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NASA NTRS1987

Collision detection for spacecraft proximity operations

Collision Detection for Spacecraft Proximity Operations This thesis describes the development of a new collision detection algorithm to be used when two spacecraft are operating in the same vicinity. The two spacecraft are modelled as unions of convex polyhedra, where the polyhedron resulting from the union may be either convex or nonconvex. The relative motion of the two spacecraft is assumed to be such that one vehicle is moving with constant linear and angular velocity with respect to the other. The algorithm determines if a collision is possible and, if so, predicts the time when the collision will take place. The theoretical basis for the new collision detection algorithm is the C-function formulation of the configuration space approach recently introduced by researchers in robotics. Three different types of C-functions are defined that model the contacts between the vertices, edges, and faces of the polyhedra representing the two spacecraft. These C-functions are used to formulate three "collision" conditions. The first of these conditions limits the points representing potential collisions to the zeros of the C-functions. The new algorithm is fundamentally a search for the smallest zero of any C-function that satisfies the second and third collision conditions. The C-functions are shown to be transcendental functions of time for the assumed trajectory of the moving spacecraft. The zeros of these functions cannot be expressed in dosed form. Therefore, numerical search procedures are developed to find aLl of the zeros of a C-function in specified bounded intervals of time. These bounded intervals of time are found by examining the second and third collision conditions. The capabilities of the new algorithm are demonstrated for several example cases. These include examples of collisions determined by zeros of each of the three different types of C-functions. In addition to predicting the time of first contact of the polyhedra, the algorithm identifies the features of the two polyhedra that are touching at this time. The new collision detection algorithm is the first such algorithm that is capable of solving the collision detection problem exactly for the case where the moving object has constant linear and angular velocities. This is a significant improvement on previous collision detection algorithms described in the literature. In particular, the ability to handle constant angular velocity represents a more realistic type of rotational motion than those which have been used in other algorithms.

Robin M Vaughan↗

NASA NTRS1992

Force regulation in multiple-manipulator systems

A new intuitively appealing interpretation of the internal force in a multiple-arm system is presented. The static gravity-free case is considered where internal force has a well-founded physical meaning. The case is extended to the general dynamic case by removing the inertial force through balancing it with the minimum amount of contact force. The remaining component in the contact force is considered to be the sole contributor to the inertial force. Existing techniques for force control can be used to obtain various stabilizing force set point control laws. Particular attention is given to the motion control strategy for multiple arm systems. Three types of control laws, feedback linearization, arms-as-actuators, and passive control, are addressed. The first two techniques provide simplified control tuning but require much model information. The latter approach is considered to be very robust with respect to the model, but good transient performance is more challenging to obtain. It is suggested to combine one of the model-based approaches with the passive control approach.

Wen, John T.↗

NASA NTRS1993

Numerical solution of wave equations for the stability of the inner cometo-sheath

Numerical solution of the MHD wave equations for stability of the cometary sheath determined by the balance between the inward Lorentz body force and the outward ion-neutral drag force is obtained by using a two-point boundary value method. The eigenvalues and the eigenfunctions are obtained numerically by treating the cometary inner sheath as a layer of finite thickness, bounded by the contact surface, i.e., the diamagnetic cavity boundary. The magnetic field structure discovered in the ionosphere of Comets Halley and Giacobini-Zinner is found to be unstable. The effects of finite plasma pressure, dissociative recombination, and mass loading due to photoionization are found to be stabilizing but are unable to quench the instability completely. It is also found that the higher the neutral production rate the lesser is the growth rate for the instability.

Srivastava, Krishna M.↗

NASA NTRS1993

Stability of the Halley cometosheath with resistivity and plasma motion

The MHD stability of the cometary inner sheath determined by the balance between the inward Lorentz body force and the outward ion-neutral drag force is investigated by numerically solving the wave equations which include resistivity, plasma motion and plasma pressure with the help of two-point boundary value method. The eigenvalues and the eigenfunctions are obtained numerically by treating the cometary inner sheath as a layer of finite thickness, bounded by the contact surface, that is, the diamagnetic cavity boundary. To gain insight into the problem, certain limiting cases of the wave equations are also discussed. The diamagnetic cavity boundary and the adjacent layer of about 100-km thickness of Comet Halley is found to be unstable. The effects of finite plasma pressure, dissociative recombination, mass loading due to photoionization, resistivity, and plasma motion are found to be stabilizing but are unable to quench the instability completely. Motion of the Halley ionopause has been confirmed by observations.

