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NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematic Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as open CV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: 1. Busy and visually cluttered background 2. Low-textured tracking object with relatively small motions 3. Occlusions and motion by human subject and loose, floating objects 4. Limited number of video cameras with no fixed global references 5. Limited ability to add tags, markers, or visual references to the tracking object 6. Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L Nilsson↗

NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematics Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as openCV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: Busy and visually cluttered background Low-textured tracking object with relatively small motions Occlusions and motion by human subject and loose, floating objects Limited number of video cameras with no fixed global references Limited ability to add tags, markers, or visual references to the tracking object Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L B Nilsson↗

NASA NTRSDate not supplied

Examination of Mars2020 Shock-Layer Conditions via Infrared Laser Absorption Spectroscopy of CO2 and CO

Amid-infrared laser absorption diagnostic was deployed to study a simulated Mars2020 shock layer in the Electric Arc Shock Tube (EAST) facility at NASA’s Ames Research Center. Rapid RF-diplexing techniques enabled quantitative temperature and number density measurements of CO2 and CO with μs-resolution over an incident shock velocity range of 1.39 – 3.75 km/s. Two interband cascade lasers were utilized at 4.17 and 4.19 μm to resolve eight CO2 asymmetric stretch fundamental band (𝜈3) transitions from two different vibrational levels: 0000 (ground state) and 0110 (first excited bending mode). The probed rotational levels span across J” = 58 to J” = 140. Results are compared to DPLR simulations of the shock layer using kinetic mechanisms of Johnston et al. and Cruden et al. At shock velocities below 3.1 km/s, the agreement between the measurements and the Johnston mechanism is typically within 5% for temperature and within 10% for number density. At shock velocities above 3.1 km/s, the CO2 measurement becomes sensitive to a thin boundary layer and corrections of this effect are presented. On test cases with enough energy to dissociate CO2, a quantum cascade laser scanned the P(2, 20), P(0, 31), and P(3, 14) transitions of the CO fundamental band at 4.98 μm. CO formation rate is measured to be close to the Johnston kinetic mechanism at low velocities, and then trending towards the Cruden kinetic mechanism at high velocities. On a few low velocity test cases, rovibrational relaxation of the Martian atmosphere is probed with μs resolution.

Laser Absorption↗

NASA NTRS1989

Flexible structure control experiments using a real-time workstation for computer-aided control engineering

A Real-Time Workstation for Computer-Aided Control Engineering has been developed jointly by the Communications Research Centre (CRC) and Ruhr-Universitaet Bochum (RUB), West Germany. The system is presently used for the development and experimental verification of control techniques for large space systems with significant structural flexibility. The Real-Time Workstation essentially is an implementation of RUB's extensive Computer-Aided Control Engineering package KEDDC on an INTEL micro-computer running under the RMS real-time operating system. The portable system supports system identification, analysis, control design and simulation, as well as the immediate implementation and test of control systems. The Real-Time Workstation is currently being used by CRC to study control/structure interaction on a ground-based structure called DAISY, whose design was inspired by a reflector antenna. DAISY emulates the dynamics of a large flexible spacecraft with the following characteristics: rigid body modes, many clustered vibration modes with low frequencies and extremely low damping. The Real-Time Workstation was found to be a very powerful tool for experimental studies, supporting control design and simulation, and conducting and evaluating tests withn one integrated environment.

Stieber, Michael E.↗

NASA NTRS1967

Mechanical properties of wire insulation automatically determined

Three separate mechanisms test the insulation on electrical wire specimens for mechanical resistance to flexure, abrasion or wear, and vibration. The test mechanisms perform the evaluation tests on insulated wire specimens in a chamber which can be controlled to simulate space or spacecraft cabin environments.

