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At least 217 records · Page 12

A systems plan for an earth and ocean dynamics satellite applications program

A system for investigating phenomena associated with the earth's dynamical and crustal motions, and the sea surface is described. The proposed observing systems include the following facilities: (1) A network of fundamental stations, whose locations and motions, including polar, variations in the earth's rotational rate, and crustal motions, are determined by very long baseline interferometry, relative to the basic reference system of radio stars. The sites are all NASA Goddard stations with the exception of Kashima, Japan, a facility which has participated extensively in the ATS program. (2) A system of Geopause spacecraft in nearly circular polar orbits, normal to the ecliptic at a distance of about five earth radii with a period on the order of two thirds of a day.

Siry, J. W.↗

Gravity field determination for Mars Observer

Mars Observer will be the first near circular, low altitude and short-periodic orbiter of Mars. From previous Mars orbiters, such as Mariner 9 and Vikings 1 and 2, a large gravitational oblateness and in general a gravity field ten times stronger than the earth's field have been determined. Because of these, the gravity field will dominate the evolution of the spacecraft's orbital motion and is the principal error source for reconstructing the spacecraft's motion. Thus a gravity calibration (GC) period has been established prior to the mapping phase in order to refine the gravitational field model. This paper describes the plan being made by Navigation to implement the GC strategy. By analyzing simulated Doppler data acquired during the seven day GC period, we give (1) the expected improvement in the gravity field model and (2) the resulting improvement in reconstructed spacecraft orbital motion. In addition, we have developed a strategy for converging the GC gravity model.

Esposito, Pasquale B.↗

Wing plan forms for high-speed flight

It is pointed out that, in the case of an airfoil of infinite aspect ratio moving at an angle of sideslip, the pressure distribution is determined solely by that component of the motion in a direction normal to the leading edge. It follows that the attachment of plane waves to the airfoil at near-sonic or supersonic speeds (Ackeret theory) may be avoided and the pressure drag may be reduced by the use of plan forms in which the angle of sweepback is greater than the Mach angle. The analysis indicates that for aerodynamic efficiency, wings designed for flight at supersonic speeds should be swept back at an angle greater than the Mach angle, and the angle of sweepback should be such that the component of velocity normal to the leading edge is less than the critical speed of the airfoil sections. This principle may also be applied to wings designed for subsonic speeds near the speed of sound, for which the induced velocities resulting from the thickness might otherwise be sufficiently great to cause shock waves.

Jones, Robert J↗

Robot path planning for space-truss assembly

Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.

Muenger, Rolf↗

SCATHA mission termination report

The SCATHA (Spacecraft Charging at High Altitudes) satellite was operated from the Consolidated Space Test Center in Sunnyvale, California from February 1979 to May 1991. It was a spin stabilized vehicle in a highly eccentric orbit that collected data on spacecraft charging. The purpose of such data gathering was to predict and/or model the effects of the Earth's magnetic field on synchronous and near synchronous satellites. During the majority of its lifetime, attitude precession maneuvers were done every 10-15 days to maintain solar panel orientation. Maneuver planning was difficult due to the structural characteristics of SCATHA. It is cylindrically shaped and has seven booms ranging in length from 2 to 50 meters. These precession maneuvers induced predictable nutation that damped out after a few days. Eventually fuel began running low due to these frequent maneuvers. Experiments that had required the spin axis be in the orbit plane had already been turned off or had collected all their data. To increase the vehicle lifetime, the spin axis was moved to ecliptic normal. While this stopped the need for frequent attitude maneuvering (only two per year required now), this movement of the spin axis caused nutation that would not damp out for the remainder of the mission. This phase of the mission, with the ecliptic normal orientation, lasted for approximately three years. Although nutation never damped, data gathering was uninterrupted. In late 1990, when SCATHA's transmitter became seriously degraded, the Air Force decided to turn SCATHA off. This would only be done after the satellite was made 'safe'. The most difficult part of making the vehicle safe was quickly purging the fuel. Several plans were considered. The selected plan was to perform a series of 20 degree attitude precession maneuvers (3 days apart to allow for the worst nutation to damp) until the fuel was depleted. Although this sounded simple, the actual execution proved difficult. This was due to a nearly complete lack of available telemetry data, large undamped motion of the long booms, inadequacies in attitude determination software, and an error in the fuel level calculation software. This paper discusses the various proposed termination plans and execution of the selected one. Attitude determination methodologies, nutation from maneuvers, and effects of the flexible booms on the termination mission are presented and analyzed from a satellite analyst point of view.

