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NASA NTRS2002

Sounds like Team Spirit

I recently accompanied my son Dan to one of his guitar lessons. As I sat in a separate room, I focused on the music he was playing and the beautiful, robust sound that comes from a well-played guitar. Later that night, I woke up around 3 am. I tend to have my best thoughts at this hour. The trouble is I usually roll over and fall back asleep. This time I was still awake an hour later, so I got up and jotted some notes down in my study. I was thinking about the pure, honest sound of a well-played instrument. From there my mind wandered into the realm of high-performance teams and successful projects. (I know this sounds weird, but this is the sort of thing I think about at 3 am. Maybe you have your own weird thoughts around that time.) Consider a team in relation to music. It seems to me that a crack team can achieve a beautiful, perfect unity in the same way that a band of brilliant musicians can when they're in harmony with one another. With more than a little satisfaction I have to admit, I started to think about the great work performed for you by the Knowledge Sharing team, including this magazine you are reading. Over the past two years I personally have received some of my greatest pleasures as the APPL Director from the Knowledge Sharing activities - the Masters Forums, NASA Center visits, ASK Magazine. The Knowledge Sharing team expresses such passion for their work, just like great musicians convey their passion in the music they play. In the case of Knowledge Sharing, there are many factors that have made this so enjoyable (and hopefully worthwhile for NASA). Three ingredients come to mind -- ingredients that have produced a signature sound. First, through the crazy, passionate playing of Alex Laufer, Michelle Collins, Denise Lee, and Todd Post, I always know that something startling and original is going to come out of their activities. This team has consistently done things that are unique and innovative. For me, best of all is that they are always trying to improve on what they've done before. Second, success in any endeavor stems from people who know how to interpret a composition to sound beautiful when played in a different style. For Knowledge Sharing to work, it must be adapted, reinterpreted, shaped and played with at the centers. In this regard, we've been blessed with another crazy, passionate, inspired artist named Claire Smith. Claire has turned Ames Research Center in California into APPL-west. She is so good and committed to what she does that I just refer people to her whenever they have questions about implementing project management development at the field level. Finally, any great effort requires talented people working behind the scenes, the people who formulate a business approach and know how to manage the money so that the music gets heard. I have known many brilliant and creative people with a ton of ideas that never take off due to an inability to work the business. Again, the Knowledge Sharing team has been fortunate to have competent and passionate people, specifically Tony Maturo and his procurement team at Goddard Space Flight Center, to make sure the process is in place to support the effort. This kind of support is every bit as crucial as the activity itself, and the efforts and creativity that go into successful procurement and contracting is a vital ingredient of this successful team.

Hoffman, Edward↗
NASA NTRS1999

Autonomous Rovers for Mars Exploration

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin↗
NASA NTRS2002

Annotated Bibliography of Enabling Technologies for the Small Aircraft Transportation System

The following collection of research summaries are submitted as fulfillment of a request from NASA LaRC to conduct research into existing enabling technologies that support the development of the Small Aircraft Transportation System aircraft and accompanying airspace management infrastructure. Due to time and fiscal constraints, the included studies focus primarily on visual systems and architecture, flight control design, instrumentation and display, flight deck design considerations, Human-Machine Interface issues, and supporting augmentation technologies and software. This collation of summaries is divided in sections in an attempt to group similar technologies and systems. However, the reader is advised that many of these studies involve multiple technologies and systems that span across many categories. Because of this fact, studies are not easily categorized into single sections. In an attempt to help the reader more easily identify topics of interest, a SATS application description is provided for each summary. In addition, a list of acronyms provided at the front of the report to aid the reader.

ONeil, Patrick D.↗
NASA NTRS2003

On the Critical Behaviour, Crossover Point and Complexity of the Exact Cover Problem

Research into quantum algorithms for NP-complete problems has rekindled interest in the detailed study a broad class of combinatorial problems. A recent paper applied the quantum adiabatic evolution algorithm to the Exact Cover problem for 3-sets (EC3), and provided an empirical evidence that the algorithm was polynomial. In this paper we provide a detailed study of the characteristics of the exact cover problem. We present the annealing approximation applied to EC3, which gives an over-estimate of the phase transition point. We also identify empirically the phase transition point. We also study the complexity of two classical algorithms on this problem: Davis-Putnam and Simulated Annealing. For these algorithms, EC3 is significantly easier than 3-SAT.

