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NASA NTRS2004

Tropical Cyclone Precipitation Types and Electrical Field Information Observed by High Altitude Aircraft Instrumentation

During the 1998 and 200 1 hurricane seasons of the Atlantic Ocean Basin, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the National Aeronautics and Space Administration (NASA) ER-2 high altitude aircraft as part of the Third Convection And Moisture Experiment (CAMEX-3) and the Fourth Convection And Moisture Experiment (CAMEX-4). Several hurricanes and tropical storms were sampled during these experiments. A rainfall screening technique has been developed using AMPR passive microwave observations of these tropical cyclones (TC) collected at frequencies of 10.7, 19.35,37.1, and 85.5 GHz and verified using vertical profiles of EDOP reflectivity and lower altitude horizontal reflectivity scam collected by the National Oceanic and Atmospheric Administration (NOM) P-3 radar. Matching the rainfall classification results with coincident electrical field information collected by the LIP readily identifl convective rain regions within the TC precipitation fields. Strengths and weaknesses of the rainfall classification procedure will be discussed as well as its potential as a real-time analysis tool for monitoring vertical updrafl strength and convective intensity from a remotely operated or uninhabited aerial vehicle.

Hood, Robbie E.↗

NASA NTRS2004

Classification of Tropical Oceanic Precipitation using High Altitude Aircraft: Microwave and Electric Field Measurements

During the 1998 and 2001 hurricane seasons of the western Atlantic Ocean and Gulf of Mexico, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the National Aeronautics and Space Administration ER-2 high altitude aircraft as part of the Third Convection and Moisture Experiment (CAMEX-3) and the Fourth Convection and Moisture Experiment (CAMEX-4). Several hurricanes, tropical storms, and other precipitation systems were sampled during these experiments. An oceanic rainfall screening technique has been developed using AMPR passive microwave observations of these systems collected at frequencies of 10.7, 19.35,37.1, and 85.5 GHz. This technique combines the information content of the four AMPR frequencies regarding the gross vertical structure of hydrometeors into an intuitive and easily executable precipitation mapping format. The results have been verified using vertical profiles of EDOP reflectivity and lower altitude horizontal reflectivity scans collected by the National Oceanic and Atmospheric Administration WP-3D Orion radar. Matching the rainfall classification results with coincident electric field information collected by the LIP readily identifies convective rain regions within the precipitation fields. This technique shows promise as a real-time research and analysis tool for monitoring vertical updraft strength and convective intensity from airborne platforms such as remotely operated or uninhabited aerial vehicles. The technique is analyzed and discussed for a wide variety of precipitation types using the 26 August 1998 observations of Hurricane Bonnie near landfall.

Hood, Robbie E.↗

NASA NTRS2004

Earth's Earliest Ecosystems in the Classroom: The Use of Microbial Mats to Teach General Principles in Microbial Ecology, and Scientific Inquiry

Microbial mats are living examples of the most ancient biological communities on earth, and may also be useful models for the search for life elsewhere. They are centrally important to Astrobiology. In this lecture, we will present an introduction to microbial mats, as well as an introduction to our web-based educational module on the subject of microbial ecology, featuring living mats maintained in a mini "Web Lab" complete with remotely-operable instrumentation. We have partnered with a number of outreach specialists in order to produce an informative and educational web-based presentation, aspects of which will be exported to museum exhibits reaching a wide audience. On our web site, we will conduct regularly scheduled experimental manipulations, linking the experiments to our research activities, and demonstrating fundamental principles of scientific research.

