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All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

Software simulations of the detection of rapidly moving asteroids by a charge-coupled device

A rendezvous of an unmanned probe to an earth-approaching asteroid has been given a high priority in the planning of interplanetary missions for the 1990s. Even without a space mission, much could be learned about the history of asteroids and comet nuclei if more information were available concerning asteroids with orbits which cross or approach the orbit of earth. It is estimated that the total number of earth-crossers accessible to ground-based survey telescopes should be approximately 1000. However, in connection with the small size and rapid angular motion expected of many of these objects an average of only one object is discovered per year. Attention is given to the development of the software necessary to distinguish such rapidly moving asteroids from stars and noise in continuously scanned CCD exposures of the night sky. Model and input parameters are considered along with detector sensitivity, aspects of minimum detectable displacement, and the point-spread function of the CCD.

Mcmillan, R. S.↗
NASA NTRS2008

Ambiguous Tilt and Translation Motion Cues in Astronauts after Space Flight

Adaptive changes during space flight in how the brain integrates vestibular cues with visual, proprioceptive, and somatosensory information can lead to impaired movement coordination, vertigo, spatial disorientation, and perceptual illusions following transitions between gravity levels. This joint ESA-NASA pre- and post-flight experiment is designed to examine both the physiological basis and operational implications for disorientation and tilt-translation disturbances in astronauts following short-duration space flights. The first specific aim is to examine the effects of stimulus frequency on adaptive changes in eye movements and motion perception during independent tilt and translation motion profiles. Roll motion is provided by a variable radius centrifuge. Pitch motion is provided by NASA's Tilt-Translation Sled in which the resultant gravitoinertial vector remains aligned with the body longitudinal axis during tilt motion (referred to as the Z-axis gravitoinertial or ZAG paradigm). We hypothesize that the adaptation of otolith-mediated responses to these stimuli will have specific frequency characteristics, being greatest in the mid-frequency range where there is a crossover of tilt and translation. The second specific aim is to employ a closed-loop nulling task in which subjects are tasked to use a joystick to null-out tilt motion disturbances on these two devices. The stimuli consist of random steps or sum-of-sinusoids stimuli, including the ZAG profiles on the Tilt-Translation Sled. We hypothesize that the ability to control tilt orientation will be compromised following space flight, with increased control errors corresponding to changes in self-motion perception. The third specific aim is to evaluate how sensory substitution aids can be used to improve manual control performance. During the closed-loop nulling task on both devices, small tactors placed around the torso vibrate according to the actual body tilt angle relative to gravity. We hypothesize that performance on the closed-loop tilt control task will be improved with this tactile display feedback of tilt orientation. The current plans include testing on eight crewmembers following Space Shuttle missions or short stay onboard the International Space Station. Measurements are obtained pre-flight at L-120 (plus or minus 30), L-90 (plus or minus 30), and L-30, (plus or minus 10) days and post-flight at R+0, R+1, R+2 or 3, R+4 or 5, and R+8 days. Pre-and post-flight testing (from R+1 on) is performed in the Neuroscience Laboratory at the NASA Johnson Space Center on both the Tilt-Translation Device and a variable radius centrifuge. A second variable radius centrifuge, provided by DLR for another joint ESA-NASA project, has been installed at the Baseline Data Collection Facility at Kennedy Space Center to collect data immediately after landing. ZAG was initiated with STS-122/1E and the first post-flight testing will take place after STS-123/1JA landing.

Clement, G.↗
NASA NTRS1974

Study of ephemeris accuracy of the minor planets

The current state of minor planet ephemerides was assessed, and the means for providing and updating these emphemerides for use by both the mission planner and the astronomer were developed. A system of obtaining data for all the numbered minor planets was planned, and computer programs for its initial mechanization were developed. The computer based system furnishes the osculating elements for all of the numbered minor planets at an adopted date of October 10, 1972, and at every 400 day interval over the years of interest. It also furnishes the perturbations in the rectangular coordinates relative to the osculating elements at every 4 day interval. Another computer program was designed and developed to integrate the perturbed motion of a group of 50 minor planets simultaneously. Sampled data resulting from the operation of the computer based systems are presented.

