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NASA NTRS1991

Experiments with simplified computed-torque controllers for free-flying robots

The effect of neglecting base accelerations in an inertial space endpoint computed-torque (CT) controller is examined. Numerical simulations predict a rather wide set of conditions under which CT controllers can neglect base accelerations in their dynamic model with insignificant performance degradation. Two predictions are experimentally verified with a laboratory robot. These two experiments show that negligible additional endpoint controller error results with a simplified CT controller for the given robot mass parameters and manipulator articulation.

Koningstein, R.↗

NASA NTRS1992

Hall voltage sign reversal in thin superconducting films

A novel approach to the superconducting Hall effect is developed, based on the opposing drift of the thermally excited quasi-particles. These collide quasi-elastically with the hydrodynamics superfluid velocity field circulating for outside the core of a vortex, thereby transferring momentum to the latter. The predicted Hall angle, by BCS theory, is of the order of kBTc divided by the Fermi energy, has sign opposite to that in the normal state because of the backflow, and disappears at low temperature.

Ferrell, Richard A.↗

NASA NTRS1992

Solar wind from a corona with a large helium abundance

The possibility is investigated that the presence of alpha particles in the coronal base region can reduce the sensitivity of the proton mass flux to the base temperature. It is found that for an alpha particle to proton density ratio at the base as small as 10 percent, alpha particles can reduce the sensitivity of the proton mass flux density to variations in the base temperature. The effects of enhanced collisional coupling and of Alfven waves on the flux of protons and alpha particles are studied. As an aid to future observational determination of the alpha particle density in the corona, calculations of the intensities of the resonantly scattered lines He II 304A and H I 1216A for selected models are presented.

Leer, Egil↗

NASA NTRS1991

Telepresence for planetary exploration

Telepresence from a manned central base to unmanned rovers is discussed as a possible solution to the problem of human presence in planetary field geology. Some issues that are essential to planetary surface field work are examined with reference to results of the Amboy field study. The discussion emphasizes the exploration behavior and user-based requirements for effective telepresence systems for planetary exploration.

Mcgreevy, Michael W.↗

NASA NTRS1993

Magnetostrictive Roller-Drive Stepping Motor

Proposed motor based on magnetostrictive effect provides stepped angular motion with angular increments of order of 100 microradians. Driven to repeat stepping cycle rapidly enough to achieve maximum speed of about 20 rpm, provides torque an order of magnitude greater than electric motors, and brakes itself when power turned off. Magnetostrictive rods in electromagnet coils push against drive plate, causing it to rotate slightly. This slight rotation jams conical rollers between cam surfaces on outer drive ring and split drum, so rollers transmit rotation to drum. Suitable for precise, high-torque, fail-safe-braking, direct drive of robot joint, without bulk and weight of additional brake mechanism and gear train.

Vranish, John M.↗

NASA NTRS1992

COBE anisotropy from supercluster gas

It is suggested that the microwave background anisotropy detected by the COBE DMR might be dominated not by the direct gravitational effect of primordial fluctuations in the last scattering surface, but by scattering off of moving electrons in optically thin, nearby superclusters. Hot diffuse clouds of ionized gas created during supercluster collapse produce Sunyaev-Zel'dovich and Doppler background anisotropy whose properties may closely mimic those of primordial anisotropy in current data. Strategies for and difficulties in separating the effects are discussed, based on the anisotropy spectrum, autocorrelation, correlation with galaxy catalogs, X-ray emission, and integrated spectral distortions.

