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At least 1,171 records · Page 65

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NASA NTRS1992

Intelligent robots for planetary exploration and construction

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Albus, James S.↗

NASA NTRS1993

Second LDEF Post-Retrieval Symposium interim results of experiment A0034

Thermal control coatings and contaminant collector mirrors were exposed on the leading and trailing edge modules of Long Duration Exposure Facility (LDEF) experiment A0034 to provide a basis of comparison for investigating the role of atomic oxygen in the stimulation of volatile outgassing products. The exposure of identical thermal coatings on both the leading and trailing edges of the LDEF and the additional modified exposure of identical coatings under glass windows and metallic covers in each of the flight modules provided multiple combinations of space environmental exposure to the coatings and the contaminant collector mirrors. Investigations were made to evaluate the effects of the natural space and the induced environments on the thermal coatings and the collector mirrors to differentiate the sources of observed material degradation. Two identical flight units were fabricated for the LDEF mission, each of which included twenty-five thermal control coatings mounted in isolated compartments, each with an adjacent contaminant collector mirror mounted on the wall. The covers of the flight units included apertures for each compartment, exposing the thermal coatings directly to the space environment. Six of these compartments were sealed with ultraviolet-grade transmitting quartz windows and four other compartments were sealed with aluminum covers. One module of this passive LDEF experiment, occupying one-sixth of a full tray, was mounted in Tray C9 (leading edge), while the other identical module was mounted in Tray C3 (trailing edge).

Linton, Roger C.↗

NASA NTRS1992

Nucleation and growth of rolling contact failure of 440C bearing steel

A 'two-body' elasto-plastic finite element model of 2-dimensional rolling and rolling-plus-sliding was developed to treat the effect of surface irregularities. The model consists of a smooth cylinder in contact with a semi-infinite half-space that is either smooth or fitted with one of 0.4 microns deep or 7 microns deep groove, or a 0.4 microns high ridge-like asperity. The model incorporates elastic-linear-kinematic hardening-plastic (ELKP) and non-linear-kinematic hardening-plastic (NLKP) material constitutive relations appropriate for hardened bearing steel and the 440C grade. The calculated contact pressure distribution is Hertzian for smooth body contact, and it displays intense, stationary, pressure spikes superposed on the Hertzian pressure for contact with the grooved and ridged surface. The results obtained for the 0.4 microns deep groove compare well with those reported by Elsharkawy and Hamrock for an EHD lubricated contact. The effect of translating the counterface on the half space as opposed to indenting the half space with the counter face with no translation is studied. The stress and strain values near the surface are found to be similar for the two cases, whereas they are significantly different in the subsurface. It is seen that when tiny shoulders are introduced at the edge of the groove in the finite element model, the incremental plasticity and residual stresses are significantly higher in the vicinity of the right shoulder (rolling direction is from left to right) than at the left shoulder. This may explain the experimental observation that the spall nucleation occurs at the exit end of the artificially planted indents. Pure rolling calculations are compared with rolling + sliding calculations. For a coefficient of friction, mu = 0.1, the effect of friction is found to be small. Efforts were made to identify the material constitutive relations which best describe the deformation characteristics of the bearing steels in the initial few cycles. Elastic-linear-kinematic hardening-plastic (ELKP) material constitutive relations produce less net plastic deformation in the initial stages for a given stress, than seen in experiments. A new set of constitutive relations: non-linear-kinematic hardening-plastic (NLKP) was used. This material model produces more plasticity than the ELKP model and shows promise for treating the net distortions in the early stages. Techniques for performing experimental measurements that can be compared with the finite element calculations were devised. The measurements are being performed on 9mm-diameter, 440C steel cylindrical rolling elements in contact with 12.5 mm-diameter, 52100 steel balls in a 3-ball-rod fatigue test machine operating at 3600 RPM. Artificial, 7 microns deep, indents were inserted on the running track of the cylindrical rolling elements and profilometer measurements of these indents made, before and after the rolling. These preliminary measurements show that the indents are substantially deformed plastically in the process of rolling. The deformations of the groove calculated with the finite element model are comparable to those measured experimentally.

Gupta, V.↗

NASA NTRS1993

Ultra-high resolution water window x ray microscope optics design and analysis

This project has been focused on the design and analysis of an ultra-high resolution water window soft-x-ray microscope. These activities have been accomplished by completing two tasks contained in the statement of work of this contract. The new results from this work confirm: (1) that in order to achieve resolutions greater than three times the wavelength of the incident radiation, it will be necessary to use spherical mirror surfaces and to use graded multilayer coatings on the secondary in order to accommodate the large variations of the angle of incidence over the secondary when operating the microscope at numerical apertures of 0.35 or greater; (2) that surface contour errors will have a significant effect on the optical performance of the microscope and must be controlled to a peak-to-valley variation of 50-100 A and a frequency of 8 periods over the surface of a mirror; and (3) that tolerance analysis of the spherical Schwarzschild microscope has been shown that the water window operations will require 2-3 times tighter tolerances to achieve a similar performance of operations with 130 A radiation. These results have been included in a manuscript included in the appendix.

