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NASA NTRS1998

A Framework for a Supervisory Expert System for Robotic Manipulators with Joint-Position Limits and Joint-Rate Limits

This report addresses the problem of path planning and control of robotic manipulators which have joint-position limits and joint-rate limits. The manipulators move autonomously and carry out variable tasks in a dynamic, unstructured and cluttered environment. The issue considered is whether the robotic manipulator can achieve all its tasks, and if it cannot, the objective is to identify the closest achievable goal. This problem is formalized and systematically solved for generic manipulators by using inverse kinematics and forward kinematics. Inverse kinematics are employed to define the subspace, workspace and constrained workspace, which are then used to identify when a task is not achievable. The closest achievable goal is obtained by determining weights for an optimal control redistribution scheme. These weights are quantified by using forward kinematics. Conditions leading to joint rate limits are identified, in particular it is established that all generic manipulators have singularities at the boundary of their workspace, while some have loci of singularities inside their workspace. Once the manipulator singularity is identified the command redistribution scheme is used to compute the closest achievable Cartesian velocities. Two examples are used to illustrate the use of the algorithm: A three link planar manipulator and the Unimation Puma 560. Implementation of the derived algorithm is effected by using a supervisory expert system to check whether the desired goal lies in the constrained workspace and if not, to evoke the redistribution scheme which determines the constraint relaxation between end effector position and orientation, and then computes optimal gains.

Mutambara, Arthur G. O.↗

NASA NTRS1998

NASA Technology Plan 1998

This NASA Strategic Plan describes an ambitious, exciting vision for the Agency across all its Strategic Enterprises that addresses a series of fundamental questions of science and research. This vision is so challenging that it literally depends on the success of an aggressive, cutting-edge advanced technology development program. The objective of this plan is to describe the NASA-wide technology program in a manner that provides not only the content of ongoing and planned activities, but also the rationale and justification for these activities in the context of NASA's future needs. The scope of this plan is Agencywide, and it includes technology investments to support all major space and aeronautics program areas, but particular emphasis is placed on longer term strategic technology efforts that will have broad impact across the spectrum of NASA activities and perhaps beyond. Our goal is to broaden the understanding of NASA technology programs and to encourage greater participation from outside the Agency. By relating technology goals to anticipated mission needs, we hope to stimulate additional innovative approaches to technology challenges and promote more cooperative programs with partners outside NASA who share common goals. We also believe that this will increase the transfer of NASA-sponsored technology into nonaerospace applications, resulting in an even greater return on the investment in NASA.

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NASA NTRS1999

Advanced Turbofan Duct Liner Concepts

The Advanced Subsonic Technology Noise Reduction Program goal is to reduce aircraft noise by 10 EPNdB by the year 2000 relative, to 1992 technology. The improvement goal for nacelle attenuation is 25% relative to 1992 technology by 1997 and 50% by 2000. The Advanced Turbofan Duct Liner Concepts Task work by Boeing presented in this document was in support of these goals. The basis for the technical approach was a Boeing study conducted in 1993-94 under NASA/FAA contract NAS1-19349, Task 6, investigating broadband acoustic liner concepts. As a result of this work, it was recommended that linear double layer, linear and perforate triple layer, parallel element, and bulk absorber liners be further investigated to improve nacelle attenuations. NASA LaRC also suggested that "adaptive" liner concepts that would allow "in-situ" acoustic impedance control also be considered. As a result, bias flow and high-temperature liner concepts were also added to the investigation. The major conclusion from the above studies is that improvements in nacelle liner average acoustic impedance characteristics alone will not result in 25% increased nacelle noise reduction relative to 1992 technology. Nacelle design advancements currently being developed by Boeing are expected to add 20-40% more acoustic lining to hardwall regions in current inlets, which is predicted to result in and additional 40-80% attenuation improvement. Similar advancements are expected to allow 10-30% more acoustic lining in current fan ducts with 10-30% more attenuation expected. In addition, Boeing is currently developing a scarf inlet concept which is expected to give an additional 40-80% attenuation improvement for equivalent lining areas.

