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NASA NTRS2018

The Evolution of Payload Data Capabilities on the Commercial Visiting Vehicles that Service the International Space Station

For over 10 years, NASA has been working with U.S.-based commercial companies to support the design, development, and operations of new commercial space vehicles. The purpose of these vehicles is to provide cargo and crew transportation services to the International Space Station (ISS) and to stimulate the commercial space transportation industry to Low-Earth Orbit (LEO). Along with the ability to provide a couple tons of cargo to the ISS each mission, the commercial visiting vehicles also provide the ability to transfer NASA payloads to and from the ISS in an active, powered state. To take advantage of this capability, NASA requirements for the data services that payloads need while they are integrated into the visiting vehicles have grown with each set of commercial contracts. Today, NASA desires for payload data services encompass a variety of capabilities including payload health and status (H&S) telemetry monitoring, visiting vehicle environment data monitoring, and payload commanding. The intent of these capabilities is to provide payload developers with situational awareness and the ability to quickly diagnose any problems with payload operations prior to vehicle docking or post-landing to support immediate troubleshooting response. As new requirements for payload data services have emerged over the years, the ISS Payload Operations Integration Center (POIC) at the NASA Marshall Space Flight Center (MSFC) has established ground segment interfaces to the visiting vehicle control centers to enable payload developers to use these services. Many technical and programmatic challenges have been faced while establishing these interfaces. The most significant challenge faced has been in finding the right balance amongst providing interfaces to payloads that are compatible with the ISS so that payload hardware or software changes are not necessary to ensure compatibility with the visiting vehicles; keeping POIC ground system development costs low by standardizing implementation approaches across commercial vehicle partners; and fostering commercialization through supporting vendor-unique implementations that are commercially economical. This paper will first detail the data services that will be available to payload users under each commercial visiting vehicle contract. Secondly, this paper will offer discussion of the most significant technical and programmatic challenges faced to-date in offering these new data services to payload developers.

Wiggins, Lindsay M.↗
NASA NTRS2012

On Shaft Data Acquisition System (OSDAS)

On Shaft Data Acquisition System (OSDAS) is a rugged, compact, multiple-channel data acquisition computer system that is designed to record data from instrumentation while operating under extreme rotational centrifugal or gravitational acceleration forces. This system, which was developed for the Heritage Fuel Air Turbine Test (HFATT) program, addresses the problem of recording multiple channels of high-sample-rate data on most any rotating test article by mounting the entire acquisition computer onboard with the turbine test article. With the limited availability of slip ring wires for power and communication, OSDAS utilizes its own resources to provide independent power and amplification for each instrument. Since OSDAS utilizes standard PC technology as well as shared code interfaces with the next-generation, real-time health monitoring system (SPARTAA Scalable Parallel Architecture for Real Time Analysis and Acquisition), this system could be expanded beyond its current capabilities, such as providing advanced health monitoring capabilities for the test article. High-conductor-count slip rings are expensive to purchase and maintain, yet only provide a limited number of conductors for routing instrumentation off the article and to a stationary data acquisition system. In addition to being limited to a small number of instruments, slip rings are prone to wear quickly, and introduce noise and other undesirable characteristics to the signal data. This led to the development of a system capable of recording high-density instrumentation, at high sample rates, on the test article itself, all while under extreme rotational stress. OSDAS is a fully functional PC-based system with 48 channels of 24-bit, high-sample-rate input channels, phase synchronized, with an onboard storage capacity of over 1/2-terabyte of solid-state storage. This recording system takes a novel approach to the problem of recording multiple channels of instrumentation, integrated with the test article itself, packaged in a compact/rugged form factor, consuming limited power, all while rotating at high turbine speeds.

