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NASA NTRS2000

BL-Lacs in X-Ray Outburst

We conducted a multifrequency campaign for the TeV blazar Markarian 421 in 1998 April. The campaign started from a pronounced high-amplitude flare recorded by BeppoSAX and Whipple; the Advanced Satellite for Cosmology and Astrophysics (ASCA) observation started three days later. In the X-ray data, we detected multiple flares, occurring on timescales of about one day. ASCA data clearly reveal spectral variability. The comparison of the data from ASCA, the Extreme Ultraviolet Explorer, and the Rossi X-Ray Timing Explorer indicates that the variability amplitudes in the low-energy synchrotron component are larger at higher photon energies. In TeV and gamma-rays, large intraday variations-which were correlated with the X-ray flux-were observed when results from three Cerenkov telescopes were combined. The rms variability of TeV and gamma-rays was similar to that observed in hard X-rays, above ten keV. The X-ray light curve reveals flares that are almost symmetric for most cases, implying that the dominant timescale is the light crossing time through the emitting region. The structure function analysis based on the continuous X-ray light curve of seven days indicates that the characteristic timescale is approx. 0.5 days. The analysis of ASCA light curves in various energy bands appears to show both soft (positive) and hard (negative) lags. These may not be real, as systematic effects could also produce these lags, which are all much smaller than an orbit. If the lags of both signs are real, these imply that the particle acceleration and X-ray cooling timescales are similar.

Remillard, Ronald A.↗

NASA NTRS2016

Investigating the Simulink Auto-Coding Process

Model based program design is the most clear and direct way to develop algorithms and programs for interfacing with hardware. While coding "by hand" results in a more tailored product, the ever-growing size and complexity of modern-day applications can cause the project work load to quickly become unreasonable for one programmer. This has generally been addressed by splitting the product into separate modules to allow multiple developers to work in parallel on the same project, however this introduces new potentials for errors in the process. The fluidity, reliability and robustness of the code relies on the abilities of the programmers to communicate their methods to one another; furthermore, multiple programmers invites multiple potentially differing coding styles into the same product, which can cause a loss of readability or even module incompatibility. Fortunately, Mathworks has implemented an auto-coding feature that allows programmers to design their algorithms through the use of models and diagrams in the graphical programming environment Simulink, allowing the designer to visually determine what the hardware is to do. From here, the auto-coding feature handles converting the project into another programming language. This type of approach allows the designer to clearly see how the software will be directing the hardware without the need to try and interpret large amounts of code. In addition, it speeds up the programming process, minimizing the amount of man-hours spent on a single project, thus reducing the chance of human error as well as project turnover time. One such project that has benefited from the auto-coding procedure is Ramses, a portion of the GNC flight software on-board Orion that has been implemented primarily in Simulink. Currently, however, auto-coding Ramses into C++ requires 5 hours of code generation time. This causes issues if the tool ever needs to be debugged, as this code generation will need to occur with each edit to any part of the program; additionally, this is lost time that could be spent testing and analyzing the code. This is one of the more prominent issues with the auto-coding process, and while much information is available with regard to optimizing Simulink designs to produce efficient and reliable C++ code, not much research has been made public on how to reduce the code generation time. It is of interest to develop some insight as to what causes code generation times to be so significant, and determine if there are architecture guidelines or a desirable auto-coding configuration set to assist in streamlining this step of the design process for particular applications. To address the issue at hand, the Simulink coder was studied at a foundational level. For each different component type made available by the software, the features, auto-code generation time, and the format of the generated code were analyzed and documented. Tools were developed and documented to expedite these studies, particularly in the area of automating sequential builds to ensure accurate data was obtained. Next, the Ramses model was examined in an attempt to determine the composition and the types of technologies used in the model. This enabled the development of a model that uses similar technologies, but takes a fraction of the time to auto-code to reduce the turnaround time for experimentation. Lastly, the model was used to run a wide array of experiments and collect data to obtain knowledge about where to search for bottlenecks in the Ramses model. The resulting contributions of the overall effort consist of an experimental model for further investigation into the subject, as well as several automation tools to assist in analyzing the model, and a reference document offering insight to the auto-coding process, including documentation of the tools used in the model analysis, data illustrating some potential problem areas in the auto-coding process, and recommendations on areas or practices in the current Ramses model that should be further investigated. Several skills were required to be built up over the course of the internship project. First and foremost, my Simulink skills have improved drastically, as much of my experience had been modeling electronic circuits as opposed to software models. Furthermore, I am now comfortable working with the Simulink Auto-coder, a tool I had never used until this summer; this tool also tested my critical thinking and C++ knowledge as I had to interpret the C++ code it was generating and attempt to understand how the Simulink model affected the generated code. I had come into the internship with a solid understanding of Matlab code, but had done very little in using it to automate tasks, particularly Simulink tasks; along the same lines, I had rarely used shell script to automate and interface with programs, which I gained a fair amount of experience with this summer, including how to use regular expression. Lastly, soft-skills are an area everyone can continuously improve on; having never worked with NASA engineers, which to me seem to be a completely different breed than what I am used to (commercial electronic engineers), I learned to utilize the wealth of knowledge present at JSC. I wish I had come into the internship knowing exactly how helpful everyone in my branch would be, as I would have picked up on this sooner. I hope that having gained such a strong foundation in Simulink over this summer will open the opportunity to return to work on this project, or potentially other opportunities within the division. The idea of leaving a project I devoted ten weeks to is a hard one to cope with, so having the chance to pick up where I left off sounds appealing; alternatively, I am interested to see if there are any opening in the future that would allow me to work on a project that is more in-line with my research in estimation algorithms. Regardless, this summer has been a milestone in my professional career, and I hope this has started a long-term relationship between JSC and myself. I really enjoy the thought of building on my experience here over future summers while I work to complete my PhD at Missouri University of Science and Technology.

