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NASA NTRS2016

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗

NASA NTRS2020

PACE Technical Report Series, Volume 9: PACE Applications Plan

This volume presents PACE mission’s plan for development and execution of a PACE Applications Program. NASA maintains an Applied Sciences Program (https://appliedsciences.nasa.gov) to help institutions and individuals make better decisions about our environment, food, water, health and safety through the use of NASA data. In 2016, NASA Headquarters began requiring all flight projects to implement a Project Applications Program with the purpose of: (a) scoping and developing applied research and applications as part of the overall mission concept; (b) demonstrating the project’s benefit to society and contributions to the achievement of societal outcomes; (c) identifying specific product applications and Communities of Potential to better understand the impacts and benefit from using project products and models; (d) increasing the utility of data products; and (e) fostering a Community of Practice who can work with the project throughout the emission life cycle. In response to and in support of this NASA Headquarters directive, the PACE mission developed this PACE Applications Program Plan. While consideration of applications and applied sciences has always been embedded into PACE, the Applications Program truly kicked into high gear in December 2019 (see https://pace.gsfc.nasa.gov). At the time of this writing, the number of PACE Early Adopters has already reached 20. And, the first PACE Applications Workshop will be held (virtually) in late September 2020, with 500 attendees registered. My congratulations and thanks to the PACE Applications Program team for a tremendous first year.

Maria Tzortziou↗

NASA NTRSDate not supplied

Growing the success of Small Satellite missions through community learning

The successful utilization of small satellites for scientific missions relies on continual infusion of technology innovations, creative approaches, and new capabilities, all of which advance at a very rapid pace. Achieving these advancements requires open and efficient exchange of results, experiences, and ideas. Community learning is particularly challenging in this fast-growing community involving an increasingly diverse set of players from all sectors: industry, academia, government, and the public at large. Building and cultivating a community of practices around small satellite technology development and mission implementation are key objectives for NASA’s Small Spacecraft Systems Virtual Institute (S3VI). The institute has developed and provides access to a large collection of products, tools, and activities to advance clear communications and coordination regarding small spacecraft undertakings across NASA, to provide mission enabling information to the smallsat research community, to engage with stakeholders in industry, government, academia and the general public, and to support the overall small spacecraft community. New and updated offerings by the S3VI include: The2021 NASA State of the Art Report of Small Spacecraft Technology, the Small Spacecraft Reliability Initiative Knowledge Base, and the “MISSION ACCOMPLISHED”webinar series. These and other institute products will help scientists and engineers planning future missions answer pertinent questions, such as: What is the state of the art of small spacecraft technology that can be used?What are some best practices that other experts and teams can recommend? What did previous missions accomplish? What lessons could be learned from previous missions? What flight-proven parts are available? What emerging technologies could be taken advantage of? A status will be presented on S3VI activities facilitating community learning within the small satellite science community through the collection, sharing, and exchange of experiences with small satellite mission development and execution across all NASA mission areas.

Moretto Jorgensen, T↗

NASA NTRSDate not supplied

Growing the Success of Small Satellite Missions Through Community Learning

The successful utilization of small satellites for scientific missions relies on continual infusion of technology innovations, creative approaches, and new capabilities, all of which advance at a very rapid pace. Achieving these advancements requires open and efficient exchange of results, experiences, and ideas. Community learning is particularly challenging in this fast-growing community involving an increasingly diverse set of players from all sectors: industry, academia, government, and the public at large. Building and cultivating a community of practices around small satellite technology development and mission implementation are key objectives for NASA’s Small Spacecraft Systems Virtual Institute (S3VI). The institute has developed and provides access to a large collection of products, tools, and activities to advance clear communications and coordination regarding small spacecraft undertakings across NASA, to provide mission enabling information to the smallsat research community, to engage with stakeholders in industry, government, academia and the general public, and to support the overall small spacecraft community. New and updated offerings by the S3VI include: The2021 NASA State of the Art Report of Small Spacecraft Technology, the Small Spacecraft Reliability Initiative Knowledge Base, and the “MISSION ACCOMPLISHED” webinar series. These and other institute products will help scientists and engineers planning future missions answer pertinent questions, such as: What is the state of the art of small spacecraft technology that can be used? What are some best practices that other experts and teams can recommend? What did previous missions accomplish? What lessons could be learned from previous missions? What flight-proven parts are available? What emerging technologies could be taken advantage of? A status will be presented on S3VI activities facilitating community learning within the small satellite science community through the collection, sharing, and exchange of experiences with small satellite mission development and execution across all NASA mission areas.

