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At least 235 records · Page 13
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Lunar regolith densification

Core tube samples of the lunar regolith obtained during the Apollo missions showed a rapid increase in the density of the regolith with depth. Various hypotheses have been proposed for the possible cause of this phenomenon, including the densification of the loose regolith material by repeated shaking from the seismic tremors which have been found to occur at regular monthly intervals when the moon and earth are closest to one another. A test bed was designed to study regolith densification. This test bed uses Minnesota Lunar Simulant (MLS) to conduct shaking experiments in the geotechnical centrifuge with an inflight shake table system. By reproducing realistic in-situ regolith properties, the experiment also serves to test penetrator concepts. The shake table system was designed and used for simulation experiments to study effects of earthquakes on terrestrial soil structures. It is mounted on a 15 g-ton geotechnical centrifuge in which the self-weight induced stresses are replicated by testing an n-th scale model in a gravity field which is n times larger than Earth's gravity. A similar concept applies when dealing with lunar prototypes, where the gravity ratio required for proper simulation of lunar gravity effects is that between the centrifugal acceleration and the lunar gravity. Records of lunar seismic tremors, or moonquakes, were obtained. While these records are being prepared for use as the input data to drive the shake table system, records from the El Centro earthquake of 1940 are being used to perform preliminary tests, using a soil container which was previously used for earthquake studies. This container has a laminar construction, with the layers free to slide on each other, so that the soil motion during the simulated earthquake will not be constrained by the otherwise rigid boundaries. The soil model is prepared by pluviating the MLS from a hopper into the laminar container to a depth of 6 in. The container is mounted on the shake table and the centrifuge is operated to generate an acceleration of 10 times Earth's gravity or 60 times the lunar gravity, thus simulating a lunar regolith thickness of 30 ft. The shake table is then operated using the scaled 'moonquake' as the input motion. One or more model moonquakes are used in each experiment, after which the soil is analyzed for its density profile with depth. This is accomplished by removing from the soil bed a column of soil contained within a thin rubber sleeve which has been previously embedded vertically in the soil during pluviation. This column of soil is transferred to a gamma ray device, in which the gamma ray transmission transversely through the soil is measured and compared with standard calibration samples. In this manner, the density profile can be determined. Preliminary results to date are encouraging, and the Center plans to study the effects of duration of shaking, intensity of the shaking motion, and the frequency of the motion.

Ko, Hon-Yim↗
NASA NTRS1992

Dual-arm supervisory and shared control space servicing task experiments

A dual-arm task execution primitive has been implemented for cooperative dual-arm telerobotic task execution utilizing multiple sensors concurrently. The primitive has been integrated into a telerobot task execution system and can be called by a task planning system for execution of tasks requiring dual-arm sensor based motion, e.g., force control, teleoperation, and shared control. The primitive has a large input parameter set which is used to specify the desired behavior of the motion. Move-squeeze decomposition is utilized to decompose forces sensed at the wrists of the two manipulators into forces in the move subspace, which cause system motion, and forces in the squeeze subspaces, which cause internal forces. The move and squeeze forces are then separately controlled. Several space servicing tasks utilizing the cooperative dual-arm control capability are described, and experimental results from the tasks are given. The supervisory and shared control tasks include capture of a rotating satellite, orbital replacement unit changeout, fluid coupler seating and locking, and contour following.

Backes, Paul G.↗
NASA NTRS1993

Design considerations for ultra-precision magnetic bearing supported slides

Development plans for a prototype servocontrolled machine with 1 angstrom resolution of linear motion and 50 mm range of travel are described. Two such devices could then be combined to produce a two dimensional machine for probing large planar objects with atomic resolution, the Angstrom Resolution Measuring Machine (ARMM).

Slocum, Alexander H.↗
NASA NTRS1956

Finite Span Wings in Compressible Flow

Equations are developed using the source distribution method for the velocity potential function and pressure on thin wings in steady and unsteady motion. Closed form solutions are given for harmonically oscillating wings of general plan form including the effect of the wing wake. Some useful examples are presented in an appendix for arrow, semielliptical, and hexagonal plan form wings.

