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NASA NTRS2002

The Solar-Sail Launched Interstellar Probe: Pre-Perihelion Trajectories and Application of Holography

Design of missions beyond our solar system presents many challenges. Here, we consider certain aspects of the solar-sail launched interstellar probe (ISP), a spacecraft slated for launch in the 2010 time period that is planned to reach the heliopause, at 200 Astronomical Units (AU) from the Sun after a flight of about 20-years duration. The baseline mission under consideration by NASA / JPL has a sail radius of 200 m, a science payload of 25 kg, a spacecraft areal mass thickness of about two grams per square meter and is accelerated out of the solar system at about 14 AU per year after performing a perihelion pass of about 0.25 AU. In current plans, the sail is to be dropped near Jupiter's orbit (5.2 AU from the Sun) on the outbound trajectory leg. One aspect of this study is application of a realistic model of sail thermo-optics to sail kinematics that includes diffuse / specular reflectance and sail roughness. The effects of solar-wind degradation of sail material, based on recent measurements at the NASA MSFC (Marshall Space Flight Center) Space Environment Facility were incorporated in the kinematical model. After setting initial and final conditions for the spacecraft, trajectory was optimized using the provision of variable sail aspect angle. The second phase of the study included consideration of rainbow holography as a medium for a message plaque that would be carried aboard the ISP in the spirit of the message plaques aboard Pioneer 10 /11 and Voyager 1 /2. A prototype holographic message plaque was designed and created by artist C. Bangs with the assistance of Ana Maria Nicholson and Dan Schweitzer of the Center for Holographic Arts in Long Island City, NY. The piece was framed by Simon Liu Inc. of Brooklyn, NY. Concurrent to the creation of the prototype message plaque, we explored the potential of this medium to transmit large amounts of visual information to any extraterrestrial civilization that might detect and intercept ISP. It was also necessary to investigate possible degradation of holograms by the space environment. We developed a new way of characterizing the optical quality of holograms.

Gregory L. Matloff↗
NASA NTRS2003

Application of Core Dynamics Modeling to Core-Mantle Interactions

Observations have demonstrated that length of day (LOD) variation on decadal time scales results from exchange of axial angular momentum between the solid mantle and the core. There are in general four core-mantle interaction mechanisms that couple the core and the mantle. Of which, three have been suggested likely the dominant coupling mechanism for the decadal core-mantle angular momentum exchange, namely, gravitational core-mantle coupling arising from density anomalies in the mantle and in the core (including the inner core), the electromagnetic coupling arising from Lorentz force in the electrically conducting lower mantle (e.g. D-layer), and the topographic coupling arising from non-hydrostatic pressure acting on the core-mantle boundary (CMB) topography. In the past decades, most effort has been on estimating the coupling torques from surface geomagnetic observations (kinematic approach), which has provided insights on the core dynamical processes. In the meantime, it also creates questions and concerns on approximations in the studies that may invalidate the corresponding conclusions. The most serious problem is perhaps the approximations that are inconsistent with dynamical processes in the core, such as inconsistencies between the core surface flow beneath the CMB and the CMB topography, and that between the D-layer electric conductivity and the approximations on toroidal field at the CMB. These inconsistencies can only be addressed with numerical core dynamics modeling. In the past few years, we applied our MoSST (Modular, Scalable, Self-consistent and Three-dimensional) core dynamics model to study core-mantle interactions together with geodynamo simulation, aiming at assessing the effect of the dynamical inconsistencies in the kinematic studies on core-mantle coupling torques. We focus on topographic and electromagnetic core-mantle couplings and find that, for the topographic coupling, the consistency between the core flow and the CMB topography is critical for correct evaluation of the coupling torque.

