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At least 451 records · Page 25
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Robot Would Reconfigure Modular Equipment

Special-purpose sets of equipment, packaged in identical modules with identical interconnecting mechanisms, attached to or detached from each other by specially designed robot, according to proposal. Two-arm walking robot connects and disconnects modules, operating either autonomously or under remote supervision. Robot walks along row of connected modules by grasping successive attachment subassemblies in hand-over-hand motion. Intended application for facility or station in outer space; robot reconfiguration scheme makes it unnecessary for astronauts to venture outside spacecraft or space station. Concept proves useful on Earth in assembly, disassembly, or reconfiguration of equipment in such hostile environments as underwater, near active volcanoes, or in industrial process streams.

Purves, Lloyd R.↗
NASA NTRS1991

Krylov Subspace Methods for Complex Non-Hermitian Linear Systems

We consider Krylov subspace methods for the solution of large sparse linear systems Ax = b with complex non-Hermitian coefficient matrices. Such linear systems arise in important applications, such as inverse scattering, numerical solution of time-dependent Schrodinger equations, underwater acoustics, eddy current computations, numerical computations in quantum chromodynamics, and numerical conformal mapping. Typically, the resulting coefficient matrices A exhibit special structures, such as complex symmetry, or they are shifted Hermitian matrices. In this paper, we first describe a Krylov subspace approach with iterates defined by a quasi-minimal residual property, the QMR method, for solving general complex non-Hermitian linear systems. Then, we study special Krylov subspace methods designed for the two families of complex symmetric respectively shifted Hermitian linear systems. We also include some results concerning the obvious approach to general complex linear systems by solving equivalent real linear systems for the real and imaginary parts of x. Finally, numerical experiments for linear systems arising from the complex Helmholtz equation are reported.

Freund, Roland W.↗
NASA NTRS1989

New approaches to the measurement of chlorophyll, related pigments and productivity in the sea

In the 1984 SBIR Call for Proposals, NASA solicited new methods to measure primary production and chlorophyll in the ocean. Biospherical Instruments Inc. responded to this call with a proposal first to study a variety of approaches to this problem. A second phase of research was then funded to pursue instrumentation to measure the sunlight stimulated naturally occurring fluorescence of chlorophyll in marine phytoplankton. The monitoring of global productivity, global fisheries resources, application of above surface-to-underwater optical communications systems, submarine detection applications, correlation, and calibration of remote sensing systems are but some of the reasons for developing inexpensive sensors to measure chlorophyll and productivity. Normally, productivity measurements are manpower and cost intensive and, with the exception of a very few expensive multiship research experiments, provide no contemporaneous data. We feel that the patented, simple sensors that we have designed will provide a cost effective method for large scale, synoptic, optical measurements in the ocean. This document is the final project report for a NASA sponsored SBIR Phase 2 effort to develop new methods for the measurements of primary production in the ocean. This project has been successfully completed, a U.S. patent was issued covering the methodology and sensors, and the first production run of instrumentation developed under this contract has sold out and been delivered.

Booth, C. R.↗
NASA NTRS1992

A baseline lunar mine

A models lunar mining method is proposed that illustrates the problems to be expected in lunar mining and how they might be solved. While the method is quite feasible, it is, more importantly, a useful baseline system against which to test other, possible better, methods. Our study group proposed the slusher to stimulate discussion of how a lunar mining operation might be successfully accomplished. Critics of the slusher system were invited to propose better methods. The group noted that while nonterrestrial mining has been a vital part of past space manufacturing proposals, no one has proposed a lunar mining system in any real detail. The group considered it essential that the design of actual, workable, and specific lunar mining methods begin immediately. Based on an earlier proposal, the method is a three-drum slusher, also known as a cable-operated drag scraper. Its terrestrial application is quite limited, as it is relatively inefficient and inflexible. The method usually finds use in underwater mining from the shore and in moving small amounts of ore underground. When lunar mining scales up, the lunarized slusher will be replaced by more efficient, high-volume methods. Other aspects of lunar mining are discussed.

