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NASA NTRS1978

Entry dynamics performance predictions for Pioneer Venus probes

The scientific experiments planned for the Pioneer Venus entry probes require that the probes provide a stable platform at a controlled roll rate throughout the atmospheric phase of the mission. The 45-degree half-cone forebody common to both the small and large probe configurations provides a design which meets all stability and attitude requirements. The uncertainty in the dynamic stability parameter coupled with the possible variability of roll rate due to ablation induced roll torques could, however, result in slight angle of attack divergence in the transonic flight regime. Minimum roll rate requirements on the small probe are passively achieved by a vane mounted on the pressure-temperature sensing arm. The vane was sized to provide minimum dynamic disturbance.

Mccloy, R. D.↗

NASA NTRS1981

A comparison of three liquid-ventilation cooling garments during treadmill exercise

A comparative study was made of the heat transfer performance and physiological effects of three different cooling garments used under sealed garments (simulating space suits) on five male subjects, during treadmill exercise. The mean exercise metabolic rate while walking at 0.9 m/s (2 mph) was 464 plus or minus 33 W. An equilibrium condition was never reached during the uncooled suited control runs and the subjects lost approximately two percent of body weight during the exercises. The mean weight loss with an Apollo-type garment was 0.35 plus or minus 0.10 kg, and 0.26 plus or minus 0.11 kg with the full-body cooling patch garment (garment 2). With the partial-coverage cooling patch (garment 3), the weight loss was 0.52 plus or minus 0.12 kg. The data showed an increase in the leg blood flow when the working muscles were not cooled by liquid flow (garment 3), and the arm blood flow remained unchanged with and without liquid cooling to the arms.

Webbon, B.↗

NASA NTRS2004

Transitsearch Workshop

The discovery of more than 100 planets around nearby solar-like stars that surpass Jupiter in size yet orbit their stars more quickly than Mercury has heralded a new era in astronomy. These enigmatic 'Hot-Jupiters' are large enough and close enough to their parent stars that their 'transits' can be captured by astronomers equipped with a small computer controlled telescope and a quality electronic CCD camera. The planet reveals its presence through the periodic decrease in brightness as it passes (or transits) in front of the star as seen from Earth. The first known transiting extrasolar planet HD 209458b, in the constellation Pegasus, has been the subject of hundreds of scientific papers since its discovery in 1999. The transit of 8th magnitude HD 209458 has been observed by at least a dozen non-professional astronomers using telescopes as small as 4 inches in aperture. Using equipment already in hand, and armed with target lists, transit time predictions, observing techniques and software procedures developed by astronomers at NASA's Ames Research Center and the University of California at Santa Cruz, non-professional astronomers can contribute significantly to the study of extrasolar planets by carefully measuring the brightness of stars with known Hot-Jupiters. In this way, we may resume (after a two century interruption!) the tradition of planetary discoveries by amateur astronomers begun with William Herschel's 1787 discovery of the 'solar' planet Uranus. In the few years transitsearch has been in existence, investigators Tim Castellano (NASA Ames) and Greg Laughlin (UCSC) have written articles for Sky and Telescope and Astronomy magazines, have been featured in stories by the Reuters News Service, Nature magazine, Science magazine, Space.com, the American Institute of Physics and others and received several hundred thousand total hits on their website www.transitsearch,org.

Castellano, T.↗

NASA NTRS2010

Estimation and Control for Autonomous Coring from a Rover Manipulator

A system consisting of a set of estimators and autonomous behaviors has been developed which allows robust coring from a low-mass rover platform, while accommodating for moderate rover slip. A redundant set of sensors, including a force-torque sensor, visual odometry, and accelerometers are used to monitor discrete critical and operational modes, as well as to estimate continuous drill parameters during the coring process. A set of critical failure modes pertinent to shallow coring from a mobile platform is defined, and autonomous behaviors associated with each critical mode are used to maintain nominal coring conditions. Autonomous shallow coring is demonstrated from a low-mass rover using a rotary-percussive coring tool mounted on a 5 degree-of-freedom (DOF) arm. A new architecture of using an arm-stabilized, rotary percussive tool with the robotic arm used to provide the drill z-axis linear feed is validated. Particular attention to hole start using this architecture is addressed. An end-to-end coring sequence is demonstrated, where the rover autonomously detects and then recovers from a series of slip events that exceeded 9 cm total displacement.

