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At least 271 records · Page 15

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NASA NTRS1989

Control strategies for a telerobot

One of the major issues impacting the utility of telerobotic systems for space is the development of effective control strategies. For near-term applications, telerobot control is likely to utilize teleoperation methodologies with integrated supervisory control capabilities to assist the operator. Two different approaches to telerobotic control are evaluated: bilateral force reflecting master controllers and proportional rate six degrees-of-freedom hand controllers. The controllers' performance of single manipulator arm tasks is compared. Simultaneous operation of both manipulator arms and complex multiaxis slave arm movements is investigated. Task times are significantly longer and fewer errors are committed with the hand controllers. The hand controllers are also rated significantly higher in cognitive and manual control workload on the two-arm task. The master controllers are rated significantly higher in physical workload. The implications of these findings for space teleoperations and higher levels of control are discussed.

Ohara, John↗

NASA NTRS1993

Processing parameters associated with scale-up of balloon film production

A method is set forth for assessing strain-rate profiles that can be used to develop a scale-up theory for blown-film extrusion. Strain rates are evaluated by placing four ink dots on the stalk of an extruded bubble to follow the displacements of the dots as a function of time. The instantaneous Hencky strain is obtained with the displacement data and plotted for analysis. Specific attention is given to potential sources of error in the distance measurements and corrections for these complex bubble geometries. The method is shown to be effective for deriving strain-rate data related to different processing parameters for the production of balloon film. The strain rates can be compared to frostline height, blow-up ratio, and take-up ratio to optimize these processing variables.

Simpson, D. M.↗

NASA NTRS2000

Troughs on Martian Ice Sheets: Analysis of Their Closure and Mass Balance

At the Copenhagen workshop on Martian polar processes, Ralf Greve commented that the flow regime surrounding scarps and troughs of the Martian polar ice sheets cannot be modeled using traditional "plan view" ice-sheet models. Such models are inadequate because they typically use reduced equations that embody certain simplifications applicable only to terrestrial ice sheets where the upper ice sheet surface is smooth. In response to this suggestion, we have constructed a 2-dimensional, time dependent "side view" (two spatial dimensions: one horizontal, one vertical) model of scarp closure that is designed to overcome the difficulties described by Greve. The purpose of the model is to evaluate the scales of stress variation and styles of flow closure so as to estimate errors that may be encountered by "plan view" models. We show that there may be avenues whereby the complications associated with scarp closure can be overcome in "plan view" models through appropriate parameterizations of 3-dimensional effects. Following this, we apply the flow model to simulate the evolution of a typical scarp on the North Polar Cap of Mars. Our simulations investigate: (a) the role of "radiation trapping" (see our companion abstract) in creating and maintaining "spiral-like" scarps on the ice sheet, (b) the consequences of different flowlaws and ice compositions on scarp evolution and, in particular, scarp age, and (c) the role of dust and debris in scarp evolution.

Fountain, A.↗

NASA NTRS1982

Evaluation of the Seasat altimeter time tag bias

Two methods were used in analyses of Seasat altimeter data, aimed at the corroboration of an inherent altimeter microprocessor delay compensation value of -79.4 msec, which benefited from a global data distribution in the oceanic areas: (1) the crossover method, using altimeter data differenced at points where the Seasat ground track intersected with itself, and (2) the direct use of the altimeter data. Because the former method is independent of errors in the geoid model, it is considered the more reliable. For all crossover method results, the adopted value of -79.4 msec is within the bounds of the standard deviation associated with the estimates, of which -78.1 + or - 2.0 msec is considered the best representative.

