Computational Robot Dynamics Using Spatial Operators
This paper tells the story of spatial operators in robot dynamics, emphasizing their physical interpretation, while avoiding lengthly matematical derivations.
dynamics↗
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SHERLOC: Results of the first 350 sols of operations
On February 18th 2021, the Perseverance rover landed in Jezero crater, Mars. This site was chosen because orbiter data analysis provides evidence that the crater hosted a stream-fed lake during the Martian Noachian period. The Octavia Butler landing site is located ~1.9 km east of the remnants of a river delta. Deltaic and lacustrine sediments can preserve biosignatures, making Jezero crater a prime target for Mars sample return science. One of the seven instruments on Perseverance’s science payload is SHERLOC –Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals. SHERLOC combines fluorescence and Raman spectroscopy with microscopic imaging to analyze surface material to better understand the history of the aqueous environments recorded in the rocks of Jezero crater and to search for potential biosignatures. SHERLOC imaging obtains high spatial resolution images of geological targets to identify grain-scale structure and texture. SHERLOC spectroscopy enables high-sensitivity detection, characterization, and spatially resolved correlation of trace organic materials. Native fluorescence emissions from aromatic organic species allow for detection and classification of aromatic organic molecules, whereas Raman scattered photons from molecules allow identification of functional groups of organics, chemicals, and minerals. In the first 300 sols, SHERLOC has analyzed 3 natural surfaces, and 5 abraded rock patches created during the Crater Floor Campaign within Jezero crater. SHERLOC has been able to identify phosphates, amorphous/microcrystalline silicate (AMS), olivine, sulfates, and carbonates in abraded patches in the green zone campaign within Jezero Crater Máaz and Séítah formations. Within these detections we have begun to tell the story of what this crater was like when it was full of liquid water over 3 billion years ago. In each of these samples we have identified fluorescence features that are likely aromatic organics native to the rock interiors. We have identified multiple unique fluorescence signatures, within each of the abraded patches. The organic signatures have either been widely distributed over an extended area, which is probably due to planetary wide dust, or have spatially resolved locations that are collocated with different mineral signatures. Note: Additional information available on attachment.
L. W. Beegle↗
The Ocean’s Breath: How Autonomous Robotic Vehicles at Sea and Super Computers are Helping us Understand the Carbon Cycle in the Ocean
Carbon dioxide due to human activities such as fossil fuel burning has well-known and concerning implications for global temperatures as well as terrestrial and marine ecosystems. Hence, an important objective of NASA Earth science is to observe and understand the variations in the global carbon cycle and the associated climate and ecosystem impacts in the context of past and projected anthropogenic emissions. In my presentation, I will tell the story of how some of my collaborators and I are using autonomous robotic vehicles and super computers to try to untangle the mysteries of the carbon cycle in the ocean, which depends in fascinating ways on atmospheric and ocean physics, marine ecosystem dynamics, as well as the chemistry of the seawater.
Ocean's breath↗
NASA's Office of Technology, Policy, and Strategy: A Year in Review 2023
This is an annual report that provides an overview of OTPS' work throughout 2023 and tells the story of how OTPS' work helps the NASA mission.
OTPS↗
Ideas for Applying Artificial Intelligence to NASA Lessons Learned
Artificial intelligence is it tool that has existed for many years. Recent developments in generative AI has rapidly expanded the applications for this tool across many domains such as writing, analyzing, summarizing, creating videos, creating graphics and others. Charts in this presentation will prompt attendees to discuss the pros and cons, and potential validation methodology for imbedding artificial intelligence tools in the NASA lessons learned knowledge sharing environment.
Knowledge Management↗
Hypersonics Before the Shuttle: A Concise History of the X-15 Research Airplane
It is a beginning. Over forty-five years have elapsed since the X-15 was conceived; 40 since it first flew. And 31 since the program ended. Although it is usually heralded as the most productive flight research program ever undertaken, no serious history has been assembled to capture its design, development, operations, and lessons. This monograph is the first step towards that history. Not that a great deal not previously been written about the X-15, because it has. But most of it has been limited to specific aspects of the program; pilot's stories, experiments. lessons-learned, etc. But with the exception of Robert S. Houston's history published by the Wright Air Development Center in 1958, and later included in the Air Force History Office's Hypersonic Revolution, no one has attempted to tell the entire story. And the WADC history is taken entirely from the Air Force perspective, with small mention of the other contributors.