Gualdoni, Matthew J.↗

NASA NTRS2003

Dynamical and Physical Properties of a Post-Coronal Mass Ejection Current Sheet

In the eruptive process of the Kopp-Pneuman type, the closed magnetic field is stretched by the eruption so much that it is usually believed to be " open " to infinity. Formation of the current sheet in such a configuration makes it possible for the energy in the coronal magnetic field to quickly convert into thermal and kinetic energies and cause significant observational consequences, such as growing postflare/CME loop system in the corona, separating bright flare ribbons in the chromosphere, and fast ejections of the plasma and the magnetic flux. An eruption on 2002 January 8 provides us a good opportunity to look into these observational signatures of and place constraints on the theories of eruptions. The event started with the expansion of a magnetic arcade over an active region, developed into a coronal mass ejection (CME), and left some thin streamer-like structures with successively growing loop systems beneath them. The plasma outflow and the highly ionized states of the plasma inside these streamer-like structures, as well as the growing loops beneath them, lead us to conclude that these structures are associated with a magnetic reconnection site, namely, the current sheet, of this eruptive process. We combine the data from the Ultraviolet Coronagraph Spectrometer, Large Angle and Spectrometric Coronagraph Experiment, EUV Imaging Telescope, and Coronal Diagnostic Spectrometer on board the Solar and Heliospheric Observatory, as well is from the Mauna Loa Solar Observatory Mark IV K-coronameter, to investigate the morphological and dynamical properties of this event, as well as the physical properties of the current sheet. The velocity and acceleration of the CME reached up to 1800 km/s and 1 km/sq s, respectively. The acceleration is found to occur mainly at the lower corona (<2.76 Solar Radius). The post-CME loop systems showed behaviors of both postflare loops (upward motion with decreasing speed) and soft X-ray giant arches (upward motion with constant speed, or acceleration) according to the definition of Svestka. In the current sheet, the presence of highly ionized ions, such as Fe(+17) and Ca(+13), suggests temperature as high as (3-4) x 10(exp 6) K, and the plasma outflows have speeds ranging from 300 to 650 km/s. Absolute elemental abundances in the current sheet show a strong first ionization potential effect and have values similar to those found in the active region streamers. The magnetic field strength in the vicinity of the current sheet is found to be of the order of 1 G.

