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Development of a Field-Deployable Microphone Phased Array for Airframe Noise Flyover Measurements
This technical memorandum describes in detail the construction and use of a large channel-count, field-deployable microphone phased array designed for airframe noise flyover measurements for a range of aircraft types and scales. The array incorporated 185 hardened, weather-resistant sensors suitable for outdoor use. A custom 4-mA current loop receiver circuit with temperature compensation was developed to power the sensors over extended cable lengths with minimal loss of signal-to-noise. Extensive calibrations and performance testing of the sensors were conducted to verify the design specifications. A compact data system combining sensor power, signal conditioning, and digitization was assembled for use with the array. Complementing the data system was a robust analysis system capable of near real-time presentation of beamformed and deconvolved contour plots and integrated spectra obtained from data acquired during flyover passes of the array. Additional instrumentation systems needed to process the array data were also developed, including a commercial 10-meter weather station comprised of a sonic anemometer, aspirated temperature/humidity probe and pressure sensor. Unique methods for assessing the health of the array in-situ were developed and demonstrated. A detailed mock-up of the instrumentation suite (phased array, weather station, and data processor) was performed in the NASA Langley Acoustic Development Laboratory in 2014 to vet the system performance. Issues with the sensors and electronics were identified during the mock-up and subsequently corrected. The array was then deployed for preliminary field testing at Fort A.P. Hill in Virginia in 2015 followed by the array being utilized in three separate full-scale airframe noise test campaigns at Edwards Air Force Base in California from 2016 to 2018 where the system was used to characterize the noise generated by both baseline and treated flaps and main landing gear on a commercial transport-sized vehicle.
Phased Array↗
Digital attitude control of the Skylab and Apollo/Soyuz orbital assemblies
The present work examines some extensions of the digital autopilot (DAP) capability as programmed in the Apollo Command and Service Module (CSM) onboard computer. Design activity undertaken for a thrust vector control DAP to control a proposed main engine deorbit burn of CSM while still docked to the Orbital Workshop is discussed. The design, implementation, and testing of a reaction control system DAP for the docked Skylab configuration are described along with its adaptation to control of the Apollo/Soyuz docked configuration.
Penchuk, A.↗
Computer Assembles Mosaics Of Satellite-SAR Imagery
Digital image-processing system assembles maplike mosaic images of large areas of Earth from overlapping images of smaller areas generated by spaceborne synthetic-aperture radar (SAR). Automatically registers and blends smaller images with each other. Eliminates need for time-consuming, tedious manual processing. Modifiable to accept images from spaceborne optical sensors.
Kwok, R.↗
Magnetic Field Investigation for ISEE mother and daughter spacecraft
Highlights of the design and fabrication of fluxgate magnetometers for the ISEE A and B satellites which were launched from a single launch vehicle into the same highly elliptical orbit are presented. The instrument consisted of four basic assemblies: the sensors, the drive and sense electronics, the data handling unit; and the flipper. The digital handling data handling assembly contained a digital filter that mantained a uniform transfer function for all three axes of both spacecraft. Initial studies centered on the bow shock and the magnetopause and show that both boundaries are in rapid motion. The bow shock was found to be very thin, close to an ion inertial length in thickness, but the magnetopause was much thicker than expected, about 400 to 1000 km on average. The magnetometers have each logged over 3 2/3 years of continuous operation.
Russell, C. T.↗
Importance of numerosity and distribution of articulations within the digits, wrists, and arms of telemanipulators confronted with dextrous assembly tasks
This study was conducted to evaluate the impact of successive exclusion of degrees-of-freedom within digits (thumb and index finger) and wrist when performing tasks demanding varying degrees of end effector kinematic complexity. The analysis was performed by successive constraining articulations in the fingers (thumb and index) and wrists or human subjects via splints, and then timing performance of part movement, positioning, and assembly operations requiring different levels of kinematic freedom. Analysis of performance times showed that transferring degrees-of-freedom, or articulations, from the digits to the wrist and arm had little or no material affect upon manipulation performance times if wrist and arm kinematics were unrestricted. If wrist and arm kinematics are not constrained and are of high-quality, our findings show that transferring kinematic freedom from the digits to the wrist and arms or remote end effectors offers limited or no consequence in terms of remote assembly operations. The importance of such findings, in terms of development and implementation of commercially attractive telemanipulators, is discussed.