WINGS, ELLIPTICAL↗
NASA NTRS1999

Thermal Infrared Spectroscopy from Mars Landers and Rovers: A New Angle on Remote Sensing

The MINUTES instrument of the Athena Precursor Experiment (APEX) on the Mars Surveyor 2001 lander mission will perform the first thermal infrared remote sensing observations from the surface of another planet. Experience gained from this experiment will be used to guide observations from identical instruments mounted on the Athena rovers, to be launched in 2003 and 2005. The utility of infrared spectrometers in determining the mineralogic composition of geologic surfaces from airborne and spaceborne platforms has been amply demonstrated. However, relatively little experience exists in using functionally similar instruments on the ground in the context of planetary science. What work has been done on this problem has mostly utilized field spectrometers that are designed to look down on nearby target rocks. While many Mini-TES observations will be made with this type of geometry, it is likely that other observations will be made looking horizontally at the more vertically-oriented facets of rock targets, to avoid spectral contamination from dust mantles. On rover missions, the Mini-TES may also be pointed horizontally at rocks several meters away, to determine if they are worthy of approaching for in situ observations and possible sample cacheing. While these observations will undoubtedly prove useful, there are important, and perhaps unappreciated, differences between horizontal-viewing, surface-based spectroscopy and the more traditional nadir-viewing, orbit or aircraft-based observations. Plans also exist to step the Mini-TES in a rastering motion to build hyperspectral scenes. Horizontal viewing hyperspectral cubes also possess unique qualities that call for innovative analysis techniques. The effect of viewing geometry: In thermal emission spectroscopy, regardless of whether an instrument is looking down on or horizontally at a target, the same basic equation governs the radiance reaching the sensor .

Moersch, J.↗
NASA NTRS1999

International Space Station Attitude Motion Associated With Flywheel Energy Storage

Flywheels can exert torque that alters the Station's attitude motion, either intentionally or unintentionally. A design is presented for a once planned experiment to contribute torque for Station attitude control, while storing or discharging energy. Two contingencies are studied: the abrupt stop of one rotor while another rotor continues to spin at high speed, and energy storage performed with one rotor instead of a counter rotating pair. Finally, the possible advantages to attitude control offered by a system of ninety-six flywheels are discussed.

Roithmayr, Carlos M.↗
NASA NTRS2007

Implementation of a Collision Probability Prediction Technique for Constellation Maneuver Planning

On March 22, 2006, the Space Technology 5 (ST5) constellation spacecraft were successfully delivered to orbit by a Pegasus XI, launch vehicle. An unexpected relative motion experienced by the constellation after orbit insertion brought about a problem. Soon after launch the observed relative position of the inert rocket body was between the leading and the middle spacecraft within the constellation. The successful planning and execution of an orbit maneuver that would create a fly-by of the rocket body was required to establish the.formation. This maneuver would create a close approach that needed to conform to predefined collision probability requirements. On April 21, 2006, the ST5 "155" spacecraft performed a large orbit maneuver and successfully passed the inert Pegasus 3rd Stage Rocket Body on April 30, 2006 15:20 UTC at a distance of 2.55 km with a Probability of Collision of less than 1.0E-06. This paper will outline the technique that was implemented to establish the safe planning and execution of the fly-by maneuver. The method makes use of Gaussian distribution models of state covariance to determine underlying probabilities of collision that arise under low velocity encounters. Specific numerical examples used for this analysis are discussed in detail. The mechanics of this technique are explained to foster deeper understanding of the concepts presented and to improve existing processes for use in future constellation maneuver planning.

Concha, Marco a.↗
NASA NTRS1998

Photogrammetric Assessment of the Hubble Space Telescope Solar Arrays During the Second Servicing Mission

This report documents the photogrammetric assessment of the Hubble Space Telescope (HST) solar arrays conducted by the NASA c Center Image Science and Analysis Group during Second Servicing Mission 2 (SM-2) on STS-82 in February 1997. Two type solar array analyses were conducted during the mission using Space Shuttle payload bay video: (1) measurement of solar array motion due to induced loads, and (2) measurement of the solar array static or geometric twist caused by the cumulative array loading. The report describes pre-mission planning and analysis technique development activities conducted to acquire and analyze solar array imagery data during SM-2. This includes analysis of array motion obtained during SM-1 as a proof-of-concept of the SM-2 measurement techniques. The report documents the results of real-time analysis conducted during the mission and subsequent analysis conducted post-flight. This report also provides a summary of lessons learned on solar array imagery analysis from SM-2 and recommendations for future on-orbit measurements applicable to HST SM-3 and to the International Space Station. This work was performed under the direction of the Goddard Space Flight Center HST Flight Systems and Servicing Project.

