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The use of computer graphic simulation in the development of robotic systems

This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems. Use of this technology will result in greatly improved systems and reduced development costs. The major design issues in developing effective robotic systems are discussed and the use of ROBOSIM, a NASA developed simulation tool, to address these issues is presented. Three representative simulation case studies are reviewed: off-line programming of the robotic welding development cell for the Space Shuttle Main Engine (SSME); the integration of a sensor to control the robot used for removing the Thermal Protection System (TPS) from the Solid Rocket Booster (SRB); and the development of a teleoperator/robot mechanism for the Orbital Maneuvering Vehicle (OMV).

Fernandez, Ken↗

The Microwave Anisotropy Probe (MAP): Guidance, Navigation, and Control Hardware Suite

The Microwave Anisotropy Probe (MAP) was launched June 30, 2001 to create an all-sky map of the Cosmic Microwave Background. The mission's hardware suite included two Lockheed Martin AST-201 star trackers, two Kearfott Two-Axis Rate Assemblies (TARAs) mounted to provide X, Y and redundant Z-axis rates, two Adcole Digital Sun Sensor (DSS) heads sharing one set of electronics, twelve Adcole Coarse Sun Sensor (CSS) eyes, three Ithaco E-sized Reaction Wheel Assemblies (RWAs), and a Propulsion Subsystem that employed eight PRIMEX Rocket Engine Modules (REMs). This hardware has allowed MAP to meet its various Orbit and Attitude Control Requirements, including performing a complex zero-momentum scan, meeting its attitude determination requirements, and maintaining a trajectory that places MAP in a lissajous orbit around the second Sun-Earth Lagrange point (L2) via phasing loops and a lunar gravity assist. Details of MAP's attitude determination, attitude control, and trajectory design are presented separately. This paper will focus on the performance of the hardware components mentioned above, as well as the significant lessons learned through the use of these components. An emphasis will be placed on spacecraft design modifications that were needed to accommodate existing hardware designs into the MAP Observatory design.

Ward, David K.↗

Space Resource Utilization and Extending Human Presence Across the Solar System

The Presidents Vision for Exploration is not a single mission, but an open ended journey that seeks to answer "How can we live on other worlds?" Using space resources is the only known approach for affordable, sustained, flexible, and self sufficient, human occupation beyond Earth orbit. Earth is a large planet. A simple analysis using the rocket equation shows that if Earth were a bit larger, chemical propulsion as a mechanism to access space would become impractical. Thus, even with the most efficient chemical rocket launch capability, the cost of lifting massive payloads into space will remain very steep (currently about $l00k/lb to the Moon and greater than $500k/lb to Mars). Space resource utilization should begin with an aggressive broad based demonstration program as afforded by the precursor missions implementation of the President's Vision of Exploration. Ion engine upper stages, for example, were studied for over 30 years, but only implemented in design after the Deep Space 1 in space demonstration. These demonstrations should include: extraction of elements from lunar regolith, and Martian soil and atmosphere, demonstration of power break even and growth from lunar or Mars moons derived photovoltaics, oxygen extraction for life support and propellant, and metals and alloys for in space repair and the production of habits and radiation shielding. Space resource utilization yields operational dividends through the subsequent programs including: propellant from lunar oxygen which could cut transportation costs from Earth in half, mega watts per year of power grown from lunar photovoltaics at decreasing cost per kW, decreased cost for human Mars missions by a factor of 10 by using propellant derived from Mars atmosphere for return, and in space manufacturing and food production with space resources yielding safe sustained and eventually self sufficient human presence in space. After the demonstration and implementation, the space resource utilization investment enables commercial and private viability beyond Earth orbit. For example, analysis has shown the lunar oxygen production for propellant becomes commercially viable after the exploration program completes the R&D, and power from lunar derived photovoltaics could, according to past NASA sponsored studies, pay for themselves while supplying most of Earth's electrical energy after about 17 years. Besides the Moon and Mars the resources of the near Earth asteroids enable the building of large space structures and science payloads. Analysis has shown that one of the thousands of these objects (some as easily accessible in space as the Moon and Mars), 2 km dia, the size of a typical open pit mine, would cost the total global financial product of Earth for 30,000 years if we were to launch it from Earth. Beyond Mars, the belt asteroids have been calculated to contain enough materials for habitat and life to support 10 quadrillion people. Thus, the development and use of space resources enables the extension of human life through the solar system allowing humanity to move from a planetary to a solar system society.