Kuang, Weijia↗
NASA NTRS2004

Black Holes Masses in Seyfert Galaxies

There is increasing evidence for the existence of supermassive black holes at the centers of all galaxies, and much work is being devoted to understand the process that lead to their formation, the duty cycle for the active phase of these black holes and the relevant fueling mechanisms. Seyfert galaxies determined by HST high spatial resolution observations of the kinematics of the central regions. The study of the gas kinematics provides a unique tool to probe the gravitational potential of the nuclear regions of Seyfert galaxies down to a limit radius of a few parsecs. This is particularly important to detect and measure the mass associated with any central massive black hole. We have obtained high spatial resolution spectra of a number of Seyfert galaxies, with the STIS G430M and G750M gratings, and we have been able to separate the emission line components associated with different velocity systems. We have derived two-dimensional velocity fields and determined the mass of the central black hole with good precision for each of the galaxies.

Macchetto, F. D.↗
NASA NTRS2004

A Low Mass Translation Mechanism for Planetary FTIR Spectrometry using an Ultrasonic Piezo Linear Motor

One of the key components of a Fourier Transform Infrared Spectrometer (FTIR) is the linear translation stage used to vary the optical path length between the two arms of the interferometer. This translation mechanism must produce extremely constant velocity motion across its entire range of travel to allow the instrument to attain high signal-to-noise ratio and spectral resolving power. A new spectrometer is being developed at the Jet Propulsion Laboratory under NASA s Planetary Instrument Definition and Development Program (PIDDP). The goal of this project is to build upon existing spaceborne FTIR spectrometer technology to produce a new instrument prototype that has drastically superior spectral resolution and substantially lower mass, making it feasible for planetary exploration. In order to achieve these goals, Alliance Spacesystems, Inc. (ASI) has developed a linear translation mechanism using a novel ultrasonic piezo linear motor in conjunction with a fully kinematic, fault tolerant linear rail system. The piezo motor provides extremely smooth motion, is inherently redundant, and is capable of producing unlimited travel. The kinematic rail uses spherical Vespel(R). rollers and bushings, which eliminates the need for wet lubrication, while providing a fault tolerant platform for smooth linear motion that will not bind under misalignment or structural deformation. This system can produce velocities from 10 - 100 mm/s with less than 1% velocity error over the entire 100-mm length of travel for a total mechanism mass of less than 850 grams. This system has performed over half a million strokes under vacuum without excessive wear or degradation in performance. This paper covers the design, development, and testing of this linear translation mechanism as part of the Planetary Atmosphere Occultation Spectrometer (PAOS) instrument prototype development program.

Heverly, Matthew↗
NASA NTRS2002

Identifying head-trunk and lower limb contributions to gaze stabilization during locomotion

The goal of the present study was to determine how the multiple, interdependent full-body sensorimotor subsystems respond to a change in gaze stabilization task constraints during locomotion. Nine subjects performed two gaze stabilization tasks while walking at 6.4 km/hr on a motorized treadmill: 1) focusing on a central point target; 2) reading numeral characters; both presented at 2 m in front at the level of their eyes. While subjects performed the tasks we measured: temporal parameters of gait, full body sagittal plane segmental kinematics of the head, trunk, thigh, tibia and foot, accelerations along the vertical axis at the head and the tibia, and the vertical forces acting on the support surface. We tested the hypothesis that with the increased demands placed on visual acuity during the number recognition task, subjects would modify full-body segmental kinematics in order to reduce perturbations to the head in order to successfully perform the task. We found that while reading numeral characters as compared to the central point target: 1) compensatory head pitch movement was on average 22% greater despite the fact that the trunk pitch and trunk vertical translation movement control were not significantly changed; 2) coordination patterns between head and trunk as reflected by the peak cross correlation between the head pitch and trunk pitch motion as well as the peak cross correlation between the head pitch and vertical trunk translation motion were not significantly changed; 3) knee joint total movement was on average 11% greater during the period from the heel strike event to the peak knee flexion event in stance phase of the gait cycle; 4) peak acceleration measured at the head was significantly reduced by an average of 13% in four of the six subjects. This was so even when the peak acceleration at the tibia and the transmission of the shock wave at heel strike (measured by the peak acceleration ratio of the head/tibia and the time lag between the tibial and head peak accelerations) remained unchanged. Taken together these results provide further evidence that the full body contributes to gaze stabilization during locomotion, and that its different functional elements can be modified online to contribute to gaze stabilization for different visual task constraints.

