Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Motion Planning”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 541 records · Page 30

The Geoscience Laser Altimetry/Ranging System (GLARS)

The Geoscience Laser Altimetry Ranging System (GLARS) is a highly precise distance measurement system to be used for making extremely accurate geodetic observations from a space platform. It combines the attributes of a pointable laser ranging system making observations to cube corner retroreflectors placed on the ground with those of a nadir looking laser altimeter making height observations to ground, ice sheet, and oceanic surfaces. In the ranging mode, centimeter-level precise baseline and station coordinate determinations will be made on grids consisting of 100 to 200 targets separated by distances from a few tens of kilometers to about 1000 km. These measurements will be used for studies of seismic zone crustal deformations and tectonic plate motions. Ranging measurements will also be made to a coarser, but globally distributed array of retroreflectors for both precise geodetic and orbit determination applications. In the altimetric mode, relative height determinations will be obtained with approximately decimeter vertical precision and 70 to 100 meter horizontal resolution. The height data will be used to study surface topography and roughness, ice sheet and lava flow thickness, and ocean dynamics. Waveform digitization will provide a measure of the vertical extent of topography within each footprint. The planned Earth Observing System is an attractive candidate platform for GLARS since the GLAR data can be used both for direct analyses and for highly precise orbit determination needed in the reduction of data from other sensors on the multi-instrument platform. (1064, 532, and 355 nm)Nd:YAG laser meets the performance specifications for the system.

Cohen, S. C.↗

The ability of the space telescope to detect extra-solar planetary systems

The space telescope can plan a key role in searching for and investigating the contents of extra-solar planetary systems. For about 90 nearby stars, positional variations due to major planets would be well within the astrometric capability of the wide-field/planetary camera system. Since the centroids of star images will be determined to within a milliarcsecond down to 22d magnitude, there will be an abundance of reference stars at very small angular distances from each planetary system candidate, and they will have small enough motions of their own to provide a reference frame of the stability required.

Baum, W. A.↗

ATLAST-9.2: A Deployable Large Aperture UVOIR Space Telescope

We present the results of a study of a deployable version of the Advanced Technology Large Aperture Space Telescope (ATLAST) that could be launched on an Evolved Expendable Launch Vehicle (EELV). ATLAST is a concept for a next-generation UVOIR observatory to follow HST and JWST. The observatory retains significant heritage from JWST, thereby taking advantage of technologies and engineering already developed for that mission. At the same time, we have identified several design changes to the JWST architecture, some of which are required due to the demanding wavefront error requirements at visible wavelengths. The optical telescope assembly has a segmented 9.2-meter aperture and consists of 36 hexagonal glass mirrors, each of which is I.3l5m in size (flat-to-flat). The telescope can be folded to fit in the 6.5m fairing on the planned upgrade to the Delta-IV heavy launch vehicle. Near-real time wavefront sensing and control is performed on-board the telescope using stars in the field of view to deliver diffraction limited imaging performance at 500nm wavelength. The optical design of the telescope provides an 8x20 arcmin FOV in which 4-5 instruments can be accommodated, plus fine guidance and wavefront sensors. Unlike JWST, the OTA sits at the end of a multi-gimbaled arm, allowing pitch and roll motion, and is isolated from the sunshield and spacecraft bus by an active isolation system. Our design permits servicing in order to extend the life of the observatory.

Oegerle, William R.↗

Advancing Robotic Control for Space Exploration Using Robonaut 2

Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.

