A real-time simulator for the shuttle manipulator system in the system engineering laboratory
Article Abstract:
The Space Shuttle's Shuttle Remote Manipulator System (SRMS) performs payload deployment and retrieval operations in addition to berthing tasks inside and near the shuttle's cargo bay. The complex arm comprises seven rotational joints that function as shoulder, swing-out, shoulder yaw, shoulder pitch, elbow pitch, wrist pitch, wrist yaw and wrist roll. A real-time simulator for the SRMS comprises a control station that provides mode selection switches and two had controllers for translational and rotational commands. The simulator also features a display and control system that enables the crew to input and monitor data, and to generate joint rate commands. Torque output is yielded by a joint servo model receiving data from the SRMS control system. A flexible arm dynamic model gives dynamic responses of the arm to the servo torques and other environmental torques. Finally, scene generators give visual displays for the crew using the SRMS pilot-in-the-loop simulator.
Publication Name: SIMULATION
Subject: Engineering and manufacturing industries
ISSN: 0037-5497
Year: 1991
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A block-oriented network simulator: (BONeS)
Article Abstract:
Simulation plays an important role in computer-aided modeling, analysis and design of communication networks and related systems. A number of approaches based on Queueing models, Petri nets and Finite State Machines have been developed in recent years for simulating communication networks. This paper reviews the traditional approaches to modeling and simulating communication systems and presents a new approach based on a hierarchical, block-oriented modeling paradigm. The implementation of the block-oriented modeling paradigm in a graphical framework called BONeS (Block Oriented Network Simulator) is described and two examples are presented to show how BONeS can be used to model and simulate a broad range of communication networks and distributed systems. (Reprinted by permission of the publisher.)
Publication Name: SIMULATION
Subject: Engineering and manufacturing industries
ISSN: 0037-5497
Year: 1992
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