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NASA NTRS1993

The Middeck Active Control Experiment (MACE)

The Middeck Active Control Experiment (MACE) is a NASA In-Step and Control Structure Interaction (CSI) Office funded Shuttle middeck experiment. The objective is to investigate the extent to which closed-loop behavior of flexible spacecraft in zero-gravity (0-g) can be predicted. This prediction becomes particularly difficult when dynamic behavior during ground testing exhibits extensive suspension and direct gravity coupling. On-orbit system identification and control reconfiguration is investigated to improve performance which would otherwise be limited due to errors in prediction. The program is presently in its preliminary design phase with launch expected in the summer of 1994. The MACE test article consists of three attitude control torque wheels, a two axis gimballing payload, inertial sensors and a flexible support structure. With the acquisition of a second payload, this will represent a multiple payload platform with significant structural flexibility. This paper presents on-going work in the areas of modelling and control of the MACE test article in the zero and one-gravity environments. Finite element models, which include suspension and gravity effects, and measurement models, derived from experimental data, are used as the basis for Linear Quadratic Gaussian controller designs. Finite element based controllers are analytically used to study the differences in closed-loop performance as the test article transitions between the 0-g and 1-g environments. Measurement based controllers are experimentally applied to the MACE test article in the 1-g environment and achieve over an order of magnitude improvement in payload pointing accuracy when disturbed by a broadband torque disturbance. The various aspects of the flight portion of the experiment are also discussed.

Miller, David W.↗

NASA NTRS1991

Lunar surface structural concepts and construction studies

The topics are presented in viewgraph form and include the following: lunar surface structures construction research areas; lunar crane related disciplines; shortcomings of typical mobile crane in lunar base applications; candidate crane cable suspension systems; NIST six-cable suspension crane; numerical example of natural frequency; the incorporation of two new features for improved performance of the counter-balanced actively-controlled lunar crane; lunar crane pendulum mechanics; simulation results; 1/6 scale lunar crane testbed using GE robot for global manipulation; basic deployable truss approaches; bi-pantograph elevator platform; comparison of elevator platforms; perspective of bi-pantograph beam; bi-pantograph synchronously deployable tower/beam; lunar module off-loading concept; module off-loader concept packaged; starburst deployable precision reflector; 3-ring reflector deployment scheme; cross-section of packaged starburst reflector; and focal point and thickness packaging considerations.

Mikulas, Martin↗

NASA NTRS1993

Evaluation of actuators for the SDOF and MDOF active microgravity isolation systems

The University of Virginia examined the design of actuators for both single-degree-of-freedom (SDOF) and multiple-degree-of-freedom (MDOF) active microgravity isolation systems. For SDOF systems, two actuators were considered: a special large gap magnetic actuator and a large stroke Lorentz actuator. The magnetic actuator was viewed to be of greater difficulty than the Lorentz actuator with little compelling technical advantage and was dropped from consideration. A Lorentz actuator was designed and built for the SDOF test rig using magnetic circuit and finite element analysis. The design and some experimental results are discussed. The University also examined the design of actuators for MDOF isolation systems. This includes design of an integrated 1 cm gap 6-DOF noncontacting magnetic suspension system and of a 'coarse' follower which permits the practical extension of magnetic suspension to large strokes. The proposed 'coarse' actuator was a closed kinematic chain manipulator known as a Stewart Platform. The integration of the two isolation systems together, the isolation tasks assigned to each, and possible control architectures were also explored. The results of this research are examined.

Source record↗

NASA NTRS1993

Qualitative model-based diagnostics for rocket systems

A diagnostic software package is currently being developed at NASA LeRC that utilizes qualitative model-based reasoning techniques. These techniques can provide diagnostic information about the operational condition of the modeled rocket engine system or subsystem. The diagnostic package combines a qualitative model solver with a constraint suspension algorithm. The constraint suspension algorithm directs the solver's operation to provide valuable fault isolation information about the modeled system. A qualitative model of the Space Shuttle Main Engine's oxidizer supply components was generated. A diagnostic application based on this qualitative model was constructed to process four test cases: three numerical simulations and one actual test firing. The diagnostic tool's fault isolation output compared favorably with the input fault condition.

Maul, William↗

NASA NTRS1992

Effects of insulin and exercise on rat hindlimb muscles after simulated microgravity

The effect of simulated microgravity on the insulin- and exercise-stimulated glucose uptake and metabolism in the hindlimb muscles of rats was investigated using three groups of rats suspended at 45 head-down tilt (SUS) for 14 days: (1) cage control, (2) exercising (treadmill running) control, and (3) rats subjected to suspension followed by exercise (SUS-E). It was found that the suspension of rats with hindlimbs non-weight bearing led to enhanced muscle responses to insulin and exercise, when these stimuli were applied separately. However, the insulin affect appeared to be impaired after exercise for the SUS-E rats, especially for the soleus muscle.

