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NASA NTRS2006

X-37 Storable Propulsion System Design and Operations

In a response to NASA's X-37 TA-10 Cycle-1 contract, Boeing assessed nitrogen tetroxide (N2O4) and monomethyl hydrazine (MMH) Storable Propellant Propulsion Systems to select a low risk X-37 propulsion development approach. Space Shuttle lessons learned, planetary spacecraft, and Boeing Satellite HS-601 systems were reviewed to arrive at a low risk and reliable storable propulsion system. This paper describes the requirements, trade studies, design solutions, flight and ground operational issues which drove X-37 toward the selection of a storable propulsion system. The design of storable propulsion systems offers the leveraging of hardware experience that can accelerate progress toward critical design. It also involves the experience gained from launching systems using MMH and N2O4 propellants. Leveraging of previously flight-qualified hardware may offer economic benefits and may reduce risk in cost and schedule. This paper summarizes recommendations based on experience gained from Space Shuttle and similar propulsion systems utilizing MMH and N2O4 propellants. System design insights gained from flying storable propulsion are presented and addressed in the context of the design approach of the X-37 propulsion system.

Rodriguez, Henry↗
NASA NTRS2008

1KW Power Transmission Using Wireless Acoustic-Electric Feed-Through (WAEF)

A variety of space applications require the delivery of power into sealed structures. Since the structural integrity can be degraded by holes for cabling we present an alternative method of delivering power and information using stress waves to the internal space of a sealed structure. One particular application of this technology is in sample return missions where it is critical to preserve the sample integrity and to prevent earth contamination. Therefore, the container has to be hermetically sealed and the integrity of the seal must be monitored in order to insure to a high degree of reliability the integrity of the sample return vessel. In this study we investigated the use of piezoelectric acoustic-electric power feed-through devices to transfer electric power wirelessly through a solid wall by using elastic or acoustic waves. The technology is applicable to a range of space and terrestrial applications where power is required by electronic equipment inside sealed containers, vacuum or pressure vessels, etc., where holes in the wall are prohibitive or may result in significant structural performance degradation or unnecessarily complex designs. To meet requirements of higher power applications, the feasibility to transfer kilowatts level power was investigated. Pre-stressed longitudinal piezoelectric feed-through devices were analyzed by finite element models and an equivalent circuit model was developed to predict the power transfer characteristics to different electric loads. Based on the results of the analysis a prototype device was designed, fabricated and a demonstration of the transmission of electric power up to 1.068-kW was successfully conducted. Efficiencies in the 80-90% range were also demonstrated and methods to increase the efficiency further are currently being considered.

pressure vessels↗
NASA NTRS2007

ESAS-Derived Earth Departure Stage Design for Human Mars Exploration

The Vision for Space Exploration has set the nation on a course to have humans on Mars as early as 2030. To reduce the cost and risk associated with human Mars exploration, NASA is planning for the Mars architecture to leverage the lunar architecture as fully as possible. This study takes the defined launch vehicles and system capabilities from ESAS and extends their application to DRM 3.0 to design an Earth Departure Stage suitable for the cargo and crew missions to Mars. The impact of a propellant depot in LEO was assessed and sLzed for use with the EDS. To quantitatively assess and compare the effectiveness of alternative designs, an initial baseline architecture was defined using the ESAS launch vehicles and DRM 3.0. The baseline architecture uses three NTR engines, LH2 propellant, no propellant depot in LEO, and launches on the Ares I and Ares V. The Mars transfer and surface elements from DRM 3.0 were considered to be fixed payloads in the design of the EDS. Feasible architecture alternatives were identified from previous architecture studies and anticipated capabilities and compiled in a morphological matrix. ESAS FOMs were used to determine the most critical design attributes for the effectiveness of the EDS. The ESAS-derived FOMs used in this study to assess alternative designs are effectiveness and performance, affordability, reliability, and risk. The individual FOMs were prioritized using the AHP, a method for pairwise comparison. All trades performed were evaluated with respect to the weighted FOMs, creating a Pareto frontier of equivalently ideal solutions. Additionally, each design on the frontier was evaluated based on its fulfillment of the weighted FOMs using TOPSIS, a quantitative method for ordinal ranking of the alternatives. The designs were assessed in an integrated environment using physics-based models for subsystem analysis where possible. However, for certain attributes such as engine type, historical, performance-based mass estimating relations were more easily employed. The elements from the design process were integrated into a single loop, allowing for rapid iteration of subsystem analyses and compilation of resulting designs.

