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Data Comparison: Satellite and Falling Sphere Temperatures

Small meteorological rocketsondes providing temperature data have beam used for comparison with, and validation of measurements from satellite-borne instruments. A significant number of rocket-borne falling spheres were launched in conjunction with the Upper Atmosphere Research Satellite (UARS) for validation of the Halogen Occultation Experiment (HALOE), High Resolution Doppler Interferometer (HRDI), and the Microwave Limb Sounder (MLS) instruments. Upper stratosphere and mesosphere temperatures measured with these instruments on UARS are compared with inflatable spheres launched from Wallops Island (1992-1999), Brazil (1994), Hawaii (1992), Norway (1992), and Sweden (1993 and 1996). Time and space differences varied between the satellite measurement and the rocketsonde launch, for example HALOE overpasses occurred within 5 days and in some cases there were spatial differences of up to 30 degrees longitude. Validation measurements of the HRDI instrument occurred at Wallops Island when it passed within 20 minutes and 330 kilometers of the launch site. Because of discontinuity in the falling sphere drag coefficients when fall speed neared MACH 1 falling sphere temperatures near 70 kilometers attitude are biased toward lower temperatures. Availability of improved software and a new atmospheric model have helped to reduce this bias. The validated remote instrument measurements permit a new perspective of atmospheric structure to be formed, not always possible with the limited number of falling sphere measurements. Features of the remote measurement temperature profiles and their possible use to extend the climatological data base at the rocketsonde sites will be discussed.

Schmidlin, Francis J.↗

Physics of Hard Spheres Experiment (PhaSE) or "Making Jello in Space"

The Physics of Hard Spheres Experiment (PHaSE) is a highly successful experiment that flew aboard two shuttle missions to study the transitions involved in the formation of jellolike colloidal crystals in a microgravity environment. A colloidal suspension, or colloid, consists of fine particles, often having complex interactions, suspended in a liquid. Paint, ink, and milk are examples of colloids found in everyday life. In low Earth orbit, the effective force of gravity is thousands of times less than at the Earth's surface. This provides researchers a way to conduct experiments that cannot be adequately performed in an Earth-gravity environment. In microgravity, colloidal particles freely interact without the complications of settling that occur in normal gravity on Earth. If the particle interactions within these colloidal suspensions could be predicted and accurately modeled, they could provide the key to understanding fundamental problems in condensed matter physics and could help make possible the development of wonderful new "designer" materials. Industries that make semiconductors, electro-optics, ceramics, and composites are just a few that may benefit from this knowledge. Atomic interactions determine the physical properties (e.g., weight, color, and hardness) of ordinary matter. PHaSE uses colloidal suspensions of microscopic solid plastic spheres to model the behavior of atomic interactions. When uniformly sized hard spheres suspended in a fluid reach a certain concentration (volume fraction), the particle-fluid mixture changes from a disordered fluid state, in which the spheres are randomly organized, to an ordered "crystalline" state, in which they are structured periodically. The thermal energy of the spheres causes them to form ordered arrays, analogous to crystals. Seven of the eight PHaSE samples ranged in volume fraction from 0.483 to 0.624 to cover the range of interest, while one sample, having a concentration of 0.019, was included for instrument calibration.

Ling, Jerri S.↗

Grid-Sphere Electrodes for Contact with Ionospheric Plasma

Grid-sphere electrodes have been proposed for use on the positively biased end of electrodynamic space tethers. A grid-sphere electrode is fabricated by embedding a wire mesh in a thin film from which a spherical balloon is formed. The grid-sphere electrode would be deployed from compact stowage by inflating the balloon in space. The thin-film material used to inflate the balloon is formulated to vaporize when exposed to the space environment. This would leave the bare metallic spherical grid electrode attached to the tether, which would present a small cross-sectional area (essentially, the geometric wire shadow area only) to incident neutral atoms and molecules. Most of the neutral particles, which produce dynamic drag when they impact a surface, would pass unimpeded through the open grid spaces. However, partly as a result of buildup of a space charge inside the grid-sphere, and partially, the result of magnetic field effects, the electrode would act almost like a solid surface with respect to the flux of electrons. The net result would be that grid-sphere electrodes would introduce minimal aerodynamic drag, yet have effective electrical-contact surface areas large enough to collect multiampere currents from the ionospheric plasma that are needed for operation of electrodynamic tethers. The vaporizable-balloon concept could also be applied to the deployment of large radio antennas in outer space.

