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NASA NTRS1987

Direct adaptive control of manipulators in Cartesian space

A new adaptive-control scheme for direct control of manipulator end effector to achieve trajectory tracking in Cartesian space is developed in this article. The control structure is obtained from linear multivariable theory and is composed of simple feedforward and feedback controllers and an auxiliary input. The direct adaptation laws are derived from model reference adaptive control theory and are not based on parameter estimation of the robot model. The utilization of adaptive feedforward control and the inclusion of auxiliary input are novel features of the present scheme and result in improved dynamic performance over existing adaptive control schemes. The adaptive controller does not require the complex mathematical model of the robot dynamics or any knowledge of the robot parameters or the payload, and is computationally fast for on-line implementation with high sampling rates. The control scheme is applied to a two-link manipulator for illustration.

Seraji, H.↗

NASA NTRS1987

Effects of fire on composition, biomass, and nutrients in oak scrub vegetation on John F. Kennedy Space Center, Florida

Four stands of oak scrub two, four, eight, and 25 years since fire were sampled with permanent 15 m line transects. Percent cover by species was determined. Plant samples were analyzed for a variety of substances. Transects were resurveyed in 1985 for vegetation parameters. Nutrient pools in biomass were calculated from biomass data and tissue nutrient concentrations. Soil nutrient pools were calculated from nutrient concentrations and bulk density. Species distribution and soil chemical properties were found to be closely related to water table depth. The following fire-related conclusions are reached: (1) major structural changes occur in scrub after fire in that shrub height is reduced and requires four to six years to exceed 1 m; (2) reduction in shrub height affects the suitability of scrub for the Florida scrub jay (3) live biomass increases with time since fire; (4) nutrient concentrations in live biomass do not change with time since fire; (5) species composition and richness are little changed after fire; and (6) imposition of a continued regime of burning on a three-year cycle may have adverse impacts not indicated by the recovery of scrub from a single fire.

Schmalzer, Paul A.↗

NASA NTRS1989

Measurements of complex permittivity of microwave substrates in the 20 to 300 K temperature range from 26.5 to 40.0 GHz

A knowledge of the dielectric properties of microwave substrates at low temperatures is useful in the design of superconducting microwave circuits. Results are reported for a study of the complex permittivity of sapphire (Al2O3), magnesium oxide (MgO), silicon oxide (SiO2), lanthanum aluminate (LaAlO3), and zirconium oxide (ZrO2), in the 20 to 300 Kelvin temperature range, at frequencies from 26.5 to 40.0 GHz. The values of the real and imaginary parts of the complex permittivity were obtained from the scattering parameters, which were measured using a HP-8510 automatic network analyzer. For these measurements, the samples were mounted on the cold head of a helium gas closed cycle refrigerator, in a specially designed vacuum chamber. An arrangement of wave guides, with mica windows, was used to connect the cooling system to the network analyzer. A decrease in the value of the real part of the complex permittivity of these substrates, with decreasing temperature, was observed. For MgO and Al2O3, the decrease from room temperature to 20 K was of 7 and 15 percent, respectively. For LaAlO3, it decreased by 14 percent, for ZrO2 by 15 percent, and for SiO2 by 2 percent, in the above mentioned temperature range.

Miranda, Felix A.↗

NASA NTRS1989

X-ray morphologies of Abell clusters

Results are presented for X-ray measurements made with the Einstein Observatory's IPC for a sample of 49 Abell clusters, which were used to determine quantitative measures of two morphological parameters of these clusters, the orientation and ellipticity. Consideration is given to the techniques used for estimating and removing background noise in the images and for determining the variation of these parameters with the flux level of a cluster. It was found that most clusters are clearly flattened; for 20 of these clusters, the orientation was unambiguously determined. A catalog of cluster properties is presented.

