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NASA NTRS2003

An Approximate Dissipation Function for Large Strain Rubber Thermo-Mechanical Analyses

Mechanically induced viscoelastic dissipation is difficult to compute. When the constitutive model is defined by history integrals, the formula for dissipation is a double convolution integral. Since double convolution integrals are difficult to approximate, coupled thermo-mechanical analyses of highly viscous rubber-like materials cannot be made with most commercial finite element software. In this study, we present a method to approximate the dissipation for history integral constitutive models that represent Maxwell-like materials without approximating the double convolution integral. The method requires that the total stress can be separated into elastic and viscous components, and that the relaxation form of the constitutive law is defined with a Prony series. Numerical data is provided to demonstrate the limitations of this approximate method for determining dissipation. Rubber cylinders with imbedded steel disks and with an imbedded steel ball are dynamically loaded, and the nonuniform heating within the cylinders is computed.

Johnson, Arthur R.↗
NASA NTRS2003

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

Colombano, Silvano P.↗
NASA NTRS2003

Osmium Isotope and Highly Siderophile Element Compositions of Lunar Orange and Green Glasses

The absolute and relative abundances of the highly siderophile elements (HSE) present in planetary mantles are primarily controlled by: 1) silicate-metal partitioning during core-mantle differentiation, 2) the subsequent addition of HSE to mantles via continued planetary accretion. Consequently, constraints on the absolute and relative abundances of the HSE in the lunar mantle will provide unique insights to the formation and late accretionary history of not only the Moon, but also Earth. Determining the HSE content of the lunar mantle, however, has proven difficult, because no bona fide mantle rocks have been collected from the moon. The only materials presently available for constraining mantle abundances are lunar volcanic rocks. Lunar basalts typically have very low concentrations of HSE and highly fractionated HSE patterns. Because of our extremely limited understanding of mantle melt partitioning of the HSE, even for terrestrial systems, extrapolations to mantle compositions from basaltic compositions are difficult, except possibly for the less compatible HSE Pt and Pd. Primitive, presumably less fractionated materials, such as picritic glasses are potentially more diagnostic of the lunar interior. Here we report Os isotopic composition data and Re, Os, Ir, Ru, Pt and Pd concentration data for green glass (15426,164) and orange glass (74001,1217). As with previous studies utilizing neutron activation analysis, we are examining different size fractions of the spherules to assess the role of surface condensation in the generation of the HSE abundances.

Walker, R. J.↗
NASA NTRS2003

Developing An Autonomy Infusion Infrastructure for Robotic Exploration

Future robotic exploration missions will require autonomy in order to accomplish mission goals for operational efficiency and science return. For example, it will require three communication cycles for the Mars Exploration Rovers, Spirit and Opportunity, to place an instrument on a science target. Reducing this time necessitates highly accurate navigation, obstacle avoidance, target tracking, target analysis, manipulation, and fault diagnosis. Technologies to address these and other operational elements are currently being developed at NASA and within academia. However, infusion into missions has always been a difficult task for researchers. In order to keep risk down, mission managers are reluctant to include new technologies unless they have undergone extensive testing and verification under flight-realistic conditions. Furthermore, infusion of new technologies into missions is made more difficult by the variety of software frameworks under which these technologies are developed. Missions would like to see competing solutions demonstrated on a common platform so that they can compare performance and choose the solution best suited to their application.

Bualat, Maria G.↗
NASA NTRS2003

Software Reliability 2002

In FY01 we learned that hardware reliability models need substantial changes to account for differences in software, thus making software reliability measurements more effective, accurate, and easier to apply. These reliability models are generally based on familiar distributions or parametric methods. An obvious question is 'What new statistical and probability models can be developed using non-parametric and distribution-free methods instead of the traditional parametric method?" Two approaches to software reliability engineering appear somewhat promising. The first study, begin in FY01, is based in hardware reliability, a very well established science that has many aspects that can be applied to software. This research effort has investigated mathematical aspects of hardware reliability and has identified those applicable to software. Currently the research effort is applying and testing these approaches to software reliability measurement, These parametric models require much project data that may be difficult to apply and interpret. Projects at GSFC are often complex in both technology and schedules. Assessing and estimating reliability of the final system is extremely difficult when various subsystems are tested and completed long before others. Parametric and distribution free techniques may offer a new and accurate way of modeling failure time and other project data to provide earlier and more accurate estimates of system reliability.

