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NASA NTRS2007

Multispecies Biofilm Development on Space Station Heat Exhanger Core Material

Investigations of microbial contamination of the cooling system aboard the International Space Station (ISS) suggested that there may be a relationship between heat exchanger (HX) materials and the degree of microbial colonization and biofilm formation. Experiments were undertaken to test the hypothesis that biofilm formation is influenced by the type and previous exposure of HX surfaces. Acidovorax delafieldii, Comamonas acidovorans, Hydrogenophaga pseudoflava, Pseudomonas stutzeri, Sphingomonas paucimobilis, and Stenotrophomonas maltophilia, originally isolated from ISS cooling system fluid, were cultured on R2A agar and suspended separately in fresh filter-sterilized ISS cooling fluid, pH 8.3. Initial numbers in each suspension ranged from 10(exp 6)-10(exp 7) CFU/ml, and a mixture contained greater than 10(exp 7) CFU/ml. Coupons of ISS HX material, previously used on orbit (HXOO) or unused (HXUU), polycarbonate (PC) and 316L polished stainless steel (SS) were autoclaved, covered with multispecies suspension in sterile tubes and incubated in the dark at ambient (22-25 C). Original HX material contained greater than 90% Ni, 4.5% Si, and 3.2% B, with a borate buffer. For approximately 10 weeks, samples of fluid were plated on R2A agar, and surface colonization assessed by SYBR green or BacLight staining and microscopy. Suspension counts for the PC and SC samples remained steady at around 10(exp 7) CFU/ml. HXUU counts declined about 1 log in 21 d then remained steady, and HXOO counts declined 2 logs in 28 d, fluctuated and stabilized about 10(exp 3) CFU/ml from 47-54 d. Predominantly yellow S. paucimobilis predominated on plates from HXOO samples up to 26 d, then white or translucent colonies of other species appeared. All colony types were seen on plates from other samples throughout the trial. Epifluorescence microscopy indicated microbial growth on all surfaces by 21 d, followed by variable colonization. After 54 d, all but the HXOO samples had well-distributed live and dead cells; the HXOO samples had few cells and most were live by BacLight. The results suggest that HX materials themselves are inhibiting microbial growth on the surfaces. The HX exposed on orbit to cooling system fluid inhibited growth of some species originally isolated from the system, whereas the unused HX material had a moderate effect compared to no inhibition with PC or SS controls. It is possible that chemistry or microbiology of the ISS system increased deposition of inhibitory compounds on the HXOO coupon surfaces; these may inhibit inoculated species to differing degrees.

Pyle, B. H.↗
NASA NTRS2007

Oxidation Kinetics of a NiPtTi High Temperature Shape Memory Alloy

A high temperature shape memory alloy (HTSMA), Ni30Pt50Ti, with an M(sub s) near 600 C, was isothermally oxidized in air for 100 hr over the temperature range of 500 to 900 C. Parabolic kinetics were confirmed by log-log and parabolic plots and showed no indication of fast transient oxidation. The overall behavior could be best described by the Arrhenius relationship: k(sub p) = 1.64 x 10(exp 12)[(-250 kJ/mole)/RT] mg(sup 2)/cm(sup 4)hr. This is about a factor of 4 reduction compared to values measured here for a binary Ni47Ti commercial SMA. The activation energy agreed with most literature values for TiO2 scale growth measured for elemental Ti and other NiTi alloys. Assuming uniform alloy depletion of a 20 mil (0.5 mm) dia. HTSMA wire, approx. 1 percent Ti reduction is predicted after 20,000 hr oxidation at 500 C, but becomes much more serious at higher temperatures.

