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The National Laboratory of the Rockies (NLR) will conduct electrochemical testing and characterization on the partners lithium ion cells as well as provide and validate laser-ablated electrode materials for enhancing cell rate performance.
The Scorpion robot is an innovative, biologically inspired 8-legged walking robot. It currently runs a novel approach to control which utilizes a central pattern generator (CPG) and local reflex action for each leg. From this starting point we are proposing to both extend the system's individual capabilities and its capacity to function as a "scout", cooperating with a larger wheeled rover. For this purpose we propose to develop a distributed system architecture that extends the system's capabilities both in the direction of high level planning and execution in collaboration with a rover, and in the direction of force-feedback based low level behaviors that will greatly enhance its ability to walk and climb in rough varied terrains. The final test of this improved ability will be a rappelling experiment where the Scorpion explores a steep cliff side in cooperation with a rover that serves as both anchor and planner/executive.
The Arecibo Observatory in Puerto Rico participated in the support of the U.S. International Cometary Explorer (ICE) mission when the ICE spacecraft passed through the tail of comet Giacobini-Zinner on September 11, 1985. The Arecibo Observatory is a research facility of the National Astronomy and Ionosphere Center (NAIC) operated by Cornell University under contract to the National Science Foundation (NSF). Coverage of the encounter involved the use of the observatory's 305-m (1000-ft) radio reflector antenna and RF and data system equipment fabricated or modified specifically for support of the ICE mission. The successful implementation, testing, and operation of this temporary receive, record, and data relay capability resulted from a cooperative effort by personnel at the Arecibo Observatory, the Goddard Space Flight Center, and the Jet Propulsion Laboratory.
Although telerobotics and extravehicular activity (EVA) are often portrayed as competitive approaches to space operations, ongoing research in the Space Systems Laboratory (SSL) has demonstrated the utility of cooperative roles in an integrated EVA/telerobotic work site. Working in the neutral buoyancy simulation environment, tests were performed on interactive roles or EVA subjects and telerobots in structural assembly and satellite servicing tasks. In the most elaborate of these tests to date, EVA subjects were assisted by the SSL's Beam Assembly Teleoperator (BAT) in several servicing tasks planned for Hubble Space Telescope, using the high-fidelity crew training article in the NASA Marshall Neutral Buoyancy Simulator. These tests revealed several shortcomings in the design of BAT for satellite servicing and demonstrated the utility of a free-flying or RMS-mounted telerobot for providing EVA crew assistance. This paper documents the past tests, including the use of free-flying telerobots to effect the rescue of a simulated incapacitated EVA subject, and details planned future efforts in this area, including the testing of a new telerobotic system optimized for the satellite servicing role, the development of dedicated telerobotic devices designed specifically for assisting EVA crew, and conceptual approaches to advanced EVA/telerobotic operations such as the Astronaut Operations Vehicle.
This paper describes experimental data obtained with a multi-element airfoil at flight Reynolds numbers and lift coefficients including Clmax. The wind tunnel test was conducted in the NASA Langley Low Turbulence Pressure Tunnel as part of a cooperative effort between McDonnell Douglas Aerospace and NASA Langley. The airfoil model is a supercritical design configured with a leading-edge slat and a single-segment trailing-edge flap. Data include surface static-pressure distributions (integrated to obtain lift), drag data obtained with wake-rake surveys, and fbwfield surveys obtained with a flat-tube and five-hole probe at nine stations on the configuration's upper surface. Effects of variations in Reynolds number and flap gap on airfoil performance and flowfield survey data are presented.
Dewatering of slurries has been successfully accomplished by the proper use of polymers in flocculating the fine particulate matter suspended in mineral processing streams. The U.S. Bureau of Mines (USBM) entered into a cooperative research effort with the U.S. Army Corps of Engineers (Corps) for the purpose of testing and demonstrating the applicability of mining flocculation technology to dredging activities associated with the removal of sediments from navigable waterways. The Corps has the responsibility for maintaining the navigable waterways in the United States. Current technology relies primarily on dredging operations which excavate the material from the bottom of waterways. The Corps is testing new dredging technology which may reduce resuspension of sediments by the dredging operation. Pilot plant dredging equipment was tested by the Corps which generated larger quantities of water when compared to conventional equipment, such as the clam shell. The transportation of this 'excess' water adds to the cost of sediment removal. The process developed by the USBM consists of feed material from the barge being pumped through a 4-in line by a centrifugal pump and exiting through a 4-in PVC delivery system. A 1,000-gal fiberglass tank was used to mix the polymer concentrate. The polymer was pumped through a 1-in line using a variable speed progressive cavity pump and introduced to the 4-in feed line prior to passing through a 6-in by 2-ft static mixer. The polymer/feed slurry travels to the clarifying tank where the flocculated material settled to the bottom and allowed 'clean' water to exit the overflow. A pilot scale flocculation unit was operated on-site at the Corps' 'Confined Disposal Facility' in Buffalo, NY.