Small Satellite↗

NASA NTRS2005

Using EMG to anticipate head motion for virtual-environment applications

In virtual environment (VE) applications, where virtual objects are presented in a see-through head-mounted display, virtual images must be continuously stabilized in space in response to user's head motion. Time delays in head-motion compensation cause virtual objects to "swim" around instead of being stable in space which results in misalignment errors when overlaying virtual and real objects. Visual update delays are a critical technical obstacle for implementing head-mounted displays in applications such as battlefield simulation/training, telerobotics, and telemedicine. Head motion is currently measurable by a head-mounted 6-degrees-of-freedom inertial measurement unit. However, even given this information, overall VE-system latencies cannot be reduced under about 25 ms. We present a novel approach to eliminating latencies, which is premised on the fact that myoelectric signals from a muscle precede its exertion of force, thereby limb or head acceleration. We thus suggest utilizing neck-muscles' myoelectric signals to anticipate head motion. We trained a neural network to map such signals onto equivalent time-advanced inertial outputs. The resulting network can achieve time advances of up to 70 ms.

Clinical Trial↗

NASA NTRS1984

The utility of Head-Up Displays - Eye-focus vs decision times

Instrument-panel information is presented by a Head-Up Display (HUD) to pilots in such a way that the symbols appear far away (at optical infinity) superimposed upon the landscape. The use of a HUD makes it, therefore, unnecessary for the pilot to take his eyes off the changing scene in order to look down and refocus on the instrument panel. It is pointed out that the HUD has proved superior to the conventional instrument-panel display. An experiment was conducted with the objective to help to determine which of the differences between HUD and conventional instrument-panel display are mainly responsible for the superiority of the HUD. Important features of this experiment are that the format of each virtual-image display, its luminance, and its angle subtended at the eye, remained the same as the optical distance and location were varied. It was found that the HUD symbology at optical infinity does reduce decision times compared to the same format at the location of a conventional instrument panel.

Weintraub, D. J.↗

NASA NTRS2004

Intelligent Systems Technologies and Utilization of Earth Observation Data

The addition of raw data and derived geophysical parameters from several Earth observing satellites over the last decade to the data held by NASA data centers has created a data rich environment for the Earth science research and applications communities. The data products are being distributed to a large and diverse community of users. Due to advances in computational hardware, networks and communications, information management and software technologies, significant progress has been made in the last decade in archiving and providing data to users. However, to realize the full potential of the growing data archives, further progress is necessary in the transformation of data into information, and information into knowledge that can be used in particular applications. Sponsored by NASA s Intelligent Systems Project within the Computing, Information and Communication Technology (CICT) Program, a conceptual architecture study has been conducted to examine ideas to improve data utilization through the addition of intelligence into the archives in the context of an overall knowledge building system (KBS). Potential Intelligent Archive concepts include: 1) Mining archived data holdings to improve metadata to facilitate data access and usability; 2) Building intelligence about transformations on data, information, knowledge, and accompanying services; 3) Recognizing the value of results, indexing and formatting them for easy access; 4) Interacting as a cooperative node in a web of distributed systems to perform knowledge building; and 5) Being aware of other nodes in the KBS, participating in open systems interfaces and protocols for virtualization, and achieving collaborative interoperability.

