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NASA NTRS2006

Robonaut Mobile Autonomy: Initial Experiments

A mobile version of the NASA/DARPA Robonaut humanoid recently completed initial autonomy trials working directly with humans in cluttered environments. This compact robot combines the upper body of the Robonaut system with a Segway Robotic Mobility Platform yielding a dexterous, maneuverable humanoid ideal for interacting with human co-workers in a range of environments. This system uses stereovision to locate human teammates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form complex behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

Diftler, M. A.↗

NASA NTRS1999

Monitoring Ocean-Atmosphere Exchanges from Space

The ocean and the atmosphere are coupled by the fluxes of momentum, heat, and water, but in situ measurements of these fluxes are sparse and uneven.

prediction (NWP) Special Sensor Microwave/Imager (↗

NASA NTRS1985

Cross-equatorial and boundary layer exchange: A FGGE review

The Global Weather Experiment (FGGE) provided unique data on the interesting phenomenon of cross-equatorial flow. Such motion is a key element of the seasonal cycle of the tropics, especially in monsoonal regions. The IIb obserations, IIIb assimilations, and implied dynamics of the flows are reviewed. Additional emphasis is given to the low level branches concentrated in the planetary boundary layer, including air sea interaction and vertical turbulence processes. The results of a recent MONEX Boundary Layer Workshop are summarized.

Young, J. A.↗

NASA NTRS2004

Two-Fluid Models and Interfacial Area Transport in Microgravity Condition

The objective of the present study is to develop a two-fluid model formulation with interfacial area transport equation applicable for microgravity conditions. The new model is expected to make a leapfrog improvement by furnishing the constitutive relations for the interfacial interaction terms with the interfacial area transport equation, which can dynamically model the changes of the interfacial structures. In the first year of this three-year project supported by the U.S. NASA, Office of Biological and Physics Research, the primary focus is to design and construct a ground-based, microgravity two-phase flow simulation facility, in which two immiscible fluids with close density will be used. In predicting the two-phase flow behaviors in any two-phase flow system, the interfacial transfer terms are among the most essential factors in the modeling. These interfacial transfer terms in a two-fluid model specify the rate of phase change, momentum exchange, and energy transfer at the interface between the two phases. For the two-phase flow under the microgravity condition, the stability of the fluid particle interface and the interfacial structures are quite different from those under normal gravity condition. The flow structure may not reach an equilibrium condition and the two fluids may be loosely coupled such that the inertia terms of each fluid should be considered separately by use of the two-fluid model. Previous studies indicated that, unless phase-interaction terms are accurately modeled in the two-fluid model, the complex modeling does not necessarily warrant an accurate solution.

Ishii, Mamoru↗

NASA NTRS1987

On the turbulent heating and the threshold condition in the critical ionization velocity interaction

On the basis of the nonlinear treatment of the ion beam instability and the modified two-stream instability, threshold conditions for the critical ionization velocity interaction are derived. There are three different regimes of interaction: (1) additional ionization for relative velocities smaller than the critical velocity, (2) the self-sustained discharge for velocities greater than the critical velocity which indeed turns out as a sharp threshold, and (3) an explosive growth regime for velocities exceeding 1.5 times the critical velocity. Additional charge exchange collisions of ions and energy loss of electrons due to excitation do not change the basic threshold behavior but modify the value of the critical velocity.

Moebius, E.↗

NASA NTRS2017

Flowing Plasma Interaction with an Electric Sail Tether Element

Harnessing the power of the solar wind, an Electric Sail, or E-sail, is a relatively new concept that promises to deliver high speed propellant-less propulsion. The electric sail is an invention made in 2006 at the Kumpula Space Centre in Finland by Pekka Janhunen [Janhunen and Sandroos, 2007]. At its core, an electric sail utilizes multiple positively biased tethers which exchange momentum with solar wind protons via the repelling electric field established around each tether, in other words, by reflecting the solar wind protons. Recognizing the solar wind is a plasma, the effective repelling area of each tether is increased significantly by the formation a plasma sheath around each tether. Fig. 1 shows schematically a spacecraft employing an electric sail. The positive voltage bias (greater than10kV) applied to each tether naturally results in electron collection. Therefore, the electric sail concept necessarily includes an electron source (electron gun) to return collected electrons to space and maintain the positive bias of the tether system.

