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All sourcesNASA NTRSDOE OSTI
NASA NTRS2003

Bio-Inspired Engineering of Exploration Systems

The multidisciplinary concept of "bioinspired engineering of exploration systems" (BEES) is described, which is a guiding principle of the continuing effort to develop biomorphic explorers as reported in a number of articles in the past issues of NASA Tech Briefs. The intent of BEES is to distill from the principles found in successful nature-tested mechanisms of specific crucial functions that are hard to accomplish by conventional methods but that are accomplished rather deftly in nature by biological organisms. The intent is not just to mimic operational mechanisms found in a specific biological organism but to imbibe the salient principles from a variety of diverse bio-organisms for the desired crucial function. Thereby, we can build explorer systems that have specific capabilities endowed beyond nature, as they will possess a combination of the best nature-tested mechanisms for that particular function. The approach consists of selecting a crucial function, for example, flight or some selected aspects of flight, and develop an explorer that combines the principles of those specific attributes as seen in diverse flying species into one artificial entity. This will allow going beyond biology and achieving unprecedented capability and adaptability needed in encountering and exploring what is as yet unknown. A classification of biomorphic flyers into two main classes of surface and aerial explorers is illustrated in the figure, with examples of a variety of biological organisms that provide the inspiration in each respective subclass. Such biomorphic explorers may possess varied mobility modes: surface-roving, burrowing, hopping, hovering, or flying, to accomplish surface, subsurface, and aerial exploration. Preprogrammed for a specific function, they could serve as one-way communicating beacons, spread over the exploration site, autonomously looking for/at the targets of interest. In a hierarchical organization, these biomorphic explorers would report to the next level of exploration mode (say, a large conventional lander/rover) in the vicinity. A widespread and affordable exploration of new/hazardous sites at lower cost and risk would thus become possible by utilizing a faster aerial flyer to cover long ranges and deploying a variety of function- specific, smaller biomorphic explorers for distributed sensing and local sample acquisition. Several conceptual biomorphic missions for planetary and terrestrial exploration applications have been illustrated in "Surface-Launched Explorers for Reconnaissance/ Scouting" (NPO-20871), NASA Tech Briefs, Vol. 26, No. 4 (April, 2002), page 69 and "Bio-Inspired Engineering of Exploration Systems," Journal of Space Mission Architecture, Issue 2, Fall 2000, pages 49-79.

Thakoor, Sanita↗
NASA NTRS1973

Stream network analysis from orbital and suborbital imagery, Colorado River Basin, Texas

The author has identified the following significant results. Orbital SL-2 imagery (earth terrain camera S-190B), received September 5, 1973, was subjected to quantitative network analysis and compared to 7.5 minute topographic mapping (scale: 1/24,000) and U.S.D.A. conventional black and white aerial photography (scale: 1/22,200). Results can only be considered suggestive because detail on the SL-2 imagery was badly obscured by heavy cloud cover. The upper Bee Creek basin was chosen for analysis because it appeared in a relatively cloud-free portion of the orbital imagery. Drainage maps were drawn from the three sources digitized into a computer-compatible format, and analyzed by the WATER system computer program. Even at its small scale (1/172,000) and with bad haze the orbital photo showed much drainage detail. The contour-like character of the Glen Rose Formation's resistant limestone units allowed channel definition. The errors in pattern recognition can be attributed to local areas of dense vegetation and to other areas of very high albedo caused by surficial exposure of caliche. The latter effect caused particular difficulty in the determination of drainage divides.

Baker, V. R.↗
NASA NTRS1982

NSTA-NASA Shuttle Student Involvement Project. Experiment Results: Insect Flight Observation at Zero Gravity

The flight responses of common houseflies, velvetbean caterpillar moths, and worker honeybees were observed and filmed for a period of about 25 minutes in a zero-g environment during the third flight of the Space Shuttle Vehicle (flight number STS-3; March 22-30, 1982). Twelve fly puparia, 24 adult moths, 24 moth pupae, and 14 adult bees were loaded into an insect flight box, which was then stowed aboard the Shuttle Orbiter, the night before the STS-3 launch at NASA's Kennedy Space Center (KSC). The main purpose of the experiment was to observe and compare the flight responses of the three species of insects, which have somewhat different flight control mechanisms, under zero-g conditions.

Nelson, T. E.↗
NASA NTRS1988

NNEPEQ: Chemical equilibrium version of the Navy/NASA Engine Program

The Navy NASA Engine Program, NNEP, currently is in use at a large number of government agencies, commercial companies and universities. This computer code has bee used extensively to calculate the design and off-design (matched) performance of a broad range of turbine engines, ranging from subsonic turboprops to variable cycle engines for supersonic transports. Recently, there has been increased interest in applications for which NNEP was not capable of simulating, namely, high Mach applications, alternate fuels including cryogenics, and cycles such as the gas generator air-turbo-rocker (ATR). In addition, there is interest in cycles employing ejectors such as for military fighters. New engine component models had to be created for incorporation into NNEP, and it was found necessary to include chemical dissociation effects of high temperature gases. The incorporation of these extended capabilities into NNEP is discussed and some of the effects of these changes are illustrated.

