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

Simulated Radioisotope Thrust System and Component Development Final Report

Electrically heated and radioisotope heated thrusters for satellite attitude control and stationkeepin

Automation of the longwall mining system

Cost effective, safe, and technologically sound applications of automation technology to underground coal mining were identified. The longwall analysis commenced with a general search for government and industry experience of mining automation technology. A brief industry survey was conducted to identify longwall operational, safety, and design problems. The prime automation candidates resulting from the industry experience and survey were: (1) the shearer operation, (2) shield and conveyor pan line advance, (3) a management information system to allow improved mine logistics support, and (4) component fault isolation and diagnostics to reduce untimely maintenance delays. A system network analysis indicated that a 40% improvement in productivity was feasible if system delays associated with all of the above four areas were removed. A technology assessment and conceptual system design of each of the four automation candidate areas showed that state of the art digital computer, servomechanism, and actuator technologies could be applied to automate the longwall system

Technology applications

A summary of NASA Technology Utilization programs for the period of 1 December 1971 through 31 May 1972 is presented. An abbreviated description of the overall Technology Utilization Applications Program is provided as a background for the specific applications examples. Subjects discussed are in the broad headings of: (1) cancer, (2) cardiovascular disease, (2) medical instrumentation, (4) urinary system disorders, (5) rehabilitation medicine, (6) air and water pollution, (7) housing and urban construction, (8) fire safety, (9) law enforcement and criminalistics, (10) transportation, and (11) mine safety

Evaluation of the HARDMAN comparability methodology for manpower, personnel and training

The methodology evaluation and recommendation are part of an effort to improve Hardware versus Manpower (HARDMAN) methodology for projecting manpower, personnel, and training (MPT) to support new acquisition. Several different validity tests are employed to evaluate the methodology. The methodology conforms fairly well with both the MPT user needs and other accepted manpower modeling techniques. Audits of three completed HARDMAN applications reveal only a small number of potential problem areas compared to the total number of issues investigated. The reliability study results conform well with the problem areas uncovered through the audits. The results of the accuracy studies suggest that the manpower life-cycle cost component is only marginally sensitive to changes in other related cost variables. Even with some minor problems, the methodology seem sound and has good near term utility to the Army. Recommendations are provided to firm up the problem areas revealed through the evaluation

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

Pressure buildup during CO2 injection in brine aquifers using the Forchheimer equation

If geo-sequestration of CO2 is to be employed as a key emissions reduction method in the global effort to mitigate climate change, simple yet robust screening of the risks of disposal in brine aquifers will be needed. There has been significant development of simple analytical and semi-analytical techniques to support screening analysis and performance assessment for potential carbon sequestration sites. These techniques have generally been used to estimate the size of CO2 plumes for the purpose of leakage rate estimation. A common assumption has been that both the fluids and the geological formation are incompressible. Consequently, calculation of pressure distribution requires the specification of an arbitrary radius of influence. In this talk, a new similarity solution is derived using the method of matched asymptotic expansions. By allowing for slight compressibility in the fluids and formation, the solution improves on previous work by not requiring the specification of an arbitrary radius of influence. A large-time approximation of the solution is then extended to account for non-Darcy inertial effects using the Forchheimer equation. Both solutions are verified by comparison with finite difference solutions. The results show that inertial losses will often be comparable, and sometimes greater than, the viscous Darcy-like losses associated with the brine displacement, although this is strongly dependent on formation porosity and permeability

A comparison of reflector antenna designs for wide-angle scanning

Conventional reflector antennas are typically designed for up to + or - 20 beamwidths scan. An attempt was made to stretch this scan range to some + or - 300 beamwidths. Six single and dual reflector antennas were compared. It is found that a symmetrical parabolic reflector with f/D = 2 and a single circular waveguide feed has the minimum scan loss (only 0.6 dB at Theta sub 0 = 8 deg, or a 114 beamwidths scan). The scan is achieved by tilting the parabolic reflector by an angle equal to the half-scan angle. The f/D may be shortened if a cluster 7 to 19 elements instead of one element is used for the feed. The cluster excitation is adjusted for each new beam scan direction to compensate for the imperfect field distribution over the reflector aperture. The antenna can be folded into a Cassegrain configuration except that, due to spillover and blockage considerations, the amount of folding achievable is small

Coal-shale interface detection system

A coal-shale interface detection system for use with coal cutting equipment consists of a reciprocating hammer on which an accelerometer is mounted to measure the impact of the hammer as it penetrates the ceiling or floor surface of a mine. A pair of reflectometers simultaneously view the same surface. The outputs of the accelerometer and reflectometers are detected and jointly registered to determine when an interface between coal and shale is being cut through

A comparison of reflector antenna designs for wide-angle scanning

Conventional reflector antennas are typically designed for up to + or - 20 beamwidths scan. An attempt was made to stretch this scan range to some + or - 300 beamwidths. Six single and dual reflector antennas were compared. It is found that a symmetrical parabolic reflector with f/D = 2 and a single circular waveguide feed has the minimum scan loss (only 0.6 dB at Theta sub 0 = 8 deg, or a 114 beamwidths scan). The scan is achieved by tilting the parabolic reflector by an angle equal to the half-scan angle. The f/D may be shortened if a cluster 7 to 19 elements instead of one element is used for the feed. The cluster excitation is adjusted for each new beam scan direction to compensate for the imperfect field distribution over the reflector aperture. The antenna can be folded into a Cassegrain configuration except that, due to spillover and blockage considerations, the amount of folding achievable is small