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At least 703 records · Page 39

Efficient control with an order (n) recursive inversion of the Jacobian for an n-link serial manipulator

A method is presented to order (n) recursively invert the Jacobian matrix for a serial n-link manipulator. By realizing that the Jacobian relationship involving accelerations is a special case for the forward dynamics problem, it is possible to obtain the Jacobian inverse by directly applying Rodriguez's (1987) recursive forward dynamics algorithm. In this technique, the n-link robot equation is formulated as a spatially recursive algorithm in the form of a filtering and smoothing problem. To compute the Jacobian inverse via this algorithm, the n-link manipulator is modeled with only a unit end-point mass and zero applied torques.

Meldrum, D. R.↗

Galileo Net Flux Radiometer experiment

The Galileo Net Flux Radiometer (NFR) is a probe instrument designed to measure the vertical profile of upward and net radiation fluxes in five spectral bands spanning the range from solar to far infrared wavelengths. These unique measurements within Jupiter's atmosphere, from which radiative heating and cooling profiles will be derived, will contribute to our understanding of Jovian atmospheric dynamics, to the detection of cloud layers and determination of their opacities, and to the estimation of water vapor abundance. The NFR uses an array of pyroelectric detectors and individual bandpass filters in a sealed detector package. The detector package and optics rotate as a unit to provide chopping between views of upward and downward radiation fluxes. This arrangement makes possible the measurement of small net fluxes in the presence of large ambient fluxes. A microprocessor-controlled electronics package handles instrument operation.

Sromovsky, L. A.↗

High-Resolution Subtropical Summer Precipitation Derived from Dynamical Downscaling of the NCEP-DOE Reanalysis: How Much Small-Scale Information Is Added by a Regional Model?

This study assesses the regional-scale summer precipitation produced by the dynamical downscaling of analyzed large-scale fields. The main goal of this study is to investigate how much the regional model adds smaller scale precipitation information that the large-scale fields do not resolve. The modeling region for this study covers the southeastern United States (Florida, Georgia, Alabama, South Carolina, and North Carolina) where the summer climate is subtropical in nature, with a heavy influence of regional-scale convection. The coarse resolution (2.5deg latitude/longitude) large-scale atmospheric variables from the National Center for Environmental Prediction (NCEP)/DOE reanalysis (R2) are downscaled using the NCEP Environmental Climate Prediction Center regional spectral model (RSM) to produce precipitation at 20 km resolution for 16 summer seasons (19902005). The RSM produces realistic details in the regional summer precipitation at 20 km resolution. Compared to R2, the RSM-produced monthly precipitation shows better agreement with observations. There is a reduced wet bias and a more realistic spatial pattern of the precipitation climatology compared with the interpolated R2 values. The root mean square errors of the monthly R2 precipitation are reduced over 93 (1,697) of all the grid points in the five states (1,821). The temporal correlation also improves over 92 (1,675) of all grid points such that the domain-averaged correlation increases from 0.38 (R2) to 0.55 (RSM). The RSM accurately reproduces the first two observed eigenmodes, compared with the R2 product for which the second mode is not properly reproduced. The spatial patterns for wet versus dry summer years are also successfully simulated in RSM. For shorter time scales, the RSM resolves heavy rainfall events and their frequency better than R2. Correlation and categorical classification (above/near/below average) for the monthly frequency of heavy precipitation days is also significantly improved by the RSM.

NARR↗

Preliminary assessment of rover power systems for the Mars Rover Sample Return Mission

