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All sourcesNASA NTRSDOE OSTI
NASA NTRS2001

Quantitative Species Measurements in Microgravity Combustion Flames

Flame-vortex interactions are canonical configurations that can be used to study the underlying processes occurring in complicated turbulent reacting flows. The elegant simplicity of the flame-vortex interaction permits the study of these complex interactions under relatively controllable experimental configurations, in contrast to direct measurements in turbulent flames. The ability to measure and model the fundamental phenomena that occur in a turbulent flame, but with time and spatial scales which are amenable to our diagnostics, permits significant improvements in the understanding of turbulent combustion under both normal and reduced gravity conditions. In this paper, we report absolute mole fraction measurements of methane in a reacting vortex ring. These microgravity experiments are performed in the 2.2-sec drop tower at NASA Glenn Research Center. In collaboration with Drs. Chen and Dahm at the University of Michigan, measured methane absorbances are incorporated into a new model from which the temperature and concentrations of all major gases in the flame can be determined at all positions and times in the development of the vortex ring. This is the first demonstration of the ITAC (Iterative Temperature with Assumed Chemistry) approach, and the results of these computations and analyses are presented in a companion paper by Dahm and Chen at this Workshop. We believe that the ITAC approach will become a powerful tool in understanding a wide variety of combustion flames under both equilibrium and non-equilibrium conditions.

Silver, Joel A.↗
NASA NTRS1994

A Study of Parameters Affecting Fibroblast Morphology in Response to an Applied Mechanical Force

A precisely controlled stretch/relaxation regimen (20% elongation at 6.6 cycles/min) was applied to normal human fetal, neonatal and aged dermal fibroblasts cultured on flexible membranes. Culture conditions included poly (NH2) or collagen type I coated substrate membranes; control cultures were grown on the same pliable material in the absence of applied stretch. Direct observation and immunofluorescence analyses revealed a progressive change in cell body orientation limited to the stretched dermal fibroblast cultures. Monolayers gradually (over 4 days) acquired a symmetric, radial distribution equivalent to the biaxial array of the applied force. At high seeding density, alignment was inhibited in the fetal cell cultures. This cell strain required collagen type I coating for optimal attachment to the flexible membrane, preferring growth in three-dimensional cell 'balls' on the poly(NH2) coated substrate. Neonatal cells also required the collagen type I coating, but both neonatal and aged dermal fibroblasts aligned efficiently at all seeding densities examined. The randomly oriented neonatal cells on the unstretched control membranes spontaneously detached at confluence, as a single cell sheet. Their aligned counterparts did not detach until the applied stretch stimulus was removed. Low concentrations of cytochalasin D (62.5 ng/ml) disrupted the stretch-related alignment response. Rhodamine phalloidin staining visualized fewer actin stress fibers in stretched, aligned cells than in controls. Both intercellular interactions and cytoskeletal integrity mediate the response to mechanical strain. Normal rabbit corneal stroma fibroblasts (NRC) were also analyzed, and failed to orient under these conditions. This cell type may require a different regimen, or a longer time period, to demonstrate alignment behavior. Supported by NASA Space Biology RTOP 199-40-22 and the NASA-ARC Director's Discretionary Fund.

Grymes, Rosalind A.↗
NASA NTRS1994

Peripheral Microvascular Responses to Whole-Body Tilting, G(z) Centrifugation, and Lower Body Negative Pressure Stresses in Humans

The response of the cutaneous microcirculation to orthostatic stress varies along the length of the body due to the interaction of central controls with regional responses to local blood pressure. We hypothesize that artificial orthostatic stresses such as Gz centrifugation and LBNP differ from whole-body tilting in terms of the distribution of microvascular blood flow. Cutaneous microvascular flows were measured by laser Doppler flowmetry at the neck, thigh, and leg of 15 normal subjects. Volunteers underwent stepwise head-up tilt (HUT) and short- and long-arm centrifugation protocols from supine control (0 Gz) to 0.2, 0.4, 0.6, 0.8, 1.0, 0.8, 0.6, 0.4, 0.2, and 0 Gz at the feet, for 30-s periods with 10-s transitions between levels. The same subjects underwent a corresponding supine LBNP protocol, up to 100 mmHg (in 20 mmHg increments) and back to zero pressure, which produced transmural pressure across blood vessels in the foot approximately equal to the HUT protocol. In general, application of all orthostatic stresses produced significant flow reductions in the lower body (p less than 0.05) and inconsistent changes in the neck. At low levels of each stress (0.4 Gz, 40 mmHg), LBNP generated the greatest relative reduction in flow in the lower body (-66.9+/-5.7%, thigh; -60.6 +/-5.7%, leg, mean +/- SE). HUT caused a less severe flow reduction than LBNP at the thigh and leg (-39.9 +/- 8.1% and -55.9+/-4.8%), while the effects induced by both forms of centrifugation were the least profound. Higher levels of each stress generally resulted in similar responses. These responses exhibit a consistent relationship to hypothesized changes in local microvascular transmural pressure, suggesting that myogenic and veno-arteriolar reflexes play a significant role in determining microvascular perfusion during orthostatic stress.

