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NASA NTRS1994

ARK: Autonomous mobile robot in an industrial environment

This paper describes research on the ARK (Autonomous Mobile Robot in a Known Environment) project. The technical objective of the project is to build a robot that can navigate in a complex industrial environment using maps with permanent structures. The environment is not altered in any way by adding easily identifiable beacons and the robot relies on naturally occurring objects to use as visual landmarks for navigation. The robot is equipped with various sensors that can detect unmapped obstacles, landmarks and objects. In this paper we describe the robot's industrial environment, it's architecture, a novel combined range and vision sensor and our recent results in controlling the robot in the real-time detection of objects using their color and in the processing of the robot's range and vision sensor data for navigation.

Nickerson, S. B.↗

NASA NTRS1993

Space environment durability of beta cloth in LDEF thermal blankets

Beta cloth performance for use on long-term space vehicles such as Space Station Freedom (S.S. Freedom) requires resistance to the degrading effects of the space environment. The major issues are retention of thermal insulating properties through maintaining optical properties, preserving mechanical integrity, and generating minimal particulates for contamination-sensitive spacecraft surfaces and payloads. The longest in-flight test of beta cloth's durability was on the Long Duration Exposure Facility (LDEF), where it was exposed to the space environment for 68 months. The LDEF contained 57 experiments which further defined the space environment and its effects on spacecraft materials. It was deployed into low-Earth orbit (LEO) in Apr. 1984 and retrieved Jan. 1990 by the space shuttle. Among the 10,000 plus material constituents and samples onboard were thermal control blankets of multilayer insulation with a beta cloth outer cover and Velcro attachments. These blankets were exposed to hard vacuum, thermal cycling, charged particles, meteoroid/debris impacts, ultraviolet (UV) radiation, and atomic oxygen (AO). Of these space environmental exposure elements, AO appears to have had the greatest effect on the beta cloth. The beta cloth analyzed in this report came from the MSFC Experiment S1005 (Transverse Flat-Plate Heat Pipe) tray oriented approximately 22 deg from the leading edge vector of the LDEF satellite. The location of the tray on LDEF and the placement of the beta cloth thermal blankets are shown. The specific space environment exposure conditions for this material are listed.

Linton, Roger C.↗

NASA NTRS1993

Modeling of LDEF contamination environment

The Long Duration Exposure Facility (LDEF) satellite was unique in many ways. It was a large structure that was in space for an extended period of time and was stable in orientation relative to the velocity vector. There are obvious and well documented effects of contamination and space environment effects on the LDEF satellite. In order to examine the interaction of LDEF with its environment and the resulting effect on the satellite, the Integrated Spacecraft Environments Model (ISEM) was used to model the LDEF-induced neutral environment at several different times and altitudes during the mission.

Carruth, M. Ralph, Jr.↗

NASA NTRS1993

Ground-based simulation of LEO environment: Investigations of a select LDEF material: FEP Teflon (trademark)

The Long Duration Exposure Facility (LDEF) has produced a wealth of data on materials degradation in the low earth orbit (LEO) space environment and has conclusively shown that surface chemistry (as opposed to surface physics-sputtering) is the key to understanding and predicting the degradation of materials in the LEO environment. It is also clear that materials degradation and spacecraft contamination are closely linked and that the fundamental mechanisms responsible for this linking are in general not well understood especially in the area of synergistic effects. The study of the fundamental mechanisms underlying materials degradation in LEO is hampered by the fact that the degradation process itself is not observed during the actual exposure to the environment. Rather the aftermath of the degradation process is studied, i.e., the material that remains after exposure is observed and mechanisms are proposed to explain the observed results. The EOIM-3 flight experiment is an attempt to bring sophisticated diagnostic equipment into the space environment and monitor the degradation process in real time through the use of mass spectrometry. More experiments of this nature which would include surface sensitive diagnostics (Auger and photoelectron spectroscopes) are needed to truly unravel the basic chemical mechanisms involved in the materials degradation process. Since these in-space capabilities will most likely not be available in the near future, ground-based LEO simulation facilities employing sophisticated diagnostics are needed to further advance the basic understanding of the materials degradation mechanisms. The LEO simulation facility developed at Los Alamos National Laboratory has been used to investigate the atomic oxygen/vacuum ultraviolet (AO/VUV) enhanced degradation of FEP Teflon. The results show that photo-ejection of polymer fragments occur at elevated temperature (200 C), that VUV synergistic rare gas sputtering of polymer fragments occur even at 25 C, and that combined OA/VUV interaction produces a wide variety of gas phase reaction products.