Curreri, Peter A.↗

Space Launch System Base Heating Test: Environments and Base Flow Physics

The NASA Space Launch System (SLS) vehicle is composed of four RS-25 liquid oxygen-hydrogen rocket engines in the core-stage and two 5-segment solid rocket boosters and as a result six hot supersonic plumes interact within the aft section of the vehicle during flight. Due to the complex nature of rocket plume-induced flows within the launch vehicle base during ascent and a new vehicle configuration, sub-scale wind tunnel testing is required to reduce SLS base convective environment uncertainty and design risk levels. This hot-fire test program was conducted at the CUBRC Large Energy National Shock (LENS) II short-duration test facility to simulate flight from altitudes of 50 kft to 210 kft. The test program is a challenging and innovative effort that has not been attempted in 40+ years for a NASA vehicle. This paper discusses the various trends of base convective heat flux and pressure as a function of altitude at various locations within the core-stage and booster base regions of the two-percent SLS wind tunnel model. In-depth understanding of the base flow physics is presented using the test data, infrared high-speed imaging and theory. The normalized test design environments are compared to various NASA semi-empirical numerical models to determine exceedance and conservatism of the flight scaled test-derived base design environments. Brief discussion of thermal impact to the launch vehicle base components is also presented.

Mehta, Manish↗

Atmospheric Mining in the Outer Solar System: Outer Planet Orbital Transfer and Lander Analyses

High energy propellants for human lunar missions are analyzed, focusing on very advanced ozone and atomic hydrogen. One of the most advanced launch vehicle propulsion systems, such as the Space Shuttle Main Engine (SSME), used hydrogen and oxygen and had a delivered specific impulse of 453 seconds. In the early days of the space program, other propellants (or so called metapropellants) were suggested, including atomic hydrogen and liquid ozone. Theoretical and experimental studies of atomic hydrogen and ozone were conducted beginning in the late 1940s. This propellant research may have provided screenwriters with the idea of an atomic hydrogen-ozone rocket engine in the 1950 movie, Rocketship X-M. This paper presents analyses showing that an atomic hydrogen-ozone rocket engine could produce a specific impulse over a wide range of specific impulse values reaching as high as 1,600 seconds. A series of single stage and multistage rocket vehicle analyses were conducted to find the minimum specific impulse needed to conduct high energy round trip lunar missions.

lunar mission design↗

Numerical analyses of a rocket engine turbine and comparison with air test data

The study presents cold air test data on the Space Shuttle Main Engine High Pressure Fuel Turbopump turbine recently collected at the NASA Marshall Space Flight Center. Overall performance data, static pressures on the first- and second-stage nozzles, and static pressures along with the gas path at the hub and tip are gathered and compared with various (1D, quasi-3D, and 3D viscous) analysis procedures. The results of each level of analysis are compared to test data to demonstrate the range of applicability for each step in the design process of a turbine. One-dimensional performance prediction, quasi-3D loading prediction, 3D wall pressure distribution prediction, and 3D viscous wall pressure distribution prediction are illustrated.

Tran, Ken↗

An evaluation of composite propulsion for single-stage-to-orbit vehicles designed for horizontal take-off

Composite propulsion was analyzed for single-stage-to-orbit vehicles designed for horizontal take-off. Trajectory, geometric, and mass analyses were performed to establish the orbital payload capability of six engines. The results indicated that none of the engines performed adequately to deliver payloads to orbit as analyzed. The single-stage turbine and oxidizer-rich gas generator resulted in a low engine specific impulse, and the performance increment of the ejector subsystem was less than that of a separate rocket system with a high combustion pressure. There was a benefit from incorporating a fan into the engine, and removal of the fan from the airstream during the ramjet mode increased the orbital payload capability.

