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At least 109 records · Page 6

Magneto-inductive skin sensor for robot collision avoidance: A new development

Safety is a primary concern for robots operating in space. The tri-mode sensor addresses that concern by employing a collision avoidance/management skin around the robot arms. This rf-based skin sensor is at present a dual mode (proximity and tactile). The third mode, pyroelectric, will complement the other two. The proximity mode permits the robot to sense an intruding object, to range the object, and to detect the edges of the object. The tactile mode permits the robot to sense when it has contacted an object, where on the arm it has made contact, and provides a three-dimensional image of the shape of the contact impression. The pyroelectric mode will be added to permit the robot arm to detect the proximity of a hot object and to add sensing redundancy to the two other modes. The rf-modes of the sensing skin are presented. These modes employ a highly efficient magnetic material (amorphous metal) in a sensing technique. This results in a flexible sensor array which uses a primarily inductive configuration to permit both capacitive and magnetoinductive sensing of object; thus optimizing performance in both proximity and tactile modes with the same sensing skin. The fundamental operating principles, design particulars, and theoretical models are provided to aid in the description and understanding of this sensor. Test results are also given.

Chauhan, D. S.↗

DMFS: A Data Migration File System for NetBSD

I have recently developed dmfs, a Data Migration File System, for NetBSD. This file system is based on the overlay file system, which is discussed in a separate paper, and provides kernel support for the data migration system being developed by my research group here at NASA/Ames. The file system utilizes an underlying file store to provide the file backing, and coordinates user and system access to the files. It stores its internal meta data in a flat file, which resides on a separate file system. Our data migration system provides archiving and file migration services. System utilities scan the dmfs file system for recently modified files, and archive them to two separate tape stores. Once a file has been doubly archived, files larger than a specified size will be truncated to that size, potentially freeing up large amounts of the underlying file store. Some sites will choose to retain none of the file (deleting its contents entirely from the file system) while others may choose to retain a portion, for instance a preamble describing the remainder of the file. The dmfs layer coordinates access to the file, retaining user-perceived access and modification times, file size, and restricting access to partially migrated files to the portion actually resident. When a user process attempts to read from the non-resident portion of a file, it is blocked and the dmfs layer sends a request to a system daemon to restore the file. As more of the file becomes resident, the user process is permitted to begin accessing the now-resident portions of the file. For simplicity, our data migration system divides a file into two portions, a resident portion followed by an optional non-resident portion. Also, a file is in one of three states: fully resident, fully resident and archived, and (partially) non-resident and archived. For a file which is only partially resident, any attempt to write or truncate the file, or to read a non-resident portion, will trigger a file restoration. Truncations and writes are blocked until the file is fully restored so that a restoration which only partially succeed does not leave the file in an indeterminate state with portions existing only on tape and other portions only in the disk file system. We chose layered file system technology as it permits us to focus on the data migration functionality, and permits end system administrators to choose the underlying file store technology. We chose the overlay layered file system instead of the null layer for two reasons: first to permit our layer to better preserve meta data integrity and second to prevent even root processes from accessing migrated files. This is achieved as the underlying file store becomes inaccessible once the dmfs layer is mounted. We are quite pleased with how the layered file system has turned out. Of the 45 vnode operations in NetBSD, 20 (forty-four percent) required no intervention by our file layer - they are passed directly to the underlying file store. Of the twenty five we do intercept, nine (such as vop_create()) are intercepted only to ensure meta data integrity. Most of the functionality was concentrated in five operations: vop_read, vop_write, vop_getattr, vop_setattr, and vop_fcntl. The first four are the core operations for controlling access to migrated files and preserving the user experience. vop_fcntl, a call generated for a certain class of fcntl codes, provides the command channel used by privileged user programs to communicate with the dmfs layer.