Smialek, James L.↗
NASA NTRS2003

Enhancing DSN Operations Efficiency with the Discrepancy Reporting Management System (DRMS)

The DRMS is the Discrepancy Reporting Management System used by the Deep Space Network (DSN). It uses a web interface and is a management tool designed to track and manage: data outage incidents during spacecraft tracks against equipment and software known as DRs (discrepancy Reports), to record "out of pass" incident logs against equipment and software in a Station Log, to record instances where equipment has be restarted or reset as Reset records, and to electronically record equipment readiness status across the DSN. Tracking and managing these items increases DSN operational efficiency by providing: the ability to establish the operational history of equipment items, data on the quality of service provided to the DSN customers, the ability to measure service performance, early insight into processes, procedures and interfaces that may need updating or changing, and the capability to trace a data outage to a software or hardware change. The items listed above help the DSN to focus resources on areas of most need.

Discrepancy Reporting Management Systems (DRMS)↗
NASA NTRS2008

A New Bond Albedo for Performing Orbital Debris Brightness to Size Transformations

We have developed a technique for estimating the intrinsic size distribution of orbital debris objects via optical measurements alone. The process is predicated on the empirically observed power-law size distribution of debris (as indicated by radar RCS measurements) and the log-normal probability distribution of optical albedos as ascertained from phase (Lambertian) and range-corrected telescopic brightness measurements. Since the observed distribution of optical brightness is the product integral of the size distribution of the parent [debris] population with the albedo probability distribution, it is a straightforward matter to transform a given distribution of optical brightness back to a size distribution by the appropriate choice of a single albedo value. This is true because the integration of a powerlaw with a log-normal distribution (Fredholm Integral of the First Kind) yields a Gaussian-blurred power-law distribution with identical power-law exponent. Application of a single albedo to this distribution recovers a simple power-law [in size] which is linearly offset from the original distribution by a constant whose value depends on the choice of the albedo. Significantly, there exists a unique Bond albedo which, when applied to an observed brightness distribution, yields zero offset and therefore recovers the original size distribution. For physically realistic powerlaws of negative slope, the proper choice of albedo recovers the parent size distribution by compensating for the observational bias caused by the large number of small objects that appear anomalously large (bright) - and thereby skew the small population upward by rising above the detection threshold - and the lower number of large objects that appear anomalously small (dim). Based on this comprehensive analysis, a value of 0.13 should be applied to all orbital debris albedo-based brightness-to-size transformations regardless of data source. Its prima fascia genesis, derived and constructed from the current RCS to size conversion methodology (SiBAM Size-Based Estimation Model) and optical data reduction standards, assures consistency in application with the prior canonical value of 0.1. Herein we present the empirical and mathematical arguments for this approach and by example apply it to a comprehensive set of photometric data acquired via NASA's Liquid Mirror Telescopes during the 2000-2001 observing season.

Mulrooney, Mark K.↗
NASA NTRS2008

Field Observations of Soil Moisture Variability across Scales

In this study, over 36,000 ground-based soil moisture measurements collected during the SGP97, SGP99, SMEX02, and SMEX03 field campaigns were analyzed to characterize the behavior of soil moisture variability across scales. The field campaigns were conducted in Oklahoma and Iowa in the central USA. The Oklahoma study region is sub-humid with moderately rolling topography, while the Iowa study region is humid with low-relief topography. The relationship of soil moisture standard deviation, skewness and the coefficient of variation versus mean moisture content was explored at six distinct extent scales, ranging from 2.5 m to 50 km. Results showed that variability generally increases with extent scale. The standard deviation increased from 0.036 cm3/cm3 at the 2.5-m scale to 0.071 cm3/cm3 at the 50-km scale. The log standard deviation of soil moisture increased linearly with the log extent scale, from 16 m to 1.6 km, indicative of fractal scaling. The soil moisture standard deviation versus mean moisture content exhibited a convex upward relationship at the 800-m and 50-km scales, with maximum values at mean moisture contents of roughly 0.17 cm3/cm3 and 0.19 cm3/cm3, respectively. An empirical model derived from the observed behavior of soil moisture variability was used to estimate uncertainty in the mean moisture content for a fixed number of samples at the 800-m and 50-km scales, as well as the number of ground-truth samples needed to achieve 0.05 cm3/cm3 and 0.03 cm3/cm3 accuracies. The empirical relationships can also be used to parameterize surface soil moisture variations in land surface and hydrological models across a range of scales. To our knowledge, this is the first study to document the behavior of soil moisture variability over this range of extent scales using ground-based measurements. Our results will contribute not only to efficient and reliable satellite validation, but also to better utilization of remotely sensed soil moisture products for enhanced modeling and prediction.