Brooks, D. R.↗
NASA NTRS2015

Key Recent Scientific Results from the Opportunity Rover's Exploration of Endeavour Crater, Mars

The Opportunity Rover is currently in its 11th year of operations, exploring the rim of the approximately 22 km wide Noachian-age Endeavour Crater. Opportunity spent its 5th winter season in Cook Haven, a gentle swale along Murray Ridge. Two small rocks serendipitously overturned by rover wheel motions show evidence for aqueous precipitation of sulfates, and interaction with a strong oxidant (e.g., O2) to form a thin, high valence state Mn oxide coating. After the winter, Opportunity headed south to Cape Tribulation and explored Shoemaker formation impact breccias, finding numerous Ca-sulfate veins cutting across outcrops. A key target for Opportunity's measurements has been the Spirit of Saint Louis crater (SoSL), which is approximately 25 m wide, oval in plan view, shallow, flat-floored, and has a slightly raised rim. SoSL crater is surrounded by an apron of bright, polygonally-shaped outcrops and is superimposed on a gentle swale in Cape Tribulation. Rocks in a thin reddish zone on the rim are enriched in hematite, Si, and Ge, and depleted in Fe, relative to surrounding rocks. Apron rocks include an outcrop also enriched in Si and Ge, and slightly depleted in Fe. In general rocks in the crater and apron have elevated S relative to Shoemaker formation breccias, tracking values observed in the Cook Haven and the Hueytown (fracture running perpendicular to Cape Tribulation) outcrops. SoSL crater lies just to the west of Marathon Valley, a key target for exploration by Opportunity because five separate CRISM observations indicate the presence of Fe/Mg smectites on the upper valley floor. Opportunity data show that low relief, relatively bright polygonal outcrops dominate the valley floor where not covered by scree and soil shed from surrounding walls. Initial reconnaissance shows that the outcrops are breccias with compositions similar to the typical SoSL crater apron and floor rocks, although only the very upper portion of the valley has been explored as of August 2015. Pervasive but modest aqueous alteration of Endeavour's rim is implied by the combination of CRISM and Opportunity data, providing insight into early aqueous processes dominated in this location by relatively low water to rock ratios, and at least in part associated with enhanced fluid flow along fractures.

Arvidson, R. E.↗
NASA NTRS1984

Applications of VAS and TOVS to tropical cyclones

The results of the attempts to use VAS (visible IR spin scan radiometer atmospheric sounder) data for predicting tropical cyclones are reported. VAS, mounted on a GEO platform, has 14 detectors for upwelling radiance. The McIDAS software was, by the 1983 hurricane season, upgraded to providing imagery and mass, motion and moisture patterns using the satellite data, which also permitted determinations of accurate temperature and moisture profiles. Comparisons made between VAS and radiosonde data revealed fairly close agreement of satellite and in-situ conditions during the 1983 season. When combined with data from the Tiros operational vertical sounder (TOVS) to define wind streamlines and predict the path of a hurricane from data fed into numerical models, sufficiently good agreement was obtained to initiate plans to forecast a hurricane trajectory during the 1984 season.

Velden, C. S.↗
NASA NTRS2015

Alternative-Fuel Effects on Contrails & Cruise Emissions (ACCESS-2) Flight Experiment

Although the emission performance of gas-turbine engines burning renewable aviation fuels have been thoroughly documented in recent ground-based studies, there is still great uncertainty regarding how the fuels effect aircraft exhaust composition and contrail formation at cruise altitudes. To fill this information gap, the NASA Aeronautics Research Mission Directorate sponsored the ACCESS flight series to make detailed measurements of trace gases, aerosols and ice particles in the near-field behind the NASA DC-8 aircraft as it burned either standard petroleum-based fuel of varying sulfur content or a 50:50 blend of standard fuel and a hydro-treated esters and fatty acid (HEFA) jet fuel produced from camelina plant oil. ACCESS 1, conducted in spring 2013 near Palmdale CA, focused on refining flight plans and sampling techniques and used the instrumented NASA Langley HU-25 aircraft to document DC-8 emissions and contrails on five separate flights of approx.2 hour duration. ACCESS 2, conducted from Palmdale in May 2014, engaged partners from the Deutsches Zentrum fuer Luft- und Raumfahrt (DLR) and National Research Council-Canada to provide additional scientific expertise and sampling aircraft (Falcon 20 and CT-133, respectively) with more extensive trace gas, particle, or air motion measurement capability. Eight, muliti-aircraft research flights of 2 to 4 hour duration were conducted to document the emissions and contrail properties of the DC-8 as it 1) burned low sulfur Jet A, high sulfur Jet A or low sulfur Jet A/HEFA blend, 2) flew at altitudes between 6 and 11 km, and 3) operated its engines at three different fuel flow rates. This presentation further describes the ACCESS flight experiments, examines fuel type and thrust setting impacts on engine emissions, and compares cruise-altitude observations with similar data acquired in ground tests.