Dawn, F. S.↗

NASA NTRS1974

Specification and correlation of the sine vibration environment for Viking '75

Two Viking spacecraft will be individually launched on a new Titan IIIE/Centaur D-1T launch vehicle in August 1975. The method for the establishment of spacecraft sine vibration test levels prior to availability of any Titan IIIE/Centaur D-1T flight data by use of both computer simulations and data from previous Titan and Atlas Centaur vehicles is described. The specification level is compared with actual flight data obtained from a proof flight launch of the Titan IIIE/Centaur D-1T and a Viking dynamic simulator in January 1974. An objective of the proof flight launch was to obtain estimates of the flight loads and environments. The criteria used to minimize the structural weight that would result from an unmodified application of a sine test environment are described.

Snyder, R. E.↗

NASA NTRS1991

The dynamic effects of internal robots on Space Station Freedom

Many of the planned experiments of the Space Station Freedom (SSF) will require acceleration levels to be no greater than microgravity (10 exp -6 g) levels for long periods of time. Studies have demonstrated that without adequate control, routine operations may cause disturbances which are large enough to affect on-board experiments. One way to both minimize disturbances and make the SSF more autonomous is to utilize robots instead of astronauts for some operations. The present study addresses the feasibility of using robots for microgravity manipulation. Two methods for minimizing the dynamic disturbances resulting from the robot motions are evaluated. The first method is to use a robot with kinematic redundancy (redundant links). The second method involves the use of a vibration isolation device between the robot and the SSF laboratory module. The results from these methods are presented along with simulations of robots without disturbance control.

Miller, Jeffrey H.↗

NASA NTRS1989

Application of optical distributed sensing and computation to control of a large flexible spacecraft

Advances in real-time holography make possible the development of new distributed optical sensors and processors that may have application to the control of flexible structures. This paper presents the analytic evaluation of control system concepts utilizing this new technology on realistic spacecraft. The design of a distributed estimator based on this new optical sensing technique is targeted to vibration control of a complex spacecraft with multiple optical sensors, each of which views a portion of the spacecraft. A simulation of a complex truss structure that was flown in the Solar Array Flight Experiment is utilized to evaluate the performance of the estimator. It is shown that good performance can be obtained from a distributed estimator even in the presence of significant sensor noise.

Montgomery, R. C.↗

NASA NTRS1991

The dynamic effects of internal robots on Space Station Freedom

Miller, Jeffrey H.↗

NASA NTRS1991

A comparison of controller designs for an experimental flexible structure

Control systems design and hardware testing are addressed for an experimental structure that displays the characteristics of a typical flexible spacecraft. The results of designing and implementing various control design methodologies are described. The design methodologies under investigation include linear quadratic Gaussian control, static and dynamic dissipative controls, and H-infinity optimal control. Among the three controllers considered, it is shown, through computer simulation and laboratory experiments on the evolutionary structure, that the dynamic dissipative controller gave the best results in terms of vibration suppression and robustness with respect to modeling errors.

Lim, K. B.↗

NASA NTRS1977

Voice integrated systems

The program at Naval Air Development Center was initiated to determine the desirability of interactive voice systems for use in airborne weapon systems crew stations. A voice recognition and synthesis system (VRAS) was developed and incorporated into a human centrifuge. The speech recognition aspect of VRAS was developed using a voice command system (VCS) developed by Scope Electronics. The speech synthesis capability was supplied by a Votrax, VS-5, speech synthesis unit built by Vocal Interface. The effects of simulated flight on automatic speech recognition were determined by repeated trials in the VRAS-equipped centrifuge. The relationship of vibration, G, O2 mask, mission duration, and cockpit temperature and voice quality was determined. The results showed that: (1) voice quality degrades after 0.5 hours with an O2 mask; (2) voice quality degrades under high vibration; and (3) voice quality degrades under high levels of G. The voice quality studies are summarized. These results were obtained with a baseline of 80 percent recognition accuracy with VCS.

