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At least 541 records · Page 30

Dynamical modelling of coordinated multiple robot systems

The state of the art in the modeling of the dynamics of coordinated multiple robot manipulators is summarized and various problems related to this subject are discussed. It is recognized that dynamics modeling is a component used in the design of controllers for multiple cooperating robots. As such, the discussion addresses some problems related to the control of multiple robots. The techniques used to date in the modeling of closed kinematic chains are summarized. Various efforts made to date for the control of coordinated multiple manipulators is summarized.

Hayati, Samad↗

A second-generation supersonic transport

Ever since the advent of commercial flight vehicles, one goal of designers has been to develop aircraft that can fly faster and carry more passengers than before. After the development of practical supersonic military aircraft, this desire was naturally manifested in a search for a practical supersonic commercial aircraft. The first and, to date, only supersonic civil transport is the Concorde, manufactured by a consortium of British and French aerospace companies. Unfortunately, due to a number of factors, including low passenger capacity and limited range, the Concorde has not been an economic success. It is for this reason that there is considerable interest in developing a design for a supersonic civil transport that addresses some of the inadequacies of the Concorde. For the design of such an aircraft to be feasible in the near term, certain guidelines must be established at the outset. Based upon the experience with the Concorde, whose 100- passenger capacity is not large enough for profitable operation, a minimum capacity of 250 passengers is desired. Second, to date, because of the limited range of the Concorde, supersonic commercial flight has been restricted to trans-Atlantic routes. In order to broaden the potential market, any new design must have the capability of trans-Pacific flight. A summary of the potential markets involved is presented in Fig. 1. Also, because of both the cost and complexity involved with actively cooling an entire aircraft, an additional design constraint is that the aircraft as a whole be passively cooled. One additional design constraint is somewhat less quantitative in nature but of great importance nonetheless. Any time a new design is attempted, the tendency is to assume great strides in technology that serve as the basis for actual realization of the design. While it is not always possible to avoid this dependence on "enabling technology," since this design is desired for the near term, it is prudent, wherever possible, to rely on already existing technology. This is of particular importance with respect to support technology such as airport terminals and runways. Based on the above introductory remarks, a possible approach to the design of a second-generation supersonic civil transport is presented below. The design Mach number for this aircraft is 3.5. This value was chosen as it represents the limiting Mach number in the absence of active cooling. The ensuing design attempts to deal with the particular problems that are the most demanding, while relying on proven technology where it is adequate. The report clearly does not solve, or even deal with, every aspect of the aircraft design. Rather, a general direction is suggested and supported with initial, approximate calculations.

W. Humphrey↗

Th-230 - U-238 series disequilibrium of the Olkaria rhyolites Gregory Rift Valley, Kenya: Residence times

U-series disequilibrium analyses have been conducted on samples from Olkaria rhyolite centers with ages being available for all but one center using both internal and whole rock isochrons. 67 percent of the rhyolites analyzed show U-Th disequilibrium, ranging from 27 percent excess thorium to 36 percent excess uranium. Internal and whole rock isochrons give crystallization/formation ages between 65 ka and 9 ka, in every case these are substantially older than the eruptive dates. The residence times of the rhyolites (U-Th age minus the eruption date) have decreased almost linearly with time, from 45 ka to 7 Ka suggesting a possible increase of activity within the system related to increased basaltic input. The long residence times are mirrored by large Rn-222 fluxes from the centers which cannot be explained by larger U contents.

Black, S.↗

Age of Popigai impact event using the Ar-40 - Ar-39 method

The Popigai impact structure of central Siberia is the largest known impact crater in the Commonwealth of Independent States with an original diameter of some 1OO km. The age of the crater is constrained by the existing stratigraphy to a period between 5-65 Ma. Attempts to date the impact event using conventional K-Ar on whole rock samples and fission track dating on glasses yield a spread of ages between 30 and 45 Ma. Argon step-heating analyses of several whole-rock samples performed with the Argon Laserprobe at the University of Toronto indicated an age of impact of about 36 Ma. However, a more recently reported Ar-40 - Ar-49 result on glass separated from a suevite sample gave a 65 Ma age and raised the possibility that Popigai was involved with the K/T boundary event. We have pursued further analyses at the University of Toronto on a broader spectrum of Popigai samples. These results confirm an age of about 36 Ma for the formation of this crater, and indicate that Popigai was not associated with the K/T boundary event.

