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The use of telerobots and rovers in space missions is examined. The functioning of the telerobots and rovers and their proposed applications are described. Research developments needed to design robots for specific environments and functions are described. Examples of NASA robotics projects are presented.
The chemical composition of cometary nuclei is examined to estimate the potential contribution of volatiles to the prebiotic earth from cometary collisions. Observations of cometary nuclei are reviewed to describe the chemical evolution of the objects and their theoretical potential for affecting the terrestrial environment. Specific attention is given to the plausibility of the single-impact formation of the earth-moon system, and experiments are proposed for testing the present theories. It is proposed that significant contributions of biogenic elements such as C, H, N, O, P, and S resulted from these nuclei colliding with the earth. Observations of the solar atmosphere and of the circumstellar shells of C-rich stars indicate that compounds such as CO, C2, and H2O were not pyrolyzed as a result of collision events. The compounds are theorized to have established the foundation for the abiotic synthesis of key biochemical molecules.
New and innovative software technology is presented that provides a cost effective bridge for smoothly transitioning prototype software, in the field of planning and scheduling, into an operational environment. Specifically, this technology mixes the flexibility and human design efficiency of dynamic data typing with the rigor and run-time efficiencies of static data typing. This new technology provides a very valuable tool for conducting the extensive, up-front system prototyping that leads to specifying the correct system and producing a reliable, efficient version that will be operationally effective and will be accepted by the intended users.
The requirements for a successful technology transfer program and what such a program would look like are discussed. In particular, the issues associated with technology transfer in general, and within the Jet Propulsion Laboratory (JPL) environment specifically are addressed. The section on background sets the stage, identifies the barriers to successful technology transfer, and suggests actions to address the barriers either generally or specifically. The section on technology transfer presents a process with its supporting management plan that is required to ensure a smooth transfer process. Viewgraphs are also included.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.
This paper reports on an on-going research and development effort in remote surface inspection of space platforms such as the Space Station Freedom (SSF). It describes the space environment and identifies the types of damage for which to search. This paper provides an overview of the Remote Surface Inspection System that was developed to conduct proof-of-concept demonstrations and to perform experiments in a laboratory environment. Specifically, the paper describes three technology areas: (1) manipulator control for sensor placement; (2) automated non-contact inspection to detect and classify flaws; and (3) an operator interface to command the system interactively and receive raw or processed sensor data. Initial findings for the automated and human visual inspection tests are reported.
The role of Mission Evaluation Room (MER) engineers is to provide engineering support during Space Shuttle missions, for Space Shuttle systems. These engineers are concerned with ensuring that the systems for which they are responsible function reliably, and as intended. The MER is a central facility from which engineers may work, in fulfilling this obligation. Engineers participate in real-time monitoring of shuttle telemetry data and provide a variety of analyses associated with the operation of the shuttle. The Johnson Space Center's Automation and Robotics Division is working to transfer advances in intelligent systems technology to NASA's operational environment. Specifically, the MER Intelligent Diagnostic and Analysis System (MIDAS) project provides MER engineers with software to assist them with monitoring, filtering and analyzing Shuttle telemetry data, during and after Shuttle missions. MIDAS off-loads to computers and software, the tasks of data gathering, filtering, and analysis, and provides the engineers with information which is in a more concise and usable form needed to support decision making and engineering evaluation. Engineers are then able to concentrate on more difficult problems as they arise. This paper describes some, but not all of the applications that have been developed for MER engineers, under the MIDAS Project. The sampling described herewith was selected to show the range of tasks that engineers must perform for mission support, and to show the various levels of automation that have been applied to assist their efforts.
