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This paper presents an overview of a newly developed Coupled Layer Architecture for Robotic Autonomy (CLARAty), which is designed for improving the modularity of system software while more tightly coupling the interaction of autonomy and controls.
Automated Fiber Placement (AFP) has become a standard manufacturing technique in the creation of large scale composite structures due to its high production rates. However, the associated rapid layup that accompanies AFP manufacturing has a tendency to induce defects. We forward an inspection system that utilizes machine learning (ML) algorithms to locate and characterize defects from profilometry scans coupled with a data storage system and a user interface (UI) that allows for informed manufacturing. A Keyence LJ-7080 blue light profilometer is used for fast 2D height profiling. After scans are collected, they are process by ML algorithms, displayed to an operator through the UI, and stored in a database. The overall goal of the inspection system is to add an additional tool for AFP manufacturing. Traditional AFP inspection is done manually adding to manufacturing time and being subject to inspector errors or fatigue. For large parts, the inspection process can be cumbersome. The proposed inspection system has the capability of accelerating this process while still keeping a human inspector integrated and in control. This allows for the rapid capability of the automated inspection software and the robustness of a human checking for defects that the system either missed or misclassified.
NASA plans to send humans to Mars in about 20 years. The NASA Human Research Program supports research to mitigate the major risks to human health and performance on extended missions. However, there will undoubtedly be unforeseen events on any mission of this nature - thus mitigation of known risks alone is not sufficient to ensure optimal crew health and performance. Research should be directed not only to mitigating known risks, but also to providing crews with the tools to assess and enhance resilience, as a group and individually. We can draw on ideas from complexity theory and network theory to assess crew and individual resilience. The entire crew or the individual crewmember can be viewed as a complex system that is composed of subsystems (individual crewmembers or physiological subsystems), and the interactions between subsystems are of crucial importance for overall health and performance. An understanding of the structure of the interactions can provide important information even in the absence of complete information on the component subsystems. This is critical in human spaceflight, since insufficient flight opportunities exist to elucidate the details of each subsystem. Enabled by recent advances in noninvasive measurement of physiological and behavioral parameters, subsystem monitoring can be implemented within a mission and also during preflight training to establish baseline values and ranges. Coupled with appropriate mathematical modeling, this can provide real-time assessment of health and function, and detect early indications of imminent breakdown. Since the interconnected web of physiological systems (and crewmembers) can be interpreted as a network in mathematical terms, we can draw on recent work that relates the structure of such networks to their resilience (ability to self-organize in the face of perturbation). There are many parameters and interactions to choose from. Normal variability is an established characteristic of a healthy physiological response. Healthy coupling has been investigated less extensively, but there are cases in which too tight or too loose coupling can be problematic. This might be in inter-individual behaviors, such as sleep cycles, coordination of work and meal times, and coupled motions during communication. Less apparent are couplings of physiological systems, nevertheless examples abound of coupled systems which might be monitored: cardio-respiratory rhythms; circadian rhythms, body temperature, and sleep; stress markers and cognition, sleep, and performance; profiles of biochemical markers related to immune function and nutritional status; sensorimotor aspects such as motion sickness, ataxia, reaction time, and manual control. Tools for resilience are then the means to measure and analyze these parameters, incorporate them into appropriate models of normal variability and interconnectedness, and recognize when parameters or their couplings are outside of normal limits. What to do when a problem is identified depends on its nature. Changes can be made to crew procedures, work pacing, interpersonal interactions, sleep cycles, meal timing and content, as guided by the model. Use and continued development of these methods could not only provide tools for resilience, but also meaningful autonomous work for the crew on an extended flight.