Fishbach, Laurence H.↗
NASA NTRS1989

Force/torque and tactile sensors for sensor-based manipulator control

The autonomy of manipulators, in space and in industrial environments, can be dramatically enhanced by the use of force/torque and tactile sensors. The development and future use of a six-component force/torque sensor for the Hermes Robot Arm (HERA) Basic End-Effector (BEE) is discussed. Then a multifunctional gripper system based on tactile sensors is described. The basic transducing element of the sensor is a sheet of pressure-sensitive polymer. Tactile image processing algorithms for slip detection, object position estimation, and object recognition are described.

Vanbrussel, H.↗
NASA NTRS1992

Upwind schemes and bifurcating solutions in real gas computations

The area of high speed flow is seeing a renewed interest due to advanced propulsion concepts such as the National Aerospace Plane (NASP), Space Shuttle, and future civil transport concepts. Upwind schemes to solve such flows have become increasingly popular in the last decade due to their excellent shock capturing properties. In the first part of this paper the authors present the extension of the Osher scheme to equilibrium and non-equilibrium gases. For simplicity, the source terms are treated explicitly. Computations based on the above scheme are presented to demonstrate the feasibility, accuracy and efficiency of the proposed scheme. One of the test problems is a Chapman-Jouguet detonation problem for which numerical solutions have been known to bifurcate into spurious weak detonation solutions on coarse grids. Results indicate that the numerical solution obtained depends both on the upwinding scheme used and the limiter employed to obtain second order accuracy. For example, the Osher scheme gives the correct CJ solution when the super-bee limiter is used, but gives the spurious solution when the Van Leer limiter is used. With the Roe scheme the spurious solution is obtained for all limiters.

Suresh, Ambady↗
NASA NTRS2000

Cooperative Mission Concepts Using Biomorphic Explorers

Inspired by the immense variety of naturally curious explorers (insects, animals, and birds), their wellintegrated biological sensor-processor suites, efficiently packaged in compact but highly dexterous forms, and their complex, intriguing, cooperative behavior, this paper focuses on "Biomorphic Explorers", their defination/classification, their designs, and presents planetary exploration scenarios based on the designs. Judicious blend of bio-inspired concepts and recent advances in micro-air vehicles, microsensors, microinstruments, MEMS, and microprocessors clearly suggests that the time of small, dedicated, low cost explorers that capture some of the key features of biological systems has arrived. Just as even small insects like ants, termites, honey bees etc working cooperatively in colonies can achieve big tasks, the biomorphic explorers hold the potential for obtaining science in-accessible by current large singular exploration platforms.

Thakoor, S.↗
NASA NTRS1997

Zeeman Tuning Rate for Q Branch Transitions in the v3 Band of NO2

Zeeman tuning rates have bee a measured for Q branch transitions in the v3 band of NO2(approx.1610/cm) for magnetic fields of up to 564 Gauss. The average measured tuning rate is 0.1815(53) x 10(exp -3)/cm/Gauss with no dependence on Ka within the approx. equal to 3% standard deviation. Despite significant ,pin-rotation interaction between several of the observed levels the result agrees with the simple linear model for Honda case (be molecules (tuning rate = 2muogs = 0.18696 x 10(exp -3)/cm/Gauss) which neglects the spin-rotation interaction between different J states. The Zeeman effect is analyzed in a full treatment of the Hamiltonian, including spin-rotation interaction, in order to account for the agreement with 2muogs and to explore the onset of spin-rotation effects in the spectra as the magnetic field is increased.

Mahon, C. R.↗
NASA NTRS2003

Flight Day 2 Highlights

The STS-107 second flight day begins with a shot of the Spacehab Research Double Module. Live presentations of experiments underway inside of the Spacehab Module are presented. Six experiments are shown. As part of the Space Technology and Research Student Payload, students from Australia, China, Israel, Japan, New York, and Liechtenstein are studying the effect that microgravity has on ants, spiders, silkworms, fish, bees, granular materials, and crystals. Mission Specialist Kalpana Chawla is seen working with the zeolite crystal growth experiment.