Hudson, Nicolas↗

NASA NTRS1976

Dynamic analysis of a class of mixed lumped-distributed parameter systems via numerical techniques

The modeling via transfer matrices of mixed lumped-distributed parameter systems with feedback control is discussed and novel methods of obtaining information on the controlled system's dynamic response via numerical methods is presented. These methods utilize numerical searches in the complex plane for the roots of the transcendental characteristic equation to determine the closed loop system eigenvalues. The fast Fourier transform (FFT) algorithm is utilized but in the inverse fashion (from frequency domain to time domain). The information obtained is identical to that contained in a model in modal coordinates, and can be used to construct such a model. An interactive computer program to do the required calculation is described, as well as its application to a manipulator arm design problem.

Book, W. J.↗

NASA NTRS2007

Overview for Attached Payload Accommodations and Environments

External payload accommodations are provided at attach sites on the U.S provided ELC, U.S. Truss, the Japanese Experiment Module Exposed Facility (JEM EF) and the Columbus EPF (External Payload Facilities). The Integrated Truss Segment (ITS) provides the backbone structure for the ISS. It attaches the solar and thermal control arrays to the rest of the complex, and houses cable distribution trays Extravehicular Activity (EVA) support equipment such as handholds and lighting; and providing for Extravehicular Robotic (EVR) accommodations using the Mobile Servicing System (MSS). It also provides logistics and maintenance, and payload attachment sites. The attachment sites accommodate logistics and maintenance and payloads carriers, zenith and nadir. The JEM-EF, a back porch-like attachment to the JEM Pressurized Module, accommodates up to eight payloads, which can be serviced by the crew via the JEM PM's airlock and dedicated robotic arm. The Columbus-EPF is another porch-like platform that can accommodate two zenith and two nadir looking payloads.

Schaffer, Craig↗

NASA NTRS1984

The effect of direct and reflected radiation on the temperatures of space structures

As an orbiting structure passes from the bright side to the dark side of the earth, substantial differences in surface heating may take place due to direct sunlight and albedo. Most structures are built of convex curved elements to spread out the reflected energy. A change in the shortwave absorptivity and emissivity maintains the temperature of electronic components within a narrow range. Temperature extremes may also be reduced by the use of thermal capacity of the system or by shielding the surface from direct sunlight. For an instrument deployed from a Shuttle, a temperature must be established for it in the cargo bay before deployment. The effect of obstructed views by surfaces such as the Shuttle arm complicates solar flux computations because of the object's mobility. For typical orbits, the earth's albedo and the direct long wavelength radiation may be as much as 30 percent of the direct solar flux. Irradiation due to direct and reflected solar, long wave radiation and reflected radiation from earth, and from Shuttle surfaces is largely dependent on the specular reflection from the radiators as the Shuttle rolls and its surfaces block the sun. Through a judicious choice of surface properties, thermal capacitance and orbit attitude programming, the temperature response of a system can be controlled.

Emery, A. F.↗

NASA NTRS1995

A Mars Rover Mission Simulation on Kilauea Volcano

A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

Stoker, Carol↗

NASA NTRS1997

Physiological and Thermal Responses of MS Patients to Head and Vest Cooling: A Case Study

Personal cooling systems are used to alleviate symptoms of multiple sclerosis (MS) and to prevent increased core temperature during daily activities. The objective of this study was to determine the operating characteristics and the physiologic changes produced by short term application of the stationary thermal control system used by most clinical institutions. The Life Enhancement Tech (LET) Mark VII portable cooling system and a lightweight Head-vest active cooling garment were used to cool the head and chest regions of 4 male and 3 female MS patients (30 to 66 yrs. old) in this study. The subjects, seated in an upright position at normal room temperature (approx. 24 C), were tested for 60 min. with the liquid cooling garment (LCG) operated at 50 F. Oral, right and left ear temperatures and cooling system parameters were logged manually every 5 min. Arm, leg, chest and rectal temperatures, heart rate, respiration, and an activity index were recorded continuously on a U.F.I., Inc., Biolog ambulatory monitor. All temperature responses showed extreme variation among subjects. The cold-sensitive subject's rectal temperature increased initially in response to cooling; the heat sensitive subject's rectal temperature decreased. After 40 min. of cooling and during recovery, all subjects'rectal temperatures decreased. Oral temperatures began to decrease after 30 min. of cooling. After 60 min. of cooling, temperature drops ranged from approx. 0.3 - 0.8 C. Oral temperatures continued to decrease during recovery (approx. 0.2 C). The car temperature of the heat sensitive subject was increased after cooling, other subjects exhibited an ear temperature decrease (0.0 - 0.5 C). These data indicate that head and vest cooling may be used to reduce the oral temperatures of MS patients by the approximate amount needed for symptomatic relief as shown by other researchers. The combination of a small subject population and a large subject variance does not permit us to draw statistical conclusions about the temperature response of MS patients. An individual's heat or cold sensitivity may influence their thermal response to cooling. This factor should be considered in the prescribed use of liquid cooling garments in the therapeutic management of MS.