Srivastava, Krishna M.↗

NASA NTRS1995

Measurement of Density, Sound Velocity, Surface Tension, and Viscosity of Freely Suspended Supercooled Liquids

Non-contact methods have been implemented in conjunction with levitation techniques to carry out the measurement of the macroscopic properties of liquids significantly cooled below their nominal melting point. Free suspension of the sample and remote methods allow the deep excursion into the metastable liquid state and the determination of its thermophysical properties. We used this approach to investigate common substances such as water, o-terphenyl, succinonitrile, as well as higher temperature melts such as molten indium, aluminum and other metals. Although these techniques have thus far involved ultrasonic, electromagnetic, and more recently electrostatic levitation, we restrict our attention to ultrasonic methods in this paper. The resulting magnitude of maximum thermal supercooling achieved have ranged between 10 and 15% of the absolute temperature of the melting point for the materials mentioned above. The physical properties measurement methods have been mostly novel approaches, and the typical accuracy achieved have not yet matched their standard equivalent techniques involving contained samples and invasive probing. They are currently being refined, however, as the levitation techniques become more widespread, and as we gain a better understanding of the physics of levitated liquid samples.

Supercooling Liquids↗

NASA NTRS2003

Detecting Conductive Liquid Leaking from Nonconductive Pipe

A method that can be implemented with relatively simple electronic circuitry provides a capability for detecting leakage of an electrically conductive liquid from an electrically nonconductive underground pipe. Alternatively or in addition, the method can be applied to locate the pipe, whether or not there is a leak. Although the method is subject to limitations (some of which are described below), it is still attractive as an additional option for detecting leaks and locating pipes without need for extensive digging. The method is based on capacitive coupling of an alternating electrical signal from the liquid to a portable electronic unit that resembles a metal detector. A signal voltage is applied to the liquid at some convenient point along the pipe: for example, the signal could be coupled into the liquid via an aboveground metal pipe fitting, the interior surface of which is in contact with the liquid. The signal is conducted through the liquid in the pipe; in the case of diffusive leak of liquid into the surrounding ground, the signal is conducted through the leak, into the portion of the adjacent ground that has become soaked with the liquid. (A drip leak cannot be detected by this method because there is no conductive path between the liquid inside and the liquid outside the pipe.) The portable unit includes an electrically conductive plate connected to the input terminal of an amplifier. When the plate is brought near the pipe or the leaked liquid, a small portion of the signal power is coupled capacitively from the liquid to the plate. The user scans the plate near the ground surface to find the locus of maximum signal strength. The leak can be identified as a relatively wide area, contiguous with the location of the pipe, over which the signal is detectable.

