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At least 1,315 records · Page 73
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NASA NTRS2006

Multimodal Platform Control for Robotic Planetary Exploration Missions

Planetary exploration missions pose unique problems for astronauts seeking to coordinate and control exploration vehicles. These include working in an environment filled with abrasive dust (e.g., regolith compositions), a desire to have effective hands-free communication, and a desire to have effective analog control of robotic platforms or end effectors. Requirements to operate in pressurized suits are particularly problematic due to the increased bulk and stiffness of gloves. As a result, researchers are considering alternative methods to perform fine movement control, for example capitalizing on higher-order voice actuation commands to perform control tasks. This paper presents current research at NASA s Neuro Engineering Laboratory that explores one method-direct bioelectric interpretation-for handling some of these problems. In this type of control system, electromyographic (EMG) signals are used both to facilitate understanding of acoustic speech in pressure-regulated suits 2nd to provide smooth analog control of a robotic platform, all without requiring fine-gained hand movement. This is accomplished through the use of non-invasive silver silver-chloride electrodes located on the forearm, throat, and lower chin, positioned so as to receive electrical activity originating from the muscles during contraction. For direct analog platform control, a small Personal Exploration Rover (PER) built by Carnegie Mellon University Robotics is controlled using forearm contraction duration and magnitudes, measured using several EMG channels. Signal processing is used to translate these signals into directional platform rotation rates and translational velocities. higher order commands were generated by differential contraction patterns called "clench codes."

Jorgensen, Charles↗
NASA NTRS2002

On the validity of the double integrator approximation in deep space formation flying

Free-flying models are commonly used f o r path planning and open loop control design (i. e., guidance design) and translational feedback control design (i. e., control design) for deep space precision formation flying. The free flying model, essentially a double integrator, results from discarding small terms in the relative spacecraft equations of motion. While the magnitude of these discarded terms may be small, one must show that their dynamic effects are small as compared to the precision performance requirements. We do so by deriving a theoretical method for bounding the difference between the solution of a nonlinear truth model of the relative translational spacecraft dynamics and a Simplified linear time-invariant model. Presently, the method incorporates feedforward and static output feedback control. The method is applied to a Terrestrial Planet Finder- based example. Using only feedforward control (guidance) the free-flying model and a Hill- Clohessy- Wiltshire Equations-based model are shown to be accurate to 1 c m for up to 4 and 30 hours, respectively. Also shown is that the simplest free-flying model may not be sufficient for low-gain feedback control design-closed-loop tracking errors can be as large as 8 meters.

formation flying free flying model double integrat↗
NASA NTRS2006

Automated Derivation of Complex System Constraints from User Requirements

International Space Station (ISS) payload developers submit their payload science requirements for the development of on-board execution timelines. The ISS systems required to execute the payload science operations must be represented as constraints for the execution timeline. Payload developers use a software application, User Requirements Collection (URC), to submit their requirements by selecting a simplified representation of ISS system constraints. To fully represent the complex ISS systems, the constraints require a level of detail that is beyond the insight of the payload developer. To provide the complex representation of the ISS system constraints, HOSC operations personnel, specifically the Payload Activity Requirements Coordinators (PARC), manually translate the payload developers simplified constraints into detailed ISS system constraints used for scheduling the payload activities in the Consolidated Planning System (CPS). This paper describes the implementation for a software application, User Requirements Integration (URI), developed to automate the manual ISS constraint translation process.

