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NASA NTRS2011

SRMS History, Evolution and Lessons Learned

Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.

Jorgensen, Glenn↗
NASA NTRS1997

Flutter Boundary Identification From Simulation Time Histories

While there has been much recent progress in simulating nonlinear aeroelastic systems, and in predicting many of the aeroelastic phenomena of concern in transport aircraft design (i.e. transonic flutter buckets), the utility of a simulation in generating an understanding of the flutter behavior is limited. This is due in part to the high cost of generating these simulations; and the implied limitation on the number of conditions that can be analyzed, but there are also some difficulties introduced by the very nature of a simulation. Flutter engineers have traditionally worked in the frequency domain, and are accustomed to describing the flutter behavior of an airplane in terms of its V-G and V-F (or Q-G and Q-F) plots and flutter mode shapes. While the V-G and V-F plots give information about how the dynamic response of an airplane changes as the airspeed is increased, the simulation only gives information about one isolated condition (Mach, airspeed, altitude, etc.). Therefore, where a traditional flutter analysis can let the engineer determine an airspeed at which an airplane becomes unstable, while a simulation only serves as a binary check: either the airplane is fluttering at this condition, or it is not. In this document, a new technique is described in which system identification is used to easily extract modal frequencies and damping ratios from simulation time histories, and shows how the identified parameters can be used to determine the variation in frequency and dampin,o ratio as the airspeed is changed. This technique not only provides the flutter engineer with added insight into the aeroelastic behavior of the airplane, but it allows calculation of flutter mode shapes, and allows estimation of flutter boundaries while minimizing the number of simulations required.

Baker, Myles↗
NASA NTRS2011

Environmental Catastrophes in the Earth's History Due to Solar Systems Encounters with Giant Molecular Clouds

In its motion through the Milky Way galaxy, the solar system encounters an average density (>=330 H atoms/cubic cm) giant molecular cloud (GMC) approximately every 108 years, a dense (approx 2 x 103 H atoms/cubic cm) GMC every approx 109 years and will inevitably encounter them in the future. However, there have been no studies linking such events with severe (snowball) glaciations in Earth history. Here we show that dramatic climate change can be caused by interstellar dust accumulating in Earth's atmosphere during the solar system's immersion into a dense (approx ,2 x 103 H atoms/cubic cm) GMC. The stratospheric dust layer from such interstellar particles could provide enough radiative forcing to trigger the runaway ice-albedo feedback that results in global snowball glaciations. We also demonstrate that more frequent collisions with less dense GMCs could cause moderate ice ages.

Pavlov, Alexander A.↗
NASA NTRS2012

Modelling the Thermal History of Asteroid 4 Vesta

The asteroid 4 Vesta is widely thought to be the source of the HED (Howardite, Eucrite and Diogenite) meteorites, with this link supported by spectroscopic and dynamical studies. The availability of the HED meteorites for study and the new data being gained from the Dawn mission provides an excellent opportunity to investigate Vesta s history. In this study, modelling of Vesta has been undertaken to investigate its evolution from an unconsolidated chondritic body to a differentiated body with an iron core. In contrast to previous modelling, both heat and mass transfer are considered as coupled processes. This work draws on models of melt segregation in terrestrial environments to inform the evolution of Vesta into the differentiated body observed today. In order for a core to form in this body, a separation of the metallic iron from the silicates must take place. Temperatures in excess of the solidus temperatures for the Fe-FeS system and the silicates are therefore required. Thermal modelling has shown accretion before 2Myr leads to temperatures in excess of the silicate solidus.

Solano, James M.↗
NASA NTRS2012

The Cosmic History of Hot Gas Cooling and Radio AGN Activity in Massive Early-Type Galaxies