Studenmund, William↗

Centrifuge Facility for the International Space Station Alpha

The Centrifuge Facility planned for the International Space Station Alpha has under-one considerable redesign over the past year, primarily because the Station is now viewed as a 10 year mission rather than a 30 year mission and because of the need to simply the design to meet budget constraints and a 2000 launch date. The basic elements of the Centrifuge Facility remain the same, i.e., a 2.5 m diameter centrifuge, a micro-g holding unit, plant and animal habitats, a glovebox and a service unit. The centrifuge will still provide the full range of artificial gravity from 0.01 a to 2 - as originally planned; however, the extractor to permit withdrawal of habitats from the centrifuge without stopping the centrifuge has been eliminated. The specimen habitats have also been simplified and are derived from other NASA programs. The Plant Research Unit being developed by the Gravitational Biology Facility will be used to house plants in the Centrifuge Facility. Although not as ambitious as the Centrifuge Facility plant habitat, it will provide much better environmental control and lighting than the current Shuttle based Plant Growth Facility. Similarly, rodents will be housed in the Advanced Animal Habitat being developed for the Shuttle program. The Centrifuge Facility and ISSA will provide the opportunity to perform repeatable, high quality science. The long duration increments available on the Station will permit multigeneration studies on both plants and animals which have not previously been possible. The Centrifuge Facility will accommodate sufficient number of specimens to permit statistically significant sampling of specimens to investigate the time course of adaptation to altered gravity environments. The centrifuge will for the first time permit investigators to use gravity itself as a tool to investigate fundamental processes, to investigate the intensity and duration of gravity to maintain normal structure and function, to separate the effects of micro-g from other 0 environmental factors and to examine artificial gravity as a potential countermeasure for the physical deconditioning observed during spaceflight.

Johnson, Catherine C.↗

Composite Thermal Switch

Lithium primary and lithium ion secondary batteries provide high specific energy and energy density. The use of these batteries also helps to reduce launch weight. Both primary and secondary cells can be packaged as high-rate cells, which can present a threat to crew and equipment in the event of external or internal short circuits. Overheating of the cell interior from high current flows induced by short circuits can result in exothermic reactions in lithium primary cells and fully charged lithium ion secondary cells. Venting of the cell case, ejection of cell components, and fire have been reported in both types of cells, resulting from abuse, cell imperfections, or faulty electronic control design. A switch has been developed that consists of a thin layer of composite material made from nanoscale particles of nickel and Teflon that conducts electrons at room temperature and switches to an insulator at an elevated temperature, thus interrupting current flow to prevent thermal runaway caused by internal short circuits. The material is placed within the cell, as a thin layer incorporated within the anode and/or the cathode, to control excess currents from metal-to-metal or metal-to-carbon shorts that might result from cell crush or a manufacturing defect. The safety of high-rate cells is thus improved, preventing serious injury to personnel and sensitive equipment located near the battery. The use of recently available nanoscale particles of nickel and Teflon permits an improved, homogeneous material with the potential to be fine-tuned to a unique switch temperature, sufficiently below the onset of a catastrophic chemical reaction. The smaller particles also permit the formation of a thinner control film layer (<50 m), which can be incorporated into commercial high-rate lithium primary and secondary cells. The innovation permits incorporation in current lithium and lithium-ion cell designs with a minimal impact on cell weight and volume. The composite thermal switch (CTS(TradeMark)) coating can be incorporated in either the anode or cathode or both. The coating can be applied in a variety of different processes that permits incorporation in the cell and electrode manufacturing processes. The CTS responds quickly and halts current flow in the hottest parts of the cell first. The coating can be applied to metal foil and supplied as a cell component onto which the active electrode materials are coated.

McDonald, Robert↗

NASA-ARC 36 inch airborne infrared telescope

A 36 in. aperture telescope is being developed for installation aboard a NASA-Lockheed C-141A aircraft. This airborne observatory will permit observation of infrared emission at altitudes above 45,000 ft above much of the infrared-absorbing atmospheric water vapor. The telescope will look through a movable open port in the aircraft fuselage. A porous spoiler, upstream from the open port, will attenuate pressure disturbances and permit operation at ambient temperatures and pressures without an obscuring window. The telescope's entire structure is supported by a 16 in. spherical air bearing, which effectively isolates it from angular aircraft motions. This air bearing support, with inertial stabilization and star tracking, will permit net line of sight stability of better than 2 arcsec rms.

Mobley, R. E.↗

Sky-wave backscatter - A means for observing our environment at great distances.

During the last five years, much progress has been made in the understanding of sky-wave backscatter. An explanation of the various interacting phenomena is presented, as is a review of the current state of knowledge reflecting recent advances in observational methods and analytic techniques. New narrow-beam antennas, coupled with signal modulations that permit fine resolution in time delay, are beginning to yield information concerning the character of the scatterers, which now can be separately discerned. These narrow beams also permit study of polarization fading from small regions, and this shows promise as a means for learning the distant sea state. Doppler shifts of a fraction of a hertz on signals of tens of megahertz are separable, permitting isolation of sea returns from ground returns by virtue of the Doppler effect resulting from sea-wave speed; this also suggests a potential sea-monitoring principle. Despite these advances, there is little practical application of sky-wave backscatter as a means of environmental monitoring. This lack is attributed to the large remaining gaps in our understanding of the echoes and our inability to interpret the forms of data that can be acquired with equipment of reasonable cost.