Hogan, Craig J.↗

NASA NTRS1993

Comparison of continuum and particle simulations of expanding rarefied flows

Comparisons of Navier-Stokes solutions and particle simulations for a simple two-dimensional model problem at a succession of altitudes are performed in order to assess the importance of rarefaction effects on the base flow region. In addition, an attempt is made to include 'Burnett-type' extensions to the Navier-Stokes constitutive relations. The model geometry consists of a simple blunted wedge with a 0.425 meter nose radius, a 70 deg cone half angle, a 1.7 meter base length, and a rounded shoulder. The working gas is monatomic with a molecular weight and viscosity similar to air and was chosen to focus the study on the continuum and particle methodologies rather than the implementation of thermo-chemical modeling. Three cases are investigated, all at Mach 29, with densities corresponding to altitudes of 92 km, 99 km, and 105 km. At the lowest altitude, Navier-Stokes solutions agree well with particle simulations. At the higher altitudes, the Navier-Stokes equations become less accurate. In particular, the Navier-Stokes equations and particle method predict substantially different flow turning angle in the wake near the after body. Attempts to achieve steady continuum solutions including 'Burnett-type' terms failed. Further research is required to determine whether the boundary conditions, the equations themselves, or other unknown causes led to this failure.

Lumpkin, Forrest E., III↗

NASA NTRS1993

TOPEX/Poseidon precision orbit determination production and expert system

TOPEX/Poseidon (T/P) is a joint mission between NASA and the Centre National d'Etudes Spatiales (CNES), the French Space Agency. The TOPEX/Poseidon Precision Orbit Determination Production System (PODPS) was developed at Goddard Space Flight Center (NASA/GSFC) to produce the absolute orbital reference required to support the fundamental ocean science goals of this satellite altimeter mission within NASA. The orbital trajectory for T/P is required to have a RMS accuracy of 13 centimeters in its radial component. This requirement is based on the effective use of the satellite altimetry for the isolation of absolute long-wavelength ocean topography important for monitoring global changes in the ocean circulation system. This orbit modeling requirement is at an unprecedented accuracy level for this type of satellite. In order to routinely produce and evaluate these orbits, GSFC has developed a production and supporting expert system. The PODPS is a menu driven system allowing routine importation and processing of tracking data for orbit determination, and an evaluation of the quality of the orbit so produced through a progressive series of tests. Phase 1 of the expert system grades the orbit and displays test results. Later phases undergoing implementation, will prescribe corrective actions when unsatisfactory results are seen. This paper describes the design and implementation of this orbit determination production system and the basis for its orbit accuracy assessment within the expert system.

Putney, Barbara↗

NASA NTRS1994

SeaWiFS technical report series. Volume 17: Ocean color in the 21st century. A strategy for a 20-year time series

Beginning with the upcoming launch of the Sea-viewing Wide Field-of-view Sensor (SeaWiFS), there should be almost continuous measurements of ocean color for nearly 20 years if all of the presently planned national and international missions are implemented. This data set will present a unique opportunity to understand the coupling of physical and biological processes in the world ocean. The presence of multiple ocean color sensors will allow the eventual development of an ocean color observing system that is both cost effective and scientifically based. This report discusses the issues involved and makes recommendations intended to ensure the maximum scientific return from this unique set of planned ocean color missions. An executive summary is included with this document which briefly discusses the primary issues and suggested actions to be considered.

Abbott, Mark R.↗

NASA NTRS1994

David Florida Laboratory Thermal Vacuum Data Processing System

During 1991, the Space Simulation Facility conducted a survey to assess the requirements and analyze the merits for purchasing a new thermal vacuum data processing system for its facilities. A new, integrated, cost effective PC-based system was purchased which uses commercial off-the-shelf software for operation and control. This system can be easily reconfigured and allows its users to access a local area network. In addition, it provides superior performance compared to that of the former system which used an outdated mini-computer and peripheral hardware. This paper provides essential background on the old data processing system's features, capabilities, and the performance criteria that drove the genesis of its successor. This paper concludes with a detailed discussion of the thermal vacuum data processing system's components, features, and its important role in supporting our space-simulation environment and our capabilities for spacecraft testing. The new system was tested during the ANIK E spacecraft test, and was fully operational in November 1991.

