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NASA NTRS2000

The Interplay Between Hardware and Control System Design in the Development of the Active Rack Isolation System

A primary mission of the International Space Station (ISS) is to provide a premier microgravity laboratory environment for conducting acceleration sensitive scientific research. In order to accomplish this goal, vibroacoustic disturbances caused by station activities that occur during the microgravity mode of operation, must be controlled. In addition to source isolation and other passive isolation methods, the ISS uses active isolation at the receiver, through the use of an Active Rack Isolation System (ARIS), as part of its overall vibration isolation strategy. A schematic diagram of a typical ARIS payload rack is shown. The ARIS isolation control system senses rack acceleration via three triaxial accelerometer heads and uses eight pushrod actuators to perform active vibration attenuation. Position sensors housed in the actuator assembly are used to sense the relative position between the rack and the station. Electrical power, data and other essential resources are routed through a set of umbilicals that interface with a passthrough panel at the bottom of the rack. A representative umbilical set is shown.

Fialho, Ian J.↗

NASA NTRS2008

Effect of Vestibular Impairment on Cerebral Blood Flow Response to Dynamic Roll Tilt

Change to upright posture results in reductions in cerebral perfusion pressure due to hydrostatic pressure changes related to gravity. Since vestibular organs, specifically the otoliths, provide information on position relative to gravity, vestibular inputs may assist in adaptation to the upright posture. The goal of this study was to examine the effect of direct vestibular stimulation on cerebral blood flow (CBF). To examine the role of otolith inputs we screened 165 subjects for vestibular function and classified subjects as either normal or impaired based on ocular torsion. Ocular torsion, an indication of otolith function, was assessed during sinusoidal roll tilt of 20 degrees at 0.01 Hz (100 sec per cycle). Subjects with torsion one SD below the mean were classified as impaired while subjects one SD above the mean were considered normal. During one session subjects were placed in a chair that was sinusoidally rotated 25 degrees in the roll plane at five frequencies: 0.25 & 0.125 Hz for 80 sec, 0.0625 Hz for 160 sec and 0.03125 Hz and 0.015625 Hz for 320 sec. During testing, CBF (transcranial Doppler), blood pressure (Finapres), and end tidal CO2 (Puritan Bennet) were measured continuously. Ocular torsion was assessed from infrared images of the eyes. All rotations were done in the dark with subjects fixated on a red LED directly at the center of rotation. In the normal group, dynamic tilt resulted in significant changes in both blood pressure and cerebral blood flow velocity that was related to the frequency of stimulus. In contrast the impaired group did not show similar patterns. As expected normal subjects demonstrated significant ocular torsion that was related to stimulus frequency while impaired subjects had minimal changes. These data suggest that vestibular inputs have direct effects on cerebral blood flow regulation during dynamic tilt. Supported by NASA.

Serrador, J. M.↗

NASA NTRS1975

Error analysis for the proposed close grid geodynamic satellite measurement system (CLOGEOS)

The close grid geodynamic measurement system experiment which envisages an active ranging satellite and a grid of retro-reflectors or transponders in the San Andreas fault area is a detailed simulated study for recovering the relative positions in the grid. The close grid geodynamic measurement system for determining the relative motion of two plates in the California region (if feasible) could be used in other areas of the world to delineate and complete the picture of crustal motions over the entire globe and serve as a geodetic survey system. In addition, with less stringent accuracy standards, the system would also find usage in allied geological and marine geodesy fields.

Mueller, I. I.↗

NASA NTRS1986

Astrometric telescope of ten microarcsecond accuracy on the Space Station

The Astrometric Telescope Facility (ATF) will be operated in the NASA Space Station in the 1990s, furnishing long term, highly accurate relative astrometry of nearby stars in order to detect gravitational perturbations by companion stars with masses as small as that of Neptune. An accuracy of 10 microarcsec is required; this is 100 times better than ground observatory performance. In the Gatewood et al. (1980) astrometric technique used, the relative positions of star images in the telescope focal plane are indicated by the relative phases of the modulations of star brightnesses introduced by translating a Ronchi ruling across the focal plane at uniform speed. Space Station vibration damping, fine guiding accuracy, optical configuration, Ronchi ruling metric accuracy, and the choice of detectors, are discussed.

