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NASA NTRS1992

NASA Laboratory Telerobotic Manipulator control system architecture

In support of the National Aeronautics and Space Administration (NASA) goals to increase the utilization of dexterous robotic systems in space, the Oak Ridge National Laboratory (ORNL) has developed the Laboratory Telerobotic Manipulator (LTM) system. It is a dexterous, dual-arm, force reflecting teleoperator system with robotic features for NASA ground-based research. This paper describes the overall control system architecture, including both the hardware and software. The control system is a distributed, modular, and hierarchical design with flexible expansion capabilities for future enhancements of both the hardware and software.

Rowe, J. C.↗

NASA NTRS1990

Laboratory calibration and characterization of video cameras

Some techniques for laboratory calibration and characterization of video cameras used with frame grabber boards are presented. A laser-illuminated displaced reticle technique (with camera lens removed) is used to determine the camera/grabber effective horizontal and vertical pixel spacing as well as the angle of nonperpendicularity of the axes. The principal point of autocollimation and point of symmetry are found by illuminating the camera with an unexpanded laser beam, either aligned with the sensor or lens. Lens distortion and the principal distance are determined from images of a calibration plate suitably aligned with the camera. Calibration and characterization results for several video cameras are presented. Differences between these laboratory techniques and test range and plumb line calibration are noted.

Burner, A. W.↗

NASA NTRS1992

Laboratory simulation of aerothermodynamic phenomena - A review

The issues of laboratory simulation of aerothermodynamic phenomena are discussed. The paper first enumerates the seven aerothermodynamic phenomena that affect the performance of high speed aerospace vehicles but are presently beyond our ability to predict accurately, and defines the types of experiments that need to be made to understand and quantify the phenomena. The facilities suited for these experiments are identified. The causes of uncertainty and difficulty in the experiments are cited. The procedures for calibrating the facilities for these purposes are proposed, and the research and development needed for successful laboratory simulation of aerothermodynamic phenomena are identified.

Park, Chul↗

NASA NTRS1993

Procedures For Microbial-Ecology Laboratory

Microbial Ecology Laboratory Procedures Manual provides concise and well-defined instructions on routine technical procedures to be followed in microbiological laboratory to ensure safety, analytical control, and validity of results.

Huff, Timothy L.↗

NASA NTRS1992

A monitor for the laboratory evaluation of control integrity in digital control systems operating in harsh electromagnetic environments

This paper presents a strategy for dynamically monitoring digital controllers in the laboratory for susceptibility to electromagnetic disturbances that compromise control integrity. The integrity of digital control systems operating in harsh electromagnetic environments can be compromised by upsets caused by induced transient electrical signals. Digital system upset is a functional error mode that involves no component damage, can occur simultaneously in all channels of a redundant control computer, and is software dependent. The motivation for this work is the need to develop tools and techniques that can be used in the laboratory to validate and/or certify critical aircraft controllers operating in electromagnetically adverse environments that result from lightning, high-intensity radiated fields (HIRF), and nuclear electromagnetic pulses (NEMP). The detection strategy presented in this paper provides dynamic monitoring of a given control computer for degraded functional integrity resulting from redundancy management errors, control calculation errors, and control correctness/effectiveness errors. In particular, this paper discusses the use of Kalman filtering, data fusion, and statistical decision theory in monitoring a given digital controller for control calculation errors.

Belcastro, Celeste M.↗

NASA NTRS1993

Reactive control and reasoning assistance for scientific laboratory instruments

Scientific laboratory instruments that are involved in chemical or physical sample identification frequently require substantial human preparation, attention, and interactive control during their operation. Successful real-time analysis of incoming data that supports such interactive control requires: (1) a clear recognition of variance of the data from expected results; and (2) rapid diagnosis of possible alternative hypotheses which might explain the variance. Such analysis then aids in decisions about modifying the experiment protocol, as well as being a goal itself. This paper reports on a collaborative project at the NASA Ames Research Center between artificial intelligence researchers and planetary microbial ecologists. Our team is currently engaged in developing software that autonomously controls science laboratory instruments and that provides data analysis of the real-time data in support of dynamic refinement of the experiment control. the first two instruments to which this technology has been applied are a differential thermal analyzer (DTA) and a gas chromatograph (GC). coupled together, they form a new geochemicstry and microbial analysis tool that is capable of rapid identification of the organiz and mineralogical constituents in soils. The thermal decomposition of the minerals and organics, and the attendance release of evolved gases, provides data about the structural and molecular chemistry of the soil samples.

