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All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

User needs, benefits and integration of robotic systems in a space station laboratory

The methodology, results and conclusions of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in the Space Station Microgravity and Materials Processing Facility are summarized. Study goals include the determination of user requirements for robotics within the Space Station, United States Laboratory. Three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. A NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of low gravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz.) and Level 2 (less than = 10-6 G at 0.1 Hz). This included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in order to determine their ability to perform a range of tasks related to the three low gravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements were determined such that definition of requirements for an orbital flight demonstration experiment may be established.

Farnell, K. E.↗
NASA NTRS1989

User Needs, Benefits, and Integration of Robotic Systems in a Space Station Laboratory

The methodology, results and conclusions of all tasks of the User Needs, Benefits, and Integration Study (UNBIS) of Robotic Systems in a Space Station Laboratory are summarized. Study goals included the determination of user requirements for robotics within the Space Station, United States Laboratory. In Task 1, three experiments were selected to determine user needs and to allow detailed investigation of microgravity requirements. In Task 2, a NASTRAN analysis of Space Station response to robotic disturbances, and acceleration measurement of a standard industrial robot (Intelledex Model 660) resulted in selection of two ranges of microgravity manipulation: Level 1 (10-3 to 10-5 G at greater than 1 Hz) and Level 2 (less than equal 10-6 G at 0.1 Hz). This task included an evaluation of microstepping methods for controlling stepper motors and concluded that an industrial robot actuator can perform milli-G motion without modification. Relative merits of end-effectors and manipulators were studied in Task 3 in order to determine their ability to perform a range of tasks related to the three microgravity experiments. An Effectivity Rating was established for evaluating these robotic system capabilities. Preliminary interface requirements for an orbital flight demonstration were determined in Task 4. Task 5 assessed the impact of robotics.

Dodd, W. R.↗
NASA NTRS1989

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Charles, Steve↗
NASA NTRS1992

Vibrational relaxation of anharmonic oscillators in expanding flows

Although the Landau-Teller vibrational model accurately predicts vibrational excitation process in post-shock and compressing flows, it under-predicts the rate of de-excitation in cooling and expanding flows. In the present paper, detailed calculations of the vibrational relaxation process of N2 and CO in cooling flows are conducted. A coupled set of vibrational transition rate equations and quasi-one-dimensional fluid dynamic equations is solved. Multiple quantum level transition rates are computed using SSH theory. The SSH transition rate results are compared with available experimental data and other theoretical models. Vibration-vibration exchange collisions are responsible for some vibrational relaxation acceleration in situations of high vibrational temperature and low translational temperature. The present results support the relaxation mechanisms proposed by Bray and by Treanor Rich and Rehm.

Ruffin, Stephen M.↗
NASA NTRS1993

NASA PPO microgravity projects support

Work progress is reported in brief. A summary of this information is provided below. An in-depth study was performed to evaluate a new European designed Borack Freezer/Cooler for possible shuttle middeck flight to support advanced protein crystal growth (APCG) experimentation. A statement of work was prepared for the design and development of a glovebox for proposed flight in the shuttle middeck. Work was also initiated to perform an analysis of low-g accelerometer data relative to Fluid Experiment System (FES) experiment options on the IML-1 mission. This work was undertaken in an effort to determine if abnormally low-g accelerations during the mission were responsible for anomalies which occurred during FES/Triglycine Sulfate (TGS) experiment operations. A comprehensive review was made on a revised edition of the Geophysical Fluid Flow Cell (GFFC) Operations and Maintenance (O&M) Manual.

Smith, Janice F.↗
NASA NTRS1994

Deictic primitives for general purpose navigation

A visually-based deictic primative used as an elementary command set for general purpose navigation was investigated. It was shown that a simple 'follow your eyes' scenario is sufficient for tracking a moving target. Limitations of velocity, acceleration, and modeling of the response of the mechanical systems were enforced. Realistic paths of the robots were produced during the simulation. Scientists could remotely command a planetary rover to go to a particular rock formation that may be interesting. Similarly an expert at plant maintenance could obtain diagnostic information remotely by using deictic primitives on a mobile are used in the deictic primitives, we could imagine that the exact same control software could be used for all of these applications.