Wallace, Dolores R.↗
NASA NTRS2003

Using System Mass (SM), Equivalent Mass (EM), Equivalent System Mass (ESM) or Life Cycle Mass (LCM) in Advanced Life Support (ALS) Reporting

The Advanced Life Support (ALS) has used a single number, Equivalent System Mass (ESM), for both reporting progress and technology selection. ESM is the launch mass required to provide a space system. ESM indicates launch cost. ESM alone is inadequate for technology selection, which should include other metrics such as Technology Readiness Level (TRL) and Life Cycle Cost (LCC) and also consider perfom.arxe 2nd risk. ESM has proven difficult to implement as a reporting metric, partly because it includes non-mass technology selection factors. Since it will not be used exclusively for technology selection, a new reporting metric can be made easier to compute and explain. Systems design trades-off performance, cost, and risk, but a risk weighted cost/benefit metric would be too complex to report. Since life support has fixed requirements, different systems usually have roughly equal performance. Risk is important since failure can harm the crew, but it is difficult to treat simply. Cost is not easy to estimate, but preliminary space system cost estimates are usually based on mass, which is better estimated than cost. Amass-based cost estimate, similar to ESM, would be a good single reporting metric. The paper defines and compares four mass-based cost estimates, Equivalent Mass (EM), Equivalent System Mass (ESM), Life Cycle Mass (LCM), and System Mass (SM). EM is traditional in life support and includes mass, volume, power, cooling and logistics. ESM is the specifically defined ALS metric, which adds crew time and possibly other cost factors to EM. LCM is a new metric, a mass-based estimate of LCC measured in mass units. SM includes only the factors of EM that are originally measured in mass, the hardware and logistics mass. All four mass-based metrics usually give similar comparisons. SM is by far the simplest to compute and easiest to explain.

Jones, Harry↗
NASA NTRS1960

Experience with a three-axis side-located controller during a static and centrifuge simulation of the piloted launch of a manned multistage vehicle

An investigation was conducted to determine a human pilot's ability to control a multistage vehicle through the launch trajectory. The simulation was performed statically and dynamically by utilizing a human centrifuge. An interesting byproduct of the program was the three-axis side-located controller incorporated for pilot control inputs. This method of control proved to be acceptable for the successful completion of the tracking task during the simulation. There was no apparent effect of acceleration on the mechanical operation of the controller, but the pilot's control feel deteriorated as his dexterity decreased at high levels of acceleration. The application of control in a specific control mode was not difficult. However, coordination of more than one mode was difficult, and, in many instances, resulted in inadvertent control inputs. The acceptable control harmony at an acceleration level of 1 g became unacceptable at higher acceleration levels. Proper control-force harmony for a particular control task appears to be more critical for a three-axis controller than for conventional controllers. During simulations in which the pilot wore a pressure suit, the nature of the suit gloves further aggravated this condition.

Andrews, William H.↗
NASA NTRS2004

The Compact Microimaging Spectrometer (CMIS): A New Tool for In-Situ Planetary Science

In-situ identification of trace minerals, ices, or organics in planetary samples may be difficult with panchromatic microscopic imagery and spot spectroscopy. The panchromatic imagery acquired by a microscopic imager provides morphological information and albedo, but these are generally insufficient for unambiguous identification. The spatially-averaged spectra acquired by a nonimaging ( point- or spot- ) spectrometer may enable identification of the major components but identification of unknown trace components is difficult at best. With our Compact Micro-Imaging Spectrometer (CMIS), however, we acquire spectroscopic data in an imaging format at microscopic scales. The distinct spectra of individual grains, provided by our approach, make detection and identification possible even for trace components in regolith or heterogeneous samples.

Armstrong, J. C.↗
NASA NTRS2000

Automated Hardware Design via Evolutionary Search

The goal of this research is to investigate the application of evolutionary search to the process of automated engineering design. Evolutionary search techniques involve the simulation of Darwinian mechanisms by computer algorithms. In recent years, such techniques have attracted much attention because they are able to tackle a wide variety of difficult problems and frequently produce acceptable solutions. The results obtained are usually functional, often surprising, and typically "messy" because the algorithms are told to concentrate on the overriding objective and not elegance or simplicity. advantages. First, faster design cycles translate into time and, hence, cost savings. Second, automated design techniques can be made to scale well and hence better deal with increasing amounts of design complexity. Third, design quality can increase because design properties can be specified a priori. For example, size and weight specifications of a device, smaller and lighter than the best known design, might be optimized by the automated design technique. The domain of electronic circuit design is an advantageous platform in which to study automated design techniques because it is a rich design space that is well understood, permitting human-created designs to be compared to machine- generated designs. developed for circuit design was to automatically produce high-level integrated electronic circuit designs whose properties permit physical implementation in silicon. This process entailed designing an effective evolutionary algorithm and solving a difficult multiobjective optimization problem. FY 99 saw many accomplishments in this effort.