Pedings, Marc↗
NASA NTRS2014

A Self-Stabilizing Hybrid-Fault Tolerant Synchronization Protocol

In this report we present a strategy for solving the Byzantine general problem for self-stabilizing a fully connected network from an arbitrary state and in the presence of any number of faults with various severities including any number of arbitrary (Byzantine) faulty nodes. Our solution applies to realizable systems, while allowing for differences in the network elements, provided that the number of arbitrary faults is not more than a third of the network size. The only constraint on the behavior of a node is that the interactions with other nodes are restricted to defined links and interfaces. Our solution does not rely on assumptions about the initial state of the system and no central clock nor centrally generated signal, pulse, or message is used. Nodes are anonymous, i.e., they do not have unique identities. We also present a mechanical verification of a proposed protocol. A bounded model of the protocol is verified using the Symbolic Model Verifier (SMV). The model checking effort is focused on verifying correctness of the bounded model of the protocol as well as confirming claims of determinism and linear convergence with respect to the self-stabilization period. We believe that our proposed solution solves the general case of the clock synchronization problem.

Malekpour, Mahyar R.↗
NASA NTRS1980

Report on JANNAF panel on shotgun/relative quickness testing

As the need for more energetic solid propellants continues, a number of problems arises. One of these is the tendency of high energy propellants to transition from burning (deflagration) to detonation in regions where the propellant is present in small particle sizes; e.g., in case bonding areas of a motor after a rapid depressurization causes a shear zone at the bond interface as the stressed propellant and motor case relax at different rates. In an effort to determine the susceptibility of propellants to high strain rate break up (friability), and subsequent DDT, the propulsion community uses the shotgun/relative quickness test as one of a number of screening tests for new propellant formulations. Efforts to standardize test techniques and equipment are described.

Gould, R. A.↗
NASA NTRS1982

Digital imaging techniques in experimental stress analysis

Digital imaging techniques are utilized as a measure of surface displacement components in laser speckle metrology. An image scanner which is interfaced to a computer records and stores in memory the laser speckle patterns of an object in a reference and deformed configuration. Subsets of the deformed images are numerically correlated with the references as a measure of surface displacements. Discrete values are determined around a closed contour for plane problems which then become input into a boundary integral equation method in order to calculate surface traction in the contour. Stresses are then calculated within this boundary. The solution procedure is illustrated by a numerical example of a case of uniform tension.

Peters, W. H.↗
NASA NTRS1989

Modal representations in control/structure interaction

When control/structure interaction problems are examined, a standard method for representing the structure is to choose a truncated set of normal modes calculated from either a finite-element or a distributed-parameter model. However, the normal modes can neglect important static information about the structure. Using a set of fixed interface modes results in a much more accurate closed-loop model, even when relatively low-bandwidth controllers are used. The fixed interface modes are calculated with control input degrees of freedom held fixed, and standard finite-element software can be used. Illustrative examples include a simple hinged beam and a complex model of the phase-I Space Station configuration.

Blelloch, Paul A.↗
NASA NTRS1994

Surgery applications of virtual reality

Virtual reality is a computer-generated technology which allows information to be displayed in a simulated, bus lifelike, environment. In this simulated 'world', users can move and interact as if they were actually a part of that world. This new technology will be useful in many different fields, including the field of surgery. Virtual reality systems can be used to teach surgical anatomy, diagnose surgical problems, plan operations, simulate and perform surgical procedures (telesurgery), and predict the outcomes of surgery. The authors of this paper describe the basic components of a virtual reality surgical system. These components include: the virtual world, the virtual tools, the anatomical model, the software platform, the host computer, the interface, and the head-coupled display. In the chapter they also review the progress towards using virtual reality for surgical training, planning, telesurgery, and predicting outcomes. Finally, the authors present a training system being developed for the practice of new procedures in abdominal surgery.

Rosen, Joseph↗
NASA NTRS1996

Thermocapillary Bubble Migration: Thermal Boundary Layers for Large Marangoni Numbers

The migration of an isolated gas bubble in an immiscible liquid possessing a temperature gradient is analyzed in the absence of gravity. The driving force for the bubble motion is the shear stress at the interface which is a consequence of the temperature dependence of the surface tension. The analysis is performed under conditions for which the Marangoni number is large, i.e. energy is transferred predominantly by convection. Velocity fields in the limit of both small and large Reynolds numbers are used. The thermal problem is treated by standard boundary layer theory. The outer temperature field is obtained in the vicinity of the bubble. A similarity solution is obtained for the inner temperature field. For both small and large Reynolds numbers, the asymptotic values of the scaled migration velocity of the bubble in the limit of large Marangoni numbers are calculated. The results show that the migration velocity has the same scaling for both low and large Reynolds numbers, but with a different coefficient. Higher order thermal boundary layers are analyzed for the large Reynolds number flow field and the higher order corrections to the migration velocity are obtained. Results are also presented for the momentum boundary layer and the thermal wake behind the bubble, for large Reynolds number conditions.