Bielak, Gerald W.↗

NASA NTRS1998

MAPS of Cancer

Our goal was to produce an interactive visualization from a mathematical model that successfully predicts metastases from head and neck cancer. We met this goal early in the project. The visualization is available for the public to view. Our work appears to fill a need for more information about this deadly disease. The idea of this project was to make an easily interpretable visualization based on what we call "functional maps" of disease. A functional map is a graphic summary of medical data, where distances between parts of the body are determined by the probability of disease, not by anatomical distances. Functional maps often beat little resemblance to anatomical maps, but they can be used to predict the spread of disease. The idea of modeling the spread of disease in an abstract multidimensional space is difficult for many people. Our goal was to make the important predictions easy to see. NASA must face this problem frequently: how to help laypersons and professionals see important trends in abstract, complex data. We took advantage of concepts perfected in NASA's graphics libraries. As an analogy, consider a functional map of early America. Suppose we choose travel times, rather than miles, as our measures of inter-city distances. For Abraham Lincoln, travel times would have been the more meaningful measure of separation between cities. In such a map New Orleans would be close to Memphis because of the Mississippi River. St. Louis would be close to Portland because of the Oregon Trail. Oklahoma City would be far from Little Rock because of the Cheyenne. Such a map would look puzzling to those of us who have always seen physical maps, but the functional map would be more useful in predicting the probabilities of inter-site transit. Continuing the analogy, we could predict the spread of social diseases such as gambling along the rivers and cattle rustling along the trails. We could simply print the functional map of America, but it would be more interesting to show meaningful patterns of dispersal. We had previously published the functional map of the head and neck, but it was difficult to explain to either patients or surgeons because that view of our body did not resemble anatomy. This discrepancy between functional and physical maps is just a mathematical restatement of the well-known fact that some diseases, such as head and neck cancer, spread in complex patterns, not always to the next nearest site. We had discovered that a computer could re-arrange anatomy so that this particular disease spreads to the next nearest site. The functional map explains over 95% of the metastases in 1400 patients. In a sense, we had graphed what our body "looks like" to a tumor. The tumor readily travels between adjacent areas in the functional map. The functional map is a succinct visual display of trends that are not easily appreciated in tables of probabilities.