Sapp, C. A.↗
NASA NTRS1977

Researcher's guide to the NASA Ames Flight Simulator for Advanced Aircraft (FSAA)

Performance, limitations, supporting software, and current checkout and operating procedures are presented for the flight simulator, in terms useful to the researcher who intends to use it. Suggestions to help the researcher prepare the experimental plan are also given. The FSAA's central computer, cockpit, and visual and motion systems are addressed individually but their interaction is considered as well. Data required, available options, user responsibilities, and occupancy procedures are given in a form that facilitates the initial communication required with the NASA operations' group.

Sinacori, J. B.↗
NASA NTRS1987

Roadside tree attenuation measurements at UHF for land mobile satellite systems

Tree attenuation results at 870 MHz are described for experiments conducted in October 1985 and March 1986 in Central Maryland. These experiments employed a helicopter as a source platform and a van with receiver and data acquisition instrumentation. Tree attenuation results were obtained for the cases in which the van was stationary and in motion. The experiments were performed for the purpose of providing the designers of planned land mobile satellite systems with important elements in the determination of link parameter requirements; namely, the expected fading statistics due to roadside trees for both mobile and stationary vehicles. Single tree attenuation results gave worst case median fades as high as 15 dB although roadside tree values were noted to produce fades in excess of 20 dB for small percentages of time. The cumulative fade distributions and their relative contributions as a function of path elevation angle, right side versus left side driving, and different road types are derived from the field measurements. Upon comparing the attenuations from bare deciduous trees (March 1986) with those due to trees in full foliage (October 1985), the increase in dB attenuations were, in general, less than 25 percent for the dynamic cases, and less than 40 percent for the worst case static configuration. This result demonstrates that the dominant fading is caused by the wooded tree branches as opposed to the leaves on these branches. The tail end of the observed fade distributions was observed to follow lognormal distributions with respect to dB attenuation.

Goldhirsh, Julius↗
NASA NTRS1987

Using automatic robot programming for space telerobotics

The interpreter of a task level robot programming system called Handey is described. Handey is a system that can recognize, manipulate and assemble polyhedral parts when given only a specification of the goal. To perform an assembly, Handey makes use of a recognition module, a gross motion planner, a grasp planner, a local approach planner and is capable of planning part re-orientation. The possibility of including these modules in a telerobotics work-station is discussed.

Mazer, E.↗
NASA NTRS1989

Interactive orbital proximity operations planning system

An interactive, graphical proximity operations planning system was developed which allows on-site design of efficient, complex, multiburn maneuvers in the dynamic multispacecraft environment about the space station. Maneuvering takes place in, as well as out of, the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of relative orbital motion trajectories and complex operational constraints, which are both time varying and highly dependent on the mission scenario. This difficulty is greatly overcome by visualizing the relative trajectories and the relative constraints in an easily interpretable, graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of the space station and co-orbiting spacecraft on the background of the station's orbital plane. The operator has control over two modes of operation: (1) a viewing system mode, which enables him or her to explore the spatial situation about the space station and thus choose and frame in on areas of interest; and (2) a trajectory design mode, which allows the interactive editing of a series of way-points and maneuvering burns to obtain a trajectory which complies with all operational constraints. Through a graphical interactive process, the operator will continue to modify the trajectory design until all operational constraints are met. The effectiveness of this display format in complex trajectory design is presently being evaluated in an ongoing experimental program.