Gertsch, Richard E.↗
NASA NTRS1992

Ocean time-series near Bermuda: Hydrostation S and the US JGOFS Bermuda Atlantic time-series study

Bermuda is the site of two ocean time-series programs. At Hydrostation S, the ongoing biweekly profiles of temperature, salinity and oxygen now span 37 years. This is one of the longest open-ocean time-series data sets and provides a view of decadal scale variability in ocean processes. In 1988, the U.S. JGOFS Bermuda Atlantic Time-series Study began a wide range of measurements at a frequency of 14-18 cruises each year to understand temporal variability in ocean biogeochemistry. On each cruise, the data range from chemical analyses of discrete water samples to data from electronic packages of hydrographic and optics sensors. In addition, a range of biological and geochemical rate measurements are conducted that integrate over time-periods of minutes to days. This sampling strategy yields a reasonable resolution of the major seasonal patterns and of decadal scale variability. The Sargasso Sea also has a variety of episodic production events on scales of days to weeks and these are only poorly resolved. In addition, there is a substantial amount of mesoscale variability in this region and some of the perceived temporal patterns are caused by the intersection of the biweekly sampling with the natural spatial variability. In the Bermuda time-series programs, we have added a series of additional cruises to begin to assess these other sources of variation and their impacts on the interpretation of the main time-series record. However, the adequate resolution of higher frequency temporal patterns will probably require the introduction of new sampling strategies and some emerging technologies such as biogeochemical moorings and autonomous underwater vehicles.

Michaels, Anthony F.↗
NASA NTRS1992

Automated in situ observations of upper ocean biogeochemistry, bio-optics, and physics and their potential use for global studies

The processes controlling the flux of carbon in the upper ocean have dynamic ranges in space and time of at least nine orders of magnitude. These processes depend on a broad suite of inter-related biogeochemical, bio-optical, and physical variables. These variables should be sampled on scales matching the relevant phenomena. Traditional ship-based sampling, while critical for detailed and more comprehensive observations, can span only limited portions of these ranges because of logistical and financial constraints. Further, remote observations from satellite platforms enable broad horizontal coverage which is restricted to the upper few meters of the ocean. For these main reasons, automated subsurface measurement systems are important for the fulfillment of research goals related to the regional and global estimation and modeling of time varying biogeochemical fluxes. Within the past few years, new sensors and systems capable of autonomously measuring several of the critical variables have been developed. The platforms for deploying these systems now include moorings and drifters and it is likely that autonomous underwater vehicles (AUV's) will become available for use in the future. Each of these platforms satisfies particular sampling needs and can be used to complement both shipboard and satellite observations. In the present review, (1) sampling considerations will be summarized, (2) examples of data obtained from some of the existing automated in situ sampling systems will be highlighted, (3) future sensors and systems will be discussed, (4) data management issues for present and future automated systems will be considered, and (5) the status of near real-time data telemetry will be outlined. Finally, we wish to make it clear at the outset that the perspectives presented here are those of the authors and are not intended to represent those of the United States JGOFS program, the International JGOFS program, NOAA's C&GC program, or other global ocean programs.

Dickey, Tommy D.↗
NASA NTRS1991

Design, building, and testing of the postlanding systems for the assured crew return vehicle

The design, building, and testing of the postlanding support systems for a water-landing Assured Crew Return Vehicle (ACRV) are presented. One ACRV will be permanently docked to Space Station Freedom, fulfilling NASA's commitment to Assured Crew Return Capability in the event of an accident or illness. The configuration of the ACRV is based on an Apollo Command Module (ACM) derivative. The 1990-1991 effort concentrated on the design, building, and testing of a one-fifth scale model of the egress and stabilization systems. The objective was to determine the feasibility of (1) stabilizing the ACM out of the range of motions that cause seasickness and (2) the safe and rapid removal of a sick or injured crew member from the ACRV. The development of the ACRV postlanding systems model was performed at the University of Central Florida with guidance from the Kennedy Space Center ACRV program managers. Emphasis was placed on four major areas. First was design and construction of a one-fifth scale model of the ACM derivative to accommodate the egress and stabilization systems for testing. Second was the identification of a water test facility suitable for testing the model in all possible configurations. Third was the construction of the rapid egress mechanism designed in the previous academic year for incorporation into the ACRV model. The fourth area was construction and motion response testing of the attitude ring and underwater parachute systems.