We present a new approach to distributing processed telemetry data among spacecraft flight controllers within the control centers at NASA's Johnson Space Center. This approach facilitates the development of application programs which integrate spacecraft-telemetered data and ground-based synthesized data, then distributes this information to flight controllers for analysis and decision-making. The new approach combines various distributed computing models into one hybrid distributed computing model. The model employs both client-server and peer-to-peer distributed computing models cooperating to provide users with information throughout a diverse operations environment. Specifically, it provides an attractive foundation upon which we are building critical real-time monitoring and control applications, while simultaneously lending itself to peripheral applications in playback operations, mission preparations, flight controller training, and program development and verification. We have realized the hybrid distributed computing model through an information sharing protocol. We shall describe the motivations that inspired us to create this protocol, along with a brief conceptual description of the distributed computing models it employs. We describe the protocol design in more detail, discussing many of the program design considerations and techniques we have adopted. Finally, we describe how this model is especially suitable for supporting the implementation of distributed expert system applications.
This project involves fundamental studies of the role of nonlinearity in determining the motion of liquid masses under the principal influences of surface tension, viscosity and inertia. Issues to be explored are relevant to aspects of terrestrial processes, as well as being immediately applicable to fluid management in a low-gravity environment. Specific issues include: (1) the mechanic's of liquid masses in large-amplitude motions, (2) the influence of bounding surfaces on the motion, and (3) the ability of such surfaces to control liquid motion by wetting forces, especially when they are augmented by various surface treatments. Mathematical techniques include asymptotic analysis of the governing equations, for problem simplification, and numerical simulation, using both boundary-element and finite-difference methods. The flow problem is divided into an 'outer' or inviscid potential-flow region and one or more inner, or viscous dominated, regions. Relevant to one inner region, the vicinity of the contact line, we discuss time-dependent simulation of slow droplet motion, on a surface of variable wettability, using the lubrication approximation. The simulation uses a disjoining pressure model and reproduces realistic wetting-dewetting behavior.
Numerical results pertaining to cyclic melting and freezing of an encapsulated phase change material (PCM), integrated into a solar heat receiver, have been reported. The cyclic nature of the present melt/freeze problem is relevant to latent heat thermal energy storage (LHTES) systems used to power solar Brayton engines in microgravity environments. Specifically, a physical and numerical model of the solar heat receiver component of NASA Lewis Research Center's Ground Test Demonstration (GTD) project was developed and results compared with available experimental data. Multi-conjugate effects such as the convective fluid flow of a low-Prandtl-number fluid, coupled with thermal conduction in the phase change material, containment tube and working fluid conduit were accounted for in the model. A single-band thermal radiation model was also included to quantify reradiative energy exchange inside the receiver and losses through the aperture. The eutectic LiF-CaF2 was used as the phase change material (PCM) and a mixture of He/Xe was used as the working fluid coolant. A modified version of the computer code HOTTube was used to generate results for comparisons with GTD data for both the subcooled and two-phase regimes. While qualitative trends were in close agreement for the balanced orbit modes, excellent quantitative agreement was observed for steady-state modes.
A parametric study on cyclic melting and freezing of an encapsulated phase change material (PCM), integrated into a solar heat receiver, has been performed. The cyclic nature of the present melt/freeze problem is relevant to latent heat thermal energy storage (LHTES) systems used to power solar Brayton engines in microgravity environments. Specifically, a physical and numerical model of the solar heat receiver component of NASA Lewis Research Center's Ground Test Demonstration (GTD) project was developed. Multi-conjugate effects such as the convective fluid flow of a low-Prandtl-number fluid, coupled with thermal conduction in the phase change material, containment tube and working fluid conduit were accounted for in the model. A single-band thermal radiation model was also included to quantify reradiative energy exchange inside the receiver and losses through the aperture. The eutectic LiF-CaF2 was used as the phase change material (PCM) and a mixture of He/Xe was used as the working fluid coolant. A modified version of the computer code HOTTube was used to generate results in the two-phase regime. Results indicate that parametric changes in receiver gas inlet temperature and receiver heat input effects higher sensitivity to changes in receiver gas exit temperatures.
