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NASA NTRS2006

A Comparison of Functional Models for Use in the Function-Failure Design Method

When failure analysis and prevention, guided by historical design knowledge, are coupled with product design at its conception, shorter design cycles are possible. By decreasing the design time of a product in this manner, design costs are reduced and the product will better suit the customer s needs. Prior work indicates that similar failure modes occur with products (or components) with similar functionality. To capitalize on this finding, a knowledge base of historical failure information linked to functionality is assembled for use by designers. One possible use for this knowledge base is within the Elemental Function-Failure Design Method (EFDM). This design methodology and failure analysis tool begins at conceptual design and keeps the designer cognizant of failures that are likely to occur based on the product s functionality. The EFDM offers potential improvement over current failure analysis methods, such as FMEA, FMECA, and Fault Tree Analysis, because it can be implemented hand in hand with other conceptual design steps and carried throughout a product s design cycle. These other failure analysis methods can only truly be effective after a physical design has been completed. The EFDM however is only as good as the knowledge base that it draws from, and therefore it is of utmost importance to develop a knowledge base that will be suitable for use across a wide spectrum of products. One fundamental question that arises in using the EFDM is: At what level of detail should functional descriptions of components be encoded? This paper explores two approaches to populating a knowledge base with actual failure occurrence information from Bell 206 helicopters. Functional models expressed at various levels of detail are investigated to determine the necessary detail for an applicable knowledge base that can be used by designers in both new designs as well as redesigns. High level and more detailed functional descriptions are derived for each failed component based on NTSB accident reports. To best record this data, standardized functional and failure mode vocabularies are used. Two separate function-failure knowledge bases are then created aid compared. Results indicate that encoding failure data using more detailed functional models allows for a more robust knowledge base. Interestingly however, when applying the EFDM, high level descriptions continue to produce useful results when using the knowledge base generated from the detailed functional models.

Stock, Michael E.↗

NASA NTRS2005

Pushing Human Frontiers

With human colonization of Mars, I think you will see a higher standard of civilization, just as America set a higher standard of civilization which then promulgated back into Europe. I think that if you want to maximize human potential, you need a higher standard of civilization, and that becomes an example that benefits everyone. Without an open frontier, closed world ideologies, such as the Malthus Theory, tend to come to the forefront. It is that there are limited resources; therefore, we are all in deadly competition with each other for the limited pot. The result is tyrannical and potentially genocidal regimes, and we've already seen this in the twentieth century. There s no truth in the Malthus Theory, because human beings are the creators of their resources. With every mouth comes a pair of hands and a brain. But if it seems to be true, you have a vector in this direction, and it is extremely unfortunate. It is only in a universe of infinite resources that all humans can be brothers and sisters. The fundamental question which affects humanity s sense of itself is whether the world is changeable or fixed. Are we the makers of our world or just its inhabitants? Some people have a view that they re living at the end of history within a world that s already defined, and there is no fundamental purpose to human life because there is nothing humans can do that matters. On the other hand, if humans understand their own role as the creators of their world, that s a much more healthy point of view. It raises the dignity of humans. Indeed, if we do establish a new branch of human civilization on Mars that grows in time and potency to the point where it cannot really settle Mars, but transforms Mars, and brings life to Mars, we will prove to everyone and for all time the precious and positive nature of the human species and every member of it.

Zubrin, Robert↗

NASA NTRS2005

Discovering New Drugs on the Cellular Level

With the Vision for Space Exploration calling for a sustained human presence in space, astronauts will need to grow plants, while in orbit, for nourishment that they will not receive from only consuming dehydrated foods. As a potential source of food for long-duration missions, space-grown plants could also give astronauts an important psychological boost, as fresh vegetables could serve as a welcomed change from monotonous meals consisting of reconstituted foods in plastic bags. Even more, these plants could likely aid in the recycling of air and wastewater on spacecraft. With a helping hand from a company by the name of Biolog, Inc., NASA is studying the impacts of decreased gravity and spaceborne bacteria on the plants being grown for food in space. With a helping hand from NASA, this very same company is creating powerful new cell- and bacteria-analysis tools for use in discovering and developing new drugs on Earth.