Lohn, Jason D.↗
NASA NTRS2004

The Need for a Shear Stress Calibration Standard

By surveying current research of various micro-electro mechanical systems (MEMS) shear stress sensor development efforts we illustrate the wide variety of methods used to test and characterize these sensors. The different methods of testing these sensors make comparison of results difficult in some cases, and also this comparison is further complicated by the different formats used in reporting the results of these tests. The fact that making these comparisons can be so difficult at times clearly illustrates a need for standardized testing and reporting methodologies. This need indicates that the development of a national or international standard for the calibration of MEMS shear stress sensors should be undertaken. As a first step towards the development of this standard, two types of devices are compared and contrasted. The first type device is a laminar flow channel with two different versions considered: the first built with standard manufacturing techniques and the second with advanced precision manufacturing techniques. The second type of device is a new concept for creating a known shear stress consisting of a rotating wheel with the sensor mounted tangentially to the rim and positioned in close proximity to the rim. The shear stress generated by the flow at the sensor position is simply tau = (mu)r(omega)/h, where mu is the viscosity of the ambient gas, r the wheel radius, omega the angular velocity of the wheel, and h the width of the gap between the wheel rim and the sensor. Additionally, issues related to the development of a standard for shear stress calibration are identified and discussed.

Scott, Michael A.↗
NASA NTRS2004

Improvements to the Two-Thickness Method for Deriving Acoustic Properties of Materials

The characteristic impedance and other derivative acoustic properties of a material can be derived from impedance tube data using the specific impedance measured from samples with two different thicknesses. In practice, samples are chosen so that their respective thicknesses differ by a factor of 2. This simplifies the solution of the equations relating the properties of the two samples so that the computation of the characteristic impedance is straightforward. This approach has at least two drawbacks. One is that it is often difficult to acquire or produce samples with precisely a factor of 2 difference in thickness. A second drawback is that the phase information contained in the imaginary part of the propagation constant must be unwrapped before subsequent computations are performed. For well-behaved samples, this is not a problem. For ill behaved samples of unknown properties, the phase unwrapping process can be tedious and difficult to automate. Two alternative approaches have been evaluated which remove the factor-of-2 sample thickness requirement and directly compute unwrapped phase angles. One uses a Newton-Raphson approach to solve for the roots of the samples' simultaneous equations. The other produces a wave number space diagram in which the roots are clearly discernable and easily extracted. Results are presented which illustrate the flexibility of analysis provided by the new approaches and how this can be used to better understand the limitations of the impedance tube data.

Palumbo, Daniel L.↗
NASA NTRS2001

Wind Tunnel Data Fusion and Immersive Visualization: A Case Study

This case study describes the process of fusing the data from several wind tunnel experiments into a single coherent visualization. Each experiment was conducted independently and was designed to explore different flow features around airplane landing gear. In the past, it would have been very difficult to correlate results from the different experiments. However, with a single 3-D visualization representing the fusion of the three experiments, significant insight into the composite flowfield was observed that would have been extremely difficult to obtain by studying its component parts. The results are even more compelling when viewed in an immersive environment.

Severance, Kurt↗
NASA NTRS2004

Methods for Validation and Intercomparison of Remote Sensing and In situ Ice Water Measurements: Case Studies from CRYSTAL-FACE and Model Results

Remote sensing observations, such as those from AURA, are necessary to understand the role of cirrus in determining the radiative and humidity budgets of the upper troposphere. Using these measurements quantitatively requires comparisons with in situ measurements that have previously been validated. However, a direct comparison of remote and in situ measurements is difficult due to the requirement that the spatial and temporal overlap be sufficient in order to guarantee that both instruments are measuring the same air parcel. A difficult as this might be for gas phase intercomparisons, cloud inhomogeneities significantly exacerbate the problem for cloud ice water content measurements. The CRYSTAL-FACE mission provided an opportunity to assess how well such intercomparisons can be performed and to establish flight plans that will be necessary for validation of future satellite instruments. During CRYSTAL-FACE, remote and in situ instruments were placed on different aircraft (NASA's ER-2 and WB-59, and the two planes flew in tandem so that the in situ payload flew in the field of view of the remote instruments. We show here that, even with this type of careful flight planning, it is not always possible to guarantee that remote and in situ instruments are viewing the same air parcel. We use ice water data derived from the in situ Harvard Total Water (HV-TW) instrument, and the remote Goddard Cloud Radar System (CRS) and show that agreement between HV-TW and CRS is a strong function of the horizontal separation and the time delay between the aircraft transects. We also use a cloud model to simulate possible trajectories through a cloud and evaluate the use of statistical analysis in determining the agreement between the two instruments. This type of analysis should guide flight planning for future intercomparison efforts, whether for aircraft or satellite-borne instrumentation.