Ko, Yuan-Kuen↗

NASA NTRS2002

RHESSI and Trace Observations of the 21 April 2002 X1.5 Flare

Observations of the X1.5 flare on 21 April 2002 are reviewed using the Ramaty High Energy Solar Spectroscopic Imager (RHESSI) and the Transition Region and Coronal Explorer (TRACE). The major findings are as follows: 1. The 3-25 keV X-rays started 54 mins before the EUV (195 A) emission suggesting that the initial energy release heated plasma directly to 220 MK, well above the 1.6 MK needed to produce the Fe XII (195 A) line. 2. Using coaligned 12-25 keV RHESSI and TRACE images, further evidence is found for the existence of hot (15-20 MK) plasma in the 195 A passband. This hot, diffuse emission is attributed to the presence of the Fe XXIV (192 A) line within the TRACE 195 A passband. 3. The 12-25 keV source centroid moves away from the limb with an apparent velocity of approx. 9.9 km/ s, slowing to approx. 1.7 km/ s after 3 hours, its find altitude being approx. 120 Mm after approx. 12 hours. This suggests that the energy release site moves to higher altitudes in agreement with classical flare models. 4. The 50-100 keV emission correlates well with EUV flare ribbons, suggesting thick-target interactions at the footpoints of the magnetic arcade. The 50-100 keV time profile matches the time derivative of the GOES light curve (Neupert effect), which suggests that the same electrons that produced the thick-target hard X-ray emission also heat the plasma seen in soft X-rays. 5. X-ray footpoint emission has an E(sup -3) spectrum down to approx. 10 keV suggesting a lower electron cutoff energy than previously thought. 6. The hard X-ray (25-200 keV) peaks have FWHM durations of approx. 1 min suggesting a more gradual energy release process than expected. 7. The TRACE images reveal a bright symmetric front propagating away from the main flare site at speeds of greater than or = 120 km/ s. This may be associated with fast CME observed several minutes later by LASCO. 8. Dark sinuous lanes are observed in the TRACE images that extend almost radially from the post-flare loop system. This "fan of spines" becomes visible well into the decay phase of the flare and shows evidence for both lateral and downward motions.

Gallagher, Peter T.↗

NASA NTRS1987

Wear of iron and nickel in corrosive liquid environments

Friction and wear behavior of Fe and Ni sliding on aluminum oxide in aerated sulfuric acid and hydrochloric acid were investigated. The results show that the concentration of acid is an important factor in controlling the metal loss caused by wear corrosion processes in the acids. At very dilute acid concentration (10 to the -4 N), Fe behaves differently from Ni. Fe develops a soft, friable deposit, while Ni develops no corrosion layer. The formation and removal of the corrosion deposit on Fe resulted in high metal loss and coefficient of friction, as compared to the relatively low metal loss and coefficient of friction observed for Ni. At slightly higher acid concentration (10 to the -3 and 10 to the -2 N), no corrosion products were produced on both Fe and Ni. Wear of Fe and Ni was generally at a minimum. At higher acid concentration (10 to the -1 N and above), loss of Fe and Ni increased as the acid concentration increased. In sulfuric acid the maximum loss of both Fe and Ni was at 7.5 N (30%) concentration, and the metal losses of both Fe and Ni dropped markedly at 15 N (50%) and above. In hydrochloric acid, however, the Fe loss continued to increase with the increase of acid concentration, and the maximum Fe loss occurred in the most concentrated acid (12.1 N, 37%). There were variations in loss with Ni from specimen to specimen examined in hydrochloric acids (10 to the -1 N and above). The coefficient of friction for Ni increased slightly with an increase in acid concentration up to 10 to the -2 N. When corrosion started to dominate in the wear-corrosion process, the coefficient of friction decreased in both sulfuric and hydrochloric acids at 10 to the -1 N and above.

Miyoshi, Kazuhisa↗

NASA NTRS1988

Wear of iron and nickel in corrosive liquid environments

Friction and wear behavior of Fe and Ni sliding on aluminum oxide in aerated sulfuric acid and hydrochloric acid were investigated. The results show that the concentration of acid is an important factor in controlling the metal loss caused by wear corrosion processes in the acids. At very dilute acid concentration (10 to the -4 N), Fe behaves differently from Ni. Fe develops a soft, friable deposit, while Ni develops no corrosion layer. The formation and removal of the corrosion deposit on Fe resulted in high metal loss and coefficient of friction, as compared to the relatively low metal loss and coefficient of friction observed for Ni. At slightly higher acid concentration (10 to the -3 and 10 to the -2 N), no corrosion products were produced on both Fe and Ni. Wear of Fe and Ni was generally at a minimum. At higher acid concentration (10 to the -1 N and above), loss of Fe and Ni increased as the acid concentration increased. In sulfuric acid the maximum loss of both Fe and Ni was at 7.5 N (30 percent) concentration, and the metal losses of both Fe and Ni dropped markedly at 15 N (50 percent) and above. In hydrochloric acid, however, the Fe loss continued to increase with the increase of acid concentration, and the maximum Fe loss occurred in the most concentrated acid (12.1 N, 37 percent). There were variations in loss with Ni from specimen to specimen examined in hydrochloric acids (10 to the -1 N and above). The coefficient of friction for Ni increased slightly with an increase in acid concentration up to 10 to the -2 N. When corrosion started to dominate in the wear-corrosion process, the coefficient of friction decreased in both sulfuric and hydrochloric acids at 10 to the -1 N and above.