Cross, Jon B.↗

NASA NTRS1994

Integration/evaluation of a HCI prototyping environment

Components of a human computer interface (HCI) prototyping environment have been integrated and evaluated. This environment will be valuable in developing and refining HCI standards and evaluating program/project interface development, especially the International Space Station Alpha's on-board displays for payload operations. This environment, which allows for rapid prototyping and evaluation of graphical interfaces, includes four components: (1) a HCI format development tool, (2) a test and evaluation simulator development tool, (3) a dynamic, interactive interface between the HCI prototype and simulator, and (4) an embedded evaluation capability to evaluate the adequacy of a HCI based on a user's performance. The objective of the research was to determine whether or not the functional components could be integrated and could provide the needed functionality for a rapid prototyping environment.

Moore, Loretta A.↗

NASA NTRS1994

Scripting human animations in a virtual environment

The current deficiencies of virtual environment (VE) are well known: annoying lag time in drawing the current view, drastically simplified environments to reduce that time lag, low resolution and narrow field of view. Animation scripting is an application of VE technology which can be carried out successfully despite these deficiencies. The final product is a smoothly moving high resolution animation displaying detailed models. In this system, the user is represented by a human computer model with the same body proportions. Using magnetic tracking, the motions of the model's upper torso, head and arms are controlled by the user's movements (18 degrees of freedom). The model's lower torso and global position and orientation are controlled by a spaceball and keypad (12 degrees of freedom). Using this system human motion scripts can be extracted from the user's movements while immersed in a simplified virtual environment. Recorded data is used to define key frames; motion is interpolated between them and post processing adds a more detailed environment. The result is a considerable savings in time and a much more natural-looking movement of a human figure in a smooth and seamless animation.

Goldsby, Michael E.↗

NASA NTRS1995

The transition of GTDS to the Unix workstation environment

Future Flight Dynamics systems should take advantage of the possibilities provided by current and future generations of low-cost, high performance workstation computing environments with Graphical User Interface. The port of the existing mainframe Flight Dynamics systems to the workstation environment offers an economic approach for combining the tremendous engineering heritage that has been encapsulated in these systems with the advantages of the new computing environments. This paper will describe the successful transition of the Draper Laboratory R&D version of GTDS (Goddard Trajectory Determination System) from the IBM Mainframe to the Unix workstation environment. The approach will be a mix of historical timeline notes, descriptions of the technical problems overcome, and descriptions of associated SQA (software quality assurance) issues.

Carter, D.↗

NASA NTRS1994

Heat dissipation in controlled environment enclosures through the application of water screens