Mcmillan, S. L. W.↗

NASA NTRS1989

Flight motor set 360T004 (STS-30R). Volume 1: System overview

The fourth NASA space shuttle flight incorporating redesigned solid rocket motors began on 4 May 1989. The flight motors were designated 360Q004A (left-hand) and 360H004B (right-hand); the mission was designated STS-30R. Overall engine performance was excellent. The low sample rate data that was available showed exceptional propulsion performance. All ballistic and mass property parameters closely matched the predicted values and were well within the required contract end item specification levels that could be assessed. No strain, vibration, or aft skirt heating environments could be addressed due to developmental flight instrumentation deletion. Infrared readings from the shuttle thermal imager were considered very good when compared with ground environment instrumentation readings taken during both the aborted and the actual countdowns. However, hand-held infrared gun reading/ground environment instrumentation comparisons were considered poor during both countdowns, with the exception of the T - 3 hour timeframe during the actual launch. Postflight inspection again verified superior performance of the insulation, phenolics, metal parts, and seals. All combustion gas was contained by the insulation in the field and case-to-nozzle joints. Inadequate parachute performance on the left-hand booster caused high splashdown loads, which resulted in a displaced nozzle and factory joint weatherseal unbond anomalies. Recommendations were made concerning improved thermal modeling and instruments. The rationale for these recommendations, the dispositions of all anomalies, and complete result details are given.

Ricks, Glenn A.↗

NASA NTRS1991

Early results from the Cosmic Background Explorer (COBE)

Data obtained with the FIR Absolute Spectrophotometer, Differential Microwave Radiometers, and Diffuse IR Background Experiment (DIRBE) on the COBE satellite since its launch in November 1989 are briefly characterized. The COBE spacecraft and its 900-km 99-deg orbit are described; the scientific goals and capabilities of the instruments are reviewed; and sample DIRBE data are presented in a map and graph. Upper limits on the Comptonization parameter (y less than 0.001) and the chemical potential (mu less than 0.01 at the 3sigma level) are determined, and the spectrum of the dipole anisotropy is shown to be that of a Doppler-shifted blackbody. The DIRBE 100-micron sky brightness values at the ecliptic poles are found to be significantly lower than those measured by IRAS.

Mather, J. C.↗

NASA NTRS1990

Measurements of complex permittivity of microwave substrates in the 20 to 300 K temperature range from 26.5 to 40.0 GHz

A knowledge of the dielectric properties of microwve substrates at low temperatures is useful in the design of superconducting microwave circuits. Results are reported for a study of the complex permittivity of sapphire (Al2O3), magnesium oxide (MgO), silicon oxide (SiO2), lanthanum aluminate (LaAlO3), and zirconium oxide (ZrO2), in the 20 to 300 Kelvin temperature range, at frequencies from 26.5 to 40.0 GHz. The values of the real and imaginary parts of the complex permittivity were obtained from the scattering parameters, which were measured using an HP-8510 automatic network analyzer. For these measurements, the samples were mounted on the cold head of a helium gas closed cycle refrigerator, in a specially designated vacuum chamber. An arrangement of wave guides, with mica windows, was used to connect the cooling system to the network analyzer. A decrease in the value of the real part of the complex permittivity of these substrates, with decreasing temperature, was observed. For MgO and Al2O3, the decrease from room temperature to 20 K was of 7 and 15 percent, respectively. For LaAlO3, it decreased by 14 percent, for ZrO2 by 15 percent, and for SiO2 by 2 percent, in the above mentioned temperature range.

Miranda, Felix A.↗

NASA NTRS1993

The influence of a microgravity environment on the dendritic morphology during directional solidification of hypoeutectic Al-Si alloys

NASA grant NAGW-2540 provided the opportunity to evaluate and extend ongoing studies of directionally solidified Al-Si alloys. Microstructural development was further characterized in terms of solidification processing parameters; novel relationships between processing and development of dendrite trunk diameters and tertiary dendrite arm spacings were found. This has resulted in three publications (one in print, one in press, and one in review). Microstructural development under conditions of controlled acceleration during directional solidification has been investigated; this has culminated in a Master's degree and will be submitted for publication. The above work not only contributes to our understanding of solidification phenomena but also defines the processing parameters for a successful microgravity experiment while providing a data base to which mu g samples can be unequivocally compared and evaluated.