NASA Center JSC↗
NASA NTRS2003

Analysis of human postural responses to recoverable falls

We studied the kinematics and kinetics of human postural responses to "recoverable falls." To induce brief falling we used a Hold and Release (H&R) paradigm. Standing subjects actively resisted a force applied to their sternum. When this force was quickly released they were suddenly off balance. For a brief period, approximately 125 ms, until restoring forces were generated to shift the center of foot pressure in front of the center of mass, the body was in a forward fall acted on by gravity and ground support forces. We were able to describe the whole-body postural behavior following release using a multilink inverted pendulum model in a regime of "small oscillations." A three-segment model incorporating upper body, upper leg, and lower leg, with active stiffness and damping at the joints was fully adequate to fit the kinematic data from all conditions. The significance of our findings is that in situations involving recoverable falls or loss of balance the earliest responses are likely dependent on actively-tuned, reflexive mechanisms yielding stiffness and damping modulation of the joints. We demonstrate that haptic cues from index fingertip contact with a stationary surface lead to a significantly smaller angular displacement of the torso and a more rapid recovery of balance. Our H&R paradigm and associated model provide a quantifiable approach to studying recovery from potential falling in normal and clinical subjects.

NASA Discipline Space Human Factors↗
NASA NTRS2001

Analysis and experiments with an elephant's trunk robot

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Non-NASA Center↗
NASA NTRS1997

Multi-Body Analysis of a Tiltrotor Configuration

The paper describes the aeroelastic analysis of a tiltrotor configuration. The 1/5 scale wind tunnel semispan model of the V-22 tiltrotor aircraft is considered. The analysis is performed by means of a multi-body code, based on an original formulation. The differential equilibrium problem is stated in terms of first order differential equations. The equilibrium equations of every rigid body are written, together with the definitions of the momenta. The bodies are connected by kinematic constraints, applied in form of Lagrangian multipliers. Deformable components are mainly modelled by means of beam elements, based on an original finite volume formulation. Multi-disciplinar problems can be solved by adding user-defined differential equations. In the presented analysis the equations related to the control of the swash-plate of the model are considered. Advantages of a multi-body aeroelastic code over existing comprehensive rotorcraft codes include the exact modelling of the kinematics of the hub, the detailed modelling of the flexibility of critical hub components, and the possibility to simulate steady flight conditions as well as wind-up and maneuvers. The simulations described in the paper include: 1) the analysis of the aeroelastic stability, with particular regard to the proprotor/pylon instability that is peculiar to tiltrotors, 2) the determination of the dynamic behavior of the system and of the loads due to typical maneuvers, with particular regard to the conversion from helicopter to airplane mode, and 3) the stress evaluation in critical components, such as the pitch links and the conversion downstop spring.

Ghiringhelli, G. L.↗
NASA NTRS2001

Retraining the injured spinal cord

The present review presents a series of concepts that may be useful in developing rehabilitative strategies to enhance recovery of posture and locomotion following spinal cord injury. First, the loss of supraspinal input results in a marked change in the functional efficacy of the remaining synapses and neurons of intraspinal and peripheral afferent (dorsal root ganglion) origin. Second, following a complete transection the lumbrosacral spinal cord can recover greater levels of motor performance if it has been exposed to the afferent and intraspinal activation patterns that are associated with standing and stepping. Third, the spinal cord can more readily reacquire the ability to stand and step following spinal cord transection with repetitive exposure to standing and stepping. Fourth, robotic assistive devices can be used to guide the kinematics of the limbs and thus expose the spinal cord to the new normal activity patterns associated with a particular motor task following spinal cord injury. In addition, such robotic assistive devices can provide immediate quantification of the limb kinematics. Fifth, the behavioural and physiological effects of spinal cord transection are reflected in adaptations in most, if not all, neurotransmitter systems in the lumbosacral spinal cord. Evidence is presented that both the GABAergic and glycinergic inhibitory systems are up-regulated following complete spinal cord transection and that step training results in some aspects of these transmitter systems being down-regulated towards control levels. These concepts and observations demonstrate that (a) the spinal cord can interpret complex afferent information and generate the appropriate motor task; and (b) motor ability can be defined to a large degree by training.