Martin, J. A.↗

Evaluation of abort capabilities of rocket-powered single-stage-to-orbit launch vehicles

Application of advanced technologies to future launch vehicle designs would allow the introduction of a rocket-powered, single-stage-to-orbit (SSTO) launch system early in the next century. A fully reusable SSTO vehicle would be quite desirable from an operational standpoint; however, such a vehicle cannot be designed without accompanying technological advances in structure, propulsion, and subsystems. The conceptual design of such a vehicle has recently been completed. This paper examines the abort capabilities of an advanced SSTO launch vehicle which has five main engines. In the event of a single or dual main engine shutdown it was determined when the vehicle could execute return-to-launch-site, abort-to-orbit, or down-range abort maneuvers. Throughout each abort maneuver, vehicle loads are kept within nominal ascent and entry design values.

Stanley, Douglas O.↗

Fission fragment assisted reactor concept for space propulsion: Foil reactor

The concept is to fabricate a reactor using thin films or foils of uranium, uranium oxide and then to coat them on substrates. These coatings would be made so thin as to allow the escaping fission fragments to directly heat a hydrogen propellant. The idea was studied of direct gas heating and direct gas pumping in a nuclear pumped laser program. Fission fragments were used to pump lasers. In this concept two substrates are placed opposite each other. The internal faces are coated with thin foil of uranium oxide. A few of the advantages of this technology are listed. In general, however, it is felt that if one look at all solid core nuclear thermal rockets or nuclear thermal propulsion methods, one is going to find that they all pretty much look the same. It is felt that this reactor has higher potential reliability. It has low structural operating temperatures, very short burn times, with graceful failure modes, and it has reduced potential for energetic accidents. Going to a design like this would take the NTP community part way to some of the very advanced engine designs, such as the gas core reactor, but with reduced risk because of the much lower temperatures.

Wright, Steven A.↗

Structural Sizing of a 25,000-lb Payload, Air-breathing Launch Vehicle for Single-stage-to-orbit

In support of NASA's Air-Breathing Launch Vehicle (ABLV) study, a 25,000-lb payload version of the GTX (formerly Trailblazer) reference vehicle concept was developed. The GTX is a vertical lift-off, reusable, single-stage-to-orbit launch vehicle concept that uses hypersonic air-breathing propulsion in a rocket-based combined-cycle (RBCC) propulsion system to reduce the required propellant fraction. To achieve this goal the vehicle and propulsion system must be well integrated both aerodynamically and structurally to reduce weight. This study demonstrates the volumetric and structural efficiency of a vertical takeoff, horizontal landing, hypersonic vehicle with a circular cross section. A departure from the lifting body concepts, this design philosophy is even extended to the engines, which have semicircular nacelles symmetrically mounted on the vehicle. Material candidates with a potential for lightweight and simplicity have been selected from a set of near term technologies (five to ten years). To achieve the mission trajectory, preliminary weight estimates show the vehicle's gross lift-off weight is 1.26 x 10(exp 6) lb. The structural configuration of the GTX vehicle and its propulsion system are described. The vehicle design benefits are presented, and key technical issues are highlighted.

Roche, Joseph M.↗

Structural Sizing of a 25,000-lb Payload, Air-Breathing Launch Vehicle For Single-Stage-To-Orbit

In support of NASA's Air-Breathing Launch Vehicle (ABLV) study, a 25,000-lb payload version of the GTX (formerly Trailblazer) reference vehicle concept was developed. The GTX is a vertical lift-off, reusable, single-stage-to-orbit launch vehicle concept that uses hypersonic air-breathing propulsion in a rocket-based combined-cycle (RBCC) propulsion system to reduce the required propellant fraction. To achieve this goal the vehicle and propulsion system must be well integrated both aerodynamically and structurally to reduce weight. This study demonstrates the volumetric and structural efficiency of a vertical takeoff, horizontal landing, hypersonic vehicle with a circular cross section. A departure from the lifting body concepts, this design philosophy is even extended to the engines, which have semicircular nacelles symmetrically mounted on the vehicle. Material candidates with a potential for lightweight and simplicity have been selected from a set of near term technologies (5 to 10 years). To achieve the mission trajectory, preliminary weight estimates show the vehicle's gross lift-off weight is 1.26 x 10(exp 6) lb. The structural configuration of the GTX vehicle and its propulsion system are described. The vehicle design benefits are presented, and key technical issues are highlighted.