Stakkestad, Kjell↗

The Summer Robotic Autonomy Course

We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the midst of a new community for roboticists. CMU provided undergraduate course credit for this official course, 16-162U, for 13 students, with all other students receiving course credit from National Hispanic University.

Nourbakhsh, Illah R.↗

The Effect of Companions on the SIM Reference Frame

The Space Interferometry Mission (SIM) is a 10-m Michelson space-based optical interferometer designed for precision astrometry (4 microarcseconds, 3 microarcseconds/year) with better accuracy than before over a narrow field of view. One of the primary objectives of the SIM instrument is to determine accurately the directions to a grid of stars, together with their proper motions and parallax, improving a priori knowledge by nearly three orders of magnitude over Hipparcos and one order of magnitude over FAME's planned accuracy (Johnston, 2000). The instrument does not measure directly the angular separation between stars, but rather it measures the projection of each star's direction vector onto the interferometer baseline vector by measuring the pathlength delay of starlight as it passes through the two arms of the interferometer. The accuracy and stability of SIM's celestial reference frame is subject to degradation over the 5-year mission from the reflex motion induced by massive companions of the objects used to construct the celestial reference frame. The authors present the results of simulations that show the sensitivity of reference frame accuracy to companions as a function of mass and period. They assume that pre-launch ground surveys will eliminate all objects with RMS radial velocity greater than 10 m/s. They further assume that the standard astrometric parameters of position, parallax, and proper motion plus acceleration terms in right ascension and declination will be allowed to absorb reflex motion.

ASTROMETRY↗

A model for sensorimotor control and learning

A model for motor learning, generalization, and adaptation is presented. It is shown that the equations of motion of a limb can be expressed in a parametric form that facilitates transformation of desired trajectories into plans. These parametric equations are used in conjunction with a quantized multi-dimensional memory organized by state variables. The memory is supplied with data derived from the analysis of practice movements. A small computer and mechanical arm are used to implement the model and study its properties. Results verify the ability to acquire new movements, adapt to mechanical loads, and generalize between similar movements.

Raibert, M. H.↗

Determination of spacecraft attitude using synthetic aperture radar data

A method has been developed for precise sensor platform attitude determination which exploits the availability of synthetic aperture radar (SAR) sensors on future planned NASA earth orbiting spacecraft. Using the ephemeris along with data on planet shape and rotation, the relative motion between sensor and target area and therefore the Doppler frequency shift in the returned echo data is determined. Equations have been developed that relate the Doppler shift to the antenna attitude. The method is tested by comparing attitude predictions from SEASAT SAR digital echo data with available conventionally determined SEASAT attitude information.

Wu, C.↗

GOES-next navigation operations

The next generation of Geostationary Operational Environmental Satellites, GOES-I through -M (hereafter referred to as GOES-Next), begins a new era in the operation of weather satellites by the National Oceanic and Atmospheric Administration (NOAA). With a new spacecraft design, three-axis attitude stabilization, new ground support equipment, and improved methods of image navigation and registration that use on board compensation techniques to correct images for satellite motion, NOAA expects improved performance over the current series of dual-spin spacecraft. To meet these expectations, planning is currently underway for providing the complex and intensive operational environment that will meet the challenge of operating the GOES-Next spacecraft. This paper describes that operational environment.

Fiorello, John L., Jr.↗

Flight mechanics applications for tethers in space: Cooperative Italian-US programs

Since the 1974 proposal by Giuseppe Colombo to fly a tethered subsatellite from the Shuttle Orbiter, the creative thinking of many scientists and engineers from Italy and U.S. has generated a broad range of potential tether applications in space. Many of these applications have promise for enabling innovative research and operational activities relating to flight mechanics in earth orbit and at suborbital altitudes. From a flight mechanics standpoint the most interesting of the currently proposed flight demonstrations are: the second Tethered Satellite System experiment which offers both the potential for aerothermodynamics and hypersonics research and for atmospheric science research; the Tethered Initiated Space Recovery System which would enable orbital deboost and recovery of a re-entry vehicle and waste removal from a space station; and the Tether Elevator/Crawler System which would provide a variable microgravity environment and space station center of mass management. The outer atmospheric and orbital flight mechanics characteristics of these proposed tether flight demonstrations are described. The second Tethered Satellite System mission will deploy the tethered satellite earthward and will bring it as low as 130 km from ground and thus into the transition region between the atmosphere (non-ionized) and the partially ionized ionosphere. The atmospheric flight mechanics of the tethered satellite is discussed and simulation results are presented. The Tether Initiated Space Recovery System experiment will demonstrate the ability of a simple tether system to deboost and recover a reentry vehicle. The main feature of this demonstration is the utilization of a Small Expendable Deployment System (SEDS) and the low-tension deployment assumed to separate the reentry vehicle from the Shuttle. This low-tension deployment maneuver is discussed and its criticalities are outlined. The Tether Elevator/Crawler System is a new space element able to move in a controlled way between the ends of a deployed tethered system. A Shuttle test of an Elevator model is planned to demonstrate the unique capability of this element as a microgravity facility and to test the transfer motion control. The basic dynamical features of the Elevator system are presented and a preliminary assessment of the Elevator-induced tether vibrations is discussed.

