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NASA NTRS2010

Changes in the Mass Balance of the Greenland Ice Sheet in a Warming Climate During 2003-2009

Mass changes of the Greenland ice sheet (GIS) derived from ICESat and GRACE data both show that the net mass loss from GIS during 2003-2009 is about 175 Gt/year, which contributes 0.5mm/yr global sea-level rise. The rate of mass loss has increased significantly since the 1990's when the GIS was close to mass balance. Even though the GIS was close to mass balance during the 1990's, it was already showing characteristics of responding to8 warmer climate, specifically thinning at the margins and thickening inland at higher elevations. During 2003-2009, increased ice thinning due to increases in melting and acceleration of outlet glaciers began to strongly exceed the inland thickening from increases in accumulation. Over the entire GIS, the mass loss between the two periods, from increased melting and ice dynamics, increased by about 190 Gt/year while the mass gain, from increased precipitation and accumulation, increased by only about 15Gt/year. These ice changes occurred during a time when the temperature on GIS changed at rate of about 2K/decade. The distribution of elevation and mass changes derived from ICESat have high spatial resolution showing details over outlet glaciers, by drainage systems, and by elevation. However, information on the seasonal cycle of changes from ICESat data is limited, because the ICESat lasers were only operated during two to three campaigns per year of about 35 days duration each. In contrast, the temporal resolution of GRACE data, provided by the continuous data collection, is much better showing details of the seasonal cycle and the inter-annual variability. The differing sensitivity of the ICESat altimetry and the GRACE gravity methods to motion of the underlying bedrock from glacial isostatic adjustment (GIA) is used to evaluate the GIA corrections provided by models. The two data types are also combined to make estimates of the partitioning of the mass gains and losses among accumulation, melting, and ice discharge from outlet glaciers.

Zwally, H. Jay↗

NASA NTRS2013

Evidence For Quasi-Periodic X-ray Dips From An Ultraluminous X-ray Source: Implications for the Binary Motion

We report results from long-term (approx.1240 days) X-ray (0.3-8.0 keV) monitoring of the ultraluminous X-ray source NGC 5408 X-1 with the Swift/X-Ray Telescope. Here we expand on earlier work by Strohmayer (2009) who used only a part of the present data set. Our primary results are: (1) the discovery of sharp, quasi-periodic, energy-independent dips in the X-ray intensity that recur on average every 243 days, (2) the detection of an energy dependent (variability amplitude decreases with increasing energy), quasi-sinusoidal X-ray modulation with a period of 112.6 +/- 4 days, the amplitude of which weakens during the second half of the light curve, and (3) spectral evidence for an increase in photoelectric absorption during the last continuous segment of the data. We interpret the X-ray modulations within the context of binary motion in analogy to that seen in high-inclination accreting X-ray binaries. If correct, this implies that NGC 5408 X-1 is in a binary with an orbital period of 243 +/- 23 days, in contrast to the 115.5 day quasi-sinusoidal period previously reported by Strohmayer (2009). We discuss the overall X-ray modulation within the framework of accretion via Roche-lobe overflow of the donor star. In addition, if the X-ray modulation is caused by vertically structured obscuring material in the accretion disk, this would imply a high value for the inclination of the orbit. A comparison with estimates from accreting X-ray binaries suggests an inclination > or approx.70deg. We note that, in principle, a precessing accretion disk could also produce the observed X-ray modulations.

Pasham, Dheeraj R.↗

NASA NTRS2022

Docking the Mars 2020 Perseverance Robotic Arm

The Mars 2020 Perseverance Rover includes an innovative Sample Caching Subsystem (SCS). Two key features of SCS are the ability to collect and process rock and regolith samples for possible future return to Earth and the ability to switch between different types of drill bits for coring rocks, abrading rocks, and collecting regolith. These capabilities are enabled by a Corer mounted on the end of a Robotic Arm and a Bit Carousel mounted on the front of the rover body. Beneath the Bit Carousel, a smaller Sample Handling Arm can insert and remove sample tubes from sampling bits in the carousel. For the Corer to interface with the Bit Carousel so that it can exchange drill bits and hand off rock samples, the Robotic Arm must maneuver the Corer to dock with the Bit Carousel. Docking serves two primary purposes: it precisely aligns the Corer with the hardware inside the Bit Carousel, and it applies enough preload between the Corer and the Bit Carousel to make them stay aligned through the process of bit exchange.The docking assembly consists of four concave alignment cones mounted on a large rotating ring, through the center of which the drill can exchange bits and samples with the Bit Carousel. The coring drill includes four alignment posts which mate with the four cones on the dock. Docking uses an algorithm we call “Force-Corrected Docking”, which means it iteratively reads the force/moments reported by the FTS, performs a small motion to reduce sideload and moments while increasing preload, and repeats until reaching a deadband around the target preload. Because docking is a critical function for SCS, the dock hardware and algorithm have been tested thousands of times over 7 years in various stages of development. The culmination of this work is a reliable docking system which has been demonstrated and used in flight.

