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At least 433 records · Page 24

A situated reasoning architecture for space-based repair and replace tasks

Space-based robots need low level control for collision detection and avoidance, short-term load management, fine-grained motion, and other physical tasks. In addition, higher level control is required to focus strategic decision making as missions are assigned and carried out. Reasoning and control must be responsive to ongoing changes in the environment. Research aimed at bridging the gap between high level artificial intelligence (AI) planning techniques and task-level robot programming for telerobotic systems is described. Situated reasoning is incorporated into AI and Robotics systems in order to coordinate a robot's activity within its environment. An integrated system under development in a component maintenance domain is described. It is geared towards replacing worn and/or failed Orbital Replacement Units (ORUs) designed for use aboard NASA's Space Station Freedom based on the collection of components available at a given time. High level control reasons in component space in order to maximize the number operational component-cells over time, while the task-level controls sensors and effectors, detects collisions, and carries out pick and place tasks in physical space. Situated reasoning is used throughout the system to cope with component failures, imperfect information, and unexpected events.

Bloom, Ben↗

GLOBEC: Global Ocean Ecosystems Dynamics: A component of the US Global Change Research Program

GLOBEC (GLOBal ocean ECosystems dynamics) is a research initiative proposed by the oceanographic and fisheries communities to address the question of how changes in global environment are expected to affect the abundance and production of animals in the sea. The approach to this problem is to develop a fundamental understanding of the mechanisms that determine both the abundance of key marine animal populations and their variances in space and time. The assumption is that the physical environment is a major contributor to patterns of abundance and production of marine animals, in large part because the planktonic life stages typical of most marine animals are intrinsically at the mercy of the fluid motions of the medium in which they live. Consequently, the authors reason that a logical approach to predicting the potential impact of a globally changing environment is to understand how the physical environment, both directly and indirectly, contributes to animal abundance and its variability in marine ecosystems. The plans for this coordinated study of of the potential impact of global change on ocean ecosystems dynamics are discussed.

Source record↗

Apollo Video Photogrammetry Estimation of Plume Impingement Effects

Each of the six Apollo mission landers touched down at unique sites on the lunar surface. Aside from the Apollo 12 landing site located 180 meters from the Surveyor III lander, plume impingement effects on ground hardware during the landings were largely not an issue. The Constellation Project's planned return to the moon requires numerous landings at the same site. Since the top few centimeters are loosely packed regolith, plume impingement from the lander ejects the granular material at high velocities. With high vacuum conditions on the moon (10 (exp -14) to 10 (epx -12) torr), motion of all particles is completely ballistic. Estimates from damage to the Surveyor III show that the ejected regolith particles to be anywhere 400 m/s to 2500 m/s. It is imperative to understand the physics of plume impingement to safely design landing sites for the Constellation Program.

Immer, Christopher↗

The Goal of the IAU/IAG Joint Working Group on the Theory of Earth Rotation

In 2012 the International Association of Geodesy (IAG) and the International Astronomical Union (IAU) initiated a process to establish a Joint Working Group (JWG) on theory of Earth rotation with the purpose of promoting the development of improved theories of the Earth rotation which reach the accuracy required to meet the needs of the near future as recommended by, e.g. GGOS, the Global Geodetic Observing System of the IAG. The JWG was approved by both organizations in April 2013 with the chairs being the two authors of this paper. Its structure comprises three Sub Working Groups (SWGs) addressing Precession/Nutation, Polar Motion and UT1, the Numerical Solutions and Validation, respectively. The SWGs should work in parallel for the sake of efficiency, but should keep consistency as an overall goal. This paper offers a view of the objectives and scope of the JWG and reports about its initial activities and plans.

Ferrandiz, J. M.↗

Real-time determination of geophysical parameters from a multibeam altimeter

Satellite radar altimeters flown aboard Skylab, GEOS-3 and Seasat-1 have provided a wealth of information on oceanic processes, ice dynamics and geodesy. This paper describes satellite altimetry in its present state and forecasts its future. A brief review of present capability to measure altitude, significant wave height, wind, and current is given. Near term and long range applications are used to indicate desirable technical improvements and an evolutionary plan is presented to develop a sensor to meet future needs. The plan shows a progression from the presently available single-beam terrain profiler to a multibeamed profiling system in the near future which could measure large scale surface slopes without knowing the precise satellite orbit. Ultimately a system would be developed that provides images of height, reflectivity, and target motion. Some of this future system is vividly illustrated by data obtained with the WFC airborne Surface Contour Radar.