Thompson, David E.↗

NASA NTRS1993

A summary of laboratory testing performed to characterize and select an elastomeric O-ring material to be used in the redesigned solid rocket motors of the space transportation system

An elastomeric O-ring material is used in the joints of the redesigned solid motors (RSRM's) of the National Space Transportation System (NSTS). The selection of the O-ring material used in the RSRM's was a very thorough process that included efforts by NASA's Marshall Space Flight Center and the Langley Research Center, and the Thiokol Corporation. One of the efforts performed at MSFC was an extensive in-house laboratory test regime to screen potential O-ring materials and ultimately to characterize the elastomeric material that was chosen to be used in the RSRM's. The laboratory tests performed at MSFC are summarized.

Turner, J. E.↗

NASA NTRS1992

Experimenter's laboratory for visualized interactive science

The science activities of the 1990's will require the analysis of complex phenomena and large diverse sets of data. In order to meet these needs, we must take advantage of advanced user interaction techniques: modern user interface tools; visualization capabilities; affordable, high performance graphics workstations; and interoperable data standards and translator. To meet these needs, we propose to adopt and upgrade several existing tools and systems to create an experimenter's laboratory for visualized interactive science. Intuitive human-computer interaction techniques have already been developed and demonstrated at the University of Colorado. A Transportable Applications Executive (TAE+), developed at GSFC, is a powerful user interface tool for general purpose applications. A 3D visualization package developed by NCAR provides both color shaded surface displays and volumetric rendering in either index or true color. The Network Common Data Form (NetCDF) data access library developed by Unidata supports creation, access and sharing of scientific data in a form that is self-describing and network transparent. The combination and enhancement of these packages constitutes a powerful experimenter's laboratory capable of meeting key science needs of the 1990's. This proposal encompasses the work required to build and demonstrate this capability.

Hansen, Elaine R.↗

NASA NTRS1993

Space Science Laboratory Publications and Presentations

This document lists the significant publications and presentations of the Space Science Laboratory during the period January 1 - December 31, 1992. Entries in the main part of the document are categorized according to NASA Reports (arranged by report number), Open Literature, and Presentations (arranged alphabetically by title). Also included for completeness is an Appendix (arranged by report number) listing preprints issued by the Laboratory during this reporting period. Some of the preprints have not been published; those already published are so indicated. Most of the articles listed under Open Literature have appeared in refereed professional journals, books, monographs, or conference proceedings. Although many published abstracts are eventually expanded into full papers for publications in scientific and technical journals, they are often sufficiently comprehensive to include the significant results of the research reported. Therefore, published abstracts are listed separately in a subsection under Open Literature. The organizational code of the cognizant SSL branch or office is given at the end of each entry.

Moorehead, T. W.↗

NASA NTRS1992

National Media Laboratory

A review of the National Media Laboratory (NML) is presented. The mission of the NML is to support current government user data storage needs and assist them in getting the most efficient 'commercial' solutions in the future. The motivation for a National Media Laboratory is as follows: recording systems are the major government image and data exploitation bottleneck; government data recording performance and storage requirements lead commercial practice by 3-5 years; the supporting commercial recorder industry is large but principally focused on video not data formats; lack of standards; and lack of transfer of commercial knowledge base to program offices and operational sites.

Clark, Robert↗

NASA NTRS1992

Far-sidelobe contamination of the Bell Laboratories H I survey

This paper describes an approximate calculation of the far-sidelobe contamination present in the Bell Laboratories H I survey. The general method is to determine the position of the sidelobe, and to assume that the emission measured at the position of the sidelobe is free of contamination. We have analyzed the errors introduced by saturation in the main beam and found them to be insignificant. The far-sidelobe contamination is shown to be less than 2 x 10 exp 16/sq cm/per km/s over most of the entire sky. The low level of far-sidelobe contamination suggests that such contamination does not affect results from studies of H I 21-cm radiation at high latitudes during the Bell Laboratories Survey. In particular, the low-column-density features of high-velocity and intermediate-velocity clouds can be deemed real.