Grugel, Richard N.↗

NASA NTRS1993

Parallel runway requirement analysis study. Volume 2: Simulation manual

This document is a user manual for operating the PLAND_BLUNDER (PLB) simulation program. This simulation is based on two aircraft approaching parallel runways independently and using parallel Instrument Landing System (ILS) equipment during Instrument Meteorological Conditions (IMC). If an aircraft should deviate from its assigned localizer course toward the opposite runway, this constitutes a blunder which could endanger the aircraft on the adjacent path. The worst case scenario would be if the blundering aircraft were unable to recover and continue toward the adjacent runway. PLAND_BLUNDER is a Monte Carlo-type simulation which employs the events and aircraft positioning during such a blunder situation. The model simulates two aircraft performing parallel ILS approaches using Instrument Flight Rules (IFR) or visual procedures. PLB uses a simple movement model and control law in three dimensions (X, Y, Z). The parameters of the simulation inputs and outputs are defined in this document along with a sample of the statistical analysis. This document is the second volume of a two volume set. Volume 1 is a description of the application of the PLB to the analysis of close parallel runway operations.

Ebrahimi, Yaghoob S.↗

NASA NTRS1999

Observational Review of Gamma-Ray Bursts

The observed gamma-ray temporal, spectral, intensity and spatial distribution characteristics of GRBs, primarily from data obtained from the Compton Observatory, will be described. The talk will concentrate on recent studies of burst properties, correlations of GRB parameters and other statistical studies that have only recently come to light with the unprecedented sample of over two thousand GRBs, along with some mention of studies in progress by members of the BATSE team. Recent studies of possible observational biases, un-triggered GRBs and threshold calculations for BATSE will also be described.

Fishman, Gerald J.↗

NASA NTRS1998

Observational Review of Gamma-Ray Bursts

The observed gamma-ray temporal, spectral, intensity and spatial distribution characteristics of GRBs (Gamma Ray Bursts), primarily from data obtained from the Compton Observatory, will be described. The talk will concentrate on recent studies of burst properties, correlations of GRB parameters and other statistical studies that have only recently come to light with the unprecedented sample of over two thousand GRBs, along with some mention of studies in progress by members of the BATSE (Burst and Transient Source Experiment) team. Recent studies of possible observational biases, un-triggered GRBs and threshold calculations for BATSE will also be described.

Fishman, Gerald J.↗

NASA NTRS1999

A Spreadsheet Simulation Tool for Terrestrial and Planetary Balloon Design

During the early stages of new balloon design and development, it is necessary to conduct many trade studies. These trade studies are required to determine the design space, and aid significantly in determining overall feasibility. Numerous point designs then need to be generated as details of payloads, materials, mission, and manufacturing are determined. To accomplish these numerous designs, transient models are both unnecessary and time intensive. A steady state model that uses appropriate design inputs to generate system-level descriptive parameters can be very flexible and fast. Just such a steady state model has been developed and has been used during both the MABS 2001 Mars balloon study and the Ultra Long Duration Balloon Project. Using Microsoft Excel's built-in iteration routine, a model was built. Separate sheets were used for performance, structural design, materials, and thermal analysis as well as input and output sheets. As can be seen from figure 1, the model takes basic performance requirements, weight estimates, design parameters, and environmental conditions and generates a system level balloon design. Figure 2 shows a sample output of the model. By changing the inputs and a few of the equations in the model, balloons on earth or other planets can be modeled. There are currently several variations of the model for terrestrial and Mars balloons, as well there are versions of the model that perform crude material design based on strength and weight requirements. To perform trade studies, the Visual Basic language built into Excel was used to create an automated matrix of designs. This trade study module allows a three dimensional trade surface to be generated by using a series of values for any two design variables. Once the fixed and variable inputs are defined, the model automatically steps through the input matrix and fills a spreadsheet with the resulting point designs. The proposed paper will describe the model in detail, including current variations. The assumptions, governing equations, and capabilities will be addressed. Detailed examples of the model in practice will also be used.

Raquea, Steven M.↗

NASA NTRS1999

Observational Review of Gamma-Ray Bursts

Fishman, Gerald J.↗

NASA NTRS2000

Joint Discussion/Mini-Workshop: Gamma-Ray Bursts and their Hosts

Fishman, Gerald J.↗

NASA NTRS2000

Ten Years of Gamma-Ray Bursts Observations with BATSE

The observed gamma-ray temporal, spectral, intensity and spatial distribution characteristics of GRBs from data obtained from BATSE/Compton Observatory, will be described. The talk will concentrate on recent studies of burst properties, correlations of GRB parameters and other statistical studies that have only recently come to light with the unprecedented sample of over 2700 GRBS. Recent studies of possible observational biases, un-triggered GRBs and threshold calculations for BATSE will also be described.

