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At least 433 records · Page 24
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30k-class robotic excavator. ISRU Pilot Excavator will be the next generation of robotic excavator to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops. The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1”(358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of the ISRU Pilot Excavator and can inform the design of future bucket drum excavators.

Jason Michael Schuler↗
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” (IPEx) which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30kg-class robotic excavator. IPEx will be the next generation of robotic excavators to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center (KSC). Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops (see Figure 1). The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However, the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore, this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1” (358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of IPEx and can inform the design of future bucket drum excavators.

RASSOR↗
NASA NTRS1996

Development of the SEASIS instrument for SEDSAT

Two SEASIS experiment objectives are key: take images that allow three axis attitude determination and take multi-spectral images of the earth. During the tether mission it is also desirable to capture images for the recoiling tether from the endmass perspective (which has never been observed). SEASIS must store all its imagery taken during the tether mission until the earth downlink can be established. SEASIS determines attitude with a panoramic camera and performs earth observation with a telephoto lens camera. Camera video is digitized, compressed, and stored in solid state memory. These objectives are addressed through the following architectural choices: (1) A camera system using a Panoramic Annular Lens (PAL). This lens has a 360 deg. azimuthal field of view by a +45 degree vertical field measured from a plan normal to the lens boresight axis. It has been shown in Mr. Mark Steadham's UAH M.S. thesis that his camera can determine three axis attitude anytime the earth and one other recognizable celestial object (for example, the sun) is in the field of view. This will be essentially all the time during tether deployment. (2) A second camera system using telephoto lens and filter wheel. The camera is a black and white standard video camera. The filters are chosen to cover the visible spectral bands of remote sensing interest. (3) A processor and mass memory arrangement linked to the cameras. Video signals from the cameras are digitized, compressed in the processor, and stored in a large static RAM bank. The processor is a multi-chip module consisting of a T800 Transputer and three Zoran floating point Digital Signal Processors. This processor module was supplied under ARPA contract by the Space Computer Corporation to demonstrate its use in space.

Maier, Mark W.↗
NASA NTRS2000

Three-dimensional organization of vestibular related eye movements to rotational motion in pigeons

During rotational motions, compensatory eye movement adjustments must continually occur in order to maintain objects of visual interest as stable images on the retina. In the present study, the three-dimensional organization of the vestibulo-ocular reflex in pigeons was quantitatively examined. Rotations about different head axes produced horizontal, vertical, and torsional eye movements, whose component magnitude was dependent upon the cosine of the stimulus axis relative to the animal's visual axis. Thus, the three-dimensional organization of the VOR in pigeons appears to be compensatory for any direction of head rotation. Frequency responses of the horizontal, vertical, and torsional slow phase components exhibited high pass filter properties with dominant time constants of approximately 3 s.

NASA Discipline Neuroscience↗
NASA NTRS1983

Aircraft body-axis rotation measurement system

A two gyro four gimbal attitude sensing system having gimbal lock avoidance is provided with continuous azimuth information, rather than roll information, relative to the magnetic cardinal headings while in near vertical attitudes to allow recovery from vertical on a desired heading. The system is comprised of a means for stabilizing an outer roll gimbal that is common to a vertical gyro and a directional gyro with respect to the aircraft platform which is being angularly displaced about an axis substantially parallel to the outer roll gyro axis. A means is also provided for producing a signal indicative of the magnitude of such displacement as an indication of aircraft heading. Additional means are provided to cause stabilization of the outer roll gimbal whenever the pitch angle of the aircraft passes through a threshold prior to entering vertical flight and destabilization of the outer roll gimbal upon passing through the threshold when departing vertical flight.

Cowdin, K. T.↗
NASA NTRS2005

Spatial orientation of optokinetic nystagmus and ocular pursuit during orbital space flight