Schneider, Todd↗

NASA NTRS2004

Space Communications Emulation Facility

Establishing space communication between ground facilities and other satellites is a painstaking task that requires many precise calculations dealing with relay time, atmospheric conditions, and satellite positions, to name a few. The Space Communications Emulation Facility (SCEF) team here at NASA is developing a facility that will approximately emulate the conditions in space that impact space communication. The emulation facility is comprised of a 32 node distributed cluster of computers; each node representing a satellite or ground station. The objective of the satellites is to observe the topography of the Earth (water, vegetation, land, and ice) and relay this information back to the ground stations. Software originally designed by the University of Kansas, labeled the Emulation Manager, controls the interaction of the satellites and ground stations, as well as handling the recording of data. The Emulation Manager is installed on a Linux Operating System, employing both Java and C++ programming codes. The emulation scenarios are written in extensible Markup Language, XML. XML documents are designed to store, carry, and exchange data. With XML documents data can be exchanged between incompatible systems, which makes it ideal for this project because Linux, MAC and Windows Operating Systems are all used. Unfortunately, XML documents cannot display data like HTML documents. Therefore, the SCEF team uses XML Schema Definition (XSD) or just schema to describe the structure of an XML document. Schemas are very important because they have the capability to validate the correctness of data, define restrictions on data, define data formats, and convert data between different data types, among other things. At this time, in order for the Emulation Manager to open and run an XML emulation scenario file, the user must first establish a link between the schema file and the directory under which the XML scenario files are saved. This procedure takes place on the command line on the Linux Operating System. Once this link has been established the Emulation manager validates all the XML files in that directory against the schema file, before the actual scenario is run. Using some very sophisticated commercial software called the Satellite Tool Kit (STK) installed on the Linux box, the Emulation Manager is able to display the data and graphics generated by the execution of a XML emulation scenario file. The Emulation Manager software is written in JAVA programming code. Since the SCEF project is in the developmental stage, the source code for this type of software is being modified to better fit the requirements of the SCEF project. Some parameters for the emulation are hard coded, set at fixed values. Members of the SCEF team are altering the code to allow the user to choose the values of these hard coded parameters by inserting a toolbar onto the preexisting GUI.

Hill, Chante A.↗

NASA NTRSDate not supplied

A 3D Simulation Platform for Decentralized Decision-Making in Advanced Air Mobility

This paper presents a general purpose, plug-and-play simulation platform for the use of future aviation stakeholders, such as urban airspace planners, air vehicle operators, ground operation managers, air traffic controllers and aviation researchers. The presented simulator platform is envisioned to serve as a toolkit to visualize, evaluate, and configure future advanced air mobility (AAM) operations. Highlighting features of this toolkit include a modular architecture that allows multiple smart unmanned aerial systems (UASs) to remotely connect to the simulation server and participate in decentralized decision-making scenario simulations. As an example of the decentralized decision-making scenario, an inter-agent negotiation-based conflict resolution use case is considered in this paper, where the UASs leverage the on-board/on-the-edge artificial intelligence (AI) capability to continually build situational awareness, and use this information to predict future conflicts and resolve them through machine-to-machine negotiation. As such operations are non-existent at scale currently, the presented simulation platform offers a viable and cost-effective alternative for assessing the efficacy of AAM research outcomes and challenges in future shared airspace usage. The simulation platform allows plug-n-play connectivity with AI and non-AI compute modules representing individual UAS’s flight control. Each module can interact with the simulation platform independently to communicate current and desired future states, situational awareness, and conflict resolution utilization costs for inter-agent negotiation. The simulation environment orchestrates realistic operational scenarios with spatiotemporal details, dynamic events, tactical conflict-resolution methods, interfaces for customizing air traffic control parameters, and information exchange uncertainties. In the future, this can serve as a community focused cloud simulation platform, incorporating multi-stakeholder airspace constraints from regulatory, government, city, and local agencies.

