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NASA NTRS1994

Dual-Arm Generalized Compliant Motion With Shared Control

Dual-Arm Generalized Compliant Motion (DAGCM) primitive computer program implementing improved unified control scheme for two manipulator arms cooperating in task in which both grasp same object. Provides capabilities for autonomous, teleoperation, and shared control of two robot arms. Unifies cooperative dual-arm control with multi-sensor-based task control and makes complete task-control capability available to higher-level task-planning computer system via large set of input parameters used to describe desired force and position trajectories followed by manipulator arms. Some concepts discussed in "A Generalized-Compliant-Motion Primitive" (NPO-18134).

Backes, Paul G.↗

NASA NTRS1988

NASA specification for manufacturing and performance requirements of NASA standard aerospace nickel-cadmium cells

On November 25, 1985, the NASA Chief Engineer established a NASA-wide policy to maintain and to require the use of the NASA standard for aerospace nickel-cadmium cells and batteries. The Associate Administrator for Safety, Reliability, Maintainability, and Quality Assurance stated on December 29, 1986, the intent to retain the NASA standard cell usage policy established by the Office of the Chief Engineer. The current NASA policy is also to incorporate technological advances as they are tested and proven for spaceflight applications. This policy will be implemented by modifying the existing standard cells or by developing new NASA standards and their specifications in accordance with the NASA's Aerospace Battery Systems Program Plan. This NASA Specification for Manufacturing and Performance Requirements of NASA Standard Aerospace Nickel-Cadmium Cells is prepared to provide requirements for the NASA standard nickel-cadmium cell. It is an interim specification pending resolution of the separator material availability. This specification has evolved from over 15 years of nickel-cadmium cell experience by NASA. Consequently, considerable experience has been collected and cell performance has been well characterized from many years of ground testing and from in-flight operations in both geosynchronous (GEO) and low earth orbit (LEO) applications. NASA has developed and successfully used two standard flight qualified cell designs.

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NASA NTRS1993

Magellan: Principal Venus science findings

This is a brief summary of the science findings of the Magellan mission, principally based on data from the radar system. Future plans for Magellan include acquisition of high resolution gravity data from a nearly circular orbit and atmospheric drag and occultation experiments. The Magellan science results represent the combined effort of more than 100 Magellan investigators and their students and colleagues. More extensive discussions can be found in the August and October, 1992 issues of the Journal of Geophysical Research, Planets. The Magellan mission's scientific objectives were to provide a global characterization of landforms and tectonic features; to distinguish and understand impact processes; to define and explain erosion, deposition, and chemical processes; and to model the interior density distribution. All but the last objective, which requires new global gravity data, have been accomplished, or we have acquired the data that are required to accomplish them.

Saunders, R. Stephen↗

NASA NTRS1992

P and W/GE propulsion systems studies introduction

The topics covered include the following: Pratt and Whitney (P&W)/ General Electric (GE) High Speed Civil Transport (HSCT) collaboration - joint propulsion studies and parallel technical organization; HSCT engine concepts; engine cycle/design ground rules - 2005 entry into service; engine evaluation criteria; 1991 HSCT system studies plan; P&W NASA study tasks; and GE NASA study tasks.

Gilkey, Samual C.↗

NASA NTRS1992

Status and plans for the ANOPP/HSR prediction system

ANOPP is a comprehensive prediction system which was developed and validated by NASA. Because ANOPP is a system prediction program, it allows aerospace industry researchers to create trade-off studies with a variety of aircraft noise problems. The extensive validation of ANOPP allows the program results to be used as a benchmark for testing other prediction codes.

Nolan, Sandra K.↗

NASA NTRS1994

Solar Radiation on Mars: Tracking Photovoltaic Array

A photovoltaic power source for surface-based operation on Mars can offer many advantages. Detailed information on solar radiation characteristics on Mars and the insolation on various types of collector surfaces are necessary for effective design of future planned photovoltaic systems. In this article we have presented analytical expressions for solar radiation calculation and solar radiation data for single axis (of various types) and two axis tracking surfaces and compared the insulation to horizontal and inclined surfaces. For clear skies (low atmospheric dust load) tracking surfaces resulted in higher insolation than stationary surfaces, whereas for highly dusty atmospheres, the difference is small. The insolation on the different types of stationary and tracking surfaces depend on latitude, season and optical depth of the atmosphere, and the duration of system operation. These insolations have to be compared for each mission.

