SEARCH · Engineering Papers
Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.
This paper describes the vision algorithms used in several tasks, as well as the vision-guided manipulation algorithms developed to mitigate mismatches between the vision system and the limbs used for manipulation. Two system-level tasks will be described, one involving a two meter walk culminating in a bolt-fastening task and one involving a vision-guided alignment ending with the robot mating with a docking station.
The Atmospheric Infrared Sounder (AIRS) is a hyper-spectral infrared sounder which covers the 3.7 to 15,4 micron region with 2378 spectral channels. The AIRS instrument specification called for spatial co-registration of all channels to better than 2% of the field of view. Pre-launch testing confirmed that this requirement was met, since the standard deviations in the centroids was about 1% of the 13.5 km IFOV in scan and 3% in track. Detailed analysis of global AIRS data show that the typical scene gradient in 10 micron window channels is about I .3K/km rms. The way these gradients, which are predominantly caused by clouds, manifest themselves in the data depends on the details of the instrument design and the way the spectral channels are used in the data analysis, AIRS temperature and moisture retrievals use 328 of the 2378 channels from 17 independent arrays. As a result, the effect of the boresight misalignment averages to zero mean. Any increase in the effective noise is less than 0.2K. Also, there is no discernable performance degradation of products at the 45 km spatial resolution in the presence of partially cloudy scenes with up to 80% cloudiness. Single pixel radiometric differences between channels with boresight alignment differences can be appreciable and can affect scientific investigations on a single 15km footprint scale, particularly near coastlines, thunderstorms and surface emissivity inhomogeneities.
During SOHO-Sun-Ulysses quadratures the geometry of the configuration makes it possible to sample "in situ" the plasma parcels that are remotely observed in the corona. Although the quadrature position occurs at a well defined instant in time, we typically take data while Ulysses is within +/- 5 degrees of the limb, with the understanding that plasma sampled by Ulysses over this time interval can all be traced to its source in the corona. The relative positions of SOHO and Ulysses in winter 2007 (19 Dec 2006-28 May 2007) are unusual: the SOHO-Sun-Ulysses included angle is always between 85 and 95 degrees - the quadrature lasts for 5 months! This provides an opportunity for extended observations of specific observing objectives. In addition, in summer 2007, Ulysses (at 1.34 AU) is in near-radial alignment with Earth/ACE/Wind and SOHO, allowing us to analyze radial gradients and propagation in the solar wind and inner heliosphere. Our own quadrature campaigns rely heavily on LASCO and UVCS coronal observations: LASCO giving the overall context above 2 solar radii while the UVCS spectrograph acquired data from - 1.5 to, typically, 4-5 solar radii. In the past, coronal parameters have been derived from data acquired by these two experiments and compared with "in situ" data of Ulysses' SWOOPS and SWICS. Data from other experiments like EIT, CDS, SUMER, Sac Peak Fe XIV maps, magnetic field maps from the Wilcox solar magnetograph, MLSO, from MDI, and from the Ulysses magnetograph experiment have been, and will be, used to complement LASCO/UVCS/SWOOPS and SWICS data. We anticipate that observations by ACE/WIND/STEREO/Hinode and other missions will be relevant as well. During the IHY campaigns, Ulysses will be 52-80 degrees south in winter 2007, near sunspot minimum. Hence, our own scientific objective will be to sample high speed wind or regions of transition between slow and fast wind. This might be a very interesting situation - not met in previous quadratures - allowing us to study the variation of element abundances across streamer borders in the corona and,correspondingly, "in situ". Also, observing plasma over prolonged time intervals and at different latitudes, we may examine the latitude variation of the fractionation effect (e.g. Yon Steiger, 2002) and its dependence on time (e.g. Woo, 2004). For instance, if the FIP bias is dictated by the duration of plasma confinement in solar loops, its value in streamers should depend on the streamer age. Analogous variations should be found in the abundances of "in situ" plasma released by the streamer. All Ulysses and SOHO data is in the public domain and accessible so different objectives could be addressed by others. The winter 2008 quadrature will be well into the next sunspot cycle and there might be significant high mid-latitude activity. Ulysses will be up to 80 degrees in the northern hemisphere at this time and able to detect the resulting ICMEs and ejecta, allowing us to study the physical parameters of the propagating CME bubble/core/front, and/or to study the coronal and "in situ" characteristics of the current sheet associated with the event (e.g. Bemporad et al. 2005), so far still vaguely defined.
We are developing grazing-incidence x-ray optics for astronomy. The optics are full-cylinder mirror shells fabricated using electroformed-nickel replication off super-polished mandrels. For space-based applications where weight is at a premium, very-thin-walled, light-weight mirrors are required. Such shells have been fabricated at MSFC with greater than 15 arcsec resolution. The challenge, however, is to preserve this resolution during mounting and assembly. We present here a status report on a mounting and alignment system currently under development at Marshall Space Flight Center to meet this challenge.
