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NASA NTRS1992

Using qualitative maps to direct reactive robots

The principal advantage of mobile robots is that they are able to go to specific locations to perform useful tasks rather than have the tasks brought to them. It is important therefore that the robot be used to reach desired locations efficiently and reliably. A mobile robot whose environment extends significantly beyond its sensory horizon must maintain a representation of the environment, a map, in order to attain these efficiency and reliability requirements. We believe that qualitative mapping methods provide useful and robust representation schemes and that such maps may be used to direct the actions of a reactively controlled robot. In this paper we describe our experience in employing qualitative maps to direct, through the selection of desired control strategies, a reactive-behavior based robot. This mapping capability represents the development of one aspect of a successful deliberative/reactive hybrid control architecture.

Bertin, Randolph↗

NASA NTRS1997

Iridium-Coated Rhenium Radiation-Cooled Rockets

Radiation-cooled rockets are used for a range of low-thrust propulsion functions, including apogee insertion, attitude control, and repositioning of satellites, reaction control of launch vehicles, and primary propulsion for planetary space- craft. The key to high performance and long lifetimes for radiation-cooled rockets is the chamber temperature capability. The material system that is currently used for radiation-cooled rockets, a niobium alloy (C103) with a fused silica coating, has a maximum operating temperature of 1370 C. Temperature limitations of C103 rockets force the use of fuel film cooling, which degrades rocket performance and, in some cases, imposes a plume contamination issue from unburned fuel. A material system composed of a rhenium (Re) substrate and an iridium (Ir) coating has demonstrated operation at high temperatures (2200 C) and for long lifetimes (hours). The added thermal margin afforded by iridium-coated rhenium (Ir/Re) allows reduction or elimination of fuel film cooling. This, in turn, leads to higher performance and cleaner spacecraft environments. There are ongoing government- and industry-sponsored efforts to develop flight Ir/ Re engines, with the primary focus on 440-N, apogee insertion engines. Complementing these Ir/Re engine development efforts is a program to address specific concerns and fundamental characterization of the Ir/Re material system, including (1) development of Ir/Re rocket fabrication methods, (2) establishment of critical Re mechanical properly data, (3) development of reliable joining methods, and (4) characterization of Ir/Re life-limiting mechanisms.

Reed, Brian D.↗

NASA NTRS1999

Self-Motion Perception: Assessment by Real-Time Computer Generated Animations

Our overall goal is to develop materials and procedures for assessing vestibular contributions to spatial cognition. The specific objective of the research described in this paper is to evaluate computer-generated animations as potential tools for studying self-orientation and self-motion perception. Specific questions addressed in this study included the following. First, does a non- verbal perceptual reporting procedure using real-time animations improve assessment of spatial orientation? Are reports reliable? Second, do reports confirm expectations based on stimuli to vestibular apparatus? Third, can reliable reports be obtained when self-motion description vocabulary training is omitted?

Parker, Donald E.↗

NASA NTRS2001

Intelligent Systems for Self-Healing Electronics

For long duration missions it is imperative to be able to monitor and record critical information. The data acquisition systems used must therefore be fault tolerant. This usually meant having redundant copies of critical channels. Since each channel usually consists of various components, the parts count, cost, weight and complexity of the system could be very high. The Advanced Data Acquisition System (ADAS) has been developed as a proof of concept. The purpose was to demonstrate an architecture where individual spare parts can replace defective ones to repair a channel. By so doing entire channels do not need replication. This reduces the need of total redundancy and reduces the parts count. This has the added feature that in addition to spare parts, good components of a failed channel can be used as spares in another channel. In addition to reducing parts count and cost, this configuration, with an intelligent decision maker, can improve the reliability of the overall system. Another unique feature of ADAS is that it uses reconfigurable analog filters. These components can be programmed, by the smart system to meet the specific needs of the part they are to replace. This way one part can serve as spare for many different components. The hardware was built and now serves as a platform for developing intelligent algorithms. Another related project was a wireless data acquisition system. I was invited to participate in the meetings and issue suggestions. A brief description of this system will also be included.