Morris, Robin D.↗
NASA NTRS2002

The Aeronautics Education, Research, and Industry Alliance (AERIAL) 2002 Report

This report presents and overview of the Aeronautics Education, Research, and Industry Alliance (AERIAL). It covers the University of Nebraska's areas of research, and its outreach to students at Native American schools as part of AERIAL. The report contains three papers: "Airborne Remote Sensing (ARS) for Agricultural Research and Commercialization Application" (White Paper), "Validated Numerical Models for the Convective Extinction of Fuel Droplets (CEFD)", and "The Small Aircraft Transportation System (SATS): Research Collaborations with the NASA Langley Research Center".

Bowen, Brent D.↗
NASA NTRS2003

Autonomous Sciencecraft Experiment (ASE) Test Operations in 2003

NASA has identified the development of an autonomously operating spacecraft as a necessity for an expanded program of missions exploring the Solar System. The Autonomous Sciencecraft Experiment (ASE) has been selected for flight demonstration by NASA s New Millennium Program (NMP) as part of the Space Technology 6 (ST6) mission. ASE is scheduled to fly on the US Air Force Research Laboratory (AFRL) Techsat-21 constellation in 2006. Tech- Sat-21 consists of three satellites flying in a variable-geometry formation in Earth orbit. Each satellite is equipped with X-band Synthetic Aperture Radar, yielding high spatial resolution images (approx. 3 m) of the Earth s surface. The constellation will fly at an altitude of 550 km, in a 35.4 inclination circular orbit, yielding exact repeat-track observations every 13 days. Prior to full deployment, elements of the versatile ASE spacecraft command and control software, image formation software and science processing software will be utilized and tested on two very different platforms in 2003: AirSAR and EO-1 (described below). Advantages of Autonomous Operations: ASE will demonstrate advanced autonomous science data acquisition, processing, and product downlink prioritization, as well as autonomous spacecraft command and control, and fault detection. The advantages of spacecraft autonomy are to future missions include: (a) making the best use of reduced downlink; (b) the overcoming of communication delays through decisionmaking in situ, enabling fast reaction to dynamic events; (c) an increase of science content per byte of returned data; and (d) an avoidance of return of null (no-change/no feature) datasets: if there is no change detectable between two scenes of the same target, there is no need to return the second dataset.

Chien, S.↗
NASA NTRS2002

The Aeronautics Education, Research, and Industry Alliance (AERIAL) 2002 Report

The NASA Nebraska Space Grant Consortium (NSGC) & EPSCoR programs at the University of Nebraska at Omaha are involved in a variety of innovative research activities. Such research is supported through the Aeronautics Education, Research, and Industry Alliance (AERIAL) and collaborative seed funds. AERIAL is a comprehensive, multi-faceted, five year NASA EPSCoR initiative that contributes substantially to the strategic research and technology priorities of NASA while intensifying Nebraska s rapidly growing aeronautics research and development endeavors. AERIAL includes three major collaborative research teams (CRTs) whose nexus is a common focus in aeronautics research. Each CRT - Small Aircraft Transportation System (SATS), Airborne Remote Sensing for Agricultural Research and Commercialization Applications (ARS), and Numerical Simulation of the Combustion of Fuel Droplets: Finite Rate Kinetics and Flame Zone Grid Adaptation (CEFD) -has a distinct research agenda. This program provides the template for funding of new and innovative research that emphasizes aerospace technology.

Bowen, Brent D.↗
NASA NTRS2003

Targeted Research and Technology Within NASA's Living With a Star Program

NASA's Living With a Star (LWS) initiative is a systematic, goal-oriented research program targeting those aspects of the Sun-Earth system that affect society. The Targeted Research and Technology (TR&T) component of LWS provides the theory, modeling, and data analysis necessary to enable an integrated, system-wide picture of Sun-Earth connection science with societal relevance. Recognizing the central and essential role that TR&T would have for the success of the LWS initiative, the LWS Science Architecture Team (SAT) recommended that a Science Definition Team (SDT), with the same status as a flight mission definition team, be formed to design and coordinate a TR&T program having prioritized goals and objectives that focused on practical societal benefits. This report details the SDT recommendations for the TR&T program.