Kuntz, K. D.↗

NASA NTRS1993

Radio observations of the planets - The importance of laboratory measurements

Laboratory data on the line broadening parameters of H2S gas under Uranian/Neptunian conditions, on the far wings of the H2S and NH3 line profiles, and on the dielectric properties of CH4-, NH3-, H2S-, and NH4SH-ice are needed to constrain elemental abundances and understand the dynamics and cloud physics in the atmospheres of the giant planets. Measurements of the absorption coefficient of gaseous H2SO4 at millimeter wavelengths are needed in order to obtain a better understanding of Venus' atmosphere. To determine wind velocity fields in Venus' and Mars' atmospheres, accurate measurements of the center frequencies of the CO lines are necessary. The absorption and scattering properties of lunar soils and/or terrestrial rock powders at frequencies from approximately 1 to 200 GHz, determined in laboratory experiments, would provide a valuable addition to existing data at 450 MHz, 35 GHz, and far infrared frequencies. These data would be used to analyze the microwave spectra of planetary surfaces. Such studies may be helpful in distinguishing the effects of radiative transfer from those of nonlinear heat conduction and internal heat sources.

De Pater, Imke↗

NASA NTRS1993

New laboratory measurements on ammonia's inversion spectrum, with implications for planetary atmospheres

Microwave spectral measurements have been performed on pure room-temperature gaseous ammonia at frequencies from 1.75 to 18 GHz (1.7-17 cm), at 50-, 100-, and 300-torr pressures. These measurements are part of a laboratory program to measure the microwave absorption spectrum of ammonia, under conditions applicable to giant planet atmospheres, now in progress at the Jet Propulsion Laboratory. The pure ammonia data reported here agree well with previous data by Bleaney and Loubser (1950) at 100 and 300 torrs, and with predictions of the absorptivity formalism published by Berge and Gulkis. Success with pure ammonia but failure with mixtures of ammonia in hydrogen and helium (Spilker, 1990) indicates that the Berge and Gulkis formalism does not correctly handle foreign-gas effects on ammonia inversion lines. This may require modifying conclusions of radio astronomical and radio occultation studies that used this formalism. Notably, a suggested depletion of ammonia and superabundance of hydrogen sulfide may have been exaggerated as a result of inaccuracies in the Berge and Gulkis formalism.

Spilker, Thomas R.↗

NASA NTRS1954

Axial-Load Fatigue Properties of 24S-T and 75S-T Aluminum Alloy as Determined in Several Laboratories

In the initial phase of a NACA program on fatigue research, axial-load tests on 24S-T3 and 75S-T6 aluminum-alloy sheet have been made at the Battelle Memorial Institute and at the Langley Aeronautical Laboratory of the National Advisory Committee for Aeronautics. The test specimens were polished and unnotched. The manufacturer of the material, the Aluminum Company of America, has made axial-load tests on 24S-T4 and 75S-T6 rod material. The test techniques used at the three laboratories are described in detail; the test results are presented and are compared with each other and with results obtained on unpolished sheet by the National Bureau of Standards. (author)

Grover, H J↗

NASA NTRS1926

Description and Laboratory Tests of a Roots Type Aircraft Engine Supercharger

This report describes a roots type aircraft engine supercharger and presents the results of some tests made with it at the Langley Field Laboratories of the National Advisory Committee for Aeronautics. The supercharger used in these tests was constructed largely of aluminum, weighed 88 pounds and was arranged to be operated from the rear of a standard aircraft engine at a speed of 1 1/2 engine crankshaft speed. The rotors of the supercharger were cycloidal in form and were 11 inches long and 9 1/2 inches in diameter. The displacement of the supercharger was 0.51 cubic feet of air per revolution of the rotors. The supercharger was tested in the laboratory, independently and in combination with a Liberty-12 aircraft engine, under simulated altitude pressure conditions in order to obtain information on its operation and performance. From these tests it seems evident that the Roots blower compares favorably with other compressor types used as aircraft engine superchargers and that it has several features that make it particularly attractive for such use.