Grunwald, Arthur J.↗
DOE OSTI2025

Integrating vehicle trajectory planning and arterial traffic management to facilitate eco-approach and departure deployment

Eco-approach and departure (EAD) enable continuous vehicle motion in urban signalized corridors. Since such a motion can extend to the EAD vehicles’ followers, it makes EAD a promising technology to benefit the traffic flow where automated vehicles and conventional vehicles coexist. Most existing EAD studies envision an ideal setting that neglects real-world operational conditions such as lane changes, multi-movement intersection configuration, partially automated fleet, and/or limited traffic state awareness. This study aims to fill the gap by designing an EAD algorithm considering real-world traffic operation constraints. The proposed algorithm uses a model predictive controller to minimize vehicle speed reduction and variation based on the real-time traffic signal control plan and measured queues at the intersection. The required inputs are readily available at many modern intersections. We observed that the proposed controller’s performance might degrade because of lane-changing maneuvers and lead-left turn traffic signals. These observations motivated our development of a lane change management strategy and a signal control implementation strategy to facilitate the EAD implementation. The lane change management strategies separate the EAD operations and lane-changing maneuvers in time and space. The signal control implementation strategy applies lag-left turn signals to enable EAD operation for both the through and left-turn vehicles. Compared to the non-EAD case, our EAD approach produces 2.5% to 7.8% energy savings while keeping similar intersection mobility. Notably, this approach brings about 2.5% to 3.6% energy savings in a 2% CAV case. This result demonstrates the feasibility of deploying EAD at low connected automated vehicle penetration rates.

Arterial corridor management↗
NASA NTRS1992

Human-like agents with posture planning ability

Human body models are geometric structures which may be ultimately controlled by kinematically manipulating their joints, but for animation, it is desirable to control them in terms of task-level goals. We address a fundamental problem in achieving task-level postural goals: controlling massively redundant degrees of freedom. We reduce the degrees of freedom by introducing significant control points and vectors, e.g., pelvis forward vector, palm up vector, and torso up vector, etc. This reduced set of parameters are used to enumerate primitive motions and motion dependencies among them, and thus to select from a small set of alternative postures (e.g., bend vs. squat to lower shoulder height). A plan for a given goal is found by incrementally constructing a goal/constraint set based on the given goal, motion dependencies, collision avoidance requirements, and discovered failures. Global postures satisfying a given goal/constraint set are determined with the help of incremental mental simulation which uses a robust inverse kinematics algorithm. The contributions of the present work are: (1) There is no need to specify beforehand the final goal configuration, which is unrealistic for the human body, and (2) the degrees of freedom problem becomes easier by representing body configurations in terms of 'lumped' control parameters, that is, control points and vectors.

Jung, Moon R.↗
NASA NTRS1988

The Crustal Dynamics Project

The Crustal Dynamics Project has been developing, deploying, and operating very-long-baseline interferometry (VLBI) systems and satellite laser ranging (SLR) systems for highly accurate geodetic measurements of global plate motion, plate stability, regional crustal deformation, and earth rotation/polar motion. Over the past 10 years, the measurement accuracies of these systems have been improved by a factor of 10 to the cm level. Plans are to continue these developments to reach mm level accuracies. The present deployment of the VLBI systems is primarily in the Northern Hemisphere. This network has produced measurements of the relative plate motion between the North American, Eurasian, and Pacific plates; the stability of the same plates; and the regional deformation at the North American/Pacific plate boundary in California and Alaska.

Coates, Robert J.↗
NASA NTRS1983

Crustal dynamics project observations: 1982 results and plans for 1983

The 1982 Crustal Dynamics Project observations by fixed and mobile SLR and VLBI systems are reviewed. Plate motion measurements between North America and Europe were conducted by both techniques and SLR measurements were also made between North America, the Pacific, Australia and South American plates. Regional deformation measurements by VLBI and SLR systems were restricted to the western United States in 1982, including a number of important intercomparison baseline measured by both techniques. In 1983 the observing program grows significantly, with new SLR systems in Mexico, Easter Island, the Pacific and Italy. New VLBI systems will include a dedicated VLBI site at Weltzell, in Germany. Two highly mobile SLR and two highly mobile VLBI systems will greatly increase the regional deformation measurements in California and through the Basin and Range, where more than 25 sites will be occupied in 1983.

Frey, H.↗