Stump, Craig S.↗

NASA NTRS1992

Magnetic bearings for free-piston Stirling engines

The feasibility and efficiency of applying magnetic bearings to free-piston Stirling-cycle power conversion machinery currently being developed for long-term space missions are assessed. The study was performed for a 50-kWe Reference Stirling Space Power Converter (RSSPC) which currently uses hydrostatic gas bearings to support the reciprocating displacer and power piston assemblies. Active magnetic bearings of the attractive electromagnetic type are feasible for the RSSPC power piston. Magnetic support of the displacer assembly would require unacceptable changes to the design of the current RSSPC. However, magnetic suspension of both displacer and power piston is feasible for a relative-displacer version of the RSSPC. Magnetic suspension of the RSSPC power piston can potentially increase overall efficiency by 0.5 to 1 percent (0.1 to 0.3 efficieny points). Magnetic bearings will also overcome several operational concerns associated with hydrostatic gas bearing systems. These advantages, however, are accompanied by a 5 percent increase in specific mass of the RSSPC.

Curwen, P. W.↗

NASA NTRS1993

Estimating free-body modal parameters from tests of a constrained structure

Hardware advances in suspension technology for ground tests of large space structures provide near on-orbit boundary conditions for modal testing. Further advances in determining free-body modal properties of constrained large space structures have been made, on the analysis side, by using time domain parameter estimation and perturbing the stiffness of the constraints over multiple sub-tests. In this manner, passive suspension constraint forces, which are fully correlated and therefore not usable for spectral averaging techniques, are made effectively uncorrelated. The technique is demonstrated with simulated test data.

Cooley, Victor M.↗

NASA NTRS1993

Spaceflight on STS-48 and earth-based unweighting produce similar effects on skeletal muscle of young rats

Eight female albino rats were exposed to 5.4 days of weightlessness aboard the Space Shuttle mission STS-48 in 1991. An asynchronous ground control experiment mimicked the flight cage conditions and mission duration of the STS-48 rats, and a third group of animals underwent limb suspension for 5.4 days. The flight animals gained a greater percentage of body mass per day despite similar rates of food consumption in the three groups. The results obtained on insulin response and muscle size show that a tail-cast hindlimb-suspension model is suitable for mimicking the effects of weightlessness on rapidly growing juvenile rat muscles.

Tischler, Marc E.↗

NASA NTRS1993

Qualitative model-based diagnostics for rocket systems

Maul, William↗

NASA NTRS1923

Bending moments, envelope, and cable stresses in non-rigid airships

This report describes the theory of calculating the principal stresses in the envelope of a nonrigid airship used by the Bureau of Aeronautics, United States Navy. The principal stresses are due to the gas pressure and the unequal distribution of weight and buoyancy, and the concentrated loads from the car suspension cables. The second part of the report deals with the variations of tensions in the car suspension cables of any type of airship, with special reference to the rigid type, due to the propeller thrust or the inclination of the airship longitudinally.

Burgess, C P↗

NASA NTRS1938

Behavior of Static Pressure Heads at High Speeds

These tests proved the practicability of static pressure heads at speeds up to 400 km/h (248.5 mph). It weighs 6.5 kg or 2.5 times as much as the old head. The position of the pressure head below the airplane was determined by bearing method at different speeds and for different lengths of suspension. It was established that for the measured speed range a 20 to 24 meter suspension length was sufficient to assure a minimum distance of 6 meters from the airplane without introducing any appreciable errors in the results due to wrong static pressure.

Danielzig, Helmut↗

NASA NTRS1991

Mechanistic studies on reduced exercise performance and cardiac deconditioning with simulated zero gravity

The primary purpose of this research is to study the physiological mechanisms associated with the exercise performance of rats subjected to conditions of simulated weightlessness. A secondary purpose is to study related physiological changes associated with other systems. To facilitate these goals, a rodent suspension model was developed (Overton-Tipton) and a VO2 max testing procedure was perfected. Three methodological developments occurred during this past year deserving of mention. The first was the refinement of the tail suspension model so that (1) the heat dissipation functions of the caudal artery can be better utilized, and (2) the blood flow distribution to the tail would have less external constriction. The second was the development on a one-leg weight bearing model for use in simulated weightlessness studies concerned with change in muscle mass, muscle enzyme activity, and hind limb blood flow. The chemical body composition of 30 rats was determined and used to develop a prediction equation for percent fat using underwater weighing procedures to measure carcass specific gravity and to calculate body density, body fat, and fat free mass.