Gray, Lincoln↗

NASA NTRS1998

On Wave Processes in the Solar Atmosphere

This grant was awarded by NASA/MSFC to The University of Alabama in Huntsville (UAH) to investigate the physical processes responsible for heating and wind acceleration in the solar atmosphere, and to construct theoretical, self-consistent and time-dependent solar wind models based on the momentum deposition by finite amplitude and nonlinear Alfven waves. In summary, there are three main goals of the proposed research: (1) Calculate the wave energy spectra and wave energy fluxes carried by magnetic non- magnetic waves. (2) Find out which mechanism dominates in supplying the wave energy to different parts of the solar atmosphere. (3) Use the results obtained in (1) and (2) to construct theoretical, self-consistent and time- dependent models of the solar wind. We have completed the first goal by calculating the amount of non-radiative energy generated in the solar convection zone as acoustic waves and as magnetic tube waves. To calculate the amount of wave energy carried by acoustic waves, we have used the Lighthill-Stein theory for sound generation modified by Musielak, Rosner, Stein & Ulmschneider (1994). The acoustic wave energy fluxes for stars located in different regions of the Hertzsprung-Russell (H-R) diagram have also been computed. The wave energy fluxes carried by longitudinal and transverse waves along magnetic flux tubes have been calculated by using both analytical and numerical methods. Our analytical approach is based a theory developed by Musielak, Rosner & Ulmschnelder and Musielak, Rosner, Gall & Ulmschneider, which allows computing the wave energy fluxes for linear tube waves. A numerical approach has been developed by Huang, Musielak & Ulmschneider and Ulmschneider & Musielak to compute the energy fluxes for nonlinear tube waves. Both methods have been used to calculate the wave energy fluxes for stars located in different regions of the HR diagram (Musielak, Rosner & Ulmschneider 1998; Ulmschneider, Musielak & Fawzy 1998). Having obtained the wave energy fluxes for acoustic and magnetic tube waves, we have investigated the behavior of these waves in the solar and stellar atmospheres. The results of our extensive studies have been published in many papers and presented at numerous scientific meetings. In these studies we have investigated different aspects of propagation of acoustic and magnetic waves, the efficiency of energy transfer along magnetic structures in the solar atmosphere, and behavior of Alfven waves in stgeady and expanding solar and stellar atmospheres. Recently, we have used some of these results to construct first purely theoretical, two component and time-dependent models of solar and stellar chromospheres. Finally, to address the third goal, we have constructed first fully theoretical, self-consistent and time dependent wind models based on the momentum deposition by non-linear Alfven waves. The full set of single-fluid MHD equations with the background flow has been solved by using a modified version of the ZEUS MHD code. The constructed wind models are radially symmetric with the magnetic field decreasing radially and the initial outflow is described by the standard Parker wind solution. In contrast to previous studies, no assumptions regarding wave linearity, wave damping, and wave-flow interaction are made; the models thus naturally account for the backreaction of the wind on the waves as well as for the nonlinear interaction between different types of MHD waves. The models have been used to explain the origin of fast speed streams in solar coronal holes. The obtained results clearly demonstrate that the momentum deposition by Alfven waves in the solar wind can be sufficient to explain the origin of fast stream components of the solar wind. The range of wave amplitudes required to obtain the desired results seems to be in good agreement with recent observations.

Musielak, Z. E.↗

NASA NTRS1998

Autonomous Satellite Command and Control through the World Wide Web: Phase 3

NASA's New Millenium Program (NMP) has identified a variety of revolutionary technologies that will support orders of magnitude improvements in the capabilities of spacecraft missions. This program's Autonomy team has focused on science and engineering automation technologies. In doing so, it has established a clear development roadmap specifying the experiments and demonstrations required to mature these technologies. The primary developmental thrusts of this roadmap are in the areas of remote agents, PI/operator interface, planning/scheduling fault management, and smart execution architectures. Phases 1 and 2 of the ASSET Project (previously known as the WebSat project) have focused on establishing World Wide Web-based commanding and telemetry services as an advanced means of interfacing a spacecraft system with the PI and operators. Current automated capabilities include Web-based command submission, limited contact scheduling, command list generation and transfer to the ground station, spacecraft support for demonstrations experiments, data transfer from the ground station back to the ASSET system, data archiving, and Web-based telemetry distribution. Phase 2 was finished in December 1996. During January-December 1997 work was commenced on Phase 3 of the ASSET Project. Phase 3 is the subject of this report. This phase permitted SSDL and its project partners to expand the ASSET system in a variety of ways. These added capabilities included the advancement of ground station capabilities, the adaptation of spacecraft on-board software, and the expansion of capabilities of the ASSET management algorithms. Specific goals of Phase 3 were: (1) Extend Web-based goal-level commanding for both the payload PI and the spacecraft engineer; (2) Support prioritized handling of multiple PIs as well as associated payload experimenters; (3) Expand the number and types of experiments supported by the ASSET system and its associated spacecraft; (4) Implement more advanced resource management, modeling and fault management capabilities that integrate the space and ground segments of the space system hardware; (5) Implement a beacon monitoring test; (6) Implement an experimental blackboard controller for space system management; (7) Further define typical ground station developments required for Internet-based remote control and for full system automation of the PI-to-spacecraft link. Each of those goals is examined in the next section. Significant sections of this report were also published as a conference paper.