Source record↗
NASA NTRS2003

STS-107 Flight Day 8 Highlights

This video shows the activities of the STS-107 crew (Rick Husband, Commander; William McCool, Pilot; Kalpana Chawla, David Brown, Michael Anderson, Laurel Clark, Mission Specialists, Ilan Ramon, Payload Specialist) during flight day 8 of the Columbia orbiter's final flight. The primary activities of flight day 8 are spaceborne experiments. Some background information is given on the SOFBALL (Structure of Flame Balls at Low Lewis-Number) microgravity experiment as footage of the flame balls is shown. The video also shows the MEIDEX (Mediterranean Israeli Dust Experiment) calibrating on the Moon. The six STARS (Space Technology and Research Students) international student experiments are profiled, including experiments on carpenter bees (Liechtenstein), spiders (Australia), silkworms (China), ants (United States), crystal growth (Israel), and fish embryos (Japan). A commercial experiment on roses is also profiled. Astronaut Clark gives a tour of the SpaceHab RDM (Research Double Module), in the space shuttle's payload bay. Astronauts McCool and Ramon take turns on an exercise machine. The video includes a partly cloudy view of the Pacific Ocean.

Source record↗
NASA NTRS2003

STS-107 Flight Day 9 Highlights

This video shows the activities of the STS-107 crew (Rick Husband, Commander; William McCool, Pilot; Kalpana Chawla, David Brown, Michael Anderson, Laurel Clark, Mission Specialists; Ilan Ramon, Payload Specialist) during flight day 9 of the Columbia orbiter's final flight. The primary activities of flight day 9 are spaceborne experiments. The video shows a commercial experiment on roses, a partial view of Africa from Libya to the Horn of Africa through the MEIDEX (Mediterranean Israeli Dust Experiment), and the FAST (Facility for Absorption and Surface Tension) experiment. The STARS (Space Technology and Research Students) international student experiments are shown. The preliminary results of these experiments on the effects of microgravity on silkworms, spiders, crystal growth, fish embryos, carpenter bees, and ants are discussed. The video includes a view of southern Spain and the Mediterranean Sea.

Source record↗
NASA NTRS2003

STS-107 Flight Day 5 Highlights

The fifth day of the STS-107 space mission begins with a presentation of The Six Space Technology and Research Students (STARS) program experiments aboard the Space Shuttle Columbia. Students from Australia, China, Israel, Japan, Lichtenstein and The United States send scientific experiments into space. The video includes the progress of experiments with various insects including silkworms, carpenter bees, ants, fish, and spiders.

Source record↗
NASA NTRS2003

STS-107 Flight Day 12 Highlights

This video shows the activities of the STS-107 crew (Rick Husband, Commander; William McCool, Pilot; Kalpana Chawla, David Brown, Michael Anderson, Laurel Clark, Mission Specialists; Ilan Ramon, Payload Specialist) during flight day 12 of the Columbia orbiter's final mission. The primary activities are spaceborne experiments in the SpaceHab RDM (Research Double Module). Experiments shown in the video include SOFBALL (Structure of Flame Balls at Low Lewis-Number), an experiment to grow cancer cells in microgravity, and the STARS (Space Technology and Research Students) experiments, including bees, ants, chemical gardens, fish, and spiders. Crew Members are shown working on MIST (Water Mist Fire Suppression), a commercial experiment. Red Team crew members (Husband, Chawla, Clark, Ramon) are shown conversing through a handset with the Expedition 6 crew (Kenneth Bowersox, Commander; Donald Pettit, Nikolai Budarin; Flight Engineers) of the ISS (International Space Station).

Source record↗
NASA NTRS2003

STS-107 Flight Day 13 Highlights

This video shows the activities of the STS-107 crew on flight day 13 of the Columbia orbiter's final mission. The crew members include: Rick Husband, Commander; William McCool, Pilot; Kalpana Chawla, David Brown, Michael Anderson, Laurel Clark, Mission Specialists; Ilan Ramon, Payload Specialist. The primary activities of flight day 13 are spaceborne experiments, including troubleshooting undertaken by Mission Specialist Chawla on the Water Mist Fire Suppression (MIST) experiment. Chawla performs troubleshooting tasks relayed to her by Mission Control. She shows Mission Control the location of air and water in a transparent hose that is part of the atomizer on the exterior of the combustion module. She also changes the atomizer head. All six Space Technology and Research Students (STARS) experiments are profiled in the video. These experiments are on ants, crystal growth in a chemical garden, fish embryos, carpenter bees, spiders, and silkworms. The video also includes a view of the southeast Texas coast near Houston, and a view of Portugal, Spain, Gibraltar, Morocco, and the Sahara Desert. The video ends with an explanation of roses at Mission Control which commemorate astronauts who have died on missions.