A semi-analytical algorithm was tested with a total of 733 points of either unpackaged or packaged-pigment data, with corresponding algorithm parameters for each data type. The 'unpackaged' type consisted of data sets that were generally consistent with the Case 1 CZCS algorithm and other well calibrated data sets. The 'packaged' type consisted of data sets apparently containing somewhat more packaged pigments, requiring modification of the absorption parameters of the model consistent with the CalCOFI study area. This resulted in two equally divided data sets. A more thorough scrutiny of these and other data sets using a semianalytical model requires improved knowledge of the phytoplankton and gelbstoff of the specific environment studied. Since the semi-analytical algorithm is dependent upon 4 spectral channels including the 412 nm channel, while most other algorithms are not, a means of testing data sets for consistency was sought. A numerical filter was developed to classify data sets into the above classes. The filter uses reflectance ratios, which can be determined from space. The sensitivity of such numerical filters to measurement resulting from atmospheric correction and sensor noise errors requires further study. The semi-analytical algorithm performed superbly on each of the data sets after classification, resulting in RMS1 errors of 0.107 and 0.121, respectively, for the unpackaged and packaged data-set classes, with little bias and slopes near 1.0. In combination, the RMS1 performance was 0.114. While these numbers appear rather sterling, one must bear in mind what mis-classification does to the results. Using an average or compromise parameterization on the modified global data set yielded an RMS1 error of 0.171, while using the unpackaged parameterization on the global evaluation data set yielded an RMS1 error of 0.284. So, without classification, the algorithm performs better globally using the average parameters than it does using the unpackaged parameters. Finally, the effects of even more extreme pigment packaging must be examined in order to improve algorithm performance at high latitudes. Note, however, that the North Sea and Mississippi River plume studies contributed data to the packaged and unpackaged classess, respectively, with little effect on algorithm performance. This suggests that gelbstoff-rich Case 2 waters do not seriously degrade performance of the semi-analytical algorithm.
In arid environments, specific microwave signatures have been observed with the Special Sensor Microwave/Imager (SSM/I). For a given diurnal change in surface skin temperature, the corresponding change in the microwave brightness temperature is smaller than expected. With the help of a 1D, time-dependent heat conduction model, this behavior is explained by microwave radiation coming from different depths in the soil, depending on the soil type and on the microwave radiation frequency. Using the eight-times daily estimates of the surface skin temperature by the International Satellite Cloud Climatology Project (ISCCP) and a simple Fresnel model, collocated month-long time series of the SSM/I brightness temperatures and the surface skin temperatures give a consistent estimate of the effective microwave emissivity and penetration depth parameters. Results are presented and analyzed for the Sahara and the Arabian Peninsula, for July and November 1992. The case of the Australian desert is also briefly mentioned. Assuming a reasonable thermal diffusivity for the soil in desert areas, the microwave radiation is estimated to come from soil layers down to depths of at least five wavelengths in some locations. Regions where the microwave radiation comes from deeper soil layers also have large microwave emissivity polarization differences and large visible reflectances, suggesting that these areas correspond to sand dune fields.
The importance of maintaining body temperature is well understood by both clinicians and lay persons. The normal, resting body core temperature is about 37 C (98.6 F), and death often occurs when it falls below 27 C (80.6 F) or exceeds 42 C (107.6 F). Thus, for survival the degree of overheating is more critical than that for overcooling. The lower limit of body core temperature for onset of heatstroke is usually only 41 C - 42 C (105.8 F - 107.6 F), but classic heatstroke has occurred with core body temperature as low as 40.6 (105.1 F). The physical effects of weightlessness on heat loss responses have not been well investigated; however, convective heat loss is greatly compromised and evaporative heat loss may also be impaired. These effects on convection and evaporation can be minimized by increasing air flow and reducing ambient humidity. The specific environments that crew members may be expected to encounter are described in this chapter.