Appelbaum, Joseph↗

NASA NTRS1995

Spaceborne synthetic aperture radar: Current status and future directions. A report to the Committee on Earth Sciences, Space Studies Board, National Research Council

This report provides a context in which questions put forth by NASA's Office of Mission to Planet Earth (OMPTE) regarding the next steps in spaceborne synthetic aperture radar (SAR) science and technology can be addressed. It summarizes the state-of-the-art in theory, experimental design, technology, data analysis, and utilization of SAR data for studies of the Earth, and describes potential new applications. The report is divided into five science chapters and a technology assessment. The chapters summarize the value of existing SAR data and currently planned SAR systems, and identify gaps in observational capabilities needing to be filled to address the scientific questions. Cases where SAR provides complementary data to other (non-SAR) measurement techniques are also described. The chapter on technology assessment outlines SAR technology development which is critical not only to NASA's providing societally relevant geophysical parameters but to maintaining competitiveness in SAR technology, and promoting economic development.

Evans, D. L.↗

NASA NTRS1995

Transmission diagnostic research at NASA Lewis Research Center

The NASA Lewis Research Center and the U.S. Army Research Laboratory are involved in a joint research program to advance the technology of aerospace transmissions. Within the last six years, a transmission diagnostics research team was formed to address current and future technology barriers in transmission diagnostics. The diagnostics team conducted a survey to determine critical needs of the diagnostics community. Survey results indicated that experimental verification of gear and bearing fault detection methods and damage magnitude assessment were considered the two most critical research areas of a highly reliable health and usage monitoring system. A plan was implemented by the diagnostics team to address these key research areas, by in-house research and university grants. A variety of transmission fault detection methods were applied to experimentally obtained fatigue data. Failure modes of the fatigue tests include a variety of gear pitting failures, tooth wear, tooth fracture, and bearing spalling failures. Accomplishments to date include verification of several specific gear diagnostic methods, verification of a new pattern recognition method to determine failure, and development of a new method to model gear tooth damage. This paper presents the results of these accomplishments in transmission diagnostics research at NASA Lewis Research Center.

Zakrajsek, J. J.↗

NASA NTRS1995

Space Studies Board, 1994

This 1994 report of the Space Studies Board of the National Research Council summarizes the charter and organization of the board, activities and membership, major and short reports, and congressional testimony. A cumulative bibliography of the Space Studies (formerly Space Science) Board and its committees is provided. An appendix contains reports of the panel to review Earth Observing System Data and Information System (EOSDIS) plans. Major reports cover scientific opportunities in the human exploration of space, the dichotomy between funding and effectiveness in space physics, an integrated strategy for the planetary sciences for the years 1995-2010, and Office of Naval Research (ONR) research opportunities in upper atmospheric sciences. Short reports cover utilization of the space station, life and microgravity sciences and the space station program, Space Infrared Telescope Facility and the Stratospheric Observatory for Infrared Astronomy, and the Advanced X-ray Astrophysics Facility and Cassini Saturn Probe.

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NASA NTRS1994

Solar System Exploration, 1995-2000

Goals for planetary exploration during the next decade include: (1) determine how our solar system formed, and understand whether planetary systems are a common phenomenon through out the cosmos; (2) explore the diverse changes that planets have undergone throughout their history and that take place at present, including those that distinguish Earth as a planet; (3) understand how life might have formed on Earth, whether life began anywhere else in the solar system, and whether life (including intelligent beings) might be a common cosmic phenomenon; (4) discover and investigate natural phenomena that occur under conditions not realizable in laboratories; (5) discover and inventory resources in the solar system that could be used by human civilizations in the future; and (6) make the solar system a part of the human experience in the same way that Earth is, and hence lay the groundwork for human expansion into the solar system in the coming century. The plan for solar system exploration is motivated by these goals as well as the following principle: The solar system exploration program will conduct flight programs and supporting data analysis and scientific research commensurate with United States leadership in space exploration. These programs and research must be of the highest scientific merit, they must be responsive to public excitement regarding planetary exploration, and they must contribute to larger national goals in technology and education. The result will be new information, which is accessible to the public, creates new knowledge, and stimulates programs of education to increase the base of scientific knowledge in the general public.