Croft, T. A.↗

Vertical copy camera system provides photographs from ERTS-1 imagery

Versatility of commercially-available camera system permits wide range of enlargement (up to 10X) and reduction (down to 1/8) to be achieved with standard lenses. Use of easily interchangeable camera backs permits photographic formats from 35 mm to 10.2 X 12.7 cm (4 x 5 in) and permits easy use of black and white and color films and Polaroid materials.

Schertler, R. J.↗

Anti-buckling fatigue test assembly

An antibuckling fatigue test assembly is described for holding a metal specimen which is subjected to compression and to rapid cyclical heating and cooling while permitting visual observation. In an illustrative embodiment of this invention, the anti-buckling fatigue test apparatus includes first and second guide members between which the metal specimen is disposed and held, a heating assembly comprising a suitable heating source such as a quartz lamp and a reflecting assembly directing the heat onto the specimen, and a cooling assembly for directing a suitable cooling fluid such as air onto the specimen. The guide members each have a passage to permit the heat to be directed onto the specimen. An opening is provided in the reflecting assembly to permit visual inspection of that region of the specimen adjacent to the opening onto which the heat is directed.

Eichenbrenner, F. F.↗

Prototype color field sequential television lens assembly

The design, development, and evaluation of a prototype modular lens assembly with a self-contained field sequential color wheel is presented. The design of a color wheel of maximum efficiency, the selection of spectral filters, and the design of a quiet, efficient wheel drive system are included. Design tradeoffs considered for each aspect of the modular assembly are discussed. Emphasis is placed on achieving a design which can be attached directly to an unmodified camera, thus permitting use of the assembly in evaluating various candidate camera and sensor designs. A technique is described which permits maintaining high optical efficiency with an unmodified camera. A motor synchronization system is developed which requires only the vertical synchronization signal as a reference frequency input. Equations and tradeoff curves are developed to permit optimizing the filter wheel aperture shapes for a variety of different design conditions.

Source record↗

Analysis of nonlinear structures via mode synthesis

An effective procedure for NASTRAN was developed that permits any number of substructures of any size to be synthesized for the purpose of developing normal modes of vibration of the complete structural system. The technique is extended to permit modal transient analysis of the subdivided system. This latter procedure permits the use of NASTRAN's ability to include nonlinear forces in the problem. The five-phase process is accomplished using standard NASTRAN rigid formats with problem-independent alter packages and DMAP sequences.

Gieseke, R. K.↗

Solid-propellant rocket motor ballistic performance variation analyses

Results are presented of research aimed at improving the assessment of off-nominal internal ballistic performance including tailoff and thrust imbalance of two large solid-rocket motors (SRMs) firing in parallel. Previous analyses using the Monte Carlo technique were refined to permit evaluation of the effects of radial and circumferential propellant temperature gradients. Sample evaluations of the effect of the temperature gradients are presented. A separate theoretical investigation of the effect of strain rate on the burning rate of propellant indicates that the thermoelastic coupling may cause substantial variations in burning rate during highly transient operating conditions. The Monte Carlo approach was also modified to permit the effects on performance of variation in the characteristics between lots of propellants and other materials to be evaluated. This permits the variabilities for the total SRM population to be determined. A sample case shows, however, that the effect of these between-lot variations on thrust imbalances within pairs of SRMs is minor in compariosn to the effect of the within-lot variations. The revised Monte Carlo and design analysis computer programs along with instructions including format requirements for preparation of input data and illustrative examples are presented.

Sforzini, R. H.↗

Quantitative measurement of surface contamination

Portable and highly sensitive system permits quantitative determinations on test surfaces. Device is used in normal room light and permits detection of significantly smaller samples. Digitation of output permits easy evaluation of contamination cleanup techniques.

Richmond, R. G.↗

Generalized environmental control and life support system computer program (G1894), phase 3

The work performed during Phase 3 of the Generalized Environmental Control Life Support System (ECLSS) Computer Program is reported. Phase 3 of this program covered the period from December 1977 to September 1978. The computerized simulation of the Shuttle Orbiter ECLSS was upgraded in the following areas: (1) the payload loop of the Shuttle simulation was completely recoded and checked out; (2) the Shuttle simulation water and freon loop initialization logic was simplified to permit easier program input for the user; (3) the computerized simulation was modified to accept the WASP subroutine, which is a subroutine to evaluate thermal properties of water and freon; (4) the 1108 operating system was upgraded by LEC; (5) the Shuttle simulation was modified to permit failure cases which simulate zero component flow values; and (6) the Shuttle SEPS version was modified and secure files were setup on the 1108 and 1110 systems to permit simulation runs to be made from remote terminals.