Choueiry, Elie↗

NASA NTRS1995

Photoluminescence spectroscopy and the effective mass theory of strained (In,Ga)As/GaAs heterostructures grown on (112)B GaAs substrates

The photoluminescence characteristics of pseudomorphic In(0.19)Ga(0.81)As/GaAs quantum well structures grown on both the conventional (001) and the unconventional (112)B GaAs substrate are investigated. It is found that the emission spectra of the structures grown on the (112)B surface exhibit some spectral characteristics not observed on similar structures grown on the (001) surface. A spectral blue shift of the e yields hh1 transition with increasing optical pump intensity is observed for the quantum wells on the (112) surface. This shift is interpreted to be evidence of a strain-induced piezoelectric field. A second spectral feature located within the band gap of the In(0.19)Ga(0.81)As layer is also observed for the (112) structure; this feature is thought to be an impurity-related emission. The expected transition energies of the quantum well structures are calculated using the effective mass theory based on the 4 x 4 Luttinger valence band Hamiltonian, and related strain Hamiltonian.

Henderson, R. H.↗

NASA NTRS1994

Quantum state transfer in double-quantum-well devices

A Monte Carlo simulation of double-quantum-well (DQW) devices is presented in view of analyzing the quantum state transfer (QST) effect. Different structures, based on the AlGaAs/GaAs system, were simulated at 77 and 300 K and optimized in terms of electron transfer and device speed. The analysis revealed the dominant role of the impurity scattering for the QST. Different approaches were used for the optimization of QST devices and basic physical limitations were found in the electron transfer between the QWs. The maximum transfer of electrons from a high to a low mobility well was at best 20%. Negative differential resistance is hampered by the almost linear rather than threshold dependent relation of electron transfer on electric field. By optimizing the doping profile the operation frequency limit could be extended to 260 GHz.

Jakumeit, Jurgen↗

NASA NTRS1994

Life Sciences and Space Research 25 (3): Natural and Artifical Ecosystems; Meeting F4 of the COSPAR Plenary Meeting, 29th, Washington, DC, Aug. 28-Sep. 5, 1992

Bioregenerative life support systems will be an essential part of long duration manned space flight. Studies have been made of various components of these closed ecological systems. these studies have included those spaceborne experiments on Spacelab and Mir, as well as ground-based simulations. The effects of reduced gravity include alterations in food crop and other plant growth and vigor. Systems have also been designed and tested to provide a balanced regenerative system that recycles airborne and other wastes while providing nutrients and other input for future cycles. Hydroponic cultivation must include control of pathogens. All closed systems require sensing and automatic control.

Macelroy, R. D.↗

NASA NTRS1994

Protein requirements for long term missions

A key component of the diet for a space mission is protein. This first part of this paper reviews the reasons for emphasizing protein nurtition and then discusses what the requirements are likely to be. The second part discusses potential advantages of modifying these requirements and describes potential potential approaches to effecting these modificatons based on well established ground based models.

Stein, T. P.↗

NASA NTRS1997

Dynamic Ground Effect for a Cranked Arrow Wing Airplane

Flight-determined ground effect characteristics for an F-16XL airplane are presented and correlated with wind tunnel predictions and similar flight results from other aircraft. Maneuvers were conducted at a variety of flightpath angles. Conventional ground effect flight test methods were used, with the exception that space positioning data were obtained using the differential global positioning system (DGPS). Accuracy of the DGPS was similar to that of optical tracking methods, but it was operationally more attractive. The dynamic flight determined lift and drag coefficient increments were measurably lower than steady-state wind-tunnel predictions. This relationship is consistent with the results of other aircraft for which similar data are available. Trends in the flight measured lift increments caused by ground effect as a function of flightpath angle were evident but weakly correlated. An engineering model of dynamic ground effect was developed based on linear aerodynamic theory and super-positioning of flows. This model was applied to the F-16XL data set and to previously published data for an F-15 airplane. In both cases, the model provided an engineering estimate of the ratio between the steady-state and dynamic data sets.

