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All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Modeling and Design of an Electro-Rheological Fluid Based Haptic System for Tele-Operation of Space Robots

For many years, the robotic community sought to develop robots that can eventually operate autonomously and eliminate the need for human operators. However, there is an increasing realization that there are some tasks that human can perform significantly better but, due to associated hazards, distance, physical limitations and other causes, only robot can be employed to perform these tasks. Remotely performing these types of tasks requires operating robots as human surrogates. While current "hand master" haptic systems are able to reproduce the feeling of rigid objects, they present great difficulties in emulating the feeling of remote/virtual stiffness. In addition, they tend to be heavy, cumbersome and usually they only allow limited operator workspace. In this paper a novel haptic interface is presented to enable human-operators to "feel" and intuitively mirror the stiffness/forces at remote/virtual sites enabling control of robots as human-surrogates. This haptic interface is intended to provide human operators intuitive feeling of the stiffness and forces at remote or virtual sites in support of space robots performing dexterous manipulation tasks (such as operating a wrench or a drill). Remote applications are referred to the control of actual robots whereas virtual applications are referred to simulated operations. The developed haptic interface will be applicable to IVA operated robotic EVA tasks to enhance human performance, extend crew capability and assure crew safety. The electrically controlled stiffness is obtained using constrained ElectroRheological Fluids (ERF), which changes its viscosity under electrical stimulation. Forces applied at the robot end-effector due to a compliant environment will be reflected to the user using this ERF device where a change in the system viscosity will occur proportionally to the force to be transmitted. In this paper, we will present the results of our modeling, simulation, and initial testing of such an electrorheological fluid (ERF) based haptic device.

Mavroidis, Constantinos↗
NASA NTRS2002

Three Dimensional CFD Analysis of the GTX Combustor

The annular combustor geometry of a combined-cycle engine has been analyzed with three-dimensional computational fluid dynamics. Both subsonic combustion and supersonic combustion flowfields have been simulated. The subsonic combustion analysis was executed in conjunction with a direct-connect test rig. Two cold-flow and one hot-flow results are presented. The simulations compare favorably with the test data for the two cold flow calculations; the hot-flow data was not yet available. The hot-flow simulation indicates that the conventional ejector-ramjet cycle would not provide adequate mixing at the conditions tested. The supersonic combustion ramjet flowfield was simulated with frozen chemistry model. A five-parameter test matrix was specified, according to statistical design-of-experiments theory. Twenty-seven separate simulations were used to assemble surrogate models for combustor mixing efficiency and total pressure recovery. ScramJet injector design parameters (injector angle, location, and fuel split) as well as mission variables (total fuel massflow and freestream Mach number) were included in the analysis. A promising injector design has been identified that provides good mixing characteristics with low total pressure losses. The surrogate models can be used to develop performance maps of different injector designs. Several complex three-way variable interactions appear within the dataset that are not adequately resolved with the current statistical analysis.

Steffen, C. J., Jr.↗
NASA NTRS2002

Three Dimensional CFD Analysis of the GTX Combustor

The annular combustor geometry of a combined-cycle engine has been analyzed with three-dimensional computational fluid dynamics. Both subsonic combustion and supersonic combustion flowfields have been simulated. The subsonic combustion analysis was executed in conjunction with a direct-connect test rig. Two cold-flow and one hot-flow results are presented. The simulations compare favorably with the test data for the two cold flow calculations; the hot-flow data was not yet available. The hot-flow simulation Indicates that the conventional ejector-ramjet cycle would not provide adequate mixing at the conditions tested. The supersonic combustion ramjet flowfield was simulated with frozen chemistry model. A five-parameter test matrix was specified, according to statistical design-of-experiments theory. Twenty-seven separate simulations were used to assemble surrogate models for combustor mixing efficiency and total pressure recovery. Scramjet injector design parameters (injector angle, location, and fuel split) as well as mission variables (total fuel mass flow and freestream Mach number) were included in the analysis. A promising injector design has been identified that provides good mixing characteristics with low total pressure losses. The surrogate models can be used to develop performance maps of different injector designs. Several complex three-way variable interactions appear within the dataset that are not adequately resolved with the current statistical analysis.

