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NASA NTRS2012

Dig Hazard Assessment Using a Stereo Pair of Cameras

This software evaluates the terrain within reach of a lander s robotic arm for dig hazards using a stereo pair of cameras that are part of the lander s sensor system. A relative level of risk is calculated for a set of dig sectors. There are two versions of this software; one is designed to run onboard a lander as part of the flight software, and the other runs on a PC under Linux as a ground tool that produces the same results generated on the lander, given stereo images acquired by the lander and downlinked to Earth. Onboard dig hazard assessment is accomplished by executing a workspace panorama command sequence. This sequence acquires a set of stereo pairs of images of the terrain the arm can reach, generates a set of candidate dig sectors, and assesses the dig hazard of each candidate dig sector. The 3D perimeter points of candidate dig sectors are generated using configurable parameters. A 3D reconstruction of the terrain in front of the lander is generated using a set of stereo images acquired from the mast cameras. The 3D reconstruction is used to evaluate the dig goodness of each candidate dig sector based on a set of eight metrics. The eight metrics are: 1. The maximum change in elevation in each sector, 2. The elevation standard deviation in each sector, 3. The forward tilt of each sector with respect to the payload frame, 4. The side tilt of each sector with respect to the payload frame, 5. The maximum size of missing data regions in each sector, 6. The percentage of a sector that has missing data, 7. The roughness of each sector, and 8. Monochrome intensity standard deviation of each sector. Each of the eight metrics forms a goodness image layer where the goodness value of each sector ranges from 0 to 1. Goodness values of 0 and 1 correspond to high and low risk, respectively. For each dig sector, the eight goodness values are merged by selecting the lowest one. Including the merged goodness image layer, there are nine goodness image layers for each stereo pair of mast images.

Rankin, Arturo L.↗

NASA NTRS2013

Component Testing of the J-2X Augmented Spark Igniter (ASI)

In support of the development of the J-2X engine, 201 low pressure, liquid oxygen / liquid hydrogen (LOX/LH2) J-2X Augmented Spark Igniter (ASI) subsystem ignition tests were conducted at Marshall Space Flight Center (MSFC). The main objective of these tests was to start the ASI within the anticipated J-2X engine start box, as well as outside of it, to check for ignition margin. The setup for the J-2X ASI component testing simulated, as much as possible, the tank-head start-up configuration of the ASI within the J-2X Engine. The ignition tests were divided into 124 vacuum start tests to simulate altitude start on a flight engine, and 77 sea-level start tests to simulate the first set of ground tests for the J-2X Engine at Stennis Space Center (SSC). Other ignition parameters that were varied included propellant tank pressures, oxidizer temperature entering the ASI oxidizer feedline, oxidizer valve timing, spark igniter condition (new versus damaged), and oxidizer and fuel feedline orifice sizes. Propellant blowdowns using venturis sized to simulate the ASI resistance allowed calculation of transient propellant mass flow rates as well as global mixture ratio for all ignition tests. Global mixture ratio within the ASI at the time of ignition varied from 0.2 to 1.2. Detailed electronics data obtained from an instrumented ignition lead allowed characterization of the breakdown voltage, sustaining voltage and energy contained in each spark as the ASI propellants ignited. Results indicated that ignition always occurred within the first five sparks when both propellants were present in the ASI chamber.