Crismann, Jill D.↗
NASA NTRS1998

On Wave Processes in the Solar Atmosphere

This grant was awarded by NASA/MSFC to The University of Alabama in Huntsville (UAH) to investigate the physical processes responsible for heating and wind acceleration in the solar atmosphere, and to construct theoretical, self-consistent and time-dependent solar wind models based on the momentum deposition by finite amplitude and nonlinear Alfven waves. In summary, there are three main goals of the proposed research: (1) Calculate the wave energy spectra and wave energy fluxes carried by magnetic non- magnetic waves. (2) Find out which mechanism dominates in supplying the wave energy to different parts of the solar atmosphere. (3) Use the results obtained in (1) and (2) to construct theoretical, self-consistent and time- dependent models of the solar wind. We have completed the first goal by calculating the amount of non-radiative energy generated in the solar convection zone as acoustic waves and as magnetic tube waves. To calculate the amount of wave energy carried by acoustic waves, we have used the Lighthill-Stein theory for sound generation modified by Musielak, Rosner, Stein & Ulmschneider (1994). The acoustic wave energy fluxes for stars located in different regions of the Hertzsprung-Russell (H-R) diagram have also been computed. The wave energy fluxes carried by longitudinal and transverse waves along magnetic flux tubes have been calculated by using both analytical and numerical methods. Our analytical approach is based a theory developed by Musielak, Rosner & Ulmschnelder and Musielak, Rosner, Gall & Ulmschneider, which allows computing the wave energy fluxes for linear tube waves. A numerical approach has been developed by Huang, Musielak & Ulmschneider and Ulmschneider & Musielak to compute the energy fluxes for nonlinear tube waves. Both methods have been used to calculate the wave energy fluxes for stars located in different regions of the HR diagram (Musielak, Rosner & Ulmschneider 1998; Ulmschneider, Musielak & Fawzy 1998). Having obtained the wave energy fluxes for acoustic and magnetic tube waves, we have investigated the behavior of these waves in the solar and stellar atmospheres. The results of our extensive studies have been published in many papers and presented at numerous scientific meetings. In these studies we have investigated different aspects of propagation of acoustic and magnetic waves, the efficiency of energy transfer along magnetic structures in the solar atmosphere, and behavior of Alfven waves in stgeady and expanding solar and stellar atmospheres. Recently, we have used some of these results to construct first purely theoretical, two component and time-dependent models of solar and stellar chromospheres. Finally, to address the third goal, we have constructed first fully theoretical, self-consistent and time dependent wind models based on the momentum deposition by non-linear Alfven waves. The full set of single-fluid MHD equations with the background flow has been solved by using a modified version of the ZEUS MHD code. The constructed wind models are radially symmetric with the magnetic field decreasing radially and the initial outflow is described by the standard Parker wind solution. In contrast to previous studies, no assumptions regarding wave linearity, wave damping, and wave-flow interaction are made; the models thus naturally account for the backreaction of the wind on the waves as well as for the nonlinear interaction between different types of MHD waves. The models have been used to explain the origin of fast speed streams in solar coronal holes. The obtained results clearly demonstrate that the momentum deposition by Alfven waves in the solar wind can be sufficient to explain the origin of fast stream components of the solar wind. The range of wave amplitudes required to obtain the desired results seems to be in good agreement with recent observations.

Musielak, Z. E.↗
NASA NTRS1999

Correlation of Fin Buffet Pressures on an F/A-18 with Scaled Wind-Tunnel Measurements

Buffeting is an aeroelastic phenomenon occurring at high angles of attack that plagues high performance aircraft, especially those with twin vertical tails. Previous wind-tunnel and flight tests were conducted to characterize the buffet loads on the vertical tails by measuring surface pressures, bending moments, and accelerations. Following these tests, buffeting responses were computed using the measured buffet pressures and compared to the measured buffeting responses. The calculated results did not match the measured data because the assumed spatial correlation of the buffet pressures was not correct. A better understanding of the partial (spatial) correlation of the differential buffet pressures on the tail was necessary to improve the buffeting predictions. Several wind-tunnel investigations were conducted for this purpose. When compared, the results of these tests show that the partial correlation scales with flight conditions. One of the remaining questions is whether the wind-tunnel data is consistent with flight data. Presented herein, cross-spectra and coherence functions calculated from pressures that were measured on the High Alpha Research Vehicle indicate that the partial correlation of the buffet pressures in flight agrees with the partial correlation observed in the wind tunnel.