Hosterman, Kenneth C.↗
NASA NTRS1993

Observations of the marine environment from spaceborne side-looking real aperture radars

Real aperture, side looking X-band radars have been operated from the Soviet Cosmos-1500, -1602, -1766 and Ocean satellites since 1984. Wind velocities were inferred from sea surface radar scattering for speeds ranging from approximately 2 m/s to those of hurricane proportions. The wind speeds were within 10-20 percent of the measured in situ values, and the direction of the wind velocity agreed with in situ direction measurements within 20-50 deg. Various atmospheric mesoscale eddies and tropical cyclones were thus located, and their strengths were inferred from sea surface reflectivity measurements. Rain cells were observed over both land and sea with these spaceborne radars. Algorithms to retrieve rainfall rates from spaceborne radar measurements were also developed. Spaceborne radars have been used to monitor various marine hazards. For example, information derived from those radars was used to plan rescue operations of distressed ships trapped in sea ice. Icebergs have also been monitored, and oil spills were mapped. Tsunamis produced by underwater earthquakes were also observed from space by the radars on the Cosmos 1500 series of satellites. The Cosmos-1500 satellite series have provided all weather radar imagery of the earths surface to a user community in real time by means of a 137.4 MHz Automatic Picture Transmission channel. This feature enabled the radar information to be used in direct support of Soviet polar maritime activities.

Kalmykov, A. I.↗
NASA NTRS1994

Maximizing Performance Of A Telerobot With Minimal Software

Control software system of seven-degree-of-freedom telerobot designed to elicit maximum performance from minimal, fixed-software computer at remote robot site. Includes multiple control modules, each providing parameter-driven control of specified aspect of behavior of telerobot. Software system runs in Ada language on multiple 68020 processors or potentially on single central processing unit. Conceived for use in outer space, also proves useful in underwater construction and inspection, handling of materials in nuclear facilities, and cleaning up hazardous materials.

Backes, Paul G.↗
NASA NTRS1994

Shoulder Joint For Protective Suit

Shoulder joint allows full range of natural motion: wearer senses little or no resisting force or torque. Developed for space suit, joint offers advantages in protective garments for underwater work, firefighting, or cleanup of hazardous materials.

Kosmo, Joseph J.↗
NASA NTRS1994

Dual-Element Tunneling Accelerometer

Improved micromachined tunneling accelerometer contains two deflecting transducer elements: One an elastically supported proof mass having relatively low resonant frequency; other cantilever tunneling transducer that tracks displacement of proof mass and has relatively high resonant frequency ({sup a} 10 kHz). Deflection voltage generated by circuit like described in "Wideband Feedback Circuit for Tunneling Sensor" (NPO-18866). Accelerometers of this type suited for underwater acoustic measurements, detecting vibrations associated with malfunctions in vehicles, detecting seismic signals, monitoring and controlling vibrations in structures, and other applications.

Kaiser, William J.↗
NASA NTRS1991

Mechanistic studies on reduced exercise performance and cardiac deconditioning with simulated zero gravity

The primary purpose of this research is to study the physiological mechanisms associated with the exercise performance of rats subjected to conditions of simulated weightlessness. A secondary purpose is to study related physiological changes associated with other systems. To facilitate these goals, a rodent suspension model was developed (Overton-Tipton) and a VO2 max testing procedure was perfected. Three methodological developments occurred during this past year deserving of mention. The first was the refinement of the tail suspension model so that (1) the heat dissipation functions of the caudal artery can be better utilized, and (2) the blood flow distribution to the tail would have less external constriction. The second was the development on a one-leg weight bearing model for use in simulated weightlessness studies concerned with change in muscle mass, muscle enzyme activity, and hind limb blood flow. The chemical body composition of 30 rats was determined and used to develop a prediction equation for percent fat using underwater weighing procedures to measure carcass specific gravity and to calculate body density, body fat, and fat free mass.

Tipton, Charles M.↗
NASA NTRS1989

Taecannautics: Sharing the Dream

A week-long teacher workshop is described. Highlights include underwater simulation training, model rocket building and launching, map reading, and survival training.