We study the X-ray properties of 393 optically selected early-type galaxies (ETGs) over the redshift range of z approx equals 0.0-1.2 in the Chandra Deep Fields. To measure the average X-ray properties of the ETG population, we use X-ray stacking analyses with a subset of 158 passive ETGs (148 of which were individually undetected in X-ray). This ETG subset was constructed to span the redshift ranges of z = 0.1-1.2 in the approx equals 4 Ms CDF-S and approx equals 2 Ms CDF-N and z = 0.1-0.6 in the approx equals 250 ks E-CDF-S where the contribution from individually undetected AGNs is expected to be negligible in our stacking. We find that 55 of the ETGs are detected individually in the X-rays, and 12 of these galaxies have properties consistent with being passive hot-gas dominated systems (i.e., systems not dominated by an X-ray bright Active Galactic Nucleus; AGN). On the basis of our analyses, we find little evolution in the mean 0.5-2 keY to B-band luminosity ratio (L(sub x) /L(sub Beta) varies as [1 +z]) since z approx equals 1.2, implying that some heating mechanism prevents the gas from cooling in these systems. We consider that feedback from radio-mode AGN activity could be responsible for heating the gas. We select radio AGNs in the ETG population using their far-infrared/radio flux ratio. Our radio observations allow us to constrain the duty cycle history of radio AGN activity in our ETG sample. We estimate that if scaling relations between radio and mechanical power hold out to z approx equals 1.2 for the ETG population being studied here, the average mechanical power from AGN activity is a factor of approx equals1.4 -- 2.6 times larger than the average radiative cooling power from hot gas over the redshift range z approx equals 0-1.2. The excess of inferred AGN mechanical power from these ETGs is consistent with that found in the local Universe for similar types of galaxies.

Danielson, A. L. R.↗
NASA NTRS2012

Complex Formation History of Highly Evolved Basaltic Shergottite, Zagami

Zagami, a basaltic shergottite, contains several kinds of lithologies such as Normal Zagami consisting of Fine-grained (FG) and Coarse-grained (CG), Dark Mottled lithology (DML), and Olivine-rich late-stage melt pocket (DN). Treiman and Sutton concluded that Zagami (Normal Zagami) is a fractional crystallization product from a single magma. It has been suggested that there were two igneous stages (deep magma chamber and shallow magma chamber or surface lava flow) on the basis of chemical zoning features of pyroxenes which have homogeneous Mg-rich cores and FeO, CaO zoning at the rims. Nyquist et al. reported that FG has a different initial Sr isotopic ratio than CG and DML, and suggested the possibility of magma mixing on Mars. Here we report new results of petrology and mineralogy for DML and the Olivine-rich lithology (we do not use DN here), the most evolved lithology in this rock, to understand the relationship among lithologies and reveal Zagami s formation history

Niihara, T.↗
NASA NTRS2012

James Webb Space Telescope Optical Telescope Element Mirror Development History and Results

In a little under a decade, the James Webb Space Telescope (JWST) program has designed, manufactured, assembled and tested 21 flight beryllium mirrors for the James Webb Space Telescope Optical Telescope Element. This paper will summarize the mirror development history starting with the selection of beryllium as the mirror material and ending with the final test results. It will provide an overview of the technological roadmap and schedules and the key challenges that were overcome. It will also provide a summary or the key tests that were performed and the results of these tests.

Feinber, Lee D.↗
NASA NTRS2012

Collisional Histories of Comets and Trojan Asteroids: Diopside, Magnesite, and Fayalite Impact Studies

Comets and asteroids have weathered dynamic histories, as evidenced by their rough surfaces. The Nice model describes a violent reshuffling of small bodies during the Late Heavy Bombardment, with collisions acting to grind these planetesimals away. This creates an additional source of impact material that can re-work the surfaces of the larger bodies over the lifetime of the solar system. Here, we investigate the possibility that signatures due to impacts (e.g. from micrometeoroids or meteoroids) could be detected in their spectra, and how that can be explained by the physical manifestation of shock in the crystalline structure of minerals. All impact experiments were conducted in the Johnson Space Center Experimental Impact Laboratory using the vertical gun. Impact speeds ranged from approx.2.0 km/s to approx.2.8 km/s. All experiments were conducted at room temperature. Minerals found in comets and asteroids were chosen as targets, including diopside (MgCaSi2O6, monoclinic pyroxene), magnesite (MgCO3, carbonate), and fayalite (FeSiO4, olivine). Impacted samples were analyzed using a Fourier Transform Infrared Spectrometer (FTIR) and a Transmission Electron Microscope (TEM). Absorbance features in the 8-13 m spectral region demonstrate relative amplitude changes as well as wavelength shifts. Corresponding TEM images exhibit planar shock dislocations in the crystalline structure, attributed to deformation at high strain and low temperatures. Elongating or shortening the axes of the crystalline structure of forsterite (Mg2SiO4, olivine) using a discrete dipole approximation model (Lindsay et al., submitted) yields changes in spectral features similar to those observed in our impacted laboratory minerals.

