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At least 955 records · Page 53

Reflexive obstacle avoidance for kinematically-redundant manipulators

Dexterous telerobots incorporating 17 or more degrees of freedom operating under coordinated, sensor-driven computer control will play important roles in future space operations. They will also be used on Earth in assignments like fire fighting, construction and battlefield support. A real time, reflexive obstacle avoidance system, seen as a functional requirement for such massively redundant manipulators, was developed using arm-mounted proximity sensors to control manipulator pose. The project involved a review and analysis of alternative proximity sensor technologies for space applications, the development of a general-purpose algorithm for synthesizing sensor inputs, and the implementation of a prototypical system for demonstration and testing. A 7 degree of freedom Robotics Research K-2107HR manipulator was outfitted with ultrasonic proximity sensors as a testbed, and Robotics Research's standard redundant motion control algorithm was modified such that an object detected by sensor arrays located at the elbow effectively applies a force to the manipulator elbow, normal to the axis. The arm is repelled by objects detected by the sensors, causing the robot to steer around objects in the workspace automatically while continuing to move its tool along the commanded path without interruption. The mathematical approach formulated for synthesizing sensor inputs can be employed for redundant robots of any kinematic configuration.

Karlen, James P.↗

Environmental Control and Life Support System

Viewgraphs on the Environmental Control and Life Support System (ECLSS) for the space station are presented. The ECLSS is divided into six subsystems: temperature and humidity control (THC), atmosphere control and supply (ACS), atmosphere revitalization (AR), fire detection and suppression (FDS), water recovery management (WRM), and waste management (WM). Topics covered include: ECLSS subsystem functions; ECLSS distributed system; ECLSS functional distribution; CO2 removal; CO2 reduction; oxygen generation; urine processor; and potable water recovery.

Ray, Charles↗

Aerospace Test Facilities at NASA LeRC Plumbrook

An overview of the facilities and research being conducted at LeRC's Plumbrook field station is given. The video highlights four main structures and explains their uses. The Space Power Facility is the world's largest space environment simulation chamber, where spacebound hardware is tested in simulations of the vacuum and extreme heat and cold of the space plasma environment. This facility was used to prepare Atlas 1 rockets to ferry CRRES into orbit; it will also be used to test space nuclear electric power generation systems. The Spacecraft Propulsion Research Facility allows rocket vehicles to be hot fired in a simulated space environment. In the Cryogenic Propellant Tank Facility, researchers are developing technology for storing and transferring liquid hydrogen in space. There is also a Hypersonic Wind Tunnel which can perform flow tests with winds up to Mach 7.

Source record↗

An investigation of air transportation technology at the Massachusetts Institute of Technology: 1993-1994

There are two completed projects and two continuing research activities under the sponsorship of the FAA/NASA Joint University Program as the 1993-94 period ends. There were a number of publications during the year which are referenced in this report. A brief summary of the continuing research projects is provided. The completed projects were (1) Analysis of Aircraft Surface Motion at Boston Logan International Airport and (2) A State of the Art Review and Critical Analysis of World Jet Transport Safety and Aviation Fire Safety. The active research projects are (1) ASLOTS - An Interactive Adaptive System for Automated Approach Spacing of Aircraft and (2) Alerting in Automated and Datalink Capable Cockpits.

Simpson, Robert W.↗

Flame Resistant Foam

Solimide manufactured by Imi-Tech Corporation, is a lightweight fire resistant material produced under a manufacturing process that allows it to be uniformly foamed. Can be produced in a variety of densities and structural configurations and remains resilient under exposure to temperatures ranging from minus 300 to plus 500 degrees Fahrenheit. Is resistant to open flame and generates virtually no smoke or toxic by-products. Used in aircraft for its superior damping characteristics, lighter weight and fire barrier properties, it's also applicable to ships and surface transportation systems such as transit cars, trains, buses and automobiles.