Moses, Robert W.↗
NASA NTRS2018

Global Ecosystem Dynamics Investigation (GEDI) Structural Verification Unit (SVU) Vibration Test

This presentation describes the vibration test campaign of the Structural Verification Unit for the Global Ecosystem Dynamics Investigation (GEDI) mission The Structural Verification Unit test campaign served multiple purposes including the qualification of the instrument primary structure, verification of the structure's stiffness, Aperture Control Mechanism assembly level verification, and validation of the control approach for protoflight instrument vibration testing. Testing included three axes of sine burst, random, and sine vibration excitation. This test sequence required a high number of response instrumentation sensors that included tri-axial accelerometers and tri-axial force gauges. Multiple response limiting methods that included acceleration, force, and moment measurements were used to ensure the safety of the flight hardware. The lessons and specific test details learned on the structural verification unit test campaign will reduce test risks for the upcoming instrument-level vibration tests.

Structural Verification Unit↗
NASA NTRS2006

Particle Acceleration, Magnetic Field Generation and Emission from Relativistic Jets

Nonthermal radiation observed from astrophysical systems containing relativistic jets and shocks, e.g., active galactic nuclei (AGNs), gamma-ray bursts (GRBs), supernova remnants, and Galactic microquasar systems usually have power-law emission spectra. Fermi acceleration is the mechanism usually assumed for the acceleration of particles in astrophysical environments. Recent PIC simulations using injected relativistic electron-ion (electro-positron) jets show that particle acceleration occurs within the downstream jet, rather than by the scattering of particles back and forth across the shock as in Fermi acceleration. Shock acceleration' is a ubiquitous phenomenon in astrophysical plasmas. Plasma waves and their associated instabilities (e.g., the Buneman instability, other two-streaming instability, and the Weibel instability) created in the shocks are responsible for particle (electron, positron, and ion) acceleration. The simulation results show that the Weibel instability is responsible for generating and amplifying highly nonuniform, small-scale magnetic fields. These magnetic fields contribute to the electron's transverse deflection behind the jet head. The "jitter" radiation from deflected electrons has different spectral properties than synchrotron radiation which is calculated in a uniform magnetic field. This jitter radiation may be important to understanding the complex time evolution and/or spectral structure in gamma-ray bursts, relativistic jets, and supernova remnants. We will review recent PIC simulations of relativistic jets and try to make a connection with observations.

Nishikawa, K.-I.↗
NASA NTRS2007

Particle Acceleration, Magnetic Field Generation, and Associated Emission in Collisionless Relativistic Jets

Nonthermal radiation observed from astrophysical systems containing relativistic jets and shocks, e.g., active galactic nuclei (AGNs), gamma-ray bursts (GRBs), and Galactic microquasar systems usually have power-law emission spectra. Recent PIC simulations using injected relativistic electron-ion (electro-positron)jets show that acceleration occurs within the downstream jet. Shock acceleration is a ubiquitous phenomenon in astrophysical plasmas. Plasma waves and their associated instabilities (e.g., the Buneman instability, other two-streaming instability, and the Weibel instability) created in the shocks are responsible for particle (electron, positron, and ion) acceleration. The simulation results show that the Weibel instability is responsible for generating and amplifying highly nonuniform, small-scale magnetic fields. These magnetic fields contribute to the electron's transverse deflection behind the jet head. The "jitter" radiation from deflected electrons has different properties than synchrotron radiation which is calculated in a uniform magnetic field. This jitter radiation may be important to understanding the complex time evolution and/or spectral structure in gamma-ray bursts, relativistic jets, and supernova remnants.

Nishikawa, K.-I.↗
NASA NTRS2007

Relativistic Particle-in-Cell Simulation Studies of Prompt and Early Afterglows Observed by GLAST

Nonthermal radiation observed from astrophysical systems containing relativistic jets and shocks, e.g., gamma-ray bursts (GRBs), active galactic nuclei (AGNs), and Galactic microquasar systems usually have power-law emission spectra. Recent PIC simulations using injected relativistic electron-ion (electro-positron) jets show that acceleration occurs within the downstream jet. Shock acceleration is a ubiquitous phenomenon in astrophysical plasmas. Plasma waves and their associated instabilities (e.g., the Buneman instability, other two-streaming instability, and the Weibel instability) created in the shocks are responsible for particle (electron, positron, and ion) acceleration. The simulation results show that the Weibel instability is responsible for generating and amplifying highly nonuniform, small-scale magnetic fields. These magnetic fields contribute to the electron's transverse deflection behind the jet head. The "'jitter" radiation from deflected electrons has different properties than synchrotron radiation which is calculated in a uniform magnetic field. This jitter radiation may be important to understanding the complex time evolution and/or spectral structure in gamma-ray bursts, relativistic jets, and supernova remnants.