Latino, Carl D.↗

NASA NTRS1996

Saccades to remembered targets: the effects of smooth pursuit and illusory stimulus motion

1. Measurements were made in four normal human subjects of the accuracy of saccades to remembered locations of targets that were flashed on a 20 x 30 deg random dot display that was either stationary or moving horizontally and sinusoidally at +/-9 deg at 0.3 Hz. During the interval between the target flash and the memory-guided saccade, the "memory period" (1.4 s), subjects either fixated a stationary spot or pursued a spot moving vertically sinusoidally at +/-9 deg at 0.3 Hz. 2. When saccades were made toward the location of targets previously flashed on a stationary background as subjects fixated the stationary spot, median saccadic error was 0.93 deg horizontally and 1.1 deg vertically. These errors were greater than for saccades to visible targets, which had median values of 0.59 deg horizontally and 0.60 deg vertically. 3. When targets were flashed as subjects smoothly pursued a spot that moved vertically across the stationary background, median saccadic error was 1.1 deg horizontally and 1.2 deg vertically, thus being of similar accuracy to when targets were flashed during fixation. In addition, the vertical component of the memory-guided saccade was much more closely correlated with the "spatial error" than with the "retinal error"; this indicated that, when programming the saccade, the brain had taken into account eye movements that occurred during the memory period. 4. When saccades were made to targets flashed during attempted fixation of a stationary spot on a horizontally moving background, a condition that produces a weak Duncker-type illusion of horizontal movement of the primary target, median saccadic error increased horizontally to 3.2 deg but was 1.1 deg vertically. 5. When targets were flashed as subjects smoothly pursued a spot that moved vertically on the horizontally moving background, a condition that induces a strong illusion of diagonal target motion, median saccadic error was 4.0 deg horizontally and 1.5 deg vertically; thus the horizontal error was greater than under any other experimental condition. 6. In most trials, the initial saccade to the remembered target was followed by additional saccades while the subject was still in darkness. These secondary saccades, which were executed in the absence of visual feedback, brought the eye closer to the target location. During paradigms involving horizontal background movement, these corrections were more prominent horizontally than vertically. 7. Further measurements were made in two subjects to determine whether inaccuracy of memory-guided saccades, in the horizontal plane, was due to mislocalization at the time that the target flashed, misrepresentation of the trajectory of the pursuit eye movement during the memory period, or both. 8. The magnitude of the saccadic error, both with and without corrections made in darkness, was mislocalized by approximately 30% of the displacement of the background at the time that the target flashed. The magnitude of the saccadic error also was influenced by net movement of the background during the memory period, corresponding to approximately 25% of net background movement for the initial saccade and approximately 13% for the final eye position achieved in darkness. 9. We formulated simple linear models to test specific hypotheses about which combinations of signals best describe the observed saccadic amplitudes. We tested the possibilities that the brain made an accurate memory of target location and a reliable representation of the eye movement during the memory period, or that one or both of these was corrupted by the illusory visual stimulus. Our data were best accounted for by a model in which both the working memory of target location and the internal representation of the horizontal eye movements were corrupted by the illusory visual stimulus. We conclude that extraretinal signals played only a minor role, in comparison with visual estimates of the direction of gaze, in planning eye movements to remembered targ.

Clinical Trial↗

NASA NTRS2000

Modular Low-Heater-Power Cathode/Electron Gun Assembly for Microwave and Millimeter Wave Traveling Wave Tubes

