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NASA NTRS2014

Honeywell Cascade Distiller System Performance Testing Interim Results

The ability to recover and purify water through physiochemical processes is crucial for realizing long-term human space missions, including both planetary habitation and space travel. Because of their robust nature, distillation systems have been actively pursued as one of the technologies for water recovery. The Cascade Distillation System (CDS) is a vacuum rotary distillation system with potential for greater reliability and lower energy costs than existing distillation systems. The CDS was previously under development through Honeywell and NASA. In 2009, an assessment was performed to collect data to support down-selection and development of a primary distillation technology for application in a lunar outpost water recovery system. Based on the results of this testing, an expert panel concluded that the CDS showed adequate development maturity, TRL-4, together with the best product water quality and competitive weight and power estimates to warrant further development. The Advanced Exploration Systems (AES) Water Recovery Project (WRP) worked to address weaknesses identified by The Panel; namely bearing design and heat pump power efficiency. Testing at the NASA-JSC Advanced Exploration System Water Laboratory (AES Water Lab) using a prototype Cascade Distillation Subsystem (CDS) wastewater processor (Honeywell International, Torrance, Calif.) with test support equipment and control system developed by Johnson Space Center was performed to evaluate performance of the system with the upgrades. The CDS will also have been challenged with ISS analog waste streams and a subset of those being considered for Exploration architectures. This paper details interim results of the AES WRP CDS performance testing.

Callahan, Michael R.↗

NASA NTRS2016

The Cognitive Challenges of Flying a Remotely Piloted Aircraft

A large variety of Remotely Piloted Aircraft (RPA) designs are currently in production or in development. These aircraft range from small electric quadcopters that are flown close to the ground within visual range of the operator, to larger systems capable of extended flight in airspace shared with conventional aircraft. Before RPA can operate routinely and safely in civilian airspace, we need to understand the unique human factors associated with these aircraft. The task of flying an RPA in civilian airspace involves challenges common to the operation of other highly-automated systems, but also introduces new considerations for pilot perception, decision-making, and action execution. RPA pilots participated in focus groups where they were asked to recall critical incidents that either presented a threat to safety, or highlighted a case where the pilot contributed to system resilience or mission success. Ninety incidents were gathered from focus-groups. Human factor issues included the impact of reduced sensory cues, traffic separation in the absence of an out-the-window view, control latencies, vigilance during monotonous and ultra-long endurance flights, control station design considerations, transfer of control between control stations, the management of lost link procedures, and decision-making during emergencies. Some of these concerns have received significant attention in the literature, or are analogous to human factors of manned aircraft. The presentation will focus on issues that are poorly understood, and have not yet been the subject of extensive human factors study. Although many of the reported incidents were related to pilot error, the participants also provided examples of the positive contribution that humans make to the operation of highly-automated systems.

remote pilot station↗

NASA NTRS2016

The Human Challenges of Remotely Piloted Aircraft Systems

Remotely Piloted Aircraft (RPA) range from small electric quadcopters that are flown close to the ground within visual range of the operator, to larger systems capable of extended flight in airspace shared with conventional aircraft. Before RPA can operate routinely and safely in civilian airspace, we need to understand the unique human factors associated with these aircraft. RPA pilots participated in focus groups where they were asked to recall critical incidents that either presented a threat to safety, or highlighted a case where the pilot contributed to system resilience or mission success. Ninety incidents were gathered from focus-groups. Human factor issues included the impact of reduced sensory cues, traffic separation in the absence of an out-the-window view, control latencies, vigilance during monotonous and ultra-long endurance flights, control station design considerations, transfer of control between control stations, the management of lost link procedures, and decision-making during emergencies. Some of these concerns have received significant attention in the literature, or are analogous to human factors of manned aircraft. Although many of the reported incidents were related to pilot error, the participants also provided examples of the positive contribution that humans make to the operation of highly-automated systems.

