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NASA NTRS1992

A vision architecture for the extravehicular activity retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools, equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This report documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios will be discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, complementary usage of the sensors and redundant capabilities.

Magee, Michael↗
NASA NTRS1993

Real-time trajectory optimization on parallel processors

A parallel algorithm has been developed for rapidly solving trajectory optimization problems. The goal of the work has been to develop an algorithm that is suitable to do real-time, on-line optimal guidance through repeated solution of a trajectory optimization problem. The algorithm has been developed on an INTEL iPSC/860 message passing parallel processor. It uses a zero-order-hold discretization of a continuous-time problem and solves the resulting nonlinear programming problem using a custom-designed augmented Lagrangian nonlinear programming algorithm. The algorithm achieves parallelism of function, derivative, and search direction calculations through the principle of domain decomposition applied along the time axis. It has been encoded and tested on 3 example problems, the Goddard problem, the acceleration-limited, planar minimum-time to the origin problem, and a National Aerospace Plane minimum-fuel ascent guidance problem. Execution times as fast as 118 sec of wall clock time have been achieved for a 128-stage Goddard problem solved on 32 processors. A 32-stage minimum-time problem has been solved in 151 sec on 32 processors. A 32-stage National Aerospace Plane problem required 2 hours when solved on 32 processors. A speed-up factor of 7.2 has been achieved by using 32-nodes instead of 1-node to solve a 64-stage Goddard problem.

Psiaki, Mark L.↗
NASA NTRS1993

A vision system planner for increasing the autonomy of the Extravehicular Activity Helper/Retriever

The Extravehicular Activity Retriever (EVAR) is a robotic device currently being developed by the Automation and Robotics Division at the NASA Johnson Space Center to support activities in the neighborhood of the Space Shuttle or Space Station Freedom. As the name implies, the Retriever's primary function will be to provide the capability to retrieve tools and equipment or other objects which have become detached from the spacecraft, but it will also be able to rescue a crew member who may have become inadvertently de-tethered. Later goals will include cooperative operations between a crew member and the Retriever such as fetching a tool that is required for servicing or maintenance operations. This paper documents a preliminary design for a Vision System Planner (VSP) for the EVAR that is capable of achieving visual objectives provided to it by a high level task planner. Typical commands which the task planner might issue to the VSP relate to object recognition, object location determination, and obstacle detection. Upon receiving a command from the task planner, the VSP then plans a sequence of actions to achieve the specified objective using a model-based reasoning approach. This sequence may involve choosing an appropriate sensor, selecting an algorithm to process the data, reorienting the sensor, adjusting the effective resolution of the image using lens zooming capability, and/or requesting the task planner to reposition the EVAR to obtain a different view of the object. An initial version of the Vision System Planner which realizes the above capabilities using simulated images has been implemented and tested. The remaining sections describe the architecture and capabilities of the VSP and its relationship to the high level task planner. In addition, typical plans that are generated to achieve visual goals for various scenarios are discussed. Specific topics to be addressed will include object search strategies, repositioning of the EVAR to improve the quality of information obtained from the sensors, and complementary usage of the sensors and redundant capabilities.

Magee, Michael↗
NASA NTRS1993

Integration of domain and resource-based reasoning for real-time control in dynamic environments

A real-time software controller that successfully integrates domain-based and resource-based control reasoning to perform task execution in a dynamically changing environment is described. The design of the controller is based on the concept of partitioning the process to be controlled into a set of tasks, each of which achieves some process goal. It is assumed that, in general, there are multiple ways (tasks) to achieve a goal. The controller dynamically determines current goals and their current criticality, choosing and scheduling tasks to achieve those goals in the time available. It incorporates rule-based goal reasoning, a TMS-based criticality propagation mechanism, and a real-time scheduler. The controller has been used to build a knowledge-based situation assessment system that formed a major component of a real-time, distributed, cooperative problem solving system built under DARPA contract. It is also being employed in other applications now in progress.