Muery, Kim↗
NASA NTRS2006

Exploring the Mineralogy of the Moon with M3

From the initial era or lunar exploration, we have learned that many processes active on the early Moon are common to most terrestrial planets, including the record of early and late impact bombardment. Since most major geologic activity ceased on the Moon approx. 3 Gy ago, the Moon's surface provides a record of the earliest era of terrestrial planet evolution. The type and composition of minerals that comprise a planetary surface are a direct result of the initial composition and subsequent thermal and physical processing. Lunar mineralogy seen today is thus a direct record of the early evolution of the lunar crust and subsequent geologic processes. Specifically, the distribution and concentration of specific minerals is closely tied to magma ocean products, lenses of intruded or remelted plutons, basaltic volcanism and fire-fountaining, and any process (e.g. cratering) that might redistribute or transform primary and secondary lunar crustal materials. The Moon Mineralogy Mapper (M3, or "m-cube") is a state-of-the-art imaging spectrometer that will fly on Chandrayaan-1, the Indian Space Research Organization (ISRO) mission to be launched late 2007 to early 2008. M3 is one of several foreign instruments chosen by ISRO to be flown on Chandrayaan-1 to complement the strong ISRO payload package. M3 was selected through a peer-review process as part of NASA s Discovery Program. It is under the oversight of PI Carle Pieters at Brown University and is being built by an experienced team at the Jet Propulsion Laboratory. Data analysis and calibration are carried out by a highly qualified and knowledgeable Science Team. To characterize diagnostic properties of lunar minerals, M3 acquires high spectral resolution reflectance data from 700 to 3000 nm (optional to 430 nm). M3 operates as a pushbroom spectrometer with a slit oriented orthogonal to the S/C orbital motion. Measurements are obtained simultaneously for 640 cross track spatial elements and 261 spectral elements. This translates to 70 m/pixel spatial resolution from a nominal 100 km polar orbit for Chandrayaan-1 . The primary science goal of M3 is to characterize and map lunar surface mineralogy in the context of its geologic evolution as outlined above. This translates into several sub-topics that focus on exploring the mineral character of the highland crust, characterizing the diversity basaltic volcanism, and identifying potential volatile concentrations near the poles. The primary exploration goal is to assess and map lunar mineral resources at high spatial resolution to support planning for future, targeted missions.

Pieters, C. M.↗
NASA NTRS1997

Arc Jet Flow Properties Determined from Laser- Induced Fluorescence of Atomic Species

Flow property measurements that were recently acquired in the Ames Research Center Aerodynamic Heating Facility (AHF) arc jet using two-photon Laser-Induced Fluorescence (LIF) of atomic nitrogen and oxygen are reported. The measured properties, which include velocity, translational temperature, and species concentration, cover a wide range of facility operation for the 30 cm nozzle. During the tests, the arc jet pressure and input stream composition were maintained at fixed values and the arc current was varied to vary the flow enthalpy. As part of this ongoing effort, a measurement of the two-photon absorption coefficient for the 3p4D(left arrow)2p4S transition of atomic nitrogen was performed, and the measured value is used to convert the relative concentration measurements to absolute values. A flow reactor is used to provide a known temperature line shape profile to deconvolve the laser line width contribution to the translational temperature measurements. Results from the current experiments are compared with previous results obtained using NO-beta line profiles at room temperature and the problem of multimode laser oscillation and its impact on the two-photon excitation line shape are discussed. One figure is attached, and this figure show relative N atom concentration measurements as a function of the arc power. Other measurements have already been acquired and analyzed. The arc jet flow facilities are heavily used in thermal protection material development and evaluation. All hypersonic flight and planetary atmospheric entry vehicles will use materials tested in these arc jet facilities. This poster represents an application of laser-spectroscopic measurements in an important test facility.

Fletcher, Douglas G.↗
NASA NTRS1997

Arcjet Flow Properties Determined from Laser-Induced Fluorescence of Atomic Species

Flow property measurements that were recently acquired in the Ames Research Center Aerodynamic Heating Facility (AHF) arc jet using two-photon Laser-Induced Fluorescence (LIF) of atomic nitrogen and oxygen are reported. The measured properties, which include velocity, translational temperature, and species concentration, cover a wide range of facility operation for the 30 cm nozzle. During the tests, the arc jet pressure and input stream composition were maintained at fixed values and the arc current was varied to vary the flow enthalpy. As part of this ongoing effort, a measurement of the two-photon absorption coefficient for the 3p4D<-2p4S transition of atomic nitrogen was performed, and the measured value is used to convert the relative concentration measurements to absolute values. A flow reactor is used to provide a known temperature line shape profile to deconvolve the laser line width contribution to the translational temperature measurements. Results from the current experiments are compared with previous results obtained using NO-Beta line profiles at room temperature and the problem of multimode laser oscillation and its impact on the two-photon excitation line shape are discussed. One figure is attached, and this figure shows relative N atom concentration measurements as a function of the arc power. Other measurements have already been acquired and analyzed. This poster represents an application of laser-spectroscopic measurements in an important test facility. The arc jet flow facilities are heavily used in thermal protection material development and evaluation. All hypersonic flight and planetary atmospheric entry vehicles will use materials tested in these arc jet facilities.