Hobbs, Alan↗

NASA NTRS1989

A neural network for controlling the configuration of frame structure with elastic members

A neural network for controlling the configuration of frame structure with elastic members is proposed. In the present network, the structure is modeled not by using the relative angles of the members but by using the distances between the joint locations alone. The relationship between the environment and the joints is also defined by their mutual distances. The analog neural network attains the reaching motion of the manipulator as a minimization problem of the energy constructed by the distances between the joints, the target, and the obstacles. The network can generate not only the final but also the transient configurations and the trajectory. This framework with flexibility and parallelism is very suitable for controlling the Space Telerobotic systems with many degrees of freedom.

Tsutsumi, Kazuyoshi↗

NASA NTRS2001

Flight Computer Design for the Space Technology 5 (ST-5) Mission

As part of NASA's New Millennium Program, the Space Technology 5 mission will validate a variety of technologies for nano-satellite and constellation mission applications. Included are: a miniaturized and low power X-band transponder, a constellation communication and navigation transceiver, a cold gas micro-thruster, two different variable emittance (thermal) controllers, flex cables for solar array power collection, autonomous groundbased constellation management tools, and a new CMOS ultra low-power, radiation-tolerant, +0.5 volt logic technology. The ST-5 focus is on small and low-power. A single-processor, multi-function flight computer will implement direct digital and analog interfaces to all of the other spacecraft subsystems and components. There will not be a distributed data system that uses a standardized serial bus such as MIL-STD-1553 or MIL-STD-1773. The flight software running on the single processor will be responsible for all real-time processing associated with: guidance, navigation and control, command and data handling (C&DH) including uplink/downlink, power switching and battery charge management, science data analysis and storage, intra-constellation communications, and housekeeping data collection and logging. As a nanosatellite trail-blazer for future constellations of up to 100 separate space vehicles, ST-5 will demonstrate a compact (single board), low power (5.5 watts) solution to the data acquisition, control, communications, processing and storage requirements that have traditionally required an entire network of separate circuit boards and/or avionics boxes. In addition to the New Millennium technologies, other major spacecraft subsystems include the power system electronics, a lithium-ion battery, triple-junction solar cell arrays, a science-grade magnetometer, a miniature spinning sun sensor, and a propulsion system.

Speer, David↗

NASA NTRS2006

Four-Quadrant Analog Multipliers Using G4-FETs

Theoretical analysis and some experiments have shown that the silicon-on-insulator (SOI) 4-gate transistors known as G4-FETs can be used as building blocks of four-quadrant analog voltage multiplier circuits. Whereas a typical prior analog voltage multiplier contains between six and 10 transistors, it is possible to construct a superior voltage multiplier using only four G4-FETs. A G4-FET is a combination of a junction field-effect transistor (JFET) and a metal oxide/semiconductor field-effect transistor (MOSFET). It can be regarded as a single transistor having four gates, which are parts of a structure that affords high functionality by enabling the utilization of independently biased multiple inputs. The structure of a G4-FET of the type of interest here (see Figure 1) is that of a partially-depleted SOI MOSFET with two independent body contacts, one on each side of the channel. The drain current comprises of majority charge carriers flowing from one body contact to the other that is, what would otherwise be the side body contacts of the SOI MOSFET are used here as the end contacts [the drain (D) and the source (S)] of the G4-FET. What would otherwise be the source and drain of the SOI MOSFET serve, in the G4-FET, as two junction-based extra gates (JG1 and JG2), which are used to squeeze the channel via reverse-biased junctions as in a JFET. The G4-FET also includes a polysilicon top gate (G1), which plays the same role as does the gate in an accumulation-mode MOSFET. The substrate emulates a fourth MOS gate (G2). By making proper choices of G4-FET device parameters in conjunction with bias voltages and currents, one can design a circuit in which two input gate voltages (Vin1,Vin2) control the conduction characteristics of G4-FETs such that the output voltage (Vout) closely approximates a value proportional to the product of the input voltages. Figure 2 depicts two such analog multiplier circuits. In each circuit, there is the following: The input and output voltages are differential, The multiplier core consists of four G4- FETs (M1 through M4) biased by a constant current sink (Ibias), and The G4-FETs in two pairs are loaded by two identical resistors (RL), which convert a differential output current to a differential output voltage. The difference between the two circuits stems from their input and bias configurations. In each case, provided that the input voltages remain within their design ranges as determined by considerations of bias, saturation, and cutoff, then the output voltage is nominally given by Vout = kVin1Vin2, where k is a constant gain factor that depends on the design parameters and is different for the two circuits. In experimental versions of these circuits constructed using discrete G4- FETs and resistors, multiplication of voltages in all four quadrants (that is, in all four combinations of input polarities) was demonstrated, and deviations of the output voltages from linear dependence on the input voltages were found to amount to no more than a few percent. It is anticipated that in fully integrated versions of these circuits, the deviations from linearity will be made considerably smaller through better matching of devices.