Cantwell, Brian↗

NASA NTRS1999

Filtration Combustion in Smoldering and SHS

Smolder waves and SHS (self-propagating high-temperature synthesis) waves are both examples of filtration combustion waves propagating in porous media. Smoldering combustion is important for the study of fire safety. Smoldering itself can cause damage, its products are toxic and it can also lead to the more dangerous gas phase combustion which corresponds to faster propagation at higher temperatures. In SHS, a porous solid sample, consisting of a finely ground powder mixture of reactants, is ignited at one end. A high temperature thermal wave, having a frontal structure, then propagates through the sample converting reactants to products. The SHS technology appears to enjoy a number of advantages over the conventional technology, in which the sample is placed in a furnace and "baked" until it is "well done". The advantages include shorter synthesis times, greater economy, in that the internal energy of the reactions is employed rather than the costly external energy of the furnace, purer products, simpler equipment and no intrinsic limitation on the size of the sample to be synthesized, as exists in the conventional technology. When delivery of reactants through the pores to the reaction site is an important aspect of the combustion process, it is referred to as filtration combustion. The two types of filtration combustion have a similar mathematical formulation, describing the ignition, propagation and extinction of combustion waves in porous media. The goal in each case, however, is different. In smoldering the desired goal is to prevent propagation, whereas in SHS the goal is to insure propagation of the combustion wave, leading to the synthesis of desired products. In addition, the scales in the two areas of application differ. Smoldering generally occurs at lower temperatures and propagation velocities than in SHS. Nevertheless, the two applications have much in common, so that what is learned in one application can be used to advantage in the other. We have considered a number of problems involving filtration combustion. Here we describe two such studies: (A) fingering instabilities in filtration combustion, (B) rapid filtration combustion waves driven by convection.

Matkowsky, Bernard↗

NASA NTRS1999

Earth Science Enterprise Technology Strategy

NASA's Earth Science Enterprise (ESE) is dedicated to understanding the total Earth system and the effects of natural and human-induced changes on the global environment. The goals of ESE are: (1) Expand scientific knowledge of the Earth system using NASA's unique vantage points of space, aircraft, and in situ platforms; (2) Disseminate information about the Earth system; and (3) Enable the productive use of ESE science and technology in the public and private sectors. ESE has embraced the NASA Administrator's better, faster, cheaper paradigm for Earth observing missions. We are committed to launch the next generation of Earth Observing System (EOS) missions at a substantially lower cost than the EOS first series. Strategic investment in advanced instrument, spacecraft, and information system technologies is essential to accomplishing ESE's research goals in the coming decades. Advanced technology will play a major role in shaping the ESE fundamental and applied research program of the future. ESE has established an Earth science technology development program with the following objectives: (1) To accomplish ESE space-based and land-based program elements effectively and efficiently; and (2) To enable ESE's fundamental and applied research programs goals as stated in the NASA Strategic Plan.

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NASA NTRS1999

Application of Reconfigurable Avionics for the Bantam Launch Vehicle

The modern aerospace market is placing increasing pressure on launch costs. This is particularly true for small university science payloads, where the cost of the experiment itself is relatively low, and the launch frequency is potentially very high. It is the stated goal of NASA's Bantam Program to reduce dramatically the costs of launching this class of payloads to the order of $1,000,000 per launch for a single 200 pound payload. The envisioned Bantam vehicle is a multi-stage reusable launch system. Meeting the Program's goal for this versatile type of vehicle requires reductions in production cost, maintenance cost, and the operation cost. However, the cost of avionics is a relatively small fraction of the overall cost of launching a payload, and a simple reduction in the avionics costs will not achieve the Bantam goal. Only by reducing weight, volume, and power, while enhancing computational capability can the avionics be used to address the system-level cost reduction requirements.