Wiker, Steven F.↗
High-Rate Ka-Band Modulator for the NISAR Mission
In order to meet ever-increasing data return requirements, more satellites are using the near-Earth Ka-band (25.5 – 27.0 GHz) to achieve higher downlink rates. The paper discusses the Universal Space Transponder - Ka-band Modulator (UST-KaM) developed at the NASA Jet Propulsion Laboratory for the NASA-ISRO SAR (NISAR) mission, which is capable of transmitting up to 1.74 Gbps with 7/8 LDPC encoding. The UST-KaM utilizes OQPSK with both baseband and RF filtering to contain the 1 Gsps transmission spectrum within the 1.5 GHz Ka-band, even with the use of an external, saturated amplifier. Due to the high data rates involved, several technical hurdles were overcome in both the digital and RF designs. The UST-KaM is a software defined radio with two digital circuit board assemblies: a low speed housekeeper board for commanding and telemetry, and a high-rate signal processing board known as the Signal Processing Module (SPM). The SPM receives data from the spacecraft via a SERDES interface at up to 2 Gbps, processes and encodes the data using a Xilinx Virtex-5 FPGA, and produces 1 Gsps OQPSK I and Q waveforms via synchronized, multiplexed DACs. The RF Electronics in the UST-KaM employ a heterodyne architecture in which the I/Q digital waveforms are filtered and then up-converted using a sub-harmonic IQ mixer. The LO of the converter, which is included in the exciter assembly, is at 13.125GHz, and the RF output is a 26.25GHz carrier which is modulated with the OQPSK waveforms. The output of the mixer is then filtered using low loss quartz thinfilm edge coupled Chebyshev filters and amplified through a series of low gain Ka-Band amplifiers. The exciter assembly also has a 2GHz, low-phase-noise, PLL synthesizer to supply the clock to the DACs for the high rate digital waveforms.
Spurgers, Carl↗
Lower Robotic Arm Assembly Having a Plurality of Tendon Driven Digits
A lower robotic arm includes a base structure, a plurality of digits, and a plurality of tendons. The digits each include first, second, third, and fourth phalanges. Each digit is operatively attached to the base structure at the respective first phalange. A first joint operatively connects the first and second phalange to define a first axis, a second operatively connects the second and third phalange to define a second axis, and a third joint operatively connects the third and fourth phalange to define a third axis, such that the phalanges are selectively rotatable relative to the adjacent phalange, about the respective axis. The tendons are operatively connected to a respective one of the fourth phalanges. Each tendon selectively applies a first torque to the respective fourth phalange to urge the respective phalanges to rotate in a first direction about the respective axes.
Guo, Raymond↗
Data compression/error correction digital test system. Appendix 3: Maintenance. Book 1: Transmitter assembly drawings
Assembly drawings, logic schematics, and circuit schematics useful in maintaining the equipment of the DC/EC digital test system are reviewed. The drawings are organized in accordance with the reference designations of the hardware. The transmitter subsystem assembly drawings are emphasized.
Source record↗
Data compression/error correction digital test system. Appendix 3: Maintenance. Book 2: Receiver assembly drawings
The assembly drawings of the receiver unit are presented for the data compression/error correction digital test system. Equipment specifications are given for the various receiver parts, including the TV input buffer register, delta demodulator, TV sync generator, memory devices, and data storage devices.
Source record↗
The high energy astronomy observatories
The forthcoming NASA project of orbiting High Energy Astronomy Observatories (HEAO's) designed to probe the universe by tracing celestial radiations and particles is outlined. Solutions to engineering problems concerning HEAO's which are integrated, yet built to function independently are discussed, including the onboard digital processor, mirror assembly and the thermal shield. The principle of maximal efficiency with minimal cost and the potential capability of the project to provide explanations to black holes, pulsars and gamma-ray bursts are also stressed. The first satellite is scheduled for launch in April 1977.