Source record↗
NASA NTRS1992

Seasonal and spatial variations in phytoplanktonic chlorophyll in eutrophic Mono Lake, California, measured with the Airborne Visible and Infrared Imaging Spectrometer (AVIRIS)

The principal problem with application of airborne imaging spectrometers to lakes is the weak upwelling signal, especially when narrow spectral bands with high spatial resolution are sought. Furthermore, atmospheric path radiance dominates the signal received from dark targets such as lakes. Once atmospheric effects have been removed from the radiance received at the sensor, semi-empirical relationships can be developed to extract information about phytoplankton pigment concentrations for different underwater optical conditions. In lakes where concentrations of dissolved organics and suspended detritus may not co-vary with phytoplankton pigments, the many spectral channels of an imaging spectrometer such as AVIRIS are likely to be required to distinguish the various aquasols. The objectives of our study are to: (1) estimate the chlorophyll content of a lake with hundred-fold seasonal ranges in chlorophyll concentration using atmospherically corrected upwelling radiances derived from AVIRIS imagery, and (2) to examine spatial patterns in chlorophyll after reduction of the coherent noise in the imagery by filtering techniques.

Melack, John M.↗
NASA NTRS1986

Designing Space Station

An overview of preparations for the construction of Space Station Freedom (SSF) is presented. The video includes footage of astronauts testing materials for erectable structures in space both in the Shuttle bay while in orbit and in a neutral buoyancy tank at McDonald Douglas' Underwater Test Facility. Also shown are footage of robot systems that will assist the astronauts in building SSF, a computer simulation of an Orbiting Maneuvering Vehicle, solar dynamic mirrors that will power SSF, and mockups of the living quarters of the SSF.

Source record↗
NASA NTRS1994

Advanced teleoperation: Technology innovations and applications

The capability to remotely, robotically perform space assembly, inspection, servicing, and science functions would rapidly expand our presence in space, and the cost efficiency of being there. There is considerable interest in developing 'telerobotic' technologies, which also have comparably important terrestrial applications to health care, underwater salvage, nuclear waste remediation and other. Such tasks, both space and terrestrial, require both a robot and operator interface that is highly flexible and adaptive, i.e., capable of efficiently working in changing and often casually structured environments. One systems approach to this requirement is to augment traditional teleoperation with computer assists -- advanced teleoperation. We have spent a number of years pursuing this approach, and highlight some key technology developments and their potential commercial impact. This paper is an illustrative summary rather than self-contained presentation; for completeness, we include representative technical references to our work which will allow the reader to follow up items of particular interest.

Schenker, Paul S.↗
NASA NTRS1994

La Chalupa-30: Lessons learned from a 30-day subsea mission analogue

The Behavior and Performance Laboratory (BPL) utilizes space mission analogs to study issues such as the psychological health and well-being, team characteristics, and task performance of crew members on long-duration missions. The analog used in this investigation was an underwater habitat named La Chalupa, which was selected for its similar features to a space station environment. The primary objectives of the La Chalupa-30 investigation were to evaluate the efficiency of several methods for collecting data in remote environments and to assess aspects of living and working under isolated and confined conditions.

Vanderark, Steve↗
NASA NTRS1994

The use of a tactile interface to convey position and motion perceptions

Under normal terrestrial conditions, perception of position and motion is determined by central nervous system integration of concordant and redundant information from multiple sensory channels (somatosensory, vestibular, visual), which collectively yield vertical perceptions. In the acceleration environment experienced by the pilots, the somatosensory and vestibular sensors frequently present false information concerning the direction of gravity. When presented with conflicting sensory information, it is normal for pilots to experience episodes of disorientation. We have developed a tactile interface that obtains vertical roll and pitch information from a gyro-stabilized attitude indicator and maps this information in a one-to-one correspondence onto the torso of the body using a matrix of vibrotactors. This enables the pilot to continuously maintain an awareness of aircraft attitude without reference to visual cues, utilizing a sensory channel that normally operates at the subconscious level. Although initially developed to improve pilot spatial awareness, this device has obvious applications to 1) simulation and training, 2) nonvisual tracking of targets, which can reduce the need for pilots to make head movements in the high-G environment of aerial combat, and 3) orientation in environments with minimal somatosensory cues (e.g., underwater) or gravitational cues (e.g., space).

Rupert, A. H.↗