Current design philosophy for scramjet-powered hypersonic aircraft results in configurations with the entire lower fuselage surface utilized as part of the propulsion system. The lower aft-end of the vehicle acts as a high expansion ratio nozzle. Not only must the external nozzle be designed to extract the maximum possible thrust force from the high energy flow at the combustor exit, but the forces produced by the nozzle must be aligned such that they do not unduly affect aerodynamic balance. The strong coupling between the propulsion system and aerodynamics of the aircraft makes imperative at least a partial simulation of the inlet, exhaust, and external flows of the hydrogen-burning scramjet in conventional facilities for both nozzle formulation and aerodynamic-force data acquisition. Aerodynamic testing methods offer no contemporary approach for such vehicle design requirements. NASA-Langley has pursued an extensive scramjet/airframe integration R&D program for several years and has recently developed a promising technique for simulation of the scramjet exhaust flow for hypersonic aircraft. Current results of the research program to develop a scramjet flow simulation technique through the use of substitute gas blends are described in this paper.
During the Space Transportation System mission STS-126, one of the main engine's flow control valves incurred an unexpected failure. A section of the valve broke off during liftoff. It is theorized that an acoustic mode of the flowing fuel, coupled with a structural mode of the valve, causing a high cycle fatigue failure. This report documents the analysis efforts conducted in an attempt to verify this theory. Hand calculations, computational fluid dynamics, and finite element methods are all implemented and analyses are performed using steady-state methods in addition to transient analysis methods. The conclusion of the analyses is that there is a critical acoustic mode that aligns with a structural mode of the valve
A 3He cryostat which was constructed to cool a germanium bolometer for use as an infrared detector at submillimeter wavelength is discussed. The system had better sensitivity than any other existing system for these wavelengths; the system could be improved if better optical coupling could be achieved between the bolometer and the incoming photon stream. Considerable effort was expended to improve this coupling. Even the best results however, fell short of an ideal system by a factor of nearly 5 in coupling efficiency.
Electromagnetic energy is delivered to a localized area of a patient's body in a hyperthermic treatment so that it provides a uniform distribution of electromagnetic flux lines within the localized area of the patient's body and produces a uniform and localized heating gradient. An electrode array includes a number of electrodes which are arranged in pair, with the electrodes in each pair being spaced a particular distance apart. The array is driven by a balanced line system which is electromagnetically coupled to each pair of electrodes and which is shielded by a ground coaxial shield which itself is ground to the body of the patient. Each electrode is embedded in a Teflon stand-off in order to move the region of strong field, from the body, produced by rapidly changing potentials. The two pairs of electrodes forming a cross-like geometry are used with the balanced line systems. The electrical power is either multiplexed among the electrodes or the second pair is driven by a potential which is sinusoidal and which is 90% out of phase with the first balanced line system which is also sinusoidal.
Nuclear Electric Propulsion (NEP) is an in-space propulsion technology capable of enabling opposition and conjunction class crewed Mars missions. NEP subsystems include the reactor for heat generation, a power conversion system (PCS), power management and distribution, electric propulsion system, and heat rejection system. Specific mass, or α (kg/kWe), is a key performance parameter (KPP) of the propulsion system which is directly scalable with the performance and mass predictions for each individual component. To inform technology maturation planning activities, full system and component level parametric modeling is ongoing to explore the design trade space and illustrate the effect of subsystem design choices on the system KPPs. In this study, scaling of high-assay, low-enriched uranium reactor designs is assessed through coupled reactor physics and thermal hydraulics analyses. Scaling analyses evaluate the impact of system performance parameters (power level, interface temperatures) on mass for direct gas cooled, pumped liquid metal, and passively-cooled heat pipe reactor concepts. Each concept requires specific geometries, fluids, and power conversion interface conditions (temperature, pressure, flow rate) to meet desired performance and mass. The reactor assembly includes the active core (fuel, moderator, cladding, working fluid), axial and radial neutron reflectors, control drums, structural support / pressure vessel, and external radiation shielding. Each of these components are parametrically sized based on performance parameters for a megawatt-class power cycle. Results of this scaling analysis increase NEP propulsion system modeling fidelity and ultimately aim to support concept down-selection along with related technology development planning. The reactor and shield α are a function of several PCS and heat rejection system design choices, and reactor scaling with these parameters must be considered to enable an informed decision on an optimal reactor geometry and working fluid combination.