Aditya N Das↗

NASA NTRS2022

A 3D Simulation Platform for Decentralized Decision-Making in Advanced Air Mobility

Aditya Das↗

NASA NTRS1993

WetNet: Using SSM/I data interactively for global distribution of tropical rainfall and precipitable water

The research objectives were the following: (1) to use SSM/I to categorize, measure, and parameterize effects of rainfall systems around the globe, especially mesoscale convective systems; (2) to use SSM/I to monitor key components of the global hydrologic cycle, including tropical rainfall and precipitable water, and links to increasing sea surface temperatures; and (3) to assist in the development of efficient methods of exchange of massive satellite data bases and of analysis techniques, especially their use at a university. Numerous tasks have been initiated. First and foremost has been the integration and startup of the WetNet computer system into the TAMU computer network. Scientific activity was infeasible before completion of this activity. Final hardware delivery was not completed until October 1991, after which followed a period of identification and solution of several hardware and software and software problems. Accomplishments representing approximately four months work with the WetNEt system are presented.

Zipser, Edward J.↗

NASA NTRS1992

The upper layer circulation of the Black Sea - Its variability as inferred from hydrographic and satellite observations

Quasi-synoptic hydrographic data and satellite imagery are used to describe the circulation and the structural variability of the Black Sea with particular emphasis on the Turkish coast. The circulation is indicated to involve a variable cyclonic circulation with no apparent central locus and a well-defined cyclonic 'Rim Current' containing meanders and interacting eddy fields confined to the shelf slope. Interspersed between the coastal eddies are filaments and intense jets, often with dipole eddies at their termina. The extension of these features across the shelf-slope into the central basin offshore waters implies important dynamical processes related to the shell-deep basin exchanges. These features are often steered by the topography and evolve continuously through the mixed baroclinic-barotropic instability of the Rim Current.

Oguz, Temel↗

NASA NTRSDate not supplied

A LaGrangian Perspective of the Surface Energy Budget Contributions to Sea Ice Evolution in the ‘New Arctic’

Recent Arctic warming outpaces global warming and is characterized by dramatic changes in sea ice (record sea ice loss, thinner and more seasonal ice cover), warming SSTs, and a lengthening melt season. These changes impact the surface energy budget and the sensitivity of sea ice to radiative forcing, namely an increased sensitivity of thinner ice to local radiative forcings and a weaker buffering of surface-atmosphere exchanges of heat and moisture. However, these processes are a large source of uncertainty in global climate models with prior studies finding that poor representations of downwelling longwave radiation and sea ice albedo lead to model spread in sea ice conditions. A limitation of prior work is examining sea ice-atmosphere interactions through an Eulerian framework. This study utilizes a sea ice parcel dataset in a LaGrangian framework, allowing for tracking of surface energy budget-sea ice interactions over the lifespan of individual sea ice parcels; this framework also allows for the quantification of the sea ice response to episodic weather events along with seasonal drivers, including the drivers of rapid growth and melt events. First, lag-lead relationships between relevant surface energy budget terms and sea ice thickness changes are explored to understand the atmospheric conditions preceding rapid growth and melt. The impact of episodic events- moisture intrusion, warm air outbreaks, cyclones- on sea ice growth are also investigated by stratifying first-year parcels by sea ice thickness at the end of the growth season and analyzing the effect of atmospheric variability (number and intensity of episodic events) on parcel thickness change. Lastly, parcel growth and melt and the associated radiative anomalies are compared to snowfall events/snow thickness to determine how snowfall modifies the interaction between the local surface energy budget and sea ice mass balance.

Patrick Taylor↗

NASA NTRS2006

Effects of Kinetic Processes in Shaping Io's Global Plasma Environment: A 3D Hybrid Model

The global dynamics of the ionized and neutral gases in the environment of Io plays an important role in the interaction of Jupiter s corotating magnetospheric plasma with Io. Stationary simulations of this problem have already been done using the magnetohydrodynamics (MHD) and the electrodynamics approaches. One of the major results of recent simplified two-fluid model simulations [Saur, J., Neubauer, F.M., Strobel, D.F., Summers, M.E., 2002. J. Geophys. Res. 107 (SMP5), 1-18] was the production of the structure of the double-peak in the magnetic field signature of the Io flyby. These could not be explained before by standard MHD models. In this paper, we present a hybrid simulation for Io with kinetic ions and fluid electrons. This method employs a fluid description for electrons and neutrals, whereas for ions a particle approach is used. We also take into account charge-exchange and photoionization processes and solve self-consistently for electric and magnetic fields. Our model may provide a much more accurate description for the ion dynamics than previous approaches and allows us to account for the realistic anisotropic ion velocity distribution that cannot be done in fluid simulations with isotropic temperatures. The first results of such a simulation of the dynamics of ions in Io s environment are discussed in this paper. Comparison with the Galileo IO flyby results shows that this approach provides an accurate physical basis for the interaction and can therefore naturally reproduce all the observed salient features.