Flaherty, Kevin↗
NASA NTRS2012

Advances in the RXTE Proportional Counter Array Calibration: Nearing the Statistical Limit

During its 16 years of service Rossi X-ray Timing Explorer (RXTE) mission has provided an extensive archive of data, which will serve as a primary source of high cadence observation of variable X-ray sources for fast timing studies. It is, therefore, very important to have the most reliable calibration of RXTE instruments. The Proportional Counter Array (PCA) is the primary instrument on-board RXTE which provides data in 2-50 keY with higher than millisecond time resolution in up to 256 energy channels. In 2009 RXTE team revised the response residual minimization method used to derive the parameters of the PCA physical model. The procedure is now based on the residual minimization between the model spectrum for Crab nebula emission and a calibration data set consisting of a number of spectra from the Crab and the on-board Am241 calibration source, uniformly covering a whole RXTE span. The new method led to a much more effective model convergence and allowed for better understanding of the behavior of the PCA energy-to-channel relationship. It greatly improved the response matrix performance. We describe the new version of the RXTE/PCA response generator PCARMF vll.7 along with the corresponding energy-to-channel conversion table (version e05v04) and their difference from the previous releases of PCA calibration. The new PCA response adequately represents the spectrum of the calibration sources and successfully predicts the energy of the narrow iron emission line in Cas-A throughout the RXTE mission.

Shaposhnikov, Nikolai↗
NASA NTRS2012

Examining the Role of Environment in a Comprehensive Sample of Compact Groups

Compact groups, with their high number densities, small velocity dispersions, and an interstellar medium that has not been fully processed, provide a local analog to conditions of galaxy interactions in the earlier universe. The frequent and prolonged gravitational encounters that occur in compact groups affect the evolution of the constituent galaxies in a myriad of ways, for example, gas processing and star formation. Recently, a statistically significant "gap" has been discovered in the mid-infrared (MIR: 3.6-8 μm) IRAC color space of compact group galaxies. This gap is not seen in field samples and is a new example of how the compact group environment may affect the evolution of member galaxies. In order to investigate the origin and nature of this gap, we have compiled a larger sample of 37 compact groups in addition to the original 12 groups studied by Johnson et al. (yielding 174 individual galaxies with reliable MIR photometry). We find that a statistically significant deficit of galaxies in this gap region of IRAC color space is persistent in the full sample, lending support to the hypothesis that the compact group environment inhibits moderate specific star formation rates. Using this expanded sample, we have more fully characterized the distribution of galaxies in this color space and quantified the low-density region more fully with respect to MIR bluer and MIR redder colors. We note a curvature in the color-space distribution, which is fully consistent with increasing dust temperature as the activity in a galaxy increases. This full sample of 49 compact groups allows us to subdivide the data according to physical properties of the groups. An analysis of these subsamples indicates that neither projected physical diameter nor density shows a trend in color space within the values represented by this sample. We hypothesize that the apparent lack of a trend is due to the relatively small range of properties in this sample, whose groups have already been pre-selected to be compact and dense. Thus, the relative influence of stochastic effects (such as the particular distribution and amount of star formation in individual galaxies) becomes dominant. We analyze spectral energy distributions of member galaxies as a function of their location in color space and find that galaxies in different regions of MIR color space contain dust with varying temperatures and/or polycyclic aromatic hydrocarbon emission.