Osborne, Robin J.↗

NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗

NASA NTRS2016

Tethered Space Satellite-1 (TSS-1): Wound About a Bolt

In the early 1990's US and Italian scientists collaborated to study the electrodynamics on a long tether between two satellites as it moved through the electrically charged portion of Earth's atmosphere called the ionosphere. Potential uses for the electrical current induced in the long wire include power and thrust generation for a satellite, momentum exchange, artificial gravity, deployment of sensors or antennas, and gravity-gradient stabilization. The Tethered Space Satellite (TSS) was a first-of-its-kind experiment with long tethers in space. It consisted of a satellite with science experiments attached to a 12.5 mile long, very thin (0.10 inch diameter) copper wire assembly wound around a spool in the deployer reel mechanism. The whole mechanism sits on a pallet that is installed into the Shuttle bay. At an altitude of 160 nautical miles above earth, the satellite would be deplodeployed from the Shuttle bay by raising it on a boom facing away from Earth. Once cleared of the bay, the deployer mechanism would slowly feed out the 12-plus miles of tether. Scientific data would be collected throughout the operation, after which the satellite would be reeled back in. A receiver spool to catch the 12.5 mile tether as it was being unwound by the deployer reel mechanism was set up to do the system-level test of deployer real mechanism prior to installing the loaded pallet into the Shuttle bay. The system level tests were required before the pallet could be installed into the Space Shuttle cargo bay. A few months before flight, the system level tests, including unreeling and reeling the tether, were completed at Kennedy Space Center (KSC) and the TSS payload was installed onto the Spacelab pallet. Some of this testing equipment was then shipped back to the contractor, Martin Marietta. Integration with the Shuttle began. Systems-level load analyses, which cannot be run until all information about each payload is finalized, was run in parallel with the physical integration of the hardware into the Shuttle payload bay. An analysis, called Coupled loads analysis, incorporates any updates to the model due to system level tests of all the different payloads, and any changes that were found during integration. Engineering analysis examines the worst case scenarios for the loads the hardware will see. The two times during the mission where the dynamic loads are the worst were 1) the first 10-second portion of Shuttle lift off, and 2) a 2-second time during landing when the landing gears hit the ground. The coupled loads analysis using the final verification loads showed that a single bolt attaching the deployer reel mechanism to the support structure had a "negative margin" - which is an indication that it might fail - during touch down. Hardware certification rules do not allow for hardware to fly with negative margins. A structural failure of one payload could have serious or catastrophic consequences to other payloads, or may significantly damage the Orbiter. The issue had to be resolved before the flight.

O'Connor, Brian↗

NASA NTRS2018

NASA ISS Portable Fan Assembly Acoustics

The Portable Fan Assembly (PFA) is a variable speed fan that can be used to provide additional ventilation inside International Space Station (ISS) modules as needed for crew comfort or for enhanced mixing of the ISS atmosphere. This fan can also be configured with a Shuttle era lithium hydroxide (LiOH) canister for CO2 removal in confined areas partially of fully isolated from the primary Environmental Control and Life Support System (ECLSS) on ISS which is responsible for CO2 removal. This report documents noise emission levels of the PFA at various speed settings and configurations. It also documents the acoustic attenuation effects realized when circulating air through the PFA inlet and outlet mufflers and when operating in its CO2 removal configuration (CRK) with a LiOH canister (sorbent bed) installed over the fan outlet.

Boone, Andrew↗

NASA NTRS2017

STURM: Resuspension Mesocosms with Realistic Bottom Shear Stress and Water Column Turbulence for Benthic-Pelagic Coupling Studies: Design and Applications

Shear TUrbulence Resuspension Mesocosm (STURM) tanks, with high instantaneous bottom shear stress and realistic water column mixing in a single system, allow realistic benthic-pelagic coupling studies with sediment resuspension. The 1 m3 tanks can be programmed to produce tidal or episodic sediment resuspension for extended time periods (e.g. 4 weeks), over muddy sediments with a variety of benthic organisms. A resuspension paddle produces uniform bottom shear stress across the sediment surface while gently mixing a 1 m deep overlying water column. The STURM tanks can be programmed to different magnitudes, frequencies, and durations of bottom shear stress (and thus resuspension) with proportional water column turbulence levels over a wide range of mixing settings for benthic-pelagic coupling experiments. Over ten STURM calibration settings, RMS turbulent velocity ranged from 0.26 to 4.52 cm s−1, energy dissipation rate from 0.0016 to 2.65 cm2 s−3, the average bottom shear stress from 0.0035 to 0.19 Pa, and the instantaneous maximum bottom shear stress from 0.07 to 1.7 Pa. We have performed four 4-week benthic-pelagic coupling ecosystem experiments with tidal resuspension and stepwise erosion experiments (both with and without infaunal bivalves), carried out experiments on oyster biodeposit resuspension, mimicked storms overlain on tidal resuspension, and studied the effects of varying frequency and duration of resuspension on sedimentary contaminant release. The large size of the tanks allows water quality and particle measurements using standard oceanographic instrumentation. The realistic scale and complexity of the contained ecosystems has revealed indirect feedbacks and responses that are not observable in smaller, less complex experimental systems.