A low-cost, low-mass, electrically efficient, modular cathode/electron gun assembly has been developed by FDE Inc. of Beaverton, Oregon, under a Small Business Innovation Research (SBIR) contract with the NASA Glenn Research Center at Lewis Field. This new assembly offers significant improvements in the design and manufacture of microwave and millimeter wave traveling-wave tubes (TWT's) used for radar and communications. It incorporates a novel, low-heater-power, reduced size and mass, high-performance barium dispenser type thermionic cathode and provides for easy integration of the cathode into a large variety of conventional TWT circuits. Among the applications are TWT's for Earth-orbiting communication satellites and for deep space communications, where future missions will require smaller spacecraft, higher data transfer rates (higher frequencies and radiofrequency output power), and greater electrical efficiency. A particularly important TWT application is in the microwave power module (a hybrid microwave/millimeter wave amplifier consisting of a low-noise solid-state driver, a small TWT, and an electronic power conditioner integrated into a single compact package), where electrical efficiency and thermal loading are critical factors and lower cost is needed for successful commercialization. The design and fabrication are based on practices used in producing cathode ray tubes (CRT's), which is one of the most competitive and efficient manufacturing operations in the world today. The approach used in the design and manufacture of thermionic cathodes and electron guns for CRT's has been optimized for fully automated production, standardization of parts, and minimization of costs. It is applicable to the production of similar components for microwave tubes, with the additional benefits of low mass and significantly lower cathode heater power (less than half that of dispenser cathodes presently used in TWT s). Modular cathode/electron gun assembly. The modular cathode/electron gun assembly consists of four subassemblies the cathode, the focus electrode, the header (including the electrical feedthroughs), and the gun envelope (including the anode) a diagram of which is shown. The modular construction offers a number of significant advantages, including flexibility of design, interchangeability of parts, and a drop-in final assembly procedure for quick and accurate alignment. The gun can accommodate cathodes ranging in size from 0.050 to 0.250-in. in diameter and is applicable to TWT's over a broad range of sizes and operating parameters, requiring the substitution of only a few parts: that is, the cathode, focus electrode, and anode. The die-pressed cathode pellets can be made with either flat or concave (Pierce gun design) emitting surfaces. The gun can be either gridded (pulse operation) or ungridded (continuous operation). Important factors contributing to low cost are the greater use of CRT materials and parts, the standardization of processes (welding and mechanical capture), and tooling amenable to automated production. Examples are the use of simple shapes, drawn or stamped metal parts, and parts joined by welding or mechanical capture. Feasibility was successfully demonstrated in the retrofit and testing of a commercial Kaband (22-GHz) TWT. The modular cathode/electron gun assembly was computer modeled to replicate the performance of the original electron gun and fabricated largely from existing CRT parts. Significant test results included demonstration of low heater power (1.5-W, 1010 C brightness temperature for a 0.085-in.-diameter cathode), mechanical ruggedness (100g shock and vibration tests in accordance with military specifications (MIL specs)), and a very fast warmup. The results of these tests indicate that the low-cost CRT manufacturing approach can be used without sacrificing performance and reliability.

Wintucky, Edwin G.↗

NASA NTRS2008

Subscale Injector Testing to Support Ares Engines Development

The J-2X and RS-68B rocket engines are being developed for NASA's Ares I and Ares V launch vehicles. In support of the development of these engines, hot-fire testing on subscale coaxial injectors has been performed at NASA s Marshall Space Flight Center (MSFC) to evaluate performance data relative to injector type, liquid oxygen (LOX) post tip design features, element density and various operating conditions. Shear coaxial injectors with element densities of 1.1, 1.6, and 2.3 elements/in2 and a swirl coaxial injector with element density of 1.6 elements/in2 were evaluated at conditions relevant to the Ares applications. Chamber pressures with oxygen/hydrogen propellants ranged from 815-1630 psig with mixture ratios ranging from 4.7-6.9. Fuel manifold inlet temperatures were varied from 90 to 270 R. Shear coaxial LOX post tip thicknesses ranged from 0.006 in. to 0.0175 in. Modular, water cooled, calorimeter chamber assemblies were used to provide heating rate data and evaluate the effects of characteristic length (L*). Performance was evaluated relative to the resulting characteristic velocity (C*) efficiency. Testing with both the 2.3 and 1.1 elements/in2 shear coaxial injectors demonstrated no improvement in performance of the "thin" tip configuration versus the "thick" tip configuration. The loss in chamber pressure and associated performance loss seen in previous testing at low fuel temperatures could not be reliably repeated, indicating that this loss is not the result of a fluidic process in the injector elements. Further, no performance loss could be demonstrated once a faceplate seal specifically designed for operation with low temperature hydrogen was implemented in the 1.1 elements/sq in shear coaxial injector. Results for the 1.6 elements/sq in swirl injector at cold fuel temperatures showed performance higher than both the 1.6 elements/in2 shear coaxial injector and the 2.3 elements/in2 shear coaxial injector.