NASA Discipline Musculoskeletal↗
NASA NTRS2000

Calcaneal loading during walking and running

PURPOSE: This study of the foot uses experimentally measured kinematic and kinetic data with a numerical model to evaluate in vivo calcaneal stresses during walking and running. METHODS: External ground reaction forces (GRF) and kinematic data were measured during walking and running using cineradiography and force plate measurements. A contact-coupled finite element model of the foot was developed to assess the forces acting on the calcaneus during gait. RESULTS: We found that the calculated force-time profiles of the joint contact, ligament, and Achilles tendon forces varied with the time-history curve of the moment about the ankle joint. The model predicted peak talocalcaneal and calcaneocuboid joint loads of 5.4 and 4.2 body weights (BW) during walking and 11.1 and 7.9 BW during running. The maximum predicted Achilles tendon forces were 3.9 and 7.7 BW for walking and running. CONCLUSIONS: Large magnitude forces and calcaneal stresses are generated late in the stance phase, with maximum loads occurring at approximately 70% of the stance phase during walking and at approximately 60% of the stance phase during running, for the gait velocities analyzed. The trajectories of the principal stresses, during both walking and running, corresponded to each other and qualitatively to the calcaneal trabecular architecture.

NASA Center ARC↗
NASA NTRS1999

Ankle and hip postural strategies defined by joint torques

Previous studies have identified two discrete strategies for the control of posture in the sagittal plane based on EMG activations, body kinematics, and ground reaction forces. The ankle strategy was characterized by body sway resembling a single-segment-inverted pendulum and was elicited on flat support surfaces. In contrast, the hip strategy was characterized by body sway resembling a double-segment inverted pendulum divided at the hip and was elicited on short or compliant support surfaces. However, biomechanical optimization models have suggested that hip strategy should be observed in response to fast translations on a flat surface also, provided the feet are constrained to remain in contact with the floor and the knee is constrained to remain straight. The purpose of this study was to examine the experimental evidence for hip strategy in postural responses to backward translations of a flat support surface and to determine whether analyses of joint torques would provide evidence for two separate postural strategies. Normal subjects standing on a flat support surface were translated backward with a range of velocities from fast (55 cm/s) to slow (5 cm/s). EMG activations and joint kinematics showed pattern changes consistent with previous experimental descriptions of mixed hip and ankle strategy with increasing platform velocity. Joint torque analyses revealed the addition of a hip flexor torque to the ankle plantarflexor torque during fast translations. This finding indicates the addition of hip strategy to ankle strategy to produce a continuum of postural responses. Hip torque without accompanying ankle torque (pure hip strategy) was not observed. Although postural control strategies have previously been defined by how the body moves, we conclude that joint torques, which indicate how body movements are produced, are useful in defining postural control strategies. These results also illustrate how the biomechanics of the body can transform discrete control patterns into a continuum of postural corrections.