Bottomley, R. J.↗

Low altitude plume impingement handbook

Plume Impingement modeling is required whenever an object immersed in a rocket exhaust plume must survive or remain undamaged within specified limits, due to thermal and pressure environments induced by the plume. At high altitudes inviscid plume models, Monte Carlo techniques along with the Plume Impingement Program can be used to predict reasonably accurate environments since there are usually no strong flowfield/body interactions or atmospheric effects. However, at low altitudes there is plume-atmospheric mixing and potential large flowfield perturbations due to plume-structure interaction. If the impinged surface is large relative to the flowfield and the flowfield is supersonic, the shock near the surface can stand off the surface several exit radii. This results in an effective total pressure that is higher than that which exists in the free plume at the surface. Additionally, in two phase plumes, there can be strong particle-gas interaction in the flowfield immediately ahead of the surface. To date there have been three levels of sophistication that have been used for low altitude plume induced environment predictions. Level 1 calculations rely on empirical characterizations of the flowfield and relatively simple impingement modeling. An example of this technique is described by Piesik. A Level 2 approach consists of characterizing the viscous plume using the SPF/2 code or RAMP2/LAMP and using the Plume Impingement Program to predict the environments. A Level 3 analysis would consist of using a Navier-Stokes code such as the FDNS code to model the flowfield and structure during a single calculation. To date, Level 1 and Level 2 type analyses have been primarily used to perform environment calculations. The recent advances in CFD modeling and computer resources allow Level 2 type analysis to be used for final design studies. Following some background on low altitude impingement, Level 1, 2, and 3 type analysis will be described.

Smith, Sheldon D.↗

NASA directives master list and index

This Handbook sets forth in two parts the following information for the guidance of users of the NASA Management Directives System. Part A is a master list of management directives in force as of March 31, 1993. Chapter 1 contains introductory informative material on how to use this Handbook. Chapter 2 is a complete master list of Agencywide management directives, describing each directive by type, number, effective date, expiration date, title, and organization code of the office responsible for the directive. Chapter 3 includes a consolidated numerical list of all delegations of authority and a breakdown of such delegation by the office or installation to which special authority is assigned. Chapter 4 sets forth a consolidated list of all NASA Handbooks (NHB's) and important footnotes covering the control and ordering of such documents. Chapter 5 is a consolidated list of NASA management directives applicable to the Jet Propulsion Laboratory. Chapter 6 is a consolidated list of NASA management directives published in the Code of Federal Regulations. Complementary manuals to the NASA Management Directives System are described in Chapter 7. Part B is the index to NASA management directives in force as of March 31, 1993. This part contains an in-depth alphabetical index to all NASA management directives other than Handbooks. NHB's 1610.6, 'NASA Personnel Security Handbook,' 1620.3, 'NASA Physical Security Handbook,' 1640.4, 'NASA Information Security Program,' 1900.1, 'Standards of Conduct for NASA Employees,' 5103.6, 'Source Evaluation Board Handbook,' and 7400.1, 'Budget Administration Manual,' are indexed in-depth. All other NHB's are indexed by titles only.

Source record↗

Hollow cathode heater development for the Space Station plasma contactor

A hollow cathode-based plasma contactor has been selected for use on the Space Station. During the operation of the plasma contactor, the hollow cathode heater will endure approximately 12000 thermal cycles. Since a hollow cathode heater failure would result in a plasma contactor failure, a hollow cathode heater development program was established to produce a reliable heater design. The development program includes the heater design, process documents for both heater fabrication and assembly, and heater testing. The heater design was a modification of a sheathed ion thruster cathode heater. Three heaters have been tested to date using direct current power supplies. Performance testing was conducted to determine input current and power requirements for achieving activation and ignition temperatures, single unit operational repeatability, and unit-to-unit operational repeatability. Comparisons of performance testing data at the ignition input current level for the three heaters show the unit-to-unit repeatability of input power and tube temperature near the cathode tip to be within 3.5 W and 44 degrees C, respectively. Cyclic testing was then conducted to evaluate reliability under thermal cycling. The first heater, although damaged during assembly, completed 5985 ignition cycles before failing. Two additional heaters were subsequently fabricated and have completed 3178 cycles to date in an on-going test.