Miyoshi, Kazuhisa↗

NASA NTRSDate not supplied

Highlights of NASA’s Orbital Debris Program Office In Situ and Laboratory Measurements

NASA’s Orbital Debris Program Office (ODPO) maintains various returned spacecraft materials, capabilities, and facilities used for in situ and laboratory measurements that directly support orbital debris environmental models. In situ measurements include the analysis of exposed and returned hardware surfaces. These surfaces serve as passive sensors for the small-sized micrometeoroid and orbital debris (MMOD) flux below the sensitivity of ground-based radar and optical sensors. Various instruments and techniques are used to determine the size and depth of selected impact features, and – if feasible – the composition of the projectile material. Analysis of the impactor residues enables the differentiation of MM and OD for debris below 1 mm to support modeling the OD environment. In addition, projectiles identified as OD can be further differentiated in low-, medium-, and high- density impactors based on chemical analyses. In addition to in situ measurements, the ODPO has also worked in collaboration with the U.S. Space Force Space Systems Command (formerly the U.S. Air Force Space and Missile Systems Center), the Aerospace Corporation, and the University of Florida on a laboratory-based hypervelocity impact test, DebriSat, conducted at the Air Force Arnold Engineering Development Complex in 2014. The resulting data from this impact test series are being analyzed to assess the fragments’ sizes/masses, materials/densities, shapes, and other parameters of interest. The DebriSat project provides the data needed to update NASA’s breakup models and size estimation models using the simulated orbital breakup of a modern, low Earth orbit spacecraft. Ultimately, over 200,000 fragments from this impact test will be stored at NASA Johnson Space Center (JSC) and further analyzed by the ODPO. This project will also use machine learning techniques to infer physical parameters of fragments embedded in the soft-catch foam used in the impact experiment. Applied to X-ray imagery of the foam panels, these techniques promise to minimize human-in-the-loop processes for fragment extraction and physical characterization. A brief overview of this project and data collected will be presented. Lastly, the ODPO provides various capabilities hosted at NASA JSC for optical inspections and measurements using a variety of techniques and scientific instrumentation to support both in situ and laboratory measurements. The ODPO’s Optical Measurement Center (OMC) is an advanced facility for photometric and spectroscopic laboratory measurements of targets, including fragments from the DebriSat project. The OMC simulates telescopic observations by using space-like illumination conditions and source-target-sensor orientation techniques. Additionally, the OMC is uniquely equipped to acquire pseudo-bidirectional reflectance distribution data for broadband photometric measurements, thus removing aspect angle dependencies that can affect target size estimates using the optical size estimation model. Narrow-band surface material characterization using spectroscopic instrumentation gives insight into how the albedo parameter – also important in the optical size estimation model – may vary depending on the state of the material. The OMC also performs simulations of photometric measurements using optical ray-tracing software to model the OMC optical throughput. In addition to the OMC, the ODPO houses a start-of-the-art Fragment Analysis Facility that uses multiple microscopic inspection instruments to support in situ measurements and material characterization. An overview of both facilities will be highlighted in this paper.

Orbital Debris↗

NASA NTRSDate not supplied

Highlights of NASA’s Orbital Debris Program Office In Situ and Laboratory Measurements

Orbital Debris↗

NASA NTRS1996

Cascade Optimization Strategy for Aircraft and Air-Breathing Propulsion System Concepts

Design optimization for subsonic and supersonic aircraft and for air-breathing propulsion engine concepts has been accomplished by soft-coupling the Flight Optimization System (FLOPS) and the NASA Engine Performance Program analyzer (NEPP), to the NASA Lewis multidisciplinary optimization tool COMETBOARDS. Aircraft and engine design problems, with their associated constraints and design variables, were cast as nonlinear optimization problems with aircraft weight and engine thrust as the respective merit functions. Because of the diversity of constraint types and the overall distortion of the design space, the most reliable single optimization algorithm available in COMETBOARDS could not produce a satisfactory feasible optimum solution. Some of COMETBOARDS' unique features, which include a cascade strategy, variable and constraint formulations, and scaling devised especially for difficult multidisciplinary applications, successfully optimized the performance of both aircraft and engines. The cascade method has two principal steps: In the first, the solution initiates from a user-specified design and optimizer, in the second, the optimum design obtained in the first step with some random perturbation is used to begin the next specified optimizer. The second step is repeated for a specified sequence of optimizers or until a successful solution of the problem is achieved. A successful solution should satisfy the specified convergence criteria and have several active constraints but no violated constraints. The cascade strategy available in the combined COMETBOARDS, FLOPS, and NEPP design tool converges to the same global optimum solution even when it starts from different design points. This reliable and robust design tool eliminates manual intervention in the design of aircraft and of air-breathing propulsion engines where it eases the cycle analysis procedures. The combined code is also much easier to use, which is an added benefit. This paper describes COMETBOARDS and its cascade strategy and illustrates the capability of the combined design tool through the optimization of a subsonic aircraft and a high-bypass-turbofan wave-rotor-topped engine.

