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NASA NTRS2006

Efficient and Robust Data Collection Using Compact Micro Hardware, Distributed Bus Architectures and Optimizing Software

Future In-Space propulsion systems for exploration programs will invariably require data collection from a large number of sensors. Consider the sensors needed for monitoring several vehicle systems states of health, including the collection of structural health data, over a large area. This would include the fuel tanks, habitat structure, and science containment of systems required for Lunar, Mars, or deep space exploration. Such a system would consist of several hundred or even thousands of sensors. Conventional avionics system design will require these sensors to be connected to a few Remote Health Units (RHU), which are connected to robust, micro flight computers through a serial bus. This results in a large mass of cabling and unacceptable weight. This paper first gives a survey of several techniques that may reduce the cabling mass for sensors. These techniques can be categorized into four classes: power line communication, serial sensor buses, compound serial buses, and wireless network. The power line communication approach uses the power line to carry both power and data, so that the conventional data lines can be eliminated. The serial sensor bus approach reduces most of the cabling by connecting all the sensors with a single (or redundant) serial bus. Many standard buses for industrial control and sensor buses can support several hundreds of nodes, however, have not been space qualified. Conventional avionics serial buses such as the Mil-Std-1553B bus and IEEE 1394a are space qualified but can support only a limited number of nodes. The third approach is to combine avionics buses to increase their addressability. The reliability, EMI/EMC, and flight qualification issues of wireless networks have to be addressed. Several wireless networks such as the IEEE 802.11 and Ultra Wide Band are surveyed in this paper. The placement of sensors can also affect cable mass. Excessive sensors increase the number of cables unnecessarily. Insufficient number of sensors may not provide adequate coverage of the system. This paper also discusses an optimal technique to place and validate sensors.

micro hardware↗

NASA NTRS2006

Multiaxis, Lightweight, Computer-Controlled Exercise System

The multipurpose, multiaxial, isokinetic dynamometer (MMID) is a computer-controlled system of exercise machinery that can serve as a means for quantitatively assessing a subject s muscle coordination, range of motion, strength, and overall physical condition with respect to a wide variety of forces, motions, and exercise regimens. The MMID is easily reconfigurable and compactly stowable and, in comparison with prior computer-controlled exercise systems, it weighs less, costs less, and offers more capabilities. Whereas a typical prior isokinetic exercise machine is limited to operation in only one plane, the MMID can operate along any path. In addition, the MMID is not limited to the isokinetic (constant-speed) mode of operation. The MMID provides for control and/or measurement of position, force, and/or speed of exertion in as many as six degrees of freedom simultaneously; hence, it can accommodate more complex, more nearly natural combinations of motions and, in so doing, offers greater capabilities for physical conditioning and evaluation. The MMID (see figure) includes as many as eight active modules, each of which can be anchored to a floor, wall, ceiling, or other fixed object. A cable is payed out from a reel in each module to a bar or other suitable object that is gripped and manipulated by the subject. The reel is driven by a DC brushless motor or other suitable electric motor via a gear reduction unit. The motor can be made to function as either a driver or an electromagnetic brake, depending on the required nature of the interaction with the subject. The module includes a force and a displacement sensor for real-time monitoring of the tension in and displacement of the cable, respectively. In response to commands from a control computer, the motor can be operated to generate a required tension in the cable, to displace the cable a required distance, or to reel the cable in or out at a required speed. The computer can be programmed, either locally or via a remote terminal, to support exercises in one or more of the usual exercise modes (isometric, isokinetic, or isotonic) along complex, multiaxis trajectories. The motions of, and forces applied by, the subject can be monitored in real time and recorded for subsequent evaluation. Through suitable programming, the exercise can be adjusted in real time according to the physical condition of the subject. The remote- programming capability makes it possible to connect multiple exercise machines into a network for supervised exercise by multiple subjects or even for competition by geographically dispersed subjects.

