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NASA NTRS2012

Behavioral Mapless Navigation Using Rings

This paper presents work on the development and implementation of a novel approach to robotic navigation. In this system, map-building and localization for obstacle avoidance are discarded in favor of moment-by-moment behavioral processing of the sonar sensor data. To accomplish this, we developed a network of behaviors that communicate through the passing of rings, data structures that are similar in form to the sonar data itself and express the decisions of each behavior. Through the use of these rings, behaviors can moderate each other, conflicting impulses can be mediated, and designers can easily connect modules to create complex emergent navigational techniques. We discuss the development of a number of these modules and their successful use as a navigation system in the Trinity omnidirectional robot.

Monroe, Randall P.↗

NASA NTRS1983

Space Shuttle solid rocket booster initial water impact loads and dynamics - Analysis, tests, and flight experience

A series of scale model tests, finite element dynamic response analyses and full scale segment tests have been performed for purposes of developing design criteria for the initial water impact loading conditions applied to the internal stiffener rings located in the aft skirt portion of the Space Shuttle Solid Rocket Booster (SRB). In addition, flight experience has yielded information relative to structural reinforcement requirements. This paper discusses the test and analysis methods and summarizes significant results. It is noted that, although scale model test data are valuable for identifying trends, they have shortcomings concerning definition of full scale design loads criteria. Also, the frequently used static equivalent loads definition approach is not applicable for this type impact loading condition applied to an aft skirt type structure. Various types of ring structural fixes, including the addition of selected types of foam, are presented as well as associated full scale segment test results. Depending on the type and contour shape of the foam, reductions on applied pressures and peak measured strains over 50 percent are noted.

Kross, D. A.↗

NASA NTRS1995

HST observations of the ring around SN 1987A

Hubble Space Telescope observations of SN 1987A show that the circumstellar material near the supernova forms a clumpy elliptical ring. We analyze six epochs of images made with the Faint Object Camera (FOC) imaging the lines of (O III) and H beta over the interval 1990 August-1993 October, and three epochs of observations with the Planetary Camera in the continuum and (N II) line over the interval 1992 April-1993 May. The elliptical ring in the (O III) images has a semimajor axis of 858 +/- 11 milliarcsec and a semiminor axis of 621 +/- 11 milliarsce (6.4 x 10(exp 17) and 4.6 x 10(exp 17) +/- 8.1 x 10(exp 15) cm, respectively, for a distance of 50 kpc), which implies an inclination angle of 44 +/- 1, if the ring is a circle inclined to our line of sight. The apparent width of the ring in (O III) is 121 +/- 22 milliarcsec (9.0 x 10(exp 16) +/- 1.6 x 10(exp 16) cm) based on our deconvolved image, which represents an upper limit to the width of the of the ring. The position angle of the major axis on the sky is 89 deg +/- 3 deg. One of the 'clumps' on the ring is a superposed star, whose energy distribution is consistent with an A-type dwarf (V = 20.2 mag) in the Large Magellanic Cloud (LMC) The radial profile of the ring is not symmetric, with the inner boundary sharper than the outer. Based on the radial profiles and the flux interior to the ring, we conclude that the ring is indeed a tilted ring, and not a spheroidal shell. While the observed width of the ring is approximately 10(exp 17) cm, we find that the average path length through the emitting gas is approximately 4 x 10(exp 15) cm, so the filling factor is small. The ring has faded by a factor of approximately equals 3.7 in (O III) from 1990 August to 1993 October. The characteristic electron density from the (O III) lambda 5007 emission line averages 1.2 x 10exp 4)/cu cm, based on recombination models of the emission. Because the fading rate is uncorrelated with the surface brightness, the density appears to be independent of the brightness, which implies significant path length differences through the ring. By assuming the current structure observed in optical lines applies to the early structure in ultraviolet lines, we construct light curve models to compare with early IUE observations. The clumpy structure of the ring has relatively little effect on the light curves. The (O III) images show faint arclike nebulosity probably associated with the bipolar nebula around SN 1987A and projected inside the ring, which may have affected previous observations of the ring. Finally, we find that the fading rate provides evidence, though weak, favoring an expanding ring over a contracting one.