Protz, Christopher↗

NASA NTRS2018

Addressing Human Error in International Space Station Flight Control Teams: Advances in Ground Training for Science Operators

In flight control, as with any human in the loop system, operator error is an inevitable reality. On the International Space Station (ISS) where crew time and physical resources are precious and often irreplaceable, operator errors can result in significant, irreversible consequences. Flight controllers at the Payload Operations Integration Center (POIC) located at NASA's Marshall Space Flight Center (MSFC) in Huntsville, Alabama know this reality well. At the POIC, operator errors can be caused by a variety of factors, from poor hardware or software design to environmental factors such as time pressure or fatigue. The most difficult errors to address, however, are those which result from ineffective teamwork. To address these teamwork errors, trainers at the POIC have drawn best practices from high reliability industries as well as from our sister ISS control center at the Johnson Space Center (JSC) in Houston, Texas, to develop and implement a new training program focused specifically on teamwork skills. This training program, called Team Skills Training, is inspired by modern and historical training programs developed by NASA and is specifically tailored to the needs of the payload operations flight control team at the POIC. The program consists of training for both certified and trainee flight controllers, and covers team skills topics such as situational awareness, leadership, and communication skills. To maximize effectiveness, the program uses novel instructional techniques which extend beyond the classroom to encourage students to apply what they have learned to their day to day work. Minimizing operator errors in flight control is an endeavor which requires constant vigilance and continuous improvement. At the POIC, Team Skills Training is an important step in this journey.

Harris, Samantha S.↗

NASA NTRSDate not supplied

A Model-Based Systems Engineering Journey to Developing a Concept of Operations

Starting in 2017, NASA’s Human Research Program (HRP) Exploration Medical Capability (ExMC) element began a systems engineering transition from traditional, document-centric development to model-centric development when defining its foundation medical systems. These foundation medical systems define a Concept of Operations (ConOps) and identify the generic requirements for a medical system based on assumptions about a generic crew and mission environments and guidance from NASA standards (e.g., Medical “Levels of Care”). By making the transition, ExMC intends to improve communication among stakeholders about foundation medical system requirements and content. In addition, this transition will enable ExMC to lower both development and crew treatment risks for future, mission-specific medical systems. ExMC followed a Model Based Systems Engineering (MBSE) paradigm when developing the foundation medical systems. A model-based approach provides several advantages over a traditional, document-centric approach. First, when Systems Engineers (SE) develop diagrams in a model using a standard modeling language, they produce information dense pictures that facilitate understanding much more efficiently with less room for misinterpretation than text. Second, due to the evolving nature of projects, documentation becomes out of date the minute it is published. This can result in people making decisions based on information that is no longer current, especially if they are referencing a locally-stored copy of a document. A model, on the other hand, is always up to date with the latest approved changes and information. It serves as a single point of truth. Third, a model-centric approach centralizes all important information in one place. Rather than having to flip through separate ConOps documents, design specifications, requirements specifications, and the like to coordinate information, a model captures the content in one, integrated spot. This integration makes tracing information from end-to-end easier with greater reliability. The ExMC Systems Engineering Lifecycle follows a well-defined process. ExMC Systems Engineers perform all major steps of the process, regardless of the development methodology. One of the first steps in the process is developing the ConOps that describes the operation of the system from the point of view of the users. It includes a list of the users and their needs, the goals of the medical system, key assumptions about the system, and definitions of the medical system’s operational environments. For this development effort, ExMC chose to replace the traditional text-based ConOps document with a model. While the decision to change the development workflow was not difficult, implementing the structural and organizational workflows were. It required showing ExMC’s users, most of whom are not Systems Engineers, how the information they require would be presented in the model and to gain their acceptance of this approach. This paper documents key lessons learned during the ConOps transformation by focusing on how the model represents information, the agile workflow used by SEs when developing the model and how it integrates into a project plan, how leadership influenced key users to accept the transformation, and how the users interact with the model information.