The Icing Technology Branch at NASA Lewis has been involved in an effort to validate two thermal ice protection codes developed at the NASA Lewis Research Center. LEWICE/Thermal (electrothermal deicing & anti-icing), and ANTICE (hot-gas & electrothermal anti-icing). The Thermal Code Validation effort was designated as a priority during a 1994 'peer review' of the NASA Lewis Icing program, and was implemented as a cooperative effort with industry. During April 1996, the first of a series of experimental validation tests was conducted in the NASA Lewis Icing Research Tunnel(IRT). The purpose of the April 96 test was to validate the electrothermal predictive capabilities of both LEWICE/Thermal, and ANTICE. A heavily instrumented test article was designed and fabricated for this test, with the capability of simulating electrothermal de-icing and anti-icing modes of operation. Thermal measurements were then obtained over a range of test conditions, for comparison with analytical predictions. This paper will present an overview of the test, including a detailed description of: (1) the validation process; (2) test article design; (3) test matrix development; and (4) test procedures. Selected experimental results will be presented for de-icing and anti-icing modes of operation. Finally, the status of the validation effort at this point will be summarized. Detailed comparisons between analytical predictions and experimental results are contained in the following two papers: 'Validation of NASA Thermal Ice Protection Computer Codes: Part 2- The Validation of LEWICE/Thermal' and 'Validation of NASA Thermal Ice Protection Computer Codes: Part 3-The Validation of ANTICE'
NASA Dryden conducted a handling qualities experiment using a small displacement centerstick controller that Saab-Scania developed for the JAS 39 Gripen aircraft. The centerstick, or ministick, was mounted in the rear cockpit of an F/A-18 aircraft. Production support flight control computers (PSFCC) provided a pilot-selectable research control system. The objectives for this experiment included determining whether the mechanical characteristics of the centerstick controller had any significant effect on the handling qualities of the F/A-18, and determining the usefulness of the PSFCCs for this kind of experiment. Five pilots evaluated closed-loop tracking tasks, including echelon and column formation flight and target following. Cooper-Harper ratings and pilot comments were collected for each maneuver. This paper describes the test system, including the PSFCCs, the Gripen centerstick, and the flight test experiment. The paper presents results of longitudinal handling qualities maneuvers, including low order equivalent systems, Neal-Smith, and controls anticipation parameter analyses. The experiment showed that, while the centerstick controller provided a different aircraft feel, few handling qualities deficiencies resulted. It also demonstrated that the PSFCCs were useful for this kind of investigation.
Future mission planning within NASA continues to include cryogenic propellants for in space transportation, with mission durations ranging from days to years. Between 1995 and the present, NASA has pursued a diversified program of ground-based testing to prepare the various technologies associated with in-space cryogenic fluid management (CFM) for implementation. CFM technology areas being addressed include passive insulation, zero gravity pressure control, zero gravity mass gauging, capillary liquid acquisition devices, and zero boiloff storage. NASA CFM technologies are planned, coordinated, and implemented through the Cryogenic Technology Working Group which is comprised of representatives from the various NASA Centers as well as the National Institute of Standards and Technologies (NIST) and, on selected occasions, the Air Force. An overview of the NASA program and Marshall Space Flight Center (MSFC) roles, accomplishments, and near-term activities are presented herein. Basic CFM technology areas being addressed include passive insulation, zero gravity pressure control, zero gravity mass gauging, capillary liquid acquisition devices, and zero boiloff storage. Recent MSFC accomplishments include: the large scale demonstration of a high performance variable density multilayer insulation (MLI) that reduced the boiloff by about half that of standard MLI; utilization of a foam substrate under MLI to eliminate the need for a helium purge bag system; demonstrations of both spray-bar and axial-jet mixer concepts for zero gravity pressure control; and sub-scale testing that verified an optical sensor concept for measuring liquid hydrogen mass in zero gravity. In response to missions requiring cryogenic propellant storage durations on the order of years, a cooperative effort by NASA's Ames Research Center, Glenn Research Center, and MSFC has been implemented to develop and demonstrate zero boiloff concepts for in-space storage of cryogenic propellants. An MSFC contribution to this cooperative effort is a large-scale demonstration of the integrated operation of passive insulation, destratification/pressure control, and cryocooler (commercial unit) subsystems to achieve zero boiloff storage of liquid hydrogen. Testing is expected during the Summer of 2001.
In an effort to mitigate accidents due to system and component failure, NASA s Aviation Safety has partnered with industry, academia, and other governmental organizations to develop real-time, on-board monitoring capabilities and system performance models for early detection of airframe structure degradation. NASA Langley is investigating a structural health monitoring capability that uses a distributed fiber optic strain system and an inverse finite element method for measuring and modeling structural deformations. This report describes the constituent systems that enable this structural monitoring function and discusses results from laboratory tests using the fiber strain sensor system and the inverse finite element method to demonstrate structural deformation estimation on an instrumented test article
Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.
Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.
A synopsis of experience from the fixed-wing and rotary-wing aircraft communities in handling qualities development and the use of the Cooper-Harper pilot rating scale is presented as background for spacecraft handling qualities research, development, test, and evaluation (RDT&E). In addition, handling qualities experiences and lessons-learned from previous United States (US) spacecraft developments are reviewed. This report is intended to provide a central location for references, best practices, and lessons-learned to guide current and future spacecraft handling qualities RDT&E.
The EVA Physiology, Systems and Performance (EPSP) Project is performing tests in different analog environments to understand human performance during Extravehicular Activity (EVA) with the aim of developing more safe and efficient systems for lunar exploration missions and the Constellation Program. The project is characterizing human EVA performance in studies using several test beds, including the underwater NASA Extreme Environment Mission Operations (NEEMO) and Neutral Buoyancy Laboratory (NBL) facilities, JSC fs Partial Gravity Simulator (POGO), and the NASA Reduced Gravity Office (RGO) parabolic flight aircraft. Using these varied testing environments, NASA can gain a more complete understanding of human performance issues related to EVA and the limitations of each testing environment. Tests are focused on identifying and understanding the EVA system factors that affect human performance such as center of gravity (CG), inertial mass, ground reaction forces (GRF), suit weight, and suit pressure. The test results will lead to the development of lunar EVA systems operations concepts and design requirements that optimize human performance and exploration capabilities. METHODS: Tests were conducted in the NBL and during NEEMO missions in the NOAA Aquarius Habitat. A reconfigurable back pack with repositionable mass was used to simulate Perfect, Low, Forward, High, Aft and NASA Baseline CG locations. Subjects performed simulated exploration tasks that included ambulation, kneel and recovery, rock pick-up, and shoveling. Testing using POGO, that simulates partial gravity via pneumatic weight offload system and a similar reconfigurable rig, is underway for a subset of the same tasks. Additionally, test trials are being performed on the RGO parabolic flight aircraft. Subject performance was assessed using a modified Cooper-Harper scale to assess operator compensation required to achieve desired performance. All CG locations are based on the assumption of a standardized 6 ft 180 lb subject. RESULTS: The modified Cooper-Harper Scale assesses desired task performance described as performance in a reduced gravity environment as compared to a 1G environment. Modified Cooper-Harper ratings of . 3 indicate no improvements are needed, ratings of 4-6 indicate improvements are desirable, and ratings . 7 indicate improvements are mandatory. DISCUSSION: Differences were noted in suited CH results based on environment at the same CG and suit pressure. Additionally, results suggest that CG location affects unsuited human performance. Subjects preferred locations near their natural CG over those that are high, aft, or a combination of high and aft. Further testing and analyses are planned to compare these unsuited results to suited performance.
The SCaN Testbed is an advanced integrated communications system and laboratory facility installed on the International Space Station (ISS) in 2012. The testbed incorporates a set of new generation of Software Defined Radio (SDR) technologies intended to allow researchers to develop, test, and demonstrate new communications, networking, and navigation capabilities in the actual environment of space. Qascom, in cooperation with ESA and NASA, is designing a Software Defined Radio GalileoGPS Receiver capable to provide accurate positioning and timing to be installed on the ISS SCaN Testbed. The GalileoGPS waveform will be operated in the JPL SDR that is constituted by several hardware components that can be used for experimentations in L-Band and S-Band. The JPL SDR includes an L-Band Dorne Margolin antenna mounted onto a choke ring. The antenna is connected to a radio front end capable to provide one bit samples for the three GNSS frequencies (L1, L2 and L5) at 38 MHz, exploiting the subharmonic sampling. The baseband processing is then performed by an ATMEL AT697 processor (100 MIPS) and two Virtex 2 FPGAs. The JPL SDR supports the STRS (Space Telecommunications Radio System) that provides common waveform software interfaces, methods of instantiation, operation, and testing among different compliant hardware and software products. The standard foresees the development of applications that are modular, portable, reconfigurable, and reusable. The developed waveform uses the STRS infrastructure-provided application program interfaces (APIs) and services to load, verify, execute, change parameters, terminate, or unload an application. The project is divided in three main phases. 1)Design and Development of the GalileoGPS waveform for the SCaN Testbed starting from Qascom existing GNSS SDR receiver. The baseline design is limited to the implementation of the single frequency Galileo and GPS L1E1 receiver even if as part of the activity it will be to assess the feasibility of a dual frequency implementation (L1E1+L5E5a) in the same SDR platform.2)Qualification and test the GalileoGPS waveform using ground systems available at the NASA Glenn Research Center. Experimenters can have access to two SCaN Testbed ground based systems for development and verification: the Experimenter Development System (EDS) that is intended to provide initial opportunity for software testing and basic functional validation and the Ground Integration Unit (GIU) that is a high fidelity version of the SCaN Testbed flight system and is therefore used for more controlled final development testing and verification testing.3)Perform in-orbit validation and experimentation: The experimentation phase will consists on the collection of raw measurements (pseudorange, Carrier phase, CN0) in space, assessment on the quality of the measurements and the receiver performances in terms of signal acquisition, tracking, etc. Finally computation of positioning in space (Position, Velocity and time) and assessment of its performance.(Complete abstract in attached document).
