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At least 487 records · Page 27

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗

Effects of the Ionosphere on Passive Microwave Remote Sensing of Ocean Salinity from Space

Among the remote sensing applications currently being considered from space is the measurement of sea surface salinity. The salinity of the open ocean is important for understanding ocean circulation and for modeling energy exchange with the atmosphere. Passive microwave remote sensors operating near 1.4 GHz (L-band) could provide data needed to fill the gap in current coverage and to complement in situ arrays being planned to provide subsurface profiles in the future. However, the dynamic range of the salinity signal in the open ocean is relatively small and propagation effects along the path from surface to sensor must be taken into account. In particular, Faraday rotation and even attenuation/emission in the ionosphere can be important sources of error. The purpose or this work is to estimate the magnitude of these effects in the context of a future remote sensing system in space to measure salinity in L-band. Data will be presented as a function of time location and solar activity using IRI-95 to model the ionosphere. The ionosphere presents two potential sources of error for the measurement of salinity: Rotation of the polarization vector (Faraday rotation) and attenuation/emission. Estimates of the effect of these two phenomena on passive remote sensing over the oceans at L-band (1.4 GHz) are presented.

LeVine, D. M.↗

Autonomous space processor for orbital debris

The development of an Autonomous Space Processor for Orbital Debris (ASPOD) was the goal. The nature of this craft, which will process, in situ, orbital debris using resources available in low Earth orbit (LEO) is explained. The serious problem of orbital debris is briefly described and the nature of the large debris population is outlined. The focus was on the development of a versatile robotic manipulator to augment an existing robotic arm, the incorporation of remote operation of the robotic arms, and the formulation of optimal (time and energy) trajectory planning algorithms for coordinated robotic arms. The mechanical design of the new arm is described in detail. The work envelope is explained showing the flexibility of the new design. Several telemetry communication systems are described which will enable the remote operation of the robotic arms. The trajectory planning algorithms are fully developed for both the time optimal and energy optimal problems. The time optimal problem is solved using phase plane techniques while the energy optimal problem is solved using dynamic programming.

Ramohalli, Kumar↗

A Multi-Scale Sampling Strategy for Detecting Physiologically Significant Signals in AVIRIS Imagery

