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NASA NTRSDate not supplied

Assessment of Sensor Data Accuracy within Gazebo/ROS for High-Precision Autonomous In-Space Robotic Operations

Modeling high-precision in-space servicing, assembly, and manufacturing operations in a simulated environment is a critical step in the development of robotic systems that will be used to autonomously assemble large-scale structures in space. Limited facility size and high costs for manufacturing prototypes make it challenging to conduct full-scale operational testing under appropriate environmental conditions; therefore, testing in a modular, high-fidelity simulation environment is necessary for verification and validation of technology and architecture designs prior to launch. Several modeling and simulation environments exist both within NASA and industry that can be used to test robotic system design and operations, including the widely used commercial tool Gazebo integrated with Robotic Operating System software. Because the performance of autonomous robotic systems relies heavily on the quality of sensor input data, this paper focuses on assessing the accuracy of pose data from an optical sensor model in the Gazebo environment against the behavior of real hardware. The results of the tests will help developers using Gazebo for large-scale, high-precision simulation to account for modeling inaccuracies within their robotic control system algorithms.

simulation↗

NASA NTRS1984

Demand for satellite-provided domestic communications services up to the year 2000

Three fixed service telecommunications demand assessment studies were completed for NASA by The Western Union Telegraph Company and the U.S. Telephone and Telegraph Corporation. They provided forecasts of the total U.S. domestic demand, from 1980 to the year 2000, for voice, data, and video services. That portion that is technically and economically suitable for transmission by satellite systems, both large trunking systems and customer premises services (CPS) systems was also estimated. In order to provide a single set of forecasts a NASA synthesis of the above studies was conducted. The services, associated forecast techniques, and data bases employed by both contractors were examined, those elements of each judged to be the most appropriate were selected, and new forecasts were made. The demand for voice, data, and video services was first forecast in fundamental units of call-seconds, bits/year, and channels, respectively. Transmission technology characteristics and capabilities were then forecast, and the fundamental demand converted to an equivalent transmission capacity. The potential demand for satellite-provided services was found to grow by a factor of 6, from 400 to 2400 equivalent 36 MHz satellite transponders over the 20-year period. About 80 percent of this was found to be more appropriate for trunking systems and 20 percent CPS.

Stevenson, S.↗

NASA NTRS2003

Exploring the Solar System Activities Outline: Hands-On Planetary Science for Formal Education K-14 and Informal Settings

Activities by NASA scientists and teachers focus on integrating Planetary Science activities with existing Earth science, math, and language arts curriculum. The wealth of activities that highlight missions and research pertaining to the exploring the solar system allows educators to choose activities that fit a particular concept or theme within their curriculum. Most of the activities use simple, inexpensive techniques that help students understand the how and why of what scientists are learning about comets, asteroids, meteorites, moons and planets. With these NASA developed activities students experience recent mission information about our solar system such as Mars geology and the search for life using Mars meteorites and robotic data. The Johnson Space Center ARES Education team has compiled a variety of NASA solar system activities to produce an annotated thematic outline useful to classroom educators and informal educators as they teach space science. An important aspect of the outline annotation is that it highlights appropriate science content information and key science and math concepts so educators can easily identify activities that will enhance curriculum development. The outline contains URLs for the activities and NASA educator guides as well as links to NASA mission science and technology. In the informal setting educators can use solar system exploration activities to reinforce learning in association with thematic displays, planetarium programs, youth group gatherings, or community events. Within formal education at the primary level some of the activities are appropriately designed to excite interest and arouse curiosity. Middle school educators will find activities that enhance thematic science and encourage students to think about the scientific process of investigation. Some of the activities offered are appropriate for the upper levels of high school and early college in that they require students to use and analyze data.