Plait, Philip C.↗

NASA NTRS1985

Upper-ocean velocity structure of Gulf Stream warm-core ring 82B

Acoustic-Doppler current profiling of warm-core ring (WCR) 82B revealed changes in the velocity structure over much of the ring's 7-month lifespan. As ring diameter decreased, peak speeds in the high-velocity region decreased from 0.8 m/s in April 1982 to 0.5 m/s in August 1982. Azimuthally averaged velocities revealed the core of WCR 82B to be in near solid-body rotation, with little measurable horizontal divergence at 100 m. In addition, potential vorticity was conserved in the ring core despite interactions with the Gulf Stream and large changes in ring size. Deviations from symmetry in WCR 82B were caused by superposition with the shelf-slope front, small cyclonic eddies, and upper-layer mean flow.

Joyce, T. M.↗

NASA NTRS1979

Propellant grain dynamics in aft attach ring of shuttle solid rocket booster

An analytical technique for implementing simultaneously the temperature, dynamic strain, real modulus, and frequency properties of solid propellant in an unsymmetrical vibrating ring mode is presented. All dynamic parameters and sources are defined for a free vibrating ring-grain structure with initial displacement and related to a forced vibrating system to determine the change in real modulus. Propellant test data application is discussed. The technique was developed to determine the aft attach ring stiffness of the shuttle booster at lift-off.

Verderaime, V.↗

NASA NTRS2003

The Discovery of an Evolving Dust Scattered X-ray Halo Around GRB 031203

We report the first detection of a time-dependent, dust-scattered X-ray halo around a gamma-ray burst. GRB3 031203 was observed by XMM-Newton starting six hours after the burst. The halo appeared as concentric ring-like structures centered on the GRB location. The radii of these structures increased with time as t(sup 1/2), consistent with small-angle X-ray scattering caused by a large column of dust along the line of sight to a cosmologically distant GRB. The rings are due to dust concentrated in two distinct slabs in the Galaxy located at distances of 880 and 1390 pc, consistent with known Galactic features. The halo brightness implies an initial soft X-ray pulse consistent with the observed GRB.

Vaughan, S.↗

NASA NTRS2018

The HR 4796A Debris System: Discovery of Extensive Exo-Ring Dust Material

The optically and IR-bright and starlight-scattering HR 4796A ringlike debris disk is one of the most- (and best-) studied exoplanetary debris systems. The presence of a yet-undetected planet has been inferred (or suggested) from the narrow width and inner/outer truncation radii of its r = 1farcs05 (77 au) debris ring. We present new, highly sensitive Hubble Space Telescope (HST) visible-light images of the HR 4796A circumstellar debris system and its environment over a very wide range of stellocentric angles from 0farcs32 (23 au) to ≈15'' (1100 au). These very high-contrast images were obtained with the Space Telescope Imaging Spectrograph (STIS) using six-roll PSF template–subtracted coronagraphy suppressing the primary light of HR 4796A, with three image-plane occulters, and simultaneously subtracting the background light from its close angular proximity M2.5V companion. The resulting images unambiguously reveal the debris ring embedded within a much larger, morphologically complex, and biaxially asymmetric exo-ring scattering structure. These images at visible wavelengths are sensitive to and map the spatial distribution, brightness, and radial surface density of micron-size particles over 5 dex in surface brightness. These particles in the exo-ring environment may be unbound from the system and interacting with the local ISM. Herein, we present a new morphological and photometric view of the larger-than-prior-seen HR 4796A exoplanetary debris system with sensitivity to small particles at stellocentric distances an order of magnitude greater than has previously been observed.