This viewgraph presentation reviews auxiliary and electric field effects on fiber alignment during the process of electrospinning. The contents include: 1) Electrospinning Overview; 2) Experimental Set-up; 3) Jet Exit; 4) Auxiliary Electrode Effects; 5) Electrospinning High Speed Video; 6) Effect of Auxiliary Electrode Position; 7) Micro & Nano Fibers Produced; 8) Micro and Nano Fibrous Mats; 9) Field Effect on Fiber Distribution; 10) Modeling; 11) Calculated trajectories: 5, 10, 15 & 20cm electrode spacing; 12) Off Axis Auxiliary Electrode; 13) Field Strength Effects; and 14) Potential Applications.
An alignment network between N parallel data input ports and N parallel data outputs includes a first and a second barrel switch. The first barrel switch fed by the N parallel input ports shifts the N outputs thereof and in turn feeds the N-1 input data paths of the second barrel switch according to the relationship X=k.sup.y modulo N wherein x represents the output data path ordering of the first barrel switch, y represents the input data path ordering of the second barrel switch, and k equals a primitive root of the number N. The zero (0) ordered output data path of the first barrel switch is fed directly to the zero ordered output port. The N-1 output data paths of the second barrel switch are connected to the N output ports in the reverse ordering of the connections between the output data paths of the first barrel switch and the input data paths of the second barrel switch. The second switch is controlled by a value m, which in the preferred embodiment is produced at the output of a ROM addressed by the value d wherein d represents the incremental spacing or distance between data elements to be accessed from the N input ports, and m is generated therefrom according to the relationship d=k.sup.m modulo N.
An achromatic shearing phase sensor generates an image indicative of at least one measure of alignment between two segments of a segmented telescope's mirrors. An optical grating receives at least a portion of irradiance originating at the segmented telescope in the form of a collimated beam and the collimated beam into a plurality of diffraction orders. Focusing optics separate and focus the diffraction orders. Filtering optics then filter the diffraction orders to generate a resultant set of diffraction orders that are modified. Imaging optics combine portions of the resultant set of diffraction orders to generate an interference pattern that is ultimately imaged by an imager.
An improved encoder alignment system is disclosed which provides an indication of the extent of misalignment and a measure of the rate at which the misalignment may be changing. The invention is adapted for use with a conventional encoder which provides a digital coarse word having at least significant bit and a digital fine word having a least significant bit and a most significant bit. The invention generates the exclusive or of the least significant bit of the coarse digital signal and the least significant bit of the fine digital signal to provide a first signal. The invention then generates the exclusive or of the first signal and the complement of the most significant bit of the fine digital signal to provide an output signal which represents the misalignment of the encoder.
The Tharsis province of Mars displays a variety of small volcanic vent (10s krn in diameter) morphologies. These features were identified in Mariner and Viking images [1-4], and Mars Orbiter Laser Altimeter (MOLA) data show them to be more abundant than originally observed [5,6]. Recent studies are classifying their diverse morphologies [7-9]. Building on this work, we are mapping the location of small volcanic vents (small-vents) in the Tharsis province using MOLA, Thermal Emission Imaging System, and High Resolution Stereo Camera data [10]. Here we report on a preliminary study of the spatial and alignment relationships between small-vents south of Pavonis Mons, as determined by nearest neighbor and two-point azimuth statistical analyses. Terrestrial monogenetic volcanic fields display four fundamental characteristics: 1) recurrence rates of eruptions,2 ) vent abundance, 3) vent distribution, and 4) tectonic relationships [11]. While understanding recurrence rates typically requires field measurements, insight into vent abundance, distribution, and tectonic relationships can be established by mapping of remotely sensed data, and subsequent application of spatial statistical studies [11,12], the goal of which is to link the distribution of vents to causal processes.
A major unsolved question in the physics of ionosphere-magnetosphere coupling is how field-aligned currents (FACs) close. In order to maintain the divergence free condition, overall downward FACs (carried mainly by upward electrons) must eventually balance the overall upward FACs associated with the precipitating electrons through ionospheric Pedersen currents. Although much of the current closure may take place via local Pedersen currents flowing between Region 1 (R1) and Region 2 (R2) FACs, there is a generally an imbalance, i.e., more currents in R1 than in R2, in total currents between them. The net currents may be closed within R1 via cross-polar cap Pedersen currents. In this study, we use the magnetic field observations from Space Technology 5 mission to quantify the imbalance of R1 and R2 currents. We will determine the net R1-R2 currents under various solar wind conditions and discuss the implication of such imbalance to the ionospheric closure currents.