Squyres, S.↗

NASA NTRS1996

Mission to Planet Earth Strategic Enterprise Plan 1996-2002

Mission to Planet Earth's (MTPE's) first Strategic Enterprise Plan, issued in May 1995, defined the Agency's major goals and objectives as well as constraints. This update of the Strategic Enterprise Plan identifies the following major changes: a focused Science Research Plan that integrates space-based and in situ observational critical science to address critical science uncertainties; a technology infusion plan to reduce the cost of future missions; a series of flight opportunities to infuse new science into the overall program; and a tighter coupling between NASA and NOAA to reduce costs and to improve the overall program. Three important new initiatives are also under development and are described briefly in this plan: MTPE Education Strategy, MTPE Commercial Strategy, and an emerging concept for an Integrated Global Observing Strategy. This first update to the MTPE Strategic Enterprise Plan captures these new developments, and takes a significant step forward in planning this complex Earth system science endeavor. The plan and other information on MTPE may be viewed via the Internet at http://www.hq.nasa.gov/office/mtpe/.

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NASA NTRS1997

Quantitative Measurement of Oxygen in Microgravity Combustion

A low-gravity environment, in space or in ground-based facilities such as drop towers, provides a unique setting for studying combustion mechanisms. Understanding the physical phenomena controlling the ignition and spread of flames in microgravity has importance for space safety as well as for better characterization of dynamical and chemical combustion processes which are normally masked by buoyancy and other gravity-related effects. Due to restrictions associated with performing measurements in reduced gravity, diagnostic methods which have been applied to microgravity combustion studies have generally been limited to capture of flame emissions on film or video, laser Schlieren imaging and (intrusive) temperature measurements using thermocouples. Given the development of detailed theoretical models, more sophisticated diagnostic methods are needed to provide the kind of quantitative data necessary to characterize the properties of microgravity combustion processes as well as provide accurate feedback to improve the predictive capabilities of the models. When the demands of space flight are considered, the need for improved diagnostic systems which are rugged, compact, reliable, and operate at low power becomes apparent. The objective of this research is twofold. First, we want to develop a better understanding of the relative roles of diffusion and reaction of oxygen in microgravity combustion. As the primary oxidizer species, oxygen plays a major role in controlling the observed properties of flames, including flame front speed (in solid or liquid flames), extinguishment characteristics, flame size and flame temperature. The second objective is to develop better diagnostics based on diode laser absorption which can be of real value in both microgravity combustion research and as a sensor on-board Spacelab as either an air quality monitor or as part of a fire detection system. In our prior microgravity work, an eight line-of-sight fiber optic system measured water vapor mole fractions in the NASA Lewis 2.2-sec Drop Tower. In that system, the laser and all electronics resided at the top of the drop tower and was connected via a fiber optic cable to the rig, on which a 'pitch and catch' set of fiber collimating lenses were used to transmit the laser beam across a jet diffusion flame. This system required eight independent detection/demodulation units and had poor spatial resolution. This research builds on this earlier work, resulting in an improved capability for quantitative, nonintrusive measurement of major combustion species. A vertical cavity surface-emitting diode laser (VCSEL) and a continuous spatial scanning method permit the measurement of temporal and spatial profiles of the concentrations and temperatures of molecular oxygen. High detection sensitivity is achieved with wavelength modulation spectroscopy (WMS). One-g experiments are performed using a slot diffusion flame. Microgravity measurements on a solid fuel (cellulose sheet) system are planned for the NASA Lewis 2.2-second Drop Tower Facility.