Boundary layer ingesting propulsion systems have the potential to significantly reduce fuel burn for future generations of commercial aircraft, but these systems must be designed to overcome the challenge of high dynamic stresses in fan blades due to forced response. High dynamic stresses can lead to high cycle fatigue failures. High-fidelity computational analysis of the fan aeromechanics is integral to an ongoing effort to design a boundary layer ingesting inlet and fan for a wind-tunnel test. An unsteady flow solution from a Reynoldsaveraged Navier Stokes analysis of a coupled inlet-fan system is used to calculate blade unsteady loading and assess forced response of the fan to distorted inflow. Conducted prior to the mechanical design of a fan, the initial forced response analyses performed in this study provide an early look at the levels of dynamic stresses that are likely to be encountered. For the boundary layer ingesting inlet, the distortion contains strong engine order excitations that act simultaneously. The combined effect of these harmonics was considered in the calculation of the forced response stresses. Together, static and dynamic stresses can provide the information necessary to evaluate whether the blades are likely to fail due to high cycle fatigue. Based on the analyses done, the overspeed condition is likely to result in the smallest stress margin in terms of the mean and alternating stresses. Additional work is ongoing to expand the analyses to off-design conditions, on-resonance conditions, and to include more detailed modeling of the blade structure.
The recent linking of Cloud-Resolving Models (CRMs) to Ocean-Mixed Layer (OML) models has provided a powerful new means of quantifying the role of cloud systems in ocean-atmosphere coupling. This is due to the fact that the CRM can better resolve clouds and cloud systems and allow for explicit cloud-radiation interaction. For example, Anderson (1997) applied an atmospheric forcing associated with a CRM simulated squall line to a 3-D OML model (one way or passive interaction). His results suggested that the spatial variability resulting from the squall forcing can last at least 24 hours when forced with otherwise spatially uniform fluxes. In addition, the sea surface salinity (SSS) variability continuously decreased following the forcing, while some of the SST variability remained when a diurnal mixed layer capped off the surface structure. The forcing used in the OML model, however, focused on shorter time (8 h) and smaller spatial scales (100-120 km). In this study, the 3-D Goddard Cumulus Ensemble Model (GCE; 512 x 512 x 23 cu km, 2-km horizontal resolution) is used to simulate convective active episodes occurring in the Western Pacific warm pool and Eastern Atlantic regions. The model is integrated for seven days, and the simulated results are coupled to an OML model to better understand the impact of precipitation and changes in the planetary boundary layer upon SST variation. We will specifically examine and compare the results of linking the OML model with various spatially-averaged outputs from GCE simulations (i.e., 2 km vs. 10-50 km horizontal resolutions), in order to help understand the SST sensitivity to multi-scale influences. This will allow us to assess the importance of explicitly simulated deep and shallow clouds, as well as the subgrid-scale effects (in coarse-model runs) upon SST variation. Results using both 1-D and 2-D OML models will be evaluated to assess the effects of horizontal advection.
Recent and future explorations of Mars and lunar surfaces through rovers and landers have spawned great interest in developing an instrument that can perform in-situ analysis of minerals on planetary surfaces. Several research groups have anticipated that for such analysis, Raman spectroscopy is the best suited technique because it can unambiguously provide the composition and structure of a material. A remote pulsed Raman spectroscopy system for analyzing minerals was demonstrated at NASA Langley Research Center in collaboration with the University of Hawaii. This system utilizes a 532 nm pulsed laser as an excitation wavelength, and a telescope with a 4-inch aperture for collecting backscattered radiation. A spectrograph equipped with a super notch filter for attenuating Rayleigh scattering is used to analyze the scattered signal. To form the Raman spectrum, the spectrograph utilizes a holographic transmission grating that simultaneously disperses two spectral tracks on the detector for increased spectral range. The spectrum is recorded on an intensified charge-coupled device (ICCD) camera system, which provides high gain to allow detection of inherently weak Stokes lines. To evaluate the performance of the system, Raman standards such as calcite and naphthalene are analyzed. Several sets of rock and gemstone samples obtained from Ward s Natural Science are tested using the Raman spectroscopy system. In addition, Raman spectra of combustible substances such acetone and isopropanol are also obtained. Results obtained from those samples and combustible substances are presented.