Ware, Marsden↗

NASA NTRS1952

Comparison of High-Speed Operating Characteristics of Size 215 Cylindrical-Roller Bearings as Determined in Turbojet Engine and in Laboratory Test Rig

A comparison of the operating characteristics of 75-millimeter-bore (size 215) cylindrical-roller one-piece inner-race-riding cage-type bearings was made by means of a laboratory test rig and a turbojet engine. Cooling correlation parameters were determined by means of dimensional analysis, and the generalized results for both the inner- and the outer-race bearing operating temperatures are computed for the laboratory test rig and the turbojet engine. A method is given that enables the designer to predict the inner- and outer-race turbine roller-bearing temperatures from single curves, regardless of variations in speed, load, oil flow, oil inlet temperature, oil inlet viscosity, oil-jet diameter, or any combination of these parameters.

Macks, E Fred↗

NASA NTRS1993

Feasibility study of an orbiting laboratory for testing CSI technology

A concept for an orbiting laboratory for testing Controls-Structures Integration (CSI) technology is described. The CSI-Star concept reflects a lower cost, higher risk approach. The concept supports demonstration and validation testing for critical CSI technologies at a cost of $20M to $26M with a 1-year reliability of approximately 0.9. The Ball Aerospace QuickStar bus is the carrier for the CSI test article. QuickStar is launched as a secondary payload on the McDonnell Douglas Delta 2. The QuickStar/Delta 2 approach is flight proven. The CSI test article is a 20 foot, 1 Hz, truss beam which is deployed from the QuickStar bus. The test article is well instrumented for quality system identification. The laboratory provides three layers of active control consisting of global vibration suppression along the truss beam, vibration isolation between the beam and instrument platforms, and vibration compensation through the use of gimbaled platforms which point lasers relative to optical sensor targets. The configuration simulates the dynamics of multi-instrument science platforms such as those of the Earth Observation System (EOS) while maintaining strong ties to astrophysics missions such as the Optical Interferometer. Uplink/downlink services and a reprogrammable computer provide flexibility for long-term investigations by members of the CSI community (NASA, DoD, academia, and industry). CSI-Star fills the gap between short-term experiments, which have been conducted primarily on the Shuttle, and future science missions which require the technology. The on-orbit maturity of CSI technology must be established to obtain acceptance by project managers and to promote injection of the technology into future science missions.

Bicos, Andrew S.↗

NASA NTRS1992

Evolution of catalytic RNA in the laboratory

We are interested in the biochemistry of existing RNA enzymes and in the development of RNA enzymes with novel catalytic function. The focal point of our research program has been the design and operation of a laboratory system for the controlled evolution of catalytic RNA. This system serves as working model of RNA-based life and can be used to explore the catalytic potential of RNA. Evolution requires the integration of three chemical processes: amplification, mutation, and selection. Amplification results in additional copies of the genetic material. Mutation operates at the level of genotype to introduce variability, this variability in turn being expressed as a range of phenotypes. Selection operates at the level of phenotype to reduce variability by excluding those individuals that do not conform to the prevailing fitness criteria. These three processes must be linked so that only the selected individuals are amplified, subject to mutational error, to produce a progeny distribution of mutant individuals. We devised techniques for the amplification, mutation, and selection of catalytic RNA, all of which can be performed rapidly in vitro within a single reaction vessel. We integrated these techniques in such a way that they can be performed iteratively and routinely. This allowed us to conduct evolution experiments in response to artificially-imposed selection constraints. Our objective was to develop novel RNA enzymes by altering the selection constraints in a controlled manner. In this way we were able to expand the catalytic repertoire of RNA. Our long-range objective is to develop an RNA enzyme with RNA replicase activity. If such an enzyme had the ability to produce additional copies of itself, then RNA evolution would operate autonomously and the origin of life will have been realized in the laboratory.

Joyce, Gerald F.↗