Shealy, David L.↗

NASA NTRS1992

Quantification of human responses

Human perception is a complex phenomenon which is difficult to quantify with instruments. For this reason, large panels of people are often used to elicit and aggregate subjective judgments. Print quality, taste, smell, sound quality of a stereo system, softness, and grading Olympic divers and skaters are some examples of situations where subjective measurements or judgments are paramount. We usually express what is in our mind through language as a medium but languages are limited in available choices of vocabularies, and as a result, our verbalizations are only approximate expressions of what we really have in mind. For lack of better methods to quantify subjective judgments, it is customary to set up a numerical scale such as 1, 2, 3, 4, 5 or 1, 2, 3, ..., 9, 10 for characterizing human responses and subjective judgments with no valid justification except that these scales are easy to understand and convenient to use. But these numerical scales are arbitrary simplifications of the complex human mind; the human mind is not restricted to such simple numerical variations. In fact, human responses and subjective judgments are psychophysical phenomena that are fuzzy entities and therefore difficult to handle by conventional mathematics and probability theory. The fuzzy mathematical approach provides a more realistic insight into understanding and quantifying human responses. This paper presents a method for quantifying human responses and subjective judgments without assuming a pattern of linear or numerical variation for human responses. In particular, quantification and evaluation of linguistic judgments was investigated.

Steinlage, R. C.↗

NASA NTRS1992

Hierarchical model of matching

The issue of matching two fuzzy sets becomes an essential design aspect of many algorithms including fuzzy controllers, pattern classifiers, knowledge-based systems, etc. This paper introduces a new model of matching. Its principal features involve the following: (1) matching carried out with respect to the grades of membership of fuzzy sets as well as some functionals defined on them (like energy, entropy,transom); (2) concepts of hierarchies in the matching model leading to a straightforward distinction between 'local' and 'global' levels of matching; and (3) a distributed character of the model realized as a logic-based neural network.

Pedrycz, Witold↗

NASA NTRS1991

OPAD 1991

The Optical Plume Anomaly Detection Program, an experimental study in the attempt to create a rocket engine health monitor based on detection and possible quantification of anomalous atomic and molecular species in the exhaust plume, has been in existence for several years. The instruments developed to monitor the exhaust plumes are presented. Two optical instruments are employed: the polychromator and the spectrometer. The polychromator is a 16 channel spectroradiometer having independent channels individually adjustable for center wavelength and pass bandwidth. Those values may be mechanically reset, with the aid of certain lab equipment. The spectrometer is a multichannel spectral analyzer having two 2048 element linear photodiode arrays at the exit plane of the dispersing instrument, which, like the 16 channel device, is a 1/2 meter grating spectrograph. These instruments are equipped with ultraviolet grade multifiber optical input cables, allowing the instruments to be placed in a benign environment. Telescopes mounted on the test stand observe the plume keeping the shock structure in view. The data acquisition and control system consist of four 80386-33 MHz computers: two at the test stand for instrument control and data preconditioning, and two in the test support building providing data archiving, display, and system control. Further descriptions of the instrumentation are provided.

Powers, W. T.↗

NASA NTRS1993

Air Force construction automation/robotics

The Air Force has several missions which generate unique requirements that are being met through the development of construction robotic technology. One especially important mission will be the conduct of Department of Defense (DOD) space activities. Space operations and other missions place construction/repair equipment operators in dangerous environments and potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible, and more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL, to develop robotic construction/repair equipment. This development effort involves the following technologies: teleoperation, telerobotics, construction operations (excavation, grading, leveling, tool change), robotic vehicle communications, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of a robotic repair capability operating at the level of supervised autonomy. This paper will discuss current and planned efforts in space construction/repair, explosive ordnance disposal, hazardous waste cleanup, and fire fighting.