Beboutl, Brad M.↗

NASA NTRS2005

PlanWorks: A Debugging Environment for Constraint Based Planning Systems

Numerous planning and scheduling systems employ underlying constraint reasoning systems. Debugging such systems involves the search for errors in model rules, constraint reasoning algorithms, search heuristics, and the problem instance (initial state and goals). In order to effectively find such problems, users must see why each state or action is in a plan by tracking causal chains back to part of the initial problem instance. They must be able to visualize complex relationships among many different entities and distinguish between those entities easily. For example, a variable can be in the scope of several constraints, as well as part of a state or activity in a plan; the activity can arise as a consequence of another activity and a model rule. Finally, they must be able to track each logical inference made during planning. We have developed PlanWorks, a comprehensive system for debugging constraint-based planning and scheduling systems. PlanWorks assumes a strong transaction model of the entire planning process, including adding and removing parts of the constraint network, variable assignment, and constraint propagation. A planner logs all transactions to a relational database that is tailored to support queries for of specialized views to display different forms of data (e.g. constraints, activities, resources, and causal links). PlanWorks was specifically developed for the Extensible Universal Remote Operations Planning Architecture (EUROPA(sub 2)) developed at NASA, but the underlying principles behind PlanWorks make it useful for many constraint-based planning systems. The paper is organized as follows. We first describe some fundamentals of EUROPA(sub 2). We then describe PlanWorks' principal components. We then discuss each component in detail, and then describe inter-component navigation features. We close with a discussion of how PlanWorks is used to find model flaws.

Daley, Patrick↗

NASA NTRS2005

Hydrogen-powered flight

As the Nation moves towards a hydrogen economy the shape of aviation will change dramatically. To accommodate a switch to hydrogen the aircraft designs, propulsion, and power systems will look much different than the systems of today. Hydrogen will enable a number of new aircraft capabilities from high altitude long endurance remotely operated aircraft (HALE ROA) that will fly weeks to months without refueling to clean, zero emissions transport aircraft. Design and development of new hydrogen powered aircraft have a number of challenges which must be addressed before an operational system can become a reality. While the switch to hydrogen will be most outwardly noticeable in the aircraft designs of the future, other significant changes will be occurring in the environment. A switch to hydrogen for aircraft will completely eliminate harmful greenhouse gases such as carbon monoxide (CO), carbon dioxide (CO2), sulfur oxides (SOx), unburnt hydrocarbons and smoke. While these aircraft emissions are a small percentage of the amount produced on a daily basis, their placement in the upper atmosphere make them particularly harmful. Another troublesome gaseous emission from aircraft is nitrogen oxides (NOx) which contribute to ozone depletion in the upper atmosphere. Nitrogen oxide emissions are produced during the combustion process and are primarily a function of combustion temperature and residence time. The introduction of hydrogen to a gas turbine propulsion system will not eliminate NOx emissions; however the wide flammability range will make low NOx producing, lean burning systems feasible. A revolutionary approach to completely eliminating NOx would be to fly all electric aircraft powered by hydrogen air fuel cells. The fuel cells systems would only produce water, which could be captured on board or released in the lower altitudes. Currently fuel cell systems do not have sufficient energy densities for use in large aircraft, but the long term potential of eliminating greenhouse gas emissions makes it an intriguing and important field of research.

Smith, Timothy D.↗

NASA NTRS2005

Autonomous Systems, Robotics, and Computing Systems Capability Roadmap: NRC Dialogue

Contents include the following: Introduction. Process, Mission Drivers, Deliverables, and Interfaces. Autonomy. Crew-Centered and Remote Operations. Integrated Systems Health Management. Autonomous Vehicle Control. Autonomous Process Control. Robotics. Robotics for Solar System Exploration. Robotics for Lunar and Planetary Habitation. Robotics for In-Space Operations. Computing Systems. Conclusion.

