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NASA NTRS2015

Computational Fluid Dynamics Simulation of Dual Bell Nozzle Film Cooling

Marshall Space Flight Center (MSFC) and Armstrong Flight Research Center (AFRC) are working together to advance the technology readiness level (TRL) of the dual bell nozzle concept. Dual bell nozzles are a form of altitude compensating nozzle that consists of two connecting bell contours. At low altitude the nozzle flows fully in the first, relatively lower area ratio, nozzle. The nozzle flow separates from the wall at the inflection point which joins the two bell contours. This relatively low expansion results in higher nozzle efficiency during the low altitude portion of the launch. As ambient pressure decreases with increasing altitude, the nozzle flow will expand to fill the relatively large area ratio second nozzle. The larger area ratio of the second bell enables higher Isp during the high altitude and vacuum portions of the launch. Despite a long history of theoretical consideration and promise towards improving rocket performance, dual bell nozzles have yet to be developed for practical use and have seen only limited testing. One barrier to use of dual bell nozzles is the lack of control over the nozzle flow transition from the first bell to the second bell during operation. A method that this team is pursuing to enhance the controllability of the nozzle flow transition is manipulation of the film coolant that is injected near the inflection between the two bell contours. Computational fluid dynamics (CFD) analysis is being run to assess the degree of control over nozzle flow transition generated via manipulation of the film injection. A cold flow dual bell nozzle, without film coolant, was tested over a range of simulated altitudes in 2004 in MSFC's nozzle test facility. Both NASA centers have performed a series of simulations of that dual bell to validate their computational models. Those CFD results are compared to the experimental results within this paper. MSFC then proceeded to add film injection to the CFD grid of the dual bell nozzle. A series of nozzle pressure ratios and film coolant flow rates are investigated to determine the effect of the film injection on the nozzle flow transition behavior. The results of this CFD study of a dual bell with film injection are presented in this paper.

Braman, Kalen↗
NASA NTRS2021

The Top-of-Atmosphere, Surface and Atmospheric Cloud Radiative Kernels Based on ISCCP-H Datasets: Method and Evaluation

This study aims to create observation-based cloud radiative kernel (CRK) datasets and evaluate them by direct comparison of CRK and the CRK-derived cloud feedback datasets. Based on the International Satellite Cloud Climatology Project (ISCCP) H datasets, we calculate CRKs (called ISCCP-FH or FH CRKs) as 2D joint function/histogram of cloud optical depth and cloud top pressure for shortwave (SW), longwave (LW), and their sum, Net, at the top of atmosphere (TOA), as well as, for the first time, at the surface (SFC) and in the atmosphere (ATM). With cloud fraction change (CFC) datasets from doubled-CO2 simulation and short-term observational anomalies, we derive all the TOA, SFC and ATM cloud feedback for SW, LW and Net using our CRKs.The direct comparison with modeled and observed CRKs (or cloud radiative effects), cloud feedback from previous model results and the Clouds and the Earth's Radiant Energy System products show that our CRKs and CRK-derived cloud feedback are reasonably well validated. We estimate the uncertainty for the CRK-derived cloud feedback and show that the CFC-associated uncertainty contributes >98.5% of the total cloud feedback uncertainty while CRK's is very small. Our preliminary evaluation also shows that some near-zero/small cloud feedback in the TOA-alone feedback indeed results from the compensation of sizable cloud feedback of the SFC and ATM feedback and reveals some significant surface and atmospheric cloud feedback whose sum appears insignificant in TOA-alone feedback. In addition, the atmospheric longwave cloud feedback seems to play a role in enhancing meridional atmospheric energy transport.

