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At least 1,027 records · Page 57
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NASA NTRS1989

Simple autonomous Mars walker

Under a contract with NASA's Jet Propulsion Laboratory, Martin Marietta has developed several alternative rover concepts for unmanned exploration of the planet Mars. One of those concepts, the 'Walking Beam', is the subject of this paper. This concept was developed with the goal of achieving many of the capabilities of more sophisticated articulated-leg walkers with a much simpler, more robust, less computationally demanding and more power efficient design. It consists of two large-base tripods nested one within the other which alternately translate with respect to each other along a 5-meter beam to propel the vehicle. The semiautonomous navigation system relies on terrain geometry sensors and tacticle feedback from each foot to autonomously select a path which avoids hazards along a route designated from earth. Both mobility and navigation features of this concept are discussed including a top-level description of the vehicle's physical characteristics, deployment strategy, mobility elements, sensor suite, theory of operation, navigation and control processes, and estimated performance.

Larimer, Stanley J.↗
NASA NTRS1989

Perception for rugged terrain

A three-dimensional perception system for building a geometrical description of rugged terrain environments from range image data is presented with reference to the exploration of the rugged terrain of Mars. An intermediate representation consisting of an elevation map that includes an explicit representation of uncertainty and labeling of the occluded regions is proposed. The locus method used to convert range image to an elevation map is introduced, along with an uncertainty model based on this algorithm. Both the elevation map and the locus method are the basis of a terrain matching algorithm which does not assume any correspondences between range images. The two-stage algorithm consists of a feature-based matching algorithm to compute an initial transform and an iconic terrain matching algorithm to merge multiple range images into a uniform representation. Terrain modeling results on real range images of rugged terrain are presented. The algorithms considered are a fundamental part of the perception system for the Ambler, a legged locomotor.

Kweon, In SO↗
NASA NTRS1989

Mars Mission profile options and opportunities

Mars Mission profile options and mission requirements data are presented for earth-Mars opposition and conjuction class round-trip flyby and stopover mission opportunities. The opposition class flyby and sprint mission uses direct transfer trajectories to and on return from Mars. The opposition-class stopover mission employs the gravitational field of Venus to accelerate the space vehicle on either the outbound or inbound leg in order to reduce the propulsion requirement associated with the opposition-class mission. The conjuction-class mission minimizes propulsion requirements by optimizing the stopover time at Mars. Representative interplanetary space vehicle systems are sized to compare and show sensitivity of the initial mass required in low earth orbit to one mission profile option and mission opportunity to another.

Young, Archie C.↗
NASA NTRS1989

Can cool loop flows explain 'transition region' redshifts?

Observations of solar active regions reveal extensive areas of redshifted emission lines in the extreme ultraviolet, indicative of down flowing plasma. Redshifts are seen also in the magnetic network of the quiet sun and in magnetically active stars. The inferred velocities are large and appear to represent steady flows. Redshifts are not observed at higher coronal temperatures. It is shown here that steady flow in 'cool' loops driven by the buoyancy force set up by a small heating asymmetry between the two legs of the loop, offers a possible theoretical explanation of the observed features.

Mcclymont, Alexander N.↗
NASA NTRS1989

Effects of stretching and disuse on amino acids in muscles of rat hind limbs

The effects of disuse and passive stretch on the concentrations of amino acids and ammonia in the unloaded soleus muscle was investigated in hindquarter-suspended (for six days by casting one foot in dorsiflexion) tail-casted rats. For a comparison with the condition of unloading, amino acids and ammonia were also measured in shortened extensor digitorum longus in the same casted limb and in denervated leg muscles. The results obtained suggest that passive stretch diminishes some of the characteristic alterations of amino acid concentrations due to unloading. This effect of stretch is considered to be due to the maintenance of muscle tension.

Jaspers, Stephen R.↗
NASA NTRS1990

Determination of Comet Halley gas emission characteristics from mass loading of the solar wind

The velocity profile of the solar wind during Giotto's approach to Comet Halley is fitted with the mass loading produced by a simple model of the neutral particle distribution. The model is used to calculate the implanted ion flux at Giotto for any given time and position along the spacecraft trajectory. Comparing the added flux with Giotto's solar wind proton data from the inbound leg outside the bow shock, the ratio of the total mass-loaded ion flux to the solar wind flux at the spacecraft is computed. Hence, using equations given by Galeev et al. (1985) values of the solar wind velocity, u-infinity, far upstream from the comet are inferred. Imposing the condition that u-infinity should be as nearly as possible constant in time, values of gas production rate and the ratio between radial expansion velocity and ionization rate required to fit the model to data are derived. The values obtained are consistent with those derived by more direct methods.

Huddleston, D. E.↗
NASA NTRS1990

Continuum radiation at Uranus

One Uranian radio emission which has thus far escaped attention is an analog of continuum radiation at earth, Jupiter, and Saturn. The emission is found to be propagating in the ordinary mode in the range of one to a few kHz on the inbound leg of the Voyager 2 encounter, shortly after the magnetopause crossing. The Uranian continuum radiation is notably weak, making it more like that detected at Saturn than the extremely intense Jovian continuum radiation. The Uranian emission shows some evidence for narrow-band components lying in the same frequency regime as the continuum, completing the analogy with the other planets, which also show narrow-band components superimposed on the continuum spectrum. It is argued that the low intensity of the Uranian continuum is most likely related to the lack of a density cavity within the Uranian magnetosphere that is deep relative to the solar wind plasma density.