Fishman, Gerald J.↗

NASA NTRS2006

Aircraft Particle Emissions eXperiment (APEX)

APEX systematically investigated the gas-phase and particle emissions from a CFM56-2C1 engine on NASA's DC-8 aircraft as functions of engine power, fuel composition, and exhaust plumage. Emissions parameters were measured at 11 engine power, settings, ranging from idle to maximum thrust, in samples collected at 1, 10, and 30 m downstream of the exhaust plane as the aircraft burned three fuels to stress relevant chemistry. Gas-phase emission indices measured at 1 m were in good agreement with the ICAO data and predictions provided by GEAE empirical modeling tools. Soot particles emitted by the engine exhibited a log-normal size distribution peaked between 15 and 40 nm, depending on engine power. Samples collected 30 m downstream of the engine exhaust plane exhibited a prominent nucleation mode.

Wey, C. C.↗

NASA NTRS2007

Relative Bioavailability of Scopolamine Dosage Forms and Interaction with Dextroamphetamine

The NASA Reduced Gravity Office (RGO) uses scopolamine (SCOP) and in combination with dextoamphetamine (DEX) to manage motion sickness symptoms during parabolic flights. The medications are dispensed as custom dosage forms as gelatin capsules. Anecdotal evidence of efficacy suggests that these formulations are unreliable and less efficacious for the treatment of motion sickness. We estimated bioavailability of four different oral formulations used by NASA for the treatment of motion sickness. Twelve healthy, non-smoking subjects between 21and 48 years of age received four treatments on separate days in a randomized fashion; the treatments were 0.8 mg SCOP alone as tablet, 0.8 mg SCOP alone in gel cap, 0.8 mg SCOP and 10 mg DEX as tablets, and 0.8 mg SCOP and 10 mg DEX in gel cap. After each treatment, blood, saliva, and urine samples were collected at scheduled time intervals for 24 h after dosing. Bioavailability and pharmacokinetic parameters were calculated and compared using ANOVA. After administration of SCOP tablets alone, maximum concentration (C(sub max)) and time for maximum concentration (t(sub max)) were 0.26 plus or minus 0.04 ng/mL and 0.71 plus or minus 0.02 h, respectively; volume of distribution, and clearance were 47.6 plus or minus 4.72 L/kg and 23.0 plus or minus 4.58 L/h/kg, respectively. SCOP t(sub max) after administration as gelcaps was significantly longer than that with tablets (1.04 h, p less than 0.05), but no significant differences in other pharmacokinetic parameters of SCOP were observed between the two dosage forms. When coadministered with DEX, the area underneath the concentration versus time curve (AUC) of SCOP was significantly reduced to 0.61 plus or minus 0.09 and 0.64 plus or minus 0.11 ng (raised dot) h/mL after administration as a tablet or gelcap formulation, respectively; SCOP C(sub max) was lower after coadministration with DEX, this difference, however, was not statistically significant. Delayed absorption with gelcaps coupled with reduced bioavailability with DEX coadministration may have resulted in the observed treatment failure with some of these formulations. This could result from failure to reach minimum effective concentrations after treatment with gelcap formulations before parabolic flights. A new nomogram for dosing is proposed for treatment with SCOP gelcaps or SCOP-DEX combination.

Boyd, Jason L.↗

NASA NTRS2007

Gas Emissions Acquired during the Aircraft Particle Emission Experiment (APEX) Series

NASA, in collaboration with other US federal agencies, engine/airframe manufacturers, airlines, and airport authorities, recently sponsored a series of 3 ground-based field investigations to examine the particle and gas emissions from a variety of in-use commercial aircraft. Emissions parameters were measured at multiple engine power settings, ranging from idle to maximum thrust, in samples collected at 3 different down stream locations of the exhaust. Sampling rakes at nominally 1 meter down stream contained multiple probes to facilitate a study of the spatial variation of emissions across the engine exhaust plane. Emission indices measured at 1 m were in good agreement with the engine certification data as well as predictions provided by the engine company. However at low power settings, trace species emissions were observed to be highly dependent on ambient conditions and engine temperature.

Changlie, Wey↗