cloud radiative kernel↗
NASA NTRS2020

Analysis of Sample Acquisition Dynamics Using Discrete Element Method

The analysis presented in this paper is conducted in the framework of the Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) project, currently under development at NASA Ames Research Center. OceanWATERS aims at designing a simulation environment which allows for testing autonomy of scientific lander missions to the icy moons of our solar system. Mainly focused on reproducing the end effector interaction with the inherent terrain, this paper introduces a novel discrete element method (DEM)-based approach to determine forces and torques acting on the lander’s scoop during the sample acquisition process. An accurate force feedback from the terrain on the scoop is required by fault-detection and autonomous decision-making algorithms to identify when the requested torque on the robotic arm’s joints exceeds the maximum available torque. Knowledge of the terrain force feedback significantly helps evaluating the arm’s links structural properties and properly selecting actuators for the joints. Models available in literature constitute a partial representation of the dynamics of the interaction. As an example, Balovnev derived an analytical expression of the vertical and horizontal force acting on a bucket while collecting a sample as a function of its geometry and velocity, soil parameters and reached depth. Although the model represents an adequate approximation of the two force components, it ignores the direction orthogonal to the scoop motion and neglects the torque. This work relies on DEM analysis to compensate for analytical models’ deficiencies and inaccuracies, i. e. provide force and torque 3D vectors, defined in the moving reference (body) frame attached to the scoop, at each instant of the sample collection process. Results from the first presented analysis relate to the specific OceanWATERS sampling strategy, which consists of collecting the sample through five consecutive passes with increasing depth, each pass following the same circularlinear- circular trajectory. Data is collected given a specific scoop design interacting with two types of bulk materials, which may characterize the surface of icy planetary bodies: snow and ice. Although specifically concerned with the OceanWATERS design, this first analysis provides the expected force trends for similar sampling strategies and allows to deduce phenomenological information about the general scooping process. In order to further instruct the community on the use of DEM tools as a solution to the sampling collection problem, two more analyses have been carried out, mainly focused on reducing the DEM computation time, which increases with a decrease in particle size. After running a set of identical simulations, where the only changing parameter is the size of the spherical particle, it is observed that the resulting force trajectories, starting from a given particle size, converge to the true trend. It is deducible that a further decrease in size yields negligible improvements in the accuracy, while it sensibly increases computation time. A final analysis aims at discussing limitations of approximating bulk material particles having a complex shape, e. g. ice fragments, with spheres, by comparing force trends resulting in the two cases for the same simulation scenario.

Catanoso, Damiana↗
NASA NTRS1993

Accurate attitude determination of the LACE satellite

The Low-power Atmospheric Compensation Experiment (LACE) satellite, launched in February 1990 by the Naval Research Laboratory, uses a magnetic damper on a gravity gradient boom and a momentum wheel with its axis perpendicular to the plane of the orbit to stabilize and maintain its attitude. Satellite attitude is determined using three types of sensors: a conical Earth scanner, a set of sun sensors, and a magnetometer. The Ultraviolet Plume Instrument (UVPI), on board LACE, consists of two intensified CCD cameras and a gimbal led pointing mirror. The primary purpose of the UVPI is to image rocket plumes from space in the ultraviolet and visible wavelengths. Secondary objectives include imaging stars, atmospheric phenomena, and ground targets. The problem facing the UVPI experimenters is that the sensitivity of the LACF satellite attitude sensors is not always adequate to correctly point the UVPI cameras. Our solution is to point the UVPI cameras at known targets and use the information thus gained to improve attitude measurements. This paper describes the three methods developed to determine improved attitude values using the UVPI for both real-time operations and post observation analysis.