Steffen, C. J., Jr.↗
NASA NTRS2004

Crash Testing of Helicopter Airframe Fittings

As part of the Rotary Wing Structures Technology Demonstration (RWSTD) program, a surrogate RAH-66 seat attachment fitting was dynamically tested to assess its response to transient, crash impact loads. The dynamic response of this composite material fitting was compared to the performance of an identical fitting subjected to quasi-static loads of similar magnitude. Static and dynamic tests were conducted of both smaller bench level and larger full-scale test articles. At the bench level, the seat fitting was supported in a steel fixture, and in the full-scale tests, the fitting was integrated into a surrogate RAH-66 forward fuselage. Based upon the lessons learned, an improved method to design, analyze, and test similar composite material fittings is proposed.

Clarke, Charles W.↗
NASA NTRS2004

The Latitude Dependence of the Effect of Pinatubo on Stratospheric Ozone

Statistical analysis of TOMS and SBLT total ozone data indicate that the eruption of Pinatubo in 1991 led to a significant decrease in ozone at northern midlatitudes with little or no effect at southern midlatitudes. We argue that this puzzling absence of a southern hemisphere effect may be an artifact of the statistical analysis. We have run a 3D CTM simulation of the past 30 years of stratospheric photochemistry with variable forcing due to chlorine/bromine compounds, solar ultraviolet radiation, and volcanic aerosols. This integration used winds from the FVGCM, which has similar interannual variability to the atmosphere. When this CTM output was examined with a standard time-series analysis, we found an effect of Pinatubo in the southern hemisphere, but not in the northern hemisphere. We then reran the CTM without volcanic aerosols. The subtraction of the two simulations indicated that, as expected, that Pinatubo affected both hemispheres in the model. This means that the northern hemisphere effect was in the model but did not show up in the statistical analysis. We also had an on-line parameterized chemical ozone tracer with seasonally repeating production and loss over the simulation. We used this as a dynamical surrogate to remove interannual variability from the original model output. The residual time series was then analyzed for the Pinatubo effect and we were able to find it in both hemispheres. We suggest that the combination of the two volcanoes, El Chichon and Pinatubo, with the solar cycle and interannual variability led to this problem of analysis in the northern hemisphere of our model. We furthermore suggest that a similar think may be occurring in the southern hemisphere of the data. An analysis of the atmosphere's southern hemisphere with a good dynamical surrogate may solve the mystery of the missing southern hemisphere effect of Pinatubo on ozone.

Stolarski, Richard S.↗
NASA NTRS2004

Soyuz 7 Return Samples: Assessment of Air Quality Aboard the International Space Station

The toxicological assessments of one grab sample canister (GSC), 6 dual sorbent tubes (DSTs), and 20 formaldehyde badges returned aboard Soyuz 7 are reported. Analytical methods have not changed from earlier reports. Surrogate standard recoveries from the GSC were 84-89%. The recoveries of the less volatile surrogates from the DSTs were 87 to 112%; however, 13C-acetone was only recovered at 53-59%. Formaldehyde recoveries from 2 lab controls were 87 and 95%; trip controls were not returned to ground.

James, John T.↗
NASA NTRS2008

DARPA/USAF/USN J-UCAS X-45A System Demonstration Program: A Review of Flight Test Site Processes and Personnel

The Joint Unmanned Combat Air Systems (J-UCAS) program is a collaborative effort between the Defense Advanced Research Project Agency (DARPA), the US Air Force (USAF) and the US Navy (USN). Together they have reviewed X-45A flight test site processes and personnel as part of a system demonstration program for the UCAV-ATD Flight Test Program. The goal was to provide a disciplined controlled process for system integration and testing and demonstration flight tests. NASA's Dryden Flight Research Center (DFRC) acted as the project manager during this effort and was tasked with the responsibilities of range and ground safety, the provision of flight test support and infrastructure and the monitoring of technical and engineering tasks. DFRC also contributed their engineering knowledge through their contributions in the areas of autonomous ground taxi control development, structural dynamics testing and analysis and the provision of other flight test support including telemetry data, tracking radars, and communications and control support equipment. The Air Force Flight Test Center acted at the Deputy Project Manager in this effort and was responsible for the provision of system safety support and airfield management and air traffic control services, among other supporting roles. The T-33 served as a J-UCAS surrogate aircraft and demonstrated flight characteristics similar to that of the the X-45A. The surrogate served as a significant risk reduction resource providing mission planning verification, range safety mission assessment and team training, among other contributions.