On Earth, eye velocity of horizontal optokinetic nystagmus (OKN) orients to gravito-inertial acceleration (GIA), the sum of linear accelerations acting on the head and body. We determined whether adaptation to micro-gravity altered this orientation and whether ocular pursuit exhibited similar properties. Eye movements of four astronauts were recorded with three-dimensional video-oculography. Optokinetic stimuli were stripes moving horizontally, vertically, and obliquely at 30 degrees/s. Ocular pursuit was produced by a spot moving horizontally or vertically at 20 degrees/s. Subjects were either stationary or were centrifuged during OKN with 1 or 0.5 g of interaural or dorsoventral centripetal linear acceleration. Average eye position during OKN (the beating field) moved into the quick-phase direction by 10 degrees during lateral and upward field movement in all conditions. The beating field did not shift up during downward OKN on Earth, but there was a strong upward movement of the beating field (9 degrees) during downward OKN in the absence of gravity; this likely represents an adaptation to the lack of a vertical 1-g bias in-flight. The horizontal OKN velocity axis tilted 9 degrees in the roll plane toward the GIA during interaural centrifugation, both on Earth and in space. During oblique OKN, the velocity vector tilted towards the GIA in the roll plane when there was a disparity between the direction of stripe motion and the GIA, but not when the two were aligned. In contrast, dorsoventral acceleration tilted the horizontal OKN velocity vector 6 degrees in pitch away from the GIA. Roll tilts of the horizontal OKN velocity vector toward the GIA during interaural centrifugation are consistent with the orientation properties of velocity storage, but pitch tilts away from the GIA when centrifuged while supine are not. We speculate that visual suppression during OKN may have caused the velocity vector to tilt away from the GIA during dorsoventral centrifugation. Vertical OKN and ocular pursuit did not exhibit orientation toward the GIA in any condition. Static full-body roll tilts and centrifugation generating an equivalent interaural acceleration produced the same tilts in the horizontal OKN velocity before and after flight. Thus, the magnitude of tilt in OKN velocity was dependent on the magnitude of interaural linear acceleration, rather than the tilt of the GIA with regard to the head. These results favor a 'filter' model of spatial orientation in which orienting eye movements are proportional to the magnitude of low frequency interaural linear acceleration, rather than models that postulate an internal representation of gravity as the basis for spatial orientation.

Flight Experiment↗
NASA NTRS1988

An Investigation of the Ability to Recover from Transients Following Failures for Single-Pilot Rotorcraft

A moving-base simulation was conducted to investigate a pilot's ability to recover from transients following single-axis hard-over failures of the flight-control system. The investigation was performed in conjunction with a host simulation that examined the influence of control modes on a single pilot's ability to perform various mission elements under high-workload conditions. The NASA Ames large-amplitude-motion Vertical Motion Simulator (VMS) was utilized, and the experimental variables were the failure axis, the severity of the failure, and the airspeed at which the failure occurred. Other factors, such as pilot workload and terrain and obstacle proximity at the time of failure, were kept as constant as possible within the framework of the host simulation task scenarios. No explicit failure warnings were presented to the pilot. Data from the experiment are shown, and pilot ratings are compared with the proposed handling-qualities requirements for military rotorcraft. Results indicate that the current proposed failure transient requirements may need revision.

Mansur, M. Hossein↗
NASA NTRS1974

The response of a propeller anemometer to turbulent flow with the mean wind vector perpendicular to the axis of rotation

Determination of the properties of the system transfer function of the vertical-velocity propeller anemometer. A treatment of this problem is presented which is based on an analysis of estimates of the system transfer function derived from estimates of spectra calculated from time histories of indicated vertical velocity and on estimates of the associated input Eulerian vertical-velocity frequency spectra based on the hypothesis that instrument degradation of the Fourier components occurs in the inertial subrange.

Fichtl, G. H.↗
DOE OSTI2023

Development of the high energy engineering X-ray (HEX) superconducting wiggler, magnetic measurement, installation, and commissioning

The High energy Engineering X-ray (HEX) diffraction beamline at the National Synchrotron Light Source II (NSLS-II) at Brookhaven National Lab (BNL) is the first high-energy beamline capable of reaching 200 keV for a monochromatic beam. With the 3 GeV electron beam energy for the NSLS-II ring, only the superconducting wiggler (SCW) producing greater than 4 T peak field can cover these ranges with a sufficient number of photons. The 1.2 m-long HEX-SCW has a period length of 70 mm and a field strength on-axis of 4.3 T. It utilizes no liquid helium, and the vertical aperture size of the electron beam vacuum chamber is 8 mm. Unlike regular undulators/wigglers, there is no standard configuration for the magnetic measurement system for superconducting insertion devices. The NSLS-II Insertion Devices group has developed, in collaboration with the vacuum group, a novel in-vacuum Hall mapper with a 1.75 m in-vacuum linear motor and an in-vacuum flip coil system utilizing many commercial-off-the-shelf products. The measurements were conducted at the BNL, and the device was installed in the ring and commissioned. Here, this paper provides a description of the SCW and its magnetic measurement systems, as well as a brief account of the installation and commissioning efforts.