Models of photosynthetic production at ecosystem and global scales require multiple input parameters specifying physical and physiological surface features. While certain physical parameters (e.g., absorbed photosynthetically active radiation) can be derived from current satellite sensors, other physiologically relevant measures (e.g., vegetation type, water status, carboxylation capacity, or photosynthetic light-use efficiency), are not generally directly available from current satellite sensors at the appropriate geographic scale. Consequently, many model parameters must be assumed or derived from independent sources, often at an inappropriate scale. An abundance of ecophysiological studies at the leaf and canopy scales suggests strong physiological control of vegetation-atmosphere CO2 and water vapor fluxes, particularly in evergreen vegetation subjected to diurnal or seasonal stresses. For example hot, dry conditions can lead to stomatal closure, and associated "downregulation" of photosynthetic biochemical processes, a phenomenon often manifested as a "midday photosynthetic depression". A recent study with the revised simple biosphere (SiB2) model demonstrated that photosynthetic downregulation can significantly impact global climate. However, at the global scale, the exact significance of downregulation remains unclear, largely because appropriate physiological measures are generally unavailable at this scale. Clearly, there is a need to develop reliable ways of extracting physiologically relevant information from remote sensing. Narrow-band spectrometers offer many opportunities for deriving physiological parameters needed for ecosystem and global scale photosynthetic models. Experimental studies on the ground at the leaf- to stand-scale have indicated that several narrow-band features can be used to detect plant physiological status. One physiological signal is caused by xanthophyll cycle pigment activity, and is often expressed as the Photochemical Reflectance Index (PRI). Because the xanthophyll cycle pigments are photoregulatory pigments closely linked to photosynthetic function, this index can be used to derive relative photosynthetic rates. An additional signal with physiological significance is the 970 nm water absorption band, which provides a measure of liquid water content. This feature has been quantified both using a simple 2-band ratio (900/970 nm, here referred to as the "Water Band Index" or WBI;), and using the "continuum removal" method. Current atmospheric correction methods for AVIRIS imagery also obtain quantitative expressions of surface liquid water absorption based on the 970 nm water band and may be comparable to ground-based estimates of water content using this feature. However, physiological interpretations of both the PRI and the WBI are best understood at the leaf and canopy scales, where complications of atmospheric interference and complex stand and landscape features can be minimized, and where experimental manipulations can be readily applied. Currently it is not known whether these physiological indices can be used to derive meaningful physiological information from AVIRIS imagery. In addition to the problem of atmospheric interference, another challenge is that any simple physiological index can be confounded by multiple factors unrelated to physiology, and this problem can become more severe at progressively larger spatial scales. For example, previous work has suggested that both the PRI and the WBI, are strongly correlated with other optical measures of canopy structure (e.g., the Normalized Difference Vegetation Index or green vegetation fraction), indicating a confounding effect of structure on physiological signals at the larger, landscape scale. Furthermore, the normal operating mode of most imaging spectrometers does not allow simultaneous, ground truthing at a level of detail needed for physiological sampling. Additionally, manipulative experiments of physiology are difficult to apply at a geographic scale suitable for comparison with remote imagery, which often works at spatial scales that are several orders of magnitude larger than those typically used for physiological studies. These limitations require the consideration of alternative approaches to validating physiological information derived from AVIRIS data. In this report, we present a multi-scale sampling approach to detecting physiologically significant signals in narrow-band spectra. This approach explores the multi-dimensional data space provided by narrow-band spectrometry, and combines AVIRIS imagery at a large scale, with ground spectral sampling at an intermediate scale, and detailed ecophysiological measurements at a fine scale, to examine seasonally and spatially changing relationships between multiple structural and physiological variables. Examples of this approach are provided by simultaneous sampling of the Normalized Difference Vegetation Index (NDVI), an index of fractional PAR interception and green vegetation cover, the Water Band Index (WBI, an index of liquid water absorption, and the Photochemical Reflectance Index (PRI, an index of xanthophyll cycle pigment activity and photosynthetic light-use efficiency. By directly linking changing optical properties sampled on the ground with measurable physiological states, we hope to develop a basis for interpreting similar signals in AVIRIS imagery.

Gamon, John A.↗

Winter Camp: A Blog from the Greenland Summit, Part II

An earlier issue presents the first half of the author's experience living and working at the National Science Foundation's (NSF) Greenland Summit Camp. The author is a remote-sensing glaciologist at NASA s Goddard Space Flight Center. She took measurements that will be used to validate data collected by NASA s Aqua, Terra, and Ice, Clouds, and land Elevation Satellite (ICESat) satellites with ground-truth measurements of the Greenland Ice Sheet she made at Summit Camp from November 2008-February 2009. This article presents excerpts from the second half of her stay and work at the Greenland Summit.

Koenig, Lora↗

Winter Camp: A Blog from the Greenland Summit

This article presents the first half of the author's experience living and working at the National Science Foundation's (NSF) Greenland Summit Camp. The author is a remote-sensing glaciologist at NASA's Goddard Space Flight Center. She took measurements that will be used to validate data collected by NASA s Aqua, Terra, and Ice, Clouds, and land Elevation Satellite (ICESat) satellites with ground-truth measurements of the Greenland Ice Sheet she made at Summit Camp from November 2008-February 2009. This article presents excerpts from the second half of her stay and work at the Greenland Summit. The second half of the story is presented in another issue of this journal

Koenig, Lora↗

Feasibility of remotely manipulated welding in space: A step in the development of novel joining technologies

A six month research program entitled Feasibility of Remotely Manipulated Welding in Space - A Step in the Development of Novel Joining Technologies is performed at the Massachusetts Institute of Technology for the Office of Space Science and Applications, NASA, under Contract No. NASW-3740. The work is performed as a part of the Innovative Utilization of the Space Station Program. The final report from M.I.T. was issued in September 1983. This paper presents a summary of the work performed under this contract. The objective of this research program is to initiate research for the development of packaged, remotely controlled welding systems for space construction and repair. The research effort includes the following tasks: (1) identification of probable joining tasks in space; (2) identification of required levels of automation in space welding tasks; (3) development of novel space welding concepts; (4) development of recommended future studies; and (5) preparation of the final report.