Badger, Julia↗

Initial Atmospheric Transport of Particles

A new version of the Initial Atmospheric Transport (IAT) model has been developed. This report fully characterizes the new model. IAT is designed to model heat release into the atmosphere that contains contaminated particles. The heat release forms a buoyant puff or plume. Buoyancy is quickly dissipated in 10's to 100's of seconds through drag and entrainment of ambient air. The final location of contaminant particles in the atmosphere after dissipation of abnormal heat is an important input to long term transportation codes such as the National Oceanic and Atmospheric Administration's (NOAA) Hybrid Single Particle Lagrangian Integrated Trajectory (HYSPLIT) code. Ultimately the settling of contaminants after long term transport provides a basis for estimating health consequences. In comparison to the old version, the new model includes explicit simulation of particles, newly formulated equations of motion for a rising puff, and a new plume model. The plume model releases many instances of a single puff along a single trajectory in a way that balances energy released over a longer period than would be appropriate for a single puff. The puff model has additions for vorticity, turbulence, virtual mass, drag, and entrainment. The particle model leads to direct interfacing between IAT and the long-term transport code HYSPLIT. Previously, particle locations were given a pattern based on IAT's puff trajectory with no particle simulation. Now, particles are explicitly simulated, and 3-D spatial distributions of particles are output based on final positions. Ballistic particles are thrown outward at high velocity from explosive events and tend to hit the ground before the end of the simulation. Non-ballistic particles tend to get pulled into the rising puff s ring of vorticity with some escaping to ambient conditions as buoyant energy dissipates. A new model verification and validation effort was made for the new plume model. The Wallops Island Solid Rocket Propellant (SRP) fire plume was extracted to a 3-D transient dataset. After calibration, the model performs better than previous single puff attempts. Even so, error levels in the process used to estimate location and ambient weather conditions approach 30%. This leads to the conclusion that unplanned photogrammetry evaluations of the IAT model are useful but not sufficiently accurate to quantify model parameters. Like previous attempts, the vertical motion entrainment parameters come out much too high in comparison to values for other studies in the literature. It is suspected that a new model of shear entrainment would alleviate this problem. Unfortunately, IAT already has more calibration parameters than the data comparisons thus far can resolve with statistical certainty. This underscores the need to verify and validate the IAT model using detailed CFD studies that allow ideal statistical comparison with the IAT model for hundreds of cases. Even so, validation by comparison to carefully planned experiments (i.e. with acceptable error levels) is also necessary because the dynamics of entrainment are at a sub-grid level for CFD. Though better validation and verification are most important, many new enhancements are still envisioned for future IAT development. These include particle rain out due to condensation and agglomeration of water, direct connection to the North American Mesoscale (NAM) weather dataset, dynamic weather conditions, including ambient particle entrainment into the puff, and detrainment at the puff to ambient mixing interface. In general, including detailed aerosol dynamics is the greatest coming challenge which will require an entire new sub-model in IAT. This is very important if contaminant particles change in such a way that they increase or decrease in their potential harm to the environment.

54 ENVIRONMENTAL SCIENCES↗

First GPS baseline results from the North Andes

The CASA Uno GPS experiment (January-February 1988) has provided the first epoch baseline measurements for the study of plate motions and crustal deformation in and around the North Andes. Two dimensional horizontal baseline repeatabilities are as good as 5 parts in 10 to the 8th for short baselines (100-1000 km), and better than 3 parts in 10 to the 8th for long baselines (greater than 1000 km). Vertical repeatabilities are typically 4-6 cm, with a weak dependence on baseline length. The expected rate of plate convergence across the Colombia Trench is 6-8cm/yr, which should be detectable by the repeat experiment planned for 1991. Expected deformation rates within the North Andes are of the order of 1 cm/yr, which may be detectable with the 1991 experiment.

Kellogg, James N.↗

A dynamic study of fragmentation and energy loss during high velocity impact

Research conducted under this contract can be divided into two main areas: hypervelocity (in the range up to 7 km/s) and high velocity (less than 1 km/s). Work in the former was performed at NASA-MSFC using the Light Gas Gun Facility. The lower velocity studies were conducted at Auburn University using the ballistic gun. The emphasis of the project was on the hypervelocity phenomenon especially in the characterization of the debris cloud formed by the primary impact events. Special devices were made to determine the angular distributions of momentum and energy of the debris cloud as a function of impact conditions. After several iteration processes, it was decided to concentrate on the momentum effort. Prototype devices were designed, fabricated, and tested. These devices were based on the conservation of momentum. Distributions of the debris cloud formed were measured by determining the amount of momentum transferred from the debris cloud to strategically placed pendulum measurement devices. The motion of the pendula was monitored using itegrated opto-interrupters. The distribution of momentum in the debris cloud was found to be a strong function of the impact condition. Small projectiles at high velocities were observed to produce finely dispersed debris whereas large projectiles generated discrete particles in the debris. Results also show that the momentum in the forward direction was enhanced due to the impact. This phenomenon of momentum multiplication was also observed in other studies and in computer simulations. It was initially planned to determine the energy distribution using deformation energy in a rod with strain gauges. Results from preliminary studies show that this technique is acceptable but too tedious. A new technique was explored based on measuring the heating effect of the debris cloud using an IR camera. The feasibility and sensitivity was established at Auburn University. This type of energy distribution measurement method can easily be adapted to the gas gun facility at MSFC. The objective of the lower velocity studies at Auburn was to simulate the damage produced in advanced materials by the lower energy debris cloud.