Kurth, W. S.↗
NASA NTRS1990

Dual-polarization airborne lidar observations of polar stratospheric cloud evolution

Dual-polarization 0.532 micron lidar data show systematic polar stratospheric cloud (PSC) evolution along a portion of the Airborne Arctic Stratospheric Expedition DC-8 flight of January 31, 1989. This flight leg was roughly aligned with air parcel motion on isentropic surfaces from 400-500 K, where the local adiabatic cooling rate was about 20 K/day. Type 1 PSCs show low depolarization ratios and scattering ratios which approach intermediate limiting values as ambient temperature decreases. These data suggest that Type 1 particles formed by rapid cooling may be nearly spherical and are restricted in size by partitioning of a limited HNO3 vapor supply among many competing growth sites. Type 2 PSCs appear at temperatures below estimated local frost points with increases in depolarization and scattering typical of larger ice crystals.

Poole, L. R.↗
NASA NTRS1990

Effects of streamwise vorticity injection on turbulent mixing layer development

This paper investigates the effect of injected strong streamwise vorticity on the structure and development of a plane mixing layer originating from tripped boundary layers. The experiments were conducted in a mixing layer wind tunnel consisting of two separate legs which were driven individually by centrifugal blowers. It was found that, while the vorticity injection increased the growth rate in the near-field, the asymptotic growth rate was reduced by a factor of about two, together with the peak Reynolds stress levels. The result is attributed to the effect of the relatively strong and short wavelength streamwise vorticity in making the spanwise structures more three-dimensional and slowing down their pairing process, thus reducing entrainment, and hence growth.

Bell, James H.↗
NASA NTRS1990

Bulk properties and velocity distributions of water group ions at Comet Halley - Giotto measurements

In the region upstream of Comet Halley, pickup heavy ions of cometary origin were directly observed by the implanted ion spectrometer on Giotto. Diffusion of this population in pitch angle and in energy, during the approach to the comet and on the outbound leg is discussed. The two data sets are compared and qualitative ideas on scattering timescales are inferred. In addition the bulk parameters of these distributions have been computed and a comparison of the observed speed in the solar wind frame and the observed density with expectations is presented. Pitch angle scattering occurs more slowly than expected with filled shells appearing at 2,500,000 km, and significant energy diffusion does not occur until the bow shock region. Also the shell distributions downstream of the shock flow at the bispherical bulk speed (related to the Alfven speed) along the magnetic field with respect to the solar wind in accordance with conservation of energy between the pickup ions and the wave turbulence.

Coates, A. J.↗
NASA NTRS1990

Ballistic trajectory options for manned Mars Missions

Mars Mission profile options and mission requirements data are presented for earth-Mars opposition and conjunction class round-trip flyby and stopover mission opportunities. The opposition-class flyby and sprint mission uses direct transfer trajectories to and on return from Mars. The opposition-class stopover mission employs the gravitational field of Venus to accelerate the space vehicle on either the outbound or inbound leg in order to reduce the propulsion requirement associated with the opposition-class mission. The conjunction-class mission minimizes propulsion requirements by optimizing the stopover time at Mars. Representative interplanetary space vehicle systems are sized to compare and show sensitivity of the initial mass required in low earth orbit to one mission profile option and mission opportunity to another.

Young, Archie C.↗
NASA NTRS1990

Prominence formation in a coronal loop

A model is presented which depends on the preferential deposition of heating in the legs of a coronal loop and which produces a stable prominence-scale condensation at the loop top. Dynamic stability is attained by the subsequent adjustment of local parallel gravity by a magnetic inversion at the loop (or arcade) apex. A nonlinear numerical simulation of this process, which includes a deep chromosphere, a heating rate with a fixed dissipation length, and full solar gravity is described.

Mok, Y.↗
NASA NTRS1990

Lidar and aircraft studies of deep Cirrus systems from the 1986 FIRE IFO

Several NCAR King Air flight missions were conducted during the Wisconsin FIRE IFO experiment in support of the University of Utah polarization lidar observations of deep cirrus cloud systems at the Wausau ground site. Data collected from four cirrus systems are included in this analysis, including those of 22 and 28 October, and 1 and 2 November. Lidar data were generally obtained at 2 min intervals in the zenith direction over observation periods that ranged from approximately 4 to 10 h, bracketing the aircraft missions. The data were processed to yield height-time (HTI) displays of lidar linear depolarization ratio sigma and relative range-normalized return power P. King Air operations consisted of a combination of rapid profiling and Lagrangian spiral descents and stacked racetrack patterns in the vicinity of the field site. From the spiral descents are constructed vertical profiles of ice particle concentration N(sub i) and ice mass content IWC derived from PMS 2-D probe imagery and, when detected, FSSP cloud droplet concentration N(sub W) and liquid water content, LWC. Aircraft flight leg data are presented for the vertical velocity W and the same ice and water cloud content parameters. In addition, aerosol particle concentrations obtained with the ASAS probe are examined, and photographs of ice particles collected in-situ on oil-coated slides are presented to illustrate ice particle habit.