Source record↗

Implications of Dynamic Pressure Transducer Mounting Variations on Measurements in Pyrotechnic Test Apparatus

Accurate dynamic pressure measurements are often difficult to make within small pyrotechnic devices, and transducer mounting difficulties can cause data anomalies that lead to erroneous conclusions. Delayed initial pressure response followed by data ringing has been observed when using miniaturized pressure transducer mounting adapters required to interface transducers to small test chambers. This delayed pressure response and ringing, combined with a high data acquisition rate, has complicated data analysis. This paper compares the output signal characteristics from different pressure transducer mounting options, where the passage distance from the transducer face to the pyrotechnic chamber is varied in length and diameter. By analyzing the data and understating the associated system dynamics, a more realistic understanding of the actual dynamic pressure variations is achieved. Three pressure transducer mounting configurations (elongated, standard, and face/flush mount) were simultaneously tested using NASA standard initiators in closed volume pressure bombs. This paper also presents results of these pressure transducer mounting configurations as a result of a larger NASA Engineering and Safety Center pyrovalve test project. Results from these tests indicate the improved performance of using face/flush mounted pressure transducers in this application. This type of mounting improved initial pressure measurement response time by approximately 19 s over standard adapter mounting, eliminating most of the lag time; provided a near step-function type initial pressure increase; and greatly reduced data ringing in high data acquisition rate systems. The paper goes on to discuss other issues associated with the firing and instrumentation that are important for the tester to understand.

Dibbern, Andreas↗

100-lbf LO2/CH4 RCS Thruster Testing and Validation

100 pound thrust liquid Oxygen-Methane thruster sized for RCS (Reaction Control System) applications. Innovative Design Characteristics include: a) Simple compact design with minimal part count; b) Gaseous or Liquid propellant operation; c) Affordable and Reusable; d) Greater flexibility than existing systems; e) Part of NASA'S study of "Green Propellants." Hot-fire testing validated performance and functionality of thruster. Thruster's dependence on mixture ratio has been evaluated. Data has been used to calculate performance parameters such as thrust and Isp. Data has been compared with previous test results to verify reliability and repeatability. Thruster was found to have an Isp of 131 s and 82 lbf thrust at a mixture ratio of 1.62.

Barnes, Frank↗

NASA's Space Launch System Program Update

Hardware and software for the world's most powerful launch vehicle for exploration is being welded, assembled, and tested today in high bays, clean rooms and test stands across the United States. NASA's Space Launch System (SLS) continued to make significant progress in the past year, including firing tests of both main propulsion elements, manufacturing of flight hardware, and the program Critical Design Review (CDR). Developed with the goals of safety, affordability, and sustainability, SLS will deliver unmatched capability for human and robotic exploration. The initial Block 1 configuration will deliver more than 70 metric tons (t) (154,000 pounds) of payload to low Earth orbit (LEO). The evolved Block 2 design will deliver some 130 t (286,000 pounds) to LEO. Both designs offer enormous opportunity and flexibility for larger payloads, simplifying payload design as well as ground and on-orbit operations, shortening interplanetary transit times, and decreasing overall mission risk. Over the past year, every vehicle element has manufactured or tested hardware, including flight hardware for Exploration Mission 1 (EM-1). This paper will provide an overview of the progress made over the past year and provide a glimpse of upcoming milestones on the way to a 2018 launch readiness date.

May, Todd↗

Lessons Learned From the EMU Fire

In April 1980, a Space Shuttle Extravehicular Mobility Unit (EMU) was destroyed in a flash fire during a functional test in the Johnson Space Center's crew systems laboratory. During this lecture, Mr. Nowetner discussed what happened to cause this failure, what safety message resulted from it, lessons learned from these mistakes, and how to leverage earned knowledge.

Cinda Chullen↗

Lessons Learned from the EMU Fire

In April 1980, a Space Shuttle Extravehicular Mobility Unit (EMU) was destroyed in a flash fire during a functional test in the Johnson Space Center's crew systems laboratory. During this lecture, retired Exploration Portable Life Support System (xPLSS) Operations Manager Joseph T. Nowetner Jr. discussed what happened to cause this failure, what safety message resulted from it, lessons learned from these mistakes, and how to leverage earned knowledge.

