senior ball theme • U.S. naval officer to depict life as Air Corps cadet • Prof of neurology at Temple will speak to pre-medders tomorrow • College press poll indicates opinion against war entry • Wenhold wins Longine wrist watch in Coke advertisement contest • Men debaters open season; meet Swarthmore on radio • Y to emphasize music, arts, and dramatics on its trip to Philadelphia • IRC to show film on Peru, land of the Incas; conference at Lehigh • Big little sisters journey to Norristown for theatre party • Dr. Reid explains implications of inter-American defense • High-pressure tactics swell number at Ruby barn dance • Omega Chi offers graduation prize for merit in scholastics • Co-ed hockeyites drub Rhode Island 12-2; tie Penn 1-1 • Baker booters drop tilt to Gettysburg clan 3-1; to play alumni Saturday • Strong Bullet eleven downs fighting bear outfit by 20-0 score Saturday • Stevens calls for wrestling hopefuls; six meets plannedhttps://digitalcommons.ursinus.edu/weekly/1769/thumbnail.jp

The Ursinus Weekly, January 12, 1942

College adopts 3-semester year • Charlie Hoffman\u27s orchestra to play at Friday\u27s dance • British author and critic to address forum Wednesday • Miller article on Singapore is part of January Amerasia • Guest professor, F. and M. students lead at vespers • College defense council plans for air raid work and emergency aid • Students will become members of defense council first aid unit • Free Weeklies to Ursinus men in armed forces • Y\u27s committees lead world student service drive to secure funds • Men debaters meet tonight to discuss new questions • Civilian defense at Ursinus • Solidarity is the theme of national YM-YW assembly • Dr. John Perkins tells pre-meds of general practice • College receives large grant from estate of wealthy philanthropist • Bears swamp Lebanon Valley 77-31; bears swamped by Albright 80-33 • Tropp and Arnold win but Fords sink wrestlers by 22-6 • Dependable guard: Al Hutchinson • Freshmen capture sudden death tilt from Lions, 33-31 • Cub squad opens seasons with 37-19 win Wednesday • Alumni sextet ekes out 25-24 win over coach Snell\u27s co-ed varsity • Then across the Perkiomen the skaters glide in flight • Dr. Miller, Mr. Pancoast attend American political science conference • YM-YW plan winter retreat to formulate new programhttps://digitalcommons.ursinus.edu/weekly/1774/thumbnail.jp

The First Development of Human Factors Engineering Requirements for Application to Ground Task Design for a NASA Flight Program

The National Aeronautics and Space Administration has long applied standards-derived human engineering requirements to the development of hardware and software for use by astronauts while in flight. The most important source of these requirements has been NASA-STD-3000. While there have been several ground systems human engineering requirements documents, none has been applicable to the flight system as handled at NASA's launch facility at Kennedy Space Center. At the time of the development of previous human launch systems, there were other considerations that were deemed more important than developing worksites for ground crews; e.g., hardware development schedule and vehicle performance. However, experience with these systems has shown that failure to design for ground tasks has resulted in launch schedule delays, ground operations that are more costly than they might be, and threats to flight safety. As the Agency begins the development of new systems to return humans to the moon, the new Constellation Program is addressing this issue with a new set of human engineering requirements. Among these requirements is a subset that will apply to the design of the flight components and that is intended to assure ground crew success in vehicle assembly and maintenance tasks. These requirements address worksite design for usability and for ground crew safety