Mojarradi, Mohammad↗

NASA NTRS2014

Biomechanics of the Treadmill Locomotion on the International Space Station

Exercise prescriptions completed by International Space Station (ISS) crewmembers are typically based upon evidence obtained during ground-based investigations, with the assumption that the results of long-term training in weightlessness will be similar to that attained in normal gravity. Coupled with this supposition are the assumptions that exercise motions and external loading are also similar between gravitational environments. Normal control of locomotion is dependent upon learning patterns of muscular activation and requires continual monitoring of internal and external sensory input [1]. Internal sensory input includes signals that may be dependent on or independent of gravity. Bernstein hypothesized that movement strategy planning and execution must include the consideration of segmental weights and inertia [2]. Studies of arm movements in microgravity showed that individuals tend to make errors but that compensation strategies result in adaptations, suggesting that control mechanisms must include peripheral information [3-5]. To date, however, there have been no studies examining a gross motor activity such as running in weightlessness other than using microgravity analogs [6-8]. The objective of this evaluation was to collect biomechanical data from crewmembers during treadmill exercise before and during flight. The goal was to determine locomotive biomechanics similarities and differences between normal and weightless environments. The data will be used to optimize future exercise prescriptions. This project addresses the Critical Path Roadmap risks 1 (Accelerated Bone Loss and Fracture Risk) and 11 (Reduced Muscle Mass, Strength, and Endurance). Data were collected from 7 crewmembers before flight and during their ISS missions. Before launch, crewmembers performed a single data collection session at the NASA Johnson Space Center. Three-dimensional motion capture data were collected for 30 s at speeds ranging from 1.5 to 9.5 mph in 0.5 mph increments with a 12-camera system. During flight, each crewmember completed up to 6 data collection sessions spread across their missions, performing their normal exercise prescription for the test day, resulting in varying data collection protocols between sessions. Motion data were collected by a single HD video camera positioned to view the crewmembers' left side, and tape markers were placed on their feet, legs, and neck on specific landmarks. Before data collection, the crewmembers calibrated the video camera. Video data were collected during the entire exercise session at 30 Hz. Kinematic data were used to determine left leg hip, knee, and ankle range of motion and contact time, flight time, and stride time for each stride. 129 trials in weightlessness were analyzed. Mean time-normalized strides were found for each trial, and cross-correlation procedures were used to examine the strength and direction of relationships between segment movement pattern timing in each gravitational condition. Cross-correlation analyses between gravitational conditions revealed highly consistent movement patterns at each joint. Peak correlation coefficients occurred at 0% phase, indicating there were no lags in movement timing. Joint ranges of motion were similar between gravitational conditions, with some slight differences between subjects. Motion patterns in weightlessness were highly consistent at a given speed with those occurring in 1G, indicating that despite differing sensory input, subjects maintain running kinematics. The data suggest that individuals are capable of compensating for loss of limb weight when creating movement strategies. These results have important implications for creating training programs for use in weightlessness as practitioners can have greater confidence in running motions transferring across gravitational environments. Furthermore, these results have implications for use by researchers investigating motor control mechanisms and investigating hypotheses related to movement strategies when using sensory input that is dependent upon gravity.