Youngquist, Robert C.↗

NASA NTRS2011

NASA Tech Briefs, July 2011

Topics covered include: 1) Collaborative Clustering for Sensor Networks; 2) Teleoperated Marsupial Mobile Sensor Platform Pair for Telepresence Insertion Into Challenging Structures; 3) Automated Verification of Spatial Resolution in Remotely Sensed Imagery; 4) Electrical Connector Mechanical Seating Sensor; 5) In Situ Aerosol Detector; 6) Multi-Parameter Aerosol Scattering Sensor; 7) MOSFET Switching Circuit Protects Shape Memory Alloy Actuators; 8) Optimized FPGA Implementation of Multi-Rate FIR Filters Through Thread Decomposition; 9) Circuit for Communication Over Power Lines; 10) High-Efficiency Ka-Band Waveguide Two-Way Asymmetric Power Combiner; 11) 10-100 Gbps Offload NIC for WAN, NLR, and Grid Computing; 12) Pulsed Laser System to Simulate Effects of Cosmic Rays in Semiconductor Devices; 13) Flight Planning in the Cloud; 14) MPS Editor; 15) Object-Oriented Multi Disciplinary Design, Analysis, and Optimization Tool; 16) Cryogenic-Compatible Winchester Connector Mount and Retaining System for Composite Tubes; 17) Development of Position-Sensitive Magnetic Calorimeters for X-Ray Astronomy; 18) Planar Rotary Piezoelectric Motor Using Ultrasonic Horns; 19) Self-Rupturing Hermetic Valve; 20) Explosive Bolt Dual-Initiated from One Side; 21) Dampers for Stationary Labyrinth Seals; 22) Two-Arm Flexible Thermal Strap; 23) Carbon Dioxide Removal via Passive Thermal Approaches; 24) Polymer Electrolyte-Based Ambient Temperature Oxygen Microsensors for Environmental Monitoring; 25) Pressure Shell Approach to Integrated Environmental Protection; 26) Image Quality Indicator for Infrared Inspections; 27) Micro-Slit Collimators for X-Ray/Gamma-Ray Imaging; 28) Scatterometer-Calibrated Stability Verification Method; 29) Test Port for Fiber-Optic-Coupled Laser Altimeter; 30) Phase Retrieval System for Assessing Diamond Turning and Optical Surface Defects; 31) Laser Oscillator Incorporating a Wedged Polarization Rotator and a Porro Prism as Cavity Mirror; 32) Generic, Extensible, Configurable Push-Pull Framework for Large-Scale Science Missions; 33) Dynamic Loads Generation for Multi-Point Vibration Excitation Problems; 34) Optimal Control via Self-Generated Stochasticity; 35) Space-Time Localization of Plasma Turbulence Using Multiple Spacecraft Radio Links; 36) Surface Contact Model for Comets and Asteroids; 37) Dust Mitigation Vehicle; 38) Optical Coating Performance for Heat Reflectors of the JWST-ISIM Electronic Component; 39) SpaceCube Demonstration Platform; 40) Aperture Mask for Unambiguous Parity Determination in Long Wavelength Imagers; 41) Spaceflight Ka-Band High-Rate Radiation-Hard Modulator; 42) Enabling Disabled Persons to Gain Access to Digital Media; 43) Cytometer on a Chip; 44) Principles, Techniques, and Applications of Tissue Microfluidics; and 45) Two-Stage Winch for Kites and Tethered Balloons or Blimps.

Source record↗

NASA NTRS2014

The Potential of Wearable Sensor Technology for EVA Glove Ergonomic Evaluation

Injuries to the hands are common among astronauts who train for extravehicular activity (EVA). Many of these injuries refer to the gloves worn during EVA as the root cause. While pressurized, the bladder and outer material of these gloves restrict movement and create pressure points while performing tasks, sometimes resulting in pain, muscle fatigue, abrasions, and occasionally a more severe injury, onycholysis (fingernail delamination). The most common injury causes are glove contact (pressure point/rubbing), ill-fitting gloves, and/or performing EVA tasks in pressurized gloves. A brief review of the Lifetime Surveillance of Astronaut Health's injury database reveals over 57% of the total injuries to the upper extremities during EVA training occurred either to the metacarpophalangeal (MCP) joint, fingernail, or the fingertip. Twenty-five of these injuries resulted in a diagnosis of onycholysis.

Reid, Christopher R.↗

NASA NTRS2014

The Potential of Wearable Sensor Technology for EVA Glove Ergonomic Evaluation

Reid, Christopher R.↗

NASA NTRS1991

An inverse dynamic tracking control for bracing a flexible manipulator

The goal of this research is to produce a braced manipulator that is flexible. In order to brace the manipulator against a surface, a tip position tracking control becomes essential to avoid large impacts on contact, and to control the force after contact. If we consider the characteristics of the flexible manipulator, the control task may be characterized as a tracking control of a nonlinear, noncolocated, nonminimum-phase system with uncertainties. First, the author introduces the staged positioning concept and provides a conceptual background for the bracing strategy. Second, a single link flexible manipulator is modeled by the assumed-modes method, and the validity of the model is verified with experimental results. Third, a time domain inverse dynamic method is proposed to cancel out the nonminimum-phase positive zeros which cannot be cancelled by feedback controls. Fourth, a tracking controller is designed to control the end point of a flexible manipulator without any overshoot or residual vibrations. Its perfect tracking or asymptotic tracking performance is analyzed and discussed for zero and non-zero initial condition cases. Finally, impact phenomena are investigated, and contact force control of a flexible bracing manipulator is presented to set up a control scenerio for such a manipulator. The proposed control scheme is implemented on a single link flexible manipulator, and analyzed and evaluated with simulations and experiments.