This report presents a Simple Thermal Environment Model (STEM) for determining appropriate engineering design values to specify the thermal environment of Earth-orbiting satellites. The thermal environment of a satellite, consists of three components: (1) direct solar radiation, (2) Earth-atmosphere reflected shortwave radiation, as characterized by Earth's albedo, and (3) Earth-atmosphere-emitted outgoing longwave radiation (OLR). This report, together with a companion "guidelines" report provides methodology and guidelines for selecting "design points" for thermal environment parameters for satellites and spacecraft systems. The methods and models reported here are outgrowths of Earth Radiation Budget Experiment (ERBE) satellite data analysis and thermal environment specifications discussed by Anderson and Smith (1994). In large part, this report is intended to update (and supersede) those results.
One of NASA's key goals is to increase the safety and reduce the cost of space transportation. Thus, a key element of NASA's new Integrated Space Transportation Plan is to develop new propulsion, structures, and operations for future generations of reusable launch vehicles (RLVs). As part of this effort to develop the next RLV, the ClCT Program's Computing, Networking, and Information Systems (CNIS) Project is developing and demonstrating collaborative software technologies that use the collective power of the NASA Grid to accelerate spacecraft design. One of these technologies, called AeroDB, automates the execution and monitoring of computational fluid dynamics (CFD) parameter studies on the NASA Grid. About the NASA Grid The NASA Grid, or Information Power Grid,. is being developed to leverage the distributed resources of NASA's many computers. instruments, simulators, and data storage systems. The goal is to use these combined resources to sdve difficult NASA challenges, such as iimulating the entire flight of a space vehicle from ascent to descent.To realize the vision of the NASA Grid, the CNIS Project is developing the software framework and protocols for building domain-specific environments and interfaces, new Grid services based on emerging industry standards, and advanced networking and computing testbeds to support new Grid-based applications such as AeroDB.
The 8th Spacecraft Charging Technology Conference was held in Huntsville, Alabama, October 20-24, 2003. Hosted by NASA s Space Environments and Effects (SEE) Program and co-sponsored by the Air Force Research Laboratory (AFRL) and the European Space Agency (ESA), the 2003 conference saw attendance from eleven countries with over 65 oral papers and 18 poster papers. Presentation topics highlighted the latest in spacecraft charging mitigation techniques and on-orbit investigations, including: Plasma Propulsion and Tethers; Ground Testing Techniques; Interactions of Spacecraft and Systems With the Natural and Induced Plasma Environment; Materials Characterizations; Models and Computer Simulations; Environment Specifications; Current Collection and Plasma Probes in Space Plasmas; On-Orbit Investigations. A round-table discussion of international standards regarding electrostatic discharge (ESD) testing was also held with the promise of continued discussions in the off years and an official continuation at the next conference.
We evaluated the combined effects on reaching movements of the transient, movement-dependent Coriolis forces and the static centrifugal forces generated in a rotating environment. Specifically, we assessed the effects of comparable Coriolis force perturbations in different static force backgrounds. Two groups of subjects made reaching movements toward a just-extinguished visual target before rotation began, during 10 rpm counterclockwise rotation, and after rotation ceased. One group was seated on the axis of rotation, the other 2.23 m away. The resultant of gravity and centrifugal force on the hand was 1.0 g for the on-center group during 10 rpm rotation, and 1.031 g for the off-center group because of the 0.25 g centrifugal force present. For both groups, rightward Coriolis forces, approximately 0.2 g peak, were generated during voluntary arm movements. The endpoints and paths of the initial per-rotation movements were deviated rightward for both groups by comparable amounts. Within 10 subsequent reaches, the on-center group regained baseline accuracy and straight-line paths; however, even after 40 movements the off-center group had not resumed baseline endpoint accuracy. Mirror-image aftereffects occurred when rotation stopped. These findings demonstrate that manual control is disrupted by transient Coriolis force perturbations and that adaptation can occur even in the absence of visual feedback. An increase, even a small one, in background force level above normal gravity does not affect the size of the reaching errors induced by Coriolis forces nor does it affect the rate of reacquiring straight reaching paths; however, it does hinder restoration of reaching accuracy.