Ramapriyan, H. K.↗

NASA NTRS2007

Refinement of Timoshenko Beam Theory for Composite and Sandwich Beams Using Zigzag Kinematics

A new refined theory for laminated-composite and sandwich beams that contains the kinematics of the Timoshenko Beam Theory as a proper baseline subset is presented. This variationally consistent theory is derived from the virtual work principle and employs a novel piecewise linear zigzag function that provides a more realistic representation of the deformation states of transverse shear flexible beams than other similar theories. This new zigzag function is unique in that it vanishes at the top and bottom bounding surfaces of a beam. The formulation does not enforce continuity of the transverse shear stress across the beam s cross-section, yet is robust. Two major shortcomings that are inherent in the previous zigzag theories, shear-force inconsistency and difficulties in simulating clamped boundary conditions, and that have greatly limited the utility of these previous theories are discussed in detail. An approach that has successfully resolved these shortcomings is presented herein. This new theory can be readily extended to plate and shell structures, and should be useful for obtaining accurate estimates of structural response of laminated composites.

Tessler, Alexander↗

NASA NTRS1971

Digital magnetic temperature transducer.

A new digital magnetic temperature transducer is reported. The device utilizes the discontinuous behavior of the initial permeability with temperature at the Curie temperature of some magnetic materials. Since the Curie temperature is determined by the chemical and crystallographic composition of the particular material only, the transducer requires no calibration and has extremely high stability and reproducibility with time. The output of the transducer is inherently digital and, therefore, is directly compatible with the digital information processing and control without A/D conversion. The temperature-sensing portion of the transducer consists only of magnetic cores and wire and, therefore, has extremely high reliability, is shock and radiation insensitive, small, and virtually indestructible.

Tchernev, D. I.↗

NASA NTRS1982

Acoustic modal analysis of a full-scale annular combustor

An acoustic modal decomposition of the measured pressure field in a full scale annular combustor installed in a ducted test rig is described. The modal analysis, utilizing a least squares optimization routine, is facilitated by the assumption of randomly occurring pressure disturbances which generate equal amplitude clockwise and counter-clockwise pressure waves, and the assumption of statistical independence between modes. These assumptions are fully justified by the measured cross spectral phases between the various measurement points. The resultant modal decomposition indicates that higher order modes compose the dominant portion of the combustor pressure spectrum in the range of frequencies of interest in core noise studies. A second major finding is that, over the frequency range of interest, each individual mode which is present exists in virtual isolation over significant portions of the spectrum. Finally, a comparison between the present results and a limited amount of data obtained in an operating turbofan engine with the same combustor is made. The comparison is sufficiently favorable to warrant the conclusion that the structure of the combustor pressure field is preserved between the component facility and the engine.

Karchmer, A. M.↗

NASA NTRS1983

Acoustic modal analysis of a full-scale annular combustor

Karchmer, A. M.↗

NASA NTRS2009

A Refined Zigzag Beam Theory for Composite and Sandwich Beams

A new refined theory for laminated composite and sandwich beams that contains the kinematics of the Timoshenko Beam Theory as a proper baseline subset is presented. This variationally consistent theory is derived from the virtual work principle and employs a novel piecewise linear zigzag function that provides a more realistic representation of the deformation states of transverse-shear flexible beams than other similar theories. This new zigzag function is unique in that it vanishes at the top and bottom bounding surfaces of a beam. The formulation does not enforce continuity of the transverse shear stress across the beam s cross-section, yet is robust. Two major shortcomings that are inherent in the previous zigzag theories, shear-force inconsistency and difficulties in simulating clamped boundary conditions, and that have greatly limited the utility of these previous theories are discussed in detail. An approach that has successfully resolved these shortcomings is presented herein. Exact solutions for simply supported and cantilevered beams subjected to static loads are derived and the improved modelling capability of the new zigzag beam theory is demonstrated. In particular, extensive results for thick beams with highly heterogeneous material lay-ups are discussed and compared with corresponding results obtained from elasticity solutions, two other zigzag theories, and high-fidelity finite element analyses. Comparisons with the baseline Timoshenko Beam Theory are also presented. The comparisons clearly show the improved accuracy of the new, refined zigzag theory presented herein over similar existing theories. This new theory can be readily extended to plate and shell structures, and should be useful for obtaining relatively low-cost, accurate estimates of structural response needed to design an important class of high-performance aerospace structures.