Curran, P. Mike↗

NASA NTRS1997

The Wardle Instability in Interstellar Shocks: Gas Temperture and Line Emission - 2

We have modeled the gas temperature structure in unstable C-type shocks and obtained predictions for the resultant CO and H2 rotational line emissions, using numerical simulations of the Wardle instability. Our model for the thermal balance of the gas includes ion-neutral frictional heating; compressional heating; radiative cooling due to rotational and ro-vibrational transitions of the molecules CO, H2O, and H2; and gas-grain collisional cooling. We obtained results for the gas temperature distribution in-and H2 and CO line emission from-shocks of neutral Alfvenic Mach number 10 and velocity 20 or 40 km/ s in which the Wardle instability has saturated. Both two- and three-dimensional simulations were carried out for shocks in which the preshock magnetic field is perpendicular to the shock propagation direction, and a two-dimensional simulation was carried out for the case in which the magnetic field is obliquely oriented with respect to the shock propagation direction. Although the Wardle instability profoundly affects the density structure behind C-type shocks, most of the shock-excited molecular line emission is generated upstream of the region where the strongest effects of the instability are felt. Thus the Wardle instability has a relatively small effect on the overall gas temperature distribution in-and the emission-line spectrum from-C-type shocks, at least for the cases that we have considered. In none of the cases that we have considered thus far did any of the predicted emission-line luminosities change by more than a factor of 2.5, and in most cases the effects of instability were significantly smaller than that. Slightly larger changes in the line luminosities seem likely for three-dimensional simulations of oblique shocks, although such simulations have yet to be carried out and lie beyond the scope of this study. Given the typical uncertainties that are always present when model predictions are compared with real astronomical data, we conclude that Wardle instability does not imprint any clear observational signature on the shock-excited CO and H2 line strengths. This result justifies the use of one-dimensional steady shock models in the interpretation of observations of shock-excited line emission in regions of star formation. Our three-dimensional simulations of perpendicular shocks revealed the presence of warm filamentary structures that are aligned along the magnetic field, a result that is of possible relevance to models of water maser emission from C-type shocks.

Neufeld, David A.↗

NASA NTRS2010

Ares I-X Launch Abort System, Crew Module, and Upper Stage Simulator Vibroacoustic Flight Data Evaluation, Comparison to Predictions, and Recommendations for Adjustments to Prediction Methodology and Assumptions

The National Aeronautics and Space Administration (NASA) Constellation Program (CxP) has identified a series of tests to provide insight into the design and development of the Crew Launch Vehicle (CLV) and Crew Exploration Vehicle (CEV). Ares I-X was selected as the first suborbital development flight test to help meet CxP objectives. The Ares I-X flight test vehicle (FTV) is an early operational model of CLV, with specific emphasis on CLV and ground operation characteristics necessary to meet Ares I-X flight test objectives. The in-flight part of the test includes a trajectory to simulate maximum dynamic pressure during flight and perform a stage separation of the Upper Stage Simulator (USS) from the First Stage (FS). The in-flight test also includes recovery of the FS. The random vibration response from the ARES 1-X flight will be reconstructed for a few specific locations that were instrumented with accelerometers. This recorded data will be helpful in validating and refining vibration prediction tools and methodology. Measured vibroacoustic environments associated with lift off and ascent phases of the Ares I-X mission will be compared with pre-flight vibration predictions. The measured flight data was given as time histories which will be converted into power spectral density plots for comparison with the maximum predicted environments. The maximum predicted environments are documented in the Vibroacoustics and Shock Environment Data Book, AI1-SYS-ACOv4.10 Vibration predictions made using statistical energy analysis (SEA) VAOne computer program will also be incorporated in the comparisons. Ascent and lift off measured acoustics will also be compared to predictions to assess whether any discrepancies between the predicted vibration levels and measured vibration levels are attributable to inaccurate acoustic predictions. These comparisons will also be helpful in assessing whether adjustments to prediction methodologies are needed to improve agreement between the predicted and measured flight data. Future assessment will incorporate hybrid methods in VAOne analysis (i.e., boundary element methods, BEM and finite element methods, FEM). These hybrid methods will enable the ability to import NASTRAN models providing much more detailed modeling of the underlying beams and support structure of the ARES 1-X test vehicle. Measured acoustic data will be incorporated into these analyses to improve correlation for additional post flight analysis.