Sayres, D.S.↗
NASA NTRS1999

Verification and Analysis of Formulation 4 of Langley for the Study of Noise From High Speed Surfaces

There are several approaches to the prediction of the noise from sources on high speed surfaces. Two of these are the Kirchhoff and the Ffowcs williams-Hawkings methods. It can be shown that both of these methods depend on the solution of the wave equation with mathematically similar inhomogeneous source terms. Two subsonic solutions known as Formulation 1 and 1A of Langley are simple and efficient for noise prediction. The supersonic solution known as Formulation 3 is very complicated and difficult to code. Because of the complexity of the result, the computation time is longer than the subsonic formulas. Furthermore, it is difficult to assess the accuracy of noise prediction. We have been searching for a new and simpler supersonic formulation without these shortcomings. In the last AIAA Aeroacoustics Conference in Toulouse, Farassat, Dunn and Brentner presented a paper in which such a result was presented and called Formulation 4 of Langley. In this paper we will present two analytic tests of the validity this Formulation: 1) the noise from dipole distribution on the unit circle whose strength varies radially with the square of the distance from the center and 2) the noise from dipole distribution on the unit sphere whose strength varies with the cosine of the angle from the polar axis. We will discuss the question of singularities of Formulation 4.

Farassat, F.↗
NASA NTRS1989

Radio frequency interference at Jodrell Bank Observatory within the protected 21 cm band

Radio frequency interference (RFI) will provide one of the most difficult challenges to systematic Searches for Extraterrestrial Intelligence (SETI) at microwave frequencies. The SETI-specific equipment is being optimized for the detection of signals generated by a technology rather than those generated by natural processes in the universe. If this equipment performs as expected, then it will inevitably detect many signals originating from terrestrial technology. If these terrestrial signals are too numerous and/or strong, the equipment will effectively be blinded to the (presumably) weaker extraterrestrial signals being sought. It is very difficult to assess how much of a problem RFI will actually represent to future observations, without employing the equipment and beginning the search. In 1983 a very high resolution spectrometer was placed at the Nuffield Radio Astronomy Laboratories at Jodrell Bank, England. This equipment permitted an investigation of the interference environment at Jodrell Bank, at that epoch, and at frequencies within the 21 cm band. This band was chosen because it has long been "protected" by international agreement; no transmitters should have been operating at those frequencies. The data collected at Jodrell Bank were expected to serve as a "best case" interference scenario and provide the minimum design requirements for SETI equipment that must function in the real and noisy environment. This paper describes the data collection and analysis along with some preliminary conclusions concerning the nature of the interference environment at Jodrell Bank.

NASA Discipline Number 52-60↗
NASA NTRS2001

Endoscopic surgery in weightlessness: the investigation of basic principles for surgery in space

BACKGROUND: Performing a surgical procedure in weightlessness, also called 0-gravity (0-g), has been shown to be no more difficult than in a 1-g environment if the requirements for the restraint of the patient, operator, surgical hardware, are observed. The performance of laparoscopic and thorascopic procedures in weightlessness, if feasible, would offer several advantages over the performance of an open operation. Concerns about the feasibility of performing minimally invasive procedures in weightlessness have included impaired visualization from the absence of gravitational retraction of the bowel (laparoscopy) or thoracic organs (thoracoscopy) as well as obstruction and interference from floating debris such as blood, pus, and irrigation fluid. The purpose of this study was to determine the feasibility of performing laparoscopic and thorascopic procedures and the degree of impaired surgical endoscopic visualization in weightlessness. METHODS: From 1993 to 2000, laparoscopic and thorascopic procedures were performed on 10 anesthetized adult pigs weighing approximately 50 kg in the National Aeronautics and Space Administration (NASA) Microgravity Program using a modified KC-135 airplane. The parabolic simulation system for advanced life support was used in this project, and 20 to 40 parabolas were used for laparoscopic or thorascopic investigation, each containing approximately 30 s of 0-g alternating with 2-g pullouts. The animal model was restrained in the supine position on a floor-level Crew Medical Restraint System, and the abdominal cavity was insufflated with carbon dioxide. The intraabdominal and intrathoracic anatomy was visualized in the 1-g, 0-g, and 2-g periods of parabolic flight. Bleeding was created in the animals, and the behavior of the blood in the abdominal and thoracic cavities was observed. In the thoracic cavity, gas insufflation and mechanical retraction was used at times unilaterally to decrease pulmonary ventilation enough to increase the thoracic domain. RESULTS: Visualization was improved in laparoscopy, from tethering of the bowel by the elastic mesentery, and from the strong tendency for debris and blood to adhere to the abdominal wall because of surface tension forces. The lack of adequate thoracic domain made thorascopy more difficult. Fluid in the thoracic cavity did not impair visualization because the fluid at 0-g does not loculate posteriorly, but disperses along the thoracic wall and mediastinal reflections. CONCLUSIONS: Performing minimally invasive procedures instead of open surgical procedures in a weightless environment has theoretical advantages, especially in the ability to prevent cabin atmosphere contamination from surgical fluids (blood, pus, irrigation). Visualization will become more important and practical as the endoscopic hardware is miniaturized from its current form, as endoscopic technology becomes more advanced, and as more surgically capable medical crew officers are present in future long-duration space exploration missions.