Neighbors, A. K.↗
Geostationary Operational Environmental Satellite (GOES)-8 mission flight experience
The Geostationary Operational Environmental Satellite (GOES)-8 spacecraft was launched on April 13, 1994, at 06:04:02 coordinated universal time (UTC), with separation from the Atlas-Centaur launch vehicle occurring at 06:33:05 UTC. The launch was followed by a series of complex, intense operations to maneuver the spacecraft into its geosynchronous mission orbit. The Flight Dynamics Facility (FDF) of the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) was responsible for GOES-8 attitude, orbit maneuver, orbit determination, and station acquisition support during the ascent phase. This paper summarizes the efforts of the FDF support teams and highlights some of the unique challenges the launch team faced during critical GOES-8 mission support. FDF operations experience discussed includes: (1) The abort of apogee maneuver firing-1 (AMF-1), cancellation of AMF-3, and the subsequent replans of the maneuver profile; (2) The unexpectedly large temperature dependence of the digital integrating rate assembly (DIRA) and its effect on GOES-8 attitude targeting in support of perigee raising maneuvers; (3) The significant effect of attitude control thrusting on GOES-8 orbit determination solutions; (4) Adjustment of the trim tab to minimize torque due to solar radiation pressure; and (5) Postlaunch analysis performed to estimate the GOES-8 separation attitude. The paper also discusses some key FDF GOES-8 lessons learned to be considered for the GOES-J launch which is currently scheduled for May 19, 1995.
Noonan, C. H.↗
Geostationary Operational Environmental Satellite (GOES) Gyro Temperature Model
The geostationary Operational Environmental Satellite (GOES) 1/M series of spacecraft are geostationary weather satellites that use the latest in weather imaging technology. The inertial reference unit package onboard consists of three gyroscopes measuring angular velocity along each of the spacecraft's body axes. This digital integrating rate assembly (DIRA) is calibrated and used to maintain spacecraft attitude during orbital delta-V maneuvers. During the early orbit support of GOES-8 (April 1994), the gyro drift rate biases exhibited a large dependency on gyro temperature. This complicated the calibration and introduced errors into the attitude during delta-V maneuvers. Following GOES-8, a model of the DIRA temperature and drift rate bias variation was developed for GOES-9 (May 1995). This model was used to project a value of the DIRA bias to use during the orbital delta-V maneuvers based on the bias change observed as the DIRA warmed up during the calibration. The model also optimizes the yaw reorientation necessary to achieve the correct delta-V pointing attitude. As a result, a higher accuracy was achieved on GOES-9 leading to more efficient delta-V maneuvers and a propellant savings. This paper summarizes the: Data observed on GOES-8 and the complications it caused in calibration; DIRA temperature/drift rate model; Application and results of the model on GOES-9 support.
Rowe, J. N.↗
Clearance Analysis of CTC2 (on ELC4) to S-TRRJ HRS Radiator Rotation Envelope
In response to the planned retirement of the Space Shuttle Program, International Space Station (ISS) management began stockpiling spare parts on the ISS. Many of the larger orbital replacement units were stored on the Expedite the Processing of Experiments to Space Station (EXPRESS) Logistics Carriers (ELCs) mounted on the end of the S3 and P3 truss segments, immediately outboard of the Thermal Radiator Rotary Joints (TRRJs) and their attached radiators. In an August 2009 computer-aided design (CAD) assessment, it was determined that mounting the Cargo Transport Container (CTC) 2 on the inboard face of ELC4 as planned would create insufficient clearance between the CTC2 and the rotational envelope of the radiators when the TRRJs were rotated to a gamma angle of 35.0 degrees. The true clearance would depend on how the Unpressurized Cargo Carrier Attachment System (UCCAS) was mounted to the S3 truss and how the ELC4 was attached to it. If the plane of the UCCAS attachment points were tilted even slightly inboard, it would significantly change the clearance between CTC2 and the Starboard TRRJ (S-TRRJ) radiators. Additionally, since CTC2 would be covered in multilayer insulation (MLI), the true outer profile of CTC2 was not captured in the CAD models used for the clearance assessment. It was possible that, even if the S-TRRJ radiators cleared CTC2, they could snag the MLI covering. In the fall of 2010, the Image Science and Analysis Group (ISAG) was asked to perform an on-orbit clearance analysis to determine the location of CTC2 on ELC4 and the S-TRRJ radiators at the angle of closest approach so that a positive clearance could be assured. To provide the