Morgan, Keith↗
NASA NTRS1992

Loop transfer recovery for general nonminimum phase discrete time systems. II - Design

The authors consider the design of controllers for the recovery of target loop transfer function or sensitivity and complementary sensitivity functions for general nonminimum phase discrete time systems. The necessary design constraints and the available design freedom are reviewed. In view of the available freedom, possible specifications on the eigenstructure of the observer dynamic matrix are formulated. Three different types of controllers which are respectively based on prediction, current, and reduced-order estimators are considered. For each one of those controllers, three different design techniques are developed. The first one is an eigenstructure assignment scheme, while the other two are optimization-based designs. The eigenstructure assignment method yields a controller design which achieves any chosen recovery error matrix among a set of admissible recovery error matrices. On the other hand, one of the optimization-based design methods leads to a controller that achieves a recovery error matrix having the infimum H-infinity norm, while the other does the same except it achieves a recovery error matrix having the infimum H2 norm.

Chen, Ben M.↗
NASA NTRS1993

Fluidic scale model multi-plane thrust vector control test results

An experimental investigation has been conducted at the NASA Langley 16-Foot Transonic Tunnel Static Test Facility to determine the concept feasibility of using fluidics to achieve multiplane thrust vector control in a 2D convergent-divergent (2D-CD) fixed aperture nozzle. Pitch thrust vector control is achieved by injection of flow through a slot in the divergent flap into the primary nozzle flow stream. Yaw vector control results from secondary air delivered tangentially to vertical Coanda flaps. These flaps are offset laterally and aligned parallel to the primary nozzle side walls. All tests were conducted at static (no external flow) conditions. Flow visualization was conducted using a paint flow technique and Focus Schlieren. Significant levels of pitch deflection angles (19 deg) were achieved at low pressure ratios and practical levels (14 deg) resulted at typical intermediate power settings. The ability of the Coanda surface blowing concept to produce yaw deflection was limited to NPR not greater than 4.

Chiarelli, Charles↗
NASA NTRS1958

Full-Scale Investigation of Several Jet-Engine Noise-Reduction Nozzles

A number of noise-suppression nozzles were tested on full-scale engines. In general, these nozzles achieved noise reduction by the mixing interference of adjacent jets, that is, by using multiple-slot-nozzles. Several of the nozzles achieved reductions in sound power of approximately 5 decibels (nearly 70 percent) with small thrust losses (approx. 1 percent). The maximum sound-pressure level was reduced by as much as 18 decibels in particular frequency bands. Some of the nozzles showed considerable spatial asymmetry; that is, the sound field was not rotationally symmetrical. A method of calculating the limiting frequency effected by such nozzles is presented. Furthermore data are shown that appear to indicate that further reductions in sound power will not be easily achieved from nozzles using mixing interference as a means of noise suppression

Coles, Willard D↗
NASA NTRS1993

Application of the airborne ocean color imager for commercial fishing

The objective of the investigation was to develop a commercial remote sensing system for providing near-real-time data (within one day) in support of commercial fishing operations. The Airborne Ocean Color Imager (AOCI) had been built for NASA by Daedalus Enterprises, Inc., but it needed certain improvements, data processing software, and a delivery system to make it into a commercial system for fisheries. Two products were developed to support this effort: the AOCI with its associated processing system and an information service for both commercial and recreational fisheries to be created by Spectro Scan, Inc. The investigation achieved all technical objectives: improving the AOCI, creating software for atmospheric correction and bio-optical output products, georeferencing the output products, and creating a delivery system to get those products into the hands of commercial and recreational fishermen in near-real-time. The first set of business objectives involved Daedalus Enterprises and also were achieved: they have an improved AOCI and new data processing software with a set of example data products for fisheries applications to show their customers. Daedalus' marketing activities showed the need for simplification of the product for fisheries, but they successfully marketed the current version to an Italian consortium. The second set of business objectives tasked Spectro Scan to provide an information service and they could not be achieved because Spectro Scan was unable to obtain necessary venture capital to start up operations.