Mcgoggan, J. T.↗

Coordinated multifrequency observations of the BL Lacertae objects Mrk 180 and Mrk 501

The continuous spectra of the nearby BL Lac objects Mrk 180 and Mrk 501 have been investigated by making coordinated observations at X-ray, ultraviolet, optical, and radio wavelengths. The observations were planned in order to obtain single-epoch snapshots, or time-frozen spectra, of the emission at many different wavelengths. The spectra were fitted with spherically symmetric, synchrotron self-Compton models and relativistic jet models with relaxed assumptions of spherical geometry and homogeneity and allowance for relativistic motion. It is found that these models provide accurate fits to the observed spectra and tighter constraints on the physical parameters. These models are also not dependent on uncertain source size and synchrotron break frequency.

Mufson, S. L.↗

Quantitative assessment of human motion using video motion analysis

In the study of the dynamics and kinematics of the human body, a wide variety of technologies was developed. Photogrammetric techniques are well documented and are known to provide reliable positional data from recorded images. Often these techniques are used in conjunction with cinematography and videography for analysis of planar motion, and to a lesser degree three-dimensional motion. Cinematography has been the most widely used medium for movement analysis. Excessive operating costs and the lag time required for film development coupled with recent advances in video technology have allowed video based motion analysis systems to emerge as a cost effective method of collecting and analyzing human movement. The Anthropometric and Biomechanics Lab at Johnson Space Center utilizes the video based Ariel Performance Analysis System to develop data on shirt-sleeved and space-suited human performance in order to plan efficient on orbit intravehicular and extravehicular activities. The system is described.

Probe, John D.↗

Planning and reasoning in the JPL telerobot testbed

The Telerobot Interactive Planning System is developed to serve as the highest autonomous-control level of the Telerobot Testbed. A recent prototype is described which integrates an operator interface for supervisory control, a task planner supporting disassembly and re-assembly operations, and a spatial planner for collision-free manipulator motion through the workspace. Each of these components is described in detail. Descriptions of the technical problem, approach, and lessons learned are included.

Peters, Stephen↗

A theoretical prediction of the attitude dynamics due to aerodynamic effects on the reusable reentry satellite

As part of the preliminary mission analysis of the Reusable Reentry Satellite (RRS) (planned for launching in the early to mid-1990s), the on-orbit attitude dynamics of the RRS were analyzed to quantify various parameters that would affect the attitude dynamics of the vehicle. The analysis simulated the attitude dynamics of the RRS due to aerodynamic forces coupled with the motion of the satellite moving around the orbit, estimated the levels of induced angular rates due to external disturbance torques while in orbit, and established the limits of operational orbit altitudes. The results show that, for a typical 60-day mission, orbit altitudes above 350 km are necessary to prevent undesirable orbit decay, with about 200 km as the lower limit. It was also found that, in order to maintain a pointing attitude toward the sun within an acceptable angular deviation for periods exceeding 8 hrs, it is necessary to orbit at an altitude above 600 km.

Wercinski, P. F.↗

Aerodynamic calculations related to tethered sub-satellite experiments

The results are presented of four aerodynamic studies that were in support of a broader, preliminary inquiry concerning the potential use of downward-deployed tethered sub-satellites for in-flight aerothermodynamic research. There are a multitude of questions regarding the general tethered satellite concept and the present report addresses only a few of these. A method for estimating drag and local surface pressure and shear on orbiting or re-entereing bodies is described, and examples based on the planned TSS-2 (Tethered Satellite System) are given. The problem of pressure measurement are explored, taking into account thermal transpiration, lag time, and the disturbed flow field created by the satellite body. The performance of an aerodynamic stabilizer, a ring-tail design, is calculated and its influence on satellite motion is illustrated. A method for optimizing future satellite shapes for desired aerodynamic properties is transitional rarefied flow with given geometric constraints is proposed and examples are shown.