Jenkins, Dennis R.↗
Building Satellites is Easier
'Building Satellites' is a story about Jim Marsh's recovery from a severe head injury told by his wife Phyllis from the moment she learned of its happening, through the ups and downs of a lengthy rehabilitation, until his return to work and daily living. It continues on, however, and narrates his battle with the more insidious Grave's disease. Told in the first person, 'Building Satellites' vividly portrays Phyllis's thoughts and feelings throughout this experience with scrupulous honestly. This is a story worth reading for many reasons. First of all, Jim was an accomplished scientist, respected by his colleagues both in this country and abroad. Secondly, it narrates the many stages of his recovery from head injury with detailed readable accuracy; it informs us as well as inspires. Finally, 'Building Satellites" also tells us the story of Phyllis Marsh's remarkable creative response to this crisis. It narrates her personal experiences as she progresses through the strange and somewhat bizarre world of medicine and rehabilitation, guided by a few basic beliefs, which she learned as a child in Iowa, that provided her with the strength to endure. 'Building Satellites' seems to reaffirm our unconscious, but settled conviction, that when confornted overnight with adversity, we are somehow given the means for coping, supported by our basic beliefs, strengthened by family and friends, and eventually learning to accept any outcome.
Marsh, Phyllis Nimmo↗
Results of including geometric nonlinearities in an aeroelastic model of an F/A-18
An integrated, nonlinear simulation model suitable for aeroelastic modeling of fixed-wing aircraft has been developed. While the author realizes that the subject of modeling rotating, elastic structures is not closed, it is believed that the equations of motion developed and applied herein are correct to second order and are suitable for use with typical aircraft structures. The equations are not suitable for large elastic deformation. In addition, the modeling framework generalizes both the methods and terminology of non-linear rigid-body airplane simulation and traditional linear aeroelastic modeling. Concerning the importance of angular/elastic inertial coupling in the dynamic analysis of fixed-wing aircraft, the following may be said. The rigorous inclusion of said coupling is not without peril and must be approached with care. In keeping with the same engineering judgment that guided the development of the traditional aeroelastic equations, the effect of non-linear inertial effects for most airplane applications is expected to be small. A parameter does not tell the whole story, however, and modes flagged by the parameter as significant also need to be checked to see if the coupling is not a one-way path, i.e., the inertially affected modes can influence other modes.
Buttrill, Carey S.↗
Touchdown: The Development of Propulsion Controlled Aircraft at NASA Dryden
This monograph relates the important history of the Propulsion Controlled Aircraft project at NASA's Dryden Flight Research Center. Spurred by a number of airplane crashes caused by the loss of hydraulic flight controls, a NASA-industry team lead by Frank W. Burcham and C. Gordon Fullerton developed a way to land an aircraft safely using only engine thrust to control the airplane. In spite of initial skepticism, the team discovered that, by manually manipulating an airplane's thrust, there was adequate control for extended up-and-away flight. However, there was not adequate control precision for safe runway landings because of the small control forces, slow response, and difficulty in damping the airplane phugoid and Dutch roll oscillations. The team therefore conceived, developed, and tested the first computerized Propulsion Controlled Aircraft (PCA) system. The PCA system takes pilot commands, uses feedback from airplane measurements, and computes commands for the thrust of each engine, yielding much more precise control. Pitch rate and velocity feedback damp the phugoid oscillation, while yaw rate feedback damps the Dutch roll motion. The team tested the PCA system in simulators and conducted flight research in F-15 and MD-11 airplanes. Later, they developed less sophisticated variants of PCA called PCA Lite and PCA Ultralite to make the system cheaper and therefore more attractive to industry. This monograph tells the PCA story in a non- technical way with emphasis on the human aspects of the engineering and flic,ht-research effort. It thereby supplements the extensive technical literature on PCA and makes the development of this technology accessible to a wide audience.
Tucker, Tom↗
Space-Based Astronomy: An Educator Guide with Activities for Science, Mathematics, and Technology Education
If you go to the country, far from city lights, you can see about 3,000 stars on a clear night. If your eyes were bigger, you could see many more stars. With a pair of binoculars, an optical device that effectively enlarges the pupil of your eye by about 30 times, the number of stars you can see increases to the tens of thousands. With a medium-sized telescope with a light-collecting mirror 30 centimeters in diameter, you can see hundreds of thousands of stars. With a large observatory telescope, millions of stars become visible. This curriculum guide uses hands-on activities to help students and teachers understand the significance of space-based astronomy--astronomical observations made from outer space. It is not intended to serve as a curriculum. Instead, teachers should select activities from this guide that support and extend existing study. The guide contains few of the traditional activities found in many astronomy guides such as constellation studies, lunar phases, and planetary orbits. It tells, rather, the story of why it is important to observe celestial objects from outer space and how to study the entire electromagnetic spectrum. Teachers are encouraged to adapt these activities for the particular needs of their students. When selected activities from this guide are used in conjunction with traditional astronomy curricula, students benefit from a more complete experience.