Soulas, George C.↗

SeaTrack: Ground station orbit prediction and planning software for sea-viewing satellites

An orbit prediction software package (Sea Track) was designed to assist High Resolution Picture Transmission (HRPT) stations in the acquisition of direct broadcast data from sea-viewing spacecraft. Such spacecraft will be common in the near future, with the launch of the Sea viewing Wide Field-of-view Sensor (SeaWiFS) in 1994, along with the continued Advanced Very High Resolution Radiometer (AVHRR) series on NOAA platforms. The Brouwer-Lyddane model was chosen for orbit prediction because it meets the needs of HRPT tracking accuracies, provided orbital elements can be obtained frequently (up to within 1 week). Sea Track requires elements from the U.S. Space Command (NORAD Two-Line Elements) for the satellite's initial position. Updated Two-Line Elements are routinely available from many electronic sources (some are listed in the Appendix). Sea Track is a menu-driven program that allows users to alter input and output formats. The propagation period is entered by a start date and end date with times in either Greenwich Mean Time (GMT) or local time. Antenna pointing information is provided in tabular form and includes azimuth/elevation pointing angles, sub-satellite longitude/latitude, acquisition of signal (AOS), loss of signal (LOS), pass orbit number, and other pertinent pointing information. One version of Sea Track (non-graphical) allows operation under DOS (for IBM-compatible personal computers) and UNIX (for Sun and Silicon Graphics workstations). A second, graphical, version displays orbit tracks, and azimuth-elevation for IBM-compatible PC's, but requires a VGA card and Microsoft FORTRAN.

Lambert, Kenneth S.↗

Mapping of taiga forest units using AIRSAR data and/or optical data, and retrieval of forest parameters

A maximum a posteriori Bayesian classifier for multifrequency polarimetric SAR data is used to perform a supervised classification of forest types in the floodplains of Alaska. The image classes include white spruce, balsam poplar, black spruce, alder, non-forests, and open water. The authors investigate the effect on classification accuracy of changing environmental conditions, and of frequency and polarization of the signal. The highest classification accuracy (86 percent correctly classified forest pixels, and 91 percent overall) is obtained combining L- and C-band frequencies fully polarimetric on a date where the forest is just recovering from flooding. The forest map compares favorably with a vegetation map assembled from digitized aerial photos which took five years for completion, and address the state of the forest in 1978, ignoring subsequent fires, changes in the course of the river, clear-cutting of trees, and tree growth. HV-polarization is the most useful polarization at L- and C-band for classification. C-band VV (ERS-1 mode) and L-band HH (J-ERS-1 mode) alone or combined yield unsatisfactory classification accuracies. Additional data acquired in the winter season during thawed and frozen days yield classification accuracies respectively 20 percent and 30 percent lower due to a greater confusion between conifers and deciduous trees. Data acquired at the peak of flooding in May 1991 also yield classification accuracies 10 percent lower because of dominant trunk-ground interactions which mask out finer differences in radar backscatter between tree species. Combination of several of these dates does not improve classification accuracy. For comparison, panchromatic optical data acquired by SPOT in the summer season of 1991 are used to classify the same area. The classification accuracy (78 percent for the forest types and 90 percent if open water is included) is lower than that obtained with AIRSAR although conifers and deciduous trees are better separated due to the presence of leaves on the deciduous trees. Optical data do not separate black spruce and white spruce as well as SAR data, cannot separate alder from balsam poplar, and are of course limited by the frequent cloud cover in the polar regions. Yet, combining SPOT and AIRSAR offers better chances to identify vegetation types independent of ground truth information using a combination of NDVI indexes from SPOT, biomass numbers from AIRSAR, and a segmentation map from either one.

Rignot, Eric↗

Detailed study of oxidation/wear mechanism in lox turbopump bearings

Wear of 440C angular contact ball bearings of the phase 2 high pressure oxygen turbopump (HPOTP) of the space shuttle main engine (SSME) has been studied by means of various advanced nondestructive techniques (NDT) and modeled with reference to all known material, design, and operation variables. Three modes dominating the wear scenario were found to be the adhesive/sheer peeling (ASP), oxidation, and abrasion. Bearing wear was modeled in terms of the three modes. Lacking a comprehensive theory of rolling contact wear to date, each mode is modeled after well-established theories of sliding wear, while sliding velocity and distance are related to microsliding in ball-to-ring contacts. Microsliding, stress, temperature, and other contact variables are evaluated with analytical software packages of SHABERTH(TM)/SINDA(TM) and ADORE(TM). Empirical constants for the models are derived from NIST experiments by applying the models to the NIST wear data. The bearing wear model so established precisely predicts quite well the average ball wear rate for the HPOTP bearings. The wear rate has been statistically determined for the entire population of flight and development bearings based on Rocketdyne records to date. Numerous illustrations are given.