Tessler, Alexander↗

NASA NTRS2017

Development of a Low Inductance Linear Alternator for Stirling Power Convertors

The free-piston Stirling power convertor is a promising technology for high efficiency heat-to-electricity power conversion in space. Stirling power convertors typically utilize linear alternators for converting mechanical motion into electricity. The linear alternator is one of the heaviest components of modern Stirling power convertors. In addition, state-of-art Stirling linear alternators usually require the use of tuning capacitors or active power factor correction controllers to maximize convertor output power. The linear alternator to be discussed in this paper, eliminates the need for tuning capacitors and delivers electrical power output in which current is inherently in phase with voltage. No power factor correction is needed. In addition, the linear alternator concept requires very little iron, so core loss has been virtually eliminated. This concept is a unique moving coil design where the magnetic flux path is defined by the magnets themselves. This paper presents computational predictions for two different low inductance alternator configurations, and compares the predictions with experimental data for one of the configurations that has been built and is currently being tested.

Stirling↗

NASA NTRS2009

The 2nd Generation Real Time Mission Monitor (RTMM) Development

The NASA Real Time Mission Monitor (RTMM) is a visualization and information system that fuses multiple Earth science data sources, to enable real time decisionmaking for airborne and ground validation experiments. Developed at the National Aeronautics and Space Administration (NASA) Marshall Space Flight Center, RTMM is a situational awareness, decision-support system that integrates satellite imagery and orbit data, radar and other surface observations (e.g., lightning location network data), airborne navigation and instrument data sets, model output parameters, and other applicable Earth science data sets. The integration and delivery of this information is made possible using data acquisition systems, network communication links, network server resources, and visualizations through the Google Earth virtual globe application. In order to improve the usefulness and efficiency of the RTMM system, capabilities are being developed to allow the end-user to easily configure RTMM applications based on their mission-specific requirements and objectives. This second generation RTMM is being redesigned to take advantage of the Google plug-in capabilities to run multiple applications in a web browser rather than the original single application Google Earth approach. Currently RTMM employs a limited Service Oriented Architecture approach to enable discovery of mission specific resources. We are expanding the RTMM architecture such that it will more effectively utilize the Open Geospatial Consortium Sensor Web Enablement services and other new technology software tools and components. These modifications and extensions will result in a robust, versatile RTMM system that will greatly increase flexibility of the user to choose which science data sets and support applications to view and/or use. The improvements brought about by RTMM 2nd generation system will provide mission planners and airborne scientists with enhanced decision-making tools and capabilities to more efficiently plan, prepare and execute missions, as well as to playback and review past mission data. To paraphrase the old television commercial RTMM doesn t make the airborne science, it makes the airborne science easier.

Blakeslee, Richard↗

NASA NTRS2017

Development of a Low-Inductance Linear Alternator for Stirling Power Convertors

The free-piston Stirling power convertor is a promising technology for high-efficiency heat-to-electricity power conversion in space. Stirling power convertors typically utilize linear alternators for converting mechanical motion into electricity. The linear alternator is one of the heaviest components of modern Stirling power convertors. In addition, state-of-the-art Stirling linear alternators usually require the use of tuning capacitors or active power factor correction controllers to maximize convertor output power. The linear alternator to be discussed in this paper eliminates the need for tuning capacitors and delivers electrical power output in which current is inherently in phase with voltage. No power factor correction is needed. In addition, the linear alternator concept requires very little iron, so core loss has been virtually eliminated. This concept is a unique moving coil design where the magnetic flux path is defined by the magnets themselves. This paper presents computational predictions for two different low inductance alternator configurations. Additionally, one of the configurations was built and tested at GRC, and the experimental data is compared with the predictions.