Fletcher, Douglas G.↗
NASA NTRS1997

Measurement of Vortex Strength and Core Diameter in the Wake of a Hovering Rotor

Detailed hot wire measurements have been acquired in the tip vortex of a three-bladed model tilt rotor in hover. Testing was conducted at a rotor tip speed of 752 ft/sec, a Reynolds number (based on blade tip chord) of 1.77 x 10(exp 6), for thrust coefficients up to 0.0160. A figure shows the hot wire mounted above the inverted rotor at the Outside Aerodynamic Rotor Facility (OARF) at NASA Ames Research Center. Strobed shadowgraph flow visualization was used to define the vortex trajectory as an aid in hot wire positioning. Considerable variations in tip vortex structure with time were observed, even from the same blade, under essentially uniform test conditions. The only velocity signatures analyzed were those corresponding to passage of the probe directly through the center of the vortex. These time histories were ensemble averaged after compensating for jitter in the vortex arrival time at the probe, thereby retaining the core structure with minimal smearing. An example of a mean velocity signature, after ensemble averaging, is shown. The mean velocity signature was analyzed under the assumption of constant (unknown) translation speed of the vortex filament past the fixed probe. The translation speed of the vortex is deduced and the vortex strength and core diameter inferred. The results were highly unexpected. The indicated vortex strength is seen to decrease rapidly after first blade passage. In addition, the core radius is seen to decrease with increasing wake age, not increase as might be expected from simple diffusion.

Wadcock, Alan J.↗
NASA NTRS2007

Sensorimotor Adaptation Following Exposure to Ambiguous Inertial Motion Cues

The central nervous system must resolve the ambiguity of inertial motion sensory cues in order to derive accurate spatial orientation awareness. Adaptive changes in how inertial cues from the otolith system are integrated with other sensory information lead to perceptual and postural disturbances upon return to Earth s gravity. The primary goals of this ground-based research investigation are to explore physiological mechanisms and operational implications of tilt-translation disturbances during and following re-entry, and to evaluate a tactile prosthesis as a countermeasure for improving control of whole-body orientation during tilt and translation motion.

Wood, S. J.↗
NASA NTRS1977

Tenderness Tester

Space telemetry has been transferred to food processing in the Armour;Tenderorneter, an instrument that predicts the tenderness of meat. The space component of the instrument is a sensitive, highly reliable strain gage originally produced for NASA's Surveyor lunar lander and other space programs by BLH Electronics, Waltham, Mass. Several years ago Armour & Co. began to develop a method of testing a hanging carcass to predict how tender the meat would be after cooking; no such method then existed. After considerable experimentation, Armour came up with a manifold-mounted group of-needle-like probes, which when stuck into a carcass, could measure the degree to which the meat resisted penetration. This provided a basis for predicting tenderness, but the development required one more . step; a device that could translate meat resistance into an electrical readout. Armour found it in the BLH strain gage. The resulting Tenderometer, now a standard and important part of Armour's meat processing operation, includes a large, 10-pronged fork which is plunged into a carcass and a cable-connected, handheld electronic device that translates the sensings of the prongs into a tenderness reading on a dial. The instrument is used by Armour to select and guarantee a premium line of beef known as TesTender, whose annual sales run into tens of millions of pounds.

Source record↗
NASA NTRS2007

Determination of Black Hole Mass in Cyg X-1 by Scaling of Spectral Index-QPO Frequency Correlation

It is well established that timing and spectral properties of Galactic Black Hole (BH) X-ray binaries (XRB) are strongly correlated. In particular, it has been shown that low frequency Quasi-Periodic Oscillation (QPO) nu(sub low) - photon index GAMMA correlation curves have a specific pattern. In a number of the sources studied the shape of the index-low frequency QPO correlations are self-similar with a position offset in the nu(sub low) - GAMMA plane determined by a BH mass M(sub BH). Specifically, Titarchuk & Fiorito (2004) gave strong theoretical and observational arguments that the QPO frequency values in this nu(sub low) - GAMMA correlation should be inversely proportional to M(sub BH). A simple translation of the correlation for a given source along frequency axis leads to the observed correlation for another source. As a result of this translation one can obtain a scaling factor which is simply a BH mass ratio for these particular sources. This property of the correlations offers a fundamentally new method for BH mass determination in XRBs. Here we use the observed QPO-index correlations observed in three BH sources: GRO J1655-40, GRS 1915+105 and Cyg X-1. The BH mass of (6.3 plus or minus 0.5) solar mass in GRO J1655-40 is obtained using optical observations. RXTE observations during the recent 2005 outburst yielded sufficient data to establish the correlation pattern during both rise and decay of the event. We use GRO J1655-40 as a standard reference source to measure the BH mass in Cyg X-1. We also revisit the GRS 1915+105 data as a further test of our scaling method. We obtain the BH mass in Cyg X-1 in the range 7.6-9.9.