starlight-scattering HR 4796A↗

NASA NTRS2001

Concentration Field of Reactants and Products Species in a Reacting Vortex Ring

The proposed paper will present experimental and numerical results on the concentration fields of both reactants and products species in a reacting vortex ring that is generated from the interaction between a diffusion flame and a laminar vortex ring. Flame-vortex interactions are canonical configurations used to study the underlying processes occurring in complicated turbulent reacting flows. This type of configuration contains many of the fundamental aspects of the coupling between fluid dynamics and combustion that could be investigated with more controllable conditions than are possible under direct investigations of turbulent flames. The current configuration has been studied experimentally by Chen and Dahm and Chen et al. under microgravity conditions, and by Park and Shin, and You et al. under normal gravity conditions. This configuration is similar to that used in the analyses of Karagozian and Manda of their 2-D vortex pair in which both fuel and entrained oxidizer are present. The vortex ring used in this study is generated by issuing methane into an air environment through the exit of an axisymmetric nozzle. The experiments were conducted under microgravity conditions in order to remove the undesirable effects of buoyancy that can affect both the flame structure and ring dynamics resulting in possibly asymmetric and nonrepeatable interactions. The experimental technique of diode laser wavelength modulation spectroscopy (WMS) is used to measure concentration fields of reactants, CH4 and O2, products, H2O, CO2, OH, and temperature fields which can be inferred from either line pairs of O2 or OH lines. This technique has been investigated previously by Silver and Bomse et al. This is the first time that the technique has been applied to reacting vortex rings under microgravity conditions. The effect of ring circulation and fuel volume on the species concentration fields will be investigated. The experimental results will be compared to the current numerical results, and used to validate the numerical studies. In addition, the existence of burned cores during the interactions will be determined, and the increase in reactant consumption with increased ring circulation will be examined. Numerical studies were also conducted by solving the Navier-Stokes and mixture fraction equations with the assumptions of unity Lewis and Schmidt numbers. Equilibrium chemistry and flamelet libraries were used to obtain the temperature and species mass fraction fields. The numerical results will serve as guidelines in conducting the experimental studies. Ring circulation and fuel volume effects on the interactions and species concentration fields will be investigated and compared to experimental results.

Chen, Shin-Juh↗

NASA NTRS1986

Joint for Rapid Structural Assembly

Quickly attaching joint used in variety of truss structures. Split ring made in one piece and split radially after final machining. Mating tapers on split ring and endbells small: approximately 7 degrees. Tapers of this range permit high internal preloads to be obtained, yet parts easily separated when collar released. Results from tests on developmental model indicate load-displacement response linear and substantial preloading accomplished. Quickly-erecting truss structures have variety of applications, from Earth to space-station keel beams, antenna masts, and large platforms.

Rhodes, M. D.↗

NASA NTRS2024

SOFIA/HAWC+ Far-Infrared Polarimetric Large Area CMZ Exploration Survey II: Detection of a Magnetized Dust Ring in the Galactic Center

We present the detection of a magnetized dust ring (M0.8–0.2)in the central molecular zone (CMZ) of the Galactic center. The results presented in this paper utilize the first data release of the Far-Infrared Polarimetric Large Area CMZE mission (FIREPLACE) survey (i.e., Paper I of this series). The FIREPLACE survey is a 214μm polarimetric survey of the Galactic center using the SOFIA/HAWC+ telescope. The M0.8–0.2 ring is a region of gas and dust that has a circular morphology with a central depression. The dust polarization in the M0.8–0.2 ring implies a curved magnetic field that traces the ring-like structure of the cloud. We posit an interpretation in which an expanding shell compresses and concentrates the ambient gas and magnetic field. We argue that this compression results in strengthening of the magnetic field, as we infer from the observations toward the interior of the ring.

Dust continuum emmision↗

NASA NTRS1993

Shaping of the magnetotail from the mantle - Global and local structuring

Kinetic modeling of the properties of magnetotail formation from a plasma mantle source are discussed, and a unified view of the structure of the central part of the magnetotail plasma sheet as well as the structure of its boundary layer is developed. The Tsyganenko magnetic field model for quiet periods of magnetospheric activity is used to trace trajectories of mantle protons in the presence of a uniform dawn-dusk electric field. The present model shows the evolution of the global structure of the tail with a clearly defined central plasma sheet and plasma sheet boundary layer developing from its beginnings as a plasma 'nucleus' in the distant tail current sheet. This large-scale restructuring is accompanied by the creation of small-scale features in the particle distribution functions. It is also shown that complementary ring distribution structures should also exist in the central plasma sheet. The ion distribution functions in the central plasma sheet should take a rather specific form in velocity space with loss regions oriented predominantly orthogonal to the magnetic field.