Joseph T Nowetner↗

Addressing Critical Knowledge Gaps on Wildland Fires with UAS Technology

To better predict and respond to extreme fire behavior, wind shear, and superheated gases, there is a need for enhanced tactical microclimate wind forecasting. Collecting real-time or near-real-time three-dimensional atmospheric data during wildland fire suppression is vital for both ground firefighters and aviation safety. The use of balloons for soundings is not allowed due to aircraft operations, so new technology must be used. To address this need, the NASA FireSense Project has invested in co-developing and transitioning advanced technologies for atmospheric data collection to operational platforms to support decisions for wildland fire management. One of these technology investments has been with Uninhabited Aerial Systems (UAS) for atmospheric soundings. In collaboration with MITRE Corporation, a technology demonstration of Uninhabited Aerial Systems (UAS) for atmospheric soundings was held in Missoula, MT. This demonstration featured a NASA-designed payload on a Freefly Alta-X UAS, consistent with USFS UAS operations, balloon-borne soundings for data validation, and microscale modeling efforts. Results of this effort will be presented including comparison of forecasted conditions to data collection values as well as the impact on forecasts given real-time mixing heights and dispersion levels.

Jennifer Fowler↗

Assessment of an Automated Touchdown Detection Algorithm for the Orion Crew Module

Orion Crew Module (CM) touchdown detection is critical to activating the post-landing sequence that safe?s the Reaction Control Jets (RCS), ensures that the vehicle remains upright, and establishes communication with recovery forces. In order to accommodate safe landing of an unmanned vehicle or incapacitated crew, an onboard automated detection system is required. An Orion-specific touchdown detection algorithm was developed and evaluated to differentiate landing events from in-flight events. The proposed method will be used to initiate post-landing cutting of the parachute riser lines, to prevent CM rollover, and to terminate RCS jet firing prior to submersion. The RCS jets continue to fire until touchdown to maintain proper CM orientation with respect to the flight path and to limit impact loads, but have potentially hazardous consequences if submerged while firing. The time available after impact to cut risers and initiate the CM Up-righting System (CMUS) is measured in minutes, whereas the time from touchdown to RCS jet submersion is a function of descent velocity, sea state conditions, and is often less than one second. Evaluation of the detection algorithms was performed for in-flight events (e.g. descent under chutes) using hi-fidelity rigid body analyses in the Decelerator Systems Simulation (DSS), whereas water impacts were simulated using a rigid finite element model of the Orion CM in LS-DYNA. Two touchdown detection algorithms were evaluated with various thresholds: Acceleration magnitude spike detection, and Accumulated velocity changed (over a given time window) spike detection. Data for both detection methods is acquired from an onboard Inertial Measurement Unit (IMU) sensor. The detection algorithms were tested with analytically generated in-flight and landing IMU data simulations. The acceleration spike detection proved to be faster while maintaining desired safety margin. Time to RCS jet submersion was predicted analytically across a series of simulated Orion landing conditions. This paper details the touchdown detection method chosen and the analysis used to support the decision.