Wallace, Kevin Shawn↗

NASA NTRS1998

Autonomous Satellite Command and Control Through the World Wide Web

The Automated Space System Experimental Testbed (ASSET) system is a simple yet comprehensive real-world operations network being developed. Phase 3 of the ASSET Project was January-December 1997 and is the subject of this report. This phase permitted SSDL and its project partners to expand the ASSET system in a variety of ways. These added capabilities included the advancement of ground station capabilities, the adaptation of spacecraft on-board software, and the expansion of capabilities of the ASSET management algorithms. Specific goals of Phase 3 were: (1) Extend Web-based goal-level commanding for both the payload PI and the spacecraft engineer. (2) Support prioritized handling of multiple (PIs) Principle Investigators as well as associated payload experimenters. (3) Expand the number and types of experiments supported by the ASSET system and its associated spacecraft. (4) Implement more advanced resource management, modeling and fault management capabilities that integrate the space and ground segments of the space system hardware. (5) Implement a beacon monitoring test. (6) Implement an experimental blackboard controller for space system management. (7) Further define typical ground station developments required for Internet-based remote control and for full system automation of the PI-to-spacecraft link. Each of those goals are examined. Significant sections of this report were also published as a conference paper. Several publications produced in support of this grant are included as attachments. Titles include: 1) Experimental Initiatives in Space System Operations; 2) The ASSET Client Interface: Balancing High Level Specification with Low Level Control; 3) Specifying Spacecraft Operations At The Product/Service Level; 4) The Design of a Highly Configurable, Reusable Operating System for Testbed Satellites; 5) Automated Health Operations For The Sapphire Spacecraft; 6) Engineering Data Summaries for Space Missions; and 7) Experiments In Automated Health Assessment And Notification For The Sapphire Microsatellite.

Cantwell, Brian↗

NASA NTRS1999

Bantam: A Systematic Approach to Reusable Launch Vehicle Technology Development

The Bantam technology project is focused on providing a low cost launch capability for very small (100 kilogram) NASA and University science payloads. The cost goal has been set at one million dollars per launch. The Bantam project, however, represents much more than a small payload launch capability. Bantam represents a unique, systematic approach to reusable launch vehicle technology development. This technology maturation approach will enable future highly reusable launch concepts in any payload class. These launch vehicle concepts of the future could deliver payloads for hundreds of dollars per pound, enabling dramatic growth in civil and commercial space enterprise. The National Aeronautics and Space Administration (NASA) has demonstrated a better, faster, and cheaper approach to science discovery in recent years. This approach is exemplified by the successful Mars Exploration Program lead by the Jet Propulsion Laboratory (JPL) for the NASA Space Science Enterprise. The Bantam project represents an approach to space transportation technology maturation that is very similar to the Mars Exploration Program. The NASA Advanced Space Transportation Program (ASTP) and Future X Pathfinder Program will combine to systematically mature reusable space transportation technology from low technology readiness to system level flight demonstration. New reusable space transportation capability will be demonstrated at a small (Bantam) scale approximately every two years. Each flight demonstration will build on the knowledge derived from the previous flight tests. The Bantam scale flight demonstrations will begin with the flights of the X-34. The X-34 will demonstrate reusable launch vehicle technologies including; flight regimes up to Mach 8 and 250,000 feet, autonomous flight operations, all weather operations, twenty-five flights in one year with a surge capability of two flights in less than twenty-four hours and safe abort. The Bantam project will build on this initial capability to expand the capability of a reusable first stage, including ground launch, powered return to the launch site, and a fully reusable rocket propulsion system. A Bantam technology goal is to demonstrate twenty-five flights with no unplanned rocket engine maintenance and only minor planned maintenance or inspections. The design goal of the propulsion system is a mission life of one hundred.

Griner, Carolyn↗

NASA NTRS1996

Intercomparison, Visualization, and Analysis Testbed System for EOS Global Assimilated Datasets and Satellite Data

The Space Science and Engineering Center (SSEC) of the University of Wisconsin - Madison had two primary goals for NASA grant NAG5-2906. (1) Collaborate with scientists at NASA Goddard Space Flight Center (GSFC) to integrate SSEC's Vis5D software into NASA's Interactive Image Spread Sheet (IISS). Vis5D provides environmental modelers with interactive three-dimensional visualization of their model output. Integration of Vis5D with the IISS would give 3-D graphics capability to the iiss. (2) Make improvements in Vis5D as required by scientists at the NASA Data Assimilation Office (DAO). We were successful in both of these goals. Furthermore, the generic approach taken to achieving the first goal has enabled Vis5D to be integrated into many other software systems.