Vogt, Gregory L.↗
The Living Universe: NASA and the Development of Astrobiology
In the opening weeks of 1998 a news article in the British journal Nature reported that NASA was about to enter biology in a big way. A "virtual" Astrobiology Institute was gearing up for business, and NASA administrator Dan Goldin told his external advisory council that he would like to see spending on the new institute eventually reach $100 million per year. "You just wait for the screaming from the physical scientists (when that happens)," Goldin was quoted as saying. Nevertheless, by the time of the second Astrobiology Science Conference in 2002, attended by seven hundred scientists from many disciplines, NASA spending on astrobiology had reached nearly half that amount and was growing at a steady pace. Under NASA leadership numerous institutions around the world applied the latest scientific techniques in the service of astrobiology's ambitious goal: the study of what NASA's 1996 Strategic Plan termed the "living universe." This goal embraced nothing less than an understanding of the origin, history, and distribution of life in the universe, including Earth. Astrobiology, conceived as a broad interdisciplinary research program, held the prospect of being the science for the twenty-first century which would unlock the secrets to some of the great questions of humanity. It is no surprise that these age-old questions should continue into the twenty-first century. But that the effort should be spearheaded by NASA was not at all obvious to those - inside and outside the agency - who thought NASA's mission was human spaceflight, rather than science, especially biological science. NASA had, in fact, been involved for four decades in "exobiology," a field that embraced many of the same questions but which had stagnated after the 1976 Viking missions to Mars. In this volume we tell the colorful story of the rise of the discipline of exobiology, how and why it morphed into astrobiology at the end of the twentieth century, and why NASA was the engine for both the discipline's founding and for its transformation.
Dick, Steven J.↗
Flash Drought as Captured by MERRA-2: Disentangling the Contributions of Precipitation Deficit and Excess Energy
Flash droughts uncharacteristically rapid dryings of the land system are naturally associated with extreme precipitation deficits. Such precipitation deficits, however, do not tell the whole story. Land surface drying can be exacerbated by anomalously high evapotranspiration (ET) rates driven, for example, by anomalously high temperatures (e.g., during heatwaves) and/or anomalously high incoming radiation (e.g., from reduced cloudiness). In this study the relative contributions of precipitation and ET anomalies to flash drought generation are quantified through the analysis of diagnostic fields contained within the MERRA-2 reanalysis product. Unique to the overall approach is the explicit treatment of soil moisture impacts on ET an ET anomaly that is negative relative to the local long-term climatological mean is still considered positive in terms of its contribution to a flash drought, if it is high for the concurrent value of soil moisture. Maps produced in the analysis show the fraction of flash drought production stemming specifically from ET anomalies and the degree to which these ET anomalies are related to temperature and radiation anomalies. ET is found to have a large impact, for example, on flash drought production in the east-central US and in parts of Russia known from past studies to be prone to heatwave-related drought.
Koster, Randal↗
Flash Drought as Captured by Reanalysis Data: Disentangling the Contributions of Precipitation Deficit and Excess Evapotranspiration
Flash droughts – uncharacteristically rapid dryings of the land system – are naturally associated with extreme precipitation deficits. Such precipitation deficits, however, do not tell the whole story, for land surface drying can be exacerbated by anomalously high evapotranspiration (ET) rates driven by anomalously high temperatures (e.g., during heatwaves), anomalously high incoming radiation (e.g., from reduced cloudiness), and other meteorological anomalies. In this study, the relative contributions of precipitation and ET anomalies to flash drought generation in the Northern Hemisphere are quantified through the analysis of diagnostic fields contained within the MERRA-2 reanalysis product. Unique to the approach is the explicit treatment of soil moisture impacts on ET through relationships diagnosed from the reanalysis data; under this treatment, an ET anomaly that is negative relative to the local long-term climatological mean is still considered positive in terms of its contribution to a flash drought if it is high for the concurrent value of soil moisture. Maps produced in the analysis show the fraction of flash drought production stemming specifically from ET anomalies and illustrate how ET anomalies for some droughts are related to temperature and radiation anomalies. While ET is found to have an important impact on flash drought production in the central US and in parts of Russia known from past studies to be prone to heatwave-related drought, and while this impact does appear stronger during the onset (first several days) of flash droughts, overall the contribution of ET to these droughts is small relative to the contribution of precipitation deficit.