Lipatov, Alexander S.↗

NASA NTRS1991

The QDP/PLT user's guide

PLT is a high level plotting package. A Programmer can create a default plot suited for the data being displayed. At run times, users can then interact with the plot overriding any or all of these defaults. The user is also provided the capability to fit functions to the displayed data. This ability to display, interact with, and to fit the data make PLT a useful tool in the analysis of data. The Quick and Dandy Plotter (QDP) program will read ASCII text files that contain PLT commands and data. Thus, QDP provides and easy way to use the PLT software QPD files provide a convenient way to exchange data. The QPD/PLT software is written in standard FORTRAN 77 and has been ported to VAX VMS, SUN UNIX, IBM AIX, NeXT NextStep, and MS-DOS systems.

Tennant, Allyn F.↗

NASA NTRS2005

Pressure Dependence of Insulator-Insulator Contact Charging

The mechanism of insulator-insulator triboelectric (contact) charging is being studied by the Electrostatics and Surface Physics Laboratory at KSC. The hypothesis that surface ion exchange is the primary mechanism is being tested experimentally. A two-phase model based on a small partial pressure of singly charged ions in an ambient ideal gas in equilibrium with a submonolayer adsorbed film will provide predictions about charging as a function Of ion mass, pressure, temperature, and surface adsorption energy. Interactions between ions will be considered in terms of coulombic and screened potential energies. This work is yielding better understanding of the triboelectrification of insulators, which is an important problem in. space exploration technology. The work is also relevant to important industrial processes such as xerography and the application of paints and coatings. Determining a better understanding of the fundamental mechanism of insulator-insulator triboelectrification will hopefully lead to better means of eliminating or at least mitigating its hazards and enhancing its useful applications.

Hogue, Michael D.↗

NASA NTRS2001

A Theoretical Study of the Interaction of Water and Imidazole with Iron and Nickel Dications

The structures, the harmonic frequencies, and the energies of Fe2+(H2O)n(imid)m and Ni2+(H2O)n(imid)m complexes are computed using density functional theory with the B3LYP functional. A CSOV analysis shows that the bonding is mostly electrostatic in nature. Imidazole forms a stronger bond than water with both metal dications due to its larger dipole moment and polarizability. The reactions for the exchange of one water molecule by one imidazole are exothermic and up to six water molecules can be replaced by imidazoles. The trends are very similar for both metals with the displacement reactions being slightly more favorable for Ni(2+).

Ricca, Alessandra↗

NASA NTRS1975

Solar electric propulsion thrust beam interactive effects

Interactive effects between ion engine thrust beams and an SEP spacecraft and its science payload have been examined. AC electric contamination from thrust beam potential fluctuations of both 'common mode' and 'point-to-point' forms has been evaluated. Quenching of point-to-point E-fields by both thrust ion and charge exchange ion plasmas is expected. Reduction methods for AC electric contamination from common mode thrust beam potential fluctuations have been developed. Charged particle contamination of ambient space and plasma wave contamination may result from density magnitude and spatial extent of charge exchange plasma plumes. Reduction methods for cone of directions of high angle charge exchange ions have been examined.

Sellen, J. M., Jr.↗

NASA NTRS1977

Solar electric propulsion thruster interactions with solar arrays

The effect of interactions of spacecraft-generated and naturally occurring plasmas with high voltage solar array components on an advanced solar electric propulsion system proposed for the Halley's Comet rendezvous mission was investigated. The spacecraft-generated plasma consists of mercury ions and neutralizing electrons resulting from the operation of ion thrusters (the charge-exchange plasma) and associated hollow cathode neutralizers. Quantitative results are given for the parasitic currents and power coupled into solar arrays with voltage fixed as a function of position on the array.

Parks, D. E.↗