Anderson, Bruce E.↗
NASA NTRS2018

Initial Operations Experience and Results from the Juno Gravity Experiment

Radio communications between the Juno spacecraft, in orbit around Jupiter, and the Earth-based observing stations of NASA’s Deep Space Network enable measurements of the Doppler shift induced on the radio signals by Juno’s motion in the Jovian environment. This measurement of the Doppler shift improves the knowledge of Jupiter’s gravitational field. As a radio science instrument, Juno’s gravity science instrument utilizes a ground component at the Deep Space Network’s DSS-25 antenna, equipped with simultaneous dual X- and Ka-band transmitters and receivers, and a spacecraft component, which includes X- and Ka-band transponders to relay the transmitted signal back to Earth. Originally planned to be in 14-day orbits around Jupiter, a risk identified in the propulsion system led to the decision to stay in the 53-day orbit period. Rapid turnaround of observation planning led to successful near-term perijove passes. Although maintaining a 53-day orbit period provides a scientific benefit to the gravity science investigation, the longer orbit period further increases the large dynamic range in Doppler shift and pointing angles induced by the geometry of each perijove. Between entering orbit at Jupiter on July 5, 2016 and September 2017, the Juno spacecraft has executed eight closest approach periods every 53 days where science data was collected. The first five perijove passes were conducted in different telecom configurations, each presenting unique challenges in data collection and processing. Perijoves PJ-01, PJ-02, PJ-03, and PJ-06 utilized the high-gain antenna and various configurations of the X- and Ka-bands. Perijoves PJ-04 and PJ-05 utilized the medium-gain antenna at X-band only while the spacecraft was off-Earth point. Additional perijoves are planned every 53-days, with an additional five by March 2018. Lessons learned from operating and collecting data at each perijove are documented and will be utilized in future perijoves. Analysis of the first two gravity science perijoves has improved the precision of Jupiter’s gravity field by a factor of five, providing crucial constraints on the interior structure of Jupiter.

Buccino, Dustin↗
NASA NTRS1973

Simulation of flexible appendage interactions with Mariner Venus/Mercury attitude control and science platform pointing

A new computer subroutine, which solves the attitude equations of motion for any vehicle idealized as a topological tree of hinge-connected rigid bodies, is used to simulate and analyze science instrument pointing control interaction with a flexible Mariner Venus/Mercury (MVM) spacecraft. The subroutine's user options include linearized or partially linearized hinge-connected models whose computational advantages are demonstrated for the MVM problem. Results of the pointing control/flexible vehicle interaction simulations, including imaging experiment pointing accuracy predictions and implications for MVM science sequence planning, are described in detail.

Fleischer, G. E.↗
NASA NTRS2008

Particle Ejection and Levitation Technology (PELT)

Each of the six Apollo 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 not a problem. The planned return to the Moon requires numerous landings at the same site. Since the top few centimeters of lunar soil are loosely packed regolith, plume impingement from the lander will eject the granular material at high velocities. A picture shows what the astronauts viewed from the window of the Apollo 14 lander. There was tremendous dust excavation beneath the vehicle. With high-vacuum conditions on the Moon (10 (exp -14) to 10 (exp -12) torr), motion of all particles is completely ballistic. Estimates derived from damage to Surveyor III caused by the Apollo 12 lander show that the speed of the ejected regolith particles varies from 100 m/s to 2,000 m/s. It is imperative to understand the physics of plume impingement to safely design landing sites for future Moon missions. Aerospace scientists and engineers have examined and analyzed images from Apollo video extensively in an effort to determine the theoretical effects of rocket exhaust impingement. KSC has joined the University of Central Florida (UCF) to develop an instrument that will measure the 3-D vector of dust flow caused by plume impingement during descent of landers. The data collected from the instrument will augment the theoretical studies and analysis of the Apollo videos.

Source record↗
NASA NTRS1989

On the dynamic singularities in the control of free-floating space manipulators

It is shown that free-floating space manipulator systems have configurations which are dynamically singular. At a dynamically singular position, the manipulator is unable to move its end effector in some direction. This problem appears in any free-floating space manipulator system that permits the vehicle to move in response to manipulator motion without correction from the vehicle's attitude control system. Dynamic singularities are functions of the dynamic properties of the system; their existence and locations cannot be predicted solely from the kinematic structure of the manipulator, unlike the singularities for fixed base manipulators. It is also shown that the location of these dynamic singularities in the workplace is dependent upon the path taken by the manipulator in reaching them. Dynamic singularities must be considered in the control, planning and design of free-floating space manipulator systems. A method for calculating these dynamic singularities is presented, and it is shown that the system parameters can be selected to reduce the effect of dynamic singularities on a system's performance.