Jeffrey Robert Cohen↗

NASA NTRSDate not supplied

Database Design Strategies for Coordinated Simulation and Testing in Additive Manufacturing

The qualification and certification (Q&C) process presents a significant challenge for widespread adoption of additive manufacturing (AM) materials and processes for aerospace applications. A relational database framework will be presented as a tool for data curation of coordinated experimental and computational materials modeling research activities. A comparison of relational and hierarchical data structures in this domain will be emphasized through the evolution of a database design strategy. This framework’s mission is to support the advancement of computational materials-informed Q&C by providing the necessary data infrastructure to trace reliability and reproducibility measures through unified AM materials simulation and experimental testing. FAIR (findable, accessible, interoperable, and reusable) data will be highlighted as a necessary precursor for automation of specific actions, which ultimately reduces the time and expense burden for Q&C. The discussion will be mostly limited to back-end design elements, though a few front-end user experience examples will also be shared.

Qualification↗

NASA NTRS1989

Advanced high-temperature batteries

The promise of very high specific energy and power was not yet achieved for practical battery systems. Some recent approaches are discussed for new approaches to achieving high performance for lithium/DeS2 cells and sodium/metal chloride cells. The main problems for the development of successful LiAl/FeS2 cells were the instability of the FeS2 electrode, which has resulted in rapidly declining capacity, the lack of an internal mechanism for accommodating overcharge of a cell, thus requiring the use of external charge control on each individual cell, and the lack of a suitable current collector for the positive electrode other than expensive molybdenum sheet material. Much progress was made in solving the first two problems. Reduction of the operating temperatures to 400 C by a change in electrolyte composition has increased the expected life to 1000 cycles. Also, a lithium shuttle mechanism was demonstrated for selected electrode compositions that permits sufficient overcharge tolerance to adjust for the normally expected cell-to-cell deviation in coulombic efficiency. Sodium/sulfur batteries and sodium/metal chloride batteries have demonstrated good reliability and long cycle life. For applications where very high power is desired, new electrolyte coinfigurations would be required. Design work was carried out for the sodium/metal chloride battery that demonstrates the feasibility of achieving high specific energy and high power for large battery cells having thin-walled high-surface area electrolytes.

Nelson, Paul A.↗

NASA NTRS1972

Effects of electrons and protons on science instruments

The radiation effects on typical science instruments according to the Jupiter trapped radiation design restraint model are described, and specific aspects of the model where an improved understanding would be beneficial are suggested. The spacecraft design used is the TOPS 12L configuration. Ionization and displacement damage are considered, and damage criteria are placed on the most sensitive components. Possible protective measures are mentioned: selecting components as radiation resistant as possible, using a difference in desired and undesired signal shapes for electronic shielding, orienting and locating the component on the spacecraft for better shielding, and adding passive shields to protect specific components. Available options are listed in decreasing order of attractiveness: attempt to lower the design restraints without compromising the success of the missions, trade off experiment objectives for increased reliability, alter the trajectory, and remove sensitive instruments from the payload.

Parker, R. H.↗

NASA NTRS1973

Some services of the Time and Frequency Division of the National Bureau of Standards

The Time and Frequency Division of the National Bureau of Standards (NBS) provides several services to the general public. The radio broadcasts of WWV, WWVH, and WWVB supply reliable, unambiguous time signals to many users. The NBS telephone time-of-day service attracts several hundreds of thousands of calls each year. Periodically, the NBS provides courses on specific topics relating to time and frequency technology. In addition to numerous technical papers published each year, the NBS has prepared the first volume of a comprehensive monograph on time and frequency. The results of research in the Time and Frequency Division of the NBS have had significant impact. An active TV time system capable of serving most of the U.S. currently awaits a ruling by the FCC on a petition filed last year on behalf of the NBS by the Department of Commerce. Three more recent developments are: (1) a TV frequency comparator (patent applied for); (2) a method to perform an independent (absolute) frequency evaluation of commercial cesium beam oscillators; and (3) a method of removing one source of frequency drift in commercial cesium beam oscillators.

Barnes, J. A.↗

NASA NTRS1979

Present status of GaAs

An extensive literature survey on GaAs was carried out for the period December 31, 1970, to December 31, 1977. The increasing interest in GaAs device structures increased steadily during that period. The leading research and development centers and the specific areas of interest were identified. A workshop on GaAs was held in November 1977 to assess the present status of melt-grown GaAs and the existing needs for reliable chemical, structural, and electronic characterization methods. It was concluded that the present available bulk GaAs crystals are of poor quality and that GaAs technology is lagging demonstrated or potentially feasible GaAs devices and systems.