Cosentino, Gary B.↗
NASA NTRS2010

Development of a Contingency Gas Analyzer for the Orion Crew Exploration Vehicle

NASA's experience with electrochemical sensors in a hand-held toxic gas monitor serves as a basis for the development of a fixed on-board instrument, the Contingency Gas Analyzer (CGA), for monitoring selected toxic combustion products as well as oxygen and carbon dioxide on the Orion Crew Exploration Vehicle (CEV). Oxygen and carbon dioxide are major components of the cabin environment and accurate measurement of these compounds is critical to maintaining a safe working environment for the crew. Fire or thermal degradation events may produce harmful levels of toxic products, including carbon monoxide (CO), hydrogen cyanide (HCN), and hydrogen chloride (HCl) in the environment. These three components, besides being toxic in their own right, can serve as surrogates for a panoply of hazardous combustion products. On orbit monitoring of these surrogates provides for crew health and safety by indicating the presence of toxic combustion products in the environment before, during and after combustion or thermal degradation events. Issues identified in previous NASA experiences mandate hardening the instrument and components to endure the mechanical and operational stresses of the CEV environment while maintaining high analytical fidelity. Specific functional challenges involve protecting the sensors from various anticipated events- such as rapid pressure changes, low cabin pressures, and extreme vibration/shock exposures- and extending the sensor lifetime and calibration periods far beyond the current state of the art to avoid the need for on-orbit calibration. This paper focuses on lessons learned from the earlier NASA hardware, current testing results, and engineering solutions to the identified problems. Of particular focus will be the means for protecting the sensors, addressing well known cross-sensitivity issues and the efficacy of a novel self monitoring mechanism for extending sensor calibration periods.

Niu, Bill↗
NASA NTRS2003

Assessment of Air Quality in the International Space Station (ISS) and Space Shuttle Based on Samples Returned Aboard STS-ll1 (UF2) in June 2002

The toxicological assessments of grab sample canisters (GSCs) and 2 solid sorbent air samplers (SSASs) returned aboard STS-111 are reported. Analytical methods have not changed from earlier reports. Surrogate standard recoveries from the GSCs were 86-106% and 62% to 136 % from the SSASs; 2 tubes with low surrogate recoveries were not reported. Pressure tracking indicated no leaks in the canisters during analysis. Recoveries from lab and trip controls for formaldehyde analyses ranged from 87 to 96%. The two general criteria used to assess air quality are the total-non-methane-volatile organic hydrocarbons (NMVOCs) and the total T-value (minus the CO2 and formaldehyde contributions). Because of the inertness of Freon 218 (octafluoropropane, OFP), Its contribution to the NMVOC is subtracted and tabulated separately. Control of atmospheric alcohols is important to the water recovery system engineers, hence total alcohols (including acetone) are also shown for each sample. Because formaldehyde is quantified from sorbent badges, its concentration is listed separately. The table shows that the air quality in general was acceptable for crew respiration; however, certain values shown in bold require further explanation. The 1.05 T value on 2/28/02 was caused by an unusually high measurement ofhexamethylcyc1otrisiloxane (T value = 0.50), which is not a concern. The MPLM T value of 1.42 and the alcohol level of 7.5 mg/cu m were due to an overall polluted atmosphere, which was expected at first entry. The major T-value component was carbon monoxide at a contribution of 0.44 units. Since the crew was only exposed momentarily to the polluted atmosphere, no health effects are expected. The formaldehyde value of 0.060 mg/cu m found in the Lab sample from 3/27/02 is cause for concern because the Lab consistently shows higher concentrations of formaldehyde than the SM and occasionally the concentrations are above the acceptable guideline. Levels of OFP have remained low, suggesting that no further leaks of the SM air conditioner have occurred.