Porter, Elka T.↗

NASA NTRS2020

The NANOGrav 11 yr Data Set: Contraints on Planetary Masses Around 45 Millisecond Pulsars

We search for extrasolar planets around millisecond pulsars using pulsar timing data and seek to determine the minimum detectable planetary masses as a function of orbital period. Using the 11 yr data set from the North American Nanohertz Observatory for Gravitational Waves (NANOGrav), we look for variations from our models of pulse arrival times due to the presence of exoplanets. No planets are detected around the millisecond pulsars in the NANOGrav 11 yr data set, but taking into consideration the noise levels of each pulsar and the sampling rate of our observations, we develop limits that show we are sensitive to planetary masses as low as that of the moon. We analyzed potential planet periods, P, in the range 7 days < P < 2000 days, with somewhat smaller ranges for some binary pulsars. The planetary-mass limit for our median-sensitivity pulsar within this period range is 1 Mmoon (P 100 days)-2/3.

E A Behrens↗

NASA NTRS2022

Contractors Road Heavy Equipment Area (SWMU 055) 2021 Annual Groundwater Monitoring Report

This document presents a summary of activities completed at the Contractors Road Heavy Equipment (CRHE) Area, located at Kennedy Space Center (KSC), Florida, from January through December 2021. The activities conducted at the CRHE Area include: - Annual groundwater sampling activities associated with site-wide plume monitoring and Underground Injection Control (UIC) monitoring in the former bioremediation Interim Measures (IM) Hot Spot 1 (HS1) area; - Direct push technology (DPT) groundwater investigation; and - Semi-annual vapor intrusion (VI) evaluation activities. This facility is designated Solid Waste Management Unit (SWMU) Number 055 (SWMU 055) under KSC’s Resource Conservation and Recovery Act Corrective Action program. This report was prepared by HydroGeoLogic, Inc. (HGL) for the National Aeronautics and Space Administration (NASA) under contract number 80KSC019F0096. The annual groundwater sampling results demonstrated that the footprint where chlorinated volatile organic compounds (VOC) are present above their State of Florida groundwater cleanup target levels (GCTLs) is not expanding overall. One non-chlorinated VOC (1,4-dioxane) is found above its GCTL at isolated points within the chlorinated VOC plume. The DPT groundwater investigation is being used to delineate the horizontal and vertical boundaries where chlorinated VOCs are present at levels above natural attenuation default concentrations. That data supports an evaluation of potential additional remedial actions. The potential for VI into the CRHE Area Office (K6-1996H) is evaluated by collected sub-slab vapor samples from four locations twice a year (once in the wet season and once in the dry season). The results for 2021 were all below the Environmental Protection Agency's vapor intrusion screening levels (VISLs) for both commercial and residential settings. The path forward for the site is to continue annual monitoring for chlorinated VOCs and 1,4-dioxane until additional remedies are implemented or the site is transitioned to long-term monitoring.