Mcenulty, R. E.↗

Interactive color display for multispectral imagery using correlation clustering

A method for processing multispectral data is provided, which permits an operator to make parameter level changes during the processing of the data. The system is directed to production of a color classification map on a video display in which a given color represents a localized region in multispectral feature space. Interactive controls permit an operator to alter the size and change the location of these regions, permitting the classification of such region to be changed from a broad to a narrow classification.

Haskell, R. E.↗

Models for extracting vertical crustal movements from leveling data

Various adjustment strategies are being used in North America to obtain vertical crustal movements from repeated leveling. The more successful models utilize polynomials or multiquadric analysis to describe elevation change with a velocity surface. Other features permit determination of nonlinear motions, motions associated with earthquakes or episodes, and vertical motions of blocks where boundaries are prespecified. The preferred models for estimating crustal motions permit the use of detached segments of releveling to govern the shape of a velocity surface and allow for input from nonleveling sources such as tide gages and paired lake gages. Some models for extracting vertical crustal movements from releveling data are also excellent for adjusting leveling networks, and permit mixing old and new data in areas exhibiting vertical motion. The new adjustment techniques are more general than older static models and will undoubtedly be used routinely in the future as the constitution of level networks becomes mainly relevelings.

Holdahl, S. H.↗

Design Flexibility of Redox Flow Systems

The characteristics inherent in Redox flow systems permit considerable latitude in designing systems for specific storage applications. The first of these characteristics is the absence of plating/deplating reactions with their attendant morphology changes at the electrodes. This permits a given Redox system to operate over a wide range of depths of discharge and charge/discharge rates. The second characteristic is the separation of power generating components (stacks) from the energy storage components (tanks). This results in cost effective system design, ease of system growth via modularization, and freedom from sizing restraints so that the whole spectrum of applications, from utilities down to single residence can be considered. The final characteristic is the commonality of the reactant fluids which assures that all cells at all times are receiving reactants at the same state of charge. Since no cell can be out of balance with respect to any other cell, it is possible for some cells to be charged while others are discharging, in effect creating a DC to DC transformer. It is also possible for various groups of cells to be connected to separate loads, thus supplying a range of output voltages. Also, trim cells can be used to maintain constant bus voltage as the load is changed or as the depth of discharge increases. The commonality of reactant fluids also permits any corrective measures such as rebalancing to occur at the system level instead of at the single cell level.

Hagedorn, N. H.↗

An investigation into the utilization of HCMM thermal data for the descrimination of volcanic and Eolian geological units

Analysis of HCMM data shows that the resolution provided by the thermal data is inadequate to permit the identification of individual lava flows within the volcanic test sites. Thermal data of southern California reveals that dune complexes at Kelso and Algodomes are found to be too small to permit adequate investigation of their structure. As part of the study of the San Francisco volcanic field, marked variations in the thermal properties of the region between Flagstaff and the Utah State border were observed. Several well-defined units within the Grand Canyon and the Colorado Plateau were recognized and appear to be very suitable for analysis with HCMM, SEASAT and LANDSAT images. Although individual volcanic constructs within the Cascade Range are too small to permit detailed characterization with the thermal data, the regional volcano/tectonic setting offers a good opportunity for comparing the possible thermal distinction between this area and sedimentary fold belts such as those found in the eastern United States. Strong intra-regional variations in vegetation cover were also tentatively identified for the Oregon test site.

Head, J. W., III↗

Introduction - Processes of continental rifting

It is thought likely that thermal thinning and/or diapirism can cause the extensional stress required for rifting. The rifting, however, will not occur unless the regional tectonic regime permits the sides of the rift to diverge. Whereas passive plate extension could cause rifting in isolation, the extension and rifting are likely to be localized where the lithosphere is weakest over an existing thermal anomaly. In those cases where asthenospheric diapirism occurs, which is essentially a response to thinning of the lithosphere by thermal thinning or plate extension, the effects of diapirism may completely mask the initiating mechanism. It is believed that anomalous heat transfer into the lithosphere, diapirism, and magmatism must all figure in rifting, along with a deviatoric stress field that will permit extension in a developing rift. Even though the models are useful in permitting idealized processes to be quantified and tested, better knowledge of lithosphere properties is considered necessary, in particular knowledge of mantle viscosity and its temperature dependence.

Morgan, P.↗