This presentation provides an overview of NASA's Global Modeling and Assimilation Office (GMAO) high-resolution global forecast and reanalysis products for weather, aerosols, and air quality. The NASA Global Earth Observing System (GEOS) model radiatively coupled to GOCART aerosol module assimilates 2-dimensional column-integrated aerosol optical depth (AOD) at one wavelength (550 nm) in order to constrain the model's background AOD in order to have the best historical estimate and forecasts of AOD and particulate matter. Furthermore, the GEOS model has been expanded to provide global near-real-time 5-day forecasts of atmospheric composition at unprecedented horizontal resolution of 0.25 degrees (~25 km). This composition forecast system (GEOS-CF) combines the operational GEOS weather forecasting model with the state-of-the-science GEOS-Chem chemistry module (version 12) to provide detailed analysis of a wide range of air pollutants such as ozone, carbon monoxide, nitrogen oxides, and fine particulate matter (PM2.5).
This presentation provides an overview of NASA's Global Modeling and Assimilation Office (GMAO) high-resolution global forecast and reanalysis products for weather, aerosols, and air quality. The NASA Global Earth Observing System (GEOS) model radiatively coupled to GOCART aerosol module assimilates 2-dimensional column-integrated aerosol optical depth (AOD) at one wavelength (550 nm) in order to constrain the model's background AOD in order to have the best historical estimate and forecasts of AOD and particulate matter. Furthermore, the GEOS model has been expanded to provide global near-real-time 5-day forecasts of atmospheric composition at unprecedented horizontal resolution of 0.25 degrees (~25 km). This composition forecast system (GEOS-CF) combines the operational GEOS weather forecasting model with the state-of-the-science GEOS-Chem chemistry module (version 12) to provide detailed analysis of a wide range of air pollutants such as ozone, carbon monoxide, nitrogen oxides, and fine particulate matter (PM2.5).
The growth in computer hardware performance, coupled with reduced energy requirements, has led to a rapid expansion of the resources available to software systems, driving them towards greater logical abstraction, flexibility, and complexity. This shift in focus from compacting functionality into a limited field towards developing layered, multi-state architectures in a grand field has both driven and been driven by the history of embedded processor design in the robotic spacecraft industry.The combinatorial growth of interprocess conditions is accompanied by benefits (concurrent development, situational autonomy, and evolution of goals) and drawbacks (late integration, non-deterministic interactions, and multifaceted anomalies) in achieving mission success, as illustrated by the case of the Mars Reconnaissance Orbiter. Approaches to optimizing the benefits while mitigating the drawbacks have taken the form of the formalization of requirements, modular design practices, extensive system simulation, and spacecraft data trend analysis. The growth of hardware capability and software complexity can be expected to continue, with future directions including stackable commodity subsystems, computer-generated algorithms, runtime reconfigurable processors, and greater autonomy.
Radiationless K-LL transition probabilities have been calculated nonrelativistically in j-j coupling and in intermediate coupling, without and with configuration interaction, for elements with atomic numbers from 13 to 47. The system is treated as a coupled two-hole configuration. The single-particle radial wave functions required in the calculation of radial matrix elements, and in the calculation of mixing coefficients in the intermediate-coupling scheme, were obtained from Green's atomic independent-particle model. Comparison with previous theoretical work and with experimental data is made. The effects of intermediate coupling, configuration interaction, and relativity are noted.