Levy, E. H.↗

NASA NTRS1995

Summary of EOS flight dynamics analysis

From a flight dynamics perspective, the Earth Observing System (EOS) spacecraft present a number of challenges to mission designers. The Flight Dynamics Support Branch of NASA GSFC has examined a number of these challenges, including managing the EOS constellation, disposing of the spacecraft at the end-of-life (EOL), and achieving the appropriate mission orbit given launch vehicle and ascent propulsion constraints. The EOS program consists of a number of spacecraft including EOS-AM, an ascending node spacecraft, EOS-PM, a descending node spacecraft, the EOS Chemistry mission (EOS-CHEM), the EOS Altimetry Laser (EOS-LALT), and the EOS-Altimetry Radar (EOS-RALT). The orbit characteristics of these missions are presented. In order to assure that downlinking data from each spacecraft will be possible without interference between any two spacecraft, a careful examination of the relationships between spacecraft and how to maintain the spacecraft in a configuration which would minimize these communications problems must be made. The FDSB has performed various analyses to determine whether the spacecraft will be in a position to interfere with each other, how the orbit dynamics will change the relative positioning of the spacecraft over their lifetimes, and how maintenance maneuvers could be performed, if needed, to minimize communications problems. Prompted by an activity at NASA HQ to set guidelines for spacecraft regarding their end-of-life dispositions, much analysis has also been performed to determine the spacecraft lifetime of EOS-AM1 under various conditions, and to make suggestions regarding the spacecraft disposal. In performing this analysis, some general trends have been observed in lifetime calculations. The paper will present the EOS-AM1 lifetime results, comment on general reentry conclusions, and discuss how these analyses reflect on the HQ NMI. Placing the EOS spacecraft into their respective mission orbits involves some intricate maneuver planning to assure that all mission orbit requirements are met, given the initial conditions supplied by the launch vehicle at injection. The FDSB has developed an ascent scenario to meet the mission requirements. This paper presents results of the ascent analysis.

Newman, Lauri Kraft↗

NASA NTRS2006

Advanced Air Data Systems for Commercial Aircraft

It is possible to get a crude estimate of wind speed and direction while driving a car at night in the rain, with the motion of the raindrop reflections in the headlights providing clues about the wind. The clues are difficult to interpret, though, because of the relative motions of ground, car, air, and raindrops. More subtle interpretation is possible if the rain is replaced by fog, because the tiny droplets would follow the swirling currents of air around an illuminated object, like, for example, a walking pedestrian. Microscopic particles in the air (aerosols) are better for helping make assessments of the wind, and reflective air molecules are best of all, providing the most refined measurements. It takes a bright light to penetrate fog, so it is easy to understand how other factors, like replacing the headlights with the intensity of a searchlight, can be advantageous. This is the basic principle behind a lidar system. While a radar system transmits a pulse of radiofrequency energy and interprets the received reflections, a lidar system works in a similar fashion, substituting a near-optical laser pulse. The technique allows the measurement of relative positions and velocities between the transmitter and the air, which allows measurements of relative wind and of air temperature (because temperature is associated with high-frequency random motions on a molecular level). NASA, as well as the National Oceanic and Atmospheric Administration (NOAA), have interests in this advanced lidar technology, as much of their explorative research requires the ability to measure winds and turbulent regions within the atmosphere. Lidar also shows promise for providing warning of turbulent regions within the National Airspace System to allow commercial aircraft to avoid encounters with turbulence and thereby increase the safety of the traveling public. Both agencies currently employ lidar and optical sensing for a variety of weather-related research projects, such as analyzing the water content of snow and forecasting lightning.