Bevilacqua, Franco↗

Solid earth science in the 1990s. Volume 2: Panel reports

This is the second volume of a three-volume report. Volume 2, Panel Reports, outlines a plan for solid Earth science research for the next decade. The science panels addressed the following fields: plate motion and deformation, lithospheric structure and evolution, volcanology, Earth structure and dynamics, Earth rotation and reference frames, and geopotential fields.

Source record↗

Multi-sensor Testing for Automated Rendezvous and Docking

During the past two years, many sensors have been tested in an open-loop fashion in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL) to both determine their suitability for use in Automated Rendezvous and Docking (AR&D) systems and to ensure the test facility is prepared for future multi-sensor testing. The primary focus of this work was in support of the CEV AR&D system, because the AR&D sensor technology area was identified as one of the top risks in the program. In 2006, four different sensors were tested individually or in a pair in the MSFC FRL. In 2007, four sensors, two each of two different types, were tested simultaneously. In each set of tests, the target was moved through a series of pre-planned trajectories while the sensor tracked it. In addition, a laser tracker "truth" sensor also measured the target motion. The tests demonstrated the functionality of testing four sensors simultaneously as well as the capabilities (both good and bad) of all of the different sensors tested. This paper outlines the test setup and conditions, briefly describes the facility, summarizes the earlier results of the individual sensor tests, and describes in some detail the results of the four-sensor testing. Post-test analysis includes data fusion by minimum variance estimation and sequential Kalman filtering. This Sensor Technology Project work was funded by NASA's Exploration Technology Development Program.

Howard, Richard T.↗

Improving Efficacy and Safety of Pharmacological Treatment Through Precision Medicine and Pharmacogenomics for Human Deep Space Exploration