The growth of human population and their use of land, food and energy resources affect the Earth's atmosphere, biosphere and oceans in a complex manner. Many important questions in earth sciences today deal with issues regarding the impact of human activities on our immediate and future environment, ranging in scope from local (i.e. air pollution) to global (i.e. global warming) scale problems. Because the mass of the Earth's atmosphere is negligible compare to that found in the oceans and the biosphere, the atmosphere can respond quickly to natural and/or manmade perturbations. For example, seasonal 'ozone hole' formation in the Antarctic is a result of manmade CFC emissions in just the last 40 years. Also, the observed rise in global temperatures (known as global warming) is linked to a rapid increase in carbon dioxide and other greenhouse gas concentrations (emitted primarily by combustion processes) over the last century. The Earth's atmosphere is composed of a mixture of gases, aerosol and cloud particles. Natural and anthropogenic emissions of gases and aerosols affect the composition of the Earth's atmosphere. Changes in the chemical and physical makeup of the atmosphere can influence how the Earth will interact with the incoming solar radiation and the outgoing infrared radiation and vise versa. While, some perturbations are short-lived, others are long-lived and can affect the Earth's global climate and chemistry in many decades to come, In order to be able to separate the natural effects from anthropogenic ones, it is essential that we understand the basic physics and chemistry of interactions in the gas-aerosol-cloud system in the Earth's atmosphere. The important physics and chemistry that takes place in the coupled gas-aerosol-cloud system as it relates to aircraft observations are discussed.
High resolution calibrated infrared imagery of the Space Shuttle was obtained during hypervelocity atmospheric entries of the STS-119, STS-125 and STS128 missions and has provided information on the distribution of surface temperature and the state of the airflow over the windward surface of the Orbiter during descent. This data collect was initiated by NASA s Hypersonic Thermodynamic Infrared Measurements (HYTHIRM) team and incorporated the use of air- and land-based optical assets to image the Shuttle during atmospheric re-entry. The HYTHIRM objective is to develop and implement a set of mission planning tools designed to establish confidence in the ability of an existing optical asset to reliably acquire, track and return global quantitative surface temperatures of the Shuttle during entry. On Space Shuttle Discovery s STS-119 mission, NASA flew a specially modified thermal protection system tile and instrumentation package to monitor heating effects from boundary layer transition during re-entry. On STS-119, the windward airflow on the port wing was deliberately disrupted by a four-inch wide and quarter-inch tall protuberance built into the modified tile. In coordination with this flight experiment, a US Navy NP-3D Orion aircraft was flown 28 nautical miles below Discovery and remotely monitored surface temperature of the Orbiter at Mach 8.4 using a long-range infrared optical package referred to as Cast Glance. Approximately two months later, the same Navy Cast Glance aircraft successfully monitored the surface temperatures of the Orbiter Atlantis traveling at approximately Mach 14.3 during its return from the successful Hubble repair mission. In contrast to Discovery, Atlantis was not part of the Boundary Layer Transition (BLT) flight experiment, thus the vehicle was not configured with a protuberance on the port wing. In September 2009, Cast Glance was again successful in capturing infrared imagery and monitoring the surface temperatures on Discovery s next flight, STS-128. Again, NASA flew a specially modified thermal protection system tile and instrumentation package to monitor heating effects from boundary layer transition during re-entry. During this mission, Cast Glance was able to image laminar and turbulent flow phenomenology optimizing data collection for Mach 14.7. The purpose of this paper is to describe key elements associated with STS-119/125/128 mission planning and execution from the perspective of the Cast Glance flight crew that obtained the imagery. The paper will emphasize a human element of experience, expertise and adaptability seamlessly coupled with Cast Glance system and sensor technology required to manually collect the required imagery. Specific topics will include a near infrared (NIR) camera upgrade that was implemented just prior to the missions, how pre-flight radiance modeling was utilized to optimize the IR sensor configuration, communications, the development of aircraft test support positions based upon Shuttle trajectory information, support to contingencies such as Shuttle one orbit wave-offs/west coast diversions and then the Cast Glance perspective during an actual Shuttle imaging mission.
A study is presented to determine the limits on the predictability of the coupled ocean-atmosphere system. Following the classical methods developed for atmospheric predictability studies, the model used is one of the simplest that realistically reproduces many of the important features of the observed interannual variability of sea surface temperature in the tropical Pacific Ocean when forced by observed wind stresses. As no reasonable analysis is available for all the fields, initial conditions for these prediction experiments were taken from a model control run in which the ocean model was forced by the observed surface winds. The atmospheric component of the coupled model is not capable of accurately simulating the large-scale components of the observed wind stress.