Stone, Nobie H.↗

Development and Performance of a Filter Radiometer Monitor System for Integrating Sphere Sources

The NASA Goddard Space Flight Center (GSFC) Radiometric Calibration Laboratory (RCL) maintains several large integrating sphere sources covering the visible to the shortwave infrared wavelength range. Two critical, functional requirements of an integrating sphere source are short and long-term operational stability and repeatability. Monitoring the source is essential in determining the origin of systemic errors, thus increasing confidence in source performance and quantifying repeatability. If monitor data falls outside the established parameters, this could be an indication that the source requires maintenance or re-calibration against the National Institute of Science and Technology (NIST) irradiance standard. The GSFC RCL has developed a Filter Radiometer Monitoring System (FRMS) to continuously monitor the performance of its integrating sphere calibration sources in the 400 to 2400nm region. Sphere output change mechanisms include lamp aging, coating (e.g. BaSO4) deterioration, and ambient water vapor level. The Filter Radiometer Monitor System (FRMS) wavelength bands are selected to quantify changes caused by these mechanisms. The FRMS design and operation are presented, as well as data from monitoring four of the RCL s integrating sphere sources.

Ding, Leibo↗

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free-flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Fong, Terrence↗

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free- flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Fong, Terrence↗

SPHERES and Astrobee: Space Station Robotic Free Flyers

Free-flying space robots can be used when humans are present to off-load routine work, to increase astronaut productivity, and to handle contingencies. The International Space Station (ISS), for example, is a continuously manned orbital laboratory the size of a large house, which contains many thousands of inventory items and hundreds of diverse payloads and experiments - all of which have to be managed by 6 person crew. To help with this, NASA is developing and testing robotic free-flyers on the ISS. SPHERES (Synchronized Position Hold, Engage, Reorient, Experimental Satellites) is an ISS facility with three nano-satellites designed to research estimation, control, and autonomy algorithms. SPHERES are volleyball-sized, have their own power, propulsion and navigation systems, and work on the ISS under astronaut supervision. For more than 10 years, NASA has made SPHERES available to other U.S. government agencies, schools, commercial companies and students as a platform for science, technology development, and education. SPHERES will soon be succeeded by the new Astrobee free-flying robot. Astrobee builds on the success of SPHERES, but in addition to research, the robot will also be used for housekeeping and monitoring duties without astronaut supervision. Astrobee makes extensive use of open-source (the complete software stack is available on GitHub) and is scheduled to be installed on the ISS in late Spring 2018.

Benavides, Jose V.↗

Machine Learning Methods for Estimating Propeller Source Noise Spheres

In this work, several neural network function approximations are compared for inter- polating, storing, and sampling acoustic source spheres with applications to propeller noise estimation. These methods are compared using an acoustic model of the three bladed GL-10 propeller at different flight conditions, with training data generated using NASA’s ANOPP-PAS module. The source spheres used to train the networks capture the tonal propeller noise due to both the blade thickness and loading. This tonal noise prediction method allows the vehicle noise to be estimated for auralization and acoustic control. Three radial basis function neural network architectures are compared in this work. The first two networks directly estimate the parameters of the source sphere at different flight conditions but differ in the number of layers used. The third network estimates the parameters of the source sphere using a weighted combination of spherical basis functions. These networks are trained on numerically generated source spheres, with operating points given in terms of the propeller rotation rate, freestream speed, and propeller angle of attack. The performance of the neural network is determined using a validation dataset of withheld data points. This performance is quantified in terms of the approximation error, training time, and sample time. The third network, which estimates the weights of the spherical basis functions, performs the best in both average and maximum approximation errors in all cases. This network’s worst case performance is 5.6 % relative dif- ference of a model parameter associated with acoustic pressure. The direct estimation network with a single layer has the worst approximation error in all cases. Additionally, the spherically defined network has the slowest sample time at 0.05 seconds per thousand points. Both direct estimation methods produce a thousand sample points in approximately 0.001 seconds.

Acoustics↗

C‐Cracking of Brittle‐Material Spheres From Eccentric Hertzian Contact

Contact of brittle-material spheres can occur while they are manufactured, handled, or used in operation as roller elements or in deformably processed composite material. Statistically, the directional contact between two spheres will nearly always be oblique or eccentric in an unconfined and mobile sphere population. Although analyses of oblique contact exist, the portrayal of its maximum (tensile) first principal stress ( S 1 ) field is lacking. This information is needed for improved judgment of the prospect of crack initiation. Given these, the S 1 due to eccentric contact and subsequent crack initiation was analyzed using finite element analysis (FEA) and corroborative demonstration of c-crack creation. The FEA shows that an asymmetric S 1 field is created about the contact patch and is caused by superimposed shear intrinsic to eccentric contact. A crack will initiate if the maximum S 1 exceeds the material's tensile strength, and its field will cause the crack to propagate and arrest to form a C-shaped crack, or c-crack. C-crack initiation trends with lower applied forces, with greater amount of contact eccentricity, higher coefficient of friction, and smaller spherical radius. Finally, these metrics deserve recognition, especially when c-cracked brittle-material spheres are used in a system whose functionality or reliability is potentially compromised by the c-cracks.