36 MATERIALS SCIENCE↗
DOE OSTI2020

DIRECT OBSERVATIONS OF SUBMICROPULSE ELECTRON-BEAM EFFECTS FROM SHORT-RANGE WAKEFIELDS IN TESLA-TYPE SUPERCONDUCTING RF CAVITIES

Experiments were performed at The Fermilab Accelerator Science and Technology (FAST) facility to elucidate the effects of short-range wakefields (SRWs) in TESLA-type rf cavities. FAST has a unique configuration of a photocathode rf gun beam injecting two TESLA-type single cavities (CC1 and CC2) in series prior to the cryomodule. To investigate short-range wakefield effects, we have steered the beam to minimize the signals in the higher-order mode (HOM) detectors of CC1 and CC2 for a baseline, and then used a vertical corrector between the two cavities to steer the beam off axis at an angle into CC2. A Hamamatsu synchroscan streak camera viewing a downstream OTR screen provided an image of y-t effects within the micropulses with ~10-micron spatial resolution and 2-ps temporal resolution. At 500 pC/b, 50 b, and 4 mrad off-axis steering into CC2, we observed an ~ 100-micron head-tail centroid shift in the streak camera image y(t)-profiles. This centroid shift value is 5 times l arger than the observed HOM-driven centroid oscillation within the macropulse, and it is consistent with a calculated short-range wakefield effect using ASTRA simulations.

43 PARTICLE ACCELERATORS↗
NASA NTRS1975

Head-eye tracking in two-dimensional pursuit tasks

The neurological control systems for the eye and head are studied by investigating dynamic eye and head rotations in two degrees of freedom using bandlimited, white noise stimuli, nominally wide field of view stimulus presentations of + or - 10 deg and power spectral analysis of the data to produce input/output transfer and coherence functions. Determined were frequency response characteristics of these systems, the linearity of the transfer functions in both coupled and decoupled vertical and horizontal stimulus/response reference axes and the amount of cross axis coupling present in system responses. A comparative study was also conducted to assess the differences in response characteristics between single axis and dual axis visual stimulation for the same subject.

Shirachi, D. K.↗
NASA NTRS1938

Wind-tunnel Investigations on Flexural-torsional Wing Flutter

For the purpose of testing the theory of an oscillating airfoil of two degrees of freedom, a wing was mounted in the wind tunnel between two walls in such a manner that it could execute vertical (flexural) oscillations as well as torsional oscillations about an arbitrary axis parallel to the span. It was possible to vary the inertia and elasticity parameters and also to increase artificially the negligibly small natural damping of the system. The oscillations were recorded to a strongly magnified scale. The experimentally determined critical (or flutter) velocities fully agree with the theoretical ones of Wagner and Kussner within the limits of computational and measuring accuracy. An extremely narrow wing without end walls (three dimensional problem) showed the same oscillations as one with end walls (two-dimensional problem).

Voigt, H↗
NASA NTRS1996

The role of retinal versus perceived size in the effects of pitched displays on visually perceived eye level

Visually perceived eye level (VPEL) was measured while subjects viewed two vertical lines which were either upright or pitched about the horizontal axis. In separate conditions, the display consisted of a relatively large pair of lines viewed at a distance of 1 m, or a display scaled to one third the dimensions and viewed at a distance of either 1 m or 33.3 cm. The small display viewed at 33.3 cm produced a retinal image the same size as that of the large display at 1 m. Pitch of all three displays top-toward and top-away from the observer caused upward and downward VPEL shifts, respectively. These effects were highly similar for the large display and the small display viewed at 33.3 cm (ie equal retinal size), but were significantly smaller for the small display viewed at 1 m. In a second experiment, perceived size of the three displays was measured and found to be highly accurate. The results of the two experiments indicate that the effect of optical pitch on VPEL depends on the retinal image size of stimuli rather than on perceived size.

NASA Center ARC↗
NASA NTRS2009

InFOCuS: A Balloon-borne Hard X-ray Imaging Telescope

InFOCuS is a new generation balloon-borne hard X-ray telescope with focusing optics and spectroscopy. After several successful flights in recent years it is being refurbished for a 2010 flight from Australia to map the hard X-ray emission from the galactic center region. in this poster, we present the status of the mirror, detectors and attitude control system. The grazing incidence optics consists of a depth-graded platinum-carbon multilayer mirror with an 8-meter focal length. It has an effective area of 78 cm(sup 2) at 30 keV. an angular resolution of 2.0 arcmin (HPD), and a field of view of 10 arcmin. The detector is a CdZnTe solid-state device capable of imaging spectroscopy. The detector is surrounded by a 3-cm thick CsI anti-coincidence shield to reduce background from particles and photons not incident along the mirror focal direction. The gondola is being reconfigured in a floating ball configuration to improve pointing control and allow the telescope to be pointed vertically. Tracking will be accomplished with a suite of on-axis and off-axis star cameras. The payload will be ready to fly from Alice Springs, Australia in Spring 2010. In this flight, InFOCuS will have the angular resolution and sensitivity to determine whether Sgr A* is the source of the hard X-rays detected by Swift/BAT and INTEGRAL and determine if there are other nearby hard X-ray sources.