Famiglietti, James S.↗
NASA NTRS2008

Quantitative Studies of the Optical and UV Spectra of Galactic Early B Supergiants

We undertake an optical and ultraviolet spectroscopic analysis of a sample of 20 Galactic B0-B5 supergiants of luminosity classes Ia, Ib, Iab, and II. Fundamental stellar parameters are obtained from optical diagnostics and a critical comparison of the model predictions to observed UV spectral features is made. Methods. Fundamental parameters (e.g., T(sub eff), log L(sub *), mass-loss rates and CNO abundances) are derived for individual stars using CMFGEN, a nLTE, line-blanketed model atmosphere code. The impact of these newly derived parameters on the Galactic B supergiant Ten scale, mass discrepancy, and wind-momentum luminosity relation is examined. Results. The B supergiant temperature scale derived here shows a reduction of about 1000-3000 K compared to previous results using unblanketed codes. Mass-loss rate estimates are in good agreement with predicted theoretical values, and all of the 20 BO-B5 supergiants analysed show evidence of CNO processing. A mass discrepancy still exists between spectroscopic and evolutionary masses, with the largest discrepancy occuring at log (L/(solar)L approx. 5.4. The observed WLR values calculated for B0-B0.7 supergiants are higher than predicted values, whereas the reverse is true for B1-B5 supergiants. This means that the discrepancy between observed and theoretical values cannot be resolved by adopting clumped (i.e., lower) mass-loss rates as for O stars. The most surprising result is that, although CMFGEN succeeds in reproducing the optical stellar spectrum accurately, it fails to precisely reproduce key UV diagnostics, such as the N v and C IV P Cygni profiles. This problem arises because the models are not ionised enough and fail to reproduce the full extent of the observed absorption trough of the P Cygni profiles. Conclusions. Newly-derived fundamental parameters for early B supergiants are in good agreement with similar work in the field. The most significant discovery, however, is the failure of CMFGEN to predict the correct ionisation fraction for some ions. Such findings add further support to revising the current standard model of massive star winds, as our understanding of these winds is incomplete without a precise knowledge of the ionisation structure and distribution of clumping in the wind. Key words. techniques: spectroscopic - stars: mass-loss - stars: supergiants - stars: abundances - stars: atmospheres - stars: fundamental parameters

Searle, S. C.↗
NASA NTRS2008

MRO SOW Daily Script

The MRO SOW daily script (wherein "MRO" signifies "Mars Reconnaissance Orbiter" and "SOW" signifies "sequence systems engineer of the week") is a computer program that automates portions of the MRO daily SOW procedure, which includes checking file-system sizes and automated sequence processor (ASP) log files. The MRO SOW daily script effects clear reporting of (1) the status of, and requirements imposed on, the file system and (2) the ASP log files.

Fisher, Forest E.↗
NASA NTRS2008

"Built-In" Action/Issues Tracking and Post-Ops Analysis Tool for Realtime Console Operations