Schutz, B. E.↗

NASA NTRS1975

Shuttle propellant loading instrumenation development

A continuous capacitance sensor was developed and an analog signal conditioner was evaluated to demonstrate the acceptability of these items for use in the space shuttle propellant loading system. An existing basic sensor concept was redesigned to provide capability for cryogenic operation, to improve performance, and to minimize production costs. Sensor development verification consisted of evaluation of sensor linearity, cryogenic performance, and stability during vibration. The signal conditioner evaluation consisted mainly of establishing the effects of the variations in temperature and cable parameters and evaluating the stability. A sensor linearity of 0.04 in. was achieved over most of the sensor length. The sensor instability caused by vibration was 0.04 percent. The cryogenic performance data show a maximum instability of 0.19 percent at liquid hydrogen temperature; a theoretical calibration can be computed a within 1 percent. The signal conditioner evaluation showed that, with temperature compensation, all error sources typically contribute much less than 1 percent. An estimate of the accuracy achievable with the sensor and signal conditioner shows an rss estimate of 0.75 in. for liquid oxygen and 1.02 in. for liquid hydrogen. These are approximately four times better than the shuttle requirements. Comparison of continuous sensor and discrete sensor performance show the continuous sensor to be significantly better when there is surface activity due to sloshing, boiling, or other disturbances.

Hamlet, J.↗

NASA NTRS1979

Algorithms for the determination of the time delays of the signal when using unequal detectors

In treating the recorded results from detectors at different locations in space, the analysis of the time delays of signals is crucial to locating the sources of detected radiation. Because the correlation method requires the manipulation of awkward matrices to evaluate its accuracy, a solution is outlined based on minimizing the sum of the squares of signal deviations, and the algorithms for evaluating the resulting error are presented.

Novak, B. L.↗

NASA NTRS1986

The impact of experimental measurement errors on long-term viscoelastic predictions

The impact of flight error in measured viscoelastic parameters on subsequent long-term viscoelastic predictions is numerically evaluated using the Schapery nonlinear viscoelastic model. Of the seven Schapery parameters, the results indicated that long-term predictions were most sensitive to errors in the power law parameter n. Although errors in the other parameters were significant as well, errors in n dominated all other factors at long times. The process of selecting an appropriate short-term test cycle so as to insure an accurate long-term prediction was considered, and a short-term test cycle was selected using material properties typical for T300/5208 graphite-epoxy at 149 C. The process of selection is described, and its individual steps are itemized.

Tuttle, M. E.↗

NASA NTRS2000

Assessment of Countermeasure Efficacy for Long-Term Space Missions

One of the main functions of the upcoming International Space Station (ISS) will be to provide a venue for testing proposed countermeasures for their ability to protect humans from the debilitating effects of longterm space flight. However, several limiting factors preclude an evaluation process similar to that used in clinical trials which traditionally are implemented with large sample sizes of subjects, including control groups, and with blind or double-blind application of treatments according to factorial or other balanced experimental designs. In particular, only very limited numbers of human subjects will be available for actual field testing in the ISS With no more than 125 subjects planned to fly on all ISS missions over 10 years, it is not possible to test extensive combinations of some 15-20 proposed countermeasures. Furthermore because of safety concerns and operational considerations, it is unlikely that anything other than the current best guess at the most effective countermeasure package will ever be used on ISS. In particular, control or placebos will not be allowed. In view of these limitations, historical data and groundbased or animal studies will have to be used to compensate for small sample sizes and lack of controls in the field. As a result, statistical analysis methodology will have to be developed which allows for the integration of these disparate data types into a meaningful evaluation process. The process must be sequential, providing objective rules for deciding through time whether to reject or modify an ineffective countermeasure, or whether to certify one as effective. Additional output should include performance characteristics for all relevant physiological systems, including uncertainty analyses and estimates of accept/reject decision error rates.

Feiveson, Alan H.↗

NASA NTRS2009

Ares I Static Tests Design

Probabilistic engineering design enhances safety and reduces costs by incorporating risk assessment directly into the design process. In this paper, we assess the format of the quantitative metrics for the vehicle which will replace the Space Shuttle, the Ares I rocket. Specifically, we address the metrics for in-flight measurement error in the vector position of the motor nozzle, dictated by limits on guidance, navigation, and control systems. Analyses include the propagation of error from measured to derived parameters, the time-series of dwell points for the duty cycle during static tests, and commanded versus achieved yaw angle during tests. Based on these analyses, we recommend a probabilistic template for specifying the maximum error in angular displacement and radial offset for the nozzle-position vector. Criteria for evaluating individual tests and risky decisions also are developed.