Miglin, M. F.↗
NASA NTRS2003

Analysis of Near Simultaneous Jimsphere and AMPS High Resolution Wind Profiles

The high-resolution wind profile of the Automated Meteorological Profiling System (HRAMPS) is the proposed replacement for the Jimsphere measurement system used to support NASA Shuttle launches from the Eastern Test Range (ETR). Samples of twenty-six ETR near simultaneous Jimsphere and HRAMPS wind profiles were obtained for Shuttle program HRAMPS certification studies. Shuttle systems engineering certification is to ensure that spacecraft and launch vehicle systems performance and safety evaluations for each launch (derived from flight simulations with Jimsphere wind profile data bases) retain their validity when HRAMPS profiles are used on day-of-launch (DOL) in trajectory and loads simulations to support the commit-to-launch decision. This paper describes a statistical analysis of the near simultaneous profiles. In principle the differences between a Jimsphere profile and an HRAMPS profile should be attributed to tracking technology (radar versus GPS tracking of a Jimsphere flight element) and the method for derivation of wind vectors from the raw tracking data. In reality, it is not technically feasible to track the same Jimsphere balloon with the two systems. The aluminized Mylar surface of the standard Jimsphere flight element facilitates radar tracking, but it interferes with HRAMPS during simultaneous tracking. Suspending a radar reflector from an HRAMPS flight element (Jimsphere without aluminized coating) does not produce satisfactory Jimsphere profiles because of intermittent radar returns. Thus, differences between the Jimsphere and HRAMPS profiles are also attributed to differences in the trajectories of separate flight elements. Because of small sample size and a test period limited to one winter season, test measurements during extreme high winds aloft could not have been expected and did not occur. It is during the highest winds that the largest differences between Jimsphere and HRAMPS would occur because the distance between flight elements would be larger. Jimsphere radar tracking noise increases as a function of balloon displacement downrange. The Jimsphere data processing compensates for tracking signal/noise degradation by increasing the smoothing interval. The Jimsphere wind profile effective resolution is a function of downrange distance and altitude, whereas the effective resolution of the HRAMPS should be independent of those variables. The procedure used for editing Jimsphere spikes in Shuttle DOL profiles was not implemented for the Jimsphere profile measurements during the AMPS field tests. For this analysis a code was developed that essentially mimics DOL Jimsphere spike editing. Jimsphere profiles have somewhat more noise in the wavelength range less than 200m defined as the noise floor. No differences between Jimsphere and HRAMPS wind profile pairs have been found that would support denial of HRAMPS certification for application in Shuttle DOL applications. The reliability of the HRAMPS system, which is an important certification issue, is not addressed in this study.

Adelfang, S. I.↗
NASA NTRS1990

Method and apparatus for positioning a robotic end effector

A robotic end effector and operation protocol for a reliable grasp of a target object irrespective of the target's contours is disclosed. A robotic hand includes a plurality of jointed fingers, one of which, like a thumb, is in opposed relation to the other. Each finger is comprised of at least two jointed sections, and provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and means for receiving reflections of the transmitted energy when reflected by a target object and for generating electrical signals responsive thereto. On the fingers opposed to the thumb, the proximity sensors on the outermost finger sections are aligned in an outer sensor array and the sensors on the intermediate finger sections and sensors on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system with software and/or circuitry for a protocol comprising the steps in sequence of: (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following the target by the robot fingers to minimize target escape potential; and (3) closing to rigidize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit and gain adjustment means are included to maintain the dynamic range of low power reflection signals.

Hess, Clifford W.↗
NASA NTRS1993

C-SIDE: The control-structure interaction demonstration experiment

The Control-Structure Interaction Demonstration Experiment (C-SIDE) is sponsored by the Electro-Optics and Cryogenics Division of Ball Aerospace Systems Group. Our objective is to demonstrate methods of solution to structure control problems utilizing currently available hardware in a system that is an extension of our corporate experience. The larger space structures with which Ball has been associated are the SEASAT radar antenna, Shuttle Imaging Radar (SIR) -A, -B and -C antennas and the Radarsat spacecraft. The motivation for the C-SIDE configuration is to show that integration of active figure control in the radar's system-level design can relieve antenna mechanical design constraints. This presentation is primarily an introduction to the C-SIDE testbed. Its physical and functional layouts, and major components are described. The sensor is of special interest as it enables direct surface figure measurements from a remote location. The Remote Attitude Measurement System (RAMS) makes high-rate, unobtrusive measurements of many locations, several of which may be collocated easily with actuators. The control processor is a 386/25 executing a reduced order model-based algorithm with provision for residual mode filters to compensate for structure interaction. The actuators for the ground demonstration are non-contacting, linear force devices. Results presented illustrate some basic characteristics of control-structure interaction with this hardware. The testbed will be used for evaluation of current technologies and for research in several areas. A brief indication of the evolution of the C-SIDE is given at the conclusion.