Lederer, S. M.↗
NASA NTRS2012

Using GRIDVIEW to Better Understand the Early Bombardment History of the Moon, Mars and Earth

For more than a decade we have used GRIDVIEW to help analyze topographic and related data for Mars and more recently for the Moon. Our focus has been to employ the stretching, contouring, profiling, circle-fitting and other capabilities of GRIDVIEW to search for Quasi-Circular Depressions (CTAs) in MOLA, LOLA and other topographic data, and for Circular Thin Areas (CTAs) in Mars and Moon model crustal thickness data. Both QCDs and CTAs likely represent buried or obscured impact craters not readily visible in image data. We found clear evidence for a much larger population of buried impact craters in the northern lowlands of Mars (Frey et al. 2002), suggesting that part of the Red Planet is not significantly younger than the southern highlands. Edgar and Frey (2008) found that the N(300) crater retention ages of both areas were essentially identical, a conclusion confirmed by Wyatt (unpublished data) using more recent crustal thickness data for Mars. MOLA topographic data and MOLA-derived crustal thickness data were used to both identify a large number of previously unrecognized very large impact basins (D> 1000 km) on Mars and to determine relative crater retention ages for them (Frey, 2008). The distribution of N(300) CRAs suggested most formed in a relatively short interval of time. This dating also suggested the main magnetic field of Mars disappeared during this period (Lillis et al., 2008), because only the youngest basins systematically lack a remagnetized signature. Similar QCD and CTA analysis of first Clementine (Frey, 2011) and more recently LOLA topographic and LOLA-derived crustal thickness data for the Moon (Frey et al., 2011) revealed a significantly larger population of impact basins > 300 km in diameter than previously known. N(50) CRAs suggest a two-peak distribution of ages (Frey, 2012). An improved counting process confirms the two peaks, perhaps indicating both a pre-Nectaris Early Heavy Bombardment (EHB) as well as a Late Heavy Bombardment (LHB) on the Moon (Frey and Burgess, 2012, this meeting), with obvious implications for the early bombardment history of the Earth.

Frey, Herbert↗
NASA NTRS2012

Materials Science Experiments Under Microgravity - A Review of History, Facilities, and Future Opportunities

Materials science experiments have been a key issue already since the early days of research under microgravity conditions. A microgravity environment facilitates processing of metallic and semiconductor melts without buoyancy driven convection and sedimentation. Hence, crystal growth of semiconductors, solidification of metallic alloys, and the measurement of thermo-physical parameters are the major applications in the field of materials science making use of these dedicated conditions in space. In the last three decades a large number of successful experiments have been performed, mainly in international collaborations. In parallel, the development of high-performance research facilities and the technological upgrade of diagnostic and stimuli elements have also contributed to providing optimum conditions to perform such experiments. A review of the history of materials science experiments in space focussing on the development of research facilities is given. Furthermore, current opportunities to perform such experiments onboard ISS are described and potential future options are outlined.

Stenzel, Ch.↗
NASA NTRS2012

The Use of Handheld X-Ray Fluorescence (XRF) Technology in Unraveling the Eruptive History of the San Francisco Volcanic Field, Arizona

While traditional geologic mapping includes the examination of structural relationships between rock units in the field, more advanced technology now enables us to simultaneously collect and combine analytical datasets with field observations. Information about tectonomagmatic processes can be gleaned from these combined data products. Historically, construction of multi-layered field maps that include sample data has been accomplished serially (first map and collect samples, analyze samples, combine data, and finally, readjust maps and conclusions about geologic history based on combined data sets). New instruments that can be used in the field, such as a handheld xray fluorescence (XRF) unit, are now available. Targeted use of such instruments enables geologists to collect preliminary geochemical data while in the field so that they can optimize scientific data return from each field traverse. Our study tests the application of this technology and projects the benefits gained by real-time geochemical data in the field. The integrated data set produces a richer geologic map and facilitates a stronger contextual picture for field geologists when collecting field observations and samples for future laboratory work. Real-time geochemical data on samples also provide valuable insight regarding sampling decisions by the field geologist

Young, Kelsey E.↗
NASA NTRS2012

The History of Planetary Exploration Using Mass Spectrometers

At the Planetary Probe Workshop Dr. Paul Mahaffy will give a tutorial on the history of planetary exploration using mass spectrometers. He will give an introduction to the problems and solutions that arise in making in situ measurements at planetary targets using this instrument class.

