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Pressure plug features redundant O-ring bore seals and axial port opening laterally into space between O-rings to enable testing of seals. Axial passage in plug connected through radial passage to space between O-rings. Opening used to test O-rings, then sealed with smaller O-ring compressed by machine screw. Useful to seal test or cleanout holes normally kept closed in hydraulic actuators, pumps, and other pressurized systems.
Features of circuits altered to increase or decrease sensitivity to radiation. State-space analysis used to analyze single-event-upset behavior of memory cell. When voltage on node a is set at one of indicated initial values Vao and then released, voltages on nodes a and b then follow indicated trajectory to final logic "one" or logic "zero" state. Ability to do this important for design of radiation-detecting integrated circuits (deliberately made more sensitive to ionizing radiation) and "radiation-hardened" integrated circuits - those intended to be relatively invulnerable to intense radiation.
Theoretical microwave intensity and polarization maps have been obtained for a sunspot model which incorporates a point dipole buried below the photosphere, a 2000-km thick transition region separating the chromosphere from the corona, a coronal temperature of 2.5 x 10 to the 6th K, and a coronal density of about 10 to the 9th/cu cm. The present code includes both thermal bremsstrahlung and thermal gyroemission at the 1st-5th harmonics of the local electron gyrofrequency. The maps are shown to accurately reproduce many of the observed sunspot features. Significant changes in the I and V maps are found over closely spaced frequencies in the 5-GHz band which would be detectable with the VLA.
Models for the formation of the ridge belt fan assemblage on Venus are evaluated through consideration of the orientation, spatial distribution, topographic expression, and wavelengths of observed tectonic surface features. A compressional mechanism is favored for long wavelength deformation corresponding to the spacing of ridge belts (300 - 400 km). However, short wavelength ridges and grooves (10 - 20 km) that are contained within belts and trend parallel to them are likely to be compressional and extensional, and to reflect both regional and local stress fields. It is hypothesized that large-scale (much greater than ridge spacing) early-stage mantle downwelling is the source of regional compression responsible for the establishment of the long wavelength of deformation.
This paper describes a complete robot control facility built at the Jet Propulsion Laboratory as part of NASA a telerobotics program to develop a state-of-the-art robot control environment for laboratory based space-like experiments. This system, which is now fully operational, has the following features: separation of the computing facilities into local and remote sites, autonomous motion generation in joint or Cartesian coordinates, dual-arm force reflecting teleoperation with voice interaction between the operator and the robots, shared control between the autonomously generated motions and operator controlled teleoperation, and dual-arm coordinated trajectory generation. The system has been used to carry out realistic experiments such as the exchange of an Orbital Replacement Unit (ORU), bolt turning, and door opening, using a mixture of autonomous actions and teleoperation, with either a single arm or two cooperating arms.
The development of a machine vision system to monitor plant growth and health is one of three essential steps towards establishing an intelligent system capable of accurately assessing the state of a controlled ecological life support system for long-term space travel. Besides a network of sensors, simulators are needed to predict plant features, and artificial intelligence algorithms are needed to determine the state of a plant based life support system. Multispectral machine vision and image processing can be used to sense plant features, including health and nutritional status.
This paper describes the concept, design, and features of a fault-tolerant intelligent robotic control system being developed for space and commercial applications that require high dependability. The comprehensive strategy integrates system level hardware/software fault tolerance with task level handling of uncertainties and unexpected events for robotic control. The underlying architecture for system level fault tolerance is the distributed recovery block which protects against application software, system software, hardware, and network failures. Task level fault tolerance provisions are implemented in a knowledge-based system which utilizes advanced automation techniques such as rule-based and model-based reasoning to monitor, diagnose, and recover from unexpected events. The two level design provides tolerance of two or more faults occurring serially at any level of command, control, sensing, or actuation. The potential benefits of such a fault tolerant robotic control system include: (1) a minimized potential for damage to humans, the work site, and the robot itself; (2) continuous operation with a minimum of uncommanded motion in the presence of failures; and (3) more reliable autonomous operation providing increased efficiency in the execution of robotic tasks and decreased demand on human operators for controlling and monitoring the robotic servicing routines.
Inference based on fuzzy 'If ... then' rules has played a very important role since when Zadeh proposed the Compositional Rule of Inference and, especially, since the first successful application presented by Mamdani. From the mid-1980's when the 'fuzzy boom' started in Japan, numerous industrial applications appeared, all using simplified techniques because of the high levels of computational complexity. Another feature is that antecedents in the rules are distributed densely in the input space, so the conclusion can be calculated by some weighted combination of the consequents of the matching (fired) rules. The CRI works in the following way: If R is a rule and A* is an observation, the conclusion is computed by B* = R o A* (o stands for the max-min composition). Algorithms implementing this idea directly have an exponential time complexity (maybe the problem is NP-hard) as the rules are relations in X x Y, a k1 x k2 dimensional space, if X is k1, Y is k2 dimensional. The simplified techniques usually decompose the relation into k1 projections in X(sub i) and measure in some way the degree of similarity between observation and antecedent by some parameter of the overlapping. These parameters are aggregated to a single value in (0,1) which is applied as a resulting weight for the given rule. The projections of rules in dimensions Y(sub i) are weighted by these aggregated values and then they are combined in order to obtain a resulting conclusion separately in every dimension. This method is unapplicable with sparse bases as there is no guarantee that an arbitrary observation matches with any of the antecedents. Then, the degree of similarity is 0 and all consequents are weighted by 0. Some considerations for such a situation are summarized in the next sections.