The SCaN Testbed is an advanced integrated communications system and laboratory facility installed on the International Space Station (ISS) in 2012. The testbed incorporates a set of new generation of Software Defined Radio (SDR) technologies intended to allow researchers to develop, test, and demonstrate new communications, networking, and navigation capabilities in the actual environment of space. Qascom, in cooperation with ESA and NASA, is designing a Software Defined Radio GalileoGPS Receiver capable to provide accurate positioning and timing to be installed on the ISS SCaN Testbed. The GalileoGPS waveform will be operated in the JPL SDR that is constituted by several hardware components that can be used for experimentations in L-Band and S-Band. The JPL SDR includes an L-Band Dorne Margolin antenna mounted onto a choke ring. The antenna is connected to a radio front end capable to provide one bit samples for the three GNSS frequencies (L1, L2 and L5) at 38 MHz, exploiting the subharmonic sampling. The baseband processing is then performed by an ATMEL AT697 processor (100 MIPS) and two Virtex 2 FPGAs. The JPL SDR supports the STRS (Space Telecommunications Radio System) that provides common waveform software interfaces, methods of instantiation, operation, and testing among different compliant hardware and software products. The standard foresees the development of applications that are modular, portable, reconfigurable, and reusable. The developed waveform uses the STRS infrastructure-provided application program interfaces (APIs) and services to load, verify, execute, change parameters, terminate, or unload an application. The project is divided in three main phases. 1)Design and Development of the GalileoGPS waveform for the SCaN Testbed starting from Qascom existing GNSS SDR receiver. The baseline design is limited to the implementation of the single frequency Galileo and GPS L1E1 receiver even if as part of the activity it will be to assess the feasibility of a dual frequency implementation (L1E1+L5E5a) in the same SDR platform.2)Qualification and test the GalileoGPS waveform using ground systems available at the NASA Glenn Research Center. Experimenters can have access to two SCaN Testbed ground based systems for development and verification: the Experimenter Development System (EDS) that is intended to provide initial opportunity for software testing and basic functional validation and the Ground Integration Unit (GIU) that is a high fidelity version of the SCaN Testbed flight system and is therefore used for more controlled final development testing and verification testing.3)Perform in-orbit validation and experimentation: The experimentation phase will consists on the collection of raw measurements (pseudorange, Carrier phase, CN0) in space, assessment on the quality of the measurements and the receiver performances in terms of signal acquisition, tracking, etc. Finally computation of positioning in space (Position, Velocity and time) and assessment of its performance.(Complete abstract in attached document).
As a Bose condensate, superconductors provide novel conditions for revisiting previously proposed couplings between electromagnetism and gravity. Strong variations in Cooper pair electron density, large conductivity and low magnetic permeability define superconductive and degenerate condensates without the traditional density limits imposed by the Fermi energy (about 10-6 g/cu cm). Recent experiments have reported anomalous weight loss for a test mass suspended above a rotating Type II, YBCO superconductor, with the percentage change (0.05-2.1%) independent of the test mass' chemical composition and diamagnetic properties. A variation of 5 parts per 10(exp 4) was reported above a stationary (non-rotating) superconductor. In the present experiments reported using a sensitive gravimeter (resolution <10(exp -9) unit gravity or variation of 10(exp -6) cm/sq s in accelerations), bulk YBCO superconductors were stably levitated in a DC magnetic field (0.6 Tesla) subject to lateral AC fields (60 Gauss at 60 Hz) and rotation. With magnetic shielding, thermal control and buoyancy compensation, changes in acceleration were measured to be less than 2 parts in 10(exp 8) of the normal gravitational acceleration. This result puts new limits on the strength and range of the proposed coupling between high-Tc superconductors and gravity. Latest test results will be reported, along with status for future improvements and prospects.
In the years after the First World war a very rapid development, which even today has by no means come to an end, took place in the field of welding; here also, as in most technical innovations, failures made their appearance. Thereupon comprehensive Investigations were undertaken by steel manufacturers and consumers with cooperation of the authorities. b most cases the reasons for failure could be determined and eliminated and further occurrences avoided by the use of new test methods.