INTRODUCTION: Future spaceflight will require increased crew medical autonomy as exploration class missions expanding duration and distance from Earth, especially for Mars missions. As mission duration increases, it will be even more essential to have appropriate amounts of effective medication to ensure the maintenance of crew health and performance. Conversely, mass and volume constraints will become more severe as future spaceflight expands beyond low Earth orbit, where resupply is difficult or becomes impossible. These constraints thus convey an urgency to further tailor medications included in the spacecraft formulary and increased examination of appropriate dosing regimens. BACKGROUND: Precision Health is an exciting area of cutting-edge research and medicine focused on maintaining an individual’s health and performance through in-depth understanding of an individual’s unique factors and molecular profiles. This approach can be adapted to better predict, monitor, and address physiological responses to the spaceflight environment. One example is the field of pharmacogenomics (PGX),the study of how the expressed genome impacts drug responses with the goal of prescribing the right dose of the right drug at the right time. Specifically, PGX testing provides valuable information on an individual’s precise allelic variations to guide physicians in making informed decisions on pharmaceutical choice and dosing to avoid adverse drug events and maximize pharmacological efficacy. The goal of this study was to evaluate which drugs in the current space pharmacy could be evaluated using PGX testing and to understand the potential impact on the health and wellness of the astronaut population. Additionally, we sought to evaluate clinically available FDA-approved PGX testing solutions to better understand its applicability. METHODS: A complete list of drugs onboard the International Space Station (ISS) was analyzed for risk and likelihood of drug failure and PGX actionability. This analysis encompassed both personal astronaut medications, including supplements and over the counter drugs (n=151) and ISS MedKit formulary medications (n=95). Duplicate medications and different formulations were removed, which resulted in 157 total drugs used in the subsequent analysis. A 5x5 risk assessment table was produced by examining the likelihood of drug failure compared to the consequence of drug failure. Likelihood of individual drug failure was defined by whether existing processes are sufficient to prevent adverse events, as ranked from 1 (very low, can easily be prevented) to 5 (very high, cannot be prevented) during a Mars mission. In contrast, the consequence of drug failure was defined by impact to safety, schedule, cost or technical and ranked from 1 (very low) to 5 (very high).A comprehensive assessment of commercially available PGX solutions is currently underway to evaluate specimen requirements, cost/benefit analysis (cost vs. number of alleles assessed), utility of variant analysis, relevance to inflight medication usage, quality of reporting in enabling clinical application, and ease of integration into electronic medical records. RESULTS: Risk assessments(LxC 5x5 table) indicated29medicationswere in the yellow or red zone driven predominantly by drug failure or safety concerns, with the remainder(n=128)of the medications in the green zone where risk is acceptable. We found that current PGX testing results could impact 21% of the total medications in the ISS MedKit and IMAK; of these, 9 medications currently have direct clinically actionable guidance available. Results of the clinical PGX solution evaluations as related to these medications will be presented. CONCLUSION: PGX testing has demonstrated clear benefits in terrestrial medicine and clinical environments for the selection of proper medications, avoiding adverse drug reactions, and maximizing drug efficacy. We propose that similar benefits would be bestowed on the astronaut and commercial spaceflight passenger population by performing preemptive pre-flight PGX testing to reduce risk of mission failure due to ineffective or toxic medications, improve targeting drug efficacy and safety, and further open the door to countermeasure research exploring PGX-related allelic variants. For example, PGX results could allow tailoring of specific medications at optimal doses more precisely to each individual astronaut, particularly in areas of space motion sickness, sleep aids, and analgesics. An additional benefit is that PGX results could provide information for better planning of the components of a space pharmacy for deep space missions to be more cost effective and more efficient in the utilization of limited pharmaceutical resources. Finally, while PGX testing of the astronaut corps is not currently conducted, this approach could provide immediate impact in support of mission success by reducing risks, optimizing astronaut performance, and providing valuable insights into long-term astronaut health. Such advancements in clinical decision making are important next steps in building dynamic individual risk profiles for astronauts, increasing crew autonomy and providing tailored countermeasures

Alice R W Tang↗

Improving Efficacy and Safety of Pharmacological Treatment Through Precision Health and Pharmacogenomics

INTRODUCTION: Future spaceflight will require increased crew medical autonomy as exploration class missions expand in duration and distance from Earth, especially for Mars missions. As mission duration increases, it will be essential to have appropriate amounts of effective medication to ensure the maintenance of crew health and performance. Conversely, mass and volume constraints will become more severe as future spaceflight expands beyond low Earth orbit, where resupply is difficult or becomes impossible. These constraints thus convey an urgency to tailor medications for individual crewmembers and further examine appropriate dosing regimens. BACKGROUND: Precision Health is an exciting area of medicine focused on maintaining an individual’s health and performance through in-depth understanding of an individual’s unique clinical and environmental history, genetic makeup, and molecular profiles. This approach can be adapted to better predict, monitor, and address physiological responses to the spaceflight environment. A subset of this field is pharmacogenomics (PGX), the study of how the expressed genome impacts drug responses with the goal of prescribing the right dose of the right drug at the right time. Specifically, PGX testing provides valuable information on an individual’s precise allelic variations to guide physicians in making informed decisions on drug choice and dosing to avoid adverse events and maximize efficacy. The study goal was to identify which current space pharmacy drugs could be evaluated using PGX testing and to understand the potential impact on the health and wellness of the astronaut population. Additionally, we sought to evaluate clinically available FDA-approved PGX testing solutions to better understand its applicability. METHODS: A complete list of drugs on the ISS was analyzed for risk and likelihood of drug failure and PGX actionability. This analysis encompassed both astronauts’ personal medications, including supplements and over the counter drugs (n=151) contained in the ISS medical accessory kit (IMAK), and ISS MedKit formulary medications (n=95). Duplicate medications and different formulations were removed, which resulted in a total of 157 drugs used in the subsequent analysis. A 5x5 risk assessment table was produced by examining the likelihood of drug failure compared to the consequence of drug failure (LxC). Likelihood of individual drug failure was defined by whether existing processes are sufficient to prevent ineffective treatment or impactful side effect events, as ranked from 1 (very low, can easily be prevented) to 5 (very high, cannot be prevented) during a Mars mission. In contrast, the consequence of drug failure was defined by impact to safety, schedule, cost, or technical criteria and ranked from 1 (very low) to 5 (very high). An assessment of PGX reference laboratories is currently underway to evaluate sample requirements, benefit analysis (cost vs. utility of allele variant analysis), relevance to inflight medication usage, quality of reporting in enabling clinical application, and ease of integration into electronic medical records. RESULTS: Risk assessments (LxC 5x5 table) indicated 128 medications were in the green zone where risk is acceptable, with the remaining 29 of the medications in the yellow or red zone driven predominantly due to drug failure or safety concerns. We found that current PGX testing results could impact 21% of the total medications in the ISS MedKit and IMAK; of these, 9 medications currently have direct clinically actionable guidance available. Results of the clinical PGX solution evaluations as related to these medications will be presented. CONCLUSION: PGX testing has demonstrated clear benefits in terrestrial medicine and clinical environments for the selection of proper medications, avoiding adverse drug reactions, and maximizing drug efficacy. We propose that similar benefits would be bestowed on the astronaut and commercial spaceflight passenger population by performing preemptive preflight PGX testing to reduce risk of mission failure due to ineffective or toxic medications, improve drug efficacy, and further open the door to countermeasure research. For example, PGX results could allow tailoring of specific medications at optimal doses more precisely to each individual astronaut, particularly in areas of space motion sickness, sleep aids, and analgesics. An additional benefit is that PGX results could provide information for better planning of the components of a space pharmacy for deep space missions to be more effective and efficient in the utilization of limited pharmaceutical resources. Finally, while PGX testing of the astronaut corps is not currently conducted, this approach could provide immediate impact in support of mission success by reducing risks, optimizing astronaut performance, and providing valuable insights into long-term astronaut health. Such advancements in clinical decision making are important next steps in building dynamic individual risk profiles for astronauts, increasing selection of the best treatment choice, and providing tailored countermeasures for individual crewmembers.