Luna, Bernadette↗

NASA NTRS2019

Portable Laser Guided Robotic Metrology System

This paper introduces the new Portable Laser Guided Robotic antenna range (PLGR) at the National Aeronautics and Space Administration's (NASA) Glenn Research Center. Previous work used industrial robots in fixed facilities to characterize antennas and required fixtures that do not lend themselves to portable applications.NASA's PLGR system is designed for in-situ antenna measurements at a remote site. The system consists of a robot arm mounted on a vertical lift and a laser tracker, each on a portable base. The lift and laser tracker enable scanning a surface larger than the robot's reach. To accomplish this the robot first collects all points within its reach, then the system is moved and the laser tracker is used to relocate the robot before additional points are captured.The PLGR architecture will be discussed including how safety systems and path planning are combined to effectively characterize antennas. Software was written in high level languages for flexible integration of vector network analyzers and antenna controllers. Lastly, data will be shown to demonstrate the system functionality and accuracy.

Slater, Peter A.↗

NASA NTRS2020

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly (ACA) is part of the Sampling and Caching System on the Mars 2020 Perseverance Rover, and consists of multiple stations that process, hermetically seal, and store sample tubes containing collected Martian material, either rock cores or regolith samples, in preparation for caching on the surface of Mars. The ACA stations consist of seven active degrees-of-freedom, as well as a large number of passive mechanisms that must operate in extreme Mars temperature and pressure conditions. A robotic arm within the Rover manipulates the sample tubes between ACA stations as part of an end-to-end sampling sequence, and utilizes a compliant end effector to accommodate misalignments during station interactions. Stringent hardware cleanliness requirements were dictated to ensure collected samples would not be compromised, which significantly impacted the design, assembly, and test operations of the ACA. Three ACAs were assembled to support ground testing and flight operations, which were exposed to environmental testing to validate functionality in Mars-like conditions. A number of challenges existed from design through test, including volume constraints, mechanism controllability and operation, the effects of tight tolerances, and cleanliness requirements.

Lin, Justin↗

DOE OSTI2021

Large-Scale Forcing Impact on the Development of Shallow Convective Clouds Revealed From LASSO Large-Eddy Simulations

Real-world large-eddy simulations (LES) are driven by time-varying large-scale forcings (LSF) - e.g., temperature advection, moisture advection, and subsidence - derived from large-scale weather models. This study investigates the impact of the uncertainty in LSF on real-world LES in terms of the development of shallow convection at the Atmospheric Radiation Measurement (ARM) Southern Great Plains (SGP) atmospheric observatory for the 11 June 2016 case using LES provided by the U.S. Department of Energy's LES ARM Symbiotic Simulation and Observation (LASSO) activity. The LASSO dataset provides an ensemble of LES for the selected case, which consists of LES runs that were driven by different LSF. The two contrasting LES runs investigated here generate different types of convective clouds, i.e., nonprecipitating shallow clouds and precipitating cumulus congestus, mainly due to the difference of LSF in temperature advection in the free troposphere. The temperature advection modulates the strength of the capping inversion and therefore the buoyancy of the air parcels rising from the atmospheric boundary layer (ABL). The inversion, together with large-scale updrafts, controls the penetration of the ABL thermals into the free troposphere, leading to cumulus congestus in the case of a weaker inversion. In contrast, clouds remain shallow in the case of a strong inversion. Differences between the two simulations are amplified over time, as mixed-phase clouds are formed near the top of the congestus in the weaker inversion case. Furthermore, this high dependency of LES results to LSF stresses the importance of accurate LSF by large-scale models to real-world LES simulations.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1996