Nease, A. D.↗

NASA NTRS1992

Effects of acute exercise on attenuated vagal baroreflex function during bed rest

We measured carotid baroreceptor-cardiac reflex responses in six healthy men, 24 h before and 24 h after a bout of leg exercise during 6 deg head-down bed rest to determine if depressed vagal baroreflex function associated with exposure to microgravity environments could be reversed by a single exposure to acute intense exercise. Baroreflex responses were measured before bed rest and on day 7 of bed rest. An exercise bout consisting of dynamic and isometric actions of the quadriceps at graded speeds and resistances was performed on day 8 of bed rest and measurements of baroreflex response were repeated 24 h later. Vagally-mediated cardiac responses were provoked with ramped neck pressure-suction sequences comprising pressure elevations to +40 mm Hg, followed by serial, R-wave triggered 15 mm Hg reductions, to -65 mm Hg. Baroreceptor stimulus-cardiac response relationships were derived by plotting each R-R interval as a function of systolic pressure less the neck chamber pressure applied during the interval. Compared with pre-bed rest baseline measurements, 7 d of bed rest decreased the gain (maximum slope) of the baroreflex stimulus-response relationship by 16.8 +/- 3.4 percent (p less than 0.05). On day 9 of bed rest, 24 h after exercise, the maximum slope of the baroreflex stimulus-response relationship was increased (p less than 0.05) by 10.7 +/- 3.7 percent above pre-bed rest levels and 34.3 +/- 7.9 percent above bed rest day 7. Our data verify that vagally-mediated baroreflex function is depressed by exposure to simulated microgravity and demonstrate that this effect can be acutely reversed by exposure to a single bout of intense exercise.

Convertino, Victor A.↗

NASA NTRS1991

First intramuscular administration in the U.S. space program

In the past, the only kind of medicines used for symptomatic treatment of space motion sickness (SMS) in space had been oral, transdermal, or suppositories. This paper describes the effect of the first intramuscular (IM) administration of Phenergan (50-mg in single dose) on SMS in one subject who exhibited grade-3 symptoms and signs which persisted unabated throughout the first and the second flight days aboard the Space Shuttle. Thirty minutes after the injection, the subject had completely recovered. His symptoms were gone, his appetite was back, and he had no recurrences for the remainder of the flight. Since that experiment, intramuscular injections have been given nine more times on subsequent flights, with similar results.

Bagian, James P.↗

NASA NTRS1993

Oxidation during metamorphism of the ordinary chondrites

It is suggested that some current concepts about the conditions of metamorphism in ordinary chondrites may be flawed. These meteorites display small systematic variations in the oxidation state of Fe. Evidence is presented that oxidation of Fe is linked to metamorphic grade in types 4-6 ordinary chondrites. This conclusion is at variance with a commonly accepted model for chondrite metamorphism that assumes Fe reduction by graphite.

Mcsween, Harry Y., Jr.↗

NASA NTRS1993

Mechanism of incipient oxidation of bulk chemical vapor deposited Si3N4

X-ray photoelectron spectroscopy was employed, in conjunction with ion bombardment, to analyze the chemical composition profile across thin (less than 50 nm) oxide films on chemically vapor deposited Si3N4. The thermal oxides were grown in dry oxygen at 1100 C on samples with or without native oxide film (formed in room air). The results show that the thermal oxidation product was silicon oxynitride of graded N:O ratio, and that the presence of a native oxide film promotes the formation of a SiO2 crust over the oxynitride. It is proposed that the fundamental mechanism of Si3N4 oxidation is progressive O-for-N substitution in the silicon oxynitride unit tetrahedron, which is best designated SiN(2-x)O(2+x), where x is also an index of depth. The corresponding equation for nonstoichiometric oxidation of Si3N4 describes a bulk (rather than an interface) reaction process, with significant implications for O2 and N2 fluxes and diffusivities.

Ogbuji, L. U. T.↗

NASA NTRS1992

Enhanced carotid-cardiac baroreflex response and elimination of orthostatic hypotension 24 hours after acute exercise in paraplegics

To test the hypothesis that an acute bout of maximal exercise can ameliorate orthostatic hypotension consequent to prolonged wheelchair confinement, we evaluated heart rate (HR), systolic (SBP) and diastolic (DBP) blood pressure responses during 15 minutes of 70 degrees head-up tilt (HUT) in 10 paraplegic subjects 24 hours after arm crank exercise designed to elicit maximal effort, and during a control (no exercise) conditions. Additionally, the carotid baroreceptor stimulus-cardiac response relationship was determined by measurement of R-R interval during external application of graded pressures to the carotid sinuses. One week separated the treatment conditions. The maximum slope of the carotid-cardiac baroreflex response was increased (p = 0.049) by exercise (6.2 +/- 1.7 msec/mmHg) compared to control (3.3 +/- 0.6). During control HUT, HR increased from 61 +/- 1 to 90 +/- 7 bpm (p = 0.001) while SBP decreased from 118 +/- 5 to 106 +/- 9 mmHg (p = 0.025). During HUT 24 hours after exercise, HR increased from 60 +/- 2 to 90 +/- 4 bpm (p = 0.001), but the reduction in SBP was essentially eliminated (116 +/- 5 to 113 +/- 5 mmHg).