Source record↗

NASA NTRS2006

The Effects of Ultra-Long-Range Flights on the Alertness and Performance of Aviators

This investigation assessed the impact of ultra-long-range (ULR) simulator flights, departing either in the morning or late evening, on the alertness and performance of 17 commercial aviators. Immediately prior to and throughout each flight, alertness and performance were assessed via a computerized test of sustained attention, subjective questionnaires, and "hand-flying" tasks. There were fatigue-related effects on the majority of assessments, and the nature of these effects was consistent across the vigilance and self-report measures. However, the operational "hand-flying" manuevers proved insensitive to the impact of fatigue probably due to procedural factors. Regardless, the results of the present study suggest that fatigue associated with prolonged wakefulness in ULR flight operations will interact with flight schedules due to circadian and homeostatic influences. In this study, the pilots departing at night were at a greater initial disadvantage (during cruise) than pilots who departed earlier in the day; whereas those who departed earlier tended to be most impaired towards the end of the flight prior to landing. In real-world operations, airlines should consider the ramifications of flight schedules and what is known about human sleep and circadian rhythms to optimize safety.

Caldwell, John A.↗

NASA NTRS2004

Tactile Sensors for the NASA/DARPA Robonaut

Tactile sensors are providing the foundation for developing autonomous grasping skills for the NASA/DARPA Robonaut, a dexterous humanoid robot. The sensors originally developed for the Utah/MIT hand are now incorporated into a rugged glove for Robonaut. These custom gloves compliment the human like dexterity available in the Robonaut hands. The sensors and gloves are discussed showing a progression in using advanced materials and construction techniques to enhance sensitivity and overall sensor coverage. The force data provided by the gloves can be used to improve dexterous, tool and power grasping primitives. Experiments with the latest gloves focus on the use of tools, specifically a power drill used to approximate an astronaut's torque tool.

Martin, Toby B.↗

NASA NTRS1995

Development of a Telemanipulator for Dexterity Enhanced

The precision and stability of motion achievable with the human hand limits current microsurgical practice. Were it possible to overcome these natural limits, better procedures of the eye, ear, hand, brain, and spin would result. Such issues of dexterity enhancement lie not only with scaling down surgical skills of the most gifted, but also addressing widely variable skills of the entire surgical community.

Robotic Dexterity↗

NASA NTRS1993

A Search of Large Amplitude Waves in Slow Shock in the Distant Tail and an Examination of Wave Turbulence in the Plasma Sheet Boundary Layer

Two fluid simulations predict that switch-off slow shocks should have large amplitude left-hand wave trains downstream of the shock. Recent simulations show that this feature depends on specific plasma parameters, such as Much number and ratio of electron-to-ion temperature. In this study we carefully examine all distant tail crossings using ISEE-3 field and plasma data. We seek large amplitude rotational waves and compare to shock parameters. We also investigate right-hand waves associated with ion beams in the plasma sheet boundary layer. We examine the role of those back-streaming ions from slow shocks in wave generation. Wave mode cascade and parametric decay in these regions also will be studied.

Ho, C. M.↗

NASA NTRS2006

Improved target handoff for single cycle instrument placement

Single Cycle Instrument Placement(SCIP)could dramatically increase the speed of various planetary rover operations. JPL is validating SCIP for use on its upcoming Mars Science Laboratory mission. Two major sources of error in the implementation submitted for validation were imprecision in selecting a distant target and error introduced while handing the target off to the rover's hazard cameras (hazcams). We have added the capability to designate a target using high resolution cameras (pancams) and then hand off to medium resolution cameras (navcams) with little error later in the traverse. We implemented several options for handoff from navcams to hazcams. We evaluated their performance on several test cases. Two methods produced average handoff error of 1 pixel when successful, but these only worked in half of the tests. Two other methods reliably produced about 10 pixels of error. None reliably reach the goal of 1 pixel handoff accuracy.