Wrigley, Robert C.↗
NASA NTRS1993

Heteroepitaxial InP, and ultrathin, directly glassed, GaAs 3-5 solar cells

The commercial application of Indium Phosphide solar cells in practical space missions is crucially dependent upon achieving a major cost reduction which could be offered by heteroepitaxy on cheaper, more rugged substrates. Furthermore, significant mass reduction, compatibility with mechanically stacked multijunction cells, and elimination of the current loss through glue discoloration, is possible in III-V solar cells by the development of ultrathin, directly glassed cells. The progress of a UK collaborative program to develop high efficiency, homojunction InP solar cells, grown by MOCVD on Si substrates, is described. Results of homoepitaxial cells (is greater than 17 percent 1 Sun AM0) are presented, together with progress in achieving low dislocation density heteroepitaxy. Also, progress in a UK program to develop ultrathin directly-glassed GaAs cells is described. Ultrathin (5 micron) GaAs cells, with 1 Sun AM0 efficiencies up to 19.1 percent, are presented, together with progress in achieving a direct (adhesive-less) bond between the cell and coverglass. Consequential development to, for example, cell grids, are also discussed.

Hardingham, C. M.↗
NASA NTRS1993

Two color holographic interferometry for microgravity application

Holographic interferometry is a primary candidate for the measurement of temperature and concentration in various crystal growth experiments destined for space. The method measures refractive index changes in the experiment test cell. A refractive index change can be caused by concentration changes, temperature changes, or a combination of temperature and concentration changes. If the refractive index changes are caused by temperature and concentration changes occurring simultaneously in the experiment test cell, the contributions by the two effects cannot be separated by conventional measurement methods. By using two wavelengths, two independent interferograms can be produced from the reconstruction of the hologram. The two interferograms will be different due to dispersion properties of fluid materials. These differences provide the additional information that allows the separation of simultaneously occurring temperature and concentration gradients. There is no other technique available that can provide this type of information. The primary objectives of this effort are to experimentally verify the mathematical theory of two color holographic interferometry and to determine the practical value of this technique for space application. To achieve these objectives, the accuracy and sensitivity of the technique must be determined for geometry's and materials that are relevant to the Materials Processing in the Space program of NASA. This will be achieved through the use of a specially designed two-color holographic interferometry breadboard optical system. In addition to experiments to achieve the primary goals, the breadboard will also provide inputs to the design of an optimum space flight system.

Trolinger, James D.↗
NASA NTRS1993

The connection between Venus' free obliquity and its CMB oblateness

The most striking feature of Venus rotational state is its slow retrograde rotation which is apparently maintained by a balance between solid tidal friction and thermal tidal torques. Solid tides tend to drive the spin toward synchronous rotation while thermal tides drive it away. A balance is achieved at a specific rate because of the inverse frequency dependence of the thermal tide to the semi-diurnal heating. Atmospheric models have been constructed to estimate the thermal tidal torque based on ground heating. The solid friction dissipation factor Q approximately equal to 50 can be deduced assuming rotation has achieved steady state. The most perplexing feature of Venus orientation is its non-zero free obliquity epsilon approximately equal to 1.5 deg relative to its orbit. Although solid tides and perhaps atmospheric tides tend to increase the free obliquity on a time 1/K(sub t) approximately equal to 1 x 10(exp 8) yr, viscous friction (CMF) at a core-mantle boundary (CMB) resulting from the differential angular orientation Delta-epsilon of the core and mantle spin axes should have damped the free obliquity on a time scale as short as 10(exp 6) yr. One means of achieving a balance similar to that controlling rotation is to introduce a comparatively large CMB ellipticity e(sub c) to reduce Delta-epsilon such that there is a balance between solid-thermal tides and CMF. The balance depends not so much on the potential frequency dependence on the tides as on the quadratic dependence of CMF on Delta-epsilon if the layer is turbulent.