Balasubramaniam, R.↗
NASA NTRS1991

Advanced teleoperation - Progress and problems

A dual-arm Advanced Teleoperation System (ATOPS) was developed at JPL to demonstrate and evaluate performance capabilities of computer and sensing aided teleoperation. This paper gives a brief overview of the system and briefly describes some of the generic and application-oriented performance experiments together with the major results. A major conclusion is that the new advanced technical features of the system should be properly integrated with or interfaced to the natural features of human operations in order to produce an improved overall system and task performance capability.

Bejczy, Antal K.↗
NASA NTRS1977

Prosthetic EMG control enhancement through the application of man-machine principles

An area in medicine that appears suitable to man-machine principles is rehabilitation research, particularly when the motor aspects of the body are involved. If one considers the limb, whether functional or not, as the machine, the brain as the controller and the neuromuscular system as the man-machine interface, the human body is reduced to a man-machine system that can benefit from the principles behind such systems. The area of rehabilitation that this paper deals with is that of an arm amputee and his prosthetic device. Reducing this area to its man-machine basics, the problem becomes one of attaining natural multiaxis prosthetic control using Electromyographic activity (EMG) as the means of communication between man and prothesis. In order to use EMG as the communication channel it must be amplified and processed to yield a high information signal suitable for control. The most common processing scheme employed is termed Mean Value Processing. This technique for extracting the useful EMG signal consists of a differential to single ended conversion to the surface activity followed by a rectification and smoothing.

Simcox, W. A.↗
NASA NTRS1993

The WorkPlace distributed processing environment

Real time control problems require robust, high performance solutions. Distributed computing can offer high performance through parallelism and robustness through redundancy. Unfortunately, implementing distributed systems with these characteristics places a significant burden on the applications programmers. Goddard Code 522 has developed WorkPlace to alleviate this burden. WorkPlace is a small, portable, embeddable network interface which automates message routing, failure detection, and re-configuration in response to failures in distributed systems. This paper describes the design and use of WorkPlace, and its application in the construction of a distributed blackboard system.

Ames, Troy↗
NASA NTRS1993

The importance of properties in modeling

Casting and welding of superalloys, stainless steel and titanium alloys are processes which can be improved through modeling of heat flow, fluid flow, residual stress development, and microstructural evolution. These simulations require inputs of thermophysical data, some of which involves the partially or totally liquid state. In particular, these processes involve melting, flow in the liquid, and solidification. Modeling of such processes can lead to an improved understanding of defects such as shrinkage, inclusions, cracks, incomplete filling (or penetration), macrosegregation, improper grain structure, and deviations from dimensional specifications. Effective modeling can shorten process development time and improve quality. An approach to these problems is to develop efficient models; validate through correlations with thermal, distortion, and microstructural data; run parametric studies; extract knowledge based rules; and apply to adaptive closed loop control systems. With the appropriate pre- and post-processing, such analyses can be made 'user friendly'. This would include graphical user interfaces as well as realistic images and color maps. In such form, these models can be used for sensitivity analyses, which are useful in defining appropriate sensors and in the development of control strategies. Such modeling can be done at several levels, e.g., the MARO level, modeling large scale phenomena such as heat and fluid flow or material deformation; the MICRO level, modeling the development of dendrites, grains or precipitates; or at the NANO level, modeling point defects, dislocations, stacking faults, etc. There are many computational issues associated with these simulations, e.g. computational efficiency and accuracy. In addition, there are many materials issues, not the least of which is the availability of accurate high temperature thermophysical data for complex alloys. This would include latent heat of fusion, temperature dependent heat capacity and thermal conductivity (for liquid and solid), viscosity, surface tension, thermal expansion, mechanical properties, etc. Preliminary data is frequently gathered from the literature; however, this is often not available for modern alloys. If additional data are required, measurements can be used; however, these are costly, time consuming and can be erroneous due to a lack of testing standards or impure materials. Microstructural predictors can be extracted from thermal information, e.g. cooling rate and thermal gradient; the prediction of microstructure is dependent on solidus and liquidus temperature, mushy zone permeability, the solidification curve, volume changes, phase transformations, alloying effects (such as surface tension or viscosity), mold/metal reactions, metal/environment reactions, etc. Defect maps may be needed to predict the onset of shrinkage, hot cracking or 'freckling'. Constants may be needed for stress relaxation, dendrite coarsening, vaporization, etc. Visualization was used as a tool to better comprehend complex data sets associated with the analysis of directional solidification (including crystal growth) and welding. Examples include not only isotherms, but also cooling rate, growth rate and thermal gradient. The latter two are not single valued scalars, but rather time and space dependent vector fields. Efficient models were developed for both casting and welding to predict heat flow and the relationship to dendrite and grain growth. These codes include many of the non-linear effects, e.g. radiation, which dominate these processes. The home-built FDM code(s) were designed to be useful not only to the scientist, but also to the process engineer. Special output can be requested to compare directly to experimental data. Visualization procedures were developed to visualize critical results, e.g. fusion zone width at the surface opposite that where the arc is applied ('penetration'). Both elaborate and simplified distortion analyses were carried out. It is clear that extensive mechanical property data are critical in order to accurately predict residual stress patterns. A scheme is currently being developed to integrate these modeling tools into a set of control algorithms; however, the success of this approach is critically dependent on the availability of accurate high temperature thermophysical data.