Warner, Antonia↗

NASA NTRS1977

Manual control of yaw motion with combined visual and vestibular cues

Measurements are made of manual control performance in the closed-loop task of nulling perceived self-rotation velocity about an earth-vertical axis. Self-velocity estimation was modelled as a function of the simultaneous presentation of vestibular and peripheral visual field motion cues. Based on measured low-frequency operator behavior in three visual field environments, a parallel channel linear model is proposed which has separate visual and vestibular pathways summing in a complementary manner. A correction to the frequency responses is provided by a separate measurement of manual control performance in an analogous visual pursuit nulling task. The resulting dual-input describing function for motion perception dependence on combined cue presentation supports the complementary model, in which vestibular cues dominate sensation at frequencies above 0.05 Hz. The describing function model is extended by the proposal of a non-linear cue conflict model, in which cue weighting depends on the level of agreement between visual and vestibular cues.

Zacharias, G. L.↗

NASA NTRS1980

Scientific management and implementation of the geophysical fluid flow cell for Spacelab missions

Scientific support for the spherical convection experiment to be flown on Spacelab 3 was developed. This experiment takes advantage of the zero gravity environment of the orbiting space laboratory to conduct fundamental fluid flow studies concerned with thermally driven motions inside a rotating spherical shell with radial gravity. Such a system is a laboratory analog of large scale atmospheric and solar circulations. The radial body force necessary to model gravity correctly is obtained by using dielectric polarization forces in a radially varying electric field to produce radial accelerations proportional to temperature. This experiment will answer fundamental questions concerned with establishing the preferred modes of large scale motion in planetary and stellar atmospheres.

Hart, J.↗

NASA NTRS2017

Gondola for High Altitude Planetary Science (GHAPS) Telescope Secondary Mirror Positioning Hexapod Issues and Alternatives

Active positioning of the GHAPS secondary telescope mirror is desired to correct for rigid body deflections due to temperature variations and gravity sag in the telescope structure that may impact optical performance. The current design concept for the secondary mirror mount uses a Commercial-Off -the-Shelf hexapod for mirror positioning and fine adjustment. The Hexapod specification states that motions as small as 0.1 microns along the optical axis and 2 microns perpendicular to the optical axis will cause optical aberrations that will require correction by repositioning the secondary mirror. In addition, the secondary mirror mount and positioning system must survive a 15g shock of parachute opening and landing during the instrument recovery operation. The secondary mirror positioning system must operate at a minimum specified temperature of -50 C. The telescope operates in the IR and the secondary mirror mount and positioning device is in the metering path between the primary and secondary mirrors. I2R losses in positioning system actuator devices, which may cause heating of the positioning system and secondary mirror, must be minimized due to the previously mentioned alignment sensitivity and the viewing spectrum of interest. The GHAPs project was cancelled on June 30, 2017. The purpose of this study is to address some of the issues identified with the hexapod secondary mirror positioning system and identify alternative approaches. This information may be used if the project is re-started at a later date.

Gondola Mirror Hexapo↗

NASA NTRS2000

Oceanic Excitation of Polar Motion During 1992-1994

Two global ocean general circulation models have been used to compute the angular momentum of nontidal oceanic current and sea level height variations: (1) the Princeton Modular Ocean Model (MOM) having 22 vertical layers and a rigid lid, and (2) the Miami Isopycnic-Coordinate Ocean Model (MICOM) having 11 vertical layers with a mixed layer and a free surface. Both models were run on the same 2 degree longitude by 1 degree latitude grid spanning 80 S to 80 N latitude. Following a 10-year spin-up with climatological air-sea fluxes, both models were forced during 1992-1994 with daily wind and heat flux from the NCEP operational analysis and sea surface salinity restoring to Levitus climatology. After correcting for the effects of mass non-conservation in these models, they are shown to predict similar effects on polar motion excitation of sea level height variations, but the effect of currents predicted by MOM is much larger than that predicted by MICOM.