Patnaik, Surya N.↗

NASA NTRS1956

Coke Deposition and Smoke Formation in Turbojet Engines

In the early development of jet engines, it was occasionally found that excessive amounts of coke or other carbonaceous deposits were formed in the combustion chamber. Sometimes a considerable amount of smoke was noted in the-exhaust gases. Excessive coke deposits may adversely affect jet-engine performance in several ways. The formation of excessive amounts of coke on or just downstream of a fuel nozzle (figs. 116(a) and (b)) changes the fuel-spray pattern and possibly affects combustor life and performance. Similar effects on performance can result from the deposition of coke on primary-air entry ports (fig. 116(c)). Sea-level or altitude starting may be impaired by the deposition of coke on spark-plug electrodes (fig. 116(b)), deposits either grounding the electrodes completely or causing the spark to occur at positions other than the intended gap. For some time it was thought that large deposits of coke in turbojet combustion chambers (fig. 116(a)) might break away and damage turbine blades; however, experience has indicated that for metal blades this problem is insignificant. (Cermet turbine blades may be damaged by loose coke deposits.) Finally, the deposition of coke may cause high-temperature areas, which promote liner warping and cracking (fig. 116(d)) from excessive temperature gradients and variations in thermal-expansion rates. Smoke in the exhaust gases does not generally impair engine performance but may be undesirable from a tactical or a nuisance standpoint. Appendix B of reference 1 and references 2 to 4 present data obtained from full-scale engines operated on test stands and from flight tests that indicate some effects on performance caused by coke deposits and smoke. Some information about the mechanism of coke formation is given in reference 5 and chapter IX. The data indicate that (1) high-boiling fuel residuals and partly polymerized products may be mixed with a large amount of smoke formed in the gas phase to account for the consistency, structure, and chemical composition of the soft coke in the dome and (2) the hard deposits on the liner are similar to petroleum coke and may result from the liquid-phase thermal cracking of the fuel. During the early development period of jet engines, it was noted that the excessive coke deposits and exhaust smoke were generally obtained when fuel-oil-type fuels were used. Engines using gasoline-type fuels were relatively free from the deposits and smoke. These results indicated that some type of quality control would be needed in fuel specifications. Also noted was the effect of engine operating conditions on coke deposition. It is possible that, even with a clean-burning fuel, an excessive amount of coke could be formed at some operating conditions. In this case, combustor redesign could possibly reduce the coke to a tolerable level. This chapter is a summary of the various coke-deposition and exhaust-smoke problems connected- with the turbojet combustor. Included are (1) the effect of coke deposition on combustor life or durability and performance; (2) the effect of combustor design, operating conditions, inlet variables, and fuel characteristics on coke deposition; (3) elimination of coke deposits; (4) the effect of operating conditions and fuel characteristics on formation of exhaust smoke; and (5) various bench test methods proposed for determining and controlling fuel quality.

Hibbard, R. R.↗

NASA NTRS2009

X-Ray Calorimeter Arrays for Astrophysics

High-resolution x-ray spectroscopy is a powerful tool for studying the evolving universe. The grating spectrometers on the XMM and Chandra satellites started a new era in x-ray astronomy, but there remains a need for instrumentation that can provide higher spectral resolution with high throughput in the Fe-K band (around 6 keV) and can enable imaging spectroscopy of extended sources, such as supernova remnants and galaxy clusters. The instrumentation needed is a broad-band imaging spectrometer - basically an x-ray camera that can distinguish tens of thousands of x-ray colors. The potential benefits to astrophysics of using a low-temperature calorimeter to determine the energy of an incident x-ray photon via measurement of a small change in temperature was first articulated by S. H. Moseley over two decades ago. In the time since, technological progress has been steady, though full realization in an orbiting x-ray telescope is still awaited. A low-temperature calorimeter can be characterized by the type of thermometer it uses, and three types presently dominate the field. The first two types are temperature-sensitive resistors - semiconductors in the metal-insulator transition and superconductors operated in the superconducting-normal transition. The third type uses a paramagnetic thermometer. These types can be considered the three generations of x-ray calorimeters; by now each has demonstrated a resolving power of 2000 at 6 keV, but only a semiconductor calorimeter system has been developed to spaceflight readiness. The Soft X-ray Spectrometer on Astro-H, expected to launch in 2013, will use an array of silicon thermistors with I-IgTe x-ray absorbers that will operate at 50 mK. Both the semiconductor and superconductor calorimeters have been implemented in small arrays, kilo-pixel arrays of the superconducting calorimeters are just now being produced, and it is anticipated that much larger arrays will require the non-dissipative advantage of magnetic thermometers.