Masubuchi, K.↗

Applications experiments in the Houston region

Organization, staffing, and planning for experimental applications of remote sensing data to gain land use and water management information are described. Work was started on an experimental data base, aerial multispectral photography, and forest and wild life surveys as part of a regional inventory and monitory program.

Erb, R. B.↗

TV requirements for manipulation in space

Four tasks (docking, coupling, manipulation, and transportation), stressing work volume and element relationships, are outlined to test a video system for remote manipulation in space. A 4 degree of freedom motion frame was used to evaluate operating parameters, which grouped the visual dimensions into major areas of influence, e.g., depth precision, object differentiation, reference, dynamics, and resolution. Four video systems were included in the simulation testing: a black and white and a color monoscopic system, a stereoscopic system, and a black and white two-view system. The two-view system was found best suited for the operations described.

Freedman, L. A.↗

Critical issues in NASA information systems

The National Aeronautics and Space Administration has developed a globally-distributed complex of earth resources data bases since LANDSAT 1 was launched in 1972. NASA envisages considerable growth in the number, extent, and complexity of such data bases, due to the improvements expected in its remote sensing data rates, and the increasingly multidisciplinary nature of its scientific investigations. Work already has begun on information systems to support multidisciplinary research activities based on data acquired by the space station complex and other space-based and terrestrial sources. In response to a request from NASA's former Associate Administrator for Space Science and Applications, the National Research Council convened a committee in June 1985 to identify the critical issues involving information systems support to space science and applications. The committee has suggested that OSSA address four major information systems issues; centralization of management functions, interoperability of user involvement in the planning and implementation of its programs, and technology.

Source record↗

Martian surface analogs: Laboratory spectral studies in the mid infrared

Ground-based telescopic reflectance spectra and analyses of Viking data have led to the conclusion that Martian surface fines are derived from a mafic to ultramafic source material, though the actual composition of these surface fines is still undetermined. A variety of possible compositions were proposed by several authors, however, with salts, particularly sulfates and carbonates, as important components in many of these models. Although salts are predicted components of the Martian surface, they are not identified in telescopic reflectance spectroscopic observations to date. One explanation for the absence of salts in these data is that they are not in quantities large enough to detect. This study was undertaken to determine the detectability of salts in various proposed Martian surface analog mixtures. This study concentrates on the carbonates and sulfate spectral features in the 2.5 to 25 micrometer spectral range because of recent work showing the usefulness of weak bands in the mid infrared for the remote sensing of particulate planetary surfaces. All measurements were made using a Nicolet 5SXC FTIR spectrometer with a bidirectional reflectance attachment, which uses an aluminum mirror as the background against which the sample is compared.

Walsh, P. A.↗

Interesting viewpoints to those who will put Ada into practice

Ada will most probably be used as the programming language for computers in the NASA Space Station. It is reasonable to suppose that Ada will be used for at least embedded computers, because the high software costs for these embedded computers were the reason why Ada activities were initiated about ten years ago. The on-board computers are designed for use in space applications, where maintenance by man is impossible. All manipulation of such computers has to be performed in an autonomous way or remote with commands from the ground. In a manned Space Station some maintenance work can be performed by service people on board, but there are still a lot of applications, which require autonomous computers, for example, vital Space Station functions and unmanned orbital transfer vehicles. Those aspect which have come out of the analysis of Ada characteristics together with the experience of requirements for embedded on-board computers in space applications are examined.