Contractors Road Heavy Equipment↗

NASA NTRSDate not supplied

Spacecraft Observatory Benchmark Problem for Optical Disturbance Rejection

Since mid-1980s NASA has launched several first-generation interplanetary observatory missions. A salient feature of these missions has been the mounting of the optical payload on top of a large flexible space structure. This imposes challenging control-structure interaction problems (CSI) that have been studied over several decades. The Dec. 2021 launch of the James Webb Telescope marks the latest example of such a mission. One way to encourage development of novel control methods is to provide a benchmark problem for researchers. By the mid-2000s, there were a few well-known benchmark problems developed by the control community with a focus on CSI applications. However, in the past 15 years, the control challenges in optical observation missions have shifted from CSI to line-of-sight (LOS) precision pointing. This is because popular designs of the second-generation (Gen II) space earth missions have eliminated the large structure interface by mounting the optical payload directly on top of a rigid bus platform. The focus now is to achieve accurate pointing with maximum rejection of the surrounding disturbances. The NASA Safety and Engineering Center (NESC) has tasked T he Aerospace Corporation to develop a Benchmark Problem to study the challenging control issues that Gen II observatory missions encounter. This software tool is to be released as a public domain platform aimed at government, academic, and industry researchers. The focus of this benchmark problem is for researchers to design a set of innovative payload control laws with the maximum Optical Disturbance Rejection (ODR) capability to meet a set of pre-defined μrad-level of LOS jitter requirements. This paper describes the development of the benchmark problem. Aerospace/NASA will provide an integrated LOS plant model and disturbance/command profiles for users to run their design and simulation with as well as a user’s guide describing the required interfaces. The Aerospace Corp is also working to develop a hardware fast steering mirror testbed for users to demonstrate their innovative design in real hardware, if so desired.

Spacecraft Observatory Benchmark Problem↗

NASA NTRS2002

The Moon: Keystone to Understanding Planetary Geological Processes and History

Extensive and intensive exploration of the Earth's Moon by astronauts and an international array of automated spacecraft has provided an unequaled data set that has provided deep insight into geology, geochemistry, mineralogy, petrology, chronology, geophysics and internal structure. This level of insight is unequaled except for Earth. Analysis of these data sets over the last 35 years has proven fundamental to understanding planetary surface processes and evolution, and is essential to linking surface processes with internal and thermal evolution. Much of the understanding that we presently have of other terrestrial planets and outer planet satellites derives from the foundation of these data. On the basis of these data, the Moon is a laboratory for understanding of planetary processes and a keystone for providing evolutionary perspective. Important comparative planetology issues being addressed by lunar studies include impact cratering, magmatic activity and tectonism. Future planetary exploration plans should keep in mind the importance of further lunar exploration in continuing to build solid underpinnings in this keystone to planetary evolution. Examples of these insights and applications to other planets are cited.

Source record↗

NASA NTRS2007

RDS-21 Face-Gear Surface Durability Tests

Experimental fatigue tests were performed to determine the surface durability life of a face gear in mesh with a tapered spur involute pinion. Twenty-four sets of gears were tested at three load levels: 7200, 8185, and 9075 lb-in face gear torque, and 2190 to 3280 rpm face gear speed. The gears were carburized and ground, shot-peened and vibro-honed, and made from VIM-VAR Pyrowear 53 steel per AMS 6308. The tests produced 17 gear tooth spalling failures and 7 suspensions. For all the failed sets, spalling occurred on at least one tooth of all the pinions. In some cases, the spalling initiated a crack in the pinion teeth which progressed to tooth fracture. Also, spalling occurred on some face gear teeth. The AGMA endurance allowable stress for a tapered spur involute pinion in mesh with a face gear was determined to be 275 ksi for the material tested. For the application of a tapered spur involute pinion in mesh with a face gear, proper face gear shim controlled the desired gear tooth contact pattern while proper pinion shim was an effective way of adjusting backlash without severely affecting the contact pattern.

Lewicki, David G.↗

NASA NTRS2000

Advancement of Bi-Level Integrated System Synthesis (BLISS)

Bi-Level Integrated System Synthesis (BLISS) is a method for optimization of an engineering system, e.g., an aerospace vehicle. BLISS consists of optimizations at the subsystem (module) and system levels to divide the overall large optimization task into sets of smaller ones that can be executed concurrently. In the initial version of BLISS that was introduced and documented in previous publications, analysis in the modules was kept at the early conceptual design level. This paper reports on the next step in the BLISS development in which the fidelity of the aerodynamic drag and structural stress and displacement analyses were upgraded while the method's satisfactory convergence rate was retained.