Engelke, K. A.↗

NASA NTRS1993

Advances in sapphire optical fiber sensors

We describe the development and testing of two sapphire fiber sensor designs intended for use in high temperature environments. The first is a birefringence-balanced polarimetric sapphire fiber sensor. In this sensor, two single crystal sapphire rods, acting as the birefringence sensing element, are connected to each other in such a way that the slow axis of the first rod is aligned along with the fast axis of the second rod, and the fast axis of the first rod is along the slow axis of the second rod. This sensor has been demonstrated for measurement of temperature up to 1500 C. The second is a sapphire-fiber-based intrinsic interferometric sensor. In this sensor, a length of uncoated, unclad, structural-graded multimode sapphire fiber is fusion spliced to a singlemode silica fiber to form a Fabry-Perot cavity. The reflections from the silica-to-sapphire fiber splice and the free endface of the sapphire fiber give rise to the interfering fringe output. This sensor has been demonstrated for the measurement of temperature above 1510 C, and a resolution of 0.1 C has been obtained.

Wang, Anbo↗

NASA NTRS1993

Imaging Schwarzschild multilayer X-ray microscope

We have designed, analyzed, fabricated, and tested Schwarzschild multilayer X-ray microscopes. These instruments use flow-polished Zerodur mirror substrates which have been coated with multilayers optimized for maximum reflectivity at normal incidence at 135 A. They are being developed as prototypes for the Water Window Imaging X-Ray Microscope. Ultrasmooth mirror sets of hemlite grade sapphire have been fabricated and they are now being coated with multilayers to reflect soft X-rays at 38 A, within the biologically important 'water window'. In this paper, we discuss the fabrication of the microscope optics and structural components as well as the mounting of the optics and assembly of the microscopes. We also describe the optical alignment, interferometric and visible light testing of the microscopes, present interferometrically measured performance data, and provide the first results of optical imaging tests.

Hoover, Richard B.↗

NASA NTRS1992

Multilayer and grazing incidence X-ray/EUV optics; Proceedings of the Meeting, San Diego, CA, July 22-24, 1991

The present conference discusses the Advanced X-ray Astrophysics Facility (AXAF) calibration by means of synchrotron radiation and its X-ray reflectivity, X-ray scattering measurements from thin-foil X-ray mirrors, lobster-eye X-ray optics using microchannel plates, space-based interferometry at EUV and soft X-ray wavelengths, a water-window imaging X-ray telescope, a graded d-spacing multilayer telescope for high energy X-ray astronomy, photographic films for the multispectral solar telescope array, a soft X-ray ion chamber, and the development of hard X-ray optics. Also discussed are X-ray spectroscopy with multilayered optics, a slit aperture for monitoring X-ray experiments, an objective double-crystal spectrometer, a Ly-alpha coronagraph/polarimeter, tungsten/boron nitride multilayers for XUV optical applications, the evaluation of reflectors for soft X-ray optics, the manufacture of elastically bent crystals and multilayer mirrors, and selective photodevices for the VUV.

Hoover, Richard B.↗

NASA NTRS1992

Apollo 11 ilmenite revisited

An account is given of the problems associated with beneficiation of the high-Ti regolith represented by Apollo 11's ilmenite sample. Magnetic and electrostatic separation, combined with sizing to reject all but the best fractions of the lunar regolith, will be essential; the production of high-grade ilmenite concentrates on the scale required for lunar oxygen production may still, however, be unachievable. These findings suggest that ilmenite production directly from high-Ti-content basalt may be a superior alternative.

Cameron, E. N.↗

NASA NTRS1993

ASRM propellant and igniter propellant development and process scale-up

A program of formulation and process development for ANB-3652 motor propellant was conducted to validate design concepts and screen critical propellant composition and process parameters. Design experiments resulted in the selection of a less active grade of ferric oxide to provide better burning rate control, the establishment of AP fluidization conditions that minimized the adverse effects of particle attrition, and the selection of a higher mix temperature to improve mechanical properties. It is shown that the propellant can be formulated with AP and aluminum powder from various producers. An extended duration pilot plant run demonstrated stable equipment operation and excellent reproducibility of propellant properties. A similar program of formulation and process optimization culminating in large batch scaleup was conducted for ANB-3672 igniter propellant. The results for both ANB-3652 and ANB 37672 confirmed that their processing characteristics are compatible with full-scale production.

Landers, L. C.↗