Allen, J. S.↗

NASA NTRS2016

Analysis of 2015 Winter In-Flight Icing Case Studies with Ground-Based Remote Sensing Systems Compared to In-Situ SLW Sondes

National Aeronautics and Space Administration (NASA) and the National Center for Atmospheric Research (NCAR) have developed an icing remote sensing technology that has demonstrated skill at detecting and classifying icing hazards in a vertical column above an instrumented ground station. This technology has recently been extended to provide volumetric coverage surrounding an airport. Building on the existing vertical pointing system, the new method for providing volumetric coverage utilizes a vertical pointing cloud radar, a multi-frequency microwave radiometer with azimuth and elevation pointing, and a NEXRAD radar. The new terminal area icing remote sensing system processes the data streams from these instruments to derive temperature, liquid water content, and cloud droplet size for each examined point in space. These data are then combined to ultimately provide icing hazard classification along defined approach paths into an airport. To date, statistical comparisons of the vertical profiling technology have been made to Pilot Reports and Icing Forecast Products. With the extension into relatively large area coverage and the output of microphysical properties in addition to icing severity, the use of these comparators is not appropriate and a more rigorous assessment is required. NASA conducted a field campaign during the early months of 2015 to develop a database to enable the assessment of the new terminal area icing remote sensing system and further refinement of terminal area icing weather information technologies in general. In addition to the ground-based remote sensors listed earlier, in-situ icing environment measurements by weather balloons were performed to produce a comprehensive comparison database. Balloon data gathered consisted of temperature, humidity, pressure, super-cooled liquid water content, and 3-D position with time. Comparison data plots of weather balloon and remote measurements, weather balloon flight paths, bulk comparisons of integrated liquid water content and icing cloud extent agreement, and terminal-area hazard displays are presented. Discussions of agreement quality and paths for future development are also included.

aviation meteorology↗

NASA NTRS1993

RIACS/USRA

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 6 June 1983. RIACS is privately operated by USRA, a consortium of universities with research programs in the aerospace sciences, under contract with NASA. The primary mission of RIACS is to provide research and expertise in computer science and scientific computing to support the scientific missions of NASA ARC. The research carried out at RIACS must change its emphasis from year to year in response to NASA ARC's changing needs and technological opportunities. A flexible scientific staff is provided through a university faculty visitor program, a post doctoral program, and a student visitor program. Not only does this provide appropriate expertise but it also introduces scientists outside of NASA to NASA problems. A small group of core RIACS staff provides continuity and interacts with an ARC technical monitor and scientific advisory group to determine the RIACS mission. RIACS activities are reviewed and monitored by a USRA advisory council and ARC technical monitor. Research at RIACS is currently being done in the following areas: Parallel Computing, Advanced Methods for Scientific Computing, High Performance Networks and Technology, and Learning Systems. Parallel compiler techniques, adaptive numerical methods for flows in complicated geometries, and optimization were identified as important problems to investigate for ARC's involvement in the Computational Grand Challenges of the next decade.

Oliger, Joseph↗

NASA NTRSDate not supplied

Preparation for an Earth Independent Medical Operations Demonstration using the Tempus ALS™ Medical Device