measurements as quickly as possible to aid in the assessment, it was decided that the clearance analysis would be broken into two phases. Phase I: The location and orientation of the UCCAS fittings, which support and hold the ELC4 in place, would be measured relative to the ISS Analytical Coordinate System (ISSACS) as defined by nine preexisting Space Vision System (SVS) targets affixed to the forward/zenith side of the S1 and S3 truss segments. The location of the outboard edge of the S-TRRJ radiator would also be measured when positioned at the angle of closest approach to CTC2 (gamma = 35.0 degrees). This data would allow the Digital Pre-Assembly Group to predict how the ELC4 would sit on the UCCAS and how that would translate into the clearance between CTC2 and the S-TRRJ radiators. Phase II: After the ELC4 was delivered and installed into the UCCAS, the position of the CTC2 mounting plate on the inboard face of ELC4, would be measured in the ISSACS coordinate system relative to the SVS control points used in Phase I. Although CTC2 would not yet be mounted on ELC4, the working envelope of CTC2 could be mathematically added to the measured position of ELC4 to produce a best estimate for CTC2's mounted location. Comparing CTC2's best estimated location to the S-TRRJ radiator (measured in Phase I); relative to the ISSACS coordinate system, would provide a direct measurement of the expected clearance. Due to the impending delivery of ELC4 (scheduled for January 2011), planning for the Phase I clearance analysis began immediately. Using the Dynamic Onboard Ubiquitous Graphics (DOUG) program, ISAG designed a way to acquire images of the SVS control points on truss segments S1 and S3, the aft facing edge of the S-TRRJ Heat Rejection Subsystem (HRS) radiator, and the three UCCAS latch mechanisms mounted on the zenith face of the S3 truss using the Space Station Remote Manipulator System (SSRMS). To minimize the number of SSRMS movements, the Special Purpose Dexterous Manipulator (SPDM) would be attached to the SSRMS. This would make it possible to park the SPDM in one position and acquire multiple images by changing the viewing orientation of the SPDM body cameras using the pan/tilt units on which they are mounted. Using this implementation concept, ISAG identified four SSRMS/SPDM positions from which the majority of the needed imagery could be acquired. Five additional images would be acquired using the CP-3 external ISS camera mounted on the S1 truss immediately inboard of ELC4. Based on a photogrammetric simulation, it was estimated that the measured location of the HRS radiator and UCCAS latch points would be accurate to about 0.3 in. in each of the three axes relative to ISSACS. Working with ROBO, ISAG collected 78 images of the ISS December 29, 2010. From this imagery, the best 40 were selected for use in the analysis process. The images were radiometrically enhanced to improve color and contrast and loaded into the FotoG analysis software along with the camera parameters and control data, which consisted of the coordinates for the nine SVS targets on the S1 and S3 trusses in the ISSACS coordinate system.
Liddle, Donn↗
Direct Te Metallicity Calibration of R23 in Strong Line Emitters
The gas metallicity of galaxies is often estimated using strong emission lines such as the optical lines of [O iii] and [O ii]. The most common measure is "R23," defined as ([O ii]λλ3726, 3729 + [O iii]λλ4959,5007)/Hβ. Most calibrations for these strong-line metallicity indicators are for continuum selected galaxies. We report a new empirical calibration of R23 for extreme emission-line galaxies using a large sample of about 800 star-forming green pea galaxies with reliable Te -based gas-phase metallicity measurements. This sample is assembled from Sloan Digital Sky Survey (SDSS) Data Release 13 with the equivalent width of the line [O iii]λ5007 > 300 Å or the equivalent width of the line Hβ > 100 Å in the redshift range 0.011 < z < 0.411. For galaxies with strong emission lines and large ionization parameter (which manifests as log [O iii]λλ4959,5007/[O ii]λλ3726,3729 ≥0.6), R23 monotonically increases with log(O/H) and the double-value degeneracy is broken. Our calibration provides metallicity estimates that are accurate to within ~0.14 dex in this regime. Many previous R23 calibrations are found to have bias and large scatter for extreme emission-line galaxies. We give formulae and plots to directly convert R23 and [O iii]λλ4959,5007/[O ii]λλ3726,3729 to log(O/H). Since green peas are best nearby analogs of high-redshift Lyα emitting galaxies, the new calibration offers a good way to estimate the metallicities of both extreme emission-line galaxies and high-redshift Lyα emitting galaxies. We also report on 15 galaxies with metallicities less than 1/12 solar, with the lowest metallicities being 12+log(O/H) = 7.25 and 7.26.