Environment↗
NASA NTRS2014

Stability and Control CFD Investigations of a Generic 53 Degree Swept UCAV Configuration

NATO STO Task Group AVT-201 on "Extended Assessment of Reliable Stability & Control Prediction Methods for NATO Air Vehicles" is studying various computational approaches to predict stability and control parameters for aircraft undergoing non-linear flight conditions. This paper contributes an assessment through correlations with wind tunnel data for the state of aerodynamic predictive capability of time-accurate RANS methodology on the group's focus configuration, a 53deg swept and twisted lambda wing UCAV, undergoing a variety of roll, pitch, and yaw motions. The vehicle aerodynamics is dominated by the complex non-linear physics of round leading-edge vortex flow separation. Correlations with experimental data are made for static longitudinal/lateral sweeps, and at varying frequencies of prescribed roll/pitch/yaw sinusoidal motion for the vehicle operating with and without control surfaces. The data and the derived understanding should prove useful to the AVT-201 team and other researchers who are developing techniques for augmenting flight simulation models from low-speed CFD predictions of aircraft traversing non-linear regions of a flight envelope.

Frink, Neal T.↗
NASA NTRS2013

A Satellite Mortality Study to Support Space Systems Lifetime Prediction

Estimating the operational lifetime of satellites and spacecraft is a complex process. Operational lifetime can differ from mission design lifetime for a variety of reasons. Unexpected mortality can occur due to human errors in design and fabrication, to human errors in launch and operations, to random anomalies of hardware and software or even satellite function degradation or technology change, leading to unrealized economic or mission return. This study focuses on data collection of public information using, for the first time, a large, publically available dataset, and preliminary analysis of satellite lifetimes, both operational lifetime and design lifetime. The objective of this study is the illustration of the relationship of design life to actual lifetime for some representative classes of satellites and spacecraft. First, a Weibull and Exponential lifetime analysis comparison is performed on the ratio of mission operating lifetime to design life, accounting for terminated and ongoing missions. Next a Kaplan-Meier survivor function, standard practice for clinical trials analysis, is estimated from operating lifetime. Bootstrap resampling is used to provide uncertainty estimates of selected survival probabilities. This study highlights the need for more detailed databases and engineering reliability models of satellite lifetime that include satellite systems and subsystems, operations procedures and environmental characteristics to support the design of complex, multi-generation, long-lived space systems in Earth orbit.

Fox, George↗
NASA NTRSDate not supplied

Comparison Between DSMC and CFD for Hypersonic Planetary Entry Simulations

Hypersonic planetary entry flows span a wide range of Knudsen numbers between rarefied and continuum flows. While computational fluid dynamics (CFD) techniques cannot provide an accurate solution for flows in the rarefied regime, the direct simulation Monte Carlo (DSMC) method is capable of providing accurate solutions for flows in both in the rarefied and continuum regimes but becomes prohibitively expensive as the Knudsen number decreases. For the purpose of thermal protection systems (TPS) design and post-flight reconstruction, various selected points along an entry trajectory are often solved using hypersonic solvers. The quantities of interest that are obtained from that exercise are generally surface quantities, such as pressure, heat flux and enthalpy. Then, material response solvers are used to either design the heat shield to an optimal thickness based on a choice of material, or to provide in-depth heating profiles through the material at various select locations, and compare with flight instrumentation such as the ones that flew on NASA’s two most recent Mars missions, MSL and Mars2020. While most of the heating is generally experienced during the continuum part of the entry, the heating within the rarefied regime is significant for some atmospheres, and hence the flow solutions need to be computed using the DSMC method. Ensuring consistency between hypersonic CFD and the DSMC is crucial so that reliable surface quantities can be passed to material response solvers. Studies were performed to compare the two methods at various select locations, for both non-reacting argon flows as well reacting CO2/N2 flows. Preliminary conclusions show that, for non-reacting flows, the agreement between the two methods for surface heating is excellent (within expected uncertainties) for a freestream Knudsen number of 0.0006, and gets progressively worse as the Knudsen number increases to 0.06. Continuum breakdown analyses were performed and showed that, in general, the Gradient Length Local Knudsen number (KnGLL) from Boyd [1] and associated criteria (KnGLL > 0.05) can be accurately used to predict zones of breakdown in the flow, and associated errors for surface quantities. Furthermore, when studying reacting flow, our studies showed that while flow quantities are highly dependent on relaxation parameters and chemistry rates, it is possible to obtain a good agreement for surface heating, as long as the continuum breakdown in minimal (see Fig. 1). Finally, we studied the impact of the grid refinement on the surface quantities in DSMC.