Smith, Andrew↗

NASA NTRS2015

Influence of Chair Vibrations on Indoor Sonic Boom Annoyance

One goal of NASA’s Commercial Supersonic Technology Project is to identify candidate noise metrics suitable for regulating quiet sonic boom aircraft. A suitable metric must consider the short duration and pronounced low frequency content of sonic booms. For indoor listeners, rattle and creaking sounds and floor and chair vibrations may also be important. The current study examined the effect of such vibrations on the annoyance of test subjects seated indoors. The study involved two chairs exposed to nearly identical acoustic levels: one placed directly on the floor, and the other isolated from floor vibrations by pneumatic elastomeric mounts. All subjects experienced both chairs, sitting in one chair for the first half of the experiment and the other chair for the remaining half. Each half of the experiment consisted of 80 impulsive noises played at the exterior of the sonic boom simulator. When all annoyance ratings were analyzed together there appeared to be no difference in mean annoyance with isolation condition. When the apparent effect of transfer bias was removed, a subtle but measurable effect of vibration on annoyance was identified.

Rathsam, Jonathan↗

NASA NTRS2006

Tapered Roller Bearing Damage Detection Using Decision Fusion Analysis

A diagnostic tool was developed for detecting fatigue damage of tapered roller bearings. Tapered roller bearings are used in helicopter transmissions and have potential for use in high bypass advanced gas turbine aircraft engines. A diagnostic tool was developed and evaluated experimentally by collecting oil debris data from failure progression tests conducted using health monitoring hardware. Failure progression tests were performed with tapered roller bearings under simulated engine load conditions. Tests were performed on one healthy bearing and three pre-damaged bearings. During each test, data from an on-line, in-line, inductance type oil debris sensor and three accelerometers were monitored and recorded for the occurrence of bearing failure. The bearing was removed and inspected periodically for damage progression throughout testing. Using data fusion techniques, two different monitoring technologies, oil debris analysis and vibration, were integrated into a health monitoring system for detecting bearing surface fatigue pitting damage. The data fusion diagnostic tool was evaluated during bearing failure progression tests under simulated engine load conditions. This integrated system showed improved detection of fatigue damage and health assessment of the tapered roller bearings as compared to using individual health monitoring technologies.

Dempsey, Paula J.↗

NASA NTRS2001

Adaptive Multi-Layer LMS Controller Design and Application to Active Vibration Suppression on a Truss and Proposed Impact Analysis Technique

This research develops an adaptive controller that actively suppresses a single frequency disturbance source at a remote position and tests the system on the NPS Space Truss. The experimental results are then compared to those predicted by an ANSYS finite element model. The NPS space truss is a 3.7-meter long truss that simulates a space-borne appendage with sensitive equipment mounted at its extremities. One of two installed piezoelectric actuators and an Adaptive Multi-Layer LMS control law were used to effectively eliminate an axial component of the vibrations induced by a linear proof mass actuator mounted at one end of the truss. Experimental and analytical results both demonstrate reductions to the level of system noise. Vibration reductions in excess of 50dB were obtained through experimentation and over 100dB using ANSYS, demonstrating the ability to model this system with a finite element model. This report also proposes a method to use distributed quartz accelerometers to evaluate the location, direction, and energy of impacts on the NPS space truss using the dSPACE data acquisition and processing system to capture the structural response and compare it to known reference Signals.

Barney, Timothy A.↗

NASA NTRSDate not supplied

Implementation of Charged Particle Behavior in Discrete Element Method (DEM) Simulations