handoff↗

NASA NTRS2002

P32Tools: reduction of ISOPHOT P32 oversampled maps

During the IS0 mission, the ISOPHOT instrument has collected more than 1100 observations in oversampled mapping mode (AOT PHT32) in the wavelength range of45 to 240 microns. The observations comprise mapping of small and large extended regions, but also faint point sources. PHT32 observations are affected by strong signal transients due to flux changes generated by the relatively fast chopper movement. A program described by Tuffs & Gabriel (2002), was developed to correct for these effects. It was integrated in the ISOPHOT Interactive Analysis (PIA) via a graphical user interface (GUI), so that most aspects of the processing can be addressed in a coherent and user friendly environment. The resulting package 'P32Tools' was introduced to the user community at three hands-on workshops on PHT32 processing held in spring 2001. The hands-on experience from these workshops lead to further improvements. Here we present an overview of the functionalities of the final release of this new software.

ISOPHOT oversampled mapping ISOPHOT Interactive An↗

NASA NTRS2006

Thermal Expansion of Three Closed Cell Polymeric Foams at Cryogenic Temperatures

The Space Shuttle External Tank (ET) contains the liquid H2 fuel and liquid oxygen oxidizer and supplies them under pressure to the three space shuttle main engines (SSME) in the orbiter during lift-off and ascent. The ET thermal protection system consists of sprayed-on foam insulation and pre-molded ablator materials. The closed-cell foams are the external coating on the ET and are responsible for minimizing the amount of moisture that condenses out and freezes on the tank from the humid air in Florida while it is on the pad with cryogenic propellant awaiting launch. This effort was part of the overall drive to understand the behavior of these materials under use-conditions. There are four specially-engineered closed-cell foams used on the tank. The thermal expansion (contraction) of three of the polyurethane and polyisocyanurate foams were measured from -423 F (the temperature of liquid hydrogen) to 125 F under atmospheric conditions and under vacuum. One of them, NCFI 24-124, is a mechanically-applied material and covers the main acreage of the tank, accounting for 77 percent of the total foam used. Another, BX-265, is also a mechanically-applied and hand-sprayed material used on the tank's "closeout" areas. PDL 1034 is a hand-poured foam used for filling odd-shaped cavities in the tank, Measurements were made in triplicate in the three primary material directions in the case of the first two materials and the two primary material directions in the case of the last. Task 1 was developing the techniques for getting a uniform heating rate and minimizing axial and radial thermal gradients in the specimens. Temperature measurements were made at four locations in the specimens during this initial development phase of testing. Major challenges that were overcome include developing techniques for transferring the coolant, liquid helium (-452 F), from its storage container to the test facility with a minimal transfer of heat to the coolant and control of the heating rate at the lowest temperatures.