Mohl, James B.↗
NASA NTRS2005

Predictive Interfaces for Long-Distance Tele-Operations

We address the development of predictive tele-operator interfaces for humanoid robots with respect to two basic challenges. Firstly, we address automating the transition from fully tele-operated systems towards degrees of autonomy. Secondly, we develop compensation for the time-delay that exists when sending telemetry data from a remote operation point to robots located at low earth orbit and beyond. Humanoid robots have a great advantage over other robotic platforms for use in space-based construction and maintenance because they can use the same tools as astronauts do. The major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behaviors using conventional means. We are working with the NASA Johnson Space Center's Robonaut which is an anthropomorphic robot with fully articulated hands, arms, and neck. We have trained hidden Markov models that make use of the command data, sensory streams, and other relevant data sources to predict a tele-operator's intent. This allows us to achieve subgoal level commanding without the use of predefined command dictionaries, and to create sub-goal autonomy via sequence generation from generative models. Our method works as a means to incrementally transition from manual tele-operation to semi-autonomous, supervised operation. The multi-agent laboratory experiments conducted by Ambrose et. al. have shown that it is feasible to directly tele-operate multiple Robonauts with humans to perform complex tasks such as truss assembly. However, once a time-delay is introduced into the system, the rate of tele\ioperation slows down to mimic a bump and wait type of activity. We would like to maintain the same interface to the operator despite time-delays. To this end, we are developing an interface which will allow for us to predict the intentions of the operator while interacting with a 3D virtual representation of the expected state of the robot. The predictive interface anticipates the intention of the operator, and then uses this prediction to initiate appropriate sub-goal autonomy tasks.

Wheeler, Kevin R.↗
NASA NTRS1971

Dynamic testing of a single-degree-of-freedom strapdown gyroscope

Test methods and results are presented for the equivalent average input rate of a single-degree-of-freedom gyroscope operated both open loop and with a ternary-logic pulse-torque-to-balance loop during multiaxis angular oscillation. For the open-loop tests, good agreement was obtained with theoretical results. Two-axis testing was performed for oscillations about the Input-Output axes, the Input-Spin axes, and the Spin-Output axes. These tests run in the torque-to-balance mode revealed significant departures from open-loop results in the induced drift rate. An analysis is developed explaining much of the closed-loop data presented. Test data for the gryoscope in a ternary torque-to-balance loop with constant input rates is presented. The tests demonstrate that the instrument rate linearity does not change with interrogation frequency from 3,600 to 14,400 Hz if the torque coil is tuned to offer a resistive load to the current switch. Analysis cited shows that gyroscope lag compensation eliminates multiple pulsing and other equivalent forms of degraded resolution in a wide variety of quantizing loops. This result is test verified for the ternary delta-modulator loop.

Lory, C. B.↗
NASA NTRS1998

Ultrasonic Attenuation Results of Thermoplastic Resin Composites Undergoing Thermal and Fatigue Loading

As part of an effort to obtain the required information about new composites for aviation use, materials and NDE researchers at NASA are jointly performing mechanical and NDE measurements on new composite materials. The materials testing laboratory at NASA is equipped with environmental chambers mounted on load frames that can expose composite materials to thermal and loading cycles representative of flight protocols. Applying both temperature and load simultaneously will help to highlight temperature and load interactions during the aging of these composite materials. This report highlights our initial ultrasonic attenuation results from thermoplastic composite samples that have undergone over 4000 flight cycles to date. Ultrasonic attenuation measurements are a standard method used to assess the effects of material degradation. Recently, researchers have shown that they could obtain adequate contrast in the evaluation of thermal degradation in thermoplastic composites by using frequencies of ultrasound on the order of 24 MHz. In this study, we address the relationship of attenuation measured at lower frequencies in thermoplastic composites undergoing both thermal and mechanical loading. We also compare these thermoplastic results with some data from thermoset composites undergoing similar protocols. The composite s attenuation is reported as the slope of attenuation with respect to frequency, defined as b = Da(f)/Df. The slope of attenuation is an attractive parameter since it is quantitative, yet does not require interface corrections like conventional quantitative attenuation measurements. This latter feature is a consequence of the assumption that interface correction terms are frequency independent. Uncertainty in those correction terms can compromise the value of conventional quantitative attenuation data. Furthermore, the slope of the attenuation more directly utilizes the bandwidth information and in addition, the bandwidth can be adjusted in the post processing stage to compensate for the loss of dynamic range of the signal as the composites age.