Four isotope power system concepts were presented and compared on a common basis for application to on-board electrical prime power for an autonomous planetary rover vehicle. A representative design point corresponding to the Mars Rover Sample Return (MRSR) preliminary mission requirements (500 W) was selected for comparison purposes. All systems concepts utilize the General Purpose Heat Source (GPHS) isotope heat source developed by DOE. Two of the concepts employ thermoelectric (TE) conversion: one using the GPHS Radioisotope Thermoelectric Generator (RTG) used as a reference case, the other using an advanced RTG with improved thermoelectric materials. The other two concepts employed are dynamic isotope power systems (DIPS): one using a closed Brayton cycle (CBC) turboalternator, and the other using a free piston Stirling cycle engine/linear alternator (FPSE) with integrated heat source/heater head. Near-term technology levels have been assumed for concept characterization using component technology figure-of-merit values taken from the published literature. For example, the CBC characterization draws from the historical test database accumulated from space Brayton cycle subsystems and components from the NASA B engine through the mini-Brayton rotating unit. TE system performance is estimated from Voyager/multihundred Watt (MHW)-RTG flight experience through Mod-RTG performance estimates considering recent advances in TE materials under the DOD/DOE/NASA SP-100 and NASA Committee on Scientific and Technological Information programs. The Stirling DIPS system is characterized from scaled-down Space Power Demonstrator Engine (SPDE) data using the GPHS directly incorporated into the heater head. The characterization/comparison results presented here differ from previous comparison of isotope power (made for LEO applications) because of the elevated background temperature on the Martian surface compared to LEO, and the higher sensitivity of dynamic systems to elevated s

Bents, D. J.↗

Results of Microgravity Fluid Dynamics Captured with the Spheres-Slosh Experiment

This paper provides an overview of the SPHERES-Slosh Experiment (SSE) aboard the International Space Station (ISS) and presents on-orbit results with data analysis. In order to predict the location of the liquid propellant during all times of a spacecraft mission, engineers and mission analysts utilize Computational Fluid Dynamics (CFD). These state-of-the-art computer programs numerically solve the fluid flow equations to predict the location of the fluid at any point in time during different spacecraft maneuvers. The models and equations used by these programs have been extensively validated on the ground, but long duration data has never been acquired in a microgravity environment. The SSE aboard the ISS is designed to acquire this type of data, used by engineers on earth to validate and improve the CFD prediction models, improving the design of the next generation of space vehicles as well as the safety of current missions. The experiment makes use of two Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES) connected by a frame. In the center of the frame there is a plastic, pill shaped tank that is partially filled with green-colored water. A pair of high resolution cameras records the movement of the liquid inside the tank as the experiment maneuvers within the Japanese Experimental Module test volume. Inertial measurement units record the accelerations and rotations of the tank, making the combination of stereo imaging and inertial data the inputs for CFD model validation.

slosh↗

Result of Microgravity Fluid Dynamics Captured with the SPHERES-Slosh Experiment

This paper provides an overview of the SPHERES-Slosh Experiment (SSE) aboard the International Space Station (ISS) and presents on-orbit results with data analysis. In order to predict the location of the liquid propellant during all times of a spacecraft mission, engineers and mission analysts utilize Computational Fluid Dynamics (CFD). These state-of-the-art computer programs numerically solve the fluid flow equations to predict the location of the fluid at any point in time during different spacecraft maneuvers. The models and equations used by these programs have been extensively validated on the ground, but long duration data has never been acquired in a microgravity environment. The SSE aboard the ISS is designed to acquire this type of data, used by engineers on earth to validate and improve the CFD prediction models, improving the design of the next generation of space vehicles as well as the safety of current missions. The experiment makes use of two Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES) connected by a frame. In the center of the frame there is a plastic, pill shaped tank that is partially filled with green-colored water. A pair of high resolution cameras records the movement of the liquid inside the tank as the experiment maneuvers within the Japanese Experimental Module test volume. Inertial measurement units record the accelerations and rotations of the tank, making the combination of stereo imaging and inertial data the inputs for CFD model validation.

slosh↗

Sub-scale Waterflow Cavitation and Dynamic Transfer Function Testing of an Oxidizer Turbo-Pump Combined Inducer and Impeller

In 2009 and 2010, Concepts NREC prepared for and performed a series of tests on a 52% scale of a version of the Pratt & Whitney Rocketdyne J-2X Oxidizer Turbopump under a Phase III SBIR with NASA MSFC. The test article was a combined inducer and impeller, tested as a unit. This paper presents an overview of the test rig and facility, instrumentation, signal conditioning, data acquisition systems, testing approach, measurement developments, and lessons learned. Results from these tests were presented in the form of two papers at the previous JANNAF joint propulsion conference, in December of 2011.