Mahaffy, Paul R.↗
NASA NTRS2013

Cooling History of Almahata Sitta Ureilite as Inferred from Transmission Electron Microscopy of Iron Metal

Almahata Sitta (AS) is a polymict breccia mainly composed of various ureilite lithologies with lesser chondritic lithologies [1]. In the ureilite lithologies, Fe metal is a common accessory phase present either as large grain boundary grains or small particles formed by reduction of olivine and pyroxene. In our earlier studies on grain boundary metals in one of AS fragments (#44) we found unique features never seen in other ureilites [2,3]. In order to further characterize these metal grains, we performed a detailed TEM study on a FIB section prepared from one of AS #44 grain boundary metals and here discuss its thermal history.

Mikouchi, T.↗
NASA NTRS2013

A History of Space

A canned presentation for speakers to use for outreach purposes. Discusses the history of space

Chitko, Peter↗
NASA NTRS2013

What Are Space Exposure Histories Telling Us about CM Carbonaceous Chondrites?

Chondrites are chemically primitive and carbonaceous (C) chondrites are potentially the most primitive among them because they mostly escaped thermal metamor-phism that affected the other chondrite groups and ratios of their major, non-volatile and most of the volatile elements are similar to those of the Sun. Therefore, C chondrites are ex-pected to retain a good record of the origin and early history of the solar system. Carbonaceous chondrites are chemically differentiated from other chondrites by their high Mg/Si ratios and refractory elements, and have experienced various degrees of aqueous alteration. They are subdivided into eight subgroups (CI, CM, CO, CV, CK, CR, CB and CH) based on major element and oxygen isotopic ratios. Their elemental ratios spread over a wide range though those of ordinary and enstatite chondrites are relatively uniform. It is critical to know how many sepa-rate bodies are represented by the C chondrites. In this study, CM chondrites, the most abundant carbona-ceous chondrites, are examined. They are water-rich, chon-drule- and CAI-bearing meteorites and most of them are brec-cias. High-temperature components such as chondrules, iso-lated olivine and CAIs in CMs are frequently altered and some of them are replaced by clay minerals and surrounded by sul-fides whose Fe was derived from mafic silicates. On the basis of degrees of aqueous alteration, CMs have been classified into subtypes from 1 to 2, although Rubin et al. [1] assigned subtype 1 to subtype 2 and subtype 2 to subtype 2.6 using various petrologic properties. The classification is based on petrographic and mineralogic properties. For example, though tochilinite (2[(Fe, Mg, Cu, Ni[])S] 1.57-1.85 [(Mg, Fe, Ni, Al, Ca)(HH)2]) clumps are produced during aqueous alteration, they disappear and sulfide appears with increasing degrees of aqueous alteration. Cosmic-ray exposure (CRE) age measurements of CM chondrites reveal an unusual feature. Though CRE ages of other chondrite groups range from several Myr to tens of Myr, CMs exposure ages are not longer than 7 Myr with one-third of the CM having less than 1 Myr CRE age. For those CM chondrites that have CRE ages <1 Myr, there are two discern-able CRE peaks. Because a CRE age reflects how long a me-teorite is present as a separate body in space, the peaks pre-sumably represent collisional events on the parent body (ies) [2]. In this study we defined 4 distinct CRE age groups of CMs and systematically characterized the petrography in each of the 4 CRE age groups to determine whether the groups have significant petrographic differences, with such differences probably reflecting different parent body (asteroid) geological processing, or multiple original bodies.

Takenouchi, A.↗
NASA NTRS2014

The Formation and Erosion History of Mt. Sharp

The Curiosity rover is exploring 155 km diameter Gale crater and Mt. Sharp, Gale's 5 km high central mound (Fig. 1). This study addresses the formation and erosion history of Mt. Sharp. Gale lies on the topographic dichotomy between the southern highlands and the northern plains - a drop of over 2 km [1,2]. Altitude differences between the north and south rim reflect this regional slope, as do altitude differences between the deep annulus north of Mt. Sharp and the southern crater floor. Orbiter and rover images demonstrate that most exposed areas on Mt. Sharp consist of thin, sub-parallel units interpreted as sedimentary layers [3]. Gale is typical of the 50 large martian craters that have been totally or partially filled with such layers [4,5]. In many craters these sediments have been deeply eroded. Central Peak and Peak Ring: The highest point on Mt. Sharp, near the crater's center, is interpreted as a central peak [6]. The peak has a massive lower portion and a thin, smooth capping deposit (Fig. 2). Gale's size is transitional between martian craters with single central peaks and craters with peak rings approximately half the crater's diameter [2,6]. The boundaries of Mt. Sharp, as well as an arc of hills to the southeast of the mountain, closely match a circle approximately 80 km in diameter (Fig. 3). This morphology suggests that the Gale impact may have formed both a central peak and a partial peak ring, which is covered by the sediments of Mt. Sharp in the north and possibly exposed in the arc of eroded hills in the southeast quadrant (Figs. 3,4).