Zornetzer, Steve↗

NASA NTRS2003

Hydrogen Fuel Capability Added to Combustor Flametube Rig

Facility capabilities have been expanded at Test Cell 23, Research Combustor Lab (RCL23) at the NASA Glenn Research Center, with a new gaseous hydrogen fuel system. The purpose of this facility is to test a variety of fuel nozzle and flameholder hardware configurations for use in aircraft combustors. Previously, this facility only had jet fuel available to perform these various combustor flametube tests. The new hydrogen fuel system will support the testing and development of aircraft combustors with zero carbon dioxide (CO2) emissions. Research information generated from this test rig includes combustor emissions and performance data via gas sampling probes and emissions measuring equipment. The new gaseous hydrogen system is being supplied from a 70 000-standard-ft3 tube trailer at flow rates up to 0.05 lb/s (maximum). The hydrogen supply pressure is regulated, and the flow is controlled with a -in. remotely operated globe valve. Both a calibrated subsonic venturi and a coriolis mass flowmeter are used to measure flow. Safety concerns required the placement of all hydrogen connections within purge boxes, each of which contains a small nitrogen flow that is vented past a hydrogen detector. If any hydrogen leaks occur, the hydrogen detectors alert the operators and automatically safe the facility. Facility upgrades and modifications were also performed on other fluids systems, including the nitrogen gas, cooling water, and air systems. RCL23 can provide nonvitiated heated air to the research combustor, up to 350 psig at 1200 F and 3.0 lb/s. Significant modernization of the facility control systems and the data acquisition systems was completed. A flexible control architecture was installed that allows quick changes of research configurations. The labor-intensive hardware interface has been removed and changed to a software-based system. In addition, the operation of this facility has been greatly enhanced with new software programming and graphic operator interface stations. Glenn s RCL23 facility systems were successfully checked out in the spring of 2002, and hydrogen combustor research testing began in the summer of 2002.

Frankenfield, Bruce J.↗

NASA NTRS2004

Special Purpose Crew Restraints for Teleoperation

With permanent human presence onboard the International Space Station (ISS), and long duration space missions being planned for the moon and Mars, humans will be living and working in microgravity over increasingly long periods of time. In addition to weightlessness, the confined nature of a spacecraft environment results in ergonomic challenges such as limited visibility, and access to the activity area. These challenges can result in prolonged periods of unnatural postures for the crew, ultimately causing pain, injury, and loss of productivity. Determining the right set of human factors requirements and providing an ergonomically designed environment is crucial to mission success. While a number of general purpose restraints have been used on ISS (handrails, foot loops), experience has shown that these general purpose restraints may not be optimal, or even acceptable for some tasks that have unique requirements. For example, some onboard activities require extreme stability (e.g., glovebox microsurgery), and others involve the use of arm, torso and foot movements in order to perform the task (e-g. robotic teleoperation); standard restraint systems will not work in these situations. The Usability Testing and Analysis Facility (WAF) at the NASA Johnson Space Center began evaluations of crew restraints for these special situations by looking at NASAs Robonaut. Developed by the Robot Systems Technology Branch, Robonaut is a humanoid robot that can be remotely operated through a tetepresence control system by an operator. It was designed to perform work in hazardous environments (e.g., Extra Vehicular Activities). A Robonaut restraint was designed, modeled for the population, and ultimately tested onboard the KC-135 microgravity aircraft. While in microgravity, participants were asked to get in and out of the restraint from different locations, perform maximum reach exercises, and finally to teleoperate Robonaut while in the restraint. The sessions were videotaped, and participants completed a questionnaire at the end of each flight day. Results from this evaluation are being used to develop the human factors design requirements for teleoperation tasks in microgravity.

Whitmore, Mihriban↗

NASA NTRS2006

Crew Restraint Design for the International Space Station

With permanent human presence onboard the International Space Station (ISS), crews will be living and working in microgravity, dealing with the challenges of a weightless environment. In addition, the confined nature of the spacecraft environment results in ergonomic challenges such as limited visibility and access to the activity areas, as well as prolonged periods of unnatural postures. Without optimum restraints, crewmembers may be handicapped for performing some of the on-orbit tasks. Currently, many of the tasks on ISS are performed with the crew restrained merely by hooking their arms or toes around handrails to steady themselves. This is adequate for some tasks, but not all. There have been some reports of discomfort/calluses on the top of the toes. In addition, this type of restraint is simply insufficient for tasks that require a large degree of stability. Glovebox design is a good example of a confined workstation concept requiring stability for successful use. They are widely used in industry, university, and government laboratories, as well as in the space environment, and are known to cause postural limitations and visual restrictions. Although there are numerous guidelines pertaining to ventilation, seals, and glove attachment, most of the data have been gathered in a 1-g environment, or are from studies that were conducted prior to the early 1980 s. Little is known about how best to restrain a crewmember using a glovebox in microgravity. Another ISS task that requires special consideration with respect to restraints is robotic teleoperation. The Robot Systems Technology Branch at the NASA Johnson Space Center is developing a humanoid robot astronaut, or Robonaut. It is being designed to perform extravehicular activities (EVAs) in the hazardous environment of space. An astronaut located inside the ISS will remotely operate Robonaut through a telepresence control system. Essentially, the robot mimics every move the operator makes. This requires the operator to be stable enough to prevent inadvertent movements, while allowing the flexibility to accomplish the controlled movements of the robot. Some type of special purpose restraint will be required to operate Robonaut and similar devices.