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NASA NTRS1979

Digital controller design: Analysis of the annular suspension pointing system

The Annular Suspension and Pointing System (ASPS) is a payload auxiliary pointing device of the Space Shuttle. The ASPS is comprised of two major subassemblies, a vernier and a coarse pointing subsystem. The experiment is attached to a mounting plate/rim combination which is suspended on magnetic bearing/actuators (MBA) strategically located about the rim. Fine pointing is achieved by gimballing the plate/rim within the MBA gaps. Control about the experiment line-of-sight is obtained through the use of a non-contacting rim drive and positioning torquer. All sensors used to close the servo loops on the vernier system are noncontacting elements. Therefore, the experiment is a free-flyer constrained only by the magnetic forces generated by the control loops.

Kuo, B. C.↗

NASA NTRS1982

A detailed treatment of two-dimensional, starved lubrication in the vicinity of two counter-rotating cylinders

The problem of starved lubrication in the inlet region for the case of line contact between two nondeforming, equal radii cylinders rotating in opposite directions with equal surface speeds is considered. The lubricant is assumed to be a constant density, isoviscous, Newtonian fluid. The usual approach, which involves the use of Reynolds equation everywhere, is not followed. Instead, the situation is restricted to one in which the lubricant enters the contact region in thin films which adhere to the cylinders. Using Reynolds equation only at the line of centers and a suitable thin film approximation far from that point, the intervening region is treated as a general creeping flow region. Solutions, incorporating complete free surface boundary conditions, are obtained numerically. The hitherto unobtained results due to this approach include the existence of a unique free surface location for a fixed set of operating conditions.

Medrow, R. A.↗

NASA NTRS2014

Spacecraft Charging Analysis of a CubeSat

Spacecraft charging occurs when charged particles from the surrounding space plasma environment contact a spacecraft and unequal charging currents result in a net charge density accumulation on or in spacecraft materials. Charging becomes a threat when differential potentials between two points on the spacecraft or between the spacecraft and the ambient space environment build to the level that electric fields associated with the potentials exceed the electric breakdown strength of the spacecraft materials and electrostatic discharge arcs are generated. Electrostatic discharges resulting from spacecraft charging can adversely affect telemetry and cause irreparable damage to electronics. Other spacecraft charging effects include damage of solar arrays and thermal protection, enhancement of contamination of surfaces, and degradation of optics. Typically, the large government and commercial space programs include spacecraft charging analysis as part of the design process. CubeSat projects, however, usually do not have the time or funding to include a spacecraft charging analysis due to their low budget and quick-turnaround requirements. CubeSat projects also tend to rely heavily on commercial "off-the-shelf" products, many of which are not qualified for use in space, and are particularly vulnerable to the effects of the space environment. As the demand for longer and more complex CubeSat missions increases, it is becoming more and more important to consider the effects of spacecraft charging in the design process. Results of surface charging analysis using Nascap-2k on a typical CubeSat design for a polar orbit scenario are illustrated. These results show that for a polar orbiting CubeSat, spacecraft charging could be an issue and steps should be taken to mitigate the effects for these small satellites.

Willis, Emily M.↗

NASA NTRS1991

Dynamics modeling of multibody flexible systems with traveling multi-point joints

This paper presents a general methodology for modeling the dynamics of a flexible structure which moves on the surface of another flexible structure. The relative motion of the two bodies need not follow a straight line, nor need the contact surfaces be planar in their undeformed state. A model reduction approach is also developed, which makes the methodology applicable to large structural systems. The Space Station Freedom Mobile Transporter represents one such system, when attached to the Shuttle Orbiter. Numerical examples are provided.