Breit, G. A.↗
NASA NTRS2001

Putting Safety in the Software

Software is a vital component of nearly every piece of modern technology. It is not a 'sub-system', able to be separated out from the system as a whole, but a 'co-system' that controls, manipulates, or interacts with the hardware and with the end user. Software has its fingers into all the pieces of the pie. If that 'pie', the system, can lead to injury, death, loss of major equipment, or impact your business bottom line, then software safety becomes vitally important. Learning to think about software from a safety perspective is the focus of this paper. We want you to think of software as part of the safety critical system, a major part. This requires 'system thinking' - being able to grasp the whole picture. Software's contribution to modern technology is both good and potentially bad. Software allows more complex and useful devices to be built. It can also contribute to plane crashes and power outages. We want you to see software in a whole new light, see it as a contributor to system hazards, and also as a possible fix or mitigation to some of those hazards.

Wetherholt, Martha S.↗
NASA NTRS2002

GPS-Based Navigation And Orbit Determination for the AMSAT AO-40 Satellite

The AMSAT OSCAR-40 (AO-40) spacecraft occupies a highly elliptical orbit (HEO) to support amateur radio experiments. An interesting aspect of the mission is the attempted use of GPS for navigation and attitude determination in HEO. Previous experiences with GPS tracking in such orbits have demonstrated the ability to acquire GPS signals, but very little data were produced for navigation and orbit determination studies. The AO-40 spacecraft, flying two Trimble Advanced Navigation Sensor (TANS) Vector GPS receivers for signal reception at apogee and at perigee, is the first to demonstrate autonomous tracking of GPS signals from within a HEO with no interaction from ground controllers. Moreover, over 11 weeks of total operations as of June 2002, the receiver has returned a continuous stream of code phase, Doppler, and carrier phase measurements useful for studying GPS signal characteristics and performing post-processed orbit determination studies in HEO. This paper presents the initial efforts to generate AO-40 navigation solutions from pseudorange data reconstructed from the TANS Vector code phase, as well as to generate a precise orbit solution for the AO-40 spacecraft using a batch filter.

Davis, George↗
NASA NTRS2003

Transitioning from Software Requirements Models to Design Models

Summary: 1. Proof-of-concept of state machine synthesis from scenarios - CTAS case study. 2. CTAS team wants to use the syntheses algorithm to validate trajectory generation. 3. Extending synthesis algorithm towards requirements validation: (a) scenario relationships' (b) methodology for generalizing/refining scenarios, and (c) interaction patterns to control synthesis. 4. Initial ideas tested on conflict detection scenarios.

Lowry, Michael↗
NASA NTRS2004

Exhaust Simulation Testing of a Hypersonic Airbreathing Model at Transonic Speeds

An experimental study was performed to examine jet-effects for an airframe-integrated, scramjet-rocket combined-cycle vehicle configuration at transonic test conditions. This investigation was performed by testing an existing exhaust simulation wind tunnel model, known as Model 5B, in the NASA Langley 16-Ft. Transonic Tunnel. Tests were conducted at freestream Mach numbers from 0.7 to 1.2, at angles of attack from 2 to +14 degrees, and at up to seven nozzle static pressure ratio values for a set of horizontal-tail and body-flap deflections. The model aftbody, horizontal tails, and body flaps were extensively pressure instrumented to provide an understanding of jet-effects and control-surface/plume interactions, as well as for the development of analytical methodologies and calibration of computational fluid dynamic codes to predict this type of flow phenomenon. At all transonic test conditions examined, the exhaust flow at the exit of the internal nozzle was over-expanded, generating an exhaust plume that turned toward the aftbody. Pressure contour plots for the aftbody of Model 5B are presented for freestream transonic Mach numbers of 0.70, 0.95, and 1.20. These pressure data, along with shadowgraph images, indicated the impingement of an internal plume shock and at least one reflected shock onto the aftbody for all transonic conditions tested. These results also provided evidence of the highly three-dimensional nature of the aftbody exhaust flowfield. Parametric testing showed that angle-of-attack, static nozzle pressure ratio, and freestream Mach number all affected the exhaust-plume size, exhaust-flowfield shock structure, and the aftbody-pressure distribution, with Mach number having the largest effect. Integration of the aftbody pressure data showed large variations in the pitching moment throughout the transonic regime.