Marshall Space Flight Center's (MSFC) Payload Operations Integration Center (POIC) for the International Space Station (ISS) uses a number of formal databases to manage and track flight plan changes, onboard and ground equipment anomalies, and other events. However, individual console positions encounter many action items and/or occurrences that don't fit neatly into the databases, and while console logs are comprehensive, manual or automated searches do not always yield consistent results. The Payload Communications Manager (PAYCOM) team, whose members speak directly with the ISS onboard crew with respect to NASA payload operations, has found a creative way to reformat a mandatory Daily Report to organize action items, standing reminders, significant events, and other comments. While the report keeps others appraised of PAYCOMs activities and issues of the moment, the format makes it easy to capture very brief summaries of the items in a "Roll Off Matrix", including start and stop dates, resolution, and possible applicability to future ops. The matrix provides accountability for all action items, gives direct insight into the issues surrounding various payloads and methods of dealing with them, yields indirect information on PAYCOM priorities and processes, and provides a roadmap that makes it easier to get back to extensive details if needed. This paper describes how the ISS PAYCOM Daily Report and Roll Off Matrix are organized, used, and inter-related to each other and the PAYCOM operations log. While the application is for a manned vehicle, the concepts could apply in a wide spectrum of operational settings.

Scott, David W.↗
NASA NTRS2008

Supplier Management System

Supplier Management System (SMS) allows for a consistent, agency-wide performance rating system for suppliers used by NASA. This version (2.0) combines separate databases into one central database that allows for the sharing of supplier data. Information extracted from the NBS/Oracle database can be used to generate ratings. Also, supplier ratings can now be generated in the areas of cost, product quality, delivery, and audit data. Supplier data can be charted based on real-time user input. Based on these individual ratings, an overall rating can be generated. Data that normally would be stored in multiple databases, each requiring its own log-in, is now readily available and easily accessible with only one log-in required. Additionally, the database can accommodate the storage and display of quality-related data that can be analyzed and used in the supplier procurement decision-making process. Moreover, the software allows for a Closed-Loop System (supplier feedback), as well as the capability to communicate with other federal agencies.

Ramirez, Eric↗
NASA NTRS2009

Event Driven Messaging with Role-Based Subscriptions

Event Driven Messaging with Role-Based Subscriptions (EDM-RBS) is a framework integrated into the Service Management Database (SMDB) to allow for role-based and subscription-based delivery of synchronous and asynchronous messages over JMS (Java Messaging Service), SMTP (Simple Mail Transfer Protocol), or SMS (Short Messaging Service). This allows for 24/7 operation with users in all parts of the world. The software classifies messages by triggering data type, application source, owner of data triggering event (mission), classification, sub-classification and various other secondary classifying tags. Messages are routed to applications or users based on subscription rules using a combination of the above message attributes. This program provides a framework for identifying connected users and their applications for targeted delivery of messages over JMS to the client applications the user is logged into. EDMRBS provides the ability to send notifications over e-mail or pager rather than having to rely on a live human to do it. It is implemented as an Oracle application that uses Oracle relational database management system intrinsic functions. It is configurable to use Oracle AQ JMS API or an external JMS provider for messaging. It fully integrates into the event-logging framework of SMDB (Subnet Management Database).

Bui, Tung↗
NASA NTRS2009

The Maximum Free Magnetic Energy Allowed in a Solar Active Region

Two whole-active-region magnetic quantities that can be measured from a line-of-sight magnetogram are (sup L) WL(sub SG), a gauge of the total free energy in an active region's magnetic field, and sup L(sub theta), a measure of the active region's total magnetic flux. From these two quantities measured from 1865 SOHO/MDI magnetograms that tracked 44 sunspot active regions across the 0.5 R(sub Sun) central disk, together with each active region's observed production of CMEs, X flares, and M flares, Falconer et al (2009, ApJ, submitted) found that (1) active regions have a maximum attainable free magnetic energy that increases with the magnetic size (sup L) (sub theta) of the active region, (2) in (Log (sup L)WL(sub SG), Log(sup L) theta) space, CME/flare-productive active regions are concentrated in a straight-line main sequence along which the free magnetic energy is near its upper limit, and (3) X and M flares are restricted to large active regions. Here, from (a) these results, (b) the observation that even the greatest X flares produce at most only subtle changes in active region magnetograms, and (c) measurements from MSFC vector magnetograms and from MDI line-of-sight magnetograms showing that practically all sunspot active regions have nearly the same area-averaged magnetic field strength: =- theta/A approximately equal to 300 G, where theta is the active region's total photospheric flux of field stronger than 100 G and A is the area of that flux, we infer that (1) the maximum allowed ratio of an active region's free magnetic energy to its potential-field energy is ~1, and (2) any one CME/flare eruption releases no more than a small fraction (less than ~10%) of the active region's free magnetic energy. This work was funded by NASA's Heliophysics Division and NSF's Division of Atmospheric Sciences.