James, John T.↗
NASA NTRS2012

Revised Toxicological Assessment of ISS Air Quality: May 2012 - August 2012

A summary of the analytical results from 12 grab sample containers (GSCs) collected on ISS and returned aboard 30S is shown in Table 1. The average recoveries of the 3 surrogate standards from the GSCs were as follows: 12C-acetone, 115 +/-- 11%; fluorobenzene, 108 +/- 8%; and chlorobenzene, 102 +/- 16%. Shaded rows indicate data that re limited due to low sample pressures. For completeness, previously reported data from the US Lab collected in May 2012 are included here as well. The revised report provides results from one returned sample that was unlabeled and originally assumed to be unused. The sample was prepared and analyzed for the purpose of measuring the surrogate compounds. It was later determined, based on serial number, that this was the HTB3 first ingress sample.

Meyers, Valerie↗
NASA NTRS2014

Conceptual Design of Low-Boom Aircraft with Flight Trim Requirement

A new low-boom target generation approach is presented which allows the introduction of a trim requirement during the early conceptual design of supersonic aircraft. The formulation provides an approximation of the center of pressure for a presumed aircraft configuration with a reversed equivalent area matching a low-boom equivalent area target. The center of pressure is approximated from a surrogate lift distribution that is based on the lift component of the classical equivalent area. The assumptions of the formulation are verified to be sufficiently accurate for a supersonic aircraft of high fineness ratio through three case studies. The first two quantify and verify the accuracy and the sensitivity of the surrogate center of pressure corresponding to shape deformation of lifting components. The third verification case shows the capability of the approach to achieve a trim state while maintaining the low-boom characteristics of a previously untrimmed configuration. Finally, the new low-boom target generation approach is demonstrated through the early conceptual design of a demonstrator concept that is low-boom feasible, trimmed, and stable in cruise.

Ordaz, Irian↗
NASA NTRS2014

A Priori Analysis of Flamelet-Based Modeling for a Dual-Mode Scramjet Combustor

An a priori investigation of the applicability of flamelet-based combustion models to dual-mode scramjet combustion was performed utilizing Reynolds-averaged simulations (RAS). For this purpose, the HIFiRE Direct Connect Rig (HDCR) flowpath, fueled with a JP-7 fuel surrogate and operating in dual- and scram-mode was considered. The chemistry of the JP-7 fuel surrogate was modeled using a 22 species, 18-step chemical reaction mechanism. Simulation results were compared to experimentally-obtained, time-averaged, wall pressure measurements to validate the RAS solutions. The analysis of the dual-mode operation of this flowpath showed regions of predominately non-premixed, high-Damkohler number, combustion. Regions of premixed combustion were also present but associated with only a small fraction of the total heat-release in the flow. This is in contrast to the scram-mode operation, where a comparable amount of heat is released from non-premixed and premixed combustion modes. Representative flamelet boundary conditions were estimated by analyzing probability density functions for temperature and pressure for pure fuel and oxidizer conditions. The results of the present study reveal the potential for a flamelet model to accurately model the combustion processes in the HDCR and likely other high-speed flowpaths of engineering interest.

Quinlan, Jesse R.↗
NASA NTRS2015

Thermal Protection System Mass Estimating Relationships for Blunt-Body, Earth Entry Spacecraft

System analysis and design of any entry system must balance the level fidelity for each discipline against the project timeline. One way to inject high fidelity analysis earlier in the design effort is to develop surrogate models for the high-fidelity disciplines. Surrogate models for the Thermal Protection System (TPS) are formulated as Mass Estimating Relationships (MERs). The TPS MERs are presented that predict the amount of TPS necessary for safe Earth entry for blunt-body spacecraft using simple correlations that closely match estimates from NASA's high-fidelity ablation modeling tool, the Fully Implicit Ablation and Thermal Analysis Program (FIAT). These MERs provide a first order estimate for rapid feasibility studies. There are 840 different trajectories considered in this study, and each TPS MER has a peak heating limit. MERs for the vehicle forebody include the ablators Phenolic Impregnated Carbon Ablator (PICA) and Carbon Phenolic atop Advanced Carbon-Carbon. For the aftbody, the materials are Silicone Impregnated Reusable Ceramic Ablator (SIRCA), Acusil II, SLA-561V, and LI-900. The MERs are accurate to within 14% (at one standard deviation) of FIAT prediction, and the most any MER under predicts FIAT TPS thickness is 18.7%. This work focuses on the development of these MERs, the resulting equations, model limitations, and model accuracy.