Giamei, A. F.↗
NASA NTRS1997

STRIPE: Remote Driving Using Limited Image Data

Driving a vehicle, either directly or remotely, is an inherently visual task. When heavy fog limits visibility, we reduce our car's speed to a slow crawl, even along very familiar roads. In teleoperation systems, an operator's view is limited to images provided by one or more cameras mounted on the remote vehicle. Traditional methods of vehicle teleoperation require that a real time stream of images is transmitted from the vehicle camera to the operator control station, and the operator steers the vehicle accordingly. For this type of teleoperation, the transmission link between the vehicle and operator workstation must be very high bandwidth (because of the high volume of images required) and very low latency (because delayed images can cause operators to steer incorrectly). In many situations, such a high-bandwidth, low-latency communication link is unavailable or even technically impossible to provide. Supervised TeleRobotics using Incremental Polyhedral Earth geometry, or STRIPE, is a teleoperation system for a robot vehicle that allows a human operator to accurately control the remote vehicle across very low bandwidth communication links, and communication links with large delays. In STRIPE, a single image from a camera mounted on the vehicle is transmitted to the operator workstation. The operator uses a mouse to pick a series of 'waypoints' in the image that define a path that the vehicle should follow. These 2D waypoints are then transmitted back to the vehicle, where they are used to compute the appropriate steering commands while the next image is being transmitted. STRIPE requires no advance knowledge of the terrain to be traversed, and can be used by novice operators with only minimal training. STRIPE is a unique combination of computer and human control. The computer must determine the 3D world path designated by the 2D waypoints and then accurately control the vehicle over rugged terrain. The human issues involve accurate path selection, and the prevention of disorientation, a common problem across all types of teleoperation systems. STRIPE is the only semi-autonomous teleoperation system that can accurately follow paths designated in monocular images on varying terrain. The thesis describes the STRIPE algorithm for tracking points using the incremental geometry model, insight into the design and redesign of the interface, an analysis of the effects of potential errors, details of the user studies, and hints on how to improve both the algorithm and interface for future designs.

REMOTE CONTROL↗
NASA NTRS1996

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Dumas, Joseph D.↗
NASA NTRS1998

A Formal Model of Partitioning for Integrated Modular Avionics

The aviation industry is gradually moving toward the use of integrated modular avionics (IMA) for civilian transport aircraft. An important concern for IMA is ensuring that applications are safely partitioned so they cannot interfere with one another. We have investigated the problem of ensuring safe partitioning and logical non-interference among separate applications running on a shared Avionics Computer Resource (ACR). This research was performed in the context of ongoing standardization efforts, in particular, the work of RTCA committee SC-182, and the recently completed ARINC 653 application executive (APEX) interface standard. We have developed a formal model of partitioning suitable for evaluating the design of an ACR. The model draws from the mathematical modeling techniques developed by the computer security community. This report presents a formulation of partitioning requirements expressed first using conventional mathematical notation, then formalized using the language of SRI'S Prototype Verification System (PVS). The approach is demonstrated on three candidate designs, each an abstraction of features found in real systems.