Carson, William↗

NASA NTRS2023

A Comparison of Passive Microwave Emission Models for Estimating Brightness Temperature at L- and P-band Under Bare and Vegetated Soil Conditions

P-band radiometry has been demonstrated to have a deeper sensing depth than at L-band, making the consideration of multi-layer microwave interactions necessary. Additionally, the scattering and phase interference effects are different at P-band, requiring a re-consideration of the need for coherent models. However, the impact remains to be clarified, and understanding the validity and limitations of these models at both L-band and P-band is crucial for their refinement and application. Therefore, two general categories of microwave emission models, including two stratified coherent models (Njoku and Wilhite) and four incoherent models (conventional tau-omega model and three multi-layer models being zero-order, first-order, and incoherent solution), were intercompared for the first time on the same dataset. This evaluation utilized observations of L-band and P-band radiometry under different land cover conditions from a tower-based experiment in Victoria, Australia. Model estimations of brightness temperature (TB) were consistent with measurements, with the lowest root mean square error (RMSE) at P-band V-polarization under corn (2 K) and the highest RMSE at L-band H-polarization under bare soil (13 K). Coherent models performed slightly better than incoherent models under bare soil (3 K less RMSE), while the opposite was true under vegetated soil conditions (1 K less RMSE). Coherent and incoherent models showed maximum differences (3 K at P-band, 2 K at L-band), correlating strongly with soil moisture variations at 0-10 cm. Findings suggest that coherent and incoherent models perform similarly; thus, incoherent models may be preferable for estimating TB at L- and P-band due to reduced computational complexity.

Soil moisture profile↗

NASA NTRS1984

SARSAT 121.5/243 MHz technical evaluation

The NOAA 8 SARSAT system performance was tested at 121.5/243 MHz to measure detection probability, detection threshold, location accuracy, ambiguity resolution, and multiple access capacity. Detection probability exceeds 0.95 for a single satellite pass. Detection threshold margin varies from 2 dB (243 MHz, incoherent) to 20 dB (121.5, coherent). Position location error is 20 km 68% of the time. Ambiguity is resolved 75% of the time. The system can locate 10 separate test signals.

Hayes, E. J.↗

NASA NTRS2001

Coriolis-force-induced trajectory and endpoint deviations in the reaching movements of labyrinthine-defective subjects

When reaching movements are made during passive constant velocity body rotation, inertial Coriolis accelerations are generated that displace both movement paths and endpoints in their direction. These findings directly contradict equilibrium point theories of movement control. However, it has been argued that these movement errors relate to subjects sensing their body rotation through continuing vestibular activity and making corrective movements. In the present study, we evaluated the reaching movements of five labyrinthine-defective subjects (lacking both semicircular canal and otolith function) who cannot sense passive body rotation in the dark and five age-matched, normal control subjects. Each pointed 40 times in complete darkness to the location of a just extinguished visual target before, during, and after constant velocity rotation at 10 rpm in the center of a fully enclosed slow rotation room. All subjects, including the normal controls, always felt completely stationary when making their movements. During rotation, both groups initially showed large deviations of their movement paths and endpoints in the direction of the transient Coriolis forces generated by their movements. With additional per-rotation movements, both groups showed complete adaptation of movement curvature (restoration of straight-line reaches) during rotation. The labyrinthine-defective subjects, however, failed to regain fully accurate movement endpoints after 40 reaches, unlike the control subjects who did so within 11 reaches. Postrotation, both groups' movements initially had mirror image curvatures to their initial per-rotation reaches; the endpoint aftereffects were significantly different from prerotation baseline for the control subjects but not for the labyrinthine-defective subjects reflecting the smaller amount of endpoint adaptation they achieved during rotation. The labyrinthine-defective subjects' movements had significantly lower peak velocity, higher peak elevation, lower terminal velocity, and a more vertical touchdown than those of the control subjects. Thus the way their reaches terminated denied them the somatosensory contact cues necessary for full endpoint adaptation. These findings fully contradict equilibrium point theories of movement control. They emphasize the importance of contact cues in adaptive movement control and indicate that movement errors generated by Coriolis perturbations of limb movements reveal characteristics of motor planning and adaptation in both healthy and clinical populations.