Madaras, Eric I.↗
NASA NTRS1992

High-temperature strain measurement techniques: Current developments and challenges

Since 1987, a very substantial amount of R&D has been conducted in an attempt to develop reliable strain sensors for the measurements of structural strains during ground testing and hypersonic flight, at temperatures up to at least 2000 deg F. Much of the effort has been focused on requirements of the NASP Program. This presentation is limited to the current sensor development work and characterization studies carried out within that program. It is basically an assessment as to where we are now and what remains to be done in the way of technical accomplishments to meet the technical challenges posed by the requirements and constraints established for the NASP Program. The approach for meeting those requirements and constraints has been multi-disciplinary in nature. It was recognized early on that no one sensor could meet all these requirements and constraints, largely because of the large temperature range (cryogenic to at least 2000 deg F) and many other factors, including the most challenging requirement that the sensor system be capable of obtaining valid 'first cycle data'. Present candidate alloys for resistance-type strain gages include Fe-Cr-Al and Pd-Cr. Although they have superior properties regarding withstanding very high temperatures, they exhibit large apparent strains that must either be accounted for or cancelled out by various techniques, including the use of a dual-element, half-bridge dummy gage, or electrical compensation networks. A significant effort is being devoted to developing, refining, and evaluating the effectiveness of those techniques over a broad range in temperature and time. In the quest to obtain first-cycle data, ways must be found to eliminate the need to prestabilize or precondition the strain gage, before it is attached to the test article. It should be noted that present NASP constraints do not permit prestabilization of the sensor, in situ. Gages are currently being 'heat treated' during manufacture in both the wire- and foil-type resistance strain gages, and evaluation is in progress. In addition, the 'gage-on-shim' concept is being revisited. That concept will permit heat treatment of the gage during manufacture, before attachment on the test article. Also, it may permit the individual calibration of each gage regarding gage factor and apparent strain. Candidate alloys for the NASP include titanium metal-matrix and carbon-carbon composites. Although those materials have very attractive properties at elevated temperatures in terms of strength and weight, they pose significant attachment problems. Methods for making reliable strain gage and thermocouple attachments to them are currently under development. Experience to date indicates that Rokide attachment of the sensor directly to the protective coating is easier than to the base material itself. However, interpreting strain data from gages attached in this way may prove difficult because of possible cracks in the coating that form 'islands' and the mobility of those 'islands'. It is concluded, therefore, that major technical challenges lie ahead as we proceed to meet the stringent strain sensor requirements and constraints of the NASP Program.