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NASA NTRS1992

COSMOS 2044 Mission: Overview

The COSMOS 2044 spaceflight was the ninth Soviet-International joint mission dedicated to space biomedicine and the seventh in which the United States has participated. The unmanned Vostok vehicle carried 10 rats and two rhesus monkeys on its 14-day voyage. This spaceflight yielded an unprecedented bounty of data on physiological responses to the microgravity environment. The tissues studied and the numbers and types of studies performed by members of the international science community constituted a new record. Many of the results obtained by the approximately 80 American scientists who participated are reported in the series of COSMOS 2044 papers in this issue. Descriptions of the spaceflight and animal procedures are detailed elsewhere. The broad goals of the space biomedical program are threefold. The first is to characterize qualitatively and quantitatively the biological responses to the microgravity environment, be they adaptive or pathological. The second goal is to clarify the physiological-biochemical mechanisms mediating the responses to microgravity. The third goal of this program is to use the space environment as a tool to better understand adaptive and disease processes in terrestrial organisms.

Grindeland, R. E.↗

NASA NTRS2000

A Detailed Investigation into the Use of Planetary Nebulae as Standard Candles

The program's goal was to understand the physics underlying the [O III] (lambda)5007 planetary nebula luminosity function (PNLF) and evaluate its accuracy as an extragalactic distance indicator. Work under the grant concentrated in two areas. The first major goal was to extensively test the PNLF method to find its limits. We did this performing yet another internal test of the method in the core galaxies of the Fornax Cluster, performing external comparisons of PNLF distances with distances derived from Cepheids and the Surface Brightness Fluctuation method (SBF), and, in general, examining the PNLF in as many different galactic environments as possible, including the disks of late-type spirals. Because of the difficulty distinguishing planetary nebulae (PNe) from H II regions, and because spiral galaxies have uneven internal extinction, the process of identifying "statistical" samples of PNe in these objects is extremely complicated. Nevertheless, by using the ratio of [O III] (lambda)5007 to H(alpha) as a diagnostic, we were able to effectively discriminate PNe from most H II regions, and apply the method to systems such as NGC 300, M101, M51, and M96. The second goal of this research was to determine theoretically, why the PNLF is such an excellent standard candle.

Ciardullo, Robin↗

NASA NTRS1997

Mid-Atlantic Technology Applications Center

Mid-atlantic Technology Application Center (MTAC) pursued a number of initiatives designed to enhance the strategic position of the Langley Research Center (LaRC) and NASA in industry. Among these was a closer association with the ISA, International Society for Measurement and Control. During 1997, MTAC placed articles regarding NASA-developed technologies in each In Tech magazine. The monthly magazine is sent to 46,000 sensors and instrumentation professionals. In addition, MTAC coordinated NASXs participation in the ISA Tech 97 Conference, securing $112,000 of free exhibit space, 1500 NASA sensors posters at no cost to NASA, and thousands of dollars of free publicity. MTAC was awarded a contract by ISA to operate its Technical Resource Center (TRC). The goal of this project is to determine what user needs are in order to identify opportunities for collaboration between NASA centers and companies. In addition, the TRC work will lay the groundwork for the Technology Development Consortium (TDC) proposed by MTAC. The purpose of the TDC is to: match current industry needs with NASA technologies available now, and to identify future needs of NASA and industry which may lead to dual use projects. The goal of these activities is twofold: to infuse NASA technologies into the sensors and instrumentation industry and to secure industry funds to support NASA technology development projects. The instrumentation and sensors industry is valued at $30 billion worldwide, with $12 billion in sales in the United States. The growth rate averages 13.5%, so that by the year 2000, the industry will produce products worth $49 billion. More than 80% of instruments, sensors and control systems are currently manufactured in the United States. NASA and the industry do not have a history of collaborative projects; MTAC's initiatives in this area are designed to foster working relationships between the two parties that will help maintain U.S. leadership in this field. Mid-atlantic Technology Applications Center (MTAC) continued to work on LaRC-SI and Thin Layer Unimorph Driver and Sensor activities. MTAC helped develop the "master license" concept and identified additional applications and potential clients. The goal of these activities was to increase the financial return to Langley Research Center, to ensure the diffusion of the technologies throughout the economy, and to attract partners for future NASA technology development efforts. In an attempt to market LaRC-SI and the Thin Layer Unimorph Driver and Sensor, MTAC developed and pioneered the use of the USRTTC Technology Commercialization Team. As a result, MTAC's sister RTTCs identified both applications and potential users for the two technologies. MTAC also benefitted from its affiliate network to locate companies throughout the region that were interested in the two technologies. MTAC is working with Allegheny Ludlum to monitor the progress of the installation and testing of ultrasonic equipment purchased as a result of Langley Research Center's assistance.