Haynes, Leonard↗

NASA NTRS2005

Magnetically Attached Multifunction Maintenance Rover

A versatile mobile telerobot, denoted the magnetically attached multifunction maintenance rover (MAGMER), has been proposed for use in the inspection and maintenance of the surfaces of ships, tanks containing petrochemicals, and other large ferromagnetic structures. As its name suggests, this robot would utilize magnetic attraction to adhere to a structure. As it moved along the surface of the structure, the MAGMER would perform tasks that could include close-up visual inspection by use of video cameras, various sensors, and/or removal of paint by water-jet blasting, laser heating, or induction heating. The water-jet nozzles would be mounted coaxially within compressed-air-powered venturi nozzles that would collect the paint debris dislodged by the jets. The MAGMER would be deployed, powered, and controlled from a truck, to which it would be connected by hoses for water, compressed air, and collection of debris and by cables for electric power and communication (see Figure 1). The operation of the MAGMER on a typical large structure would necessitate the use of long cables and hoses, which can be heavy. To reduce the load of the hoses and cables on the MAGMER and thereby ensure its ability to adhere to vertical and overhanging surfaces, the hoses and cables would be paid out through telescopic booms that would be parts of a MAGMER support system. The MAGMER would move by use of four motorized, steerable wheels, each of which would be mounted in an assembly that would include permanent magnets and four pole pieces (see Figure 2). The wheels would protrude from between the pole pieces by only about 3 mm, so that the gap between the pole pieces and the ferromagnetic surface would be just large enough to permit motion along the surface but not so large as to reduce the magnetic attraction excessively. In addition to the wheel assemblies, the MAGMER would include magnetic adherence enhancement fixtures, which would comprise arrays of permanent magnets and pole pieces that could be adjusted to maximize or minimize the overall attractive magnetic force. Even with a paint thickness of 2 mm, a preliminary design provides a safety factor of 5 in the magnetic force in the upside- down, water-jets-operating condition, in which the total load (including the weight of the MAGMER and cables and the water-jet force) would be about 260 lb (the weight of 118 kg). Optionally, the MAGMER could carry magnetic shielding and/or could be equipped with a demagnetizing module to remove residual magnetism from the structure. The MAGMER would carry four charge-coupled-device cameras for visual inspection, monitoring of operation, navigation, and avoidance of collisions with obstacles. The control system of the MAGMER would include navigation and collision-avoidance subsystems that would utilize surface features as landmarks, in addition to direct images of obstacles.

Bar-Cohen, Yoseph↗

NASA NTRSDate not supplied

Accuracy of Center of Pressure Determination via Motion Capture

BACKGROUND: This study was conducted to support the stability assessment for tasks in lunar gravity and exercises on a Vibration Isolation and Stabilization (VIS) system in microgravity based on the dynamic feasibility criterion of whether the calculated position of the center of pressure (COP) falls within the base of support (BOS) which outlines the subject’s feet. Motion capture data combined with biomechanical modeling and simulation allows the forces and moments between the human and the VIS platform to be computed and the position of the COP as well as the location and shape of the BOS to be determined. The goal of this study was to assess the accuracy of the COP trajectory calculated using motion capture-based data. METHODS AND RESULTS: To obtain the dynamic quantities from which COP is calculated, motion capture data is first collected in the 1g lab environment by recording the trajectories of passive retroreflective markers placed on a subject during exercise or performance of a given task. The OpenSim [1] inverse kinematics (IK) tool is used to fit a scaled subject model to recorded marker trajectories while minimizing marker error to obtain joint angles. Then, a custom OpenSim plugin [2] is used to determine the subject’s time-varying moment of inertia and its time derivative, center of mass (CM) position, velocity, and acceleration, as well as the angular momentum and its time derivative relative to the subject’s CM. Some of these quantities are not needed for modeling tasks performed on a stationary lunar surface but, due to the moving exercise platform, are needed to model VIS response to the subject’s motion. Hand positions, used in calculating a cable force if present, are recorded as well. These quantities are used to calculate the total force (F ⃗^((plate) )) and moment (M ⃗^((plate) )) exerted by the lunar surface or the VIS plate on the subject’s shoe soles. COP is then calculated from the following equations: r_x^((cop) )= M_z^((plate) )/F_y^((plate) ) and r_z^((cop) )= 〖-M〗_x^((plate) )/F_y^((plate) ), where the y axis is normal to the surface. COP accuracy for feasibility assessments is then determined by whether it falls within the BOS, which is also computed by the plugin. To study the accuracy of COP calculated from motion capture, we first investigated whether COP remained within the BOS, as it must, for exercises performed in the 1g lab environment. Standard exercises such as back squat and deadlift were analyzed, as well as more explosive exercises including hang clean and press. Cases in which the COP exited the BOS indicated that COP accuracy required further investigation. In this study, an exercise device with cables was used, so cable force modeling accuracy should also be considered. In a separate study, we collected motion capture and force plate data for twenty-seven motions not involving an exercise device. About a third were genuine countermeasures exercises (e.g., hang clean and press), some were relevant for lunar tasks (e.g., object pick up), and the rest were of a “unit test” nature (e.g., swaying back and forth or side to side). Motion capture-based COP positions were compared with force plate measured COP. We found that while force plate measured COP remained within the BOS, motion capture-based COP was observed to briefly exit the BOS on occasion. Techniques to mitigate IK artifacts and filtering of calculated data could be used to improve the agreement of calculated and measured results, resolving excursions from the BOS within this dataset. The mean error between calculated and measured COP was found to be less than 6 mm. Additionally, we derived and investigated equations for the COP in terms of the cable force, cable location, as well as the human CM position, acceleration, and angular momentum with respect to the CM, and analyzed them for sensitivity to errors in individual quantities. Several were found, but the most significant one was that when the vertical force on the feet approaches zero, indicating a near-detachment or ‘jump off’ condition, errors are amplified. This is consistent with the observation that in the absence of pressure, the concept of the center of pressure would become meaningless.