Zee, Ralph H.↗

Deep Drilling and Sampling via the Wireline Auto-Gopher Driven by Piezoelectric Percussive Actuator and EM Rotary Motor

The ability to penetrate subsurfaces and perform sample acquisition at depths of meters is critical for future NASA in-situ exploration missions to bodies in the solar system, including Mars and Europa. A corer/sampler was developed with the goal of acquiring pristine samples by reaching depths on Mars beyond the oxidized and sterilized zone. To developed rotary-hammering coring drill, called Auto-Gopher, employs a piezoelectric actuated percussive mechanism for breaking formations and an electric motor rotates the bit to remove the powdered cuttings. This sampler is a wireline mechanism that is incorporated with an inchworm mechanism allowing thru cyclic coring and core removal to reach great depths. The penetration rate is being optimized by simultaneously activating the percussive and rotary motions of the Auto-Gopher. The percussive mechanism is based on the Ultrasonic/Sonic Drill/Corer (USDC) mechanism that is driven by piezoelectric stack and that was demonstrated to require low axial preload. The Auto-Gopher has been produced taking into account the a lessons learned from the development of the Ultrasonic/Sonic Gopher that was designed as a percussive ice drill and was demonstrated in Antarctica in 2005 to reach about 2 meters deep. A field demonstration of the Auto-Gopher is currently being planned with objective of reaching as deep as 3 to 5 meters in tufa subsurface.

Auto-Gopher↗

Preliminary design of flight hardware for two-phase fluid research

This study defined the preliminary designs of flight software for the Space Shuttle Orbiter for three two-phase fluid research experiments: (1) liquid reorientation - to study the motion of liquid in tanks subjected to small accelerations; (2) pool boiling - to study low-gravity boiling from horizontal cylinders; and (3) flow boiling - to study low-gravity forced flow boiling heat transfer and flow phenomena in a heated horizontal tube. The study consisted of eight major tasks: reassessment of the existing experiment designs, assessment of the Spacelab facility approach, assessment of the individual carry-on approach, selection of the preferred approach, preliminary design of flight hardware, safety analysis, preparation of a development plan, estimates of detailed design, fabrication and ground testing costs. The most cost effective design approach for the experiments is individual carry-ons in the Orbiter middeck. The experiments were designed to fit into one or two middeck lockers. Development schedules for the detailed design, fabrication and ground testing ranged from 15 1/2 to 18 months. Minimum costs (in 1981 dollars) ranged from $463K for the liquid reorientation experiment to $998K for the pool boiling experiment.

Hustvedt, D. C.↗

Weathering the Storm: Unmanned Aircraft Systems in the Maritime, Atmospheric and Polar Environments

Remotely piloted aircraft (RPA) have the potential to revolutionize local to regional data collection for geophysicists as platform and payload size decrease while aircraft capabilities increase. In particular, data from RPAs combine high-resolution imagery available from low flight elevations with comprehensive areal coverage, unattainable from ground investigations and difficult to acquire from manned aircraft due to budgetary and logistical costs. Low flight elevations are particularly important for detecting signals that decay exponentially with distance, such as electromagnetic fields. Onboard data processing coupled with high-bandwidth telemetry open up opportunities for real-time and near real-time data processing, producing more efficient flight plans through the use of payload-directed flight, machine learning and autonomous systems. Such applications not only strive to enhance data collection, but also enable novel sensing modalities and temporal resolution. NASAs Airborne Science Program has been refining the capabilities and applications of RPA in support of satellite calibration and data product validation for several decades. In this paper, we describe current platforms, payloads, and onboard data systems available to the research community. Case studies include Fluid Lensing for littoral zone 3D mapping, structure from motion for terrestrial 3D multispectral imaging, and airborne magnetometry on medium and small RPAs.

data collection↗

Skylab Experiment M516 - Crew Activities/Maintenance Study

Skylab required daily movement about the interior of a 340 cu m vehicle and the handling and transfer of numerous loose items. Planned and unplanned maintenance tasks were also included in the daily routine of activity. Experiment M516, Crew Activities/Maintenance Study, involved an investigation of crew activity during routine daily operations. The overall objective was to secure in-flight data relevant to the performance of tasks in the weightless environment. This paper will present an evaluation of man's ability to handle and transport items of various sizes and masses (logistics management) and to make equipment repairs (maintenance). Results and conclusions are based on subjective crew comments, motion-picture film, and television transmissions.