Norris, Lena↗

NASA NTRS2006

Alignment Measurement of the New Horizons (NH) High Gain Antenna (HGA) in the Thermal/Vacuum Chamber using Photogrammetry

The New Horizons (NH) spacecraft, launched in January, 2006, is the first mission to explore the planet Pluto and the icy bodies at the edge of the Solar system making up the Kuiper belt. NH utilizes a shaped parabolic High Gain Antenna (HGA) to transmit and receive data over the vast 3 billion mile distance it will travel. Proper maintenance of the HGA shape and alignment at cryogenic temperatures (90 K) is a critical element to ensure mission success. We describe the hardware and methods that were used to validate the displacement/deformation predictions of the HGA reflector during thermal/vacuum testing of the HGA system. The smallest deformation predictions to be measured on the HGA were on the order of +/-0.015 inches. Measurement of the resulting change of the HGA system boresight due to the HGA deformation was also desired. Performance of these alignment measurements inside a thermal/vacuum chamber could not be performed with conventional alignment equipment, namely due to the inability to send personnel into the chamber to perform the measurements due to the temperature extremes and vacuum. The Photogrammetry (PG) system was chosen to perform the measurements since it is a non-contact measurement system, measurements can be made relatively quickly and accurately, and the camera can be operated remotely. This method had been previously proven for WMAP. The hardware and methods developed to perform the NH alignment measurements using PG proved to be successful. The measured increase in the HGA RMS surface distortion as a result of going cold was approx. 0.012 inches, indicating that the +/-0.015 inches RF requirement was met. This measured deformation resulted in a change in alignment of the HGA system boresight of less than 0.008 degrees, meeting the requirement of 0.020 degrees.

Hill, Michael D.↗

NASA NTRS2006

Stainless Steel NaK Circuit Integration and Fill Submission

The Early Flight Fission Test Facilities (EFF-TF) team has been tasked by the Marshall Space Flight Center Nuclear Systems Office to design, fabricate, and test an actively pumped alkali metal flow circuit. The system, which was originally designed to hold a eutectic mixture of sodium potassium (NaK), was redesigned to hold lithium; but due to a shift in focus, it is once again being prepared for use with NaK. Changes made to the actively pumped, high temperature loop include the replacement of the expansion reservoir, addition of remotely operated valves, and modification of the support table. Basic circuit components include: reactor segment, NaK to gas heat exchanger, electromagnetic (EM) liquid metal pump, load/drain reservoir, expansion reservoir, instrumentation, and a spill reservoir. A 37-pin partial-array core (pin and flow path dimensions are the same as those in a full design) was selected for fabrication and test. This document summarizes the integration and fill of the pumped liquid metal NaK flow circuit.

Garber, Anne E.↗

NASA NTRS2006

Design, Fabrication and Integration of a NaK-Cooled Circuit

The Early Flight Fission Test Facilities (EFF-TF) team has been tasked by the NASA Marshall Space Flight Center Nuclear Systems Office to design, fabricate, and test an actively pumped alkali metal flow circuit. The system, which was originally designed for use with a eutectic mixture of sodium potassium (NaK), was redesigned to for use with lithium. Due to a shi$ in focus, it is once again being prepared for use with NaK. Changes made to the actively pumped, high temperature circuit include the replacement of the expansion reservoir, addition of remotely operated valves, and modification of the support table. Basic circuit components include: reactor segment, NaK to gas heat exchanger, electromagnetic (EM) liquid metal pump, load/drain reservoir, expansion reservoir, instrumentation, and a spill reservoir. A 37-pin partial-array core (pin and flow path dimensions are the same as those in a fill design) was selected for fabrication and test. This paper summarizes the integration and preparations for the fill of the pumped liquid metal NaK flow circuit.