Lunar landers will agitate the surface of the Moon with an exhaust plume during descent which will, due to the particulate nature of the lunar regolith, loosen and eject grains from the surface. This ejection is not only coupled with the charged plume gas, but also results in significant particle-particle interactions. Settling of these grains after plume effects have subsided takes much longer than expected in a ballistic trajectory. The prevailing hypothesis attributes this behavior to the accumulated charge on the particles. We are thus developing a discrete element method (DEM) approach to explore these charged particle interactions on the lunar surface. The Large-scale Atomic/Molecular Massively Parallel Simulator (LAMMPS) Improved for General Granular and Granular Heat Transfer Simulations (LIGGGHTS) software package provides a DEM modeling framework for granular interactions. It includes many complexities such as non-spherical particle shapes, cohesion and frictional forces, and heat transfer, but has no provision for inter-particle electrostatic forces and charge transfer that are important to examine in the lunar environment. In this work, a standard Coulomb potential and a Yukawa potential are integrated into the LIGGGHTS framework to provide a basis for particle-particle electrostatic interactions, as well as a gravitational potential to enable inter-grain gravitational interactions. A preliminary approach to charge transfer between grains incorporating properties such as work function and electrical conductivity to the library of available material characteristics will be presented. Several scenarios have been simulated that include charged particle interactions within a diffuse granular gas, settling of charged grains into a regolith bed, sliding of granular material along an incline, and vibration of settled grains to produce a behavior similar to fluidization. There are numerous challenges to incorporate realistic interactions between complex lunar particles. Currently, grains are modeled to behave as if the entirety of the charge acts at the center of mass, such as conductors with spherical symmetry and insulators with homogeneously distributed charge. We are developing improvements that will include the use of non-spherical particle geometries, as well as reasonable approximations of insulating/dielectric materials that have non-uniform charge distributions. The cases simulated thus far will be examined in a relevant environment within a vacuum chamber to validate the simulations. These simulations will be bounded by experiments utilizing high-speed camera observations of the motion for validation. The grains in the experiment will exchange charge during their motion and this can be quantified by collection within a charge measurement device such as a Faraday cup. Such a device may be modeled within the software by defining an integration region and computing the contained charge as a function of simulation time, allowing for side-by-side comparison of simulated and measured bulk charging results. Any differences will be reconciled by updating the mathematical mechanisms described within the simulation suite. Successfully combining results from experiments within a relevant environment into the LIGGGHTS framework will improve modeling of the charged grain dynamics experienced on the Moon to provide insights into dust behavior for future lunar exploration missions.

Electrostatics↗

NASA NTRS2013

Development of the Orion Crew-Service Module Umbilical Retention and Release Mechanism

The Orion CSM umbilical retention and release mechanism supports and protects all of the cross-module commodities between the spacecrafts crew and service modules. These commodities include explosive transfer lines, wiring for power and data, and flexible hoses for ground purge and life support systems. The mechanism employs a single separation interface which is retained with pyrotechnically actuated separation bolts and supports roughly two dozen electrical and fluid connectors. When module separation is commanded, either for nominal on-orbit CONOPS or in the event of an abort, the mechanism must release the separation interface and sever all commodity connections within milliseconds of command receipt. There are a number of unique and novel aspects of the design solution developed by the Orion mechanisms team. The design is highly modular and can easily be adapted to other vehiclesmodules and alternate commodity sets. It will be flight tested during Orions Exploration Flight Test 1 (EFT-1) in 2014, and the Orion team anticipates reuse of the design for all future missions. The design packages fluid, electrical, and ordnance disconnects in a single separation interface. It supports abort separations even in cases where aerodynamic loading prevents the deployment of the umbilical arm. Unlike the Apollo CSM umbilical which was a destructive separation device, the Orion design is resettable and flight units can be tested for separation performance prior to flight.Initial development testing of the mechanisms separation interface resulted in binding failures due to connector misalignments. The separation interface was redesigned with a robust linear guide system, and the connector separation and boom deployment were separated into two discretely sequenced events. These changes addressed the root cause of the binding failure by providing better control of connector alignment. The new design was tuned and validated analytically via Monte Carlo simulation. The analytical validation was followed by a repeat of the initial test suite plus test cases at thermal extremes and test cases with imposed mechanical failures demonstrating fault tolerance. The mechanism was then exposed to the qualification vibration environment. Finally, separation testing was performed at full speed with live ordnance.All tests of the redesigned mechanism resulted in successful separation of the umbilical interface with adequate force margins and timing. The test data showed good agreement with the predictions of the Monte Carlo simulation. The simulation proved invaluable due to the number of variables affecting the separation and the uncertainty associated with each. The simulation allowed for rapid assessment of numerous trades and contingency scenarios, and can be easily reconfigured for varying commodity sets and connector layouts.

Separation↗