Allen, Carlton C.↗
NASA NTRS2014

Nuclear Thermal Propulsion Ground Test History

Nuclear Thermal Propulsion (NTP) was started in ~1955 under the Atomic Energy Commission as project Rover and was assigned to Los Alamos National Laboratory. The Nevada Test Site was selected in 1956 and facility construction began in 1957. The KIWI-A was tested on July 1, 1959 for 5 minutes at 70MW. KIWI-A1 was tested on July 8, 1960 for 6 minutes at 85MW. KIWI-A3 was tested on October 10, 1960 for 5 minutes at 100MW. The National Aeronautics and Space Administration (NASA) was formed in 1958. On August 31, 1960 the AEC and NASA established the Space Nuclear Propulsion Office and named Harold Finger as Director. Immediately following the formation of SNPO, contracts were awarded for the Reactor In Flight Test (RIFT), master plan for the Nuclear Rocket Engine Development Station (NRDS), and the Nuclear Engine for Rocket Vehicle Application (NERVA). From December 7, 1961 to November 30, 1962, the KIWI-B1A, KIWI-B1B, and KIWI-B4A were tested at test cell A. The last two engines were only tested for several seconds before noticeable failure of the fuel elements. Harold Finger called a stop to any further hot fire testing until the problem was well understood. The KIWI-B4A cold flow test showed the problem to be related to fluid dynamics of hydrogen interstitial flow causing fuel element vibrations. President Kennedy visited the NTS one week after the KIWI-B4A failure and got to see the engine starting to be disassembled in the maintenance facility. The KIWI-B4D and KIWI-B4E were modified to not have the vibration problems and were tested in test cell C. The NERVA NRX program started testing in early 1964 with NRX-A1 cold flow test series (unfueled graphite core), NRX-A2 and NRX-A3 power test series up to 1122 MW for 13 minutes. In March 1966, the NRX-EST (Engine System Test) was the first breadboard using flight functional relationship and total operating time of 116 minutes. The NRX-EST demonstrated the feasibility of a hot bleed cycle. The NRX-A5 had multiple start-ups in May-June 1966 with 30.75 minutes accumulative operating time at or above 1GW. The NRX-A6 was tested in December 1969 and ran for 62 minutes at 1100 MW. Each engine had post-test examination and found various structure anomalies which were identified for correction and the fuel element corrosion rate was reduced. The Phoebus series of research reactors began testing at test cell C, in June 1965 with Phoebus 1A. Phoebus 1A operated for 10.5 minutes at 1100 MW before unexpected loss of propellant and leading to an engine breakdown. Phoebus 1B ran for 30 minutes in February of 1967. Phoebus 2A was the highest steady state reactor built at 5GW. Phoebus 2A ran for 12 minutes at 4100 MW demonstrating sufficient power is available. The Peewee test bed reactor was tested November- December 1968 in test cell C for 40 minutes at 500MW with overall performance close to pre-run predictions. The XE' engine was the only engine tested with close to a flight configuration and fired downward into a diffuser at the Engine Test Stand (ETS) in 1969. The XE' was 1100 MW and had ~28 start-ups. The nuclear furnace NF-1 was operated at 44 MW with multiple test runs at 90 minutes in the summer of 1972. The NF-1 was the last NTP reactor tested. The Rover/NERVA program was cancelled in 1973. However, before cancellation, a lot of other engineering work was conducted by Aerojet on a 75, 000 lbf prototype flight engine and by Los Alamos on a ~16,000 lbf "Small Engine" nuclear rocket design. The ground test history of NTP at the NRDS also offers many lessons learned on how best to setup, operate, emergency shutdown, and post-test examine NTP engines. The reactor and engine maintenance and disassembly facilities were used for assembly and inspection of radioactive engines after testing. Most reactor/ engines were run at test cell A or test cell C with open air exhaust. The Rover/NERVA program became aware of a new environmental regulation that would restrict the amount of radioactive particulates allowed to be release in open air and successfully demonstrated a scrubber concept with the NF-1. The ETS stand was the only one with a high altitude test chamber used for XE'. The ETS and other test cells showed the effects the engine's radiation had on the facility materials and instrumentation as well as side effects the ground test facility has back on the engine operation. The breakdown of Phoebus 1A at test cell C showed how the site was cleaned up and back to operation for five more engines before the program was cancelled.

Gerrish, Harold P.↗