DSMC↗
NASA NTRSDate not supplied

Comparison Between DSMC and CFD for Hypersonic Planetary Entry Simulations

Hypersonic planetary entry flows span a wide range of Knudsen numbers between rarefied and continuum flows. While computational fluid dynamics (CFD) techniques cannot provide an accurate solution for flows in the rarefied regime, the direct simulation Monte Carlo (DSMC) method is capable of providing accurate solutions for flows in both in the rarefied and continuum regimes but becomes prohibitively expensive as the Knudsen number decreases. For the purpose of thermal protection systems (TPS) design and post-flight reconstruction, various selected points along an entry trajectory are often solved using hypersonic solvers. The quantities of interest that are obtained from that exercise are generally surface quantities, such as pressure, heat flux and enthalpy. Then, material response solvers are used to either design the heat shield to an optimal thickness based on a choice of material, or to provide in-depth heating profiles through the material at various select locations, and compare with flight instrumentation such as the ones that flew on NASA’s two most recent Mars missions, MSL and Mars2020. While most of the heating is generally experienced during the continuum part of the entry, the heating within the rarefied regime is significant for some atmospheres, and hence the flow solutions need to be computed using the DSMC method. Ensuring consistency between hypersonic CFD and the DSMC is crucial so that reliable surface quantities can be passed to material response solvers. Studies were performed to compare the two methods at various select locations, for both non-reacting argon flows as well reacting CO2/N2 flows. Preliminary conclusions show that, for non-reacting flows, the agreement between the two methods for surface heating is excellent (within expected uncertainties) for a freestream Knudsen number of 0.0006, and gets progressively worse as the Knudsen number increases to 0.06. Continuum breakdown analyses were performed and showed that, in general, the Gradient Length Local Knudsen number (KnGLL) from Boyd and associated criterion (KnGLL > 0.05) seems conservative in predicting zones of breakdown in the flow, and associated errors for surface quantities. Updated criteria of KnGLL = 2.0 and 0.5 appear to be more appropriate for surface and flow quantities, respectively. Furthermore, when studying reacting flows, our studies showed that while flow quantities are highly dependent on relaxation parameters and chemistry rates, it is possible to obtain a good agreement for surface heating, as long as the continuum breakdown is minimal.

DSMC↗
NASA NTRS1989

Liquid Rocket Booster (LRB) for the Space Transportation System (STS) systems study. Volume 1: Executive summary

The feasibility of replacing the Space Transportation System (STS) Solid Rocket Boosters (SRBs) with Liquid Rocket Boosters (LRBs) was studied. Feasibility required acceptable technical risk, program costs, and a program plan which supports STS requirements. Three major goals were identified to direct booster design and operation: increased STS safety and reliability; STS/LRB integration with minimum impact; and increased STS performance. Two booster engine designs were studied. The first engine design was a turbopump-fed engine with state-of-the-art design, and the second was a pressure-fed engine which might provide a lower cost alternative to the pump-fed concept. Both booster concepts were carried through to completion of conceptual design and all system impacts and program costs were identified. Applications for LRB use in the Advanced Launch System (ALS) program were studied using the pump-fed LRB baseline concept and variations on the baseline concept. Support for the Pressure-Fed Booster Test Bed (PFBTB) included test program planning and costs and technical support.