Hertzian contact↗

Highly Accurate Experimental Heave Decay Tests with a Floating Sphere: A Public Benchmark Dataset for Model Validation of Fluid–Structure Interaction

Highly accurate and precise heave decay tests on a sphere with a diameter of 300 mm were completed in a meticulously designed test setup in the wave basin in the Ocean and Coastal Engineering Laboratory at Aalborg University, Denmark. The tests were dedicated to providing a rigorous benchmark dataset for numerical model validation. The sphere was ballasted to half submergence, thereby floating with the waterline at the equator when at rest in calm water. Heave decay tests were conducted, wherein the sphere was held stationary and dropped from three drop heights: a small drop height, which can be considered a linear case, a moderately nonlinear case, and a highly nonlinear case with a drop height from a position where the whole sphere was initially above the water. The precision of the heave decay time series was calculated from random and systematic standard uncertainties. At a 95% confidence level, uncertainties were found to be very low—on average only about 0.3% of the respective drop heights. Physical parameters of the test setup and associated uncertainties were quantified. A test case was formulated that closely represents the physical tests, enabling the reader to do his/her own numerical tests. The paper includes a comparison of the physical test results to the results from several independent numerical models based on linear potential flow, fully nonlinear potential flow, and the Reynolds-averaged Navier–Stokes (RANS) equations. A high correlation between physical and numerical test results is shown. The physical test results are very suitable for numerical model validation and are public as a benchmark dataset.

42 ENGINEERING↗

Spheres: from Ground Development to ISS Operations

SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) is an internal International Space Station (ISS) Facility that supports multiple investigations for the development of multi-spacecraft and robotic control algorithms. The SPHERES National Lab Facility aboard ISS is managed and operated by NASA Ames Research Center (ARC) at Moffett Field California. The SPHERES Facility on ISS consists of three self-contained eight-inch diameter free-floating satellites which perform the various flight algorithms and serve as a platform to support the integration of experimental hardware. SPHERES has served to mature the adaptability of control algorithms of future formation flight missions in microgravity (6 DOF (Degrees of Freedom) / long duration microgravity), demonstrate key close-proximity formation flight and rendezvous and docking maneuvers, understand fault diagnosis and recovery, improve the field of human telerobotic operation and control, and lessons learned on ISS have significant impact on ground robotics, mapping, localization, and sensing in three-dimensions - among several other areas of study.

SPHERES↗

Correlated Electromagnetic Levitation Actuator: A Reaction Sphere Based Attitude Control System

To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at NASA’s Marshall Space Flight Center have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. The probe also includes the ability to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL Finite Element Analysis and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller thatmitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.

controls↗

Correlated Electromagnetic Levitation Actuator: A Reaction Sphere-Based Attitude Control System

To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at National Aeronautics and Space Administration’s (NASA’s) Marshall Space Flight Center (MSFC) have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. We have also used high temperature ovens to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL finite element analysis (FEA) and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller that mitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.

reaction sphere↗

Massive spinning bosons on the celestial sphere

A natural extension of the Pasterski-Shao-Strominger (PSS) prescription is described, enabling the map of Minkowski space amplitudes with massive spinning external legs to the celestial sphere to be performed. An integral representation for the conformal primary wave function (CPW) of massive spinning bosons on the celestial sphere is derived explicitly for spin-one and -two. By analogy with the spin-zero case, the spinning bulk-to-boundary propagator on Euclidean AdS is employed to extend the massive CPW integral representation to arbitrary integer spin, and to describe the appropriate inverse transform of massive spinning CPWs back to the plane wave basis in Minkowski space. Subsequently, a massive spin-s momentum operator representation on the celestial sphere is determined, and used in conjunction with known Lorentz generators to derive Poincaré symmetry constraints on generic massive spinning two-, three- and four-point celestial amplitude structures. Finally, as a consistency check, three-point Minkowski space amplitudes of two massless scalars and a spin-one or -two massive boson are explicitly mapped to the celestial sphere, and the resulting three-point function coefficients are confirmed to be in exact agreement with the results obtained from Poincaré symmetry constraints.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Quantifying Outer- and Inner-Coordination Sphere Effects Using Uranium Redox Chemistry in Molten Salt Solutions