Non-NASA Center↗
NASA NTRS2004

Validation of GLAS Range Measurement over Salar de Uyuni, Bolivia

NASA's Geoscience Laser Altimeter System (GLAS) on the Ice, Cloud and land Elevation Satellite (ICESat) is Earth's first polar-orbiting satellite laser altimeter. Its primary purpose is to measure ice sheet elevation change, with a scientific requirement of detecting changes as low as 1.5 centimeters per year. This goal requires precise calibration and validation of the instrument. One approach for validating the GLAS range measurement involves comparison with a land reference target. Dry salt lakes are ideal for this purpose since they are large, stable, easily surveyed using kinematic GPS, and have albedos similar to that of ice. We selected the largest dry salt lake in the world, the salar de Uyuni in Bolivia, as a reference target for GLAS. In September 2002 we surveyed a 54 x 45 kilometer area of the salar with car-mounted kinematic GPS, using the data to construct a DEM of the surface. To date there have been six ICESat passes across our survey area, along two intersecting tracks. The first two passes occurred during "Laser 2A" operation (September to November 2003), the second two during "Laser 2B" operation (February to March 2004), and the final two during "Laser 2C" (June to July 2004). We compare GLAS elevations from all six passes with the salar de Uyuni DEM, showing how differing conditions between passes affected the performance of the GLAS instrument and providing an estimate of the relative and absolute accuracy of the range measurement. To check our results, we also compare the GLAS elevations along the same tracks with the mean sea-surface derived from TOPEX over the ocean on either side of South America.

Source record↗
NASA NTRS2012

Nonlinear Analysis of Bonded Composite Tubular Lap Joints

The present study describes a semi-analytical solution method for predicting the geometrically nonlinear response of a bonded composite tubular single-lap joint subjected to general loading conditions. The transverse shear and normal stresses in the adhesive as well as membrane stress resultants and bending moments in the adherends are determined using this method. The method utilizes the principle of virtual work in conjunction with nonlinear thin-shell theory to model the adherends and a cylindrical shear lag model to represent the kinematics of the thin adhesive layer between the adherends. The kinematic boundary conditions are imposed by employing the Lagrange multiplier method. In the solution procedure, the displacement components for the tubular joint are approximated in terms of non-periodic and periodic B-Spline functions in the longitudinal and circumferential directions, respectively. The approach presented herein represents a rapid-solution alternative to the finite element method. The solution method was validated by comparison against a previously considered tubular single-lap joint. The steep variation of both peeling and shearing stresses near the adhesive edges was successfully captured. The applicability of the present method was also demonstrated by considering tubular bonded lap-joints subjected to pure bending and torsion.

E. Oterkus↗
NASA NTRS2005

Stress Analysis of Composite Cylindrical Shells With an Elliptical Cutout

A special-purpose, semi-analytical solution method for determining the stress and deformation fields in a thin laminated-composite cylindrical shell with an elliptical cutout is presented. The analysis includes the effects of cutout size, shape, and orientation; nonuniform wall thickness; oval-cross-section eccentricity; and loading conditions. The loading conditions include uniform tension, uniform torsion, and pure bending. The analysis approach is based on the principle of stationary potential energy and uses Lagrange multipliers to relax the kinematic admissibility requirements on the displacement representations through the use of idealized elastic edge restraints. Specifying appropriate stiffness values for the elastic extensional and rotational edge restraints (springs) allows the imposition of the kinematic boundary conditions in an indirect manner, which enables the use of a broader set of functions for representing the displacement fields. Selected results of parametric studies are presented for several geometric parameters that demonstrate that analysis approach is a powerful means for developing design criteria for laminated-composite shells.

Nemeth, M. P.↗
NASA NTRS2005

Physics-based Simulation of Human Posture Using 3D Whole Body Scanning Technology for Astronaut Space Suit Evaluation

Over the past few years high precision three-dimensional (3D) full body laser scanners have been developed to be used as a powerful anthropometry tool for quantification of the morphology of the human body. The full body scanner can quickly extract body characteristics in non-contact fashion. It is required for the Anthropometry and Biomechanics Facility (ABF) to have capabilities for kinematics simulation of a digital human at various postures whereas the laser scanner only allows capturing a single static posture at each time. During this summer fellowship period a theoretical study has been conducted to estimate an arbitrary posture with a series of example postures through finite element (FE) approximation and found that four-point isoparametric FE approximation would result in reasonable maximum position errors less than 5%. Subsequent pilot scan experiments demonstrated that a bead marker with a nominal size of 6 mm could be used as a marker for digitizing 3-D coordinates of anatomical landmarks for further kinematic analysis. Two sessions of human subject testing were conducted for reconstruction of an arbitrary postures from a set of example postures for each joint motion for the forearm/hand complex and the whole upper extremity.