Yoder, C. F.↗
NASA NTRS1992

A conceptual design of an unmanned test vehicle using an airbreathing propulsion system

According to Aviation Week and Space Technology (Nov. 16, 1992), without a redefined approach to the problem of achieving single stage-to-orbit flight, the X-30 program is virtually assured of cancellation. One of the significant design goals of the X-30 program is to achieve single stage to low-earth orbit using airbreathing propulsion systems. In an attempt to avoid cancellation, the NASP Program has decided to design a test vehicle to achieve these goals. This report recommends a conceptual design of an unmanned test vehicle using an airbreathing propulsion system.

Source record↗
NASA NTRS1994

Four advances in carbon-carbon materials technology

Carbon-carbon composites are a specialty class of materials having many unique properties making these composites attractive for a variety of demanding engineering applications. Chief among these properties are exceptional retention of mechanical properties at temperatures as high as 4000 F, excellent creep resistance, and low density (1.6 to 1.8 g/cu cm). Although carbon-carbon composites are currently in service in a variety of applications, much development work remains to be accomplished before these materials can be considered to be fully mature, realizing their full potential. Four recent technology advances holding particular promise for overcoming current barriers to the wide-spread commercialization of carbon-carbon composites are described. These advances are: markedly improved interlaminar strengths (more than doubled) of two dimensional composites achieved by whiskerization of the fabric reinforcing plies, simultaneously improved oxidation resistance and mechanical properties achieved by the incorporation of matrix-phase oxidation inhibitors based on carborane chemistry, improved oxidation resistance achieved by compositionally graded oxidation protective coatings, and markedly reduced processing times (hours as opposed to weeks or months) accomplished through a novel process of carbon infiltration and coatings deposition based on the use of liquid-phase precursor materials.

Maahs, Howard G.↗
NASA NTRS1994

Test results for rotordynamic coefficients of anti-swirl self-injection seals

Test results are presented for rotordynamic coefficients and leakage for three annular seals which use anti-swirl self-injection concept to yield significant improvement in whirl frequency ratios as compared to smooth and damper seals. A new anti-swirl self-inection mechanism is achieved by deliberately machining self-injection holes inside the seal stator mechanism which is used to achieve effective reduction of the tangential flow which is considered as a prime cause of rotor instability in high performance turbomachinery. Test results show that the self-injection mechanism significantly improves whirl frequency ratios; however, the leakage performance degrades due to the introduction of the self-injection mechanism. Through a series of the test program, an optimum anti-swirl self-injection seal which uses a labyrinth stator surface with anti-axial flow injections is selected to obtain a significant improvement in the whirl frequency ratio as compared to a damper seal, while showing moderate leakage performance. Best whirl frequency ratio is achieved by an anti-swirl self-injection seal of 12 holes anti-swirl and 6 degree anti-leakage injection with a labyrinth surface configuration. When compared to a damper seal, the optimum configuration outperforms the whirl frequency ratio by a factor of 2.

Kim, C. H.↗
NASA NTRS1994

The in-flight calibration of the Hubble Space Telescope fine guidance sensors, 2 (a success story)

The Hubble Space Telescope's fine guidance sensors (FGS's) are unique in the performance levels being attempted; spacecraft control and astrometric research with accuracies better than 3 milli-arcseconds (mas) are the ultimate goals. This paper presents a review of the in-flight calibration of the sensors, describing both the algorithms used and the results achieved to date. The work was done primarily in support of engineering operations related to spacecraft pointing and control and secondarily in support of the astrometric science calibration effort led by the Space Telescope Astrometry Team. Calibration items of principal interest are distortion, sensor magnification, and relative alignment. An initial in-flight calibration of the FGS's was performed in December 1990; this calibration has been used operationally over the past few years. Followup work demonstrated that significant, unexpected temporal variations in the calibration parameters are occurring; provided good characterization of the variation; and set the stage for a distortion calibration designed to achieve the full design accuracy for one of the FGS's. This full distortion calibration, using data acquired in January 1993, resulted in a solution having single-axis residuals with a standard deviation of 2.5 mas. Scale and alignment calibration results for all of the FGS's have been achieved commensurate with the best ground-based astrometric catalogs (root-mean-square error approximately 25 mas). A calibration monitoring program has been established to allow regular updates of the calibration parameters as needed.