Source record↗
NASA NTRS2020

Exploring the Limits of the Data-Model-Theory Synergy: “Hot” MW Transitions for Rovibrational IR Studies

In order to further improve the accuracy of rovibrational IR line lists generated from the “Best Theory +Reliable High-resolution Experiment” (BTRHE) strategy from 0.01-0.05 cm-1, or 300-1500 MHz, to ~10 MHz, we explore the current limits of the Data-Model-Theory synergy by examining the accuracy and consistency of existing data, then propose that “hot” bands in microwave (MW) spectra is the solution we need for future enhancements. The Ames SO2 J=0-20 rovibrational energy levels computed on the semi-empirically refined Ames-2 potential energy surface (PES) are fit to the Effective Hamiltonian (EH) model regularly used in the experimental infrared (IR) analysis for SO2 isotopologues. In the fitted EH(Ames) model, the rotational constants A/B/C and all 5 quartic centrifugal distortion constants display clear, systematic, and consistent patterns along the vibrational state energy or quanta. Such consistent patterns may facilitate the vibrational assignments for MW hot bands and extract more information from high temperature MW spectra. Some EH(Expt) analyses were carried out with the lowest order Coriolis Coupling term, C1. Their constants should not be directly compared with other EH(Expt) and EH(Ames) results. After excluding them, our  = EH(Ames)- EH(Expt) analyses for 5 isotopologues (626, 636, 646, 628 and 828) indicates some loss of accuracy and consistency starting from vibrational states as low as 22 or 1000 cm-1. Some EH parameters, e.g. K, may have relative deviations as large as 50-100% and totally lose any recognizable patterns. This simply means that current EH(Expt) models do not have the system-wide consistency we need to further refine the EH(Ames) and Ames rovibrational IR line lists. A large part of such defects are probably inherited from the limited precision of experimental line positions, i.e. 1E-3 ~ 1E-4 cm-1, or 3-30 MHz. This is confirmed in a series of truncation tests using the Ames data. Although the EH(Ames) consistency may help identify unreliable rovibrational EH(Expt) parameters, and make reliable predictions for minor isotopologues and unobserved vibrational bands, we believe only the highly accurate “hot” MW transitions can provide real enhancements for EH(Expt) accuracy and consistency. “Hot” MW spectra should play a more significant role in the future synergy of Data, Model, and Theory in the field of rovibrational IR studies.

Xinchuan Huang↗
NASA NTRS2014

ECLSS Reliability for Long Duration Missions Beyond Lower Earth Orbit

Reliability has been highlighted by NASA as critical to future human space exploration particularly in the area of environmental controls and life support systems. The Advanced Exploration Systems (AES) projects have been encouraged to pursue higher reliability components and systems as part of technology development plans. However there is no consensus on what is meant by improving on reliability; nor on how to assess reliability within the AES projects. This became apparent when trying to assess reliability as one of several figures of merit for a regenerable water architecture trade study. In the spring of 2013, the AES Water Recovery Project (WRP) hosted a series of events at the NASA Johnson Space Center (JSC) with the intended goal of establishing a common language and understanding of our reliability goals, and equipping the projects with acceptable means of assessing our respective systems. This campaign included an educational series in which experts from across the agency and academia provided information on terminology, tools and techniques associated with evalauating and designing for system reliability. The campaign culminated in a workshop at JSC with members of the ECLSS and AES communities with the goal of developing a consensus on what reliability means to AES and identifying methods for assessing our low to mid-technology readiness level (TRL) technologies for reliability. This paper details the results of the workshop.

Sargusingh, Miriam J.↗
NASA NTRS2014

ECLSS Reliability for Long Duration Missions Beyond Lower Earth Orbit

Reliability has been highlighted by NASA as critical to future human space exploration particularly in the area of environmental controls and life support systems. The Advanced Exploration Systems (AES) projects have been encouraged to pursue higher reliability components and systems as part of technology development plans. However, there is no consensus on what is meant by improving on reliability; nor on how to assess reliability within the AES projects. This became apparent when trying to assess reliability as one of several figures of merit for a regenerable water architecture trade study. In the Spring of 2013, the AES Water Recovery Project (WRP) hosted a series of events at the NASA Johnson Space Center (JSC) with the intended goal of establishing a common language and understanding of our reliability goals and equipping the projects with acceptable means of assessing our respective systems. This campaign included an educational series in which experts from across the agency and academia provided information on terminology, tools and techniques associated with evaluating and designing for system reliability. The campaign culminated in a workshop at JSC with members of the ECLSS and AES communities with the goal of developing a consensus on what reliability means to AES and identifying methods for assessing our low to mid-technology readiness level (TRL) technologies for reliability. This paper details the results of the workshop.