Roche, Joseph M.↗

A Thermal Management Systems Model for the NASA GTX RBCC Concept

The Vehicle Integrated Thermal Management Analysis Code (VITMAC) was further developed to aid the analysis, design, and optimization of propellant and thermal management concepts for advanced propulsion systems. The computational tool is based on engineering level principles and models. A graphical user interface (GUI) provides a simple and straightforward method to assess and evaluate multiple concepts before undertaking more rigorous analysis of candidate systems. The tool incorporates the Chemical Equilibrium and Applications (CEA) program and the RJPA code to permit heat transfer analysis of both rocket and air breathing propulsion systems. Key parts of the code have been validated with experimental data. The tool was specifically tailored to analyze rocket-based combined-cycle (RBCC) propulsion systems being considered for space transportation applications. This report describes the computational tool and its development and verification for NASA GTX RBCC propulsion system applications.

Traci, Richard M.↗

Long Duration Hot Hydrogen Exposure of Nuclear Thermal Rocket Materials

An arc-heater driven hyper-thermal convective environments simulator was recently developed and commissioned for long duration hot hydrogen exposure of nuclear thermal rocket materials. This newly established non-nuclear testing capability uses a high-power, multi-gas, wall-stabilized constricted arc-heater to .produce high-temperature pressurized hydrogen flows representative of nuclear reactor core environments, excepting radiation effects, and is intended to serve as a low cost test facility for the purpose of investigating and characterizing candidate fuel/structural materials and improving associated processing/fabrication techniques. Design and engineering development efforts are fully summarized, and facility operating characteristics are reported as determined from a series of baseline performance mapping runs and long duration capability demonstration tests.

Litchford, Ron J.↗

Space Launch System Base Heating Test: Environments and Base Flow Physics

The NASA Space Launch System (SLS) vehicle is composed of four RS-25 liquid oxygen- hydrogen rocket engines in the core-stage and two 5-segment solid rocket boosters and as a result six hot supersonic plumes interact within the aft section of the vehicle during ight. Due to the complex nature of rocket plume-induced ows within the launch vehicle base during ascent and a new vehicle con guration, sub-scale wind tunnel testing is required to reduce SLS base convective environment uncertainty and design risk levels. This hot- re test program was conducted at the CUBRC Large Energy National Shock (LENS) II short-duration test facility to simulate ight from altitudes of 50 kft to 210 kft. The test program is a challenging and innovative e ort that has not been attempted in 40+ years for a NASA vehicle. This presentation discusses the various trends of base convective heat ux and pressure as a function of altitude at various locations within the core-stage and booster base regions of the two-percent SLS wind tunnel model. In-depth understanding of the base ow physics is presented using the test data, infrared high-speed imaging and theory. The normalized test design environments are compared to various NASA semi- empirical numerical models to determine exceedance and conservatism of the ight scaled test-derived base design environments. Brief discussion of thermal impact to the launch vehicle base components is also presented.

Mehta, Manish↗

An Overview of the Design and Development of the Geostationary Operational Environmental Satellite R-Series (GOES-R) Space Segment

The first of the National Oceanic and Atmospheric Administration (NOAA) Geostationary Operational Environmental Satellite R-series (GOES-R) satellites was launched in November 2016. GOES-R has been developed by NOAA in partnership with the National Aeronautics and Space Administration (NASA). The satellite represents a quantum leap in the state of the art for geostationary weather satellites by providing data from a suite of six new instruments. All instruments were developed expressly for this mission, and include two Earth-observing instruments (the Advanced Baseline Imager (ABI) and Geostationary Lightning Mapper (GLM)), two solar-viewing instruments (Solar Ultraviolet Imager (SUVI) and Extreme ultraviolet and X-ray Irradiance Sensors (EXIS)) and two in situ instruments (Space Environment In-Situ Suite (SEISS) and a magnetometer pair). In addition to hosting the instruments, GOES-R also accommodates several communication packages designed to collect and relay data for weather forecasting and emergency management. Accommodating the six instruments and four communication payloads imposed challenging and competing constraints on the satellite, including requirements for extremely stable earth and solar pointing, high-speed and nearly error-free instrument data transmission, and a very quiet electromagnetic background. To meet mission needs, GOES-R employed several technological innovations, including low-thrust rocket engines that allow instrument observations to continue during maneuvers, and the first civilian use of Global Positioning System-based orbit determination in geostationary orbit. This paper will provide a brief overview of the GOES-R satellite and its instruments as well as the developmental challenges involved in accommodating the instruments and communications payloads.

