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At least 1,315 records · Page 73

Preliminary Design of Robotic Control Software for Mars Sample Return - Capture, Containment, and Return System

The Mars Sample Return (MSR) campaign aims to acquire and return to Earth a set of Mars samples for investigation in terrestrial laboratories. Mars 2020 has collected an adequate number of samples and deposited them in sealed sample tubes at a designated Martian depot. Sample tubes will be placed in cylindrical containers called Orbiting Samples (OS) by the Perseverance Rover, and later brought to Earth by the Earth Return Orbiter (ERO) and the MSR - Capture, Containment, and Return System (CCRS). Robot Software (RSW) is a set of software processes for commanding and monitoring the avionics that controls robotic mechanisms designed to sterilize and install OS into Earth Entry System (EES) for return to Earth. This paper describes a preliminary design of RSW including motion modes, architecture, and finite state machine. Additionally, software engineering procedures and testing of RSW is provided. A preliminary performance analysis is presented and the paper concludes with future work and a discussion of design decisions.

MSR↗

Centrifugal Sieve for Gravity-Level-Independent Size Segregation of Granular Materials

Conventional size segregation or screening in batch mode, using stacked vibrated screens, is often a time-consuming process. Utilization of centrifugal force instead of gravity as the primary body force can significantly shorten the time to segregate feedstock into a set of different-sized fractions. Likewise, under reduced gravity or microgravity, a centrifugal sieve system would function as well as it does terrestrially. When vibratory and mechanical blade sieving screens designed for terrestrial conditions were tested under lunar gravity conditions, they did not function well. The centrifugal sieving design of this technology overcomes the issues that prevented sieves designed for terrestrial conditions from functioning under reduced gravity. These sieves feature a rotating outer (cylindrical or conical) screen wall, rotating fast enough for the centrifugal forces near the wall to hold granular material against the rotating screen. Conventional centrifugal sieves have a stationary screen and rapidly rotating blades that shear the granular solid near the stationary screen, and effect the sieving process assisted by the airflow inside the unit. The centrifugal sieves of this new design may (or may not) have an inner blade or blades, moving relative to the rotating wall screen. Some continuous flow embodiments would have no inner auger or blades, but achieve axial motion through vibration. In all cases, the shearing action is gentler than conventional centrifugal sieves, which have very high velocity differences between the stationary outer screen and the rapidly rotating blades. The new design does not depend on airflow in the sieving unit, so it will function just as well in vacuum as in air. One advantage of the innovation for batch sieving is that a batch-mode centrifugal sieve may accomplish the same sieving operation in much less time than a conventional stacked set of vibrated screens (which utilize gravity as the primary driving force for size separation). In continuous mode, the centrifugal sieves can provide steady streams of fine and coarse material separated from a mixed feedstock flow stream. The centrifugal sieves can be scaled to any desired size and/or mass flow rate. Thus, they could be made in sizes suitable for small robotic exploratory missions, or for semi-permanent processing of regolith for extraction of volatiles of minerals. An advantage of the continuous-mode system is that it can be made with absolutely no gravity flow components for feeding material into, or for extracting the separated size streams from, the centrifugal sieve. Thus, the system is capable of functioning in a true microgravity environment. Another advantage of the continuous-mode system is that some embodiments of the innovation have no internal blades or vanes, and thus, can be designed to handle a very wide range of feedstock sizes, including occasional very large oversized pieces, without jamming or seizing up.

Walton, Otis R.↗

The interpretation of crustal dynamics data in terms of plate motions and regional deformation near plate boundaries

The focus of the research was in two broad areas during the most recent 6 month period: the nature and dynamics of time-dependent deformation along major seismic zones, including the influence of irregularities in fault geometry on the earthquake cycles, and the processes contributing to the state of stress and rates of strain in plate interior regions. The principal findings of the research to date are described.

Solomon, Sean C.↗

Comment on tangential wave motion in unstable combustors

An attempt is made to gain insight into the injection boundary instability mechanism as captured by a simple computational tool developed for liquid rocket engines. Considerable evidence is generated supporting a hypothesis that destructive tangential-mode instabilities in liquid-fuel combustors are driven by combustion processes occurring at the propellant-wetted injector face. The driving action is found to be directly analogous to a burning solid propellant surface mechanism, responsible for solid rocket motor instabilities. Since the proposed instability mechanism has not been fundamentally confirmed, experimental research is strongly recommended.