Papadopoulos, E.↗
NASA NTRS2004

Using Piezoelectric Ceramics for Dust Mitigation of Space Suits

The particles that make up moon dust and Mars soil can be hazardous to an astronaut s health if not handled properly. In the near future, while exploring outer space, astronauts plan to wander the surfaces of unknown planets. During these explorations, dust and soil will cling to their space suits and become imbedded in the fabric. The astronauts will track moon dust and mars soil back into their living quarters. This not only will create a mess with millions of tiny air-born particles floating around, but will also be dangerous in the case that the fine particles are breathed in and become trapped in an astronaut s lungs. research center are investigating ways to remove these particles from space suits. This problem is very difficult due to the nature of the particles: They are extremely small and have jagged edges which can easily latch onto the fibers of the fabric. For the past summer, I have been involved in researching the potential problems, investigating ways to remove the particles, and conducting experiments to validate the techniques. The current technique under investigation uses piezoelectric ceramics imbedded in the fabric that vibrate and shake the particles free. The particles will be left on the planet s surface or collected a vacuum to be disposed of later. The ceramics vibrate when connected to an AC voltage supply and create a small scale motion similar to what people use at the beach to shake sand off of a beach towel. Because the particles are so small, similar to volcanic ash, caution must be taken to make sure that this technique does not further inbed them in the fabric and make removal more difficult. Only a very precise range of frequency and voltage will produce a suitable vibration. My summer project involved many experiments to determine the correct range. Analysis involved hands on experience with oscilloscopes, amplifiers, piezoelectrics, a high speed camera, microscopes and computers. perfect this technology. Someday, vibration to remove dust may a vital component to the space exploration program. In order to mitigate this problem, engineers and scientists at the NASA-Glenn Further research and experiments are planned to better understand and ultimately

Angel, Heather K.↗
NASA NTRS1989

On trajectory generation for flexible space crane: Inverse dynamics analysis by LATDYN

For future in-space construction facility, one or more space cranes capable of manipulating and positioning large and massive spacecraft components will be needed. Inverse dynamics was extensively studied as a basis for trajectory generation and control of robot manipulators. The focus here is on trajectory generation in the gross-motion phase of space crane operation. Inverse dynamics of the flexible crane body is much more complex and intricate as compared with rigid robot link. To model and solve the space crane's inverse dynamics problem, LATDYN program which employs a three-dimensional finite element formulation for the multibody truss-type structures will be used. The formulation is oriented toward a joint dominated structure which is suitable for the proposed space crane concept. To track a planned trajectory, procedures will be developed to obtain the actuation profile and dynamics envelope which are pertinent to the design and performance requirements of the space crane concept.

Chen, G.-S.↗
NASA NTRS1993

Multiple-camera/motion stereoscopy for range estimation in helicopter flight

Aiding the pilot to improve safety and reduce pilot workload by detecting obstacles and planning obstacle-free flight paths during low-altitude helicopter flight is desirable. Computer vision techniques provide an attractive method of obstacle detection and range estimation for objects within a large field of view ahead of the helicopter. Previous research has had considerable success by using an image sequence from a single moving camera to solving this problem. The major limitations of single camera approaches are that no range information can be obtained near the instantaneous direction of motion or in the absence of motion. These limitations can be overcome through the use of multiple cameras. This paper presents a hybrid motion/stereo algorithm which allows range refinement through recursive range estimation while avoiding loss of range information in the direction of travel. A feature-based approach is used to track objects between image frames. An extended Kalman filter combines knowledge of the camera motion and measurements of a feature's image location to recursively estimate the feature's range and to predict its location in future images. Performance of the algorithm will be illustrated using an image sequence, motion information, and independent range measurements from a low-altitude helicopter flight experiment.