NASA’s exploration-class missions have severe resource constraints, long return trip durations, significant communication delays and limited resupply opportunities. Validation on the International Space Station (ISS) of medical devices that fit within Earth-Independent Medical Operations (EIMO) systems is a necessary preparation step. Key features of an EIMO medical system include: 1) technologies that support the prevention, diagnosis, and treatment of spaceflight medical events; 2) components that meet mass, volume, power and crew time/training constraints; 3) consideration of the medical skill level of the astronaut caregiver; 4) collection, storage and analysis of medical data within a central data architecture; and 5) incorporation of appropriate guidance and support tools that allow crew autonomy. The Human Research Program’s (HRP) Exploration Medical Capability (ExMC) Element and the Exploration Medical Integrated Product Team (XM-IPT) are planning an ISS technology demonstration to determine the feasibility of including a multifunctional medical device into an EIMO medical system. Demonstration Preparations: The Tempus ALS (Remote Diagnostic Technologies, Ltd., Philips Corp., Farnborough, UK) is a commercial-off-the-shelf medical device, with United States Food and Drug Administration clearance and is Conformité Européene marked in Europe. Several thousand units have been sold and are successfully operating in pre-hospital and in remote settings, such as by European Space Agency (ESA) flight surgeons and some of NASA’s commercial partners during post-flight medical operations. The Tempus ALS provides vital sign measurements such as blood pressure, electrocardiograms, heart rate, end tidal CO2, respiration rate, pulse oximetry and temperature. The device has ultrasound imaging and video laryngoscopy capabilities and has automatic or manual defibrillation modes for treating cardiac arrhythmias. It includes procedural guidance capabilities to assist in the collection of the vital sign measurements and it has various data transmission and report generation features. NASA’s HRP ExMC and XM-IPT are partnering with the ESA to demonstrate the Tempus ALS on ISS, with ESA manifesting the Tempus ALS and its accessories. ESA will compare performance of periodic health status exams and medical contingency drills performed nominally and with the Tempus ALS. NASA’s EIMO demonstration will include the use of Tempus ALS to diagnose a complaint of abdominal pain under increasingly independent circumstances. The caregiver must assess the present illness, collect vital sign measurements, and perform an abdominal ultrasound, under one of three communication situations, including real-time, with a several second delay and with a delay on the order of minutes. Expected Outcomes: Information will be gained about the feasibility, benefits, and challenges of using a multifunctional, all-in-one, medical device for medical diagnosis instead of separate devices with singular functionalities. Information will also be collected about performance differences as communication delays increase and available ground support decreases. Gaining this understanding will allow for further development of exploration medical system capabilities which takes the EIMO construct into consideration.

Beth Lewandowski↗

NASA NTRS1992

USRA/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 6 June 1983. RIACS is privately operated by USRA, a consortium of universities with research programs in the aerospace sciences, under a cooperative agreement with NASA. The primary mission of RIACS is to provide research and expertise in computer science and scientific computing to support the scientific missions of NASA ARC. The research carried out at RIACS must change its emphasis from year to year in response to NASA ARC's changing needs and technological opportunities. A flexible scientific staff is provided through a university faculty visitor program, a post doctoral program, and a student visitor program. Not only does this provide appropriate expertise but it also introduces scientists outside of NASA to NASA problems. A small group of core RIACS staff provides continuity and interacts with an ARC technical monitor and scientific advisory group to determine the RIACS mission. RIACS activities are reviewed and monitored by a USRA advisory council and ARC technical monitor. Research at RIACS is currently being done in the following areas: Parallel Computing; Advanced Methods for Scientific Computing; Learning Systems; High Performance Networks and Technology; Graphics, Visualization, and Virtual Environments.

Oliger, Joseph↗

NASA NTRS1992

USRA/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 with research programs in the aerospace sciences, under a cooperative agreement with NASA. The primary mission of RIACS is to provide research and expertise in computer science and scientific computing to support the scientific missions of NASA ARC. The research carried out at RIACS must change its emphasis from year to year in response to NASA ARC's changing needs and technological opportunities. A flexible scientific staff is provided through a university faculty visitor program, a post doctoral program, and a student visitor program. Not only does this provide appropriate expertise but it also introduces scientists outside of NASA to NASA problems. A small group of core RIACS staff provides continuity and interacts with an ARC technical monitor and scientific advisory group to determine the RIACS mission. RIACS activities are reviewed and monitored by a USRA advisory council and ARC technical monitor. Research at RIACS is currently being done in the following areas: (1) parallel computing; (2) advanced methods for scientific computing; (3) learning systems; (4) high performance networks and technology; and (5) graphics, visualization, and virtual environments. In the past year, parallel compiler techniques and adaptive numerical methods for flows in complicated geometries were identified as important problems to investigate for ARC's involvement in the Computational Grand Challenges of the next decade. We concluded a summer student visitors program during this six months. We had six visiting graduate students that worked on projects over the summer and presented seminars on their work at the conclusion of their visits. RIACS technical reports are usually preprints of manuscripts that have been submitted to research journals or conference proceedings. A list of these reports for the period July 1, 1992 through December 31, 1992 is provided.