Moore, Ronald L.↗
NASA NTRS2009

OLTARIS: On-Line Tool for the Assessment of Radiation in Space

The On-Line Tool for the Assessment of Radiation In Space (OLTARIS) is a World Wide Web based tool that assesses the effects of space radiation to humans in items such as spacecraft, habitats, rovers, and spacesuits. This document explains the basis behind the interface and framework used to input the data, perform the assessment, and output the results to the user as well as the physics, engineering, and computer science used to develop OLTARIS. The physics is based on the HZETRN2005 and NUCFRG2 research codes. The OLTARIS website is the successor to the SIREST website from the early 2000 s. Modifications have been made to the code to enable easy maintenance, additions, and configuration management along with a more modern web interface. Over all, the code has been verified, tested, and modified to enable faster and more accurate assessments. The next major areas of modification are more accurate transport algorithms, better uncertainty estimates, and electronic response functions. Improvements in the existing algorithms and data occur continuously and are logged in the change log section of the website.

Singleterry, Robert C., Jr.↗
NASA NTRS2009

Defining Nitrogen Kinetics for Air Break in Prebreathe

Actual tissue nitrogen (N2) kinetics are complex; the uptake and elimination is often approximated with a single half-time compartment in statistical descriptions of denitrogenation [prebreathe (PB)] protocols. Air breaks during PB complicate N2 kinetics. A comparison of symmetrical versus asymmetrical N2 kinetics was performed using the time to onset of hypobaric decompression sickness (DCS) as a surrogate for actual venous N2 tension. Published results of 12 tests involving 179 hypobaric exposures in altitude chambers after PB, with and without air breaks, provide the complex protocols from which to model N2 kinetics. DCS survival time for combined control and air breaks were described with an accelerated log logistic model where N2 uptake and elimination before, during, and after the air break was computed with a simple exponential function or a function that changed half-time depending on ambient N2 partial pressure. P1N2-P2 = delta P defined DCS dose for each altitude exposure, where P2 was the test altitude and P1N2 was computed N2 pressure at the beginning of the altitude exposure. The log likelihood (LL) without DCS dose (null model) was -155.6, and improved (best-fit) to -97.2 when dose was defined with a 240 min half-time for both N2 elimination and uptake during the PB. The description of DCS survival time was less precise with asymmetrical N2 kinetics, for example, LL was -98.9 with 240 min half-time elimination and 120 min half-time uptake. The statistical regression described survival time mechanistically linked to symmetrical N2 kinetics during PBs that also included air breaks. The results are data-specific, and additional data may change the conclusion. The regression is useful to compute additional PB time to compensate for an air break in PB within the narrow range of tested conditions.

Conkin, Johnny↗
NASA NTRS2009

Operation of SOI P-Channel Field Effect Transistors, CHT-PMOS30, under Extreme Temperatures