Defining the relative influence of intramolecular and intermolecular forces is a fundamental problem in chemistry that is difficult to quantify. To address this challenge, we developed a method to evaluate the relative impact of direct chemical bonding in the inner-coordination sphere vs effects from cations in the outer-coordination sphere by comparative analysis of uranium redox reactivity in various molten salts. We observed that outer-coordination sphere cations (M 1+ ) and inner-coordination sphere anions (X 1– ) both affected uranium redox reactivity, with more polarizing M 1+ and larger X 1– favoring uranium in low oxidation states. Changing M 1+ (Li, Na, K) shifted the U IV + e 1– ⇌ U III (U IV/III ) and U III + 3e 1– → U 0 metal potentials by +330 and +240 mV, respectively. Changing X 1– (Cl, Br, I) caused larger shifts of +440 mV for the U IV/III redox potential and +1060 mV for the U 0 metal deposition potential. Using Coulomb’s Law, we correlated these potentials with electrostatic interactions between UIII and the molten salt. This model provided a facile way of predicting redox chemistry within molten salts.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Bandgap tuning of two-dimensional materials by sphere diameter engineering

Developing a precise and reproducible bandgap tuning method that enables tailored design of materials is of crucial importance for optoelectronic devices. Towards this end, we report a sphere diameter engineering (SDE) technique to manipulate the bandgap of two-dimensional (2D) materials. A one-to-one correspondence with an ideal linear working curve is established between the bandgap of MoS 2 and the sphere diameter in a continuous range as large as 360 meV. Fully uniform bandgap tuning of all the as-grown MoS 2 crystals is realized due to the isotropic characteristic of the sphere. More intriguingly, both a decrease and an increase of the bandgap can be achieved by constructing a positive or negative curvature. By fusing individual spheres in the melted state, post-synthesis bandgap adjustment of the supported 2D materials can be realized. In conclusion, this SDE technique, showing good precision, uniformity and reproducibility with high efficiency, may further accelerate the potential applications of 2D materials.

36 MATERIALS SCIENCE↗

Prediction of tissue optical properties using the Monte Carlo modeling of photon transport in turbid media and integrating spheres

Monte Carlo methods are an established technique for simulating light transport in biological tissue. Integrating spheres make experimental measurements of the reflectance and transmittance of a sample straightforward and inexpensive. This work presents an extension to existing Monte Carlo photon transport methods to simulate integrating sphere experiments. Crosstalk between spheres in dual-sphere experiments is accounted for in the method. Analytical models, previous works on Monte Carlo photon transport, and experimental measurements of a synthetic tissue phantom validate this method. We present two approaches for using this method to back-calculate the optical properties of samples. Experimental and simulation uncertainties are propagated through both methods. Both back-calculation methods find the optical properties of a sample accurately and precisely. Our model is implemented in standard Python 3 and CUDA C++ [J. Nickolls, I. Buck, M. Garland, and K. Skadron, ACM Queue 6 , 40 ( 2008 ) ] and is publicly available in Code 1.

Cook, Patrick D. (ORCID:0000000279345428)↗

Impact of Changes in ENDF/B-VII.1 and ENDF/B-VIII.0 235U Nuclear Data Indicated by NDSE Studies on LLNL Pulsed Sphere Simulations

A recent journal article by J.A. Gomez et al. measured gamma-ray die-off curves of three subcritical static highly-enriched uranium (HEU) assemblies driven by an external neutron source with a new detector system. This new detector system was developed for being used in dynamically driven subcritical assemblies as part of the Neutron Diagnosed Subcritical Experiments (NDSE) program. Simulations of these die-off curves with various nuclear data and comparison to experimental data indicated that a decrease of the ENDF/B-VII.1 235 U(n,inl) cross section by a factor 0.8 and 0.85 for ENDF/B-VIII.0 would lead to better predictions of experimental data. Here, we test the proposed changes with another type of measurement response, namely neutron-leakage spectra emitted in LLNL pulsed sphere measurements. These spheres were pulsed by 14-MeV neutrons produced via the D+T reaction in their center. The proposed changes in nuclear data have a distinctly smaller impact on predicting pulsed-sphere neutron-leakage spectra than for the die-off curves; they lead to a worsened prediction of the inelastic valley of LLNL pulsed-sphere neutron spectra indicating that the proposed change could constitute a compensating error. Changes in the inelastic angular distributions along with the cross section might be worthwhile to study

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