Source record↗
NASA NTRS2003

Holarchical Systems and Emotional Holons : Biologically-Inspired System Designs for Control of Autonomous Aerial Vehicles

The BEES (Bio-inspired Engineering for Exploration Systems) for Mars project at NASA Ames Research Center has the goal of developing bio-inspired flight control strategies to enable aerial explorers for Mars scientific investigations. This paper presents a summary of our ongoing research into biologically inspired system designs for control of unmanned autonomous aerial vehicle communities for Mars exploration. First, we present cooperative design considerations for robotic explorers based on the holarchical nature of biological systems and communities. Second, an outline of an architecture for cognitive decision making and control of individual robotic explorers is presented, modeled after the emotional nervous system of cognitive biological systems. Keywords: Holarchy, Biologically Inspired, Emotional UAV Flight Control

Ippolito, Corey↗
NASA NTRS2003

The Ionized Gas and Nuclear Environment in NGC 3783: Variability and Modeling of the 900 ks CHANDRA Spectrum - IV

We present a detailed analysis of the 900 ks spectrum of NGC3783 obtained by Chandra in 2000-2001 (Kaspi et al. 2002). We split the data in various ways to look for time dependent and luminosity dependent spectral variations. This analysis, the measured equivalent widths of a large number of X-ray lines, and our photoionization calculations, lead us to the following conclusions: 1) NGC 3783 fluctuated in luminosity, by a factor N 1.5, during individual 170 ks observations. The fluctuations were not associated with significant spectral variations. 2) On a longer time scale, of 20-120 days, we discovered two very different spectral shapes that are noted the high state and the low state spectra. The observed changes between the two can be described as the appearance and disappearance of a soft continuum component. The spectral variations are not related, in a simple way, to the brightening or the fading of the short wavelength continuum, as observed in other objects. NGC3783 seems to be the first AGN to show this unusual behavior. 3) The appearance of the soft continuum component is consistent with beeing the only spectral variation and there is no need to invoke changes in the absorber s opacity. In particular, all absorption lines with reliable measurements show the same equivalent width, within the observational uncertainties, during high and low states. 4) Photoionization model calculations show that a combination of three ionization components, each split into two kinematic components, explain very well the intensity of almost all absorption lines and the bound-free absorption. The components span a large range of ionization and a total column of about 3 x 10(exp 22) per square centimeter Moreover, all components are thermally stable and are situated on the vertical branch of the stability curve.. This means that they are in pressure equilibrium and perhaps occupy the same volume of space. This is the first detection of such a multi-component equilibrium gas in AGN. 5) The only real discrepancy between the model and the observations is the wavelength of the iron M-shell UTA feature. This is most likely due to an underestimation of the dielectronic recombination O VI and discuss its possible origin. 6) The lower limit on the distance of the absorbing gas in NGC3783 is between 0.2 and 3.2 pc, depending of the specific ionization component. The constant pressure assumption imposes an upper limit of about 25 pc on the distance of the least ionized gas from the central sourec.

Netzer, Hagai↗
NASA NTRS2003

STS-107 Mission Highlights Resource Tape, Part 1 of 4

This video, Part 1 of 4, shows the activities of the STS-107 crew during flight days 1 through 3 of the Columbia orbiter's final flight. The crew consists of Commander Rick Husband, Pilot William McCool, Payload Commander Michael Anderson, Mission Specialists David Brown, Kalpana Chawla, and Laurel Clark, and Payload Specialist Ilan Ramon. Before launch on flight day 1 the astronauts are seen at their pre-flight banquet, during suit-up, and while being seated on the orbiter. David Brown takes footage of the space shuttle's external tank after it is jettisoned. The video includes replays of the launch from several angles. The onboard views of launch are narrated by William McCool and Kalpana Chawla. On flight days 2 and 3 student microgravity experiments in the SpaceHab module in the shuttle's payload bay are profiled. These experiments address microgravity effects on crystal growth, ants, bees, fish embryos, silkworms, and spiders. Other experiments profiled include the Mediterranean Israeli Dust Experiment (MEIDEX), FAST (surface tension of bubbles), SOLS (Ozone), an experiment to culture prostate cancer cells in a bioreactor, and a commercial plant growth experiment. Earth views include lightning at night, and a view of the Strait of Gibraltar, including Spain and Morocco.

Source record↗
NASA NTRS1996

Homochirality as the signature of life: the SETH Cigar

A characteristic hallmark of life is its homochirality: all biomolecules are usually of one hand, e.g. on Earth life uses only L-amino acids for protein synthesis and not their D mirror images. It is therefore suggested that a search for extra-terrestrial life can be approached as a Search for Extra-Terrestrial Homochirality (SETH). A novel miniaturized space polarimeter, called the SETH Cigar, is described which could he used to detect optical rotation as the homochiral signature of life on other planets. Moving parts are avoided by replacing the normal rotating polarizer by multiple fixed polarizers at different angles as in the eye of the bee. It is believed that homochirality will be found in the subsurface layers on Mars as a relic of extinct life.

NASA Center ARC↗