C A Bell↗

NASA NTRS1973

Status and availability of FCC hardware

The source availability of FCC and/or FCC connectors was surveyed. The results for the following areas are presented: (1) cost of FCC versus standard round cable, (2) qualification status, (3) size of wire available in FCC, (4) availability of hermetic connectors for FCC, (5) conversion from flat cable to round cable and visa versa, (6) availability of shielded flat cable for RF usage, (7) termination techniques, and (8) repair techniques.

Romriell, G. K.↗

NASA NTRS1975

Research study on multi-KW DC distribution system

Power distribution system noise and transient stress on switchgear in large space vehicle power systems were investigated in terms of the effect of flight designs of long power distribution cables on load interface EMI requirements. A fifty meter cable pair was simulated to study interactions between the cable, load, and power source terminations. Power system noise characteristics were evaluated based on current spacecraft data, interface hardware filter designs, and power cable parameters. Parametric approaches were defined for evaluating switching transients at various distribution voltage levels. It is concluded that the state-of-the-art semiconductor switches represent a viable approach toward the implementation of power system design with distribution voltages of 120 VDC or less. The interface definition and design for the bus control unit was updated to be consistent with the established requirements.

Berkery, E. A.↗

NASA NTRS1980

Detector verifier for circuit analyzers

Economical tool checks operation of automatic circuit analyzer. Each loop is addressed directly from analyzer console by switching internal analyzer bridge to resistance equal that of connecting cable plus specified limiting test value. Procedure verifies whether detected faults in circuit under test are actually due to analyzer malfunction. Standard-length universal test cables make it possible to shift detector tool from cable to cable without resistance compensation.

Pope, D. L.↗

NASA NTRS1980

Low-cost calibration of acoustic locators

Method uses modified commerically-available piezoelectric-torch lighter. Handheld lighter has controlled spark gap that can be easily adjusted to produce repeatable short-duration high-amplitude voltage spikes. Pulser and lighter are coupled via short axial cable, eliminating long cable run variations in cable attenuation, and problem with cable entangling with anything in its path.

Berry, R. F.↗

NASA NTRS1981

Fiber optics for aircraft engine/inlet control

NASA programs that focus on the use of fiber optics for aircraft engine/inlet control are reviewed. Fiber optics for aircraft control is attractive because of its inherent immunity to EMI and RFI noise. Optical signals can be safely transmitted through areas that contain flammable or explosive materials. The use of optics also makes remote sensing feasible by eliminating the need for electrical wires to be connected between sensors and computers. Using low-level optical signals to control actuators is also feasible when power is generated at the actuator. Each application of fiber optics for aircraft control has different requirements for both the optical cables and the optical connectors. Sensors that measure position and speed by using slotted plates can use lossy cables and bundle connectors if data transfer is in the parallel mode. If position and speed signals are multiplexed, cable and connector requirements change. Other sensors that depend on changes in transmission through materials require dependable characteristics of both the optical cables and the optical connectors. A variety of sensor types are reviewed, including rotary position encoders, tachometers, temperature sensors, and blade tip clearance sensors for compressors and turbines. Research on a gallium arsenide photoswitch for optically switched actuators that operate at 250 C is also described.