Potter, J. Leith↗

Investigations of Clouds and Aerosols on Mars, Venus and Titan

This final report was included as part of a new proposal. This new proposal was selected for funding on 9 Nov. 1999. For Titan our interest during the past few years was to explain the observed asymmetry in the albedo. We suggested earlier, from one-dimensional modeling studies, that vertical transport rates were comparable to particle fall speeds. Since heating of the upper atmosphere, which drives dynamical motions, is largely due to the aerosols, a nonlinear interaction between dynamics, radiative heating and particle microphysics is possible. We pursued this interaction in a two-dimensional model. We showed that the observed variations in the albedo between the two hemispheres and over an orbital cycle, could be due to dynamical motions suspending particles so that particle sizes and optical depths vary across the planet. In the Cassini time frame, future studies of this interaction between dynamics, radiation and microphysics may be worthwhile using, the strong modeling base that others, and we have developed. In our recently approved proposal, however, we plan to extend our modeling to hydrocarbon clouds that lie at lower levels. We know very little about such clouds, and numerical models for their properties are non-existent. These clouds may be observed by the Huygen's Probe, and by the Cassini orbiter, so predictions of their properties should help in the analysis of Cassini data. We have also developed a sophisticated model for the lower, condensational, clouds on Venus. In this model we explored the water vapor budget on Venus, and the properties of the clouds such as particle size distribution. During the past few years we have applied our model of the water ice clouds on Mars to new data sets from Pathfinder, and Mars Global Surveyor. We have compared our predictions of cloud properties with those seen by Pathfinder, and found reasonable agreement.

Toon, Owen B.↗

Investigations of Clouds and Aerosols on Mars, Venus and Titan

For Titan our interest during the past few years was to explain the observed asymmetry in the albedo. We suggested earlier, from one-dimensional modeling studies, that vertical transport rates were comparable to particle fall speeds. Since heating of the upper atmosphere, which drives dynamical motions, is largely due to the aerosols, a non- linear interaction between dynamics, radiative heating and particle microphysics is possible. We pursued this interaction in a two-dimensional model. We showed that the observed variations in the albedo between the two hemispheres and over an orbital cycle, could be due to dynamical motions suspending particles so that particle sizes and optical depths vary across the planet. In the Cassini time frame, future studies of this interaction between dynamics, radiation and microphysics may be worthwhile using the strong modeling base that others, and we have developed. In our recently approved proposal, however, we plan to extend our modeling to hydrocarbon clouds that lie at lower levels. We know very little about such clouds, and numerical models for their properties are non-existent. These clouds may be observed by the Huygen's Probe, and by the Cassini orbiter, so predictions of their properties should help in the analysis of Cassini data. We have also developed a sophisticated model for the lower, condensational, clouds on Venus. In this model we explored the water vapor budget on Venus, and the properties of the clouds such as particle size distribution. Most researchers have investigated the upper clouds on Venus, which are essentially a photochemical aerosol with a long lifetime. The lower clouds, however, are similar to stratus clouds on Earth. These clouds have short lifetimes, and are tightly coupled to the dynamics at the base of the Venus cloud deck. We believe that the holes in these clouds seen at near infrared wavelengths by Galileo are related to some interaction between dynamics and cloud physics. One goal of our recently approved proposed work is to better understand this interaction, and to better understand how these clouds may vary if the climate of Venus were to vary. During the past few years we have applied our model of the water ice clouds on Mars to new data sets from Pathfinder, and Mars Global Surveyor. We have compared our predictions of cloud properties with those seen by Pathfinder, and found reasonable agreement. More recently we have improved our model by including a radiative transfer algorithm and a boundary layer transport scheme . The goal of this work is to understand the thermal inversions seen in Mars Global Surveyor data. We find that the inversions are created by clouds radiatively cooling the atmospheric layers in which the clouds form. We have also initiated laboratory work on the physics of carbon dioxide particle formation. In our recently approved work we propose to use these laboratory data, and to extend our modeling to carbon dioxide clouds in the Martian atmosphere.