Sobieszczanski-Sobieski, J.↗

NASA NTRS2000

Advancement of Bi-Level Integrated System Synthesis (BLISS)

Sobieszczanski-Sobieski, Jaroslaw↗

NASA NTRS2000

Advancement of Bi-Level Integrated System Synthesis (BLISS)

Sobieszczanski-Sobieski, Jaroslaw↗

NASA NTRS2018

Component-Level Selection and Qualification for the Global Ecosystem Dynamics Investigation (GEDI) Laser Altimeter Transmitter

Flight quality solid-state lasers require a unique and extensive set of testing and qualification processes, both at the system and component levels to insure the laser's promised performance. As important as the overall laser transmitter design is, the quality and performance of individual subassemblies, optics, and electro-optics dictate the final laser unit's quality. The Global Ecosystem Dynamics Investigation (GEDI) laser transmitters employ all the usual components typical for a diode-pumped, solid-state laser, yet must each go through their own individual process of specification, modeling, performance demonstration, inspection, and destructive testing. These qualification processes and results for the laser crystals, laser diode arrays, electro-optics, and optics, will be reviewed as well as the relevant critical issues encountered, prior to their installation in the GEDI flight laser units.

Frese, Erich A.↗

NASA NTRS1972

Probability distribution of vertical longitudinal shear fluctuations.

This paper discusses some recent measurements of third and fourth moments of vertical differences (shears) of longitudinal velocity fluctuations obtained in unstable air at the NASA 150 m meteorological tower site at Cape Kennedy, Fla. Each set of measurements consisted of longitudinal velocity fluctuation time histories obtained at the 18, 30, 60, 90, 120 and 150 m levels, so that 15 wind-shear time histories were obtained from each set of measurements. It appears that the distribution function of the longitudinal wind fluctuations at two levels is not bivariate Gaussian. The implications of the results relative to the design and operation of aerospace vehicles are discussed.-

Fichtl, G. H.↗

NASA NTRS1985

Effect of time span and task load on pilot mental workload

Two sets of experiments were run to examine how the mental workload of a pilot might be measured. The effects of continuous manual control activity versus discrete assigned mental tasks (including the length of time between receiving an assignment and executing it) were examined. The first experiment evaluated the strengths and weaknesses of measuring mental workload with an objective perforamance (altitude deviations) and five subjective ratings (activity level, complexity, difficulty, stress, and workload). The second set of experiments built upon the first set by increasing workload intensities and adding another performance measure: airspeed deviation. The results are discussed for both low and high experience pilots.

Berg, S. L.↗

NASA NTRS1978

Measurements and predictions of flyover and static noise of a TF30 afterburning turbofan engine

The noise of the TF30 afterburning turbofan engine in an F-111 airplane was determined from static (ground) and flyover tests. A survey was made to measure the exhaust temperature and velocity profiles for a range of power settings. Comparisons were made between predicted and measured jet mixing, internal, and shock noise. It was found that the noise produced at static conditions was dominated by jet mixing noise, and was adequately predicted by current methods. The noise produced during flyovers exhibited large contributions from internally generated noise in the forward arc. For flyovers with the engine at nonafterburning power, the internal noise, shock noise, and jet mixing noise were accurately predicted. During flyovers with afterburning power settings, however, additional internal noise believed to be due to the afterburning process was evident; its level was as much as 8 decibels above the nonafterburning internal noise. Power settings that produced exhausts with inverted velocity profiles appeared to be slightly less noisy than power settings of equal thrust that produced uniform exhaust velocity profiles both in flight and in static testing.

Burcham, F. W., Jr.↗