Oliger, Joseph↗

NASA NTRS2003

Human Factors Considerations for Safe Recovery from Faults In Flight Control Systems

It is now possible - and important - to develop systems to help resolve Flight Control System (FCS) faults. From a human factors viewpoint, it is imperative that these systems take on roles, and provide functions, that are the most supportive to the pilot, given the stress, time pressure and workload they may experience following a FCS fault. FCS fault recovery systems may provide several different functions, including alerting, control assistance, and decision aiding. The biggest human factors questions are in the role suitable for the technology, and its specific functioning to achieve that role. Specifically, for these systems to be effective, they must meet the fundamental requirements that (1) they alert pilots to problems early enough that the pilot can reasonably resolve the fault and regain control of the aircraft and that (2) if the aircraft s handling qualities are severely degraded the HMS provide the appropriate stability augmentation to help the pilot stabilize and control the aircraft. This project undertook several research steps to develop such systems, focusing on the capabilities of pilots and on realistically attainable technologies. The ability to estimate which functions are the most valuable will help steer system development in the directions that can establish the highest safety levels.

Pritchett, Amy↗

NASA NTRS1971

Activities of the NASA sponsored SRI technology applications team in transferring aerospace technology to the public sector

The organization and functions of an interdisciplinary team for the application of aerospace generated technology to the solution of discrete technological problems within the public sector are presented. The interdisciplinary group formed at Stanford Research Institute, California is discussed. The functions of the group are to develop and conduct a program not only optimizing the match between public sector technological problems in criminalistics, transportation, and the postal services and potential solutions found in the aerospace data base, but ensuring that appropriate solutions are acutally utilized. The work accomplished during the period from July 1, 1970 to June 30, 1971 is reported.

Berke, J. G.↗

NASA NTRS1977

A guide for space lawyers to understanding the NASA Space Shuttle and the ESA Spacelab

An investigation is conducted concerning the appropriate characterization of the Space Shuttle, taking into account appearance, functions, and purpose. It is concluded that in terms of purely technological criteria, the Shuttle can best be described as an 'aerospace vehicle'. Questions related to the legal characterization of the Shuttle are considered. On the basis of the Shuttle's purpose as the most important criterion, it is suggested that the Shuttle should be considered basically as a 'spacecraft', 'space vehicle', or 'space object'. Attention is given to the Shuttle's relationship to multilateral space conventions, the possibility that the Shuttle could be legally defined as an 'aircraft' under certain circumstances, the Shuttle and the Chicago Convention, and the status of Spacelab as only one part of a U.S. flag spacecraft.

Sloup, G. P.↗

NASA NTRS1978

Solid Polymer Electrolyte (SPE) fuel cell technology program

Many previously demonstrated improved fuel cell features were consolidated to (1) obtain a better understanding of the observed characteristics of the operating laboratory-sized cells; (2) evaluate appropriate improved fuel cell features in 0.7 sq ft cell hardware; and (3) study the resultant fuel cell capability and determine its impact on various potential fuel cell space missions. The observed performance characteristics of the fuel cell at high temperatures and high current densities were matched with a theoretical model based on the change in Gibbs free energy voltage with respect to temperature and internal resistance change with current density. Excellent agreement between the observed and model performance was obtained. The observed performance decay with operational time on cells with very low noble metal loadings (0.05 mg/sq cm) were shown to be related to loss in surface area. Cells with the baseline amount of noble catalyst electrode loading demonstrated over 40,000 hours of stable performance.

Source record↗

NASA NTRS1978

Outer planet probe missions, designs and science

The similarities and differences of atmosphere entry probe mission designs and sciences appropriate to certain solar system objects, are reviewed. Candidate payloads for Saturn and Titan probes are suggested. Significant supporting research and technology efforts are required to develop mission-peculiar technology for probe exploration of the Saturnian system.