Mizuno, Y.↗
NASA NTRS2007

Particle Acceleration, Magnetic Field Generation and Associated Emission in Collisionless Relativistic Jets

Nonthermal radiation observed from astrophysical systems containing relativistic jets and shocks, e.g., active galactic nuclei (AGNs), gamma-ray bursts (GRBs), and Galactic microquasar systems usually have power-law emission spectra. Recent PIC simulations using injected relativistic electron-ion (electro-positron) jets show that acceleration occurs within the downstream jet. Shock acceleration is a ubiquitous phenomenon in astrophysical plasmas. Plasma waves and their associated instabilities (e.g., the Buneman instability, other two-streaming instability, and the Weibel instability) created in the shocks are responsible for particle (electron, positron, and ion) acceleration. The simulation results show that the Weibel instability is responsible for generating and amplifying highly nonuniform, small-scale magnetic fields. These magnetic fields contribute to the electron's transverse deflection behind the jet head. The "jitter" radiation from deflected electrons has different properties than synchrotron radiation which is calculated in a uniform magnetic field. This jitter radiation may be important to understanding the complex time evolution and/or spectral structure in gamma-ray bursts, relativistic jets, and supernova remnants.

Nishikawa, K. I.↗
NASA NTRS1983

On the preferential acceleration and heating of solar wind heavy ions

It is pointed out that the properties of solar wind ions heavier than H(+) have presented a puzzle to theorists for some time. The most recent theoretical efforts to explain the observations are considered, taking into account studies conducted by Dusenbery and Hollweg (1981) and Marsch et al. (1982). The first model of a wave-driven, three-fluid, supersonic solar wind is considered. Details of the resonant wave-particle interaction are discussed and the relevant equations for the model are derived. An investigation is conducted of the effects of resonant cyclotron acceleration and heating by a spectrum of nondispersive ion cyclotron waves on the model. It is found that there are serious difficulties with the hypothesis that the resonant cyclotron interaction is responsible for the preferential heating and acceleration of heavy ions in the solar wind. The model presented here is unable to produce the required energization by this mechanism. However, this model should be viewed as an approximate one, subject to possible correction by more advanced calculations.

Isenberg, P. A.↗
NASA NTRS2008

Radiation from Relativistic Jets

Nonthermal radiation observed from astrophysical systems containing relativistic jets and shocks, e.g., gamma-ray bursts (GRBs), active galactic nuclei (AGNs), and Galactic microquasar systems usually have power-law emission spectra. Recent PIC simulations of relativistic electron-ion (electron-positron) jets injected into a stationary medium show that particle acceleration occurs within the downstream jet. In the presence of relativistic jets, instabilities such as the Buneman instability, other two-streaming instability, and the Weibel (filamentation) instability create collisionless shocks, which are responsible for particle (electron, positron, and ion) acceleration. The simulation results show that the Weibel instability is responsible for generating and amplifying highly nonuniform, small-scale magnetic fields. These magnetic fields contribute to the electron's transverse deflection behind the jet head. The 'jitter' radiation from deflected electrons in small-scale magnetic fields has different properties than synchrotron radiation which is calculated in a uniform magnetic field. This jitter radiation, a case of diffusive synchrotron radiation, may be important to understand the complex time evolution and/or spectral structure in gamma-ray bursts, relativistic jets, and supernova remnants.

Nishikawa, K.-I.↗
NASA NTRS1973

Models of subjective response to in-flight motion data

Mathematical relationships between subjective comfort and environmental variables in an air transportation system are investigated. As a first step in model building, only the motion variables are incorporated and sensitivities are obtained using stepwise multiple regression analysis. The data for these models have been collected from commercial passenger flights. Two models are considered. In the first, subjective comfort is assumed to depend on rms values of the six-degrees-of-freedom accelerations. The second assumes a Rustenburg type human response function in obtaining frequency weighted rms accelerations, which are used in a linear model. The form of the human response function is examined and the results yield a human response weighting function for different degrees of freedom.

Rudrapatna, A. N.↗
NASA NTRS1972

Advance techniques for monitoring human tolerance to +Gz accelerations.

Standard techniques for monitoring the acceleration-stressed human subject have been augmented by measuring (1) temporal, brachial and/or radial arterial blood flow, and (2) indirect systolic and diastolic blood pressure at 60-sec intervals. Results show that the response of blood pressure to positive accelerations is complex and dependent on an interplay of hydrostatic forces, diminishing venous return, redistribution of blood, and other poorly defined compensatory reflexes.

Pelligra, R.↗