Stokes, Eric↗

NASA NTRS2006

Bacterial Utilization of L-sugars and D-amino Acids

The fact that organotrophic organisms on Earth use L-amino acids and D-sugars as an energy source is recognized as one of the universal features of life. The chirality of organic molecules with asymmetric location of group- radicals was described a relatively long time ago. In 1848, Louis Pasteur discovered chiral molecules when he investigated the way that crystals of sodium ammonium paratartrate rotated the plane of polarization of light. He found that the crystal structures represented the underlying asymmetry of molecules that existed in either lea-handed or right-handed forms (enantiomers). Pasteur observed that abiotic (chemical) processes produced mixtures with equal numbers (racemic) of the two forms but that living organisms possessed a molecular asymmetry that included only one of the enantiomers (homochirality). He speculated that the origin of the asymmetry of chiral biomolecules might hold the key to the nature of life. All of the amino acids in proteins (except for Glycine which is symmetrical) exhibit the same absolute steric configuration as L-glyceraldehyde. D-amino acids are never found in proteins, although they do exist in nature and are often found in polypeptide antibiotics. Constitutional sugars of cells, opposite to the amino acids, are the D-enantiomers, and the appearance of L-sugars in Nature is extremely rare. Notwithstanding this fact, the metabolism of some bacteria does have capability to use amino acids and sugars with alternative chirality. This property may be caused by the function of specific enzymes belonging to the class of isomerases (racemases, epimerases, isomerases, tautomerases). In our laboratory, we have investigated several anaerobic bacterial strains, and have found that some of these bacteria are capable of using D-amino acids and L-sugars. Strain BK1 is capable of growth on D-arginine, but its growth characteristics on L-arginine are approximately twice higher. Another alkaliphilic strain SCAT(sup T) (= ATCC BAA-1084(sup T)= JCM 12857(sup T) = DSM 17722(sup T) = CIP 107910(sup T)) was found to be capable of growth on L-ribose and L-arabinose. It is interesting that this strain was incapable of growth on D-arabinose, which suggests the involvement of some alternative mechanism of enzyme activity. In this paper, we describe the preliminary results of these microbiological studies and discuss some possible implications.

Pikuta, Elena↗

NASA NTRS2006

How Does Collisionless Magnetic Reconnection Work in the Presence of a Guide Magnetic Field?

The dissipation mechanism of guide field magnetic reconnection remains a subject of intense scientific interest. On one hand, one set of recent studies have shown that particle inertia-based processes, which include thermal and bulk inertial effects, provide the reconnection electric field in the diffusion region. On the other hand, a second set of studies emphasizes the role of wave-particle interactions in providing anomalous resistivity in the diffusion region. In this presentation, we present analytical theory results, as well as 2.5 and three-dimensional PIC simulations of guide-field magnetic reconnection. We will show that diffusion region scale sizes in moderate and large guide field cases are determined by electron Larmor radii, and that analytical estimates of diffusion region dimensions need to include description of the heat flux tensor. The dominant electron dissipation process appears to be based on thermal electron inertia, expressed through nongyrotropic electron pressure tensors. We will argue that this process remains viable in three dimensions by means of a detailed comparison of high resolution particle-in-cell simulations.

Hesse, Michael↗

NASA NTRS2006

Working Group Reports and Presentations: Earth 3.0.

We affirm the principle that a viable human space exploration program must be conducted hand-in-hand with a comprehensive scientific research program that incorporates both the physical and life sciences and that continues to protect and extend understanding of our home planet. Without advances in life science, we will be incapable of devising self-sustaining extraterrestrial habitats, and we will struggle to survive on the only living planet we know. Without advances in the physical sciences, we limit our ability to imagine new technologies for space travel and to understand the nature of the universe we explore. Scientific advances expand the boundaries of humanity s dreams.

Dator, James↗

NASA NTRS2006

The Dissipation Mechanism in Collisionless Magnetic Reconnection

The dissipation mechanism of magnetic reconnection remains a subject of intense scientific interest. On one hand, one set of recent studies have shown that particle inertia-based processes, which include thermal and bulk inertial effects, provide the reconnection electric field in the diffusion region. On the other hand, a second set of studies emphasizes the role of wave-particle interactions in providing anomalous resistivity in the diffusion region. In this presentation, we present analytical theory results, as well as PIC simulations of guide-field magnetic reconnection. We will show that the thermal electron inertia-based dissipation mechanism, expressed through nongyrotropic electron pressure tensors, remains viable in three dimensions. We will demonstrate the thermal inertia effect through studies of electron distribution functions. Furthermore, we will show that the reconnection electric field provides a transient acceleration on particles traversing the inner reconnection region. This inertial effect can be described as a diffusion-like term of the current density, which matches key features of electron distribution functions.