Krimm, Hans A.↗
NASA NTRS2022

Scattering By Relatively Small Oblate Spheroidal Drops of Water in the Rainbow Region: T-Matrix Results and Geometric Interpretation

Late in 1999 Michael Mishchenko carried out T-matrix calculations of light scattered by oblate spheroidal drops of water at Marston's request. The purpose of the investigation was to determine if the caustic features, known by that time to be visible in the far-field scattering near the primary rainbow region for horizontally illuminated relatively large drops, would also be present in T-matrix calculations of the scattering by small drops. The axis of rotational symmetry of the drop was taken to be vertical, and the illumination was taken to be horizontal. Scattering into the relevant angular region was evaluated for drop aspect ratios D/H = 1, 1.23, 1.311, and 1.37 where D denotes the equatorial diameter and H the vertical diameter. The results are limited to polarized monochromatic illumination with ka = 140 where a = D/2 and k = 2π/λ with λ being the wavelength of the illumination. As expected from geometrical analysis, a horizontal “V” shaped caustic is visible for D/H = 1.311. The T-matrix results, gray-tone intensity displays provided by Mishchenko, remain instructive.

Scattering by spheroids↗
NASA NTRS2002

Perception of self-tilt in a true and illusory vertical plane

A tilted furnished room can induce strong visual reorientation illusions in stationary subjects. Supine subjects may perceive themselves upright when the room is tilted 90 degrees so that the visual polarity axis is kept aligned with the subject. This 'upright illusion' was used to induce roll tilt in a truly horizontal, but perceptually vertical, plane. A semistatic tilt profile was applied, in which the tilt angle gradually changed from 0 degrees to 90 degrees, and vice versa. This method produced larger illusory self-tilt than usually found with static tilt of a visual scene. Ten subjects indicated self-tilt by setting a tactile rod to perceived vertical. Six of them experienced the upright illusion and indicated illusory self-tilt with an average gain of about 0.5. This value is smaller than with true self-tilt (0.8), but comparable to the gain of visually induced self-tilt in erect subjects. Apparently, the contribution of nonvisual cues to gravity was independent of the subject's orientation to gravity itself. It therefore seems that the gain of visually induced self-tilt is smaller because of lacking, rather than conflicting, nonvisual cues. A vector analysis is used to discuss the results in terms of relative sensory weightings.

Non-NASA Center↗
NASA NTRS2016

Fixed Base Modal Testing Using the NASA GRC Mechanical Vibration Facility

The Space Power Facility at NASA's Plum Brook Station houses the world's largest and most powerful space environment simulation facilities, including the Mechanical Vibration Facility (MVF), which offers the world's highest-capacity multi-axis spacecraft shaker system. The MVF was designed to perform sine vibration testing of a Crew Exploration Vehicle (CEV)-class spacecraft with a total mass of 75,000 pounds, center of gravity (cg) height above the table of 284 inches, diameter of 18 feet, and capability of 1.25 gravity units peak acceleration in the vertical and 1.0 gravity units peak acceleration in the lateral directions. The MVF is a six-degree-of-freedom, servo-hydraulic, sinusoidal base-shake vibration system that has the advantage of being able to perform single-axis sine vibration testing of large structures in the vertical and two lateral axes without the need to reconfigure the test article for each axis. This paper discusses efforts to extend the MVF's capabilities so that it can also be used to determine fixed base modes of its test article without the need for an expensive test-correlated facility simulation.

Modal Test and Analysis↗
NASA NTRS1986

The Stratospheric Aerosol and Gas Experiment II (SAGE II) design and in-orbit performance

The design and in-orbit performance data are presented for the Stratospheric Aerosol and Gas Experiment II (SAGE II) instrument which was launched by Shuttle on the Earth Radiation Budget Satellite. SAGE II is a sun photometer that measures the extinction of solar radiation caused by the earth's atmosphere in seven spectral channels ranging in center wavelength from 0.385 to 1.02 micrometers. These measurements, which occur twice each orbit during satellite sunrise and sunset, are inverted to yield vertical distributions of stratospheric aerosols, ozone, water vapor, and nitrogen dioxide. The SAGE II instrument consists of a Cassegrain telescope with a two axis gimbal mounting, a grating spectrometer, and a 12 bit data system. The instrument tracks the solar centroid in the azimuth plane and vertically scans the instrument's instantaneous field of view across the sun for tangent altitudes ranging from the earth's horizon to 150 km. SAGE II is a third generation instrument following the highly successful Stratospheric Aerosol Measurement II (SAM II) and SAGE I programs.

Mauldin, L. E., III↗