Lemcoe, M. M.↗
NASA NTRS2005

Apparatus for Testing Flat Specimens of Thermal Insulation

An apparatus has been developed to implement an improved method of testing flat-plate specimens of thermal-insulation materials for cryogenic application. The method includes testing under realistic use conditions that could include vacuum and mechanical loading at a pressure up to 70 psi (=0.48 MPa). The apparatus can accommodate a rigid or flexible specimen having thickness up to 1.25 in. (=3.2 cm) and diameters between 6 and 10 in. (about 15.2 and 25.4 cm, respectively). Typical test conditions include boundary temperatures between 77 K and 373 K and vacuum/interstitial gas filling at a pressure between 10(exp -6) torr (=1.3 x 10(exp -4) Pa) and 760 torr (atmospheric pressure =0.1 MPa). The interstitial gas could be N2, He, CO2, or any other suitable gas to which the insulation is expected to be exposed in use. Relative to prior apparatuses and testing methods, this apparatus and the testing method that it implements offer advantages of relative simplicity and ease of use. The basic principle of operation of the apparatus is that of boil-off calorimetry, using liquid nitrogen or any other suitable liquid that boils at a desired temperature below ambient temperature. Comparative rates of flow of heat through the thicknesses of the specimens (heat-leak rates) and apparent-thermal-conductivity values are obtained from tests of specimens. Absolute values of heat-leak rates and apparent thermal conductivities are computed from a combination of (1) the aforementioned comparative values and (2) calibration factors obtained by testing reference specimens of materials that have known thermal-insulation properties. The apparatus includes a full complement of temperature sensors, a vacuum pump and chamber, a monitoring and control system, and tools and fixtures that enable rapid and reliable installation and removal of specimens. A specimen is installed at the bottom of the vacuum chamber, and a cold-mass assembly that includes a tank is lowered into position above and around the specimen (see figure). A spring-based compensating fixture helps to ensure adequate thermal contact with possibly irregular specimen surfaces. For a high-compression test, the springs can be replaced with spacers. A flat circular load cell at the bottom of the chamber measures the compressive load on the specimen. Once the desired compressive-load, temperature, and vacuum/gas-filling conditions are established, testing begins. During a test, all measurements are recorded by use of a portable data-acquisition system and a computer. The total heat-leak rate is measured and calculated as the boil-off flow rate multiplied by the latent heat of vaporization. The parasitic heat leak (to the side of the specimen and to the top and side of the cold-mass tank) is reduced to a small fraction of the total heat leak by use of a combination of multilayer-insulation (MLI) shield rings, reflective film, a fiberglass/epoxy centering ring, and a bulk fill of aerogel beads. This combination eliminates the need for a cryogenic guard chamber used in a typical prior apparatus to reduce the parasitic heat leak.

Fesmire, James E.↗
NASA NTRS1997

System Dynamic Analysis of a Wind Tunnel Model with Applications to Improve Aerodynamic Data Quality

The research investigates the effect of wind tunnel model system dynamics on measured aerodynamic data. During wind tunnel tests designed to obtain lift and drag data, the required aerodynamic measurements are the steady-state balance forces and moments, pressures, and model attitude. However, the wind tunnel model system can be subjected to unsteady aerodynamic and inertial loads which result in oscillatory translations and angular rotations. The steady-state force balance and inertial model attitude measurements are obtained by filtering and averaging data taken during conditions of high model vibrations. The main goals of this research are to characterize the effects of model system dynamics on the measured steady-state aerodynamic data and develop a correction technique to compensate for dynamically induced errors. Equations of motion are formulated for the dynamic response of the model system subjected to arbitrary aerodynamic and inertial inputs. The resulting modal model is examined to study the effects of the model system dynamic response on the aerodynamic data. In particular, the equations of motion are used to describe the effect of dynamics on the inertial model attitude, or angle of attack, measurement system that is used routinely at the NASA Langley Research Center and other wind tunnel facilities throughout the world. This activity was prompted by the inertial model attitude sensor response observed during high levels of model vibration while testing in the National Transonic Facility at the NASA Langley Research Center. The inertial attitude sensor cannot distinguish between the gravitational acceleration and centrifugal accelerations associated with wind tunnel model system vibration, which results in a model attitude measurement bias error. Bias errors over an order of magnitude greater than the required device accuracy were found in the inertial model attitude measurements during dynamic testing of two model systems. Based on a theoretical modal approach, a method using measured vibration amplitudes and measured or calculated modal characteristics of the model system is developed to correct for dynamic bias errors in the model attitude measurements. The correction method is verified through dynamic response tests on two model systems and actual wind tunnel test data.