Toon, Owen B.↗

Interactive method for planning constrained, fuel-optimal orbital proximity operations

An interactive graphical method for planning fuel-efficient rendezvous trajectories in the multi-spacecraft environment of the space station is presented. The method allows the operator to compose a multi-burn transfer trajectory between arbitrary initial chaser and target trajectories. The available task time of the mission is limited and the maneuver is subject to various operational constraints, such as departure, arrival, plume impingement and spatial constraints. The maneuvers are described in terms of the relataive motion experienced in a Space-Station centered coordinate system. The optimization method is based on the primer vector and its extension to non-optimal trajectories. The visual feedback of trajectory shapes, operational constraints, and optimization functions, provided by user-transparaent and continuously active background computations, allows the operator to make fast, iterative design changes which rapidly converge to fuel-efficient solutions. The optimization functions are presented. A variety of simple design examples has been presented to demonstrate the usefulness of the method. In many cases the addition of a properly positioned intermediate waypoint resulted in fuel savings of up to 30%. Furthermore, due to the counter-intuitive character of the optimization functions, most fuel-optimal solutions could not have been found without the aid of the optimization tools. Operating the system was found to be very easy, and did not require any previous in-depth knowledge of orbital dynamics or trajectory. The planning tool is an example of operator assisted optimization of nonlinear cost-functions.

Abramovitz, Adrian↗

Doppler Lidar Motion-Correction Wind Profiles (DLMCPROF-WIND) Value-Added Product Report

Wind speed and direction, together with pressure, temperature, and relative humidity, are the most fundamental atmospheric state parameters. Accurate measurement of these parameters is crucial for numerical weather prediction. Vertically resolved wind measurements in the atmospheric boundary layer are particularly important for modeling pollutant and aerosol transport. The U.S. Department of Energy (DOE) Atmospheric Radiation Measurement (ARM) user facility currently operates several scanning coherent Doppler lidar (DL) systems that provide accurate height-resolved measurements of wind speed and direction. These instruments operate in the near infrared (IR;1.5 microns) and provide range-resolved measurements of radial velocity, attenuated aerosol backscatter, and signal-to-noise ratio (SNR). The systems are operated using a fixed scan schedule consisting of plan position indicator (PPI) or Doppler Beam-Swing (DBS) scans. PPI scans are performed by scanning the beam in azimuth while maintaining a fixed elevation angle, and DBS scans are similar but typically also include a vertical beam. Radial velocity data from these scans are processed to yield profiles of wind speed direction. For stationary ground-based deployments, the Doppler Lidar Horizontal Wind Profiles (DLPROF-WIND) Value-Added-Product (VAP) provides height- and time-resolved measurements of the winds (Newsom and Krishnamurthy 2022). For operation on a moving platform, modifications to the existing DLPROF-WIND VAP are required to compensate for the effects of the platform motion. This report describes a parallel VAP, DLMCPROF-WIND, that was developed for computing motion-compensated wind profiles from ARM Doppler lidar data acquired during the Multidisciplinary drifting Observatory for the Study of Arctic Climate (MOSAiC) campaign, when the lidar was deployed on the German icebreaker Polarstern.

54 ENVIRONMENTAL SCIENCES↗

Skylab is falling - Strategies for reentry

Planning for the Skylab reentry, options for influencing the reentry, and a discussion of the Penn State drag modulation scheme are presented. The history of and risks in connection with Skylab reentry, and the NASA and the Penn State schemes for extending Skylab life are discussed. Coordinate systems and equations of motions describing the Skylab attitude motion, aerodynamic damping, and six-degree-of-freedom simulation are considered to derive structural damping models for Skylab, and to determine if stabilization is possible, and if it is, if the TACS (attitude-control) system can retumble the vehicle. It is concluded that at least 12 hours are required to carry out the Penn State drag modulation, and natural stabilization after a period of tumbling is possible but cannot be confirmed due to limitations in the modeling of aerodynamic properties, internal damping, and atmospheric density.