Kilbourne, Caroline A.↗

NASA NTRS1991

Reusable Reentry Satellite (RRS) system design study

The Reusable Reentry Satellite (RRS) is intended to provide investigators in several biological disciplines with a relatively inexpensive method to access space for up to 60 days with eventual recovery on Earth. The RRS will permit totally intact, relatively soft, recovery of the vehicle, system refurbishment, and reflight with new and varied payloads. The RRS is to be capable of three reflights per year over a 10-year program lifetime. The RRS vehicle will have a large and readily accessible volume near the vehicle center of gravity for the Payload Module (PM) containing the experiment hardware. The vehicle is configured to permit the experimenter late access to the PM prior to launch and rapid access following recovery. The RRS will operate in one of two modes: (1) as a free-flying spacecraft in orbit, and will be allowed to drift in attitude to provide an acceleration environment of less than 10(exp -5) g. the acceleration environment during orbital trim maneuvers will be less than 10(exp -3) g; and (2) as an artificial gravity system which spins at controlled rates to provide an artificial gravity of up to 1.5 Earth g. The RRS system will be designed to be rugged, easily maintained, and economically refurbishable for the next flight. Some systems may be designed to be replaced rather than refurbished, if cost effective and capable of meeting the specified turnaround time. The minimum time between recovery and reflight will be approximately 60 days. The PMs will be designed to be relatively autonomous, with experiments that require few commands and limited telemetry. Mass data storage will be accommodated in the PM. The hardware development and implementation phase is currently expected to start in 1991 with a first launch in late 1993.

Source record↗

NASA NTRS2011

Heliocentric Distance of Coronal Mass Ejections at the Time of Energetic Particle Release: Revisiting the Ground Level Enhancement Events of Solar Cycle 23

Using the kinematics of coronal mass ejections (CMEs), onset time of soft X-ray flares, and the finite size of the pre-eruption CME structure, we derive the heliocentric distan~e at which the energetic particles during the ground level enhancement (GLE) events of Solar Cycle 23. We find that the GLE particles are released when the CMEs reach an average heliocentric distance of approx.3.25 solar radii (Rs). From this we infer that the shocks accelerating the particles are located at similar heights. Type II radio burst observations indicate that the CMEs are at much lower distances (average approx.1.4 Rs) when the CME-driven shock first forms. The shock seems to travel approx.1.8 Rs over a period of approox.30 min on the average before releasing the GLE particles. In deriving these results, we made three assumptions that have observational support: (i) the CME lift off occurs from an initial distance of about 1.25 Rs; (ii) the flare onset and CME onset are one and the same because these are two different manifestations of the same eruption; and (iii) the CME has positive acceleration from the onset to the first appearance in the coronagraphic field of view (2.5 to 6 Rs). Observations of coronal cavities in eclipse pictures and in coronagraphic images justify the assumption (i). The close relationship between the flare reconnection magnetic flux and the azimuthal flux of interplanetary magnetic clouds justify assumption (ii) consistent with the standard model (CSHKP) of solar eruption. Coronagraphic observations made close to the solar surface indicate a large positive acceleration of CMEs to a heliocentric distance of approx.3 Rs before they start slowing down due to the drag force. The inferred acceleration (approx.1.5 km/s/s) is consistent with reported values in the literature.