Carlsson, Arne↗

Applying remote sensing and GIS techniques in solving rural county information needs

The project designed was to acquaint county government officials and their clientele with remote sensing and GIS products that contain information about land conditions and land use. Other users determined through the course of this project were federal agencies working at the county level, agricultural businesses and others in need of spatial information. The specific project objectives were: (1) to investigate the feasibility of using remotely sensed data to identify and quantify specific land cover categories and conditions for purposes of tax assessment, cropland area measurements and land use evaluation; (2) to investigate the use of satellite remote sensing data as an aid in assessing soil management practices; and (3) to evaluate the use of remotely sensed data to assess soil resources and conditions which affect productivity.

Johannsen, Chris J.↗

Flood Management Enhancement Using Remotely Sensed Data

SENTAR, Inc., entered into a cooperative agreement with NASA Goddard Space Flight Center (GSFC) in December 1994. The intent of the NASA Cooperative Agreement was to stimulate broad public use, via the Internet, of the very large remote sensing databases maintained by NASA and other agencies, thus stimulating U.S. economic growth, improving the quality of life, and contributing to the implementation of a National Information Infrastructure. SENTAR headed a team of collaborating organizations in meeting the goals of this project. SENTAR's teammates were the NASA Marshall Space Flight Center (MSFC) Global Hydrology and Climate Center (GHCC), the U.S. Army Space and Strategic Defense Command (USASSDC), and the Alabama Emergency Management Agency (EMA). For this cooperative agreement, SENTAR and its teammates accessed remotely sensed data in the Distributed Active Archive Centers, and other available sources, for use in enhancing the present capabilities for flood disaster management by the Alabama EMA. The project developed a prototype software system for addressing prediction, warning, and damage assessment for floods, though it currently focuses on assessment. The objectives of the prototype system were to demonstrate the added value of remote sensing data for emergency management operations during floods and the ability of the Internet to provide the primary communications medium for the system. To help achieve these objectives, SENTAR developed an integrated interface for the emergency operations staff to simplify acquiring and manipulating source data and data products for use in generating new data products. The prototype system establishes a systems infrastructure designed to expand to include future flood-related data and models or to include other disasters with their associated remote sensing data requirements and distributed data sources. This report covers the specific work performed during the seventh, and final, milestone period of the project, which began on 1 October 1996 and ended on 31 January 1997. In addition, it provides a summary of the entire project.

Romanowski, Gregory J.↗

STS-85 Day 09 Highlights

On this ninth day of the STS-85 mission, the flight crew, Cmdr. Curtis L. Brown, Jr., Pilot Kent V. Rominger, Payload Cmdr. N. Jan Davis (Ph.D.), Mission Specialists Robert L. Curbeam, Jr. and Stephen K. Robinson (Ph.D.), and Payload Specialist Bjarni V. Tryggvason watch over the Manipulator Flight Demonstration (MFD) experiment while Japanese investigators again maneuvere the Small Fine Arm remotely from a control room near Mission Control. It is the final planned work with the arm during this mission. While MFD operations are ongoing, Robinson again uses the Southwest Ultraviolet Imaging System's ultraviolet imaging telescope to observe Comet Hale-Bopp and Curbeam continue his work with the Bioreactor Demonstration System designed to perform cell biology experiments under controlled conditions. Tryggvason spends his day supporting data gathering with the Microgravity Vibration Isolation Mount experiment. Before the crew's workday began, they discussed the mission's progress with reporters in the U.S. and Canada as part of the traditional crew news conference. Questions ranged from life in space for the first time space travelers to providing a report card on the more than 24 experiments being conducted throughout the mission.