Colin, L.↗

NASA NTRS1980

Composite components on commercial aircraft

Commercial aircraft manufacturers are making production commitments to composite structure for future aircraft and modifications to current production aircraft. Flight service programs with advanced composites sponsored by NASA during the past 10 years are described. Approximately 2.5 million total composite component flight hours have been accumulated since 1970 on both commercial transports and helicopters. Design concepts with significant mass savings were developed, appropriate inspection and maintenance procedures were established, and satisfactory service was achieved for the various composite components. A major NASA/U.S. industry technology program to reduce fuel consumption of commercial transport aircraft through the use of advanced composites was undertaken. Ground and flight environmental effects on the composite materials used in the flight service programs supplement the flight service evaluation.

Dexter, H. B.↗

NASA NTRS1987

Thermodynamic analysis and subscale modeling of space-based orbit transfer vehicle cryogenic propellant resupply

The resupply of the cryogenic propellants is an enabling technology for spacebased orbit transfer vehicles. As part of the NASA Lewis ongoing efforts in microgravity fluid management, thermodynamic analysis and subscale modeling techniques were developed to support an on-orbit test bed for cryogenic fluid management technologies. Analytical results have shown that subscale experimental modeling of liquid resupply can be used to validate analytical models when the appropriate target temperature is selected to relate the model to its prototype system. Further analyses were used to develop a thermodynamic model of the tank chilldown process which is required prior to the no-vent fill operation. These efforts were incorporated into two FORTRAN programs which were used to present preliminary analyticl results.

Defelice, David M.↗

NASA NTRS1986

Thermodynamic analysis and subscale modeling of space-based orbit transfer vehicle cryogenic propellant resupply

Defelice, David M.↗

NASA NTRS1991

Microwave integrated circuits for space applications

Monolithic microwave integrated circuits (MMIC), which incorporate all the elements of a microwave circuit on a single semiconductor substrate, offer the potential for drastic reductions in circuit weight and volume and increased reliability, all of which make many new concepts in electronic circuitry for space applications feasible, including phased array antennas. NASA has undertaken an extensive program aimed at development of MMICs for space applications. The first such circuits targeted for development were an extension of work in hybrid (discrete component) technology in support of the Advanced Communication Technology Satellite (ACTS). It focused on power amplifiers, receivers, and switches at ACTS frequencies. More recent work, however, focused on frequencies appropriate for other NASA programs and emphasizes advanced materials in an effort to enhance efficiency, power handling capability, and frequency of operation or noise figure to meet the requirements of space systems.

Leonard, Regis F.↗

NASA NTRS1993

Marshall Space Flight Center's Virtual Reality Applications Program 1993

A Virtual Reality (VR) applications program has been under development at the Marshall Space Flight Center (MSFC) since 1989. Other NASA Centers, most notably Ames Research Center (ARC), have contributed to the development of the VR enabling technologies and VR systems. This VR technology development has now reached a level of maturity where specific applications of VR as a tool can be considered. The objectives of the MSFC VR Applications Program are to develop, validate, and utilize VR as a Human Factors design and operations analysis tool and to assess and evaluate VR as a tool in other applications (e.g., training, operations development, mission support, teleoperations planning, etc.). The long-term goals of this technology program is to enable specialized Human Factors analyses earlier in the hardware and operations development process and develop more effective training and mission support systems. The capability to perform specialized Human Factors analyses earlier in the hardware and operations development process is required to better refine and validate requirements during the requirements definition phase. This leads to a more efficient design process where perturbations caused by late-occurring requirements changes are minimized. A validated set of VR analytical tools must be developed to enable a more efficient process for the design and development of space systems and operations. Similarly, training and mission support systems must exploit state-of-the-art computer-based technologies to maximize training effectiveness and enhance mission support. The approach of the VR Applications Program is to develop and validate appropriate virtual environments and associated object kinematic and behavior attributes for specific classes of applications. These application-specific environments and associated simulations will be validated, where possible, through empirical comparisons with existing, accepted tools and methodologies. These validated VR analytical tools will then be available for use in the design and development of space systems and operations and in training and mission support systems.

Hale, Joseph P., II↗