Gay, Robert S.↗

Design Evolution and Verification of the A-3 Chemical Steam Generator

Following is an overview of the Chemical Steam Generator system selected to provide vacuum conditions for a new altitude test facility, the A-3 Test Stand at Stennis Space Center (SSC) in Bay St. Louis, MS. A-3 will serve as NASA s primary facility for altitude testing of the J-2X rocket engine, to be used as the primary propulsion device for the upper stages of the Ares launch vehicles. The Chemical Steam Generators (CSGs) will produce vacuum conditions in the test cell through the production and subsequent supersonic ejection of steam into a diffuser downstream of the J-2X engine nozzle exit. The Chemical Steam Generators chosen have a rich heritage of operation at rocket engine altitude test facilities since the days of the Apollo program and are still in use at NASA White Sands Test Facility (WSTF) in New Mexico. The generators at WSTF have been modified to a degree, but are still very close to the heritage design. The intent for the A-3 implementation is to maintain this heritage design as much as possible, making minimal updates only where necessary to substitute for obsolete parts and to increase reliability. Reliability improvements are especially desired because the proposed system will require 27 generators, which is nine times the largest system installed in the 1960s. Improvements were suggested by the original design firm, Reaction Motors, by NASA SSC and NASA WSTF engineers, and by the A-3 test stand design contractor, Jacobs Technology, Inc. (JTI). This paper describes the range of improvements made to the design to date, starting with the heritage generator and the minor modifications made over time at WSTF, to the modernized configuration which will be used at A-3. The paper will discuss NASA s investment in modifications to SSC s E-2 test facility fire a full-scale Chemical Steam Generator in advance of the larger steam system installation at A-3. Risk mitigation testing will be performed in early 2009 at this test facility to verify that the CSGs operate as expected. The generator which will undergo this testing is of the most recent A-3 configuration, and will be instrumented far in excess of what is normally required for operation. The extra data will allow for easier troubleshooting and more complete knowledge of expected generator performance. In addition, the early testing will give SSC personnel experience in operating the CSG systems, which will expedite the process of installation and activation at A-3. Each Chemical Steam Generator is supported by a complement of valves, instruments, and flow control devices, with the entire assembly called a "module." The generators will be installed in groups of three, historically called "units". A module is so called because of its modular ability to be replaced or serviced without disturbing the other two modules installed on the same unit. A module is pictured in Figure 1, shown with its generator secured by white bands in its shipping (vs. installed) configuration. The heritage system at WSTF is composed of a single unit (three generator modules), pictured in Figure 2 as it was installed in 1965. In contrast, A-3 will have nine units operating in parallel to achieve vacuum conditions appropriate for testing the J-2X engine. Each of the combustors operates in two modes and achieves the so-called "full-steam" mode after all three of its stages ignite. Ignition of the first stage is achieved by exciting a spark plug; the second stage and main stage are lit by the flame front of the previous stage. The main stage burns approximately 97% of the total propellant flow and uses the heat energy to vaporize water into superheated steam. While the main stage remains unlit, the combustor is in so-called "idle" mode. In the WSTF system, this idle mode is not optimized for water usage, and does not need to be, as the water is pumped from a large reservoir. The water supply at A-3 will be contained in tanks with finite volume, so water optimization is preferred for the modnized configuration. Multiple solutions for this issue have been proposed, with the leading concept being a change to the operational definition of "idle mode," with the generator running in a lower heat flux condition.

Kirchner, Casey K.↗

Design, Instrumentation, and Data Analysis for the SLS Core Stage Green Run Test Series

The Space Launch System (SLS) Core Stage (CS) Thrust Vector Control (TVC) system is comprised of eight mechanical feedback Shuttle heritage Type III TVC actuators and four RS-25 engines, each attached to a Shuttle heritage gimbal block/bearing. The actuators are powered by a Shuttle-derived hydraulic Core Auxiliary Power Unit (CAPU), and integrated with an all-new Core Stage thrust structure. The actuators are interfaced to the SLS Vehicle Management (VM) software via an all-new TVC Actuator Control (TAC) avionics subsystem. Despite the significant test and flight experience of the Shuttle hardware, the SLS Green Run ambient and hot fire test activities revealed a number of new findings associated with the dynamic response of the TVC integrated system. Test responses suggested that the TVC system did not meet its performance specifications and its step and frequency responses exhibited unexpected departures from prior lab tests and modeled behavior. This paper is the fifth installment in a seven-paper series surveying the design, engineering, test validation, and flight performance of the Core Stage Thrust Vector Control system. In this paper, the design of the TVC analyses conducted during the Core Stage Green Run test series are discussed in detail. Throughout the course of the test activities, the SLS flight control team worked diligently with the Core Stage contractor to revise test command profiles and ensure sufficient instrumentation was available to collect data. Post-test analysis combined the Green Run modal, ambient, and hot fire test data, MSFC 2- axis Core Stage TVC Inertial Load Simulator (ILS) data, Hardware-In-the-Loop (HWIL) Systems Integration Lab (SIL) results, and actuator Acceptance Testing Procedure (ATP) responses. These data were used to characterize the response, validate critical math models of the TVC subsystem, and isolate the probable cause of the unexpected responses. Through comprehensive analysis of the available test data sources, the integrated team identified the dominant contributors to the observed response and developed test-correlated rationale for vehicle flight control system performance, ultimately leading to a confident posture for the Artemis I mission.