Hesse, Michael↗
NASA NTRS2003

Catalyzed Combustion In Micro-Propulsion Devices: Project Status

In recent years, there has been a tendency toward shrinking the size of spacecraft. New classes of spacecraft called micro-spacecraft have been defined by their mass, power, and size ranges. Spacecraft in the range of 20 to 100 kg represent the class most likely to be utilized by most small sat users in the near future. There are also efforts to develop 10 to 20 kg class spacecraft for use in satellite constellations. More ambitious efforts will be to develop spacecraft less than 10 kg, in which MEMS fabrication technology is required. These new micro-spacecraft will require new micro-propulsion technology. Although micro-propulsion includes electric propulsion approaches, the focus of this proposed program is micro-chemical propulsion which requires the development of microcombustors. As combustors are scaled down, the surface to volume ratio increases. The heat release rate in the combustor scales with volume, while heat loss rate scales with surface area. Consequently, heat loss eventually dominates over heat release when the combustor size becomes smaller, thereby leading to flame quenching. The limitations imposed on chamber length and diameter has an immediate impact on the degree of miniaturization of a micro-combustor. Before micro-combustors can be realized, such a difficulty must be overcome. One viable combustion alternative is to take advantage of surface catalysis. Micro-chemical propulsion for small spacecraft can be used for primary thrust, orbit insertion, trajectory-control, and attitude control. Grouping micro-propulsion devices in arrays will allow their use for larger thrust applications. By using an array composed of hundreds or thousands of micro-thruster units, a particular configuration can be arranged to be best suited for a specific application. Moreover, different thruster sizes would provide for a range of thrust levels (from N s to mN s) within the same array. Several thrusters could be fired simultaneously for thrust levels higher than the basic units, or in a rapid sequence in order to provide gradual but steady low-g acceleration. These arrays of micro-propulsion systems would offer unprecedented flexibility and redundancy for satellite propulsion and reaction control for launch vehicles. A high-pressure bi-propellant micro-rocket engine is already being developed using MEMS technology. High pressure turbopumps and valves are to be incorporated onto the rocket chip . High pressure combustion of methane and O2 in a micro-combustor has been demonstrated without catalysis, but ignition was established with a spark. This combustor has rectangular dimensions of 1.5 mm by 8 mm (hydraulic diameter 3.9 mm) and a length of 4.5 mm and was operated at 1250 kPa with plans to operate it at 12.7 MPa. These high operating pressures enable the combustion process in these devices, but these pressures are not practical for pressure fed satellite propulsion systems. Note that the use of these propellants requires an ignition system and that the use of a spark would impose a size limitation to this micro-propulsion device because the spark unit cannot be shrunk proportionately with the thruster. Results presented in this paper consist of an experimental evaluation of the minimum catalyst temperature for initiating/supporting combustion in sub-millimeter diameter tubes. The tubes are resistively heated and reactive premixed gases are passed through the tubes. Tube temperature and inlet pressure are monitored for an indication of exothermic reactions and composition changes in the gases.

Sung, C. J.↗
NASA NTRS2004

The Terrestrial Planet Finder and Darwin Missions

Both in the United States and in Europe, teams of scientists and engineers are exploring the feasibility of the Terrestrial Planet Finder (TPF) and Darwin missions, which are designed to search for Earth-like planets in the habitable zone of nearby stars. In the US, the TPF Science Working Group is studying four options - small (4m by 6 m primary mirror) and large (4m by 10 m primary mirror) coronagraphs for planet detection at visible wavelengths, and structurally connected and free-flyer interferometers at thermal infrared wavelengths. The US TPF-SWG is charged with selecting an option for NASA by the end of 2006. In Europe the Darwin Terrestrial Exo-planet Advisory Team (TE- SAT) is exploring the free-flyer interferometer option only at this time. I will discuss the vurtures and difficulties of detecting and characterizing extra-solar planets in both wavelength regions as well as some of the technical challenges and progress in the past year.

Danchi, William C.↗
NASA NTRS2004

Adaptive Multi-Agent Systems for Constrained Optimization

Product Distribution (PD) theory is a new framework for analyzing and controlling distributed systems. Here we demonstrate its use for distributed stochastic optimization. First we review one motivation of PD theory, as the information-theoretic extension of conventional full-rationality game theory to the case of bounded rational agents. In this extension the equilibrium of the game is the optimizer of a Lagrangian of the (probability distribution of) the joint state of the agents. When the game in question is a team game with constraints, that equilibrium optimizes the expected value of the team game utility, subject to those constraints. The updating of the Lagrange parameters in the Lagrangian can be viewed as a form of automated annealing, that focuses the MAS more and more on the optimal pure strategy. This provides a simple way to map the solution of any constrained optimization problem onto the equilibrium of a Multi-Agent System (MAS). We present computer experiments involving both the Queen s problem and K-SAT validating the predictions of PD theory and its use for off-the-shelf distributed adaptive optimization.