Sargusingh, Miriam J.↗
NASA NTRS1993

Advanced transportation system study: Manned launch vehicle concepts for two way transportation system payloads to LEO

The purpose of the Advanced Transportation System Study (ATSS) task area 1 study effort is to examine manned launch vehicle booster concepts and two-way cargo transfer and return vehicle concepts to determine which of the many proposed concepts best meets NASA's needs for two-way transportation to low earth orbit. The study identified specific configurations of the normally unmanned, expendable launch vehicles (such as the National Launch System family) necessary to fly manned payloads. These launch vehicle configurations were then analyzed to determine the integrated booster/spacecraft performance, operations, reliability, and cost characteristics for the payload delivery and return mission. Design impacts to the expendable launch vehicles which would be required to perform the manned payload delivery mission were also identified. These impacts included the implications of applying NASA's man-rating requirements, as well as any mission or payload unique impacts. The booster concepts evaluated included the National Launch System (NLS) family of expendable vehicles and several variations of the NLS reference configurations to deliver larger manned payload concepts (such as the crew logistics vehicle (CLV) proposed by NASA JSC). Advanced, clean sheet concepts such as an F-1A engine derived liquid rocket booster (LRB), the single stage to orbit rocket, and a NASP-derived aerospace plane were also included in the study effort. Existing expendable launch vehicles such as the Titan 4, Ariane 5, Energia, and Proton were also examined. Although several manned payload concepts were considered in the analyses, the reference manned payload was the NASA Langley Research Center's HL-20 version of the personnel launch system (PLS). A scaled up version of the PLS for combined crew/cargo delivery capability, the HL-42 configuration, was also included in the analyses of cargo transfer and return vehicle (CTRV) booster concepts. In addition to strictly manned payloads, two-way cargo transportation systems (CTRV's) were also examined. The study provided detailed design and analysis of the performance, reliability, and operations of these concepts. The study analyzed these concepts as unique systems and also analyzed several combined CTRV/booster configurations as integrated launch systems (such as for launch abort analyses). Included in the set of CTRV concepts analyzed were the medium CTRV, the integral CTRV (in both a pressurized and unpressurized configuration), the winged CTRV, and an attached cargo carrier for the PLS system known as the PLS caboose.

Duffy, James B.↗
NASA NTRS1994

System concept definition of the Grumman superconducting Electromagnetic Suspension (EMS) Maglev design

Grumman, under contract to the Army Corps of Engineers, completed a System Concept Definition (SCD) study to design a high-speed 134 m/s (300 m.p.h.) magnetically levitated (Maglev) transportation system. The primary development goals were to design a Maglev that is safe, reliable, environmentally acceptable, and low-cost. The cost issue was a predominant one, since previous studies have shown that an economically viable Maglev system (one that is attractive to investors for future models of passenger and/or freight transportation) requires a cost that is about $12.4 M/km ($20 Million per mile). The design is based on the electromagnetic suspension (EMS) system using superconducting iron-core magnets mounted along both sides of the vehicle. The EMS system has several advantages compared to the electrodynamic suspension (EDS) Maglev systems such as low stray magnetic fields in the passenger cabin and the surrounding areas, uniform load distribution along the full length of the vehicle, and small pole pitch for smoother propulsion and ride comfort. It is also levitated at all speeds and incorporates a wrap-around design of safer operation. The Grumman design has all the advantages of an EMS system identified above, while eliminating (or significantly improving) drawbacks associated with normal magnet powered EMS systems. Improvements include larger gap clearance, lighter weight, lower number of control servos, and higher off line switching speeds. The design also incorporates vehicle tilt (plus or minus 9 deg) for higher coordinated turn and turn out speed capability.