John H. Wall↗

Guide for Hydrogen Hazards Analysis on Components and Systems

The physical and combustion properties of hydrogen give rise to hazards that must be considered when designing and operating a hydrogen system. One of the major concerns in the use of hydrogen is that of fire or detonation because of hydrogen's wide flammability range, low ignition energy, and flame speed. Other concerns include the contact and interaction of hydrogen with materials, such as the hydrogen embrittlement of materials and the formation of hydrogen hydrides. The low temperature of liquid and slush hydrogen bring other concerns related to material compatibility and pressure control; this is especially important when dissimilar, adjoining materials are involved. The potential hazards arising from these properties and design features necessitate a proper hydrogen hazards analysis before introducing a material, component, or system into hydrogen service. The objective of this guide is to describe the NASA Johnson Space Center White Sands Test Facility hydrogen hazards analysis method that should be performed before hydrogen is used in components and/or systems. The method is consistent with standard practices for analyzing hazards. It is recommended that this analysis be made before implementing a hydrogen component qualification procedure. A hydrogen hazards analysis is a useful tool for hydrogen-system designers, system and safety engineers, and facility managers. A hydrogen hazards analysis can identify problem areas before hydrogen is introduced into a system-preventing damage to hardware, delay or loss of mission or objective, and possible injury or loss of life.

Beeson, Harold↗

Preflight status of the External Tank portion of the Space Shuttle Main Propulsion System

The development progress of the External Tank (ET) of the Shuttle Main Propulsion System (MPS) is described. 87% of ET propulsion components have satisfactorily completed qualification tests in preparation for the first Shuttle flight and their performance has been verified in the Main Propulsion Test Article (MPTA) firings of up to 100 seconds duration. The design changes in the LH2 tank pressurant diffuser, the LO2 feed system, and the ground test LO2 tank are discussed. Propellant loading information from MPTA tests may be used to predict loading operations and performance at KSC and VAFB, while ullage pressure profiles and boil-off rates during loading, chilldown rates, and final bulk density data have been obtained with geyser suppression evaluated and loading procedures established and verified. The MPTA test experience provided data to evaluate pressurization system and ET to Orbiter interface propellant performance noting thus that the fluid interface requirements will be satisfied for the first Shuttle flight. The Intertank inerting system was found to be effective in minimizing hazardous gas mixtures and full scale separation tests of the ET to Ground Umbilical Carrier Plate system were successfully completed.

Norquist, L.↗

Chemical Challenge Tests on ISS Fire Cartridges

Following a confirmed combustion event onboard the International Space Station (ISS), crew members will don Emergency Masks, each fitted with 2 ISS fire cartridge filters. As the crew member breathes through the filters, combustion products in the cabin air are either filtered or catalyzed by the fire cartridge media to minimize crew exposure to harmful levels of contaminants. Rigorous certification, acceptance, and surveillance programs for the fire cartridges ensure that each lot meets stringent performance requirements throughout the service life of the cartridges. In accordance with the Quality/Acceptance Test Plan, multiple fire cartridges from each lot undergo chemical challenge tests involving one or more chemicals at specified concentrations. These tests are conducted at specific temperatures, humidity levels, and gas flow rates intended to mimic the worst-case conditions for fire cartridge performance. These challenge tests are conducted by the Environmental Chemistry- Laboratory at the NASA Lyndon B. Johnson Space Center. Many of the challenge tests focus on carbon monoxide (CO), but other gases include hydrogen cyanide (HCN), hydrogen chloride (HCl), cyclohexane, acrolein, ammonia (NH3), and acetaldehyde. A fire cartridge is exposed to the test gas in a chamber at the specified conditions, and the outlet is monitored for breakthrough during the 2.5-hour test. This paper will briefly introduce fire cartridges and how they work and will then discuss details of the challenge gas delivery and exposure system, breakthrough monitoring methods, and discussion of issues that have arisen during the course of the test program. Although the focus of this paper will be on the challenge tests, a general summary of the performance of the fire cartridges will also be provided.

Cristina M. Muko↗

Using a data base management system for modelling SSME test history data

The usefulness of a data base management system (DBMS) for modelling historical test data for the complete series of static test firings for the Space Shuttle Main Engine (SSME) was assessed. From an analysis of user data base query requirements, it became clear that a relational DMBS which included a relationally complete query language would permit a model satisfying the query requirements. Representative models and sample queries are discussed. A list of environment-particular evaluation criteria for the desired DBMS was constructed; these criteria include requirements in the areas of user-interface complexity, program independence, flexibility, modifiability, and output capability. The evaluation process included the construction of several prototype data bases for user assessement. The systems studied, representing the three major DBMS conceptual models, were: MIRADS, a hierarchical system; DMS-1100, a CODASYL-based network system; ORACLE, a relational system; and DATATRIEVE, a relational-type system.

Abernethy, K.↗