Gopalswamy, Natchimuthuk↗

NASA NTRS2004

Evaluation of Open-Source Hard Real Time Software Packages

Reliable software is, at times, hard to find. No piece of software can be guaranteed to work in every situation that may arise during its use here at Glenn Research Center or in space. The job of the Software Assurance (SA) group in the Risk Management Office is to rigorously test the software in an effort to ensure it matches the contract specifications. In some cases the SA team also researches new alternatives for selected software packages. This testing and research is an integral part of the department of Safety and Mission Assurance. Real Time operation in reference to a computer system is a particular style of handing the timing and manner with which inputs and outputs are handled. A real time system executes these commands and appropriate processing within a defined timing constraint. Within this definition there are two other classifications of real time systems: hard and soft. A soft real time system is one in which if the particular timing constraints are not rigidly met there will be no critical results. On the other hand, a hard real time system is one in which if the timing constraints are not met the results could be catastrophic. An example of a soft real time system is a DVD decoder. If the particular piece of data from the input is not decoded and displayed to the screen at exactly the correct moment nothing critical will become of it, the user may not even notice it. However, a hard real time system is needed to control the timing of fuel injections or steering on the Space Shuttle; a delay of even a fraction of a second could be catastrophic in such a complex system. The current real time system employed by most NASA projects is Wind River's VxWorks operating system. This is a proprietary operating system that can be configured to work with many of NASA s needs and it provides very accurate and reliable hard real time performance. The down side is that since it is a proprietary operating system it is also costly to implement. The prospect of replacing this somewhat costly implementation is the focus of one of the SA group s current research projects. The explosion of open source software in the last ten years has led to the development of a multitude of software solutions which were once only produced by major corporations. The benefits of these open projects include faster release and bug patching cycles as well as inexpensive if not free software solutions. The main packages for hard real time solutions under Linux are Real Time Application Interface (RTAI) and two varieties of Real Time Linux (RTL), RTLFree and RTLPro. During my time here at NASA I have been testing various hard real time solutions operating as layers on the Linux Operating System. All testing is being run on an Intel SBC 2590 which is a common embedded hardware platform. The test plan was provided to me by the Software Assurance group at the start of my internship and my job has been to test the systems by developing and executing the test cases on the hardware. These tests are constructed so that the Software Assurance group can get hard test data for a comparison between the open source and proprietary implementations of hard real time solutions.

Mattei, Nicholas S.↗

NASA NTRS1992

The ALEXIS data processing package: An IDL based system

The Array of Low Energy X-ray Imaging Sensors (ALEXIS) experiment consists of a mini-satellite containing six wide angle EUV/ultrasoft x-ray telescopes. Its purpose is to map out the sky in three narrow (approximately 5 percent) bandpasses around 66, 71, and 93 eV. The 66 and 71 eV bandpasses are centered on intense Fe emission lines which are characteristic of million degree plasmas such as the one thought to produce the soft x-ray background. The 93 eV bandpass is not near any strong emission lines and is more sensitive to continuum sources. The mission will be launched on the Pegasus Air Launched Vehicle in the second half of 1992 into a 400-nautical-mile, high inclination orbit and will be controlled entirely from a small ground station located at Los Alamos. The project is a collaborative effort between Los Alamos National Laboratory, Sandia National Laboratory, and the University of California-Berkeley Space Sciences Laboratory. The six telescopes are arranged in three pairs. As the satellite spins twice a minute they scan the entire anti-solar hemisphere. Each f/1 telescope consists of a spherical, multilayer-coated mirror with a curved, microchannel plate detector located at the prime focus. The multilayer coatings determine the bandpasses of the telescopes. The field of view of each telescope is 30 degrees with a spatial resolution of 0.5 degree, limited by spherical aberration. The data processing requirements for ALEXIS are large. Each event is one of the six telescopes is telemetered to the ground with its time of arrival and position on the detector. This information must be folded with the aspect solution for the satellite to reconstruct the direction on the sky from which the photon came. Because of the way the six telescopes scan the sky, the effective exposure calculation is also very computationally intensive. ALEXIS may generate up to 100 megabytes of raw data per day, which are converted into a gigabyte per day of processed data. While the processing job for ALEXIS is sizable, the programming staff is small. To maximize programming efficiency, and to make the best use of tools available in the public domain, we chose IDL as our software development platform. IDL was used from the start of instrument development through flight. We use IDL as a top-level executive for the processing tasks (replacing Unix shell scripts), as a device independent graphics engine, as a database manager, and as a final data manipulator. IDL routines spawn special purpose C programs to perform detailed telemetry deconvolution and other specialized functions. We discuss the use of IDL and C within the processing and archiving strategy for the ALEXIS data anlaysis system as implemented on a SPARCstation platform. We also show results from our End-to-End software simulation capability as processed by our analysis codes.