Litchford, Ron J.↗

Numerical Simulation of Nanostructure Growth

Nanoscale structures, such as nanowires and carbon nanotubes (CNTs), are often grown in gaseous or plasma environments. Successful growth of these structures is defined by achieving a specified crystallinity or chirality, size or diameter, alignment, etc., which in turn depend on gas mixture ratios. pressure, flow rate, substrate temperature, and other operating conditions. To date, there has not been a rigorous growth model that addresses the specific concerns of crystalline nanowire growth, while demonstrating the correct trends of the processing conditions on growth rates. Most crystal growth models are based on the Burton, Cabrera, and Frank (BCF) method, where adatoms are incorporated into a growing crystal at surface steps or spirals. When the supersaturation of the vapor is high, islands nucleate to form steps, and these steps subsequently spread (grow). The overall bulk growth rate is determined by solving for the evolving motion of the steps. Our approach is to use a phase field model to simulate the growth of finite sized nanowire crystals, linking the free energy equation with the diffusion equation of the adatoms. The phase field method solves for an order parameter that defines the evolving steps in a concentration field. This eliminates the need for explicit front tracking/location, or complicated shadowing routines, both of which can be computationally expensive, particularly in higher dimensions. We will present results demonstrating the effect of process conditions, such as substrate temperature, vapor supersaturation, etc. on the evolving morphologies and overall growth rates of the nanostructures.

Hwang, Helen H.↗

Microencapsulation and Electrostatic Processing Device

A microencapsulation and electrostatic processing (MEP) device is provided for forming microcapsules. In one embodiment, the device comprises a chamber having a filter which separates a first region in the chamber from a second region in the chamber. An aqueous solution is introduced into the first region through an inlet port, and a hydrocarbon/ polymer solution is introduced into the second region through another inlet port. The filter acts to stabilize the interface and suppress mixing between the two immiscible solutions as they are being introduced into their respective regions. After the solutions have been introduced and have become quiescent, the interface is gently separated from the filter. At this point, spontaneous formation of microcapsules at the interface may begin to occur, or some fluid motion may be provided to induce microcapsule formation. In any case, the fluid shear force at the interface is limited to less than 100 dynes/sq cm. This low-shear approach to microcapsule formation yields microcapsules with good sphericity and desirable size distribution. The MEP device is also capable of downstream processing of microcapsules, including rinsing, re-suspension in tertiary fluids, electrostatic deposition of ancillary coatings, and free-fluid electrophoretic separation of charged microcapsules.

Morrison, Dennis R.↗

Manual Crew Override of Vehicle Landings Following G-Transitions

BACKGROUND Manual control during exploration spaceflight consists of both planned automated supervisory control and unplanned crew override. This crew override capability is critical to enable overall mission success during landing contingencies. However, the introduction of manual override capabilities must be implemented to enable crews to mitigate risks introduced by human error. Adaptive changes in the sensorimotor system can manifest during g-transitions as spatial disorientation. While training and landing aids enable successful landing through disorientation, these adaptive changes may increase cognitive demand that needs to be accounted for in the manual control strategy. It is important to characterize these effects as soon as possible following the G-transition to develop appropriate countermeasures. METHODS In this study, we will examine operational piloting tasks following International Space Station (ISS) missions in a simulated lunar landing using a six-degree-of-freedom (6DOF) motion base. The motion-based simulation will be implemented in our laboratory at the Johnson Space Center (JSC) and will be available within hours following the return from commercial crew landings. The primary goals of this study are (1) to understand the impact of spaceflight on crew ability to perform manual crew override tasks, (2) to examine how adaptive changes in vestibular and cognitive function relate to changes in manual crew override proficiency, and (3) compare performance during late “just-in-time” on-board training with early post-flight crew performance. The impact of spaceflight on piloting capability will be assessed from pre- versus post-flight changes in crewmembers assigned to either short duration (< 30 day) or long duration (~6- month) missions to the International Space Station (ISS). Individual differences in post-flight vestibular and cognitive changes include motion sickness reports, measures of tilt motion perception accuracy and precision, and dual-task tracking. During the 6DOF lunar simulation, the crew will manually takeover attitude and rate-of-descent to the nominal or re-designated landing aim point during the approach phase. The outcome measures for the lunar crew override tasks will be the percent time maintaining actual vehicle states, e.g., attitude and rate-of-descent, within recommended guidance during the landing approach, number and maximum deviation outside limits, and root mean square error (RMSE). Given that “just-in-time” (JIT) training is an operational expectation for the Human Landing System (HLS) program, all participants will perform late inflight JIT training for each manual crew override task in which they will participate. Crew proficiency will be captured inflight during JIT training that will be implemented on a laptop with hand controllers to allow the crewmember to practice the landing task procedures like the approach implemented for JIT training with Shuttle landing and ISS telerobotic tasks. COUNTERMEASURE UPDATES The lunar lander simulation has been implemented onto a two-laptop display system where subjects select from alternative landing points, based upon avoiding hazards that the on-board system identifies during the landing. The subject makes inputs using a rotational hand controller (i.e., joystick) and a translational hand controller, which are processed by simulated vehicle dynamics to update the vehicle attitude and rate of descent. Subjects will utilize a combination of flight, situation, and status displays to monitor the state of the simulated vehicle. The simulation exports tilt and translation movements to a 6DOF motion base synced to visual movements and provides representative vestibular cues to the subject while performing the task inside an enclosed cabin featuring a simulated lunar out-the-window view and a heads-down lander cockpit view. RELEVANCE This project will deliver an operational demonstration of crew override capability following spaceflight and identify potential deficits that may require remediation. Comparison of individual vestibular and cognitive changes with crew override performance will help better characterize the manual control risks associated with sensorimotor alterations. The inclusion of “just-in-time” on-board training will ensure we are characterizing changes in override proficiency with this expected countermeasure in place. ACKNOWLEDGEMENTS: The authors acknowledge contributions from Draper, HLS Joint Test Panel, Crew HLS Interfaces for Piloting Working Group, and Dynamic Skills Trainer (DST) Lab toward the development of the lunar landing simulation. This project is funded by the Human Health Countermeasures Element.