Karon, D. M.↗

Finite Element Modeling of Extravehicular Mobility Units for Use With Human Body Models – Motivation, Major Challenges, Use Cases and Preliminary Work

Finite element modeling of pressurized spacesuits and implementation with human body models offers many advantages over physical experimentation, but also presents significant challenges. A model of pressurized spacesuit softgoods was developed, integrated with an existing hardgoods model, and fitted to a human body model. Two representative loading scenarios were simulated: dynamic external suit loading and internal occupant-driven loading, to serve as proof-of-concept for the modeling techniques employed. The modeled interactions behaved as intended and illustrate that finite element models of pressurized spacesuits can be used in conjunction with human body models to assess the biomechanical behavior. Further model development and experimental validation are needed.

Finite Element↗

Finite Element Modeling of Extravehicular Mobility Units for Use With Human Body Models – Motivation, Major Challenges, Use Cases and Preliminary Work

Finite element modeling of pressurized spacesuits and implementation with human body models offers many advantages over physical experimentation, but also presents significant challenges. A model of pressurized spacesuit softgoods was developed, integrated with an existing hardgoods model, and fitted to a human body model. Two representative loading scenarios were simulated: dynamic external suit loading and internal occupant-driven loading, to serve as proof-of-concept for the modeling techniques employed. The modeled interactions behaved as intended and illustrate that finite element models of pressurized spacesuits can be used in conjunction with human body models to assess the biomechanical behavior. Further model development and experimental validation are needed.

Finite Element↗

Preliminary assessment of rover power systems for the Mars Rover Sample Return Mission

Four isotope power system concepts were presented and compared on a common basis for application to on-board electrical prime power for an autonomous planetary rover vehicle. A representative design point corresponding to the Mars Rover Sample Return (MRSR) preliminary mission requirements (500 W) was selected for comparison purposes. All systems concepts utilize the General Purpose Heat Source (GPHS) isotope heat source developed by DOE. Two of the concepts employ thermoelectric (TE) conversion: one using the GPHS Radioisotope Thermoelectric Generator (RTG) used as a reference case, the other using an advanced RTG with improved thermoelectric materials. The other two concepts employed are dynamic isotope power systems (DIPS): one using a closed Brayton cycle (CBC) turboalternator, and the other using a free piston Stirling cycle engine/linear alternator (FPSE) with integrated heat source/heater head. Near term technology levels have been assumed for concept characterization using component technology figure-of-merit values taken from the published literature. For example, the CBC characterization draws from the historical test database accumulated from space Brayton cycle subsystems and components from the NASA B engine through the mini-Brayton rotating unit. TE system performance is estimated from Voyager/multihundred Watt (MHW)-RTG flight experience through Mod-RTG performance estimates considering recent advances in TE materials under the DOD/DOE/NASA SP-100 and NASA Committee on Scientific and Technological Information programs. The Stirling DIPS system is characterized from scaled-down Space Power Demonstrator Engine (SPDE) data using the GPHS directly incorporated into the heater head. The characterization/comparison results presented here differ from previous comparison of isotope power (made for Low Earth Orbit (LEO) applications) because of the elevated background temperature on the Martian surface compared to LEO, and the higher sensitivity of dynamic systems to elevated sink temperature. The mass advantage of dynamic systems is significantly reduced for this application due to Mars' elevated background temperature.