short duration↗
NASA NTRS2000

Error, stress, and teamwork in medicine and aviation: cross sectional surveys

OBJECTIVES: To survey operating theatre and intensive care unit staff about attitudes concerning error, stress, and teamwork and to compare these attitudes with those of airline cockpit crew. DESIGN:: Cross sectional surveys. SETTING:: Urban teaching and non-teaching hospitals in the United States, Israel, Germany, Switzerland, and Italy. Major airlines around the world. PARTICIPANTS:: 1033 doctors, nurses, fellows, and residents working in operating theatres and intensive care units and over 30 000 cockpit crew members (captains, first officers, and second officers). MAIN OUTCOME MEASURES:: Perceptions of error, stress, and teamwork. RESULTS:: Pilots were least likely to deny the effects of fatigue on performance (26% v 70% of consultant surgeons and 47% of consultant anaesthetists). Most pilots (97%) and intensive care staff (94%) rejected steep hierarchies (in which senior team members are not open to input from junior members), but only 55% of consultant surgeons rejected such hierarchies. High levels of teamwork with consultant surgeons were reported by 73% of surgical residents, 64% of consultant surgeons, 39% of anaesthesia consultants, 28% of surgical nurses, 25% of anaesthetic nurses, and 10% of anaesthetic residents. Only a third of staff reported that errors are handled appropriately at their hospital. A third of intensive care staff did not acknowledge that they make errors. Over half of intensive care staff reported that they find it difficult to discuss mistakes. CONCLUSIONS: Medical staff reported that error is important but difficult to discuss and not handled well in their hospital. Barriers to discussing error are more important since medical staff seem to deny the effect of stress and fatigue on performance. Further problems include differing perceptions of teamwork among team members and reluctance of senior theatre staff to accept input from junior members.

Non-NASA Center↗
NASA NTRS2002

The D3 Middleware Architecture

DARWIN is a NASA developed, Internet-based system for enabling aerospace researchers to securely and remotely access and collaborate on the analysis of aerospace vehicle design data, primarily the results of wind-tunnel testing and numeric (e.g., computational fluid-dynamics) model executions. DARWIN captures, stores and indexes data; manages derived knowledge (such as visualizations across multiple datasets); and provides an environment for designers to collaborate in the analysis of test results. DARWIN is an interesting application because it supports high-volumes of data. integrates multiple modalities of data display (e.g., images and data visualizations), and provides non-trivial access control mechanisms. DARWIN enables collaboration by allowing not only sharing visualizations of data, but also commentary about and views of data. Here we provide an overview of the architecture of D3, the third generation of DARWIN. Earlier versions of DARWIN were characterized by browser-based interfaces and a hodge-podge of server technologies: CGI scripts, applets, PERL, and so forth. But browsers proved difficult to control, and a proliferation of computational mechanisms proved inefficient and difficult to maintain. D3 substitutes a pure-Java approach for that medley: A Java client communicates (though RMI over HTTPS) with a Java-based application server. Code on the server accesses information from JDBC databases, distributed LDAP security services, and a collaborative information system. D3 is a three tier-architecture, but unlike 'E-commerce' applications, the data usage pattern suggests different strategies than traditional Enterprise Java Beans - we need to move volumes of related data together, considerable processing happens on the client, and the 'business logic' on the server-side is primarily data integration and collaboration. With D3, we are extending DARWIN to handle other data domains and to be a distributed system, where a single login allows a user transparent access to test results from multiple servers and authority domains.

Walton, Joan↗