The role that the cleft/cusp has in ionosphere/magnetosphere coupling makes it a very dynamic region having similar fundamental processes to those within the auroral regions. With Polar passing through the cusp at 1 Re in the Spring of 1996, we observe a strong correlation between ion heating and broadband ELF (BBELF) emissions. This commonly observed relationship led to the study of the coupling of large field-aligned currents, burst electric fields, and the thermal O+ ions. We demonstrate the role of these measurements to Alfvenic waves and stochastic ion heating. Finally we will show the properties of the resulting density cavities.
Control of electrospun fiber placement and distribution was investigated by examining the effect of electric field parameters on the electrospinning of fibers. The experimental set-up used in this study eliminated the bending instability and whipping, allowing the jet to be modeled as a stable trajectory. Coupling of experimental and computational results suggests the potential for predicting aligned fiber distribution in electrospun mats.
We are developing grazing-incidence x-ray optics for high-energy astrophysical applications using the electroformnickel replication process. For space-based applications these optics must be light-weight yet stable, which dictates the use of very-thin-walled full-shell mirrors. Such shells have been fabricated with resolution as good as 11 arcsec for hard x-rays, and technology enhancements under development at MSFC are aimed at producing mirrors with resolution better than 10 arcsec. The challenge, however, is to preserve this resolution during mounting and assembly. We present here a status report on a mounting and alignment system currently under development at Marshall Space Flight Center designed to meet this challenge.
A carbon nanotube (CNT) attraction material is deposited on a substrate in the gap region between two electrodes on the . substrate. An electric potential is applied to the two electrodes. The CNT attraction material is wetted with a solution defined by a carver liquid having carbon nanotubes (CNTs) suspended therein. A portion of the CNTs align with the electric field and adhere to The CNT attraction material. The carrier liquid and any CNTs not adhered to the CNT attraction material are then removed.
A suspension-mounting scheme is developed for the IXO (International X-ray Observatory) mirror segments in which the figure of the mirror segment is preserved in each stage of mounting. The mirror, first fixed on a thermally compatible strongback, is subsequently transported, aligned and transferred onto its mirror housing. In this paper, we shall outline the requirement, approaches, and recent progress of the suspension mount processes.
The Segment Alignment Maintenance System (SAMS) software is designed to maintain the overall focus and figure of the large segmented primary mirror of the Hobby-Eberly Telescope. This software reads measurements made by sensors attached to the segments of the primary mirror and from these measurements computes optimal control values to send to actuators that move the mirror segments.
A field of small volcanic vents south of Pavonis Mons was mapped with each vent assigned a two-dimensional data point. Nearest neighbor and two-point azimuth analyses were applied to the resulting location data. Nearest neighbor results show that vents within this field are spatially random in a Poisson sense, suggesting that the vents formed independently of each other without sharing a centralized magma source at shallow depth. Two-point azimuth results show that the vents display north-trending alignment relationships between one another. This trend corresponds to the trends of faults and fractures of the Noachian-aged Claritas Fossae, which might extend into our study area buried beneath more recently emplaced lava flows. However, individual elongate vent summit structures do not consistently display the same trend. The development of the volcanic field appears to display tectonic control from buried Noachian-aged structural patterns on small, ascending magma bodies while the surface orientations of the linear vents might reflect different, younger tectonic patterns. These results suggest a complex interaction between magma ascension through the crust, and multiple, older, buried Tharsis-related tectonic structures.
Crew Optical Alignment Sights (COAS) are used by spacecraft pilots to provide a visual reference to a target spacecraft for lateral relative position during rendezvous and docking operations. NASA s Orion vehicle, which is currently under development, has not included a COAS in favor of automated sensors, but the crew office has requested such a device be added for situational awareness and contingency support. The current Space Shuttle COAS was adopted from Apollo heritage, weighs several pounds, and is no longer available for procurement which would make re-use difficult. In response, a study was conducted to examine the possibility of converting a commercially available weapons sight to a COAS for the Orion spacecraft. The device used in this study was the XPS series Holographic Weapon Sight (HWS) procured from L-3 EOTech. This device was selected because the targeting reticule can subtend several degrees, and display a graphic pattern tailored to rendezvous and docking operations. Evaluations of the COAS were performed in both the Orion low-fidelity mockup and rendezvous simulations in the Reconfigurable Operational Cockpit (ROC) by crewmembers, rendezvous engineering experts, and flight controllers at Johnson Space Center. These evaluations determined that this unit s size and mounting options can support proper operation and that the reticule visual qualities are as good as or better than the current Space Shuttle COAS. The results positively indicate that the device could be used as a functional COAS and supports a low-cost technology conversion solution.