Huebner, Lawrence D.↗
NASA NTRS2002

Alternative Metrics for Evaluating the Resilence of Advanced Life Support Systems

Ensuring the safety of the crew is a key performance requirement of a life support system. However, a number of conceptual and practical difficulties arise when devising metrics to concretely measure the ability of a life support system to maintain critical functions in the presence of anticipated and unanticipated faults. Resilience is a dynamic property of a life support system that depends on the complex interactions between faults, controls and system hardware. We review some of the approaches to understanding the robustness or resilience of complex systems being developed in diverse fields such as ecology, software engineering and cell biology and discuss their applicability to regenerative life support systems. We also consider how approaches to measuring resilience vary depending on system design choices such as the definition and choice of the nominal operating regime. Finally, we explore data collection and implementation issues such as the key differences between the instantaneous or conditional and average or overall measures of resilience. Extensive simulation of a hybrid computational model of a water revitalization subsystem (WRS) with probabilistic, component-level faults provides data about off-nominal behavior of the system. The data are used to consider alternative measures of resilience as predictors of the system's ability to recover from component-level faults.

Bell, Ann Maria↗
NASA NTRS2002

Measuring the Resilience of Advanced Life Support Systems

Despite the central importance of crew safety in designing and operating a life support system, the metric commonly used to evaluate alternative Advanced Life Support (ALS) technologies does not currently provide explicit techniques for measuring safety. The resilience of a system, or the system s ability to meet performance requirements and recover from component-level faults, is fundamentally a dynamic property. This paper motivates the use of computer models as a tool to understand and improve system resilience throughout the design process. Extensive simulation of a hybrid computational model of a water revitalization subsystem (WRS) with probabilistic, component-level faults provides data about off-nominal behavior of the system. The data can then be used to test alternative measures of resilience as predictors of the system s ability to recover from component-level faults. A novel approach to measuring system resilience using a Markov chain model of performance data is also developed. Results emphasize that resilience depends on the complex interaction of faults, controls, and system dynamics, rather than on simple fault probabilities.

Bell, Ann Maria↗
NASA NTRS2003

Regulatory gene networks and the properties of the developmental process

Genomic instructions for development are encoded in arrays of regulatory DNA. These specify large networks of interactions among genes producing transcription factors and signaling components. The architecture of such networks both explains and predicts developmental phenomenology. Although network analysis is yet in its early stages, some fundamental commonalities are already emerging. Two such are the use of multigenic feedback loops to ensure the progressivity of developmental regulatory states and the prevalence of repressive regulatory interactions in spatial control processes. Gene regulatory networks make it possible to explain the process of development in causal terms and eventually will enable the redesign of developmental regulatory circuitry to achieve different outcomes.

Non-NASA Center↗
NASA NTRS1998

Efficient dynamic constraints for animating articulated figures

This paper presents an efficient dynamics-based computer animation system for simulating and controlling the motion of articulated figures. A non-trivial extension of Featherstone's O(n) recursive forward dynamics algorithm is derived which allows enforcing one or more constraints on the animated figures. We demonstrate how the constraint force evaluation algorithm we have developed makes it possible to simulate collisions between articulated figures, to compute the results of impulsive forces, to enforce joint limits, to model closed kinematic loops, and to robustly control motion at interactive rates. Particular care has been taken to make the algorithm not only fast, but also easy to implement and use. To better illustrate how the constraint force evaluation algorithm works, we provide pseudocode for its major components. Additionally, we analyze its computational complexity and finally we present examples demonstrating how our system has been used to generate interactive, physically correct complex motion with small user effort.

NASA Discipline Space Human Factors↗
NASA NTRS2004

Automated Recognition of Geologically Significant Shapes in MER PANCAM and MI Images

Autonomous recognition of scientifically important information provides the capability of: 1) Prioritizing data return; 2) Intelligent data compression; 3) Reactive behavior onboard robotic vehicles. Such capabilities are desirable as mission scenarios include longer durations with decreasing interaction from mission control. To address such issues, we have implemented several computer algorithms, intended to autonomously recognize morphological shapes of scientific interest within a software architecture envisioned for future rover missions. Mars Exploration Rovers (MER) instrument payloads include a Panoramic Camera (PANCAM) and Microscopic Imager (MI). These provide a unique opportunity to evaluate our algorithms when applied to data obtained from the surface of Mars. Early in the mission we applied our algorithms to images available at the mission web site (http://marsrovers.jpl.nasa.gov/gallery/images.html), even though these are not at full resolution. Some algorithms would normally use ancillary information, e.g. camera pointing and position of the sun, but these data were not readily available. The initial results of applying our algorithms to the PANCAM and MI images are encouraging. The horizon is recognized in all images containing it; such information could be used to eliminate unwanted areas from the image prior to data transmission to Earth. Additionally, several rocks were identified that represent targets for the mini-thermal emission spectrometer. Our algorithms also recognize the layers, identified by mission scientists. Such information could be used to prioritize data return or in a decision-making process regarding future rover activities. The spherules seen in MI images were also autonomously recognized. Our results indicate that reliable recognition of scientifically relevant morphologies in images is feasible.