Tipton, Charles M.↗

NASA NTRS1993

Amphibian fertilization and development in microgravity

During the year before launch, female frogs will be tested every 3 months for the quantity and quality of eggs produced. Two weeks or more prior to launch, male and female frogs will be transported to the John F. Kennedy Space Center (KSC). During the few weeks before launch, groups will be periodically tested for egg quality to assure that the frogs have adapted to the KSC laboratory environment. About 27 hours before launch, four females will be placed in a damp foam-lined box, called the Adult Frog Box (AFB), through which 100 cc/min of air wil be circulated. The AFB will be lowered into the Spacelab and loaded into the Frog Environmental Unit (FEU) during the final pre-launch preparations. A sperm suspension, for use in flight to fertilize the eggs, will also be prepared and loaded during the pre-launch period. The sperm suspension, together with a kit of syringes containing Human Chorionic Gonadotropin (HCG), will be stored in a refrigerator aboard the shuttle until needed in flight. On the first day of flight, the AFB will be transferred from the FEU to the General Purpose Work Station (GPWS), which is a type of glove box specially designed to allow the crew to use chemicals and biological materials during the flight without contaminating the shuttle/Spacelab environment. Inside the GPWS the four adult frogs will be injected with the HCG hormone and returned to the FEU. Approximately 16 hours after injection, ovulation should have taken place and 15 to 20 eggs from each frog will be placed on each of two egg baskets and covered with sperm for 10 minutes. The egg baskets are inserted into acrylic egg chambers and 50 ml of 'pond water' (20 percent strength Modified Ringers solution (is added. One of the chambers from each frog will be placed on a centrifuge within the FEU and rotated to simulate normal terrestrial gravity (1 g). The remaining chambers are incubated under microgravity conditions within the FEU. Forty minutes after fertilization, the four chambers exposed to 1 g will be removed and observed within the GPWS using a dissecting microscope and camera system. On the basis of egg rotation and egg appearance, the 'best' and 'second best' frogs will be selected to contribute additional eggs. Using the two best frogs, 22 egg chambers will be loaded with eggs and fertilized. Eleven chambers wil be incubated at microgravity and eleven will be incubated on the centrifuge. At various times during the flight, chambers will be removed from the FEU and transferred to the GPWS where a formaldehyde-based fixative will be injected in order to preserve important developmental stages for in depth study following the flight. Five of the 22 chambers plus the eight fertilization test chambers will be returned to Earth with live tadpoles. The swimming behavior of these free swimming tadpoles will be examined within several hours of landing and some will be fixed for a detailed analysis of their inner ear, the otolity, the animals 'balance system.' Lychakov and Vinikov reported an increase in otolith size in tadpoles that developed (but were not fertilized) in space. Live tadpoles from the SL-J flight will be raised through metamorphsis for studies of maturation including an analysis of the effects of space flight on their ability to produce normal progency. Following the flight, the fixed embryos will be serially sectioned and stained using procedures that were developed for this experiment. The embroys fixed at the 2-4 cell stage will be examined for the distribution of cytoplasmic contents, including the various classes of yolk platelets, and the location and shape of the cleavage furrows. The gastrulae will be assessed for the normality of the complex cellular rearrangements that constitute blastopore formation and involution, i.e., the differentiation of the embryo into its specialized body parts. Using a new procedure, the gastrulae will be bleached which will enable the initial sperm entry point (SEP) to be located. The correlation between the SEP and the dorsal lip of the blastopore will be determined. Under normal terrestrial conditions it was shown that the SEP typically is located on the side of the egg opposite the future dorsal side of the embryo. The neurulae will be examined for the normality and completeness of the neural plate and archenteron expansion. The tadpole stages will be used to study the allometry and morphology of the various organ systems.

Souza, Kenneth A.↗

NASA NTRS1993

Dust transport in the Martian atmosphere

Dust in suspension within the martian atmosphere is an important driver of the atmospheric thermal and, ultimately, dynamical states. By virtue of its presence in the atmosphere, this suspended dust is susceptible to transport by the winds and thus the location from which dust is lifted from the surface is not necessarily the location at which it will return to the surface. Such surface dust lifting and subsequent transport, when accumulated over daily, seasonal and annual time intervals define the martian dust cycle. The atmospheric transport element (and equally surface lifting and redeposition) of this cycle is strongly dependent upon season and the quantity of dust in suspension. The seasonal dependence arises due to the dominance of particular components of the atmospheric circulation at particular locations (latitudes) at various times through the year. The dependence on dust abundance is due to the amount of dust available for transport, but it is also due to the influence that the dust has on the intensity of the circulation. As dust abundance and therefore its radiative influence increases, some components of the circulation intensity (Hadley circulation, thermal tides), while some components may decline in intensity (baroclinic waves, condensation flow). For these reasons, our ability to understand the martian dust cycle is dependent on our ability to define the contributions that various circulation components, under varying seasonal and dust-radiative forcings, play in the transport of dust around the planet.