Smith, Phillip N.↗
NASA NTRS2008

Initial Investigation of Reaction Control System Design on Spacecraft Handling Qualities for Earth Orbit Docking

A program of research, development, test, and evaluation is planned for the development of Spacecraft Handling Qualities guidelines. In this first experiment, the effects of Reaction Control System design characteristics and rotational control laws were evaluated during simulated proximity operations and docking. Also, the influence of piloting demands resulting from varying closure rates was assessed. The pilot-in-the-loop simulation results showed that significantly different spacecraft handling qualities result from the design of the Reaction Control System. In particular, cross-coupling between translational and rotational motions significantly affected handling qualities as reflected by Cooper-Harper pilot ratings and pilot workload, as reflected by Task-Load Index ratings. This influence is masked but only slightly by the rotational control system mode. While rotational control augmentation using Rate Command Attitude Hold can reduce the workload (principally, physical workload) created by cross-coupling, the handling qualities are not significantly improved. The attitude and rate deadbands of the RCAH introduced significant mental workload and control compensation to evaluate when deadband firings would occur, assess their impact on docking performance, and apply control inputs to mitigate that impact.

Bailey, Randall E.↗
NASA NTRS2002

SIM white light on-board processing algorithms

Interferometry in optical astronomy is an important and growing field of astronomical observation. A number of stellar interferometers have come online over the past several years, and several more are due to be operational in the near future. In addition, space based interferometers are also planned missions of NASA's Origins program, including the Space Interferometry Mission (SIM), the focus of the present paper. The fundamental measurement made by each of these interferometers is the white light fringe measurement to determine the optical pathlength delay between the two arms of the interferometer. SIM makes white light measurements with three independent interferometers observing three different objects. Two of these are the "guide" interferometers that observe bright objects (approximately 7th magnitude) to track the rigid body motion of the instrument. The third interferometer, the "science" interferometer, observes the science targets of interest.

interferometry↗
NASA NTRS1991

KC-135 materials handling robotics

Robot dynamics and control will become an important issue for implementing productive platforms in space. Robotic operations will become necessary for man-tended stations and for efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to an anticipated increase in acceleration levels due to manipulator motion and for safety concerns. The objective of this study will be to provide baseline data to meet that need. Most texts and papers dealing with the kinematics and dynamics of robots assume that the manipulator is composed of joints separated by rigid links. However, in recent years several groups have begun to study the dynamics of flexible manipulators, primarily for applying robots in space and for improving the efficiency and precision of robotic systems. Robotic systems which are being planned for implementation in space have a number of constraints to overcome. Additional concepts which have to be worked out in any robotic implementation for a space platform include teleoperation and degree of autonomous control. Some significant results in developing a robotic workcell for performing robotics research on the KC-135 aircraft in preperation for space-based robotics applications in the future were generated. In addition, it was shown that TREETOPS can be used to simulate the dynamics of robot manipulators for both space and ground-based applications.

Workman, Gary L.↗
NASA NTRS2004

An Acquisition Control for the Laser Interferometer Space Antenna

The Laser Interferometer Space Antenna (LISA) mission is a planned gravitational wave detector consisting of three spacecraft in heliocentric orbit. Laser interferometry is used to measure distance fluctuations between test masses aboard each spacecraft to the picometer level over a 5 million kilometer separation. Each spacecraft has two incoming and two outgoing laser beams for a total of six laser links. These links will have to be established sequentially at the start of the mission, and the spacecraft control systems must aim their lasers at each other with pointing motions less than 8 nanoradians per root Hertz in the frequency band 0.1-100 mHz. This paper presents a strategy for the laser acquisition process. The outgoing beam on one spacecraft is spoiled to provide a wide beam that encompasses the accuracy (noise and mounting bias) of the star tracker. The control system then takes advantage of an array of sensors with increasing sensitivity to quiet the receiving spacecraft and lock the laser. This process is carried out for each of the six links of LISA. A complete analysis and simulation of the acquisition process are presented.

Maghami, Peiman G.↗
NASA NTRS1970

Design and Manufacture of Wheels for A Dual-Mode (Manned - Automatic) Lunar Surface Roving Vehicle. Volume 2: Proposed Test Plan

A developmental test plan for the wheel and wheel drive assembly of the dual-mode (manned/automated) lunar surface roving vehicle is presented. The tests cover performance, as well as critical environmental characteristics. Insofar as practical, the environmental conditions imposed will be in the sequence expected during the hardware's life from storage through the lunar mission. Test procedures are described for static load deflection and endurance tests. Soft soil tests to determine mobility characteristics including drawbar-pull and thrust vs slip, and motion resistance for various wheel loads are also discussed. Test designs for both ambient and thermal vacuum conditions are described. Facility, transducer, and instrumentation requirements are outlined.

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