Electronic systems are required to operate under extreme temperatures in NASA planetary exploration and deep space missions. Electronics on-board spacecraft must also tolerate thermal cycling between extreme temperatures. Thermal management means are usually included in today s spacecraft systems to provide adequate temperature for proper operation of the electronics. These measures, which may include heating elements, heat pipes, radiators, etc., however add to the complexity in the design of the system, increases its cost and weight, and affects its performance and reliability. Electronic parts and circuits capable of withstanding and operating under extreme temperatures would reflect in improvement in system s efficiency, reducing cost, and improving overall reliability. Semiconductor chips based on silicon-on-insulator (SOI) technology are designed mainly for high temperature applications and find extensive use in terrestrial well-logging fields. Their inherent design offers advantages over silicon devices in terms of reduced leakage currents, less power consumption, faster switching speeds, and good radiation tolerance. Little is known, however, about their performance at cryogenic temperatures and under wide thermal swings. Experimental investigation on the operation of SOI, N-channel field effect transistors under wide temperature range was reported earlier [1]. This work examines the performance of P-channel devices of these SOI transistors. The electronic part investigated in this work comprised of a Cissoid s CHT-PMOS30, high temperature P-channel MOSFET (metal-oxide semiconductor field-effect transistor) device [2]. This high voltage, medium-power transistor is designed for geothermal well logging applications, aerospace and avionics, and automotive industry, and is specified for operation in the temperature range of -55 C to +225 C. Table I shows some specifications of this transistor [2]. The CHT-PMOS30 device was characterized at various temperatures over the range of -190 C to +225 C in terms of its voltage/current characteristic curves. The test temperatures included +22, -50, -100, -150, -175, -190, +50, +100, +150, +175, +200, and +225 C. Limited thermal cycling testing was also performed on the device. These tests consisted of subjecting the transistor to a total of twelve thermal cycles between -190 C and +225 C. A temperature rate of change of 10 C/min and a soak time at the test temperature of 10 minutes were used throughout this work. Post-cycling measurements were also performed at selected temperatures. In addition, re-start capability at extreme temperatures, i.e. power switched on while the device was soaking for a period of 20 minutes at the test temperatures of -190 C and +225 C, was investigated.

Patterson, Richard↗
NASA NTRS2010

Defining Nitrogen Kinetics for Air Break in Prebreath

Actual tissue nitrogen (N2) kinetics are complex; the uptake and elimination is often approximated with a single half-time compartment in statistical descriptions of denitrogenation [prebreathe(PB)] protocols. Air breaks during PB complicate N2 kinetics. A comparison of symmetrical versus asymmetrical N2 kinetics was performed using the time to onset of hypobaric decompression sickness (DCS) as a surrogate for actual venous N2 tension. METHODS: Published results of 12 tests involving 179 hypobaric exposures in altitude chambers after PB, with and without airbreaks, provide the complex protocols from which to model N2 kinetics. DCS survival time for combined control and airbreaks were described with an accelerated log logistic model where N2 uptake and elimination before, during, and after the airbreak was computed with a simple exponential function or a function that changed half-time depending on ambient N2 partial pressure. P1N2-P2 = (Delta)P defined decompression dose for each altitude exposure, where P2 was the test altitude and P1N2 was computed N2 pressure at the beginning of the altitude exposure. RESULTS: The log likelihood (LL) without decompression dose (null model) was -155.6, and improved (best-fit) to -97.2 when dose was defined with a 240 min half-time for both N2 elimination and uptake during the PB. The description of DCS survival time was less precise with asymmetrical N2 kinetics, for example, LL was -98.9 with 240 min half-time elimination and 120 min half-time uptake. CONCLUSION: The statistical regression described survival time mechanistically linked to symmetrical N2 kinetics during PBs that also included airbreaks. The results are data-specific, and additional data may change the conclusion. The regression is useful to compute additional PB time to compensate for an airbreak in PB within the narrow range of tested conditions.