Murphy, James R.↗

NASA NTRS1994

Method for forming thin composite solid electrolyte film for lithium batteries

A composite solid electrolyte film is formed by dissolving a lithium salt such as lithium iodide in a mixture of a first solvent which is a co-solvent for the lithium salt and a binder polymer such as polyethylene oxide and a second solvent which is a solvent for the binder polymer and has poor solubility for the lithium salt. Reinforcing filler such as alumina particles are then added to form a suspension followed by the slow addition of binder polymer. The binder polymer does not agglomerate the alumina particles. The suspension is cast into a uniform film.

Nagasubramanian, Ganesan↗

NASA NTRS1993

Mars rover mechanisms designed for Rocky 4

A Mars rover prototype vehicle named Rocky 4 was designed and built at JPL during the fall of 1991 and spring 1992. This vehicle is the fourth in a series of rovers designed to test vehicle mobility and navigation software. Rocky 4 was the first attempt to design a vehicle with 'flight like' mass and functionality. It was consequently necessary to develop highly efficient mechanisms and structures to meet the vehicles very tight mass limit of 3 Kg for the entire mobility system (7 Kg for the full system). This paper will discuss the key mechanisms developed for the rover's innovative drive and suspension system. These are the wheel drive and strut assembly, the rocker-bogie suspension mechanism and the differential pivot. The end-to-end design, analysis, fabrication and testing of these components will also be discussed as will their performance during field testing. The lessons learned from Rocky 4 are already proving invaluable for the design of Rocky 6. Rocky 6 is currently being designed to fly on NASA's MESUR mission to Mars scheduled to launch in 1996.

Rivellini, Tommaso P.↗

NASA NTRS1994

Continuous monitoring of bacterial attachment

A major concern with the Space Station Freedom (SSF) water supply system is the control of longterm microbial contamination and biofilm development in the water storage and distribution systems. These biofilms have the potential for harboring pathogens as well as microbial strains containing resistance factors that could negatively influence crew health. The proposed means for disinfecting the water system on SSF (iodine) may encourage the selection of resistant strains. In fact, biofilm bacteria were observed in water lines from the Space Shuttle Columbia (OV-102); therefore, an alternative remediation method is required to disinfect spacecraft water lines. A thorough understanding of colonization events and the physiological parameters that will influence bacteria adhesion is required. The limiting factor for development of this technology is the ability to continuously monitor adhesion events and the effects of biocides on sessile bacteria. Methods were developed to allow bacterial adhesion and subsequent biocidal treatment to be monitored continuously. This technique couples automated image analysis with a continuous flow of a bacterial suspension through an optical flow cell. A strain of Pseudomonas cepacia isolated from the water supply of the Space Shuttle Discovery (OV-103) during STS-39 was grown in a nitrogen-limited continuous culture. This culture was challenged continuously with iodine during growth, and the adhesion characteristics of this strain was measure with regard to flow rate. Various biocides (ozone, hypochlorite, and iodine) were added to the flow stream to evaluate how well each chemical removed the bacteria. After biocide treatment, a fresh bacterial suspension was introduced into the flow cell, and the attachment rate was evaluated on the previously treated surface. This secondary fouling was again treated with biocide to determine the efficacy of multiple batch chemical treatments in removing biofilm.

Koeing, D. W.↗

NASA NTRS1994

Measurement and characterization of force dynamics in high T(sub c) superconductors

Magnetic bearing implementations using more exotic superconducting phenomena have been proliferating in recent years because they have important advantages over conventional implementations. For example, the stable suspension of a six degrees-of-freedom object by superconducting means can be achieved without a control system and with the use of only a single superconductor. It follows that the construction becomes much simpler with decreased need for position sensors and stabilizers. However, it is recognized that the design of superconducting systems can be difficult because important characteristics relating to the 6 degree-of-freedom dynamics of an object suspended magnetically are not readily available and the underlying principles of superconducting phenomena are not yet completely understood. To eliminate some of the guesswork in the design process, this paper proposes a system which can resolve the mechanical properties of suspension by superconductivity and provide position and orientation dependent data about the system's damping, stiffness, and frequency response characteristics. This system employs an actively-controlled magnetically-suspended fine-motion device that can also be used as a six degree-of-freedom force sensor. By attaching the force sensor to a permanent magnet that is being levitated above a superconducting magnet, mechanical characteristics of the superconductor levitation can be extracted. Such information would prove useful for checking the validity of theoretical models and may even give insights into superconducting phenomena.

Higuchi, Toshiro↗