R D Koster↗
The Human Research Program Grant Lifecycle & Data Integration Schedule: Infographic
The Human Research Program (HRP) Grant Lifecycle process can be described using information from several government authoritative sources with overlapping generalizations. It is the responsibility of the HRP Program Planning & Control (PP&C) Office and the Data Management Integration Office (DMIO)to interpret this information into a cohesive process that can be communicated to the human research organization. PP&C and DMIO have been exploring training opportunities to facilitate understanding through the form of infographics. This communication tool combines eye-catching visuals and text making complex information and data more digestible and shareable. The infographic poster tells a short story about a federally awarded grant and is intended to help both the new and experienced HRP workforce understand the timeline for a research procurement and where their specific tasks fall within the 4 phases of the grant lifecycle. The Pre-Award, Award, Post-Award, and Closeout phases are overlayed with business swimlanes so HRP stakeholders can see where they fit into the timeline rather than working in an isolated part. This includes the Chief Scientist Office (CSO), PP&C, the Data Management Integration Office (DMIO), the Principal Investigator (PI), the Element stakeholders, the LSDA Archivists, and the Research & Operations Integration (ROI) team along with the stakeholders in the Human Health and Performance Directorate. Additionally, the poster introduces (1) the HRP Data Integration Schedule identified in the HRP Data Management Plan HRP-48047, Table 8-2 and (2) a Smartsheet Solution to automate the grants tracking business process. Emphasis is given to the Data Integration Schedule which is the basis for the milestone tasks that are to be completed during the Post-Award phase in the grant lifecycle. The poster is also an opportunity to present the Smartsheet Solution, a software collaboration and work management tool used to assign tasks and track project progress. This PP&C FY24 effort will facilitate an end-to-end solution to track grants and provide insight to the health of HRP grant research procurements using metrics, reports, and dashboards.
J Peace↗
Spacewatch Survey of the Solar System
The purpose of the Spacewatch project is to explore the various populations of small objects throughout the solar system. Statistics on all classes of small bodies are needed to infer their physical and dynamical evolution. More Earth Approachers need to be found to assess the impact hazard. (We have adopted the term "Earth Approacher", EA, to include all those asteroids, nuclei of extinct short period comets, and short period comets that can approach close to Earth. The adjective "near" carries potential confusion, as we have found in communicating with the media, that the objects are always near Earth, following it like a cloud.) Persistent and voluminous accumulation of astrometry of incidentally observed main belt asteroids MBAs will eventually permit the Minor Planet Center (MPQ to determine the orbits of large numbers (tens of thousands) of asteroids. Such a large body of information will ultimately allow better resolution of orbit classes and the determinations of luminosity functions of the various classes, Comet and asteroid recoveries are essential services to planetary astronomy. Statistics of objects in the outer solar system (Centaurs, scattered-disk objects, and Trans-Neptunian Objects; TNOs) ultimately will tell part of the story of solar system evolution. Spacewatch led the development of sky surveying by electronic means and has acted as a responsible interface to the media and general public on this discipline and on the issue of the hazard from impacts by asteroids and comets.
McMillan, Robert S.↗
Training Informal Educators Provides Leverage for Space Science Education and Public Outreach
How do we reach the public with the exciting story of Solar System Exploration? How do we encourage girls to think about careers in science, math, engineering and technology? Why should NASA scientists make an effort to reach the public and informal education settings to tell the Solar System Exploration story? These are questions that the Solar System Exploration Forum, a part of the NASA Office of Space Science Education (SSE) and Public Outreach network, has tackled over the past few years. The SSE Forum is a group of education teams and scientists who work to share the excitement of solar system exploration with colleagues, formal educators, and informal educators like museums and youth groups. One major area of the SSE Forum outreach supports the training of Girl Scouts of the USA (GS) leaders and trainers in a suite of activities that reflect NASA missions and science research. Youth groups like Girl Scouts structure their activities as informal education.
Allen, J. S.↗
ASK Magazine
In this issue, ASK writers explore ways to maintain their balance in their field of Project Management, and even what happens when they don't. From his own experiences. Colby Africa learned that pushing too hard can take a personal toll, even though his project was a success in the end. He looked back and asked himself. At what personal cost? Sometimes one of the most simple - and the most human way - of keeping oneself grounded is not to lose your sense of humor. Ray Morgan's story about a test flight gone bad tells how the sound of their model crashing to the ground was followed by the test team's hysterical laughter. The story, you will see, is much deeper. But the message in the example? Sometimes for no fault of our own. things just don t go as planned. One way of dealing with it is to be able to laugh at ourselves. Of course. a setback itself is not to be taken lightly, but a leader capable of lightening the moment is more likely to set a positive tone for the try, try again. Staying optimistic is important for team morale. specifically when a project is dealt a huge downsizing blow. After his project was cut significantly, Tom Sutliff was able to show his team that all was not lost and to help them focus on the fact that they still had a job to do. He had to balance the new project requirements with the fact that his team had been committed to the original prcject and would be personally affected. He stood back, got a new perspective. and upheld the positivity needed to lead them effectively. Even when you keep your chin up and work to the best of your ability, things still go wrong. It's human nature. People train for years to make it to the Olympics and blow their shot during one crucial second in the spotlight. For Marty Davis, his crucial second was when the contractor dropped his 3,000 pound spacecraft. Rather than point the finger at those around him. Marty stood up like a true leader and acknowledged what he could do better if ever in this situation again.
Laufer, Alexander↗