Buehrle, Ralph David↗
NASA NTRS2009

Right Ventricular Tissue Doppler in Space Flight

Tissue Doppler (TD) registers movement of a given sample of cardiac tissue throughout the cardiac cycle. TD spectra of the right ventricle (RV) were obtained from a long-duration ISS crewmember as a portion of an ongoing experiment ("Braslet" test objective). To our knowledge, this is the first report of RV TD conducted in space flight, and the data represent reproducibility and fidelity of this application in space and serve as the first "space normal" data set. Methods RV TD was performed by astronaut scientists remotely guided by an ultrasound expert from Mission Control Center, Houston, TX. In four of the subjects, RV TD was acquired from the free wall near the tricuspid annulus in two separate sessions 4 to 7 days apart. A fifth subject had only one session. All digital DICOM frames were exported for off-line analysis. Systolic (S ), early diastolic (E ) and late diastolic (A ) velocities were measured. RV Tei-index was calculated using diastolic and systolic time intervals as a combined measure of myocardial performance. Results and Discussion The mean values from the first 4 subjects (8 sessions) were used as the on-orbit reference data, and subject 5 was considered as a hypothetical patient for comparison (see Table). The greatest difference was in the early diastolic A (31 %) yet the standard deviation (a) for A amongst the reference subjects was 2.25 (mean = 16.02). Of interest is the Tei index, a simple and feasible indicator of overall ventricular function; it was similar amongst all the subjects. The late diastolic A seems to compensate for the variance in E . Normal Tei index for the RV is < 0.3, yet our data show all but one subject consistently above this level, notwithstanding their nominal responses to daily exercise in microgravity. These data remind us that the physiology of RV preload in altered gravity environments is still not completely understood.

Hamilton, Douglas R.↗
NASA NTRS1993

Telerobotic control of a mobile coordinated robotic server, executive summary

This interim report continues with the research effort on advanced adaptive controls for space robotics systems. In particular, previous results developed by the principle investigator and his research team centered around fuzzy logic control (FLC) in which the lack of knowledge of the robotic system as well as the uncertainties of the environment are compensated for by a rule base structure which interacts with varying degrees of belief of control action using system measurements. An on-line adaptive algorithm was developed using a single parameter tuning scheme. In the effort presented, the methodology is further developed to include on-line scaling factor tuning and self-learning control as well as extended to the multi-input, multi-output (MIMO) case. Classical fuzzy logic control requires tuning input scale factors off-line through trial and error techniques. This is time-consuming and cannot adapt to new changes in the process. The new adaptive FLC includes a self-tuning scheme for choosing the scaling factors on-line. Further the rule base in classical FLC is usually produced by soliciting knowledge from human operators as to what is good control action for given circumstances. This usually requires full knowledge and experience of the process and operating conditions, which limits applicability. A self-learning scheme is developed which adaptively forms the rule base with very limited knowledge of the process. Finally, a MIMO method is presented employing optimization techniques. This is required for application to space robotics in which several degrees-of-freedom links are commonly used. Simulation examples are presented for terminal control - typical of robotic problems in which a desired terminal point is to be reached for each link. Future activities will be to implement the MIMO adaptive FLC on an INTEL microcontroller-based circuit and to test the algorithm on a robotic system at the Mars Mission Research Center at North Carolina State University.

Lee, Gordon↗
NASA NTRS2016

Development and Calibration of a Field-Deployable Microphone Phased Array for Propulsion and Airframe Noise Flyover Measurements