Messac, Achille↗

NASA NTRS1989

Process for coating an object with silicon carbide

A process for coating a carbon or graphite object with silicon carbide by contacting it with silicon liquid and vapor over various lengths of contact time. In the process, a stream of silicon-containing precursor material in gaseous phase below the decomposition temperature of said gas and a co-reactant, carrier or diluent gas such as hydrogen is passed through a hole within a high emissivity, thin, insulating septum into a reaction chamber above the melting point of silicon. The thin septum has one face below the decomposition temperature of the gas and an opposite face exposed to the reaction chamber. The precursor gas is decomposed directly to silicon in the reaction chamber. A stream of any decomposition gas and any unreacted precursor gas from said reaction chamber is removed. The object within the reaction chamber is then contacted with silicon, and recovered after it has been coated with silicon carbide.

Levin, Harry↗

NASA NTRS2014

A Novel Instrument and Methodology for the In-Situ Measurement of the Stress in Thin Films

We introduce a novel methodology for the in-situ measurement of mechanical stress during thin film growth utilizing a highly sensitive non-contact variation of the classic spherometer. By exploiting the known spherical deformation of the substrate the value of the stress induced curvature is inferred by measurement of only one point on the substrate's surface-the sagittal. From the known curvature the stress can be calculated using the well-known Stoney equation. Based on this methodology, a stress sensor has been designed which is simple, highly sensitive, compact, and low cost. As a result of its compact nature, the sensor can be mounted in any orientation to accommodate a given deposition geometry without the need for extensive modification to an already existing deposition system. The technique employs the use of a double side polished substrate that offers good specular reflectivity and is isotropic in its mechanical properties, such as <111> oriented crystalline silicon or amorphous soda lime glass, for example. The measurement of the displacement of the uncoated side during deposition is performed with a high resolution (i.e. 5nm), commercially available, inexpensive, fiber optic sensor which can be used in both high vacuum and high temperature environments (i.e. 10(exp-7) Torr and 480oC, respectively). A key attribute of this instrument lies in its potential to achieve sensitivity that rivals other measurement techniques such as the micro cantilever method but, due to the comparatively larger substrate area, offers a more robust and practical alternative for subsequent measurement of additional characteristics of the film that can might be correlated to film stress. We present measurement results of nickel films deposited by magnetron sputtering which show good qualitative agreement to the know behavior of polycrystalline films previously reported by Hoffman.

Broadway, David M.↗

NASA NTRS1983

Mass analysis of neutral particles and ions released during electrical breakdowns on spacecraft surfaces

A specialized spectrometer was designed and developed to measure the mass and velocity distributions of neutral particles (molecules and molecular clusters) released from metal-backed Teflon and Kapton films. Promising results were obtained with an insulation breakdown initiation system based on a moveable contact touching the insulated surfaces. A variable energy, high voltage pulse is applied to the contact. The resulting surface damage sites can be made similar in size and shape to those produced by a high voltage electron beam system operating at similar discharge energies. The point discharge apparatus was used for final development of several high speed recording systems and for measurements of the composition of the materials given off by the discharge. Results with this apparatus show evolution of large amounts of fluorocarbon fragments from discharge through Teflon FEP, while discharges through Kapton produce mainly very light hydrocarbon fragments at masses below about 80 a.m.u.

Kendall, B. R. F.↗

NASA NTRS2009

Gamma ray detector modules

A radiation detector assembly has a semiconductor detector array substrate of CdZnTe or CdTe, having a plurality of detector cell pads on a first surface thereof, the pads having a contact metallization and a solder barrier metallization. An interposer card has planar dimensions no larger than planar dimensions of the semiconductor detector array substrate, a plurality of interconnect pads on a first surface thereof, at least one readout semiconductor chip and at least one connector on a second surface thereof, each having planar dimensions no larger than the planar dimensions of the interposer card. Solder columns extend from contacts on the interposer first surface to the plurality of pads on the semiconductor detector array substrate first surface, the solder columns having at least one solder having a melting point or liquidus less than 120 degrees C. An encapsulant is disposed between the interposer circuit card first surface and the semiconductor detector array substrate first surface, encapsulating the solder columns, the encapsulant curing at a temperature no greater than 120 degrees C.

Capote, M. Albert↗