Bloch, J. J.↗

NASA NTRS2014

The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-Rotors

During the course of the Kennedy Space Center Summer Internship, two main experiments were performed: The Vacuum-Compacted Regolith Gripping Mechanism and Unmanned Flights via Quad-copters. The objectives of the Vacuum-Compacted Regolith Gripping Mechanism, often abbreviated as the Granular Gripper, are to exhibit Space Technology, such as a soft robotic hand, lift different apparatuses used to excavate regolith, and conserve energy while executing its intended task. The project is being conducted to test how much weight the Granular Gripper can hold. With the use of an Animatronic Robotic Hand, Arduino Uno, and other components, the system was calibrated before actually conducting the intended weight test. The maximum weight each finger could hold with the servos running, in the order of pinky, ring, middle, and index fingers, are as follows: 1.340N, 1.456 N, 0.9579 N, and 1.358 N. Using the small vacuum pump system, the maximum weight each finger could hold, in the same order, was: 4.076 N, 6.159 N, 5.454 N, and 4.052 N. The maximum torques on each of the fingers when the servos were running, in the same respective order, was: 0.0777 Nm, 0.0533 Nm, 0.0648 Nm, and 0.0532 Nm. The maximum torques on the individual fingers, when the small vacuum pump was in effect, in the same order as above, was: 0.2318 Nm, 0.3032 Nm, 0.2741 Nm, and 0.1618 Nm. In testing all the fingers with the servos running, the total weight was 5.112 N and the maximum torque on the all the fingers was 0.2515 Nm. However, when the small vacuum pump system was used, the total weight was 19.741 N and the maximum torque on the all the fingers was 0.9713 Nm. The conclusion that was drawn stated that using the small vacuum pump system proved nearly 4 times more effective when testing how much weigh the hand could hold. The resistance provided by the compacted sand in the glove allowed more weight to be held by the hand and glove. Also, when the servos turned off and the hand still retaining its position, energy is being saved because the vacuum created the same resistance the running servos did without using power. The Unmanned Flights via Quad-rotors are built because multi-rotor dynamics are an important starting point and fair analog for space craft control systems and they make good terrestrial development platforms for various aspects of control for space crafts. The project is being conducted to see what the thrust response is going to be when a pulse width modulation command is sent to the control system since the quad-rotors are PWM controlled. A simulation environment in constructed so that one can quickly iterate and test different designs such as control systems, PID control vs. LDR control, and state estimation. Using two DIY Quad Kits, APM 2.6, testing apparatus (called a data acquisition system) to test the quad-rotors, and a simulation program such as Simulink, two quad-rotors are built and controlled via a simulation program, which is designed to be as realistic as possible and not idealistic. Due to the quad-rotors not being completely built nor ready for testing, there are no results or conclusions to report.

Granular Gripper↗

NASA NTRS2001

Onset of the Magnetic Explosion in Solar Flames and Coronal Mass Ejections

We present observations of the magnetic field configuration and its transformation in six solar eruptive events that show good agreement with the standard bipolar model for eruptive flares. The observations are X-ray images from the Yohkoh soft X-ray telescope (SXT) and magnetograms from Kitt Peak National Solar Observatory, interpreted together with the 1-8 Angstrom X-ray flux observed by Geostationary Operational Environmental Satellites (GOES). The observations yield the following interpretations: (1) Each event is a magnetic explosion that occurs in an initially closed single bipole in which the core field is sheared and twisted in the shape of a sigmoid, having an oppositely curved elbow on each end. The arms of the opposite elbows are sheared past each other so that they overlap and are crossed low above the neutral line in the middle of the bipole. The elbows and arms seen in the SXT images are illuminated strands of the sigmoidal core field, which is a continuum of sheared/twisted field that fills these strands as well as the space between and around them; (2) Although four of the explosions are ejective (appearing to blow open the bipole) and two are confined (appearing to be arrested within the closed bipole), all six begin the same way. In the SXT images, the explosion begins with brightening and expansion of the two elbows together with the appearance of short bright sheared loops low over the neutral line under the crossed arms and, rising up from the crossed arms, long strands connecting the far ends of the elbows; and (3) All six events are single-bipole events in that during the onset and early development of the explosion they show no evidence for reconnection between the exploding bipole and any surrounding magnetic fields. We conclude that in each of our events the magnetic explosion was unleashed by runaway tether-cutting via implosive/explosive reconnection in the middle of the sigmoid, as in the standard model. The similarity of the onsets of the two confined explosions to the onsets of the four ejective explosions and their agreement with the model indicate that runaway reconnection inside a sheared core field can begin whether or not a separate system of overlying fields, or the structure of the bipole itself, allows the explosion to be ejective. Because this internal reconnection apparently begins at the very start of the sigmoid eruption and grows in step with the explosion, we infer that this reconnection is essential for the onset and growth of the magnetic explosion in eruptive flares and coronal mass ejections.

Moore, Ronald L.↗

NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