Shaposhnikov, Nickolai↗
NASA NTRS2007

Revitalization of Space-Related Human Factors, Environmental and Habitability Data

The NASA Chief Health and Medical Officer (CHMO) recently directed that the agency establish crew health standards to aid in the development of requirements for future vehicles and habitats. Response to this direction includes development of a new NASA habitability and human factors standard and an accompanying design handbook. The new standard contains high-level, over-arching principles to assure its applicability and usability across all NASA development programs. The handbook will provide detailed design requirements and suggestions that will meet the standards. The information contained in NASA-STD-3000 will be updated and included in the new design handbook. In this approach, each new program will derive detailed program-specific requirements from the new standard using the handbook as a design guide and resource. With the completion of the standard, the focus of this year s effort is the development of the new handbook: Human Integration Design Handbook (HIDH). This is an opportunity for the space flight human factors and habitability community to consolidate up-to-date data for use by NASA programs and designers as well as outside researchers and policy makers looking for the next research focus. The goal of the handbook is to help NASA design and build human space flight systems which accommodate the capabilities and limitations of the crew so as to provide an environment where the crew can live and work effectively, safely, and comfortably. Handbook contents will address that primary goal, addressing unique aspects of space flight and habitation, including reduced gravity conditions, time lags, EVA systems and day/night cycles, not addressed in other standards or handbooks. The handbook will be divided into topics similar to NASA-STD-3000 (anthropometrics, architecture, workstations, etc.) and each topic area will contain elements for designers, human factors practitioners, program managers, operators, and researchers. The handbook will include the following elements: (1) Design considerations include a clear and concise summary of what is important to designers in space vehicle / habitat design, design information to translate Earth-base knowledge to the space environment, space issues and the data necessary to address those issues, and a consistent set of terminology. (2) Updates to Lessons Learned and example solutions from Shuttle and Station program experience will provide historical examples to help prevent repeating mistakes or reinvention of the wheel. (3) Requirements will aid in the translation of standards into program specific requirements. The scope of included requirements will define the pool that each program needs to consider and tailor for their specific program. (4) Requirements rationale will help understanding of the importance of these considerations. The HIDH development team at JSC is finalizing the format of the new handbook, prioritizing topic areas for expansion and update, and contacting subject matter experts within the scientific community to assist with this effort. Plans are also being made to continue handbook expansion and maintenance to assure it remains a valuable resource for human factors and human space flight programs.

Russo, Dane↗
NASA NTRS2007

Symbolic LTL Compilation for Model Checking: Extended Abstract

In Linear Temporal Logic (LTL) model checking, we check LTL formulas representing desired behaviors against a formal model of the system designed to exhibit these behaviors. To accomplish this task, the LTL formulas must be translated into automata [21]. We focus on LTL compilation by investigating LTL satisfiability checking via a reduction to model checking. Having shown that symbolic LTL compilation algorithms are superior to explicit automata construction algorithms for this task [16], we concentrate here on seeking a better symbolic algorithm.We present experimental data comparing algorithmic variations such as normal forms, encoding methods, and variable ordering and examine their effects on performance metrics including processing time and scalability. Safety critical systems, such as air traffic control, life support systems, hazardous environment controls, and automotive control systems, pervade our daily lives, yet testing and simulation alone cannot adequately verify their reliability [3]. Model checking is a promising approach to formal verification for safety critical systems which involves creating a formal mathematical model of the system and translating desired safety properties into a formal specification for this model. The complement of the specification is then checked against the system model. When the model does not satisfy the specification, model-checking tools accompany this negative answer with a counterexample, which points to an inconsistency between the system and the desired behaviors and aids debugging efforts.

Rozier, Kristin Y.↗
NASA NTRS2007

Standardization of XML Database Exchanges and the James Webb Space Telescope Experience

Personnel from the National Aeronautics and Space Administration (NASA) James Webb Space Telescope (JWST) Project have been working with various standard communities such the Object Management Group (OMG) and the Consultative Committee for Space Data Systems (CCSDS) to assist in the definition of a common extensible Markup Language (XML) for database exchange format. The CCSDS and OMG standards are intended for the exchange of core command and telemetry information, not for all database information needed to exercise a NASA space mission. The mission-specific database, containing all the information needed for a space mission, is translated from/to the standard using a translator. The standard is meant to provide a system that encompasses 90% of the information needed for command and telemetry processing. This paper will discuss standardization of the XML database exchange format, tools used, and the JWST experience, as well as future work with XML standard groups both commercial and government.