DeWitt, John↗

NASA NTRS2012

Investigations Using Laboratory Testbeds to Interpret Flight Instrument Datasets from Mars Robotic Missions

The Astromaterials Research and Exploration Science Directorate at the NASA Johnson Space Center (JSC) has laboratory instrumentation that mimic the capabilities of corresponding flight instruments to enable interpretation of datasets returned from Mars robotic missions. The lab instruments have been and continue to be applied to datasets for the Moessbauer Spectrometer (MB) on the Mars Exploration Rovers (MER), the Thermal & Evolved Gas Analyzer (TEGA) on the Mars Phoenix Scout, the CRISM instrument on the Mars Reconnaissance Orbiter Missions and will be applied to datasets for the Sample Analysis at Mars (SAM), Chemistry and Mineralogy (CheMin) and Chemistry & Camera (ChemCam) instruments onboard the Mars Science Laboratory (MSL). The laboratory instruments can analyze analog samples at costs that are substantially lower than engineering models of flight instruments, but their success to enable interpretation of flight data depends on how closely their capabilities mimic those of the flight instrument. The JSC lab MB instruments are equivalent to the MER instruments except without flight qualified components and no reference channel Co-57 source. Data from analog samples were critical for identification of Mg-Fe carbonate at Gusev crater. Fiber-optic VNIR spectrometers are used to obtain CRISM-like spectral data over the range 350-2500 nm, and data for Fephyllosilicates show irreversible behavior in the electronic transition region upon dessication. The MB and VNIR instruments can be operated within chambers where, for example, the absolute H2O concentration can be measured and controlled. Phoenix's TEGA consisted of a calorimeter coupled to a mass spectrometer (MS). The JSC laboratory testbed instrument consisted of a differential scanning calorimeter (DSC) coupled to a MS configured to operate under total pressure (12 mbar), heating rate (20 C/min), and purge gas composition (N2) analogous to the flight TEGA. TEGA detected CO2 release at both low (400-680 C) and high (725-820 C) temperature and an endothermic reaction in concert with the high temperature release. The high-temperature thermal decomposition is consistent with calcite, dolomite, or ankerite, (3-6 wt.%) or any combination of these phase based upon laboratory testbed experiments. Recent laboratory experiments suggest that the low temperature CO2 release was caused by a reaction between calcium carbonate and hydrated magnesium perchlorate; although, CO2 release by the oxidation of organic materials and Fe-/Mg-rich carbonates cannot be ruled out. MSL landed in Gale crater on August 5, 2012. Although numerous analog samples have been analyzed on the JSC laboratory testbeds, no SAM, CheMin, or ChemCam analyses have been acquired by MSL to date. The JSC SAM laboratory testbed consists of a thermal analyzer coupled with a MS configured to operate under total pressure (30 mbar), heating rate (35 C/min), and purge gas composition (He) analogous to the flight SAM. The CheMin and ChemCam laboratory testbeds were developed and built by inXitu, Inc. and Los Alamos National Laboratory, respectively, to acquire datasets relevant to the MSL CheMin and ChemCam flight instruments.

Ming, D. W.↗

NASA NTRS1972

Asynchronous sampling of speech with some vocoder experimental results

The method of asynchronously sampling speech is based upon the derivatives of the acoustical speech signal. The following results are apparent from experiments to date: (1) It is possible to represent speech by a string of pulses of uniform amplitude, where the only information contained in the string is the spacing of the pulses in time; (2) the string of pulses may be produced in a simple analog manner; (3) the first derivative of the original speech waveform is the most important for the encoding process; (4) the resulting pulse train can be utilized to control an acoustical signal production system to regenerate the intelligence of the original speech.

Babcock, M. L.↗

NASA NTRS1984

Optical Kalman filtering for missile guidance

Optical systolic array processors constitute a powerful and general-purpose set of optical architectures with high computational rates. In this paper, Kalman filtering, a novel application for these architectures, is investigated. All required operations are detailed; their realization by optical and special-purpose analog electronics are specified; and the processing time of the system is quantified. The specific Kalman filter application chosen is for an air-to-air missile guidance controller. The architecture realized in this paper meets the design goal of a fully adaptive Kalman filter which processes a measurement every 1 msec. The vital issue of flow and pipelining of data and operations in a systolic array processor is addressed. The approach is sufficiently general and can be realized on an optical or digital systolic array processor.