Curry, Robert E.↗

NASA NTRS1997

Revised Simulation Model of the Control System, Displays, and Propulsion System for a ASTOVL Lift Fan Aircraft

This report describes revisions to a simulation model that was developed for use in piloted evaluations of takeoff, transition, hover, and landing characteristics of an advanced short takeoff and vertical landing lift fan fighter aircraft. These revisions have been made to the flight/propulsion control system, head-up display, and propulsion system to reflect recent flight and simulation experience with short takeoff and vertical landing operations. They include nonlinear inverse control laws in all axes (eliminating earlier versions with state rate feedback), throttle scaling laws for flightpath and thrust command, control selector commands apportioned based on relative effectiveness of the individual controls, lateral guidance algorithms that provide more flexibility for terminal area operations, and a simpler representation of the propulsion system. The model includes modes tailored to the phases of the aircraft's operation, with several response types which are coupled to the aircraft's aerodynamic and propulsion system effectors through a control selector tailored to the propulsion system. Head-up display modes for approach and hover are integrated with the corresponding control modes. Propulsion system components modeled include a remote lift fan and a lift-cruise engine. Their static performance and dynamic responses are represented by the model. A separate report describes the subsonic, power-off aerodynamics and jet induced aerodynamics in hover and forward flight, including ground effects.

Franklin, James A.↗

NASA NTRS1997

The future of bibliographic standards in a networked information environment

The main mission of the CENDI Cataloging Working Group is to provide guidelines for cataloging practices that support the sharing of database records among the CENDI agencies, and that incorporate principles based on cost effectiveness and efficiency. Recent efforts include the extension of COSATI Guidelines for the Cataloging of Technical Reports to include non-print materials, and the mapping of each agency's export file structure to USMARC. Of primary importance is the impact of electronic documents and the distributed nature of the networked information environment. Topics discussed during the workshop include the following: Trade-offs in Cataloging and Indexing Internet Information; The Impact on Current and Future Standards; A Look at WWW Metadata Initiatives; Standards for Electronic Journals; The Present and Future Search Engines; The Roles for Text Analysis Software; Advanced Search Engine Meets Metathesaurus; Locator Schemes for Internet Resources; Identifying and Cataloging Web Document Types; In Search of a New Bibliographic Record. The videos in this set include viewgraphs of charts and related materials of the workshop.

Source record↗

NASA NTRS1997

Radiation Near 2f(sub p) and Intensified Emissions Near f(sub p) in the Dayside and Nightside Auroral Region and Polar Cap

This paper reports the discovery in the DE 1 data of propagating radiation near 2f(sub p) (the H component) and relatively intense electromagnetic waves near f(sub p) with fields typically less than or approximately equal to 1 mV/m (the PF or plasma frequency component) on both the dayside and the nightside of Earth. These emissions are observed at auroral and polar cap latitudes for radial distances ranging from 2.5 to 4.5 R(sub E). The H component is unique in that no other 2f(sub p) emissions are known to be generated where the electron gyrofrequency f(sub g) exceeds 2f(sub p). Since existing theories for 2f(sub p) radiation assume f(sub g)/f(sub p) less than 1, new theories will be required to explain the H component. The PF waves near f(sub p) are electromagnetic, but with large ratios E/cB approximately 20. On the basis of cold plasma theory, the wave frequencies and the ratios E/cB, the PF component plausibly consists of zeta-mode and/or whistler mode waves near f(sub p), presumably driven by an electron instability. The H emissions have modest bandwidths of approximately 50% at frequencies ranging from 5 to 20 kHz. Grounds for interpreting the H component as emissions generated near 2f(sub p) are provided by the very good frequency tracking of the PF and H components and typical frequency ratios near 2.0. Strong evidence exists that part of the H component is propagating, electromagnetic radiation, based on propagation effects and spin modulation patterns. However, no magnetic signals have yet been detected for the H component, so that it could be partly electrostatic. Cold plasma theory and the observed wave characteristics favor interpreting the H component as composed of omicron mode and/or zeta mode signals. Combining the DE 1 observations with rocket observations, it is predicted that the much more intense Langmuir-like fields observed in the low altitude auroral zones should also generate observable 2f(sub p) radiation. This prediction should be testable using Polar and future rocket flights. Directions for future research are also described.

Cairns, Iver H.↗