SUVI↗

An Overview of the Design and Development of the GOES R-Series Space Segment

The first of the National Oceanic and Atmospheric Administration (NOAA) Geostationary Operational Environmental Satellite R-series (GOES-R) satellites was launched in November 2016. GOES-R has been developed by NOAA in partnership with the National Aeronautics and Space Administration (NASA). The satellite represents a quantum leap in the state of the art for geostationary weather satellites by providing data from a suite of six new instruments. All instruments were developed expressly for this mission, and include two Earth-observing instruments (the Advanced Baseline Imager (ABI) and Geostationary Lightning Mapper (GLM)), two solar-viewing instruments (Solar Ultraviolet Imager (SUVI) and Extreme ultraviolet and X-ray Irradiance Sensors (EXIS)) and two in situ instruments (Space Environment In-Situ Suite (SEISS) and a magnetometer pair). In addition to hosting the instruments, GOES-R also accommodates several communication packages designed to collect and relay data for weather forecasting and emergency management. Accommodating the six instruments and four communication payloads imposed challenging and competing constraints on the satellite, including requirements for extremely stable earth and solar pointing, high-speed and nearly error-free instrument data transmission, and a very quiet electromagnetic background. To meet mission needs, GOES-R employed several technological innovations, including low-thrust rocket engines that allow instrument observations to continue during maneuvers, and the first civilian use of Global Positioning System-based orbit determination in geostationary orbit. This paper will provide a brief overview of the GOES-R satellite and its instruments as well as the developmental challenges involved in accommodating the instruments and communications payloads.

GOES-16↗

Liquid rocket propulsion impeller CFD modeling

Steady-state impeller geometric modeling and typical Navier-Stokes CFD algorithm analysis procedures are assessed using two benchmark quality impeller data sets. Two geometric modeling and grid generation software packages, ICEM-CFD and PATRAN, are considered. Results show that a significant advantage of PATRAN's open-ended architecture is the potential interaction between CFD and structural/thermal analysts inside the mechanical computer-aided engineering environment. However the time required to construct the inducer grid would be unacceptable in a design and engineering environment. The ICEM-CFD package is considered to be more appropriate for structural grid generation but lacks the mature link to structural/thermal analysis arena as compared to PATRAN.

Ratcliff, Mark L.↗

Space Shuttle Crawler Transporter Sound Attenuation Study

The crawler transporter (CT) is the world's largest tracked vehicle known, weighing 6 million pounds with a length of 131 feet and a width of 113 feet. The Kennedy Space Center (KSC) has two CTs that were designed and built for the Apollo program in the 1960's, maintained and retrofitted for use in the Space Shuttle program. As a key element of the Space Shuttle ground systems, the crawler transports the entire 12-million-pound stack comprising the orbiter, the mobile launch platform (MLP), the external tank (ET), and the solid rocket boosters (SRB) from the Vehicle Assembly Building (VAB) to the launch pad. This rollout, constituting a 3.5-5.0-mile journey at a top speed of 0.9 miles-per-hour, requires over 8 hours to reach either Launch Complex 39A or B. This activity is only a prelude to the spectacle of sound and fury of the Space Shuttle launch to orbit in less than 10 minutes and traveling at orbital velocities of Mach 24. This paper summarizes preliminary results from the Crawler Transporter Sound Attenuation Study, encompassing test and engineering analysis of significant sound sources to measure and record full frequency spectrum and intensity of the various noise sources and to analyze the conditions of vibration. Additionally, data such as ventilation criteria, plus operational procedures were considered to provide a comprehensive noise suppression design for implementation. To date, sound attenuation study and results on Crawler 2 have shown significant noise reductions ranging from 5 to 24 dBA.

Margasahayam, Ravi N.↗