The use of plate glass-water thermal barriers in controlled environment facilities effectively reduces the thermal load within the plant growth chamber. This allows high PPFs to be provided for plant growth and development studies, adequate simulation of daily light integrals, and simulation of peak PPF's. Further, substantial amounts of incandescent lamp supplementation can be used to achieve simulation of daylight R:FR ratios which are needed to ensure adequate stem development in some species. While the focus in this paper is on the use of entire thermal barriers which separate the lighting enclosure from the plant growth chamber, the same principles apply to the use of water jackets for cooling individual lamps (such as can occur with xenon-arc lamps). In this instance, the barrier separating the lamps from the plant chamber can be much simpler (e.g., plexiglass) as the main function of the barrier is to separate the air ventilation of the lamp enclosure from the air system within the plant growth chamber. The main advantage of water as a thermal barrier is the negligible absorption of radiation in the photosynthetically-active and near infrared wavebands. Consequently, plate glass-water barriers typically allow transmission of approximately 90% of radiation in these regions. While ventilated double and triple glazing systems appear to be attractive alternative to water barriers from an operating standpoint, their significant absorption in the biologically-important wavebands (7 - 12%) with each glass layer and longer-wave cut-offs (typically 2500 - 4000 nm) makes them a much less attractive alternative. The data presented here demonstrate clearly that measurement of PPF alone is not an adequate representation of the radiation environment being used in a controlled environment study. The amounts and proportions of long-wave and short-wave radiation in a plant growth chamber are dependent on lamp type, lamp combination, presence of a thermal barrier, the type of thermal barrier between the lamps and the plant growing area and the overall construction and design of the chamber. It is important, therefore, in reporting results of controlled environment studies, to adequately describe both the details of the lighting system used and the characteristics of the radiation produced by that system, so results of different studies can be adequately evaluated and compared.

Warrington, I. J.↗

NASA NTRS1995

Mobile user environment and satellite diversity for NGSO S-PCN's

The performance of satellite diversity under the influence of the mobile user environment is analyzed. To this end, a digital channel model is presented which takes into account the elevation angle as well as the user mobility in a given environment. For different LEO and MEO systems and for varying mobile user environments, some crucial benefits and drawbacks of satellite diversity are discussed. Specifically, the important GW service area concept is introduced. The conclusions are validated by numerical results from computer simulations. Globalstar (LEO) and Inmarsat (MEO) are compared in terms of visibility, service availability and equivalent handover complexity for different environments and user mobility.

Werner, Markus↗

NASA NTRS1994

Intelligent computer-aided training authoring environment

Although there has been much research into intelligent tutoring systems (ITS), there are few authoring systems available that support ITS metaphors. Instructional developers are generally obliged to use tools designed for creating on-line books. We are currently developing an authoring environment derived from NASA's research on intelligent computer-aided training (ICAT). The ICAT metaphor, currently in use at NASA has proven effective in disciplines from satellite deployment to high school physics. This technique provides a personal trainer (PT) who instructs the student using a simulated work environment (SWE). The PT acts as a tutor, providing individualized instruction and assistance to each student. Teaching in an SWE allows the student to learn tasks by doing them, rather than by reading about them. This authoring environment will expedite ICAT development by providing a tool set that guides the trainer modeling process. Additionally, this environment provides a vehicle for distributing NASA's ICAT technology to the private sector.

Way, Robert D.↗

NASA NTRS1995

The CAVE (TM) automatic virtual environment: Characteristics and applications

Virtual reality may best be defined as the wide-field presentation of computer-generated, multi-sensory information that tracks a user in real time. In addition to the more well-known modes of virtual reality -- head-mounted displays and boom-mounted displays -- the Electronic Visualization Laboratory at the University of Illinois at Chicago recently introduced a third mode: a room constructed from large screens on which the graphics are projected on to three walls and the floor. The CAVE is a multi-person, room sized, high resolution, 3D video and audio environment. Graphics are rear projected in stereo onto three walls and the floor, and viewed with stereo glasses. As a viewer wearing a location sensor moves within its display boundaries, the correct perspective and stereo projections of the environment are updated, and the image moves with and surrounds the viewer. The other viewers in the CAVE are like passengers in a bus, along for the ride. 'CAVE,' the name selected for the virtual reality theater, is both a recursive acronym (Cave Automatic Virtual Environment) and a reference to 'The Simile of the Cave' found in Plato's 'Republic,' in which the philosopher explores the ideas of perception, reality, and illusion. Plato used the analogy of a person facing the back of a cave alive with shadows that are his/her only basis for ideas of what real objects are. Rather than having evolved from video games or flight simulation, the CAVE has its motivation rooted in scientific visualization and the SIGGRAPH 92 Showcase effort. The CAVE was designed to be a useful tool for scientific visualization. The Showcase event was an experiment; the Showcase chair and committee advocated an environment for computational scientists to interactively present their research at a major professional conference in a one-to-many format on high-end workstations attached to large projection screens. The CAVE was developed as a 'virtual reality theater' with scientific content and projection that met the criteria of Showcase.