mass estimating relationship (MER)↗
NASA NTRS2017

Optimal Reference Strain Structure for Studying Dynamic Responses of Flexible Rockets

In the proposed paper, the optimal design of reference strain structures (RSS) will be performed targeting for the accurate observation of the dynamic bending and torsion deformation of a flexible rocket. It will provide the detailed description of the finite-element (FE) model of a notional flexible rocket created in MSC.Patran. The RSS will be attached longitudinally along the side of the rocket and to track the deformation of the thin-walled structure under external loads. An integrated surrogate-based multi-objective optimization approach will be developed to find the optimal design of the RSS using the FE model. The Kriging method will be used to construct the surrogate model. For the data sampling and the performance evaluation, static/transient analyses will be performed with MSC.Natran/Patran. The multi-objective optimization will be solved with NSGA-II to minimize the difference between the strains of the launch vehicle and RSS. Finally, the performance of the optimal RSS will be evaluated by checking its strain-tracking capability in different numerical simulations of the flexible rocket.

finite-element (FE)↗
NASA NTRS2015

Flight Test Series 3: Flight Test Report

This document is a flight test report from the Operational perspective for Flight Test Series 3, a subpart of the Unmanned Aircraft System (UAS) Integration in the National Airspace System (NAS) project. Flight Test Series 3 testing began on June 15, 2015, and concluded on August 12, 2015. Participants included NASA Ames Research Center, NASA Armstrong Flight Research Center, NASA Glenn Research Center, NASA Langley Research center, General Atomics Aeronautical Systems, Inc., and Honeywell. Key stakeholders analyzed their System Under Test (SUT) in two distinct configurations. Configuration 1, known as Pairwise Encounters, was subdivided into two parts: 1a, involving a low-speed UAS ownship and intruder(s), and 1b, involving a high-speed surrogate ownship and intruder. Configuration 2, known as Full Mission, involved a surrogate ownship, live intruder(s), and integrated virtual traffic. Table 1 is a summary of flights for each configuration, with data collection flights highlighted in green. Section 2 and 3 of this report give an in-depth description of the flight test period, aircraft involved, flight crew, and mission team. Overall, Flight Test 3 gathered excellent data for each SUT. We attribute this successful outcome in large part from the experience that was acquired from the ACAS Xu SS flight test flown in December 2014. Configuration 1 was a tremendous success, thanks to the training, member participation, integration/testing, and in-depth analysis of the flight points. Although Configuration 2 flights were cancelled after 3 data collection flights due to various problems, the lessons learned from this will help the UAS in the NAS project move forward successfully in future flight phases.