Stirling↗

NASA NTRS2006

Impact Damage and Strain Rate Effects for Toughened Epoxy Composite Structures

Structural integrity of composite systems under dynamic impact loading is investigated herein. The GENOA virtual testing software environment is used to implement the effects of dynamic loading on fracture progression and damage tolerance. Combinations of graphite and glass fibers with a toughened epoxy matrix are investigated. The effect of a ceramic coating for the absorption of impact energy is also included. Impact and post impact simulations include verification and prediction of (1) Load and Impact Energy, (2) Impact Damage Size, (3) Maximum Impact Peak Load, (4) Residual Strength, (5) Maximum Displacement, (6) Contribution of Failure Modes to Failure Mechanisms, (7) Prediction of Impact Load Versus Time, and (8) Damage, and Fracture Pattern. A computer model is utilized for the assessment of structural response, progressive fracture, and defect/damage tolerance characteristics. Results show the damage progression sequence and the changes in the structural response characteristics due to dynamic impact. The fundamental premise of computational simulation is that the complete evaluation of composite fracture requires an assessment of ply and subply level damage/fracture processes as the structure is subjected to loads. Simulation results for the graphite/epoxy composite were compared with the impact and tension failure test data, correlation and verification was obtained that included: (1) impact energy, (2) damage size, (3) maximum impact peak load, (4) residual strength, (5) maximum displacement, and (6) failure mechanisms of the composite structure.

Chamis, Christos C.↗

NASA NTRS2008

Venus Quadrangle Geological Mapping: Use of Geoscience Data Visualization Systems in Mapping and Training

We are currently investigating new technological developments in computer visualization and analysis in order to assess their importance and utility in planetary geological analysis and mapping [1,2]. Last year we reported on the range of technologies available and on our application of these to various problems in planetary mapping [3]. In this contribution we focus on the application of these techniques and tools to Venus geological mapping at the 1:5M quadrangle scale. In our current Venus mapping projects we have utilized and tested the various platforms to understand their capabilities and assess their usefulness in defining units, establishing stratigraphic relationships, mapping structures, reaching consensus on interpretations and producing map products. We are specifically assessing how computer visualization display qualities (e.g., level of immersion, stereoscopic vs. monoscopic viewing, field of view, large vs. small display size, etc.) influence performance on scientific analysis and geological mapping. We have been exploring four different environments: 1) conventional desktops (DT), 2) semi-immersive Fishtank VR (FT) (i.e., a conventional desktop with head-tracked stereo and 6DOF input), 3) tiled wall displays (TW), and 4) fully immersive virtual reality (IVR) (e.g., "Cave Automatic Virtual Environment," or Cave system). Formal studies demonstrate that fully immersive Cave environments are superior to desktop systems for many tasks [e.g., 4].

Head, James W.↗

NASA NTRS2011

Accelerating Climate and Weather Simulations through Hybrid Computing

Unconventional multi- and many-core processors (e.g. IBM (R) Cell B.E.(TM) and NVIDIA (R) GPU) have emerged as effective accelerators in trial climate and weather simulations. Yet these climate and weather models typically run on parallel computers with conventional processors (e.g. Intel, AMD, and IBM) using Message Passing Interface. To address challenges involved in efficiently and easily connecting accelerators to parallel computers, we investigated using IBM's Dynamic Application Virtualization (TM) (IBM DAV) software in a prototype hybrid computing system with representative climate and weather model components. The hybrid system comprises two Intel blades and two IBM QS22 Cell B.E. blades, connected with both InfiniBand(R) (IB) and 1-Gigabit Ethernet. The system significantly accelerates a solar radiation model component by offloading compute-intensive calculations to the Cell blades. Systematic tests show that IBM DAV can seamlessly offload compute-intensive calculations from Intel blades to Cell B.E. blades in a scalable, load-balanced manner. However, noticeable communication overhead was observed, mainly due to IP over the IB protocol. Full utilization of IB Sockets Direct Protocol and the lower latency production version of IBM DAV will reduce this overhead.

hybrid computing↗