Kim, Kyu-Jung↗
NASA NTRS2004

Electronics and Sensor Cooling with a Stirling Cycle for Venus Surface Mission

The inhospitable ambient surface conditions of Venus, with a 450 C temperature and 92 bar pressure, may likely require any extended-duration surface exploratory mission to incorporate some type of cooling for probe electronics and sensor devices. A multiple-region Venus mission study was completed at NASA GRC in December of 2003 that resulted in the preliminary design of a kinematically-driven, helium charged, Stirling cooling cycle with an estimated over-all COP of 0.376 to lift 100 watts of heat from a 200 C cold sink temperature and reject it at a hot sink temperature of 500 C. This paper briefly describes the design process and also describes and summarizes key features of the kinematic, Stirling cooler preliminary design concept.

Mellott, Ken↗
NASA NTRS2004

Power Conversion with a Stirling Cycle for Venus Surface Mission

The light-filtering characteristic of the dense, mostly-CO2 atmosphere of Venus, combined with the high atmospheric cloud cover, relegates the surface mission use of photovoltaic power systems and beckons for the independence and reliability of a nuclear-powered energy source. A multi-faceted Venus mission study was completed at NASA GRC in December of 2003 that resulted in the preliminary design of a helium- charged, kinematic Stirling converter, which is powered by nuclear, General Purpose Heat Source (GPHS) modules. The kinematic, Stirling power converter is configured to drive an electronics and sensor cooler in addition to a generator for electrical power. This paper briefly describes the design process and also describes and summarizes key features of the Stirling power converter preliminary design concept. With an estimated total efficiency of 23.4%, the power converter drives the electronics and sensor cooler, and also produces 100 watts of electricity. The converter rejects waste heat at a hot sink temperature of 500 C.

Mellott, Ken↗
NASA NTRS2006

Effects of Walking Speed and Visual-Target Distance on Toe Trajectory During Swing Phase

After spaceflight, astronauts experience disturbances in their ability to walk and maintain postural stability (Bloomberg, et al., 1997). One of the post-flight neurovestibular assessments requires that the astronaut walk on a treadmill at 1.8 m/sec (4.0 mph), while performing a visual acuity test, set at two different distances ( far and near ). For the first few days after landing, some crewmembers can not maintain the required pace, so a lower speed may be used. The slower velocity must be considered in the kinematic analysis, because Andriacchi, et al. (1977) showed that in clinical populations, changes in gait parameters may be attributable more to slower gait speed than pathology. Studying toe trajectory gives a global view of control of the leg, since it involves coordination of muscles and joints in both the swing and stance legs (Karst, et al., 1999). Winter (1992) and Murray, et al. (1984) reported that toe clearance during overground walking increased slightly as speed increased, but not significantly. Also, toe vertical peaks in both early and late swing phase did increase significantly with increasing speed. During conventional testing of overground locomotion, subjects are usually asked to fix their gaze on the end of the walkway a far target. But target (i.e., visual fixation) distance has been shown to affect head and trunk motion during treadmill walking (Bloomberg, et al., 1992; Peters, et al., in review). Since the head and trunk can not maintain stable gaze without proper coordination with the lower body (Mulavara & Bloomberg, 2003), it would stand to reason that lower body kinematics may be altered as well when target distance is modified. The purpose of this study was to determine changes in toe vertical trajectory during treadmill walking due to changes in walking speed and target distance.

Miller, Chris↗