Bond, R. L.↗

Creating a Lunar EVA Work Envelope

A work envelope has been defined for weightless Extravehicular Activity (EVA) based on the Space Shuttle Extravehicular Mobility Unit (EMU), but there is no equivalent for planetary operations. The weightless work envelope is essential for planning all EVA tasks because it determines the location of removable parts, making sure they are within reach and visibility of the suited crew member. In addition, using the envelope positions the structural hard points for foot restraints that allow placing both hands on the job and provides a load path for reacting forces. EVA operations are always constrained by time. Tasks are carefully planned to ensure the crew has enough breathing oxygen, cooling water, and battery power. Planning first involves computers using a virtual work envelope to model tasks, next suited crew members in a simulated environment refine the tasks. For weightless operations, this process is well developed, but planetary EVA is different and no work envelope has been defined. The primary difference between weightless and planetary work envelopes is gravity. It influences anthropometry, horizontal and vertical mobility, and reaction load paths and introduces effort into doing "overhead" work. Additionally, the use of spacesuits other than the EMU, and their impacts on range of motion, must be taken into account. This paper presents the analysis leading to a concept for a planetary EVA work envelope with emphasis on lunar operations. There is some urgency in creating this concept because NASA has begun building and testing development hardware for the lunar surface, including rovers, habitats and cargo off-loading equipment. Just as with microgravity operations, a lunar EVA work envelope is needed to guide designers in the formative stages of the program with the objective of avoiding difficult and costly rework.

Griffin, Brand N.↗

Using Remotely Piloted Aircraft and Onboard Processing to Optimize and Expand Data Collection

Remotely piloted aircraft (RPA) have the potential to revolutionize local to regional data collection for geophysicists as platform and payload size decrease while aircraft capabilities increase. In particular, data from RPAs combine high-resolution imagery available from low flight elevations with comprehensive areal coverage, unattainable from ground investigations and difficult to acquire from manned aircraft due to budgetary and logistical costs. Low flight elevations are particularly important for detecting signals that decay exponentially with distance, such as electromagnetic fields. Onboard data processing coupled with high-bandwidth telemetry open up opportunities for real-time and near real-time data processing, producing more efficient flight plans through the use of payload-directed flight, machine learning and autonomous systems. Such applications not only strive to enhance data collection, but also enable novel sensing modalities and temporal resolution. NASA’s Airborne Science Program has been refining the capabilities and applications of RPA in support of satellite calibration and data product validation for several decades. In this paper, we describe current platforms, payloads, and onboard data systems available to the research community. Case studies include Fluid Lensing for littoral zone 3D mapping, structure from motion for terrestrial 3D multispectral imaging, and airborne magnetometry on medium and small RPAs.

Fladeland, Matthew M.↗

Morphogenic Growth 3D Printing

Inspired by nature's morphogenesis, a new 3D printing process –growth printing (GP)– takes advantage of a self‐propagating curing front to produce 3D polymeric parts following a growth‐like development plan. The propagation of the curing front is driven by the exothermic polymerization of dicyclopentadiene (DCPD), which transforms the liquid resin into a stiff polymer as it propagates at 1 mm s −1 . GP is triggered when a heated initiator contacts the uncured liquid resin in an open container. The initiator nucleates the frontal polymerization reaction and the isotropic radial propagation of the growth front. Simultaneously, the initiator is moved up across the free surface of the resin, pulling the cured object out of the uncured resin. The motion trajectory of the initiator with respect to the free resin surface controls the growth morphology of the 3D part. An inverse design algorithm is developed to produce 3D parts by modeling the reaction‐diffusion‐driven solidification process. This process has substantial energy savings and high printing speeds.