Baumbick, R. J.↗

NASA NTRS1982

LSST (Hoop/Column) Maypole Antenna Development Program, phase 1, part 1

The first of a two-phase program was performed to develop the technology necessary to evaluate, design, manufacture, package, transport and deploy the hoop/column deployable antenna reflector by means of a ground based program. The hoop/column concept consists of a cable stiffened large diameter hoop and central column structure that supports and contours a radio frequency reflective mesh surface. Mission scenarios for communications, radiometer and radio astronomy, were studied. The data to establish technology drivers that resulted in a specification of a point design was provided. The point design is a multiple beam quadaperture offset antenna system wich provides four separate offset areas of illumination on a 100 meter diameter symmetrical parent reflector. The periphery of the reflector is a hoop having 48 segments that articulate into a small stowed volume around a center extendable column. The hoop and column are structurally connected by graphite and quartz cables. The prominence of cables in the design resulted in the development of advanced cable technology. Design verification models were built of the hoop, column, and surface stowage subassemblies. Model designs were generated for a half scale sector of the surface and a 1/6 scale of the complete deployable reflector.

Sullivan, M. R.↗

NASA NTRS1987

Dynamic and thermal response finite element models of multi-body space structural configurations

Presented is structural dynamics modeling of two multibody space structural configurations. The first configuration is a generic space station model of a cylindrical habitation module, two solar array panels, radiator panel, and central connecting tube. The second is a 15-m hoop-column antenna. Discussed is the special joint elimination sequence used for these large finite element models, so that eigenvalues could be extracted. The generic space station model aided test configuration design and analysis/test data correlation. The model consisted of six finite element models, one of each substructure and one of all substructures as a system. Static analysis and tests at the substructure level fine-tuned the finite element models. The 15-m hoop-column antenna is a truss column and structural ring interconnected with tension stabilizing cables. To the cables, pretensioned mesh membrane elements were attached to form four parabolic shaped antennae, one per quadrant. Imposing thermal preloads in the cables and mesh elements produced pretension in the finite element model. Thermal preload variation in the 96 control cables was adjusted to maintain antenna shape within the required tolerance and to give pointing accuracy.

Edighoffer, Harold H.↗

NASA NTRS1988

Fault-Tolerant Local-Area Network

Local-area network (LAN) for computers prevents single-point failure from interrupting communication between nodes of network. Includes two complete cables, LAN 1 and LAN 2. Microprocessor-based slave switches link cables to network-node devices as work stations, print servers, and file servers. Slave switches respond to commands from master switch, connecting nodes to two cable networks or disconnecting them so they are completely isolated. System monitor and control computer (SMC) acts as gateway, allowing nodes on either cable to communicate with each other and ensuring that LAN 1 and LAN 2 are fully used when functioning properly. Network monitors and controls itself, automatically routes traffic for efficient use of resources, and isolates and corrects its own faults, with potential dramatic reduction in time out of service.

Morales, Sergio↗

NASA NTRS1989

State-of-the-art fiber optics for short distance frequency reference distribution

A number of recently developed fiber-optic components that hold the promise of unprecedented stability for passively stabilized frequency distribution links are characterized. These components include a fiber-optic transmitter, an optical isolator, and a new type of fiber-optic cable. A novel laser transmitter exhibits extremely low sensitivity to intensity and polarization changes of reflected light due to cable flexure. This virtually eliminates one of the shortcomings in previous laser transmitters. A high-isolation, low-loss optical isolator has been developed which also virtually eliminates laser sensitivity to changes in intensity and polarization of reflected light. A newly developed fiber has been tested. This fiber has a thermal coefficient of delay of less than 0.5 parts per million per deg C, nearly 20 times lower than the best coaxial hardline cable and 10 times lower than any previous fiber-optic cable. These components are highly suitable for distribution systems with short extent, such as within a Deep Space Communications Complex. Here, these new components are described and the test results presented.