Chase, T. J.↗

STS-56, RSRM-031, 360L031 KSC processing configuration and data report

KSC Processing Configuration and Data Report is being provided as a historical document and as an enhancement to future RSRM manufacturing and processing operations. The following sections provide information on segment receipt, aft booster build-up, booster assembly, and closeout for STS-56, RSRM flight set 36OL031. Section 2.0 contains a summary of RSRM-031 processing. Section 3.0 discusses any significant problems or special issues that require special attention. Sections 4.0 through 6.0 contain narrative descriptions of all key events, including any related processing problems. Appendix A provides engineering specifications and changes. A list and matrix of all problem reports (PR's) pertinent to this flight set is provided in Appendix B. The matrix was provided by the Thiokol LSS Quality Engineering office. Copies of the PR's generated during the processing of RSRM-031 will be provided upon request. Appendix C contains the motor set status matrix, which provides milestone dates for the RSRM-031 flow. Section 7.0 provides recommendations, if any, for the improvement of flight hardware processing. Section 8.0 contains data sheets that provide flight hardware parts and consumables information installed during the booster build-up and stacking operations by location, lot/serial number, expiration and cure dates/times, and installation dates.

Source record↗

STS-51, RSRM-033, 360T033 KSC processing configuration and data report

KSC Processing Configuration and Data Report is being provided as a historical document and as an enhancement to future RSRM manufacturing and processing operations. The following sections provide information on segment receipt, aft booster build up, motor assembly, and closeout for STS-51, RSRM flight set 360T033. Section 2.0 contains a summary of RSRM-033 processing. Section 3.0 discusses any significant problems or special issues that require special attention. Sections 4.0 through 6.0 contain narrative descriptions of all key events, including any related processing problems. Appendix A provides engineering specifications and changes. A list and matrix of all problem reports (PR's) pertinent to this flight set is provided in Appendix B. The matrix was provided by the Thiokol LSS Quality Engineering office. Copies of the PR's generated during the processing of RSRM-033 will be provided upon request. Appendix C contains the motor set status matrix, which provides milestone dates for the RSRM-033 flow. Section 7.0 provides recommendations for the improvement of flight hardware processing. Section 8.0 contains data sheets that provide flight hardware parts and consumable information installed during the booster build-up and stacking operations by location, lot/serial number, expiration and cure dates/times, and installation dates.

Hillard, Robert C.↗

Lean burn combustor technology at GE Aircraft Engines

This presentation summarizes progress to date at GE Aircraft Engines in demonstration of a lean combustion system for the High Speed Civil Transport (HSCT). These efforts were supported primarily by NASA contracts, with the exception of initial size and weight estimates and development of advanced diagnostics which were conducted under GE Independent Research and Development projects. Key accomplishments to date are summarized below.

Dodds, Willard J.↗

Status of Hollow Cathode Heater Development for the Space Station Plasma Contactor

A hollow cathode-based plasma contactor has been selected for use on the Space Station. During the operation of the plasma contactor, the hollow cathode heater will endure approximately 12000 thermal cycles. Since a hollow cathode heater failure would result in a plasma contactor failure, a hollow cathode heater development program was established to produce a reliable heater. The development program includes the heater design, process documents for both heater fabrication and assembly, and heater testing. The heater design was a modification of a sheathed ion thruster cathode heater. Heater tests included testing of the heater unit alone and plasma contactor and ion thruster testing. To date, eight heaters have been or are being processed through heater unit testing, two through plasma contactor testing and three through ion thruster testing, all using direct current power supplies. Comparisons of data from heater unit performance tests before cyclic testing, plasma contactor tests, and ion thruster tests at the ignition input current level show the average deviation of input power and tube temperature near the cathode tip to be +/-0.9 W and +/- 21 C, respectively. Heater unit testing included cyclic testing to evaluate reliability under thermal cycling. The first heater, although damaged during assembly, completed 5985 ignition cycles before failing. Four additional heaters successfully completed 6300, 6300, 700, and 700 cycles. Heater unit testing is currently ongoing for three heaters which have to date accumulated greater than 7250, greater than 5500, and greater than 5500 cycles, respectively.