Gross, R.↗

NASA NTRS1998

Posture, locomotion, spatial orientation, and motion sickness as a function of space flight

This article summarizes a variety of newly published findings obtained by the Neuroscience Laboratory, Johnson Space Center, and attempts to place this work within a historical framework of previous results on posture, locomotion, motion sickness, and perceptual responses that have been observed in conjunction with space flight. In this context, we have taken the view that correct transduction and integration of signals from all sensory systems is essential to maintaining stable vision, postural and locomotor control, and eye-hand coordination as components of spatial orientation. The plasticity of the human central nervous system allows individuals to adapt to altered stimulus conditions encountered in a microgravity environment. However, until some level of adaptation is achieved, astronauts and cosmonauts often experience space motion sickness, disturbances in motion control and eye-hand coordination, unstable vision, and illusory motion of the self, the visual scene, or both. Many of the same types of disturbances encountered in space flight reappear immediately after crew members return to earth. The magnitude of these neurosensory, sensory-motor and perceptual disturbances, and the time needed to recover from them, tend to vary as a function of mission duration and the space travelers prior experience with the stimulus rearrangement of space flight. To adequately chart the development of neurosensory changes associated with space flight, we recommend development of enhanced eye movement systems and body position measurement. We also advocate the use of a human small radius centrifuge as both a research tool and as a means of providing on-orbit countermeasures that will lessen the impact of living for long periods of time with out exposure to altering gravito-inertial forces. Copyright 1998 Elsevier Science B.V.

Flight Experiment↗

NASA NTRS1972

Improved laser ranging accuracy through dynamic threshold compensation

During a polar motion experiment (in which two laser ranging systems on a north-south line simultaneously tracked a satellite to determine motion of the pole), techniques for improving both the range noise and range bias were demonstrated. The corrections to the measured ranges (based on received signal levels relative to a fixed correction that would have been applied if pulse height information was not available) are given. It was shown that even existing long pulse systems (20 to 40 nsec duration) can be improved to the 20 to 30 cm level of precision without major or expensive changes to the system.

Johnson, T. S.↗

NASA NTRS1973

The electric field in the vicinity of a photo-emitting plate in a plasma

Knowledge of the electric field in the vicinity of a spacecraft provides necessary corrections to measurements of ambient fields and charged particle fluxes and a required parameter to understand the motion of dust particles and grains around the spacecraft. The complex problem of the entire electric field, needed for grain transport calculations, is treated for the one-dimensional case. By approximations to the analysis of a photo-emitting plate immersed in a dilute plasma, explicit expressions for the potential and the electric field were derived. The two classes of implicit solutions for the potential reported by them are shown to yield essentially identical results for the conditions in our solar system. The values were obtained following assumptions of a later paper by Guernsey and Fu, in which the emitted photoelectron distribution is taken as Maxwellian. These results are compared with a simple model due to Grand and Tunaley, wherein the effect of the dilute plasma is neglected entirely.

Barengoltz, J.↗

NASA NTRS1982

Evaluation of an electro-optic remote displacement measuring system

An instrumentation system to provide a noncontact method for measurement of target positions was evaluated. The system employs two electro-optic camera units which give stereo information for use in determining three dimensional target locations. Specially developed, infrared sensitive photodetectors are used in the cameras to sense radiation from light emitting diode targets. Up to 30 of these targets can be monitored with a sampling rate of 312 Hz per target. An important part of the system is a minicomputer which is used to collect the camera data, sort it, make corrections for distortions in the electro-optic system, and perform the necesssary coordinate transformations. If target motions are restricted to locations in a plane which is perpendicular to a camera's optical axis, the system can be used with just one camera. Calibrations performed in this mode characterize accuracies in single camera operation. This information is also useful in determination of single camera contributions to total system errors. For this reason the system was tested in both the single camera and two camera (stereo) modes of operation.

Monteith, J. H.↗

NASA NTRS1982

Effects of adopting new precession, nutation and equinox corrections on the terrestrial reference frame

The effects of adopting new definitive precession and equinox corrections on the terrestrial reference frame was investigated. It is noted that: (1) the effect on polar motion is a diurnal periodic term with an amplitude increasing linearly in time whole on UT1 it is a linear term; (2) general principles are given to determine the effects of small rotations of the frame of a conventional inertial reference system (CIS) on the frame of the conventional terrestrial reference system (CTS); (3) seven CTS options are presented, one of which is necessary to accommodate such rotation. Accommodating possible future changes in the astronomical nutation is discussed. The effects of differences which may exist between the various CTS's and CIS's on Earth rotation parameters (ERP) and how these differences can be determined are examined. It is shown that the CTS differences can be determined from observations made at the same site, while the CIS differences by comparing the ERP's determined by the different techniques during the same time period.