Lutes, G. F.↗

NASA NTRS1991

Rotary-To-Axial Motion Converter For Valve

Nearly frictionless mechanism converts rotary motion into axial motion. Designed for use in electronically variable pressure-regulator valve. Changes rotary motion imparted by motor into translation that opens and closes valve poppet. Cables spaced equidistantly around edge of fixed disk support movable disk. As movable disk rotated, cables twist, lifting it. When rotated in opposite direction, cables untwist, lowering it. Spider disk helps to prevent cables from tangling. Requires no lubrication and insensitive to contamination in fluid flowing through valve.

Reinicke, Robert H.↗

NASA NTRS1990

Compliant joint

A compliant joint is provided for prosthetic and robotic devices which permits rotation in three different planes. The joint provides for the controlled use of cable under motion. Perpendicular outer mounting frames are joined by swaged cables that interlock at a center block. Ball bearings allow for the free rotation of the second mounting frame relative to the first mounting frame within a predetermined angular rotation that is controlled by two stop devices. The cables allow for compliance at the stops and the cables allow for compliance in six degrees of freedom enabling the duplication or simulation of the rotational movement and flexibility of a natural hip or knee joint, as well as the simulation of a joint designed for a specific robotic component for predetermined design parameters.

Eklund, Wayne D.↗

NASA NTRS1991

LDEF fiber optic exposure experiment

Ten fiber optic cable samples of different types were exposed in low Earth orbit for over 5.5 years on the Long Duration Exposure Facility (LDEF). Four of the samples were mounted externally, and the remaining six were internal, under approximately .5 gc/sq m of aluminum. The experiment was recovered in January of 1990, and laboratory evaluation of the effects of the exposure has continued since. An increase in loss, presumed to be from radiation darkening, aging effects on polymer materials used in cabling, unique contamination effects on connector terminations, and micrometeoroid impacts were observed on some of the samples. In addition, the dependence of sample loss was measured as a function of temperature before and after the flight. All cable samples were functional, and the best exhibited no measurable change in performance, indicating that conventional fiber optic cables can perform satisfactorily in spacecraft. Experimental results obtained to date will be presented and discussed.

Johnston, Alan R.↗

NASA NTRS1992

LDEF fiber optic exposure experiment No. S-0109

Ten fiber optic cable samples of different types were exposed in low-earth orbit for over 5.5 years on the Long-Duration Exposure Facility (LDEF). Four of the samples were mounted externally, and the remaining six were internal, under approximately 0.5 g cm(exp -2) of aluminum. The experiment was recovered in Jan. 1990, and laboratory evaluation of the effects of the exposure has continued since. An increase in fiber loss, presumed to be from radiation darkening, aging effects on polymer materials used in cabling, unique contamination effects on connector terminations, and micrometeoroid impacts were observed. In addition, the sample loss was measured for each sample as a function of temperature before and after the flight. All cable samples were functional, and the best exhibited no measurable change in performance, indicating that conventional fiber optic cables can perform satisfactorily in spacecraft. Experimental results obtained to date are presented and discussed.

A R Johnston↗

NASA NTRS1991

Optical fiber sensor for temperature measurement from 600 to 1900 C in gas turbine engines

A temperature sensor system has been fabricated specifically for the harsh environment encountered in temperature measurement on gas turbine engines. Four components comprised the system: a thermally emissive source, a high temperature lightguide, a flexible optical cable and an electro-optic signal processor. The emissive source was located inside a sapphire rod so that the sapphire serves as both a lightguide and as a protective shroud. As the probe was heated, the thermal radiation from the emissive source increased with increasing temperature. The flexible optical cable was constructed with 200 micron core fiber and ruggedized for turbine engine applications. The electro-optic signal processor used the ratio of intensity in two wavelength intervals to determine a digital value of the temperature. The probe tip was operated above 1900 C in a low velocity propane flame and above 1500 C at Mach .37. Probe housings, optical cables, and signal processors were constructed and environmentally tested for the temperature and vibration experienced by turbine engine sensors. This technology was used to build an optical exhaust gas sensor for a General Electric Aircraft Engines F404 turbine. The four optical probes and optical cable were a functional replacement for four thermocouple probes. The system was ground tested for 50 hours with an excess of 1000 thermal cycles. This optical temperature sensor system measured gas temperature up to the operational limit of the turbine engine.

Tregay, G. W.↗