Sassen, Kenneth↗
NASA NTRS1989

A unique problem of muscle adaptation from weightlessness: The deceleration deficiency

Decelerator problems of the knee are emphasized since the lower leg musculature is known to atrophy in response to weightlessness. However, other important decelerator functions are served by the shoulder muscles, in particular the rotator cuff muscles. Problems in these muscles often result in tears and dislocations as seen in baseball pitchers. It is noteworthy that at least one device currently exists that can measure concentric and eccentric muscle loading including a submaximal simulated free weight exercise (i.e., force-controlled) and simultaneously record integrated EMG analysis appropriate for assessment of all muscle functional activities. Studies should be undertaken to provide information as to the performance of maximal and submaximal exercise in space travelers to define potential problems and provide rationale for prevention.

Stauber, William T.↗
NASA NTRS1991

NASA Planetary Rover Program

The NASA Planetary Rover Project was initiated in 1989. The emphasis of the work to date has been on development of autonomous navigation technology within the context of a high mobility wheeled vehicle at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. The status and accomplishments of these two efforts are discussed. First, however, background information is given on the three rover types required for the Space Exploration Initiative (SEI) whose objective is a manned mission to Mars.

Lavery, David↗
NASA NTRS1991

Developmental adaptations to gravity in animals

Terrestrial animals have adapted to a constant gravitational stress over millions of years. Tissues of the cardiovascular system and lumbar spine in tall species of animals such as the giraffe are particularly well adapted to high and variable vectors of gravitational force. Swelling of the leg tissues in the giraffe is prevented by a variety of physiological mechanisms including (1) a natural 'antigravity suit', (2) impermeable capillaries, (3) arterial-wall hypertrophy, (4) variable blood pressures during normal activity, and (5) a large-capacity lymphatic system. These adaptations, as well as a natural hypertension, maintain blood perfusion to the giraffe's brain. The intervertebral disk is another tissue that is uniquely adapted to gravitational stress. Tall and large terrestrial animals have higher swelling pressures than their smaller or aquatic counterparts. Finally, the meniscus of the rabbit knee provides information on the effects of aging and load-bearing on cartilaginous tissues. Such tissues within the joints of animals are important for load-bearing on Earth; these connective tissues may degenerate during long-duration space flight.

Hargens, Alan R.↗
NASA NTRS1991

Mechanical response tissue analyzer for estimating bone strength

One of the major concerns for extended space flight is weakness of the long bones of the legs, composed primarily of cortical bone, that functions to provide mechanical support. The strength of cortical bone is due to its complex structure, described simplistically as cylinders of parallel osteons composed of layers of mineralized collagen. The reduced mechanical stresses during space flight or immobilization of bone on Earth reduces the mineral content, and changes the components of its matrix and structure so that its strength is reduced. Currently, the established clinical measures of bone strength are indirect. The measures are based on determinations of mineral density by means of radiography, photon absorptiometry, and quantitative computer tomography. While the mineral content of bone is essential to its strength, there is growing awareness of the limitations of the measurement as the sole predictor of fracture risk in metabolic bone diseases, especially limitations of the measurement as the sole predictor of fracture risk in metabolic bone diseases, especially osteoporosis. Other experimental methods in clinical trials that more directly evaluate the physical properties of bone, and do not require exposure to radiation, include ultrasound, acoustic emission, and low-frequency mechanical vibration. The last method can be considered a direct measure of the functional capacity of a long bone since it quantifies the mechanical response to a stimulus delivered directly to the bone. A low frequency vibration induces a response (impedance) curve with a minimum at the resonant frequency, that a few investigators use for the evaluation of the bone. An alternative approach, the method under consideration, is to use the response curve as the basis for determination of the bone bending stiffness EI (E is the intrinsic material property and I is the cross-sectional moment of inertia) and mass, fundamental mechanical properties of bone.

Arnaud, Sara B.↗
NASA NTRS1991

A new active virtual pivot six-degree-of-freedom hand controller for aerospace applications

During 1989 a new six-degree-of-freedom (6-DOF) active hand controller concept was designed and constructed based on the concept of a virtual pivot. This concept, labeled VPHC, was first demonstrated in a 1985 study and a patent was issued in 1990. Operator control input occurs via a force/torque sensor rigidly mounted to the handgrip. Sensed force/torque signals are used by microprocessors to generate motor drive control for each of six independently controlled motors mounted on the three-legged mechanism. The control microprocessor uses input biasing and rate-feedback motor controllers to generate the sensed feel of virtual springs and deadbands found in more conventional designs. An important advantage of this design is that the location of the virtual pivots, reflective forces and torques, breakout force levels, sensed spring rates, and operating modes, can be changed simply by changing the software. This approach yields an autonomous VPHC that can easily adapt itself to an individual operator (by software extension). A proof-of-concept version has been demonstrated, and further improvements are currently being studied and implemented.

Marshall, William C.↗