3D printing↗

Determination of design and operation parameters for upper atmospheric research instrumentation to yield optimum resolution with deconvolution. Appendix 7

Because of the interesting science which can be performed using a satellite attached by a very long tether to a mother vehicle in orbit, such as the Space Shuttle, NASA will deploy TSS-1 (Tethered Satellite System) in 1992. A very long tether (20 km in this case) has the possibility of undergoing oscillations of several different types, or modes, and higher harmonics of these modes. The purpose of this document is to describe a method for detecting the amplitude, frequency, and phase (and predicting future motion in the steady state) of these modes, in particular, the skiprope mode, using tethered satellite dynamics measurements. Specifically the rotation rate data about two orthogonal axes, calculated from output from satellite gyroscopes, are used. The data of interest are the satellite pitch and roll rate measurements. NASA has determined to use two methods to diagnose skiprope properties and predict future values. One of these, a Fourier transform domain approach, is the subject of this notebook. The main program and all subroutines are described along with the test plan for evaluating the Frequency Domain Skiprope Observer.

Ioup, George E.↗

Overview of the Third Convection and Moisture EXperiment (CAMEX-3)

The Convection And Moisture EXperiment (CAMEX) is a series of field research investigations sponsored by the National Aeronautics and Space Administration (NASA). The third field campaign in the CAMEX series (CAMEX-3) is scheduled for 6 August - 23 September, 1998 to study tropical cyclone development, tracking, intensification, and landfalling impacts using NASA-funded aircraft remote sensing instrumentation. This study will yield high spatial and temporal information of hurricane structure, dynamics, and motion. These data, when analyzed within the context of more traditional aircraft, satellite, and ground-based radar observations, should provide additional insight to hurricane modelers and forecasters who continually strive to improve hurricane predictions. During CAMEX-3, NASA will deploy a high attitude ER-2 and medium altitude DC-8 aircraft from Patrick Air Force Base, Florida. Ground-based instrumentation will also be stationed on Andros Island, Bahamas. Opportunities for coordinated aircraft missions with the National Oceanic and Atmospheric Administration (NOAA) Hurricane Research Division are also being planned. This presentation will provide an overview of the CAMEX-3 missions and key case studies sampled. Data availability and access will also be discussed.

Hood, Robbie↗

Autonomous Safe Landing Site Detection for a FutureMars Science Helicopter

Future Mars Rotorcrafts require advanced navigation capabilities to enable all terrain access for science investigations with long distance flights that are executed fully autonomously. A critical component is the ability to safely land in hazardous terrain as part of a mission, or triggered by an emergency situation. In this paper, we present an advanced navigation system for continuous on-board terrain reconstruction for the purpose of hazard-free landing site detection for the autonomous navigation of a Mars Science Helicopter - a JPL research concept that investigates the feasibility of flying a multi-kilogram science payload at various Mars science locations, with flight ranges of multiple kilometers per flight. Our approach builds on a visionbased perception system that incorporates an on-board visualinertial state estimator augmented by a laser altimeter (range- VIO), and a structure-from-motion 3D reconstruction approach that uses a single, downward-looking camera to provide dense depth measurements while the vehicle is in motion. Depth measurements are accumulated in a local, robot-centric, multiresolution elevation map that is analyzed by a landing site detector to extract safe landing areas below the rotorcraft, based on a heuristic that includes slope, roughness and the presence of landing hazards. Detected landing sites are prioritized by an on-board autonomy engine that either selects suitable landing sites for immediate landing maneuvers, or can explore a terrain location as part of a mission in order to find a best landing site in a pre-planned area. We demonstrate and evaluate our approach on simulated data and data acquired with a surrogate unmanned aerial system (UAS) executing flights over relevant terrain.

Tzanetos, Teddy↗

Controlling and monitoring the space-station plasma interaction: A baseline for performing plasma experiments and using advanced technology

The size, complexity, and motion of space station through the Earth's environmental plasma means that there will be a large, complicated interaction region, involving a sheath, wake, charging of surfaces, induced electric fields, secondary emission, outgassing with ionization, etc. This interaction will necessarily be a factor in carrying out and interpreting plasma experiments and in the use of certain technologies. Attention should be given ahead of time to: (1) monitoring this interaction so that it is well described; (2) implifying the interaction by appropriate design and construction of the spacecraft and by appropriate planning of technology use; and (3) controlling the interaction by both active and passive means. Plasma emitters for modifying and controlling the spacecraft charge should be placed in several locations. Portable electrostatic shields could be deployed around noisy sections of the spacecraft in order to carry out sensitive experiments. A particle umbrella could be raised to deflect the ram ions and neutrals in order to provide a controlled environment. These interactions are briefly discussed.

Whipple, Elden C.↗