Casasent, D.↗

NASA NTRS1985

VORSTAB: A computer program for calculating lateral-directional stability derivatives with vortex flow effect

A computer program based on the Quasi-Vortex-Lattice Method of Lan is presented for calculating longitudinal and lateral-directional aerodynamic characteristics of nonplanar wing-body combination. The method is based on the assumption of inviscid subsonic flow. Both attached and vortex-separated flows are treated. For the vortex-separated flow, the calculation is based on the method of suction analogy. The effect of vortex breakdown is accounted for by an empirical method. A summary of the theoretical method, program capabilities, input format, output variables and program job control set-up are described. Three test cases are presented as guides for potential users of the code.

Lan, C. Edward↗

NASA NTRS2010

GeoLab in NASA's Pressurized Excursion Module: First Results from the 2010 Field Trials

Before humans explore other planets, NASA must develop advanced techniques for collection, preservation and return of unique extraterrestrial samples. To help evaluate hardware requirements and operational concepts for future sample-return missions, we designed and built GeoLab our first generation lab for geological samples into NASA s Habitat Demonstration Unit in the Pressurized Excursion Module (HDU1-PEM). The center of GeoLab is a glovebox for the examination of samples in a shirt-sleeve environment. As part of a deployable habitat, GeoLab can participate in NASA s analog missions that simulate planetary exploration activities and support the testing of relevant technologies for collecting and handling geological samples. Over time, these tests will evaluate sample handling environments (field and lab), sampling tools and analytical instruments, and different scenarios involving both robotic and human procedures. The GeoLab design supports evolving tests and configurations. The glovebox is mounted on the habitat bulkhead, with three sample pass-though chambers that allow for direct sample transfer into the glovebox from the outside. The glovebox design and construction (low-particle shedding, minimally off-gassing materials) provides a clean environment to reduce sample contamination; in the future, we will integrate a positive pressure, enriched nitrogen atmosphere. The glovebox is equipped with configurable instrument ports. The 2010 test included a mass balance, a stereomicroscope with a HD camera for detailed imaging of samples, and a handheld XRF analyzer for preliminary geochemical characterization of samples. Network cameras provided context imagery and sample handling activities. We present early results from the initial field trial of GeoLab during the 2010 Desert Research and Technology Studies (D-RATS) planetary analog test near Flagstaff AZ. The 2010 D-RATS mission involved two rovers, the habitat with GeoLab, four crew members, and a team of scientists and flight controllers. The crewed rovers conducted geological traverses and collected samples on the planetary surface. Selected samples were transferred into GeoLab for detailed examination and initial analysis, providing critical data to the science team for evaluation and prioritization of samples.

Evans, Cynthia A.↗

NASA NTRS2014

All-Digital Baseband 65nm PLL/FPLL Clock Multiplier using 10-cell Library

PLLs for clock generation are essential for modern circuits, to generate specialized frequencies for many interfaces and high frequencies for chip internal operation. These circuits depend on analog circuits and careful tailoring for each new process, and making them fault tolerant is an incompletely solved problem. Until now, all digital PLLs have been restricted to sampled data DSP techniques and not available for the highest frequency baseband applications. This paper presents the design and preliminary evaluation of an all-digital baseband technique built entirely with an easily portable 10-cell digital library. The library is also described, as it aids in research and low volume design porting to new processes. The advantages of the digital approach are the wide variety of techniques available to give varying degrees of fault tolerance, and the simplicity of porting the design to new processes, even to exotic processes that may not have analog capability. The only tuning parameter is digital gate delay. An all-digital approach presents unique problems and standard analog loop stability design criteria cannot be directly used. Because of the quantization of frequency, there is effectively infinite gain for very small loop error feedback. The numerically controlled oscillator (NCO) based on a tapped delay line cannot be reliably updated while a pulse is active in the delay line, and ordinarily does not have enough frequency resolution for a low-jitter output.