Bents, David J.↗

A Highly Sensitive Multi-Element HgCdTe E-APD Detector for IPDA Lidar Applications

An HgCdTe electron avalanche photodiode (e-APD) detector has been developed for lidar receivers, one application of which is integrated path differential absorption lidar measurements of such atmospheric trace gases as CO2 and CH4. The HgCdTe APD has a wide, visible to mid-wave-infrared, spectral response, high dynamic range, substantially improved sensitivity, and an expected improvement in operational lifetime. A demonstration sensor-chip assembly consisting of a 4.3 lm cutoff HgCdTe 4 9 4 APD detector array with 80 micrometer pitch pixels and a custom complementary metal-oxide-semiconductor readout integrated circuit was developed. For one typical array the APD gain was 654 at 12 V with corresponding gain normalized dark currents ranging from 1.2 fA to 3.2 fA. The 4 9 4 detector system was characterized at 77 K with a 1.55 micrometer wavelength, 1 microsecond wide, laser pulse. The measured unit gain detector photon conversion efficiency was 91.1%. At 11 V bias the mean measured APD gain at 77 K was 307.8 with sigma/mean uniformity of 1.23%. The average, noise-bandwidth normalized, system noise-equivalent power (NEP) was 1.04 fW/Hz(exp 1/2) with a sigma/mean of 3.8%. The measured, electronics-limited, bandwidth of 6.8 MHz was more than adequate for 1 microsecond pulse detection. The system had an NEP (3 MHz) of 0.4 fW/Hz(exp 1/2) at 12 V APD bias and a linear dynamic range close to 1000. A gain-independent quantum-limited SNR of 80% of full theoretical was indicative of a gain-independent excess noise factor very close to 1.0 and the expected APD mode quantum efficiency.

NEP↗

120 MB/S and 240 MB/S bit synchronizer-signal conditioners for NASA high data rate applications

Two bit synchronizer-signal conditioners (BSSC) developed for NASA high data rate applications such as earth resources monitoring are described. One BSSC is centered at 120 MB/s and the other at 240 Mb/s. These subsystems are featured out of the total hardware developed because the BSSC is such a key subsystem in determining overall system statistical performance. These units represent an evolution of high data rate BSSC's available at low data rates. Numerous inputs/outputs, control functions, indicators, plus the ability to minimize the effects of various signal perturbations are provided. Examples of allowed perturbations are input level variations, bit rate variance static and dynamic, baseline, transition density, bandlimiting, etc., as well as noise. Emphasis in the past has been primarily concerned only with noise.

Gray, J. S.↗

Influence of computational fluid dynamics on experimental aerospace facilities: A fifteen year projection

An assessment was made of the impact of developments in computational fluid dynamics (CFD) on the traditional role of aerospace ground test facilities over the next fifteen years. With improvements in CFD and more powerful scientific computers projected over this period it is expected to have the capability to compute the flow over a complete aircraft at a unit cost three orders of magnitude lower than presently possible. Over the same period improvements in ground test facilities will progress by application of computational techniques including CFD to data acquisition, facility operational efficiency, and simulation of the light envelope; however, no dramatic change in unit cost is expected as greater efficiency will be countered by higher energy and labor costs.

Source record↗

Automatic Range Changer For SWR Meter

Commercial unit modified for antenna-pattern measurements. Addition of automatic range-changing circuit converts Hewlett-Packard 415E standing-wave-ratio (SWR) meter into radio-frequency detector suitable for computer-controlled measurements of radiation patterns of antennas. Modification gives SWR meter effective dynamic range of at least 40 dB. Includes two digital lines communicating one of four range settings to controlling computer and one digital line to inhibit transfer of data when range being changed. Ideal instrument for use in applications involving computer-controlled monitoring of power when large changes in signal level expected.

Dengler, Robert J.↗

Measurements of the diffuse ultraviolet radiation

The imaging instrumentation on the Dynamics Explorer 1 satellite has been used to measure the intensity of the diffuse ultraviolet radiation on two great circles about the sky. It is found that the isotropic component of the diffuse ultraviolet radiation (possibly of extragalactic origin) has an intensity of 530 + or - 80 units (a unit is 1 photon per sq cm s A sr) at a wavelength of 150 nm. The Galactic component of the diffuse ultraviolet radiation has a dependence on Galactic latitude which requires strongly forward scattering particles if it is produced by dust above the Galactic plane.