Gatos, H. C.↗

NASA NTRS1982

A new solution to parameter adaptive estimation of random processes

This paper is concerned with the development of an adaptive state estimator that is capable of tracking switched linear plants that undergo rapid configuration changes. The particular adaptive estimator developed here is called the Sliding Window Detector/Estimator (SWDE) algorithm. Unlike previous algorithms, the SWDE algorithm is designed specifically for the switched-linear plant problem. It uses a joint detection/estimation approach to give a very close approximation to the unrealizable optimum switched-linear estimator. An extremely reliable and accurate estimator can be constructed by combining a modified Parameter Adaptive Estimation (PAE) algorithm with SWDE. The algorithm has been fully verified by extensive computer simulation, and the implementation advantages afforded by this method make it suitable for use in a wide variety of applications.

Zwicke, P. E.↗

NASA NTRS1987

Applicative architectures for fault-tolerant multiprocessors

Functional programming frameworks for the design of highly reliable multiprocessor systems are proposed. In contrast to imperative programming environments, a functional environment offers elegant, relatively simple, and efficient solutions to concurrent error detection and recovery problems in multiprocessors. Specific fault tolerance mechanisms for upset exposure, fault containment, secure task assignment, and recovery are developed for a class of applicative multiprocessor architectures. Verification of abstract behavioral characteristics of applicative tasks is used for exposing faults during the execution of tasks. The fault containment mechanism is based on isolation of stack and heap segments of tasks. A protocol for secure task assignment is defined between system components. The architecture permits incremental, distributed, and asynchronous backups of system state. Finally, recovery is accomplished, even in the worst cases, by re-execution of a small number of tasks.

Sharma, Madhumitra↗

NASA NTRS1995

Airborne spectrograph for the thermal IR: Broadband Array Spectrograph System

Spectroscopic studies in the 'fingerprint' region of the thermal IR from 3 to 14 microns of celestial dust components and the overall energy distribution of the sources are best served by moderate spectral resolution (R = lambda/Delta lambda approximately 30 to 200), high sensitivity observations. Spectral purity and the reproducibility of the spectral shape are critical as well, when using the spectral shape to assign temperatures to dust grains or to gas clouds based on the wavelength and shape of molecular bands. These sensor attributes are also important to the use of wavelengths and ratios of solid state features to derive compositions of dust grains in celestial sources. The advent of high quality linear arrays of blocked impurity band (BIB) detectors of Si:As permitted the development of a state-of-the-art, patented, cooled prism spectrograph. Developed at The Aerospace Corporation largely with in-house funds, the Broadband Array Spectrograph System (BASS) has been used for a variety of remote sensing applications, but especially for IR astronomical studies on the Kuiper Airborne Observatory and at the NASA Infrared Telescope Facility (IRTF). The attributes of the spectrograph, specifically having the pupil imaged onto the 2 linear 58 element detector arrays so that the effects of guiding errors are minimized, being able to maximally exploit the limited observing time by acquiring all 116 spectral channels simultaneously, and having all spectral channels imaged through the same aperture so that spectral mapping is readily and reliably accomplished, afford the scientist with a unique opportunity to conduct both surveys of examples of many different types of sources as well as in-depth studies of a given class of object by thoroughly sampling the class members. This duality was demonstrated with the BASS through a combination of KAO flights where spectral maps were obtained as part of in-depth studies of specific source regions (such as Orion and W3) and flights where up to 21 legs/flight were used to survey many different sources of different types.

Russell, Ray W.↗

NASA NTRS1997

Metal-Air Batteries: (Latest citations from the Aerospace Database)

The bibliography contains citations concerning applications of metal-air batteries. Topics include systems that possess different practical energy densities at specific powers. Coverage includes the operation of air electrodes at different densities and performance results. The systems are used in electric vehicles as a cost-effective method to achieve reliability and efficiency. Zinc-air batteries are covered more thoroughly in a separate bibliography. (Contains 50-250 citations and includes a subject term index and title list.)

FUEL CELLS↗