Welter, Gary L.↗
NASA NTRS1994

Electric-optic resonant phase modulator

An electro-optic resonant cavity is used to achieve phase modulation with lower driving voltages. Laser damage thresholds are inherently higher than with previously used integrated optics due to the utilization of bulk optics. Phase modulation is achieved at higher speeds with lower driving voltages than previously obtained with non-resonant electro-optic phase modulators. The instant scheme uses a data locking dither approach as opposed to the conventional sinusoidal locking schemes. In accordance with a disclosed embodiment, a resonant cavity modulator has been designed to operate at a data rate in excess of 100 Mbps. By carefully choosing the cavity finesse and its dimension, it is possible to control the pulse switching time to within 4 ns and to limit the required switching voltage to within 10 V. Experimentally, the resonant cavity can be maintained on resonance with respect to the input laser signal by monitoring the fluctuation of output intensity as the cavity is switched. This cavity locking scheme can be applied by using only the random data sequence, and without the need of additional dithering of the cavity. Compared to waveguide modulators, the resonant cavity has a comparable modulating voltage requirement. Because of its bulk geometry, resonant cavity modulator has the potential of accommodating higher throughput power. Furthermore, mode matching into a bulk device is easier and typically can be achieved with higher efficiency. On the other hand, unlike waveguide modulators which are essentially traveling wave devices, the resonant cavity modulator requires that the cavity be maintained in resonance with respect to the incoming laser signal. An additional control loop is incorporated into the modulator to maintain the cavity on resonance.

Chen, Chien-Chung↗
NASA NTRS1994

Mission operations management

Redefining the approach and philosophy that operations management uses to define, develop, and implement space missions will be a central element in achieving high efficiency mission operations for the future. The goal of a cost effective space operations program cannot be realized if the attitudes and methodologies we currently employ to plan, develop, and manage space missions do not change. A management philosophy that is in synch with the environment in terms of budget, technology, and science objectives must be developed. Changing our basic perception of mission operations will require a shift in the way we view the mission. This requires a transition from current practices of viewing the mission as a unique end product, to a 'mission development concept' built on the visualization of the end-to-end mission. To achieve this change we must define realistic mission success criteria and develop pragmatic approaches to achieve our goals. Custom mission development for all but the largest and most unique programs is not practical in the current budget environment, and we simply do not have the resources to implement all of our planned science programs. We need to shift our management focus to allow us the opportunity make use of methodologies and approaches which are based on common building blocks that can be utilized in the space, ground, and mission unique segments of all missions.

Rocco, David A.↗
NASA NTRS1994

Pushing the limits of spatial resolution with the Kuiper Airborne observatory

The study of astronomical objects at high spatial resolution in the far-IR is one of the most serious limitations to our work at these wavelengths, which carry information about the luminosity of dusty and obscured sources. At IR wavelengths shorter than 30 microns, ground based telescopes with large apertures at superb sites achieve diffraction-limited performance close to the seeing limit in the optical. At millimeter wavelengths, ground based interferometers achieve resolution that is close to this. The inaccessibility of the far-IR from the ground makes it difficult, however, to achieve complementary resolution in the far-IR. The 1983 IRAS survey, while extraordinarily sensitive, provides us with a sky map at a spatial resolution that is limited by detector size on a spatial scale that is far larger than that available in other wavelengths on the ground. The survey resolution is of order 4 min in the 100 micron bandpass, and 2 min at 60 microns (IRAS Explanatory Supplement, 1988). Information on a scale of 1' is available on some sources from the CPC. Deconvolution and image resolution using this database is one of the subjects of this workshop.

Lester, Daniel↗

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