Approximately 20 sq m of protective thermal blankets, largely composed of Teflon, were retrieved from the Long Duration Exposure Facility after the spacecraft spent approximately 5.7 years in space. Examination of these blankets revealed that they contained thousands of hypervelocity impact features ranging from micron-sized craters to penetration holes several millimeters in diameter. We conducted impact experiments to reproduce such features and to understand the relationships between projectile size and the resulting crater or penetration hole diameter over a wide range of impact velocities. Such relationships are needed to derive the size and mass frequency distribution and flux of natural and man-made particles in low-earth orbit. Powder propellant and light-gas guns were used to launch soda-lime glass spheres into pure Teflon targets at velocities ranging from 1 to 7 km/s. Target thickness varied over more than three orders of magnitude from finite halfspace targets to very thin films. Cratering and penetration of massive Teflon targets is dominated by brittle failure and the development of extensive spall zones at the target's front and, if penetrated, the target's rear side. Mass removal by spallation at the back side of Teflon targets may be so severe that the absolute penetration hole diameter can become larger than that of a standard crater. The crater diameter in infinite halfspace Teflon targets increases, at otherwise constant impact conditions, with encounter velocity by a factor of V (exp 0.44). In contrast, the penetration hole size in very thin foils is essentially unaffected by impact velocity. Penetrations at target thicknesses intermediate to these extremes will scale with variable exponents of V. Our experimental matrix is sufficiently systematic and complete, up to 7 km/s, to make reasonable recommendations for velocity-scaling of Teflon craters and penetrations. We specifically suggest that cratering behavior and associated equations apply to all impacts in which the shock-pulse duration of the projectile is shorter than that assigned a unique projectile size, provided an impact velocity is known or assumed. This calibration seems superior to the traditional ballistic-limit approach.
This report documents a sizing study of a variety of solar electrochemical power systems for the intercenter NASA study known as 'Mars Exploration Reference Mission'. Power systems are characterized for a variety of rovers, habitation modules, and space transport vehicles based on requirements derived from the reference mission. The mission features a six-person crew living on Mars for 500 days. Mission power requirements range from 4 kWe to 120 kWe. Primary hydrogen and oxygen fuel cells, regenerative hydrogen and oxygen fuel cells, sodium sulfur batteries advanced photovoltaic solar arrays of gallium arsenide on germanium with tracking and nontracking mechanisms, and tent solar arrays of gallium arsenide on germanium are evaluated and compared.
To advance our understanding of the relationship between stellar chromospheres and mass loss, which is a common property of carbon stars and other asymptotic giant branch stars, we have obtained ultraviolet spectra of the nearby N-type carbon star UU Aur using the Hubble Space Telescope (HST). In this paper we describe the HST observations, identify spectral features in both absorption and emission, and attempt to infer the velocity field in the chromosphere, upper troposphere, and circumstellar envelope from spectral line shifts. A mechanism for producing fluoresced emission to explain a previously unobserved emission line is proposed. Some related ground-based observations are also described.
In this paper multiwavelength observations of an impulsive flare of May 9, 1991 are presented. This event was observed with the 48 GHz multibeam focal array used at the Itapetinga radio telescope, the microwave patrol telescopes at Bem and the BATSE high time resolution hard X-ray spectrometer on board CGRO. While spatially unresolved low sensitivity observations show two major impulsive peaks, the mm-wave observations with the ability of spatially high resolved tracking of the emission centroids suggest a primarily bipolar source configuration. For the first time two mm-wave sources with a spacing below the HPBW could be separated with the multibeam technique. The general features of the observations are explained as emission of partially trapped electrons. Furthermore we present evidence for highly inhomogeneous substructures within one of the two mm-wave sources for which the positional scatter of the emission center, within 2s, is less than 2".
The rigid body model plays a basic role in both mod- and control of many systems, including aircraft flight control. The distinctive feature of the rigid body is that its motion evolves on a curved space, Consequently, the designer must take into account the deterioration of chosen coordinations near their singularities. In these regions the control actions and the sensitivity to modeling and sensor errors become unacceptable. Thus, coordinate patches and patching logic should be a part of the overall control law design and implementation. The various dynamic forms, such as scalar forms, vector forms, matrix forms, rotational forms, Euler angle forms, and Euler parameter forms, described in the paper provide an effective means for coordinate patching and control law implementation. The utility of these forms is illustrated by means of several applications to flight control.