Kenyon, Robert V.↗

NASA NTRS1991

PERTS: A Prototyping Environment for Real-Time Systems

We discuss an ongoing project to build a Prototyping Environment for Real-Time Systems, called PERTS. PERTS is a unique prototyping environment in that it has (1) tools and performance models for the analysis and evaluation of real-time prototype systems, (2) building blocks for flexible real-time programs and the support system software, (3) basic building blocks of distributed and intelligent real time applications, and (4) an execution environment. PERTS will make the recent and future theoretical advances in real-time system design and engineering readily usable to practitioners. In particular, it will provide an environment for the use and evaluation of new design approaches, for experimentation with alternative system building blocks and for the analysis and performance profiling of prototype real-time systems.

Liu, Jane W. S.↗

NASA NTRS1997

Comparison Tools for Assessing the Microgravity Environment of Missions, Carriers and Conditions

The Principal Component Spectral Analysis and the Quasi-steady Three-dimensional Histogram techniques provide the means to describe the microgravity acceleration environment of an entire mission on a single plot. This allows a straight forward comparison of the microgravity environment between missions, carriers, and conditions. As shown in this report, the PCSA and QTH techniques bring both the range and median of the microgravity environment onto a single page for an entire mission or another time period or condition of interest. These single pages may then be used to compare similar analyses of other missions, time periods or conditions. The PCSA plot is based on the frequency distribution of the vibrational energy and is normally used for an acceleration data set containing frequencies above the lowest natural frequencies of the vehicle. The QTH plot is based on the direction and magnitude of the acceleration and is normally used for acceleration data sets with frequency content less than 0.1 Hz. Various operating conditions are made evident by using PCSA and QTH plots. Equipment operating either full or part time with sufficient magnitude to be considered a disturbance is very evident as well as equipment contributing to the background acceleration environment. A source's magnitude and/or frequency variability is also evident by the source's appearance on a PCSA plot. The PCSA and QTH techniques are valuable tools for extracting useful information from acceleration data taken over large spans of time. This report shows that these techniques provide a tool for comparison between different sets of microgravity acceleration data, for example different missions, different activities within a mission, and/or different attitudes within a mission. These techniques, as well as others, may be employed in order to derive useful information from acceleration data.

DeLombard, Richard↗

NASA NTRS1997

Durability and Life of Ceramic Matrix Composites in Combustion Environment

It is now generally recognized that the next frontier in the commercial air travel will be achieved by an optimum combination of the concepts being used for the air and space transports. It will depend upon the new engines specifically designed to meet the demanding strength, temperature, environment and economy requirements. The successful development of an advanced propulsion system for a 21st Century High Speed Civil Transport will require key advances in the combustor system. Minimizing nitrous oxide (NO(x)) emission is critical, since the deleterious interaction within the ozone layer would occur at the proposed vehicle cruise level of about 75,000 feet. In order to achieve the low NOx levels an efficient combustor operating at controlled equivalence ratios and high combustion temperatures are required. This requires a combustor, whose one portion will be operating in an oxidizing environment while the other portion will operate in a reducing environment. This rather unusual requirement has introduced considerable challenge to the materials scientists and engineers, the development of material systems capable of long-life at high temperatures (up to 3000 F) in an oxidizing and/or reducing environment.