Morris, Robert↗
NASA NTRS2005

Discrete Event Supervisory Control Applied to Propulsion Systems

The theory of discrete event supervisory (DES) control was applied to the optimal control of a twin-engine aircraft propulsion system and demonstrated in a simulation. The supervisory control, which is implemented as a finite-state automaton, oversees the behavior of a system and manages it in such a way that it maximizes a performance criterion, similar to a traditional optimal control problem. DES controllers can be nested such that a high-level controller supervises multiple lower level controllers. This structure can be expanded to control huge, complex systems, providing optimal performance and increasing autonomy with each additional level. The DES control strategy for propulsion systems was validated using a distributed testbed consisting of multiple computers--each representing a module of the overall propulsion system--to simulate real-time hardware-in-the-loop testing. In the first experiment, DES control was applied to the operation of a nonlinear simulation of a turbofan engine (running in closed loop using its own feedback controller) to minimize engine structural damage caused by a combination of thermal and structural loads. This enables increased on-wing time for the engine through better management of the engine-component life usage. Thus, the engine-level DES acts as a life-extending controller through its interaction with and manipulation of the engine s operation.

Litt, Jonathan S.↗
NASA NTRS2009

Tele-Supervised Adaptive Ocean Sensor Fleet

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Lefes, Alberto↗
NASA NTRS2009

Data Management Applications for the Service Preparation Subsystem

These software applications provide intuitive User Interfaces (UIs) with a consistent look and feel for interaction with, and control of, the Service Preparation Subsystem (SPS). The elements of the UIs described here are the File Manager, Mission Manager, and Log Monitor applications. All UIs provide access to add/delete/update data entities in a complex database schema without requiring technical expertise on the part of the end users. These applications allow for safe, validated, catalogued input of data. Also, the software has been designed in multiple, coherent layers to promote ease of code maintenance and reuse in addition to reducing testing and accelerating maturity.

Luong, Ivy P.↗
NASA NTRS2010

Challenges to Computational Aerothermodynamic Simulation and Validation for Planetary Entry Vehicle Analysis

Challenges to computational aerothermodynamic (CA) simulation and validation of hypersonic flow over planetary entry vehicles are discussed. Entry, descent, and landing (EDL) of high mass to Mars is a significant driver of new simulation requirements. These requirements include simulation of large deployable, flexible structures and interactions with reaction control system (RCS) and retro-thruster jets. Simulation of radiation and ablation coupled to the flow solver continues to be a high priority for planetary entry analyses, especially for return to Earth and outer planet missions. Three research areas addressing these challenges are emphasized. The first addresses the need to obtain accurate heating on unstructured tetrahedral grid systems to take advantage of flexibility in grid generation and grid adaptation. A multi-dimensional inviscid flux reconstruction algorithm is defined that is oriented with local flow topology as opposed to grid. The second addresses coupling of radiation and ablation to the hypersonic flow solver - flight- and ground-based data are used to provide limited validation of these multi-physics simulations. The third addresses the challenges of retro-propulsion simulation and the criticality of grid adaptation in this application. The evolution of CA to become a tool for innovation of EDL systems requires a successful resolution of these challenges.

Gnoffo, Peter A.↗
NASA NTRS2012

Forming Human-Robot Teams Across Time and Space

NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.

Hambuchen, Kimberly↗
NASA NTRS2010

Challenges to Computational Aerothermodynamic Simulation and Validation for Planetary Entry Vehicle Analysis

Challenges to computational aerothermodynamic (CA) simulation and validation of hypersonic flow over planetary entry vehicles are discussed. Entry, descent, and landing (EDL) of high mass to Mars is a significant driver of new simulation requirements. These requirements include simulation of large deployable, flexible structures and interactions with reaction control system (RCS) and retro-thruster jets. Simulation of radiation and ablation coupled to the flow solver continues to be a high priority for planetary entry analyses, especially for return to Earth and outer planet missions. Three research areas addressing these challenges are emphasized. The first addresses the need to obtain accurate heating on unstructured tetrahedral grid systems to take advantage of flexibility in grid generation and grid adaptation. A multi-dimensional inviscid flux reconstruction algorithm is defined that is oriented with local flow topology as opposed to grid. The second addresses coupling of radiation and ablation to the hypersonic flow solver--flight- and ground-based data are used to provide limited validation of these multi-physics simulations. The third addresses the challenges of retro-propulsion simulation and the criticality of grid adaptation in this application. The evolution of CA to become a tool for innovation of EDL systems requires a successful resolution of these challenges.

Gnoffo, Peter A.↗