Ashour-Abdalla, Maha↗

NASA NTRS1982

Findings on rings and inner satellites of Saturn of Pioneer 11

The introductory part of this paper gives a short account of the theory of absorption by planetary rings and satellites of energetic charged particles that are trapped in a planet's magnetic field and describes the observable consequences of such absorption processes. The previously published University of Iowa observations of absorption features during Pioneer 11's passage through Saturn's inner radiation belt on 1 September 1979 are critically reanalyzed and related to other evidence on rings and satellites inside 2.9 Saturn radii, especially that from the imaging system on Voyagers 1 and 2. It is found (a) that satellites 1979 S1, 1979 S2, and 1980 S3 are almost certainly identical; (b) that the evidence for 1979 S4 is weak to nonexistent; (c) that 1979 S5 and two other nearby absorption features and 1979 S6 and one other nearby absorption feature are probably caused by longitudinal and radial structure of Ring F and not by satellites; and (d) that absorption feature 1979 S3 at 169,200 + or - 600 km is identified with the optically observed Ring G.

Van Allen, J. A.↗

NASA NTRS1993

Cabin-fuselage-wing structural design concept with engine installation

The purpose of this project is to provide a fuselage structural assembly and wing structural design that will be able to withstand the given operational parameters and loads provided by Federal Aviation Regulation Part 23 (FAR 23) and the Statement of Work (SOW). The goal is to provide a durable lightweight structure that will transfer the applied loads through the most efficient load path. Areas of producibility and maintainability of the structure will also be addressed. All of the structural members will also meet or exceed the desired loading criteria, along with providing adequate stiffness, reliability, and fatigue life as stated in the SOW. Considerations need to be made for control system routing and cabin heating/ventilation. The goal of the wing structure and carry through structure is also to provide a simple, lightweight structure that will transfer the aerodynamic forces produced by the wing, tailboom, and landing gear. These forces will be channeled through various internal structures sized for the pre-determined loading criteria. Other considerations were to include space for flaps, ailerons, fuel tanks, and electrical and control system routing. The difficulties encountered in the fuselage design include expanding the fuselage cabin to accept a third occupant in a staggered configuration and providing ample volume for their safety. By adding a third person the CG of aircraft will move forward so the engine needs to be moved aft to compensate for the difference in the moment. This required the provisions of a ring frame structure for the new position of the engine mount. The difficulties encountered in the wing structural design include resizing the wing for the increased capacity and weight, and compensating for a large torsion produced by the tail boom by placing a great number of stiffeners inside the boom, which will result in the relocation of the fuel tank. Finally, an adequate carry through structure for the wing and fuselage interface will be designed to effectively transmit loads through the fuselage.

Ariotti, Scott↗

NASA NTRS1985

Dynamical Studies of Saturn's Rings

The data returned by the Voyager on the Saturnian system has revealed the structure of Saturn's ring system to be dominated by many abrupt transitions in optical depth, narrow well-defined ringlets and gaps, and spiral density and bending waves. A handful of these features were attributed with reasonable certainty to the resonant influence of external satellites, but the vast majority of the structure remains unexplained. The entire C ring was studied with particular emphasis on the search for unrecognized eccentric or inclined features, and the role, if any, played by satellite resonances in controlling C ring structure.