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NASA NTRS1999

Hard X-Ray Emission of X-Ray Bursters

The primary goal of this proposal was to perform an accurate measurement of the broadband x-ray spectrum of a neutron-star low-mass x-ray binary found in a hard x-ray state. This goal was accomplished using data obtained under another proposal, which has provided exciting new information on the hard x-ray emission of neutron-star low-mass x-ray binaries. In "BeppoSAX Observations of the Atoll X-Ray Binary 4U0614+091", we present our analysis of the spectrum of 4U0614+091 over the energy band from 0.3-150 keV. Our data confirm the presence of a hard x-ray tail that can be modeled as thermal Comptonization of low-energy photons on electrons having a very high temperature, greater than 220 keV, or as a non-thermal powerlaw. Such a very hard x-ray spectrum has not been previously seen from neutron-star low-mass x-ray binaries. We also detected a spectral feature that can be interpreted as reprocessing, via Compton reflection, of the direct emission by an optically-thick disk and found a correlation between the photon index of the power-law tail and the fraction of radiation reflected which is similar to the correlation found for black hole candidate x-ray binaries and Seyfert galaxies. A secondary goal was to measure the timing properties of the x-ray emission from neutronstar low-mass x-ray binaries in their low/hard states.

Kaaret, P.↗

NASA NTRS2000

NASA's Integrated Space Transportation Plan

Improvements in the safety, reliability and affordability of current and future space transportation systems must be achieved if NASA is to perform its mission and if the U.S. space industry is to reach its full commercial potential. In response to Presidential Policy in 1994, NASA, working with our industrial partners, initiated several efforts including the X-33, X-34, X-37 and Advanced Space Transportation programs with the goal of demonstrating the technologies that could enable these goals. We have learned that emerging technologies will enable the needed advancements but that more development along multiple, competing paths is needed. We have learned that developing requirements diligently and in partnership with industry will allow us to better converge with commercial capabilities. We have learned that commercial markets are not growing as fast as projected earlier, but there are still possibilities in the near-term to pursue alternate paths that can make access to space more robust. The goal of transitioning NASA's space transportation needs to commercial launch vehicles remains the key aim of our efforts and will require additional investment to reduce business and technical risks to acceptable levels.