NASA Discipline Neuroscience↗

NASA NTRSDate not supplied

TPSAS-NF1676L-10735-DND

The Clouds and the Earth's Radiant Energy System (CERES) project has now surpassed the 10-year mark, has combined rigorous calibration, improved scene identification, and multi-satellite data fusion to produce a climate-accuracy data set of global 1° gridded radiative surface and TOA fluxes, and cloud properties. CERES provides the climate community with four observed TOA flux products. The ERBE-like product uses the same algorithms as ERBE in order to be compared with the ERBE time period. The SSF product uses the improved scene identification and radiance to flux conversion. The SYN product uses GEO derived clouds and fluxes to provide diurnally complete TOA fluxes. The EBAF product provides net balanced fluxes tied to the ocean heat storage term. This product is suited for climate modelers estimating the global mean energy budget. Each successive CERES flux product applies the improvements over the previous product. This presentation will focus on the diurnal averaging improvements by the inclusion of imager radiances from 5 geostationary (GEO) satellites at 3-hourly intervals to estimate the flux in between CERES observations. The regional monthly mean flux differences based on SYN (CERES/GEO) and SSF (CERES-only) can exceed 20 Wm^-2. CERES shortwave and longwave fluxes have been rigorously validated and are key elements in evaluating the ability of climate models to predict both past and future climate states. The CERES normalization of GEO derived fluxes in order to maintain the CERES instrument calibration and are consistent globally within 0.1 Wm^-2, even if the GEO calibration is artificially altered by ±5%, twice the anticipated calibration error. The predicted GEO TOA fluxes normalized to Terra have been compared at Aqua times to Aqua flux observations, as well as with GERB hourly fluxes over the METEOSAT domain. Similarly ground based radiometers have been used to validate the CERES radiative transfer computed surface fluxes and have confirmed that the CERES/GEO fluxes have improved the computed surface flux product. Although the GEO based fluxes are of inferior quality then the CERES observed fluxes, they capture the diurnal signal more effectively than using constant meteorology between CERES measurements. The validation of the GEO derived fluxes and clouds will be shown.

D. R. Doelling↗

NASA NTRS1984

A Statistical Evaluation of the Limitations of Single-channel Intermediate-band Photoelectric Stellar Photometry

Error distribution in differential photometry for a moving solar system object is investigated. The results of differential photometry of several dozen pairs of planetary comparison stars observed since 1972 are reviewed. Each pair of stars was observed along with the corresponding planet or satellite, typically about ten times during the course of a single apparation lasting about four months. The comparison stars are chosen to bracket the opposition position of the planet, the expected opposition magnitude, and solar color. In practice, this means that the range of spectral type was mid-F to early K, the range of B-Y color was about 0.25 to 0.95 mag, the range of differential magnitude was less than 2 mag but most often less than 1.0 mag, and the difference in declination was typically less than 3 deg. The difference in air mass at meridian transit was usually less than 0.03, and rarely exceeded 0.01. Hence, differential extinction effects are negligible, except under extraordinary conditions.

Lockweed, G. W.↗

NASA NTRS1990

Modelling and computationally efficient time domain linear equalisation of nonlinear bandlimited QPSK satellite channels

The problem of modeling and equalization of a nonlinear satellite channel is considered. The channel is assumed to be bandlimited and exhibits both amplitude and phase nonlinearities. In traditional models, computations are usually performed in the frequency domain and solutions are based on complex numerical techniques. A discrete time model is used to represent the satellite link with both uplink and downlink white Gaussian noise. Under conditions of practical interest, a simple and computationally efficient time-domain design technique for the minimum mean square error linear equalizer is presented. The efficiency of this technique is enhanced by the use of a fast and simple iterative algorithm for the computation of the autocorrelation coefficients of the output of the nonlinear channel. Numerical results on the evaluations of bit error probability and other relevant parameters needed in the design and analysis of a nonlinear bandlimited QPSK system demonstrate the simplicity and computational efficiency of the proposed approach.