Jiang, Tianxing↗
Supervised Autonomous Assembly to Create and Evolve Persistent Assets
Supervised autonomous assembly (SAA) will create a paradigm shift in the planning and design of future persistent assets (PAs), both in near zero-g environments and on planetary surfaces. SAA refers to an autonomy approach that has the benefits of autonomous assembly as well as the benefits provided by a supervisor (operator) who is available to resolve unexpected situations. SAA provides both increased design freedom as well as reduced programmatic risk. SAA enables evolution of future PAs over decades as in-space operations transition from single purpose missions to creation of PAs, such as laboratories and experimental stations which more closely resembling terrestrial laboratories that can easily adapt and evolve to new missions leveraging repeated visits to the PA. The ability to evolve enables PAs to rapidly respond to changing objectives resulting from new questions as our understanding improves. A recently initiated National Aeronautics and Space Administration (NASA) project in the Space Technology Mission Directorate (STMD) Game Changing Development (GCD) Program called the Precision Assembled Space Structure (PASS), leverages the advantages of SAA to develop technologies that enable efficient creation and evolution of hexagonal topologies; both planar (example: fuel depots) and curved (examples: telescopes and shelters). PASS will be used to provide context for the philosophy and concepts discussed as well as the decision and selections made. PASS objectives are: a) Develop confidence in SAA and on-orbit servicing, assembly and manufacturing (OSAM) technologies by executing a test campaign that uses a path-to-flight autonomous precision assembly process directly applicable to future space telescopes. b) Test autonomous technologies including automated path planning and error recovery, to emphasize a robust approach that relies on generic robots and special purpose tools. c) Validate critical component models using a digital twin that includes the assembled primary mirror support structure and assembly process. A digital twin is a high-fidelity simulation of the asset capable of predicting the on-orbit performance. The paper concludes after identifying the critical need for a modest assembly flight experiment to validate and develop confidence in the SAA paradigm, thus accelerating adoption of the benefits described. SAA is a game changing paradigm that enhances the ability of an organization to infuse new technology through rapid evolution of PAs while leveraging OSAM technologies.
Structural Modeling↗
CSM docked DAP/orbital assembly bending interaction-axial case
A digital autopilot which can provide attitude control for the entire Skylab orbital assembly using the service module reaction control jets is described. An important consideration is the potential interaction of the control system with the bending modes of the orbital assembly. Two aspects of this potential interaction were considered. The first was the possibility that bending induced rotations feeding back through the attitude sensor into the control system could produce an instability or self-sustained oscillation. The second was whether the jet activity commanded by the control system could produce excessive loads at any of the critical load points of the orbital assembly. Both aspects were studied by using analytic techniques and by running simulations on the all-digital simulator.
Turnbull, J. F.↗
Digital circuits using universal logic gates
According to the invention, a digital circuit design embodied in at least one of a structural netlist, a behavioral netlist, a hardware description language netlist, a full-custom ASIC, a semi-custom ASIC, an IP core, an integrated circuit, a hybrid of chips, one or more masks, a FPGA, and a circuit card assembly is disclosed. The digital circuit design includes first and second sub-circuits. The first sub-circuits comprise a first percentage of the digital circuit design and the second sub-circuits comprise a second percentage of the digital circuit design. Each of the second sub-circuits is substantially comprised of one or more kernel circuits. The kernel circuits are comprised of selection circuits. The second percentage is at least 5%. In various embodiments, the second percentage could be at least 10%, 20%, 30%, 40%, 50%, 60%, 70%, 80%, 90%, or 95%.
Whitaker, Sterling R.↗