Pharmacogenomics↗

A cost-effective intelligent robotic system with dual-arm dexterous coordination and real-time vision

Dexterous coordination of manipulators based on the use of redundant degrees of freedom, multiple sensors, and built-in robot intelligence represents a critical breakthrough in development of advanced manufacturing technology. A cost-effective approach for achieving this new generation of robotics has been made possible by the unprecedented growth of the latest microcomputer and network systems. The resulting flexible automation offers the opportunity to improve the product quality, increase the reliability of the manufacturing process, and augment the production procedures for optimizing the utilization of the robotic system. Moreover, the Advanced Robotic System (ARS) is modular in design and can be upgraded by closely following technological advancements as they occur in various fields. This approach to manufacturing automation enhances the financial justification and ensures the long-term profitability and most efficient implementation of robotic technology. The new system also addresses a broad spectrum of manufacturing demand and has the potential to address both complex jobs as well as highly labor-intensive tasks. The ARS prototype employs the decomposed optimization technique in spatial planning. This technique is implemented to the framework of the sensor-actuator network to establish the general-purpose geometric reasoning system. The development computer system is a multiple microcomputer network system, which provides the architecture for executing the modular network computing algorithms. The knowledge-based approach used in both the robot vision subsystem and the manipulation control subsystems results in the real-time image processing vision-based capability. The vision-based task environment analysis capability and the responsive motion capability are under the command of the local intelligence centers. An array of ultrasonic, proximity, and optoelectronic sensors is used for path planning. The ARS currently has 18 degrees of freedom made up by two articulated arms, one movable robot head, and two charged coupled device (CCD) cameras for producing the stereoscopic views, and articulated cylindrical-type lower body, and an optional mobile base. A functional prototype is demonstrated.

Marzwell, Neville I.↗

Quantitative assessment of human motion using video motion analysis

In the study of the dynamics and kinematics of the human body a wide variety of technologies has been developed. Photogrammetric techniques are well documented and are known to provide reliable positional data from recorded images. Often these techniques are used in conjunction with cinematography and videography for analysis of planar motion, and to a lesser degree three-dimensional motion. Cinematography has been the most widely used medium for movement analysis. Excessive operating costs and the lag time required for film development, coupled with recent advances in video technology, have allowed video based motion analysis systems to emerge as a cost effective method of collecting and analyzing human movement. The Anthropometric and Biomechanics Lab at Johnson Space Center utilizes the video based Ariel Performance Analysis System (APAS) to develop data on shirtsleeved and space-suited human performance in order to plan efficient on-orbit intravehicular and extravehicular activities. APAS is a fully integrated system of hardware and software for biomechanics and the analysis of human performance and generalized motion measurement. Major components of the complete system include the video system, the AT compatible computer, and the proprietary software.

Probe, John D.↗