A new aeroacoustic measurement capability has been developed consisting of a large channelcount, field-deployable microphone phased array suitable for airframe noise flyover measurements for a range of aircraft types and scales. The array incorporates up to 185 hardened, weather-resistant sensors suitable for outdoor use. A custom 4-mA current loop receiver circuit with temperature compensation was developed to power the sensors over extended cable lengths with minimal degradation of the signal to noise ratio and frequency response. Extensive laboratory calibrations and environmental testing of the sensors were conducted to verify the design's performance specifications. A compact data system combining sensor power, signal conditioning, and digitization was assembled for use with the array. Complementing the data system is a robust analysis system capable of near real-time presentation of beamformed and deconvolved contour plots and integrated spectra obtained from array data acquired during flyover passes. Additional instrumentation systems needed to process the array data were also assembled. These include a commercial weather station and a video monitoring / recording system. A detailed mock-up of the instrumentation suite (phased array, weather station, and data processor) was performed in the NASA Langley Acoustic Development Laboratory to vet the system performance. The first deployment of the system occurred at Finnegan Airfield at Fort A.P. Hill where the array was utilized to measure the vehicle noise from a number of sUAS (small Unmanned Aerial System) aircraft. A unique in-situ calibration method for the array microphones using a hovering aerial sound source was attempted for the first time during the deployment.

Humphreys, William M., Jr.↗
NASA NTRS1999

Physiological response to submaximal isometric contractions of the paravertebral muscles

STUDY DESIGN: Brief (30-second) isometric trunk extensions at 5%, 20%, 40%, 60%, and 80% of maximal voluntary contraction (MVC) and 3 minutes of prolonged trunk extension (20% MVC) in erect position were studied in nine healthy male subjects. OBJECTIVES: To investigate the intercorrelation between intramuscular pressure and tissue oxygenation of the paravertebral muscles during submaximal isometric contractions and further, to evaluate paravertebral electromyogram and intramuscular pressure as indicators of force development. SUMMARY OF BACKGROUND DATA: Local physiologic responses to muscle contraction are incompletely understood. METHODS: Relative oxygenation was monitored with noninvasive near-infrared spectroscopy, intramuscular pressure was measured with a transducer-tipped catheter, and surface electromyogram was monitored at three recording sites. RESULTS: The root mean square amplitudes of the paravertebral electromyogram (L4, left and right; T12, right) and intramuscular pressure measured in the lumbar multifidus muscle at L4 increased with greater force development in a curvilinear manner. A significant decrease in the oxygenation of the lumbar paravertebral muscle in response to muscle contraction was found at an initial contraction level of 20% MVC. This corresponded to a paravertebral intramuscular pressure of 30-40 mm Hg. However, during prolonged trunk extension, no further decrease in tissue oxygenation was found compared with the tissue oxygenation level at the end of the brief contractions, indicating that homeostatic adjustments (mean blood pressure and heart rate) over time were sufficient to maintain paravertebral muscle oxygen levels. CONCLUSION: At a threshold intramuscular pressure of 30-40 mm Hg during muscle contraction, oxygenation in the paravertebral muscles is significantly reduced. The effect of further increase in intramuscular pressure on tissue oxygenation over time may be compensated for by an increase in blood pressure and heart rate. Surface electromyogram amplitudes and intramuscular pressure can be used as indicators of paravertebral muscle force.

NASA Center ARC↗
NASA NTRS2002

Correlation Techniques as Applied to Pose Estimation in Space Station Docking

The telerobotic assembly of space-station components has become the method of choice for the International Space Station (ISS) because it offers a safe alternative to the more hazardous option of space walks. The disadvantage of telerobotic assembly is that it does not provide for direct arbitrary views of mating interfaces for the teleoperator. Unless cameras are present very close to the interface positions, such views must be generated graphically, based on calculated pose relationships derived from images. To assist in this photogrammetric pose estimation, circular targets, or spots, of high contrast have been affixed on each connecting module at carefully surveyed positions. The appearance of a subset of spots essentially must form a constellation of specific relative positions in the incoming digital image stream in order for the docking to proceed. Spot positions are expressed in terms of their apparent centroids in an image. The precision of centroid estimation is required to be as fine as 1I20th pixel, in some cases. This paper presents an approach to spot centroid estimation using cross correlation between spot images and synthetic spot models of precise centration. Techniques for obtaining sub-pixel accuracy and for shadow, obscuration and lighting irregularity compensation are discussed.

Rollins, J. Michael↗