Macready, William↗
NASA NTRS2002

Context-specific adaptation of the gain of the oculomotor response to lateral translation using roll and pitch head tilts as contexts

Previous studies established that vestibular and oculomotor behaviors can have two adapted states (e.g., gain) simultaneously, and that a context cue (e.g., vertical eye position) can switch between the two states. The present study examined this phenomenon of context-specific adaptation for the oculomotor response to interaural translation (which we term "linear vestibulo-ocular reflex" or LVOR even though it may have extravestibular components). Subjects sat upright on a linear sled and were translated at 0.7 Hz and 0.3 gpeak acceleration while a visual-vestibular mismatch paradigm was used to adaptively increase (x2) or decrease (x0) the gain of the LVOR. In each experimental session, gain increase was asked for in one context, and gain decrease in another context. Testing in darkness with steps and sines before and after adaptation, in each context, assessed the extent to which the context itself could recall the gain state that was imposed in that context during adaptation. Two different contexts were used: head pitch (26 degrees forward and backward) and head roll (26 degrees or 45 degrees, right and left). Head roll tilt worked well as a context cue: with the head rolled to the right the LVOR could be made to have a higher gain than with the head rolled to the left. Head pitch tilt was less effective as a context cue. This suggests that the more closely related a context cue is to the response being adapted, the more effective it is.

Non-NASA Center↗
NASA NTRS2004

Small Aircraft Transportation System, Higher Volume Operations Concept: Normal Operations

This document defines the Small Aircraft Transportation System (SATS), Higher Volume Operations (HVO) concept for normal conditions. In this concept, a block of airspace would be established around designated non-towered, non-radar airports during periods of poor weather. Within this new airspace, pilots would take responsibility for separation assurance between their aircraft and other similarly equipped aircraft. Using onboard equipment and procedures, they would then approach and land at the airport. Departures would be handled in a similar fashion. The details for this operational concept are provided in this document.

Abbott, Terence S.↗
NASA NTRS2001

Spatial orientation and balance control changes induced by altered gravitoinertial force vectors

To better understand the mechanisms of human adaptation to rotating environments, we exposed 19 healthy subjects and 8 vestibular-deficient subjects ("abnormal"; four bilateral and four unilateral lesions) to an interaural centripetal acceleration of 1 g (resultant 45 degrees roll-tilt of 1.4 g) on a 0.8-m-radius centrifuge for periods of 90 min. The subjects sat upright (body z-axis parallel to centrifuge rotation axis) in the dark with head stationary, except during 4 min of every 10 min, when they performed head saccades toward visual targets switched on at 3- to 5-s intervals at random locations (within +/- 30 degrees) in the earth-horizontal plane. Eight of the normal subjects also performed the head saccade protocol in a stationary chair adjusted to a static roll-tilt angle of 45 degrees for 90 min (reproducing the change in orientation but not the magnitude of the gravitoinertial force on the centrifuge). Eye movements, including voluntary saccades directed along perceived earth- and head-referenced planes, were recorded before, during, and immediately after centrifugation. Postural center of pressure (COP) and multisegment body kinematics were also gathered before and within 10 min after centrifugation. Normal subjects overestimated roll-tilt during centrifugation and revealed errors in perception of head-vertical provided by directed saccades. Errors in this perceptual response tended to increase with time and became significant after approximately 30 min. Motion-sickness symptoms caused approximately 25% of normal subjects to limit their head movements during centrifugation and led three normal subjects to stop the test early. Immediately after centrifugation, subjects reported feeling tilted 10 degrees in the opposite direction, which was in agreement with the direction of their earth-referenced directed saccades. Postural COP, segmental body motion amplitude, and hip-sway frequency increased significantly after centrifugation. These postural effects were short-lived, however, with a recovery time of several postural test trials (minutes). There were also asymmetries in the direction of postcentrifugation COP and head tilt which depended on the subject's orientation during the centrifugation adaptation period (left ear or right ear out). The amount of total head movements during centrifugation correlated poorly or inversely with postcentrifugation postural stability, and the most unstable subject made no head movements. There was no decrease in postural stability after static tilt, although these subjects also reported a perceived tilt briefly after return to upright, and they also had COP asymmetries. Abnormal subjects underestimated roll-tilt during centrifugation, and their directed saccades revealed permanent spatial distortions. Bilateral abnormal subjects started out with poor postural control, but showed no postural decrements after centrifugation, while unilateral abnormal subjects had varying degrees of postural decrement, both in their everyday function and as a result of experiencing the centrifugation. In addition, three unilateral, abnormal subjects, who rode twice in opposite orientations, revealed a consistent orthogonal pattern of COP offsets after centrifugation. These results suggest that both orientation and magnitude of the gravitoinertial vector are used by the central nervous system for calibration of multiple orientation systems. A change in the background gravitoinertial force (otolith input) can rapidly initiate postural and perceptual adaptation in several sensorimotor systems, independent of a structured visual surround.