Kaplan, M. H.↗

Modelling of the MEA float zone using accelerometer data

During a floating zone experiment involving the growth of indium on a recent orbiter mission, (STS 32) oscillation of the zone shapes were observed to occur in response to the background acceleration. An understanding of the nature of the response of the zone shape to forced (g-jitter) oscillations and predictions of its impact on future experiments is of great interest not only to the PI's but to other commercial and academic investigators who plan to fly similar experiments in the orbiter and on space station. Motivated by this, a 15 month study was undertaken to analyze the nature of the g-sensitivity of the STS 32 floating zone crystal growth experiment. Numerical models were used to describe the time-dependent free surface motion of the zone as it responds to the spacecraft residual acceleration. Relevant experimental data concerning the acceleration environment was obtained from the Honeywell in Space Accelerometer (HISA) investigators through MSFC's ACAP program and processed and analyzed. For the indium floating zone experiment, a series of calculations were made using time-dependent axial accelerations g(t). The form of g(t) included simple sinusoidal disturbances as well as actual data (subject to appropriate filtering) measured on the STS 32 mission. Focus was on the calculation of the response of the free surface of the zone as well as the internal flows and internal heat transfer. The influence of solidification on the response of the zone shape was also examined but found to be negligible.

Alexander, J. Iwan D.↗

MAGESTIC: Magnetically Enabled Structures Using Interacting Coils

In our NIAC Phase I study, awarded September 2011, the MIT Space Systems Lab (MIT SSL) began investigating a new structural and mechanical technique aimed at reducing the mass and increasing the stowed-to-deployed ratio of spacecraft systems. This technique uses the magnetic fields from current passing through coils of high temperature superconductors (HTSs) to support spacecraft structures and deploy them to operational configurations from their positions as stowed inside a launch vehicle fairing. These electromagnetic coils are tethered or hinged together in such a way that their motion in some directions or around some axes is constrained, as in Figure 1. Our Phase II study,awarded in Fall 2012, continued this work on electromagnetic structures, with an added focus on developing a new thermal system, investigating additional, non-structural electromagnet functions, and creating a maturation roadmap and plan for addressing barriers to feasibility of the technology. We now call the project MAGESTIC, or Magnetically Enabled STructures using Interacting Coils.

Superconductors↗

Work and fatigue characteristics of unsuited and suited humans during isolated isokinetic joint motions

The effects of a pressurized suit on human performance were investigated. The suit is known as an Extra-Vehicular Mobility Unit (EMU) and is worn by astronauts while working outside their spacecraft in a low earth orbit. Isolated isokinetic joint torques of three female and three male subjects (all experienced users of the suit in 1G gravity) were measured while working at 100% and 80% of their maximum voluntary torque (MVT, which is synonymous with maximum voluntary contraction (MVC)). It was found that the average decrease in the total amount of work (the sum of the work in each repetition until fatigue) done when the subjects were wearing the EMU were 48% and 41% while working at 100% and 80% MVT, respectively. There is a clear relationship between the MVT and the time and amount of work done until fatigue. Here, the time to fatigue is defined as the ending time of the repetition for which the computed work done during that repetition dropped below 50% of the work done during the first repetition. In general the stronger joints took longer to fatigue and did more work than the weaker joints. It was found that the EMU decreases the work output at the wrist and shoulder joints the most, due to the EMU joint geometry. The EMU also decreased the joint range of motion. The average total amount of work done by the test subjects increased by 5.2% (20.4%) for the unsuited (suited) case, when the test subjects decreased the level of effort from 100% to 80% MVT. Also, the average time to fatigue increased by 9.2% (25.6%) for the unsuited (suited) case, when the test subjects decreased the level of effort from 100% to 80% MVT. It was also found that the experimentally measured torque decay could be predicted by a logarithmic equation. The absolute average errors in the predictions were found to be 18.3% and 18.9% for the unsuited and suited subjects, respectively, when working at 100% MVT, and 22.5% and 18.8% for the unsuited and suited subjects, respectively, when working at 80% MVT. These results could be very useful in the design of future EMU suits and the planning of Extra-Vehicular Activity (EVA) for the future International Space Station assembly operations.

NASA Discipline Life Sciences Technologies↗