Gal-Edd, Jonathan↗
NASA NTRS1996

High level language-based robotic control system

This invention is a robot control system based on a high level language implementing a spatial operator algebra. There are two high level languages included within the system. At the highest level, applications programs can be written in a robot-oriented applications language including broad operators such as MOVE and GRASP. The robot-oriented applications language statements are translated into statements in the spatial operator algebra language. Programming can also take place using the spatial operator algebra language. The statements in the spatial operator algebra language from either source are then translated into machine language statements for execution by a digital control computer. The system also includes the capability of executing the control code sequences in a simulation mode before actual execution to assure proper action at execution time. The robot's environment is checked as part of the process and dynamic reconfiguration is also possible. The languages and system allow the programming and control of multiple arms and the use of inward/outward spatial recursions in which every computational step can be related to a transformation from one point in the mechanical robot to another point to name two major advantages.

Rodriguez, Guillermo↗
NASA NTRS1991

Fluid flow rate control device

A poppet is modulated between closed and full open positions by a brushless DC motor operating magnetically through a housing to drive a permanent magnet rotor which carries the poppet. The rotor is supported on several parallel cables which are stationarily fixed at one end and attached to the rotor at the other end, whereby rotation of the rotor twists the cables, causing axial foreshortening and axial translation of rotor and poppet. Axial translation is enhanced by placing a spacer between the cables, intermediate their ends. A permanent magnet ring is disposed around the valve seat directly axially attracting the rotor to a valve closed position.

Reinicke, Robert H.↗
NASA NTRS1997

Immersive cyberspace system

An immersive cyberspace system is presented which provides visual, audible, and vibrational inputs to a subject remaining in neutral immersion, and also provides for subject control input. The immersive cyberspace system includes a relaxation chair and a neutral immersion display hood. The relaxation chair supports a subject positioned thereupon, and places the subject in position which merges a neutral body position, the position a body naturally assumes in zero gravity, with a savasana yoga position. The display hood, which covers the subject's head, is configured to produce light images and sounds. An image projection subsystem provides either external or internal image projection. The display hood includes a projection screen moveably attached to an opaque shroud. A motion base supports the relaxation chair and produces vibrational inputs over a range of about 0-30 Hz. The motion base also produces limited translation and rotational movements of the relaxation chair. These limited translational and rotational movements, when properly coordinated with visual stimuli, constitute motion cues which create sensations of pitch, yaw, and roll movements. Vibration transducers produce vibrational inputs from about 20 Hz to about 150 Hz. An external computer, coupled to various components of the immersive cyberspace system, executes a software program and creates the cyberspace environment. One or more neutral hand posture controllers may be coupled to the external computer system and used to control various aspects of the cyberspace environment, or to enter data during the cyberspace experience.

Park, Brian V.↗
NASA NTRS1997

Thrust reverser with variable nozzle

A thrust reverser is provided for both modulating and reversing bypass flow discharged from a fan through a bypass duct of a turbofan gas turbine engine. The reverser includes an aft cowl joined to a forward cowl and having an aft end surrounding a core engine to define a discharge fan nozzle of minimum flow throat area. The aft cowl is axially translatable relative to the forward cowl from a first position fully retracted against the forward cowl, to a second position partially extended from the forward cowl, and to a third position fully extended from the forward cowl. A plurality of cascade turning vanes are disposed between the forward and aft cowls, and a plurality of thrust reversing deflector doors are pivotally mounted to the aft cowl and bound the bypass duct. The deflector doors are selectively deployed from a stowed position corresponding with the first and second positions of the aft cowl for allowing unrestricted flow of the bypass flow through the fan nozzle. The doors also have a deployed position corresponding with the third position of the aft cowl for substantially deflecting the bypass flow from discharging through the fan nozzle to discharging through the cascade vanes for effecting thrust reverse. Axial translation of the aft cowl between the first and second positions varies flow area of the fan nozzle to vary thrust effected by the discharged bypass flow.

Butler, Lawrence↗
NASA NTRS1995

Vibration isolation mounting system

A system is disclosed for mounting a vibration producing device onto a spacecraft structure and also for isolating the vibration forces thereof from the structure. The system includes a mount on which the device is securely mounted and inner and outer rings. The rings and mount are concentrically positioned. The system includes a base (secured to the structure) and a set of links which are interconnected by a set of torsion bars which allow and resist relative rotational movement therebetween. The set of links are also rotatably connected to a set of brackets which are rigidly connected to the outer ring. Damped leaf springs interconnect the inner and outer rings and the mount allow relative translational movement therebetween in X and Y directions. The links, brackets and base are interconnected and configured so that they allow and resist translational movement of the device in the Z direction so that in combination with the springs they provide absorption of vibrational energy produced by the device in all three dimensions while providing rotational stiffness about all three axes to prevent undesired rotational motions.

Carter, Sam D.↗