Integration of the Shuttle RMS/CBM Positioning Virtual Environment Simulation

Constructing the International Space Station, or other structures, in space presents a number of problems. In particular, payload restrictions for the Space Shuttle and other launch mechanisms prohibit assembly of large space-based structures on Earth. Instead, a number of smaller modules must be boosted into orbit separately and then assembled to form the final structure. The assembly process is difficult, as docking interfaces such as Common Berthing Mechanisms (CBMS) must be precisely positioned relative to each other to be within the "capture envelope" (approximately +/- 1 inch and +/- 0.3 degrees from the nominal position) and attach properly. In the case of the Space Station, the docking mechanisms are to be positioned robotically by an astronaut using the 55-foot-long Remote Manipulator System (RMS) robot arm. Unfortunately, direct visual or video observation of the placement process is difficult or impossible in many scenarios. One method that has been tested for aligning the CBMs uses a boresighted camera mounted on one CBM to view a standard target on the opposing CBM. While this method might be sufficient to achieve proper positioning with considerable effort, it does not provide a high level of confidence that the mechanisms have been placed within capture range of each other. It also does nothing to address the risk of inadvertent contact between the CBMS, which could result in RMS control software errors. In general, constraining the operator to a single viewpoint with few, if any, depth cues makes the task much more difficult than it would be if the target could be viewed in three-dimensional space from various viewpoints. The actual work area could be viewed by an astronaut during EVA; however, it would be extremely impractical to have an astronaut control the RMS while spacewalking. On the other hand, a view of the RMS and CBMs to be positioned in a virtual environment aboard the Space Shuttle orbiter or Space Station could provide similar benefits more safely and conveniently with little additional cost. In order to render and view the RMS and CBMs in a virtual world, the position and orientation of the end effector in three-dimensional space must be known with a high degree of accuracy. A precision video alignment sensor has been developed which can determine the position and orientation of the controlled element relative to the target CBM within approximately one-sixteenth inch and 0.07 angular degrees. Such a sensor could replace or augment the boresighted camera mentioned above. The computer system used to render the virtual world and the position tracking systems which might be used to monitor the user's movements (in order to adjust the viewpoint in virtual space) are small enough to carry to orbit. Thus, such a system would be feasible for use in constructing structures in space.

Dumas, Joseph D.↗

NASA NTRSDate not supplied

The Comet Astrobiology Exploration Sample Return (CAESAR) Mission

The Comet Astrobiology Exploration Sample Return (CAESAR) mission will acquire and return to Earth for laboratory analysis a minimum of 80 grams of surface material from the nucleus of comet 67P/Chur-yumov-Gerasimenko (67P). CAESAR will characterize the surface region sampled, preserve the collected sample in a pristine state, and return evolved volatiles by capturing them in a separate gas reservoir. NASA Goddard Space Flight Center provides project management, systems engineering, safety and mission assurance, contamination control, mission operations, and many other important functions. Northrop Grumman Space Systems will build the spacecraft, based on Dawn mission heritage, which like CAESAR, uses solar electric propulsion. CAESAR was selected by for Phase A study in the New Frontiers 4 Competition and will be proposed to New Frontiers 5.Collection of a sample from the surface of comet 67P is facilitated by a set of cameras that together provide images to support sample site selection, perform optical navigation, and document the sample before, during, and after col-lection. The sample is collected at the end of an arm during a 5-second touch-and-go (TAG) maneuver with the Sample Acquisition System (SAS)designed by Honeybee Robotics for the surface properties of comet 67P observed by the Rosetta mission. After sample collection, and while the sample is still cold (< -80°C), the TAG Arm inserts the sample container into the Sample Containment System (SCS) mounted inside the Sample Return Capsule (SRC). The SCS is sealed, preventing the sample from escaping into space. The sample is slowly warmed inside the SCS to enable sublimation of volatiles, which are collected in the Gas Containment System (GCS), a passively cooled gas reservoir. Separating the volatiles from the solid sample protects the solid sample from alteration. Once all sublimated H2O is transferred to the GCS, the GCS is sealed to capture the volatile sit contains, and the SCS is vented to space to maintain the solid sample under vacuum. The SCS vent is closed before Earth entry to prevent atmospheric contamination. Detailed laboratory analyses of the sample from 67P will trace the history of volatile reservoirs, delineate the chemical pathways that led from simple interstellar species to complex molecules, constrain the evolution of the comet, and evaluate the role of comets in delivering water and prebiotic organics to the early Earth. CAESAR will achieve these goals by carrying out coordinated sample analyses that will link macroscopic properties of the comet with microscale mineralogy, chemistry, and isotopic studies of volatiles and solids. Most of the sample (≥75%) will be set aside for analyses by generations of scientists using continually advancing tools and methods, yielding an enduring scientific treasure that only sample return can provide. This presentation will review development conducted during NF4 Phase A and discuss the NF5 mission concept.