Shuler, Robert L., Jr.↗

NASA NTRS2014

ALL-Digital Baseband 65nm PLL/FPLL Clock Multiplier Using 10-Cell Library

Schuler, Robert L., Jr.↗

NASA NTRS2013

Shock Position Control for Mode Transition in a Turbine Based Combined Cycle Engine Inlet Model

A dual flow-path inlet for a turbine based combined cycle (TBCC) propulsion system is to be tested in order to evaluate methodologies for performing a controlled inlet mode transition. Prior to experimental testing, simulation models are used to test, debug, and validate potential control algorithms which are designed to maintain shock position during inlet disturbances. One simulation package being used for testing is the High Mach Transient Engine Cycle Code simulation, known as HiTECC. This paper discusses the development of a mode transition schedule for the HiTECC simulation that is analogous to the development of inlet performance maps. Inlet performance maps, derived through experimental means, describe the performance and operability of the inlet as the splitter closes, switching power production from the turbine engine to the Dual Mode Scram Jet. With knowledge of the operability and performance tradeoffs, a closed loop system can be designed to optimize the performance of the inlet. This paper demonstrates the design of the closed loop control system and benefit with the implementation of a Proportional-Integral controller, an H-Infinity based controller, and a disturbance observer based controller; all of which avoid inlet unstart during a mode transition with a simulated disturbance that would lead to inlet unstart without closed loop control.

Csank, Jeffrey T.↗

NASA NTRS1976

An investigation of potential applications of OP-SAPS: Operational sampled analog processors

The impact of charge-coupled device (CCD) processors on future instrumentation was investigated. The CCD devices studied process sampled analog data and are referred to as OP-SAPS - operational sampled analog processors. Preliminary studies into various architectural configurations for systems composed of OP-SAPS show that they have potential in such diverse applications as pattern recognition and automatic control. It appears probable that OP-SAPS may be used to construct computing structures which can serve as special peripherals to large-scale computer complexes used in real time flight simulation. The research was limited to the following benchmark programs: (1) face recognition, (2) voice command and control, (3) terrain classification, and (4) terrain identification. A small amount of effort was spent on examining a method by which OP-SAPS may be used to decrease the limiting ground sampling distance encountered in remote sensing from satellites.

Parrish, E. A.↗

NASA NTRS1975

Software for Digital Acquisition System and Application to Environmental Monitoring

Criteria for selection of a minicomputer for use as a core resident acquisition system were developed for the ODU Mobile Air Pollution Laboratory. A comprehensive data acquisition program named MONARCH was instituted in a DEC-8/E-8K 12-bit computer. Up to 32 analog voltage inputs are scanned sequentially, converted to BCD, and then to actual numbers. As many as 16 external devices (valves or any other two-state device) are controlled independently. MONARCH is written as a foreground-background program, controlled by an external clock which interrupts once per minute. Transducer voltages are averaged over user specified time intervals and, upon completion of any desired time sequence, outputted are: day, hour, minute, second; state of external valves; average value of each analogue voltage (E Format); as well as standard deviations of these values. Output is compatible with any serially addressed media.

Copeland, G. E.↗

NASA NTRS1978

Expansion of flight simulator capability for study and solution of aircraft directional control problems on runways

The development, evaluation, and evaluation results of a DC-9-10 runway directional control simulator are described. An existing wide bodied flight simulator was modified to this aircraft configuration. The simulator was structured to use either two of antiskid simulations; (1) an analog mechanization that used aircraft hardware; or (2) a digital software simulation. After the simulation was developed it was evaluated by 14 pilots who made 818 simulated flights. These evaluations involved landings, rejected takeoffs, and various ground maneuvers. Qualitatively most pilots evaluated the simulator as realistic with good potential especially for pilot training for adverse runway conditions.

Kibbee, G. W.↗