Garber, Anne↗

NASA NTRS2004

Classification of Tropical Oceanic Precipitation using High-Altitude Aircraft Microwave and Electric Field Measurements

During the 1998 and 2001 hurricane seasons of the western Atlantic Ocean and Gulf of Mexico, the Advanced Microwave Precipitation Radiometer (AMPR), the ER-2 Doppler (EDOP) radar, and the Lightning Instrument Package (LIP) were flown aboard the NASA ER-2 high-altitude aircraft as part of the Third Convection and Moisture Experiment (CAMEX-3) and the Fourth Convection and Moisture Experiment (CAMEX-4). Several hurricanes, tropical storms, and other precipitation systems were sampled during these experiments. An oceanic rainfall screening technique has been developed using AMPR passive microwave observations of these systems collected at frequencies of 10.7, 19.35, 37.1, and 85.5 GHz. This technique combines the information content of the four AMPR frequencies regarding the gross vertical structure of hydrometeors into an intuitive and easily executable precipitation mapping format. The results have been verified using vertical profiles of EDOP reflectivity and lower-altitude horizontal reflectivity scans collected by the NOAA WP3D Orion radar. Matching the rainfall classification results with coincident electric field information collected by the LIP readily identifies convective rain regions within the precipitation fields. This technique shows promise as a real-time research and analysis tool for monitoring vertical updraft strength and convective intensity from airborne platforms such as remotely operated or uninhabited aerial vehicles. The technique is analyzed and discussed for a wide variety of precipitation types using the 26 August 1998 observations of Hurricane Bonnie near landfall.

Hood, Robbie E.↗

NASA NTRS2005

CCA Test Objectives

Three sources have been considered to provide information allowing the evaluation of the Collision Conflict Avoidance (CCA) functional requirements: existing data, simulation, and flight test. The existing data sources that have been evaluated have been found to be lacking in two areas: The actual data that was recorded and missing elements to the system architecture. Many previous tests addressing collision avoidance were conducted without a remote operator. As such, they are missing critical elements that are required to assess the CCA functional requirements. Tests such as ERAST were conducted with all of the UAS elements. However, ERAST tests were conducted as a demonstration and the data recorded was of end-to-end performance. Many contributing elements of the system were not individually recorded or were recorded at a data rate insufficient for the purposes of evaluating the CCA functional requirements.

Source record↗

NASA NTRS2004

Photon momentum transfer plane for asteroid, meteoroid, and comet orbit shaping

A spacecraft docks with a spinning and/or rotating asteroid, meteoroid, comet, or other space object, utilizing a tether shaped in a loop and utilizing subvehicles appropriately to control loop instabilities. The loop is positioned about a portion of the asteroid and retracted thereby docking the spacecraft to the asteroid, meteoroid, comet, or other space object. A deployable rigidized, photon momentum transfer plane of sufficient thickness may then be inflated and filled with foam. This plane has a reflective surface that assists in generating a larger momentum from impinging photons. This plane may also be moved relative to the spacecraft to alter the forces acting on it, and thus on the asteroid, meteoroid, comet, or other space object to which it is attached. In general, these forces may be utilized, over time, to alter the orbits of asteroids, meteoroids, comets, or other space objects. Sensors and communication equipment may be utilized to allow remote operation of the rigidized, photon momentum transfer plane and tether.

Campbell, Jonathan W.↗

NASA NTRS2007

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Cepollina, Frank J.↗

NASA NTRS2007

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

Cepollina, Frank J.↗

NASA NTRS2008

NASA and Caterpillar: An Innovative Partnership

This viewgraph presentation reviews the partnership between NASA and the Caterpillar Corporation. Through the Innovative Partnerships Program (IPP) NASA is providing leveraged technology for projects that are new initiatives that enhance NASA's ability to meet mission technology goals by providing seed funding to initiate cost-shared, joint-development partnerships. This relationship will assist NASA in the development of lunar In Situ resource utilization (ISRU) and surface handling equipment control and hardware requirements and the human-system interaction processes for time delayed remote operations.

Savely, Robert T.↗