Source record↗

NASA NTRS2004

Signal Design for Improved Ranging Among Multiple Transceivers

"Ultra-BOC" (where "BOC" signifies "binary offset carrier") is the name of an improved generic design of microwave signals to be used by a group of spacecraft flying in formation to measure ranges and bearings among themselves and to exchange telemetry needed for these measurements. Ultra-BOC could also be applied on Earth for diverse purposes -- for example, measuring relative positions of vehicles on highways for traffic-control purposes and determining the relative alignments of machines operating in mines and of construction machines and structures at construction sites. Ultra-BOC provides for rapid and robust acquisition of signals, even when signal-to-noise ratios are low. The design further provides that each spacecraft or other platform constantly strives to acquire and track the signals from the other platforms while simultaneously transmitting signals that provide full range, bearing, and telemetry service to the other platforms. In Ultra-BOC, unlike in other signal designs that have been considered for the same purposes, it is not necessary to maneuver the spacecraft or other platforms to obtain the data needed for resolving integer-carrier-cycle phase ambiguities.

Young, Lawrence↗

NASA NTRS1991

Flow interaction and noise from a counter rotating propeller

The aerodynamic interaction between the forward and rear rotors in a counter rotating propeller (CRP) system, has been examined using a conditional sampling technique applied to three-dimensional thermal anemometer data. The technique effectively freezes the rotors in any desired relative position and provides the inter-rotor flow field. Axial, radial and circumferential mean flow between rotors is shown relative to the 'fixed' forward rotor for various 'fixed' aft rotor positions. Acoustic far field noise data have also been collected for the same operating conditions. The acoustic results are presented with emphasis on the blade passing frequencies and interaction tone of the CRP.

Chung, Jin-Deog↗

NASA NTRS2004

Optoelectronic Sensor System for Guidance in Docking

The Video Guidance Sensor (VGS) system is an optoelectronic sensor that provides automated guidance between two vehicles. In the original intended application, the two vehicles would be spacecraft docking together, but the basic principles of design and operation of the sensor are applicable to aircraft, robots, vehicles, or other objects that may be required to be aligned for docking, assembly, resupply, or precise separation. The system includes a sensor head containing a monochrome charge-coupled- device video camera and pulsed laser diodes mounted on the tracking vehicle, and passive reflective targets on the tracked vehicle. The lasers illuminate the targets, and the resulting video images of the targets are digitized. Then, from the positions of the digitized target images and known geometric relationships among the targets, the relative position and orientation of the vehicles are computed. As described thus far, the VGS system is based on the same principles as those of the system described in "Improved Video Sensor System for Guidance in Docking" (MFS-31150), NASA Tech Briefs, Vol. 21, No. 4 (April 1997), page 9a. However, the two systems differ in the details of design and operation. The VGS system is designed to operate with the target completely visible within a relative-azimuth range of +/-10.5deg and a relative-elevation range of +/-8deg. The VGS acquires and tracks the target within that field of view at any distance from 1.0 to 110 m and at any relative roll, pitch, and/or yaw angle within +/-10deg. The VGS produces sets of distance and relative-orientation data at a repetition rate of 5 Hz. The software of this system also accommodates the simultaneous operation of two sensors for redundancy

Howard, Richard T.↗

NASA NTRS1979

Making it in academic psychology: Demographic and personality correlates of eminence

Citations to published work, personality, and demographic characteristics were examined in a sample of male and female academic psychologists. A large sex difference was found in citations with men receiving significantly more recognition. Reputational rankings of graduate school and current institution were significantly related to citations, as were components of achievement motivation. Mastery and work needs were positively related to citations while competitiveness was negatively associated with the criterion. A model of attainment in psychology is proposed and possible explanations for the differential recognition of women are explored.

Helmreich, R. L.↗

NASA NTRS1988

Influence of gravity on cat vertical vestibulo-ocular reflex

The vertical vestibulo-ocular reflex (VOR) was recorded in cats using electro-oculography during sinusoidal angular pitch. Peak stimulus velocity was 50 deg/s over a frequency range from 0.01 to 4.0 Hz. To test the effect of gravity on the vertical VOR, the animal was pitched while sitting upright or lying on its side. Upright pitch changed the cat's orientation relative to gravity, while on-side pitch did not. The cumulative slow component position of the eye during on-side pitch was less symmetric than during upright pitch. Over the mid-frequency range (0.1 to 1.0 Hz), the average gain of the vertical VOR was 14.5 percent higher during upright pitch than during on-side pitch. At low frequencies (less than 0.05 Hz) changing head position relative to gravity raised the vertical VOR gain and kept the reflex in phase with stimulus velocity. These results indicate that gravity-sensitive mechanisms make the vertical VOR more compensatory.