Proise, M.↗
NASA NTRS2008

Reliability Assessment of Graphite Specimens under Multiaxial Stresses

An investigation was conducted to predict the failure strength response of IG-100 nuclear grade graphite exposed to multiaxial stresses. As part of this effort, a review of failure criteria accounting for the stochastic strength response is provided. The experimental work was performed in the early 1990s at the Oak Ridge National Laboratory (ORNL) on hollow graphite tubes under the action of axial tensile loading and internal pressurization. As part of the investigation, finite-element analysis (FEA) was performed and compared with results of FEA from the original ORNL report. The new analysis generally compared well with the original analysis, although some discrepancies in the location of peak stresses was noted. The Ceramics Analysis and Reliability Evaluation of Structures Life prediction code (CARES/Life) was used with the FEA results to predict the quadrants I (tensile-tensile) and quadrant IV (compression-tension) strength response of the graphite tubes for the principle of independent action (PIA), the Weibull normal stress averaging (NSA), and the Batdorf multiaxial failure theories. The CARES/Life reliability analysis showed that all three failure theories gave similar results in quadrant I but that in quadrant IV, the PIA and Weibull normal stress-averaging theories were not conservative, whereas the Batdorf theory was able to correlate well with experimental results. The conclusion of the study was that the Batdorf theory should generally be used to predict the reliability response of graphite and brittle materials in multiaxial loading situations.

Sookdeo, Steven↗
NASA NTRS2010

Excavator Design Validation

The Excavator Design Validation tool verifies excavator designs by automatically generating control systems and modeling their performance in an accurate simulation of their expected environment. Part of this software design includes interfacing with human operations that can be included in simulation-based studies and validation. This is essential for assessing productivity, versatility, and reliability. This software combines automatic control system generation from CAD (computer-aided design) models, rapid validation of complex mechanism designs, and detailed models of the environment including soil, dust, temperature, remote supervision, and communication latency to create a system of high value. Unique algorithms have been created for controlling and simulating complex robotic mechanisms automatically from just a CAD description. These algorithms are implemented as a commercial cross-platform C++ software toolkit that is configurable using the Extensible Markup Language (XML). The algorithms work with virtually any mobile robotic mechanisms using module descriptions that adhere to the XML standard. In addition, high-fidelity, real-time physics-based simulation algorithms have also been developed that include models of internal forces and the forces produced when a mechanism interacts with the outside world. This capability is combined with an innovative organization for simulation algorithms, new regolith simulation methods, and a unique control and study architecture to make powerful tools with the potential to transform the way NASA verifies and compares excavator designs. Energid's Actin software has been leveraged for this design validation. The architecture includes parametric and Monte Carlo studies tailored for validation of excavator designs and their control by remote human operators. It also includes the ability to interface with third-party software and human-input devices. Two types of simulation models have been adapted: high-fidelity discrete element models and fast analytical models. By using the first to establish parameters for the second, a system has been created that can be executed in real time, or faster than real time, on a desktop PC. This allows Monte Carlo simulations to be performed on a computer platform available to all researchers, and it allows human interaction to be included in a real-time simulation process. Metrics on excavator performance are established that work with the simulation architecture. Both static and dynamic metrics are included.

Pholsiri, Chalongrath↗
NASA NTRS1994

The cost of access to space

Nearly four decades into the space age, our biggest problem is still the high cost of transportation to space. Close behind are the relatively infrequent flight opportunities and high risk of the transportation systems we have. These problems are of course not independent; rather, they are interrelated measures of the difficulty of accelerating a payload through an ideal velocity increment of over 9 km/s and a height of 200 km or more in just a few minutes. These difficulties are not unrecognized, and the demand for newer, cheaper, more reliable, more frequently flying launch systems has been unending. Hundreds, maybe thousands of studies have been done on various approaches offering improved access to space, and each approach has its ardent supporters, convinced that no other approach can work as well. In the government, hardly a year passes without the attempted initiation of a new program to lower the cost and improve the reliability of space transportation. This paper does not attempt to decide the merits and demerits of various transportation concepts but examines the cost of access to space from a slightly different perspective, and attempts to use that perspective to reach some conclusions about characteristics that a next-generation system must have to yield lower cost, regardless of its design.

Griffin, Michael D.↗