The goal of this project is to identify the process responsible for the formation of geomorphic features in the Black Point Drive area of Merritt Island National Wildlife Refuge/Kennedy Space Center (MINWR/KSC), northwest Cape Canaveral. This study confirms the principal landscape components (geomorphology) of Black Point Drive reflect interaction between surficial sediments deposited in association with late-Quaternary sea-level highstands and the chemical evolution of late-Cenozoic subsurface limestone formations. The Black Point Drive landscape consists of an undulatory mesic terrain which dips westward into myriad circular and channel-like depression marshes and lakes. This geomorphic gradient may reflect: (1) spatial distinctions in the elevation, character or age of buried (pre-Miocene) limestone formations, (2) dissolution history of late-Quaternary coquina and/or (3) thickness of unconsolidated surface sediment. More detailed evaluation of subsurface data will be necessary before this uncertainty can be resolved.
NASA and its international partners will increasingly depend on software-based systems to implement advanced functions for future space missions, such as Martian rovers that autonomously navigate long distances exploring geographic features formed by surface water early in the planet's history. The software-based functions for these missions will need to be robust and highly reliable, raising significant challenges in the context of recent Mars mission failures attributed to software faults. After reviewing these challenges, this paper describes tools that have been developed at NASA Ames that could contribute to meeting these challenges; 1) Program synthesis tools based on automated inference that generate documentation for manual review and annotations for automated certification. 2) Model-checking tools for concurrent object-oriented software that achieve memorability through synergy with program abstraction and static analysis tools.
The goal of this project is to identify the process responsible for the formation of geomorphic features in the Black Point Drive area of Merritt Island National Wildlife Refuge/Kennedy Space Center (MINWR/KSC), northwest Cape Canaveral. This study confirms the principal landscape components (geomorphology) of Black Point Drive reflect interaction between surficial sediments deposited in association with late-Quaternary sea-level highstands and the chemical evolution of late-Cenozoic sub-surface limestone formations. The Black Point Drive landscape consists of an undulatory mesic terrain which dips westward into myriad circular and channel-like depression marshes and lakes. This geomorphic gradient may reflect: (1) spatial distinctions in the elevation, character or age of buried (pre-Miocene) limestone formations, (2) dissolution history of late-Quaternary coquina and/or (3) thickness of unconsolidated surface sediment. More detailed evaluation of subsurface data will be necessary before this uncertain0 can be resolved.
The distribution, chemical structure, and formation of organic matter in the interstellar medium are important to our understanding of the overall evolution of dust. The exchange of dust between the dense and diffuse interstellar medium, and the effects of processing on dust within dense clouds will affect the inventory of material available for incorporation into newly forming star and planetary systems. Observational ground-based studies have confirmed the widespread distribution of the 3.4 pm absorption band attributed to aliphatic hydrocarbons in the diffuse interstellar medium of our own galaxy, and in the dusty spectra of a few nearby galaxies, while space based observations from IS0 probed the signatures of corresponding mid-infrared features. Laboratory experiments which utilize both thermal processes and energetic processing by high energy photons and cosmic rays, produce candidate materials which offer close matches to the observed diffuse interstellar medium and extragalactic hydrocarbon absorption features. Through an analysis of the 4000 to 1000 cm (2.5 to 10 micrometers) region of the spectrum of diffuse interstellar medium (DISM) dust compared with the spectra of thirteen chemical entities produced in the laboratory which serve as analogs to the interstellar material, significant constraints have been placed on the applicability of proposed candidate materials to explain the interstellar features. The results indicate that the organic refractory material in the diffuse interstellar medium is predominantly hydrocarbon in nature, possessing little nitrogen or oxygen, with the carbon distributed between the aromatic and aliphatic forms. Long alkane chains H3C-(CH2),- with n much greater than 4 or 5 are not major constituents of this material. Comparisons to laboratory analogs indicate the DISM organic material resembles plasma processed pure hydrocarbon residues much more so than energetically processed ice residues. This result is consistent with a birthsite for the carrier of the 3.4 micrometers band in the outflow region of evolved carbon stars. Comparisons of dust from our own galaxy with that of distant galaxies suggests that the organic component of interstellar dust is widespread and may be an important universal reservoir of prebiotic organic carbon.
A genetic algorithm approach suitable for solving multi-objective optimization problems is described and evaluated using a series of aerodynamic shape optimization problems. Several new features including two variations of a binning selection algorithm and a gene-space transformation procedure are included. The genetic algorithm is suitable for finding pareto optimal solutions in search spaces that are defined by any number of genes and that contain any number of local extrema. A new masking array capability is included allowing any gene or gene subset to be eliminated as decision variables from the design space. This allows determination of the effect of a single gene or gene subset on the pareto optimal solution. Results indicate that the genetic algorithm optimization approach is flexible in application and reliable. The binning selection algorithms generally provide pareto front quality enhancements and moderate convergence efficiency improvements for most of the problems solved.