Zhu, S. Y.↗

NASA NTRS1984

Multiple spacecraft Michelson stellar interferometer

Results of an orbital analysis and performance assessment of SAMSI (Spacecraft Array for Michelson Spatial Interferometry) are presented. The device considered includes two one-meter telescopes in orbits which are identical except for slightly different inclinations; the telescopes achieve separations as large as 10 km and relay starlight to a central station which has a one-meter optical delay line in one interferometer arm. It is shown that a 1000-km altitude, zero mean inclination orbit affords natural scanning of the 10-km baseline with departures from optical pathlength equality which are well within the corrective capacity of the optical delay line. Electric propulsion is completely adequate to provide the required spacecraft motions, principally those needed for repointing. Resolution of 0.00001 arcsec and magnitude limits of 15 to 20 are achievable.

Stachnik, R. V.↗

NASA NTRS1985

Navigation systems

The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

Jordan, J. F.↗

NASA NTRS1991

System description document for the Anthrobot-2: A dexterous robot hand

The Anthrobot-2 is an anatomically correct, fully functioning robot hand. The number of fingers, the proportions of the links, the placement and motion of the thumb, and the shape of the palm follow those of the human hand. Each of the finger and thumb joints are servo-controlled. The Anthrobot-2 also includes a two-degree-of-freedom wrist. The entire package, including wrist, hand, and actuators, will mount on the ends of a variety of industrial manipulators. A patent has been applied for on the design. The Anthrobot-2 will be useful in tasks where dexterous manipulation or telemanipulation are required.

Ali, Michael S.↗

NASA NTRS1990

Validation of the dynamic response of a blade-element UH-60 simulation model in hovering flight

The dynamic fidelity of an operational blade-element simulation model of the UH-60 helicopter is assessed for the hovering and low-speed flight regimes. Nonparametric frequency-domain identification techniques and time-history comparisons are used to determine the validity of total-vehicle on-axis and coupled responses. A dedicated flight-test program was conducted to provide data used in the analysis. The flight-test techniques and data verification methods employed are briefly described. Frequency-domain methods are applied to the model and to several model components in order to isolate deficiencies and verify refinements and corrections. Model deficiencies are also identified by using side-by-side pilot assessments of a motion-base simulation and of a test aircraft. Model updates are found to significantly improve fidelity in the frequency range that is of interest to handling-qualities research. The applicability of the model to high-bandwidth flight-control research is also discussed.

Dalang-Secretan, Marie-Alix↗

NASA NTRS1991

A picosecond accuracy relativistic VLBI model via Fermi normal coordinates

Fermi normal coordinates are used to construct transformations relating solar system barycentric coordinates to local inertial geocentric coordinates. Relativistic corrections to terrestrial VLBI measurements are calculated, and this formalism is developed to include corrections needed for picosecond accuracy. A calculation of photon time delay which includes effects arising from the motion of gravitational sources is given.

Shahid-Saless, Bahman↗

NASA NTRS1961

Analytical and Preliminary Simulation Study of a Pilot's Ability to Control the Terminal Phase of a Rendezvous with Simple Optical Devices and a Timer

One method of controlling the terminal phase of a space rendezvous between two vehicles is first to correct the flight path of the controlled vehicle so that a constant line of sight is established between the vehicles. This correction is accomplished by thrusting normal to the sight line in a direction to arrest the angular motion of this line. Once this collision course has been established, the second step is to control the closure rate for a safe approach along the line of sight. Adequate control of this maneuver requires range and closure-rate information. A combined analytical and preliminary simulation study was conducted to determine the ability of a human pilot to control the rendezvous by this method using visual sightings made during the initial collision-course control to obtain the range and closure rate. The analytical phase of the study reviewed the geometric relations between the vehicles and formed the basis for techniques to transform the angular sightings into range and closure rate. A preliminary simulation was then made to investigate the accuracy of these techniques. The simulation consisted of an analog computer, an oscilloscope to represent the view a pilot would have-with a stabilized sight, and a timer. Results indicate that pilots, using an optical sight and a timer, can successfully arrest the angular motion of the line of sight between two rendezvous vehicles and obtain relative range and closure rate with sufficient accuracy to perform the final braking maneuver successfully.

Lineberry, Edgar C., Jr.↗