Hesse, Michael↗

NASA NTRS2007

Optical Observations of GEO Debris with Two Telescopes

For several years, the Michigan Orbital DEbris Survey Telescope (MODEST), the University of Michigan s 0.6/0.9-m Schmidt telescope on Cerro Tololo Inter-American Observatory in Chile has been used to survey the debris population at GEO in the visible regime. Magnitudes, positions, and angular rates are determined for GEO objects as they move across the telescope s field-of-view (FOV) during a 5-minute window. This short window of time is not long enough to determine a full six parameter orbit so usually a circular orbit is assumed. A longer arc of time is necessary to determine eccentricity and to look for changes in the orbit with time. MODEST can follow objects in real-time, but only at the price of stopping survey operations. A second telescope would allow for longer arcs of orbit to obtain the full six orbital parameters, as well as assess the changes over time. An additional benefit of having a second telescope is the capability of obtaining BVRI colors of the faint targets, aiding efforts to determine the material type of faint debris. For 14 nights in March 2007, two telescopes were used simultaneously to observe the GEO debris field. MODEST was used exclusively in survey mode. As objects were detected, they were handed off in near real-time to the Cerro Tololo 0.9-m telescope for follow-up observations. The goal was to determine orbits and colors for all objects fainter than R = 15th magnitude (corresponds to 1 meter in size assuming a 0.2 albedo) detected by MODEST. The hand-off process was completely functional during the final eight nights and follow-ups for objects from night-to-night were possible. The cutoff magnitude level of 15th was selected on the basis of an abrupt change in the observed angular rate distribution in the MODEST surveys. Objects brighter than 15th magnitude tend to lie on a well defined locus in the angular rate plane (and have orbits in the catalog), while fainter objects fill the plane almost uniformly. We need to determine full six-parameter orbits to investigate what causes this change in observed angular rates. Are these faint objects either the same population of high area-to-mass (A/M) objects on eccentric orbits as discovered by the ESA Space Debris Telescope (Schildknecht, et al. 2004), or are they just normal debris from breakups in GEO?

Seitzer, P.↗

NASA NTRS1993

Sensor tip for a robotic gripper and method of manufacture

A sensor tip (10) for use in a robotic hand has a three-dimensional compliant elastomeric body (12) with an outer boundary (22) having a circular base (24) and a convex surface (26) extending therefrom. Four strain transducers (14, 16, 18, and 20) produce electrical signals indicative of the strain at various positions near the boundary of the elastomeric body (12) resulting from forces exerted upon the sensor tip (10) by an object which the robotic hand is manipulating. The transducers (14, 16, 18, and 20) are positioned about the convex surface (26) so as to produce signals that may be decoupled to determine the normal and tangential forces and the applied torque. A buffer amplifier circuit (34), one for each of the transducers (14, 16, 18, and 20), receives the signals and provides quasi-steady state force information. The circuit (34) connects the respective transducer (40) in a feedback loop around an amplifier (36) and has desirable attributes for static charge buffering. The sensor tip (10) is calibrated to determine proportionality constants for the decoupling algorithm for use of a force delivering system (60), which uses voice coils (74) to apply a force that is linearly related to the current introduced to each of the coils (74). A method of manufacture of the sensor tip (10) results in improved bonding between the transducers (14, 16, 18, and 20) and the elastomeric body (12) for better performance and longer life of the sensor tip (10).

Lorenz, Robert D.↗

NASA NTRS1991

Sensor tip for a robotic gripper and method of manufacture

Lorenz, Robert D.↗

NASA NTRS2002

Tool actuation and force feedback on robot-assisted microsurgery system

An input control device with force sensors is configured to sense hand movements of a surgeon performing a robot-assisted microsurgery. The sensed hand movements actuate a mechanically decoupled robot manipulator. A microsurgical manipulator, attached to the robot manipulator, is activated to move small objects and perform microsurgical tasks. A force-feedback element coupled to the robot manipulator and the input control device provides the input control device with an amplified sense of touch in the microsurgical manipulator.

Das, Hari↗