Tomko, D. L.↗

NASA NTRS1991

Office of Space Flight standard spaceborne Global Positioning System user equipment project

The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.

Saunders, Penny E.↗

NASA NTRS2022

Lunar Rover Localization Using Craters as Landmarks

Onboard localization capabilities for planetary rovers to date have used relative navigation, by integrating combinations of wheel odometry, visual odometry, and inertial measurements during each drive to track position relative to the start of each drive. At the end of each drive, a “ground-in-the-loop” (GITL) interaction is used to get a position update from human operators in a more global reference frame, such as a map frame defined by orbital reconnaissance imaging of a large region around the rover’s current position. For Mars rovers, this typically has involved downlinking imagery from the rover mast cameras and using interactive visualization tools on Earth to register such images to the orbital reconnaissance images. For safety purposes, rover mission operations typically specify “keep out zones”, which human operators recognize as being unsafe in the orbital images. Autonomous rover drives are limited in distance so that accumulated relative navigation error does not risk the possibility of the rover driving into a keep out zone. The allowable autonomous drive distance in this mode of operation depends on the distribution of keep out zones and the accuracy of relative navigation; in practice, drive limits of a few hundred meters between GITL cycles are to be expected. Several rover mission concepts have recently been studied that require much longer drives between GITL cycles, particularly for the Moon. This includes lunar rover mission concepts that involve (1) driving mostly in sunlight at low latitudes, (2) driving in permanently shadowed regions near the south pole, and (3) a mixture of day and night driving in mid-latitudes. These concepts include total traverse distance requirements of up to 1,800 km in 4 Earth years, with individual drives of several kilometers between stops for downlink. These concepts require greater autonomy to minimize GITL cycles to enable such large range; onboard global localization is a key element of such autonomy. Multiple techniques have been studied in the past for onboard rover global localization, including radio navigation aiding from an orbiter, recognizing horizon landmarks that are known in a regional elevation map, and correlating a local elevation map created onboard the rover with a regional elevation map. These techniques all have drawbacks, including requiring an expensive extra mission element (navigation orbiter), unavailability of sufficient regional elevation map data, or limited accuracy in resulting position estimates (e.g. a few hundred meters with horizon landmarks). For the Moon, the ubiquitous craters offer another possibility, which involves mapping craters from orbit, then recognizing crater landmarks with cameras and/or a lidar onboard the rover. This approach is applicable everywhere on the Moon, does not require high resolution stereo imaging from orbit as some other approaches do, and has potential to enable position knowledge with order of 10 m accuracy at all times. This paper will provide more detail on our technical approach to crater-based lunar rover localization and will present initial results on crater detection using 3-D point cloud data from onboard lidar or stereo cameras and using shading cues in monocular onboard imagery.

Ono, M.↗

NASA NTRS1976

EBF noise reduction through nozzle/flap positioning

Results are presented of an experimental and analytical study of the dependence of externally blown flap (EBF) noise on the relative position and shape of engine exhaust nozzle. Tests, conducted on a 1/15 scale model of a triple-slotted EBF system, indicate that a significant reduction (of up to 10 to 15 db for no forward speed case and of up to 5 to 10 db for forward speed case) is possible in the low frequency (around 63 Hz) region of the noise spectrum of the full scale device for small nozzle/flap separation distances. The overall acoustic performance, measured in PNdb, does not exhibit significant reductions. The analysis of the EBF noise is carried out for two limiting airfoil in a free jet. The analytical results also suggest that low frequency noise can be reduced by placing the nozzle close to the flow turning elements.

Kadman, Y.↗

NASA NTRS2002

Correlation Techniques as Applied to Pose Estimation in Space Station Docking

The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots essentially must form a constellation of specific relative positions in the incoming digital image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1I20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow, obscuration and lighting irregularity compensation are discussed.