Silver, Joel A.↗

NASA NTRS1998

LDAR, A Three-Dimensional Lightning Warning System: Its Development and Use by the Government, and Transition to Public Availability

NASA, at the John F. Kennedy Space Center (KSC), developed and operates a unique high precision lightning location system to provide lightning related weather warnings. These warnings are used to stop lightning-sensitive operations such as space vehicle launches and ground operations where equipment and personnel are at risk. The data is provided to the Range Weather Operations [45th Weather Squadron, U. S. Air Force (USAF)] where it is used with other meteorological data to issue weather advisories and warnings for Cape Canaveral Air Station (CCAS) and KSC operations. This system, called Lightning Detection and Ranging (LDAR), provides users with a graphical display in three dimensions of 66 MHz radio frequency events generated by lightning processes. The locations of these events provide a sound basis for the prediction of lightning hazards. NASA and Global Atmospherics, Inc. are developing a new system that will replace the unique LDAR components with commercially available and maintainable components having improved capabilities. These components will be phased in to ensure full continuity and access to this important warning technology. These LDAR systems are expected to eventually be available for installation and use by the public at specialized facilities, such as airports, and for general weather warnings via the National Weather Service (NWS) or television broadcast. The NWS in Melbourne has had access to real-time LDAR data since 1993 on an experimental basis. This use of LDAR has shown promise for the improvement of aviation forecasts and severe weather warnings. More so, it has opened the door to investigate the feasibility of issuing lightning-related public advisories. The success of its early use suggests that this technology may improve safety and potentially save lives, therefore constituting a significant benefit to the public. This paper describes the LDR system, the plans and progress of these upgrades, and the potential benefits of its use.

Starr, Stan↗

NASA NTRS1999

The Effects of Partial Mechanical Loading and Ibandronate on Skeletal Tissues in the Adult Rat Hindquarter Suspension Model for Microgravity

We report initial data from a suspended rat model that quantitatively relates chronic partial weightbearing to bone loss. Chronic partial weightbearing is our simulation of the effect of limited artificial gravity aboard spacecraft or reduced planetary gravity. Preliminary analysis of bone by PQCT, histomorphometry, mechanical testing and biochemistry suggest that chronic exposure to half of Earth gravity is insufficient to prevent severe bone loss. The effect of episodic full weightbearing activity (Earth Gravity) on rats otherwise at 50% weightbearing was also explored. This has similarity to treatment by an Earth G-rated centrifuge on a spacecraft that normally maintained artificial gravity at half of Earth G. Our preliminary evidence, using the above techniques to analyze bone, indicate that 2 hours daily of full weightbearing was insufficient to prevent the bone loss observed in 50% weightbearing animals. The effectiveness of partial weightbearing and episodic full weightbearing as potential countermeasures to bone loss in spaceflight was compared with treatment by ibandronate. Ibandronate, a long-acting potent bisphosphonate proved more effective in preventing bone loss and associated functionality based upon structure than our first efforts at mechanical countermeasures. The effectiveness of ibandronate was notable by each of the testing methods we used to study bone from gross structure and strength to tissue and biochemistry. These results appear to be independent of generalized systemic stress imposed by the suspension paradigm. Preliminary evidence does not suggest that blood levels of vitamin D were affected by our countermeasures. Despite the modest theraputic benefit of mechanical countermeasures of partial weightbearing and episodic full weightbearing, we know that some appropriate mechanical signal maintains bone mass in Earth gravity. Moreover, the only mechanism that correctly assigns bone mass and strength to oppose regionally specific force applied to bone is mechanical, a process based upon bone strain. Substantial evidence indicates that the specifics of dynamic loading i.e. time-varying forces are critical. Bone strain history is a predictor of the effect that mechanical conditions have on bone structure mass and strength. Using servo-controlled force plates on suspended rats with implanted strain gauges we manipulated impact forces of ambulation in the frequency (Fourier) domain. Our results indicate that high frequency components of impact forces are particularly potent in producing bone strain independent of the magnitude of the peak force or peak energy applied to the leg. Because a servo-system responds to forces produced by the rat's own muscle activity during ambulation, the direction of ground-reaction loads act on bone through the rat's own musculature. This is in distinction to passive vibration of the floor where forces reach bone through the natural filters of soft tissue and joints. Passive vibration may also be effective, but it may or may not increase bone in the appropriate architectural pattern to oppose the forces of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of the rat forelimb as a transfer function between impact force and bone strain to predict optimal dynamic loading conditions for this system. We plan additional studies of mechanical counter-measures that incorporate improved dynamic loading, features relevant to anticipated evaluation of artificial gravity, exercise regimens and exposure to Martian gravity, The combination of mechanical countermeasures with ibandronate will also be investigated for signs of synergy.