A G Hayes↗

NASA NTRS1985

Kinematic rate control of simulated robot hand at or near wrist singularity

A robot hand should obey movement commands from an operator on a computer program as closely as possible. However, when two of the three rotational axes of the robot wrist are colinear, the wrist loses a degree of freedom, and the usual resolved rate equations (used to move the hand in response to an operator's inputs) are indeterminant. Furthermore, rate limiting occurs in close vicinity to this singularity. An analysis shows that rate limiting occurs not only in the vicinity of this singularity but also substantially away from it, even when the operator commands rotational rates of the robot hand that are only a small percentage of the operational joint rate limits. Therefore, joint angle rates are scaled when they exceed operational limits in a real time simulation of a robot arm. Simulation results show that a small dead band avoids the wrist singularity in the resolved rate equations but can introduce a high frequency oscillation close to the singularity. However, when a coordinated wrist movement is used in conjunction with the resolved rate equations, the high frequency oscillation disappears.

Barker, K.↗

NASA NTRS1991

Influence of a magnetic field during directional solidification of MAR-M 246 + Hf superalloy

An area that has been almost totally overlooked in the optimization of properties in directionally solidified superalloys is the control of microstructural features through the application of a magnetic field during solidification. The influence of a magnetic field on the microstructural features of a nickel-base superalloys is investigated. Studies were performed on the dendritic MAR-M 246+Hf alloy, which was solidified under both a 5 K gauss magnetic field and under no-applied-field conditions. The possible influences of the magnetic field on the solidification process were observed by studying variations in microstructural features including volume fraction, surface area, number, and shape of the carbide particles. Stereological factors analyzed also included primary and secondary dendrite arm spacing and the volume fraction of the interdendritic eutectic constituent. Microprobe analysis was performed to determine the chemistry of the carbides, dendrites, and interdendritic constituents, and how it varied between field and no-field solidification samples. Experiments involving periodic application and removal of the magnetic field were also performed in order to permit a comparison with structural variations observed in a MAR-M 246+Hf alloy solidified during KC-135 high-g, low-g maneuvers.

Andrews, J. Barry↗

NASA NTRS1990

EVA and telerobot interaction

We are about to enter into a new era - that of astronauts working hand in hand with telerobots in space. This has been done to some degree with astronauts and the Space Station Shuttle's Remote Manipulator Arm. However, for the Space Station Freedom, not only will astronauts be working with the RMS type system but also with smaller, more dexterous systems such as the Flight Telerobotic Servicer (FTS). Because EVA time is a premium resource, the most effective use of the astronauts and the telerobot will be required. There may be some tasks for which it is most efficient to have both the EVA astronaut and the telerobot working together. This type of close integration has not occurred before and brings up many issues. Most of these issues are related to technology: communication must be infallible, new control systems and devices may be required, enhanced telerobot safety systems may be necessary. IVA operations may also be affected by the combined EVA telerobot tasks. There is also the issue of how the EVA astronaut and the telerobot work on separate tasks but at the same time. For both situations, research and development of at least some new technology is required; enhanced communication both by voice and data, sophisticated collision detection systems, more responsive controls and displays. These new systems or system enhancements may require knowledge base systems for their operation. Some of the important issues, types of tasks, the FTS capabilities, the technology that is needed to address those issues, and the possible impact on Space Station Freedom are reviewed.

Willshire, Kelli F.↗

DOE OSTI2025

Bayesian estimation of HIV acquisition dates for prevention trials

Accurate timing estimates of when participants acquire HIV in HIV prevention trials are necessary for determining antibody levels at acquisition. The Antibody-Mediated Prevention (AMP) Studies showed that a passively administered broadly neutralizing antibody can prevent the acquisition of HIV from a neutralization-sensitive virus. We developed a pipeline for estimating the date of detectable HIV acquisition (DDA) in AMP Study participants using diagnostic and viral sequence data. Using a Bayesian strategy that combines three streams of data (REN [rev/vpu/env/Δnef] sequence, GP [gag/Δpol] sequence, and diagnostic) where their 95% credible intervals overlap based on pre-specified criteria and decision rules. We evaluated the performance of our AMP pipeline using PacBio viral sequence data from 41 participants across two prospective acute HIV acquisition cohort studies, FRESH and RV217, with twice-weekly sampling. These cohort studies enrolled young women in South Africa and men and women in Kenya and Thailand, respectively, with a high likelihood of HIV acquisition. In evaluating performance, “true DDA” was the center of bounds between last-negative and first-positive RNA diagnostic tests (median time 4 days, range 2–7 days); bias was the mean difference between estimated and true DDA. Using diagnostic data alone yielded timing estimates with a bias of 2.4 days and root mean square error (RMSE) of 7.9 days. These results were improved using sequence + diagnostic data (bias 1.5 days, RMSE 6.9 days), as well as by restricting sequence-based estimation to samples from ≤5 weeks post-DDA (bias 0.2 days, RMSE 7.8 days).

59 BASIC BIOLOGICAL SCIENCES↗