Fix, John D.↗

Organized motions underlying turbulent shear flows

The objective of this project is to determine the nature and significance of the organized motions underlying turbulent shear flow. There is considerable experimental evidence for the existence of such motions. In particular, one consistently observes longitudinal streaks with a spacing of about 100 in wall units in the near-wall region of wall-bounded shear flows. Recently, an analysis based on the direct resonance mechanism has predicted the appearance of streaks with precisely such a spacing. Also, the minimum channel simulations of Jimenez and Moin have given a strong dynamical significance to that spanwise length scale. They have shown that turbulent-like flows can not be maintained when the spanwise wavelength of the motion is constrained to be less than about that critical number. A critical review of the direct resonance ideas and the non-linear theory of Benney and Gustavsson is presented first. It is shown how this leads to the later mean flow-first harmonic theory of Benney. Finally, we note that a different type of analysis has led to the prediction streaks with a similar spacing. This latter approach consists of looking for optimum fields and directly provides deep insights into why a particular structure or a particular scale should be preferred.

Waleffe, F.↗

Spacecraft design project: High temperature superconducting infrared imaging satellite

The High Temperature Superconductor Infrared Imaging Satellite (HTSCIRIS) is designed to perform the space based infrared imaging and surveillance mission. The design of the satellite follows the black box approach. The payload is a stand alone unit, with the spacecraft bus designed to meet the requirements of the payload as listed in the statement of work. Specifications influencing the design of the spacecraft bus were originated by the Naval Research Lab. A description of the following systems is included: spacecraft configuration, orbital dynamics, radio frequency communication subsystem, electrical power system, propulsion, attitude control system, thermal control, and structural design. The issues of testing and cost analysis are also addressed. This design project was part of the course Advanced Spacecraft Design taught at the Naval Postgraduate School.

Source record↗

Experimental Partitioning of Cr(3+) and Sc(3+) into Olivine: Mechanisms and Implications

Olivine (Mg, Fe)Si2O4 does not, by stoichiometry, accept cations such as Sc(3+) or Cr(3+). However, the partition coefficients of Sc and Cr between olivine and liquid are significant 0.2-1.0. We have measured Cr(3+) partition coefficients of near unity and have grown olivines with nearly 3 wt.% Sc2O3. Therefore, there must be a simple means of charge balancing 3+ ions in a crystal structure that was obviously not designed to receive other than 2+ ions on the olivine M sites. The simplest explanation is that two 3+ ions enter the olivine structure by displacing three 2+ ions and creating an M site vacancy. Even this explanation has difficulties. For minor elements in our experiments (~1 wt.%) the odds of a minor element 3+ ion finding a second 3+ for charge balance are of the order of 100:1 against. Because of the reducing conditions of our experiments, Fe(3+) will not suffice; and Al(3+) is not in sufficient quantity in olivine for charge balance. Therefore, Cr or Sc must, in effect, charge balance itself. For true trace elements, the problem is compounded many times. For an ion at the 10 ppm level the chances of finding a second (for example) Sc ion is approx.10(exp 5):1 against. Of course, any other 3+ ion would suffice but comparisons between percent level doping experiments and trace level partitioning indicate that Henry s law is obeyed. This implies that the same substitution mechanism occurs at both the percent and tens of ppm levels. There are two simple solutions to this problem: (i) The electrical conductivity of olivine is such that charge balance need not be local. This requires substantial domains within the olivine crystal in electrical contact by migration of vacancies or electronic defects. (ii) The 3+ cation brings along its own charge-balancing ion because it existed as a dimer in the silicate liquid. Olivine is not a true insulator but is actually a p-type semiconductor. Even so, electrical communication by this means is unlikely over the tens or hundreds of unit cells that would be required for charge balance to be local. Therefore, we cautiously favor the idea that melt speciation is the means by which 3+ ions enter the olivine structure. Possibly this model might be tested by in situ XAFS measurements or by molecular dynamical calculations.

Jones, John↗