Nicholson, P. D.↗

NASA NTRS1995

Ball bearing vibrations amplitude modeling and test comparisons

Bearings generate disturbances that, when combined with structural gains of a momentum wheel, contribute to induced vibration in the wheel. The frequencies generated by a ball bearing are defined by the bearing's geometry and defects. The amplitudes at these frequencies are dependent upon the actual geometry variations from perfection; therefore, a geometrically perfect bearing will produce no amplitudes at the kinematic frequencies that the design generates. Because perfect geometry can only be approached, emitted vibrations do occur. The most significant vibration is at the spin frequency and can be balanced out in the build process. Other frequencies' amplitudes, however, cannot be balanced out. Momentum wheels are usually the single largest source of vibrations in a spacecraft and can contribute to pointing inaccuracies if emitted vibrations ring the structure or are in the high-gain bandwidth of a sensitive pointing control loop. It is therefore important to be able to provide an a priori knowledge of possible amplitudes that are singular in source or are a result of interacting defects that do not reveal themselves in normal frequency prediction equations. This paper will describe the computer model that provides for the incorporation of bearing geometry errors and then develops an estimation of actual amplitudes and frequencies. Test results were correlated with the model. A momentum wheel was producing an unacceptable 74 Hz amplitude. The model was used to simulate geometry errors and proved successful in identifying a cause that was verified when the parts were inspected.

Hightower, Richard A., III↗

NASA NTRS2013

A Resolved Debris Disk Around the Candidate Planet-hosting Star HD 95086

Recently, a new planet candidate was discovered on direct images around the young (10-17 Myr) A-type star HD 95086. The strong infrared excess of the system indicates that, similar to HR8799, Beta Pic, and Fomalhaut, the star harbors a circumstellar disk. Aiming to study the structure and gas content of the HD 95086 disk, and to investigate its possible interaction with the newly discovered planet, here we present new optical, infrared, and millimeter observations. We detected no CO emission, excluding the possibility of an evolved gaseous primordial disk. Simple blackbody modeling of the spectral energy distribution suggests the presence of two spatially separate dust belts at radial distances of 6 and 64 AU. Our resolved images obtained with the Herschel Space Observatory reveal a characteristic disk size of approx. 6.0 × 5.4 (540 × 490 AU) and disk inclination of approx 25 deg. Assuming the same inclination for the planet candidate's orbit, its reprojected radial distance from the star is 62 AU, very close to the blackbody radius of the outer cold dust ring. The structure of the planetary system at HD 95086 resembles the one around HR8799. Both systems harbor a warm inner dust belt and a broad colder outer disk and giant planet(s) between the two dusty regions. Modeling implies that the candidate planet can dynamically excite the motion of planetesimals even out to 270 AU via their secular perturbation if its orbital eccentricity is larger than about 0.4. Our analysis adds a new example to the three known systems where directly imaged planet(s) and debris disks coexist.

gas content↗

NASA NTRS1990

Docking system for spacecraft

A mechanism for the docking of a space vehicle to a space station where a connection for transfer of personnel and equipment is desired. The invention comprises an active docking structure on a space vehicle 10 and a passive docking structure on a station 11. The passive structure includes a docking ring 50 mounted on a tunnel structure 35 fixed to the space station. The active structure including a docking ring 18 carried by actuator-attenuator devices 20, each attached at one end to the ring 18 and at its other end in the vehicle's payload bay 12. The devices 20 respond to command signals for moving the docking ring 18 between a stowed position in the space vehicle to a deployed position suitable for engagement with the docking ring 50. The devices 20 comprise means responsive to signals of sensed loadings to absorb impact energy and retraction means for drawing the coupled space vehicle and station into final docked configuration and moving the tunnel structure to a berthed position in the space vehicle 10. Latches 60 couple the space vehicle and space station upon contact of docking rings 18 and 50 and latches 41-48 establish a structural tie between the spacecraft when retracted.

Kahn, Jon B.↗

NASA NTRS1989

Mass transfer during ice particle collisions in planetary rings

Experimental results are presented from laboratory environment simulations of the ice particle collisional properties defining the structure and dynamical evolution of planetary rings. It is inferred from these data that there is a dependence of the interacting volume on the impact velocity. Although the volume fraction exchanged during a collision is small, the net amount of material transferred can be substantially smaller. Attention is given to the implications of these determinations for planetary ring structure and evolution.

Mcdonald, J. S. B.↗