Tewari, Surendra↗

NASA NTRS1998

Use of microgravity sensors for quantification of space shuttle orbiter vernier reaction control system induced environments

In the modeling of spacecraft dynamics it is important to accurately characterize the environment in which the vehicle operates, including the environments induced by the vehicle itself. On the Space Shuttle these induced environmental factors include reaction control system plume. Knowledge of these environments is necessary for performance of control systems and loads analyses, estimation of disturbances due to thruster firings, and accurate state vector propagation. During the STS-71 mission, while the Orbiter was performing attitude control for the mated Orbiter/Mir stack, it was noted that the autopilot was limit cycling at a rate higher than expected from pre-flight simulations. Investigations during the mission resulted in the conjecture that an unmodelled plume impingement force was acting upon the orbiter elevons. The in-flight investigations were not successful in determining the actual magnitude of the impingement, resulting in several sequential post-flight investigations. Efforts performed to better quantify the vernier reaction control system induced plume impingement environment of the Space Shuttle orbiter are described in this paper, and background detailing circumstances which required the more detailed knowledge of the RCS self impingement forces, as well as a description of the resulting investigations and their results is presented. The investigations described in this paper applied microgravity acceleration data from two shuttle borne microgravity experiments, SAMS and OARE, to the solution of this particular problem. This solution, now used by shuttle analysts and mission planners, results in more accurate propellant consumption and attitude limit cycle estimates in preflight analyses, which are critical for pending International Space Station missions.

Friend, Robert B.↗

NASA NTRS1997

The Web Measurement Environment (WebME): A Tool for Combining and Modeling Distributed Data

Many organizations have incorporated data collection into their software processes for the purpose of process improvement. However, in order to improve, interpreting the data is just as important as the collection of data. With the increased presence of the Internet and the ubiquity of the World Wide Web, the potential for software processes being distributed among several physically separated locations has also grown. Because project data may be stored in multiple locations and in differing formats, obtaining and interpreting data from this type of environment becomes even more complicated. The Web Measurement Environment (WebME), a Web-based data visualization tool, is being developed to facilitate the understanding of collected data in a distributed environment. The WebME system will permit the analysis of development data in distributed, heterogeneous environments. This paper provides an overview of the system and its capabilities.

Tesoriero, Roseanne↗

NASA NTRS1999

A Study of Mars Dust Environment Simulation at NASA Johnson Space Center Energy Systems Test Area Resource Conversion Test Facility

The dust environment on Mars is planned to be simulated in a 20 foot thermal-vacuum chamber at the Johnson Space Center, Energy Systems Test Area Resource Conversion Test Facility in Houston, Texas. This vacuum chamber will be used to perform tests and study the interactions between the dust in Martian air and ISPP hardware. This project is to research, theorize, quantify, and document the Mars dust/wind environment needed for the 20 foot simulation chamber. This simulation work is to support the safety, endurance, and cost reduction of the hardware for the future missions. The Martian dust environment conditions is discussed. Two issues of Martian dust, (1) Dust Contamination related hazards, and (2) Dust Charging caused electrical hazards, are of our interest. The different methods of dust particles measurement are given. The design trade off and feasibility were studied. A glass bell jar system is used to evaluate various concepts for the Mars dust/wind environment simulation. It was observed that the external dust source injection is the best method to introduce the dust into the simulation system. The dust concentration of 30 Mg/M3 should be employed for preparing for the worst possible Martian atmosphere condition in the future. Two approaches thermal-panel shroud for the hardware conditioning are discussed. It is suggested the wind tunnel approach be used to study the dust charging characteristics then to be apply to the close-system cyclone approach. For the operation cost reduction purpose, a dehumidified ambient air could be used to replace the expensive CO2 mixture for some tests.

Chen, Yuan-Liang Albert↗

NASA NTRS1999

Spacecraft Environments Interactive: Space Radiation and Its Effects on Electronic System

The natural space environment is characterized by complex and subtle phenomena hostile to spacecraft. Effects of these phenomena impact spacecraft design, development, and operation. Space systems become increasingly susceptible to the space environment as use of composite materials and smaller, faster electronics increases. This trend makes an understanding of space radiation and its effects on electronic systems essential to accomplish overall mission objectives, especially in the current climate of smaller/better/cheaper faster. This primer outlines the radiation environments encountered in space, discusses regions and types of radiation, applies the information to effects that these environments have on electronic systems, addresses design guidelines and system reliability, and stresses the importance of early involvement of radiation specialists in mission planning, system design, and design review (part-by-part verification).

Howard, J. W., Jr.↗