Conkin, Johnny↗
NASA NTRS2009

Architectural Analysis of Complex Evolving Systems of Systems

The goal of this collaborative project between FC-MD, APL, and GSFC and supported by NASA IV&V Software Assurance Research Program (SARP), was to develop a tool, Dynamic SAVE, or Dyn-SAVE for short, for analyzing architectures of systems of systems. The project team was comprised of the principal investigator (PI) from FC-MD and four other FC-MD scientists (part time) and several FC-MD students (full time), as well as, two APL software architects (part time), and one NASA POC (part time). The PI and FC-MD scientists together with APL architects were responsible for requirements analysis, and for applying and evaluating the Dyn-SAVE tool and method. The PI and a group of FC-MD scientists were responsible for improving the method and conducting outreach activities, while another group of FC-MD scientists were responsible for development and improvement of the tool. Oversight and reporting was conducted by the PI and NASA POC. The project team produced many results including several prototypes of the Dyn-SAVE tool and method, several case studies documenting how the tool and method was applied to APL s software systems, and several published papers in highly respected conferences and journals. Dyn-SAVE as developed and enhanced throughout this research period, is a software tool intended for software developers and architects, software integration testers, and persons who need to analyze software systems from the point of view of how it communicates with other systems. Using the tool, the user specifies the planned communication behavior of the system modeled as a sequence diagram. The user then captures and imports the actual communication behavior of the system, which is then converted and visualized as a sequence diagram by Dyn-SAVE. After mapping the planned to the actual and specifying parameter and timing constraints, Dyn-SAVE detects and highlights deviations between the planned and the actual behavior. Requirements based on the need to analyze two inter-system communication protocols that are representative of protocols used in the Aerospace industry have been specified. The protocols are related: APL s Common Ground System (CGS) as used in the MErcury Surface, Space ENvironment, GEochemistry, and Ranging (MESSENGER) and the Radiation Belt Space Probes (RBSP) missions. The analyzed communications were implementations of the Telemetry protocol and the CCSDS File Delivery Protocol (CFDP) protocol. Based on these requirements, three prototypes of Dyn-SAVE were developed and applied to these protocols. The application of Dyn-SAVE to these protocols resulted in the detection of several issues. Dyn-SAVE was also applied to several Testbeds that have previously been used for experimentation earlier on this project, as well as, to other protocols and logs for testing its broader applicability. For example, Dyn-SAVE was used to analyze 1) the communication pattern between a web browser and a web server, 2) the system log of a computer in order to detect offnominal computer shut-down behavior, and 3) the actual test cases of NASA Goddard s Core Flight System (CFS) and automatically generated test cases in order to determine the overlap between the two sets of test cases. In all cases, Dyn-SAVE assisted in providing insightful conclusions about each of the cases identified above.

Lindvall, Mikael↗
NASA NTRS2010

The Hot Horizontal-Branch Stars in omega Centauri

Context. UV observations of some massive globular clusters have revealed a significant population of stars hotter and fainter than the hot end of the horizontal branch (HB), the so-called blue hook stars. This feature might be explained either by the late hot flasher scenario where stars experience the helium flash while on the white dwarf cooling curve or by the progeny of the helium-enriched sub-population recently postulated to exist in some clusters. Previous spectroscopic analyses of blue hook stars in co Cen and NGC 2808 support the late hot flasher scenario, but the stars contain much less helium than expected and the predicted C, N enrichment could not be verified. Aims. We compare observed effective temperatures, surface gravities, helium abundances, and carbon line strengths (where detectable) of our targets stars to the predictions of the two scenarios. Methods. Moderately high resolution spectra of hot HB stars in the globular cluster omega-Cen were analysed for radial velocity variations, atmospheric parameters and abundances using LTE and non-LTE model atmospheres. Results. We find no evidence for close binaries among our target stars. All stars below 30 000 K are helium-poor and very similar to HB stars observed in that temperature range in other globular clusters. In the temperature range 30000 K to 50000 K we find that 28% of our stars are helium-poor (log ((sup n)He/(sup n )H)< - 1.6), while 72% have roughly solar or super-solar helium abundance (log ((sup n)He/(sup n )H) >/= -1.5). We also find carbon enrichment strongly correlated with helium enrichment, with a maximum carbon enrichment of 3% by mass. Conclusions. The strong carbon enrichment in tandem with helium enrichment is predicted by the late hot flasher scenario, but not by the helium-enrichment scenario. We conclude that the helium-rich HB stars in omega-Cen cannot be explained solely by the helium-enrichment scenario invoked to explain the blue main sequence.

Moehler, S.↗
NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