Source record↗

Flight Testing of a Cryogenic Capillary Pumped Loop

Future space-based cryogenic systems will require enhanced integration flexibility, lower weight reduced parasitic penalties, better vibration isolation, and a variety of other improvements to meet performance goals. Additionally, there is an increasing need to locate cooling sources remotely from cooled components. In the past flexible conductive links were used and worked well in most cases. However, as the transport lengths increase, conductive couplings become heavier and less effective, and must be replaced by higher performance systems. One available option, which can meet many of these future requirements, is the cryogenic capillary pumped loop (CCPL). The development of the CCPL technology started in 1992, following the success of the room temperature CPLS. The extrapolation of CCPL technology to cryogenic temperatures offers many performance benefits, which are not currently within the reach of traditional heat pipes or conductive links. Specific advantages of the CCPL technology pertaining to cryocooler integration include: (1) greater capillary pumping pressure for improved ground testability; (2) improved mechanical isolation; (3) faster diode shutdown and lower reverse heat leaks; (4) tighter control of detector temperature; (5) variable or fixed conductance operation; and (6) ease of integration due to their flexibility. The applications of CCPL technology are numerous. Military and commercial applications include surveillance satellites, earth observing satellites, deep space observation systems, medical devices, and many other cryogenic systems. Over the past few years, several breadboard and prototype CCPLs have been built and ground tested. A prototype CCPL has demonstrated successful operation between 80K and 110K with heat loads between O.5W and 12W using nitrogen as the working fluid, and 35K and 40K with head loads of 0.25W to 3.5W using neon. In order to verify CCPL performance in a microgravity environment, a flight unit, CCPL-5, was tested onboard the Space Shuttle STS-95 in October of 1998 as part of the CRYOTSU Flight Experiment. This flight was the first in-space demonstration of the CCPL. The CCPL-5 utilized nitrogen as the working fluid and operated between 75K and 110K. Flight results indicated excellent performance of the CCPL-5 under zero-G environment The CCPL could start from a supercritical condition in all tests, and the loop operating temperature could be tightly controlled regardless of changes in the heat load and/or the sink temperature. In addition, the loop demonstrated successful operation with a heat load of 0.5W as well as with parasitic heat loads alone. There were no noticeable differences between zero-G and one-G operation.

Ku, Jentung↗

RIACS

The Research Institute for Advanced Computer Science (RIACS) was established by the Universities Space Research Association (USRA) at the NASA Ames Research Center (ARC) on June 6, 1983. RIACS is privately operated by USRA, a consortium of universities that serves as a bridge between NASA and the academic community. Under a five-year co-operative agreement with NASA, research at RIACS is focused on areas that are strategically enabling to the Ames Research Center's role as NASA's Center of Excellence for Information Technology. The primary mission of RIACS is charted to carry out research and development in computer science. This work is devoted in the main to tasks that are strategically enabling with respect to NASA's bold mission in space exploration and aeronautics. There are three foci for this work: (1) Automated Reasoning. (2) Human-Centered Computing. and (3) High Performance Computing and Networking. RIACS has the additional goal of broadening the base of researcher in these areas of importance to the nation's space and aeronautics enterprises. Through its visiting scientist program, RIACS facilitates the participation of university-based researchers, including both faculty and students, in the research activities of NASA and RIACS. RIACS researchers work in close collaboration with NASA computer scientists on projects such as the Remote Agent Experiment on Deep Space One mission, and Super-Resolution Surface Modeling.

Moore, Robert C.↗

RIACS

The Research Institute for Advanced Computer Science (RIACS) was established by the Universities Space Research Association (USRA) at the NASA Ames Research Center (ARC) on June 6, 1983. RIACS is privately operated by USRA, a consortium of universities that serves as a bridge between NASA and the academic community. Under a five-year co-operative agreement with NASA, research at RIACS is focused on areas that are strategically enabling to the Ames Research Center's role as NASA's Center of Excellence for Information Technology. Research is carried out by a staff of full-time scientist,augmented by visitors, students, post doctoral candidates and visiting university faculty. The primary mission of RIACS is charted to carry out research and development in computer science. This work is devoted in the main to tasks that are strategically enabling with respect to NASA's bold mission in space exploration and aeronautics. There are three foci for this work: Automated Reasoning. Human-Centered Computing. and High Performance Computing and Networking. RIACS has the additional goal of broadening the base of researcher in these areas of importance to the nation's space and aeronautics enterprises. Through its visiting scientist program, RIACS facilitates the participation of university-based researchers, including both faculty and students, in the research activities of NASA and RIACS. RIACS researchers work in close collaboration with NASA computer scientists on projects such as the Remote Agent Experiment on Deep Space One mission, and Super-Resolution Surface Modeling.

Moore, Robert C.↗