Unmanned↗
NASA NTRS2016

Augmenting Parametric Optimal Ascent Trajectory Modeling with Graph Theory

It has been well documented that decisions made in the early stages of Conceptual and Pre-Conceptual design commit up to 80% of total Life-Cycle Cost (LCC) while engineers know the least about the product they are designing [1]. Once within Preliminary and Detailed design however, making changes to the design becomes far more difficult to enact in both cost and schedule. Primarily this has been due to a lack of detailed data usually uncovered later during the Preliminary and Detailed design phases. In our current budget-constrained environment, making decisions within Conceptual and Pre-Conceptual design which minimize LCC while meeting requirements is paramount to a program's success. Within the arena of launch vehicle design, optimizing the ascent trajectory is critical for minimizing the costs present within such concerns as propellant, aerodynamic, aeroheating, and acceleration loads while meeting requirements such as payload delivered to a desired orbit. In order to optimize the vehicle design its constraints and requirements must be known, however as the design cycle proceeds it is all but inevitable that the conditions will change. Upon that change, the previously optimized trajectory may no longer be optimal, or meet design requirements. The current paradigm for adjusting to these updates is generating point solutions for every change in the design's requirements [2]. This can be a tedious, time-consuming task as changes in virtually any piece of a launch vehicle's design can have a disproportionately large effect on the ascent trajectory, as the solution space of the trajectory optimization problem is both non-linear and multimodal [3]. In addition, an industry standard tool, Program to Optimize Simulated Trajectories (POST), requires an expert analyst to produce simulated trajectories that are feasible and optimal [4]. In a previous publication the authors presented a method for combatting these challenges [5]. In order to bring more detailed information into Conceptual and Pre-Conceptual design, knowledge of the effects originating from changes to the vehicle must be calculated. In order to do this, a model capable of quantitatively describing any vehicle within the entire design space under consideration must be constructed. This model must be based upon analysis of acceptable fidelity, which in this work comes from POST. Design space interrogation can be achieved with surrogate modeling, a parametric, polynomial equation representing a tool. A surrogate model must be informed by data from the tool with enough points to represent the solution space for the chosen number of variables with an acceptable level of error. Therefore, Design Of Experiments (DOE) is used to select points within the design space to maximize information gained on the design space while minimizing number of data points required. To represent a design space with a non-trivial number of variable parameters the number of points required still represent an amount of work which would take an inordinate amount of time via the current paradigm of manual analysis, and so an automated method was developed. The best practices of expert trajectory analysts working within NASA Marshall's Advanced Concepts Office (ACO) were implemented within a tool called multiPOST. These practices include how to use the output data from a previous run of POST to inform the next, determining whether a trajectory solution is feasible from a real-world perspective, and how to handle program execution errors. The tool was then augmented with multiprocessing capability to enable analysis on multiple trajectories simultaneously, allowing throughput to scale with available computational resources. In this update to the previous work the authors discuss issues with the method and solutions.

Patrick D Dees↗
NASA NTRS2016

Probabilistic Prognosis of Non-Planar Fatigue Crack Growth

Quantifying the uncertainty in model parameters for the purpose of damage prognosis can be accomplished utilizing Bayesian inference and damage diagnosis data from sources such as non-destructive evaluation or structural health monitoring. The number of samples required to solve the Bayesian inverse problem through common sampling techniques (e.g., Markov chain Monte Carlo) renders high-fidelity finite element-based damage growth models unusable due to prohibitive computation times. However, these types of models are often the only option when attempting to model complex damage growth in real-world structures. Here, a recently developed high-fidelity crack growth model is used which, when compared to finite element-based modeling, has demonstrated reductions in computation times of three orders of magnitude through the use of surrogate models and machine learning. The model is flexible in that only the expensive computation of the crack driving forces is replaced by the surrogate models, leaving the remaining parameters accessible for uncertainty quantification. A probabilistic prognosis framework incorporating this model is developed and demonstrated for non-planar crack growth in a modified, edge-notched, aluminum tensile specimen. Predictions of remaining useful life are made over time for five updates of the damage diagnosis data, and prognostic metrics are utilized to evaluate the performance of the prognostic framework. Challenges specific to the probabilistic prognosis of non-planar fatigue crack growth are highlighted and discussed in the context of the experimental results.

Leser, Patrick E.↗
NASA NTRS2016

A Computationally-Efficient Inverse Approach to Probabilistic Strain-Based Damage Diagnosis

This work presents a computationally-efficient inverse approach to probabilistic damage diagnosis. Given strain data at a limited number of measurement locations, Bayesian inference and Markov Chain Monte Carlo (MCMC) sampling are used to estimate probability distributions of the unknown location, size, and orientation of damage. Substantial computational speedup is obtained by replacing a three-dimensional finite element (FE) model with an efficient surrogate model. The approach is experimentally validated on cracked test specimens where full field strains are determined using digital image correlation (DIC). Access to full field DIC data allows for testing of different hypothetical sensor arrangements, facilitating the study of strain-based diagnosis effectiveness as the distance between damage and measurement locations increases. The ability of the framework to effectively perform both probabilistic damage localization and characterization in cracked plates is demonstrated and the impact of measurement location on uncertainty in the predictions is shown. Furthermore, the analysis time to produce these predictions is orders of magnitude less than a baseline Bayesian approach with the FE method by utilizing surrogate modeling and effective numerical sampling approaches.

Warner, James E.↗