Cook, Stephen A.↗

NASA NTRS2000

Mission Design Overview for Mars 2003/2005 Sample Return Mission

In May 2003, a new and exciting chapter in Mars exploration will begin with the launch of the first of three spacecraft that will collectively contribute toward the goal of delivering samples from the Red Planet to Earth. This mission is called Mars Sample Return (MSR) and will utilize both the 2003 and 2005 launch opportunities with an expected sample return in October 2008. NASA and CNES are major partners in this mission. The baseline mission mode selected for MSR is Mars orbit rendezvous (MOR), analogous in concept to the lunar orbit rendezvous (LOR) mode used for Apollo in the 1960s. Specifically, MSR will employ two NASA-provided landers of nearly identical design and one CNES-provided orbiter carrying a NASA payload of rendezvous sensors, orbital capture mechanisms, and an Earth entry vehicle (EEV). The high-level concept is that the landers will launch surface samples into Mars orbit, and the orbiter will retrieve the samples in orbit and then carry them back to Earth. The first element to depart for Mars will be one of the two landers. Currently, it is proposed that an intermediate class launch vehicle, such as the Boeing Delta 3 or Lockheed Martin Atlas 3A, will launch this 1800-kg lander from Cape Canaveral during the May 2003 opportunity. The lander will utilize a Type-1 transfer trajectory with an arrival at Mars in mid-December 2003. Landing will be aided by precision approach navigation and a guided hypersonic entry to achieve a touchdown accuracy of 10 km or better. Although the exact landing site has not yet been determined, it is estimated that lander resource constraints will limit the site to between 15 degrees north and south latitudes. Following touchdown, the lander will deploy a six-wheeled, 60-kg rover carrying an extensive suite of instruments designed to aid in the analysis of the local terrain and collection of core samples from selected rocks. The surface mission is currently designed around a concept called the surface traverse. Each traverse will involve the rover exploring a selected area of terrain up to 100 meters from the lander, the collection of rock core samples, and the delivery of the samples from the traverse back to a sample canister on the lander. Planning estimates indicate that up to three traverses may be possible during the expected 90-sol lifetime of the lander. The canister that will receive the samples from the rover will be attached to the top stage of a small solid-fueled rocket mounted to the deck of the lander. This rocket is called the Mars Ascent Vehicle (MAV) and consists of three stages weighing a total of about 140 kg. After the conclusion of the surface mission, the MAV will lift-off and insert the sample canister into a near-circular orbit with an altitude of about 600 km and inclination of 45 degrees. The sample canister will wait in this orbit until it is retrieved by the orbiter sometime in early 2007. In August 2005, the second lander and a CNES-provided orbiter weighing 2700 kg will depart for Mars. Currently, it is proposed that a single Ariane 5 provided by CNES will launch both of these two elements onto a Type-2 transfer trajectory. Although the orbiter and lander will be launched together, they will separate shortly after injection and will fly to Mars as two independent spacecraft. However, both spacecraft will perform a maneuver between 10 and 15 days after launch so that their arrival times at Mars differ by between 12 and 24 hours. This scheme will reduce the operational complexity at the encounter date. A set of four 60-kg surface probes will ride piggyback on the orbiter to Mars. These CNES-provided probes are called Netlanders and will serve as surface stations for scientific investigations independent of the Mars Sample Return goals. Starting approximately one month prior to arrival at Mars, the orbiter will begin to release the Netlanders one at a time. Each release cycle will take several days, and will include time for precision navigation to execute one or two maneuvers that will target the Netlanders to their proper landing site. All four deployment cycles will be completed prior to 10 days before arrival. Both the orbiter and lander will arrive in late-July 2006. Upon arrival, the lander will perform a precision landing and surface mission similar in concept to the one that was executed during the 2003 opportunity. Although the landing site for the 2005 opportunity has not been selected, it is expected to be different from the 2003 site to enhance the diversity of the collected samples. The orbiter's arrival at Mars will be highlighted by the first use of aerocapture to insert a spacecraft into a capture orbit around another planet. The choice of aerocapture, as opposed to a propulsive orbit insertion, was considered mission enabling due to a reduction of over 2000 m/s in mission AV. Aerocapture will be targeted to produce a 250 km x 1400 km capture orbit with an inclination of 45 degrees. Current analysis indicates that achieving this goal will require approximately six minutes of flight deep in the atmosphere with a targeted periapsis of approach of about 43 km. After factoring into account the penalty for carrying a heat shield to survive aerocapture, the net savings compared to a propulsive orbital insertion amounts to several hundred kilograms.

Lee, Wayne J.↗