DiVito, Ben L.↗
NASA NTRS2001

Effect of Marangoni Convection Generated by Voids on Segregation During Low-G and 1-G Solidification

Solidification experiments, especially microgravity solidification experiments, are often compromised by the evolution of unwanted voids or bubbles in the melt. Although these voids and/or bubbles are highly undesirable, there is currently no effective means of preventing their formation or of eliminating their adverse effects, particularly during microgravity experiments. Marangoni convection caused by these voids can drastically change the transport processes in the melt. Recent microgravity experiments by Matthiesen (1) Andrews (2) and Fripp (3) are perfect examples of how voids and bubbles can affect the outcome of costly space experiments and significantly increase the level of difficulty in interpreting their results. Formation of bubbles have caused problems in microgravity experiments for a long time. Even in the early Skylab mission an unexpectedly large number of bubbles were detected in the four materials processing experiments reported by Papazian and Wilcox (4). They demonstrated that while during ground-based tests bubbles were seen to detach from the interface easily and float to the top of the melt, in low-gravity tests no detachment from the interface occurred and large voids were grown in the crystal. More recently, the lead-tin-telluride crystal growth experiment of Fripp et al.(3) flown aboard the USMP-3 mission has provided very interesting results. The purpose of the study was to investigate the effect of natural convection on the solidification process by growing the samples at different orientations with respect to the gravitational field. Large pores and voids were found in the three solid crystal samples processed in space. Post-growth characterization of the compositional profiles of the cells indicated considerable levels of mixing even in the sample grown in the hot-on-top stable configuration. The mixing was attributed to thermocapillary convection caused by the voids and bubbles which evolved during growth. Since the thermocapillary convection is orientation-independent, diffusion-controlled growth was not possible in any of the samples, even the top-heated one. These results are consistent with recent studies of thermocapillary convection generated by a bubble on a heated surface undertaken by Kassemi and Rashidnia (5-7) where it is numerically and experimentally shown that the thermocapillary flow generated by a bubble in a model fluid (silicone oil) can drastically modify the temperature field through vigorous mixing of the fluid around it, especially under microgravity conditions.

Kassemi, M.↗
NASA NTRS2002

Analysis of Tank PMD Rewetting Following Thrust Resettling

Recent investigations have successfully demonstrated closed-form analytical solutions of spontaneous capillary flows in idealized cylindrical containers with interior corners. In this report, the theory is extended and applied to complex containers modeling spacecraft fuel tanks employing propellant management devices (PMDs). The specific problem investigated is one of spontaneous rewetting of a typical partially filled liquid fuel/cryogen tank with PMD after thrust resettling. The transients of this flow impact the logistics of orbital maneuvers and potentially tank thermal control. The general procedure to compute the initial condition (mean radius of curvature for the interface) for the closed-form transient flows is first outlined then solved for several 'complex' cylindrical tanks exhibiting symmetry. The utility and limitations of the technique as a design tool are discussed in a summary, which also highlights comparisons with NASA flight data of a model propellant tank with PMD.

Weislogel, M. M.↗
NASA NTRS2002

Friction pull plug welding: chamfered heat sink pull plug design

Friction Pull Plug Welding (FPPW) is a solid state repair process for defects up to one inch in length, only requiring single sided tooling (OSL) for usage on flight hardware. Experimental data has shown that the mass of plug heat sink remaining above the top of the plate surface after a weld is completed (the plug heat sink) affects the bonding at the plug top. A minimized heat sink ensures complete bonding of the plug to the plate at the plug top. However, with a minimal heat sink three major problems can arise, the entire plug could be pulled through the plate hole, the central portion of the plug could be separated along grain boundaries, or the plug top hat can be separated from the body. The Chamfered Heat Sink Pull Plug Design allows for complete bonding along the ISL interface through an outside diameter minimal mass heat sink, while maintaining enough central mass in the plug to prevent plug pull through, central separation, and plug top hat separation.

Coletta, Edmond R.↗