Soulas, George C.↗

A PC based tool for mission plan production

Satellite positioning is managed according to a mission plan (MP) which provides, on a minute accuracy basis, a chronological list of events and associated actions to be performed. This tool, called MM2, is designed under the Windows environment. Excel is used to provide the MP itself. A Visual Basic process then translates it into a graphic symbolic representation called flight plan (FP). During operations, MM2 is also used to log the actual event dates and/or dated OPS Manager live comments.

Joli, Jean-Pierre↗

NASA directives: Master list and index

This Handbook sets forth in two parts the following information for the guidance of users of the NASA Management Directives System. Chapter 1 contains introductory information material on how to use this Handbook. Chapter 2 is a complete master list of Agency-wide management directives, describing each directive by type, number, effective date, expiration date, title, and organization code of the office responsible for the directive. Chapter 3 includes a consolidated numerical list of all delegations of authority and a breakdown of such delegation by the office of Installation to which special authority is assigned. Chapter 4 sets forth a consolidated list of all NASA Handbooks (NHB's) and important footnotes covering the control and ordering of such documents. Chapter 5 is a consolidated list of NASA management directives applicable to the Jet Propulsion Laboratory. Chapter 6 is a consolidated list of NASA management directives published in the code of Federal Regulations. Complementary manuals to the NASA Management Directives System are described in Chapter 7. Part B contains an in-depth alphabetical index to all NASA management directives other than Handbooks.

Source record↗

Status of diffused junction p+n InP solar cells for space applications

Recently, we have succeeded in fabricating diffused junction p(sup +)n(Cd,S) InP solar cells with measured AMO, 25 C open circuit voltage (V(sub OC)) of 887.6 mV, which, to the best of our knowledge, is higher than previously reported V(sub OC) values for any InP homojunction solar cells. The experiment-based projected achievable efficiency of these cells using LEC grown substrates is 21.3 percent. The maximum AMO, 25 C internal losses due to date on bare cells is, however, only 13.2 percent. This is because of large external and internal losses due to non-optimized front grid design, antireflection (AR) coating and emitter thickness. This paper summarizes recent advances in the technology of fabrication of p(sup +)n InP diffused structures and solar cells, resulted from a study undertaken in an effort to increase the cell efficiency. The topics discussed in this paper include advances in: (1) the formation on thin p(sup +) InP:Cd emitter layers, (2) electroplated front contacts, (3) surface passivation and (4) the design of a new native oxide/Al2O3/MgF2 tree layer AR coating using a chemically-grown P-rich passivating oxide as a first layer. Based on the high radiation resistance and the excellent post-irradiation annealing and recovery demonstrated in the early tests done to date, as well as the projected high efficiency and low-cost high-volume fabricability, these cells show a very good potential for space photovoltaic applications.

Faur, Mircea↗

Absorbed dose and LET spectra measurements on LDEF

Total absorbed doses measured with TLD's, linear energy transfer (LET) spectra measured with plastic track detectors, and low energy neutrons measured on LDEF have been compared with model calculations. The total absorbed doses measured in TLD's were higher than predicted in the calculations of Armstrong et al. and differ from the calculations of Atwell et al. LDEF LET spectra are dependent on detector orientation, shielding and experiment location. These factors need to be taken into account when modeling the LDEF LET spectra. LET spectra measured with plastic nuclear track detectors (PNTD's) also deviate significantly from calculations especially for high LET particles (LET(sub infinity) H2O greater than 100keV/micron). Modeling efforts to date do not include the contribution of proton induced secondaries. Analysis of polycarbonate PNTD's from the West-side of LDEF has revealed a very high fluence of tracks (greater than 1 x 10(exp 7) tracks/cm(exp 2) under 2 gm/cm(exp 2) shielding). Fluence drops off rapidly as shielding depth increases. Tracks only form in the region of the detector closest to the surface, not in the bulk of the detector. To date no adequate explanation for this observation has been found. We plan to measure range distribution of very high LET (LET (sub infinity) H2O greater than 500 keV/micron) secondary particles produced in silicon wafer by high energy primary cosmic ray particles. Refinements of experimental techniques and model calculations are being carried out in order to understand existing discrepancies between experimental measurements and calculations.

Benton, E. V.↗