Clinical Trial↗
NASA NTRS1999

Effect of field size, head motion, and rotational velocity on roll vection and illusory self-tilt in a tumbling room

The effect of field size, velocity, and visual fixation upon the perception of self-body rotation and tilt was examined in a rotating furnished room. Subjects sat in a stationary chair in the furnished room which could be rotated about the body roll axis. For full-field conditions, complete 360 degrees body rotation (tumbling) was the most common sensation (felt by 80% of subjects). Constant tilt or partial tumbling (less than 360 degrees rotation) occurred more frequently with a small field of view (20 deg). The number of subjects who experienced complete tumbling increased with increases in field of view and room velocity (for velocities between 15 and 30 degrees s-1). The speed of perceived self-rotation relative to room rotation also increased with increasing field of view.

Non-NASA Center↗
NASA NTRS2004

Targeted Research and Technology Within NASA's Living With a Star Program

Targeted Research & Technology (TR&T) NASA's Living With a Star (LWS) initiative is a systematic, goal-oriented research program targeting those aspects of the Sun-Earth system that affect society. The Targeted Research and Technology (TR&T) component of LWS provides the theory, modeling, and data analysis necessary to enable an integrated, system-wide picture of Sun-Earth connection science with societal relevance. Recognizing the central and essential role that TR&T would have for the success of the LWS initiative, the LWS Science Architecture Team (SAT) recommended that a Science Definition Team (SDT), with the same status as a flight mission definition team, be formed to design and coordinate a TR&T program having prioritized goals and objectives that focused on practical societal benefits. This report details the SDT recommendations for the TR&T program.

Antiochos, Spiro↗
NASA NTRS1992

Electrical acustimulation relieves vection-induced motion sickness

The aim of this study was to examine the effects of electrical acustimulation on gastric myoelectric activity and severity of symptoms of motion sickness. In experiment 1, 16 Chinese subjects received electrical acustimulation in one of two sessions. In experiment 2, 45 white and black American subjects were randomly divided into three groups: acustimulation, sham acustimulation, and control. Each subject sat in an optokinetic drum for 15 minutes baseline and 15 minutes of drum rotation. Subjects' electrogastrograms and subjective symptoms of motion sickness were obtained. In experiment 1, the mean symptom score and tachyarrhythmia during acustimulation sessions were significantly lower than during no-acustimulation sessions. In experiment 2, the mean symptom score of the acustimulation group was significantly lower than that of the sham-stimulation group and the control group; tachyarrhythmia in the acustimulation group was significantly less than that of the control group but not the sham-stimulation group. In conclusion, electrical acustimulation reduces the severity of symptoms of motion sickness and appears to decrease gastric tachyarrhythmia.

Non-NASA Center↗
NASA NTRS2004

The Space Technology 5 Avionics System

The Space Technology 5 (ST5) mission is a NASA New Millennium Program project that will validate new technologies for future space science missions and demonstrate the feasibility of building launching and operating multiple, miniature spacecraft that can collect research-quality in-situ science measurements. The three satellites in the ST5 constellation will be launched into a sun-synchronous Earth orbit in early 2006. ST5 fits into the 25-kilogram and 24-watt class of very small but fully capable spacecraft. The new technologies and design concepts for a compact power and command and data handling (C&DH) avionics system are presented. The 2-card ST5 avionics design incorporates new technology components while being tightly constrained in mass, power and volume. In order to hold down the mass and volume, and quali& new technologies for fUture use in space, high efficiency triple-junction solar cells and a lithium-ion battery were baselined into the power system design. The flight computer is co-located with the power system electronics in an integral spacecraft structural enclosure called the card cage assembly. The flight computer has a full set of uplink, downlink and solid-state recording capabilities, and it implements a new CMOS Ultra-Low Power Radiation Tolerant logic technology. There were a number of challenges imposed by the ST5 mission. Specifically, designing a micro-sat class spacecraft demanded that minimizing mass, volume and power dissipation would drive the overall design. The result is a very streamlined approach, while striving to maintain a high level of capability, The mission's radiation requirements, along with the low voltage DC power distribution, limited the selection of analog parts that can operate within these constraints. The challenge of qualifying new technology components for the space environment within a short development schedule was another hurdle. The mission requirements also demanded magnetic cleanliness in order to reduce the effect of stray (spacecraft-generated) magnetic fields on the science-grade magnetometer.

Speer, Dave↗