Austin M Bollinger↗

The physics of the neutral upper atmosphere.

Particular attention is given to models of the upper atmosphere that deal with the diurnal variation and the latitudinal density dependence. The upper atmosphere is considered as essentially an ideal gas, or rather a weakly ionized plasma, where physical and chemical processes of considerable complexity take place. The final goal for the theoretical models of the upper atmosphere is to derive the time and space dependence of the physical quantities density, composition, temperature, pressure, and state of motion by theoretical considerations from basic physical assumptions. Questions of the dynamics of the upper atmosphere are discussed together with one- and two-dimensional models of the upper atmosphere, three-dimensional models, the geomagnetic effect, and the semiannual density variation.

Blum, P.↗

Concepts for a theoretical and experimental study of lifting rotor random loads and vibrations, Phase 1

A number of lifting rotor conditions with random inputs are discussed. The present state of random process theory, applicable to lifting rotor problems is sketched. Possible theories of random blade flapping and random blade flap-bending are outlined and their limitations discussed. A plan for preliminary experiments to study random flapping motions of a see-saw rotor is developed.

Hohenemser, K. H.↗

Three-axis electron-beam test facility

An electron beam test facility, which consists of a precision multidimensional manipulator built into an ultra-high-vacuum bell jar, was designed, fabricated, and operated at Lewis Research Center. The position within the bell jar of a Faraday cup which samples current in the electron beam under test, is controlled by the manipulator. Three orthogonal axes of motion are controlled by stepping motors driven by digital indexers, and the positions are displayed on electronic totalizers. In the transverse directions, the limits of travel are approximately + or - 2.5 cm from the center with a precision of 2.54 micron (0.0001 in.); in the axial direction, approximately 15.0 cm of travel are permitted with an accuracy of 12.7 micron (0.0005 in.). In addition, two manually operated motions are provided, the pitch and yaw of the Faraday cup with respect to the electron beam can be adjusted to within a few degrees. The current is sensed by pulse transformers and the data are processed by a dual channel box car averager with a digital output. The beam tester can be operated manually or it can be programmed for automated operation. In the automated mode, the beam tester is controlled by a microcomputer (installed at the test site) which communicates with a minicomputer at the central computing facility. The data are recorded and later processed by computer to obtain the desired graphical presentations.

Dayton, J. A., Jr.↗

Space station on-orbit identification and performance monitor

This paper describes the generic applications of on-orbit identification to the reference Space Station configuration currently under consideration by NASA. Identification functions are categorized, and the various methods for extracting parameter estimates are correlated with the sensing of specific characteristics of interest to both engineering subsystems and users of the Station's commercial and scientific facilities. A case study of crew motion detection and identification is included to illustrate the application to the Station's disturbance environment and plant characterization using accelerometer sensing. Onboard implementation architecture is discussed from the viewpoint of maximizing integration of the identification process with the flight subsystem's data and signal flow.