Schultheis, Lester W.↗

NASA NTRS2000

GPS Sounding Rocket Development at NASA with Simultaneous Multi-Payload Tracking Application

An inverse differential GPS system has been developed for Sounding Rocket use which includes the flight unit and a ground station capable of extracting GPS data from sounding rocket telemetry, performing a real time differential solution and graphically displaying the rocket's path relative to a predicted trajectory plot. Accuracy has been proven to within less than 10 meters. Postprocessing has increased the precision to within 10 - 20 centimeters. The system has been successfully flown several times and delivered to the Sounding Program Office for routine field use. In addition to providing position, velocity and time GPS data has been used on sounding rockets for vehicle performance analysis, effecting a one hundred fold improvement in data time tagging, and steering an optical tracking device to intercept payloads launched from over the horizon. Precise velocity separation information and timing has been provided to multiple payload systems. Future plans include its use for Range Safety and enabling of interferometric techniques. The technology and software developed also has potential application to small satellite navigation and formation flying.

Bull, Barton↗

NASA NTRS2000

Geoscience Laser Altimeter System (GLAS) Final Test Report of DM LHP TV Testing

Two loop heat pipes (LHPs) are to be used for thermal control of the Geoscience Laser Altimeter System (GLAS), planned for flight in 2001. One LHP will be used to transport 100 W from a laser to the radiator, the other will transport 210 W from electronic boxes to the radiator. In order to verify the LHP design for the GLAS application, an LHP Development Model has been fabricated, and ambient and thermal vacuum tested. Two aluminum blocks of 15 kg and 30 kg, respectively, were attached to the LHP to simulate the thermal masses connected to the heat sources. A 20 W starter heater was installed on the evaporator to aid the loop startup. A new concept to thermally couple the vapor and liquid line was also incorporated in the LHP design. Such a thermal coupling would reduce the power requirement on the compensation chamber in order to maintain the loop set point temperature. To avoid freezing of the liquid in the condenser during cold cases, propylene was selected as the working fluid. The LHP was tested under reflux mode and with adverse elevation. Tests conducted included start-up, power cycle, steady state and transient operation during hot and cold cases, and heater power requirements for the set point temperature control of the LHP. Test results showed very successful operation of the LHP under all conditions. The 20 W starter heater proved necessary in order to start the loop when a large thermal mass was attached to the evaporator. The thermal coupling between the liquid line and the vapor line significantly reduced the heater power required for loop temperature control, which was less than 5 watts in all cases, including a cold radiator. The test also demonstrated successful operation with a propylene working fluid, with successful startups with condenser temperatures as low as 100 C. Furthermore, the test demonstrated accurate control of the loop operating temperature within +/- 0.2 C, and a successful shutdown of the loop during the survival mode of operation.

Baker, Charles↗

NASA NTRS2001

IEC Research Status at MSFC

This viewgraph presentation gives an overview of the Inertial Electrostatic Confinement (IEC) research status at Marshall Space Flight Center. Details are given on the experiment setup (hardware characteristics, diagnostic equipment, propellant feed system, and planned pulse mode operation), grid manufacturing (identified manufacturing techniques, such as metal deposition, negative template mold, and machining), and grid for IEC operation (negative template technique and electrochemical technique).

Hrbud, Ivana↗

NASA NTRS1993

Bladder Monitor

Diagnostic Ultrasound Corporation's Bladder Scan Monitor continuously records and monitors bladder fullness and alerts the wearer or caretaker when voiding is required. The sensor is held against the lower abdomen by a belt and connected to the monitor by a cable. The sensor obtains bladder volume data from sound waves reflecting off the bladder wall. The device was developed by Langley Research Center, the Ames Research Center and the NASA Technology Applications Team. It utilizes Langley's advanced ultrasound technology. It is licensed to the ARC for medical applications, and sublicensed to Diagnostics Ultrasound. Central monitoring systems are planned for the future.

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