Konstantinides, K.↗

NASA NTRS1996

Evaluation of transit-time and electromagnetic flow measurement in a chronically instrumented nonhuman primate model

The Physiology Research Branch at Brooks AFB conducts both human and nonhuman primate experiments to determine the effects of microgravity and hypergravity on the cardiovascular system and to identify the particular mechanisms that invoke these responses. Primary investigative efforts in our nonhuman primate model require the determination of total peripheral resistance, systemic arterial compliance, and pressure-volume loop characteristics. These calculations require beat-to-beat measurement of aortic flow. This study evaluated accuracy, linearity, biocompatability, and anatomical features of commercially available electromagnetic (EMF) and transit-time flow measurement techniques. Five rhesus monkeys were instrumented with either EMF (3 subjects) or transit-time (2 subjects) flow sensors encircling the proximal ascending aorta. Cardiac outputs computed from these transducers taken over ranges of 0.5 to 2.0 L/min were compared to values obtained using thermodilution. In vivo experiments demonstrated that the EMF probe produced an average error of 15% (r = .896) and 8.6% average linearity per reading, and the transit-time flow probe produced an average error of 6% (r = .955) and 5.3% average linearity per reading. Postoperative performance and biocompatability of the probes were maintained throughout the study. The transit-time sensors provided the advantages of greater accuracy, smaller size, and lighter weight than the EMF probes. In conclusion, the characteristic features and performance of the transit-time sensors were superior to those of the EMF sensors in this study.

Non-NASA Center↗

NASA NTRS1980

Evaluation of pulsed RFI effects on digital satellite repeaters

This paper presents an analytical approach for assessing the effect of pulsed RFI on the error probability of a coherent phase-shift keyed signal through a nonlinear satellite repeater. The RFI is assumed to affect the uplink channel and to consist of CW pulses with random power levels and arriving randomly in time with a Poisson distribution. A model to approximate the effect of intermodulation products is introduced and the error probability conditioned on the output of the satellite repeater is computed. The classical moment technique is then used as an efficient method of averaging the conditional error probability over the numerous random parameters associated with the uplink signal.

Huang, T. C.↗

NASA NTRS1984

Dynamics of early planetary gear trains

A method to analyze the static and dynamic loads in a planetary gear train was developed. A variable-variable mesh stiffness (VVMS) model was used to simulate the external and internal spur gear mesh behavior, and an equivalent conventional gear train concept was adapted for the dynamic studies. The analysis can be applied either involute or noninvolute spur gearing. By utilizing the equivalent gear train concept, the developed method may be extended for use for all types of epicyclic gearing. The method is incorporated into a computer program so that the static and dynamic behavior of individual components can be examined. Items considered in the analysis are: (1) static and dynamic load sharing among the planets; (2) floating or fixed Sun gear; (3) actual tooth geometry, including errors and modifications; (4) positioning errors of the planet gears; (5) torque variations due to noninvolute gear action. A mathematical model comprised of power source, load, and planetary transmission is used to determine the instantaneous loads to which the components are subjected. It considers fluctuating output torque, elastic behavior in the system, and loss of contact between gear teeth. The dynamic model has nine degrees of freedom resulting in a set of simultaneous second order differential equations with time varying coefficients, which are solved numerically. The computer program was used to determine the effect of manufacturing errors, damping and component stiffness, and transmitted load on dynamic behavior. It is indicated that this methodology offers the designer/analyst a comprehensive tool with which planetary drives may be quickly and effectively evaluated.

August, R.↗