Rollins, J. Michael↗

NASA NTRS2025

Preliminary Node Separation Orbit Determination Analysis for the HelioSwarm Observatory

The HelioSwarm Observatory is a nine-spacecraft swarm design, consisting of one Hub and eight Node spacecraft co-orbiting the Earth in a ~13.7-day orbit. Each Node separates from the Hub during the Node Commissioning Phase, and the Nodes’ sole source of tracking is inter-satellite relative ranging with the Hub. This study characterizes how soon the relative ranging should occur post-separation to maintain a reasonable knowledge of the Nodes’ position relative to the hub and quantifies how often, and at what measurement cadence, relative ranging needs to occur during the early days of commissioning.

orbit determination↗

NASA NTRS1990

Helicopter Airborne Laser Positioning System (HALPS)

The theory of operation, configuration, laboratory, and ground test results obtained with an HALPS developed by Princeton University is presented. The HALPS measures the relative position between two aircraft in three dimensions using two orthogonal fan-shaped laser beams sweeping across an array of four detectors. Specifically, the HALPS calculates the relative range, elevation, and azimuth between an observation aircraft and a test helicopter with a high degree of accuracy. The detector array provides a wide field of view in the presence of solar interference due to compound parabolic concentrators and spectral filtering of the detector pulses. The detected pulses and their associated time delays are processed by the electronics and are sent as position errors to the helicopter pilot who repositions the aircraft as part of the closed loop system. Accuracies obtained in the laboratory at a range of 80 ft in the absence of sunlight were + or - 1 deg in elevation; +0.5 to -1.5 deg in azimuth; +0.5 to -1.0 ft in range; while elevation varied from 0 to +28 deg and the azimuth varied from 0 to + or - 45 deg. Accuracies in sunlight were approximately 40 deg (+ or - 20 deg) in direct sunlight.

Eppel, Joseph C.↗

NASA NTRS2009

A Monte-Carlo Model for the Formation of Radiation-induced Chromosomal Aberrations

Purpose: To simulate radiation-induced chromosome aberrations in mammalian cells (e.g., rings, translocations, and dicentrics) and to calculate their frequency distributions following exposure to DNA double strand breaks (DSBs) produced by high-LET ions. Methods: The interphase genome was assumed to be comprised of a collection of 2 kbp rigid-block monomers following the random-walk geometry. Additional details for the modeling of chromosomal structure, such as chromosomal domains and chromosomal loops, were included. A radial energy profile for heavy ion tracks was used to simulate the high-LET pattern of induced DSBs. The induced DSB pattern depended on the ion charge and kinetic energy, but always corresponded to the DSB yield of 25 DSBs/cell/Gy. The sum of all energy contributions from Poisson-distributed particle tracks was taken to account for all possible one-track and multi-track effects. The relevant output of the model was DNA fragments produced by DSBs. The DSBs, or breakpoints, were defined by (x, y, z, l) positions, where x, y, z were the Euclidian coordinates of a DSB, and where l was the relative position along the genome. Results: The code was used to carry out Monte Carlo simulations for DSB rejoinings at low doses. The resulting fragments were analyzed to estimate the frequencies of specific types of chromosomal aberrations. Histograms for relative frequencies of chromosomal aberrations and P.D.F.s (probability density functions) of a given aberration type were produced. The relative frequency of dicentrics to rings was compared to empirical data to calibrate rejoining probabilities. Of particular interest was the predicted distribution of ring sizes, irrespective of their frequencies relative to other aberrations. Simulated ring sizes were . 4 kbp, which are far too small to be observed experimentally (i.e., by microscopy) but which, nevertheless, are conjectured to exist. Other aberrations, for example, inversions, translocations, as well as multi-centrics were also recorded. Conclusion: High-LET DNA damage affects the frequencies of chromosomal aberrations. The ratio of rings to dicentrics is correct for the genomic size cut-offs corresponding to available experimental data. The present work predicts a relative abundance of small rings following irradiation by heavy ions.

Ponomarev, Artem L.↗