Mettler, E.↗

Exogenic and endogenic albedo and color patterns on Europa

New global and high-resolution multispectral mosaics of Europa have been produced from the Voyager imaging data. Photometric normalizations are based on multiple-image techniques that explicitly account for intrinsic albedo variations through pixel-by-pixel solutions. The exogenic color and albedo pattern on Europa is described by a second-order function of the cosine of the angular distance from the apex of orbital motion. On the basis of this second-order function and of color trends that are different on the leading and trailing hemispheres, the exogenic pattern is interpreted as being due to equilibrium between two dominant processes: (1) impact gardening and (2) magnetospheric interactions, including sulfur-ion implantation and sputtering redistribution. Removal of the model exogenic pattern in the mosaics reveals the endogenic variations, consisting of only two major units: darker (redder) and bright materials. Therefore Europa's visual spectral reflectivity is simple, having one continuous exogenic pattern and two discrete endogenic units.

Mcewen, A. S.↗

Characterization Of Robot Work Cell

Iterative process of measurement and computation used to characterize work cell of robot, increasing accuracy of mathematical model of work cell. Characterization needed because model used in off-line programming (OLP) to compute paths to control motion of robot. Increases accuracies of model and paths.

Anderson, Ronald R.↗

A robot arm simulation with a shared memory multiprocessor machine

A parallel processing scheme for a single chain robot arm is presented for high speed computation on a shared memory multiprocessor. A recursive formulation that is derived from a virtual work form of the d'Alembert equations of motion is utilized for robot arm dynamics. A joint drive system that consists of a motor rotor and gears is included in the arm dynamics model, in order to take into account gyroscopic effects due to the spinning of the rotor. The fine grain parallelism of mechanical and control subsystem models is exploited, based on independent computation associated with bodies, joint drive systems, and controllers. Efficiency and effectiveness of the parallel scheme are demonstrated through simulations of a telerobotic manipulator arm. Two different mechanical subsystem models, i.e., with and without gyroscopic effects, are compared, to show the trade-off between efficiency and accuracy.

Kim, Sung-Soo↗

An improved adaptive control for repetitive motion of robots

An adaptive control algorithm is proposed for a class of nonlinear systems, such as robotic manipulators, which is capable of improving its performance in repetitive motions. When the task is repeated, the error between the desired trajectory and that of the system is guaranteed to decrease. The design is based on the combination of a direct adaptive control and a learning process. This method does not require any knowledge of the dynamic parameters of the system.

Pourboghrat, F.↗

Remote sensing of atmosphere and oceans; Proceedings of Symposium 1 and of the Topical Meeting of the 27th COSPAR Plenary Meeting, Espoo, Finland, July 18-29, 1988

Papers are presented on the contribution of space remote sensing observations to the World Climate Research Program and the Global Change Program, covering topics such as space observations for global environmental monitoring, experiments related to land surface fluxes, studies of atmospheric composition, structure, motions, and precipitation, and remote sensing for oceanography, observational studies of the atmosphere, clouds, and the earth radiation budget. Also, papers are given on results from space observations for meteorology, oceanography, and mesoscale atmospheric and ocean processes. The topics include vertical atmospheric soundings, surface water temperature determination, sea level variability, data on the prehurricane atmosphere, linear and circular mesoscale convective systems, Karman vortex clouds, and temporal patterns of phytoplankton abundance.

Raschke, E.↗

A fuzzy measure approach to motion frame analysis for scene detection

This paper addresses a solution to the problem of scene estimation of motion video data in the fuzzy set theoretic framework. Using fuzzy image feature extractors, a new algorithm is developed to compute the change of information in each of two successive frames to classify scenes. This classification process of raw input visual data can be used to establish structure for correlation. The algorithm attempts to fulfill the need for nonlinear, frame-accurate access to video data for applications such as video editing and visual document archival/retrieval systems in multimedia environments.

Leigh, Albert B.↗

Automated digital motion-video abstraction - A fuzzy measure approach

This paper addresses a solution to the problem of scene estimation of motion video data in the fuzzy set theoretic framework. Using fuzzy image feature extractors, a new algorithm is developed to compute the change of information in each of two successive frames to classify scenes. This classification process of raw input visual data can be used to establish structure for correlation. The algorithm attempts to fulfill the need for non-linear, frame-accurate access to video data for applications such as video editing and visual document archival/retrieval systems in multimedia environments.

Leigh, Albert B.↗