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At least 163 records · Page 9

Column Experiments to Interpret Weathering in Columbia Hills

Phosphate mobility has been postulated as an indicator of early aqueous activity on Mars. In addition, rock surfaces analyzed by the Mars Exploration Rover Spirit are consistent with the loss of a phosphate- containing mineral To interpret phosphate alteration behavior on Mars, we performed column dissolution experiments leaching the primary phases Durango fluorapatite, San Carlos olivine, and basalt glass (Stapafjell Volcano, courtesy of S. Gislason, University of Iceland) [3,4]) with acidic solutions. These phases were chosen to represent quickly dissolving phases likely present in Columbia Hills. Column dissolution experiments are closer to natural dissolution conditions than batch experiments, although they can be difficult to interpret. Acidic solutions were used because the leached layers on the surfaces of these rocks have been interpreted as resulting from acid solutions [5].

Hausrath, E. M.↗

Hydrogen diffusion and electronic structure in crystalline and amorphous Ti/sub y/CuH/sub x/

Hydrogen diffusion behavior and electronic properties of crystalline TiCuHo94, Ti2CuH1.90, and Ti2CuH2.63 and amorphous a-TiCuH1.4 were studied using proton relaxation times, proton Knight shifts, and magnetic susceptibilities. Crystal structure and hydrogen site occupancy have major roles in hydrogen mobility. The density of electron states at E sub F is reduced in amorphous a-TiCuH1.4 compared to the crystalline hydrides.

Bowman, R. C., Jr.↗

Grain boundary mobility in anion doped MgO

Certain anions OH(-), F(-) and Gl(-) are shown to enhance grain growth in MgO. The magnitude of their effect decreases in the order in which the anions are listed and depends on their location (solid-solution, second phase) in the MgO lattice. As most anions exhibit relatively high vapor pressures at sintering temperatures, they retard densification and invariably promote residual porosity. The role of anions on grain growth rates was studied in relation to their effect on pore mobility and pore removal; the atomic process controlling the actual rates was determined from observed kinetics in conjunction with the microstructural features. With respect to controlling mechanisms, the effects of all anions are not the same. OH(-) and F(-) control behavior through creation of a defect structure and a grain boundary liquid phase while Cl(-) promotes matter transport within pores by evaporation-condensation. Studies on an additional anion, S to the minus 2nd power gave results which were no different from undoped MgO, possibly because of evaporative losses during hot pressing. Hence, the effect of sulphur is negligible or undetermined.

Kapadia, C. M.↗

Dislocation dynamics during the growth of silicon ribbon

The thermal viscoplastic stresses and the dislocation densities in silicon ribbon are computed for an axially changing thermal profile by using an iterative finite difference method. A material constitutive equation (Haasen-Sumino model) which involves an internal variable (mobile dislocation density) is used. The results are interpreted as showing that there is a maximum width of silicon ribbon that can be grown when viscoplasticity and dislocations are considered. This maximum width limitation does not exist if the material behavior is elastic.

Dillon, O. W., Jr.↗

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Rodriguez, Guillermo↗

A task control architecture for autonomous robots

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Simmons, Reid↗

Smaller solar system bodies and orbits; Proceedings of Symposium 3, Workshops II, III, and XXVI, and Topical Meetings of the 27th COSPAR Plenary Meeting, Espoo, Finland, July 18-29, 1988

Topics discussed in this volume include the reappraisal of the moon and Mars/Phobos/Deimos; the origin and evolution of planetary and satellite systems; asteroids, comets, and dust (a post-IRAS perspective); satellite dynamics; future planetary missions; and orbital debris. Papers are presented on a comparison of the chemistry of moon and Mars, the use of a mobile surface radar to study the atmosphere and ionosphere, and laser-ionization studies with the technical models of the LIMA-D/Phobos. Attention is given to planetogonic scenarios and the evolution of relatively mass-rich preplanetary disks, the kinetic behavior of planetesimals revolving around the sun, the planetary evolution of Mars, and pre- and post-IRAS asteroid taxonomies. Consideration is also given to ocean tides and tectonic plate motions in high-precision orbit determination, the satellite altimeter calibration techniques, a theory of the motion of an artificial satellite in the earth atmosphere, ESA plans for planetary exploration, and the detection of earth orbiting objects by IRAS.

Runcorn, S. K.↗

Multiple doping of silicon-germanium alloys for thermoelectric applications

It is shown that heavy doping of n-type Si/Ge alloys with phosphorus and arsenic (V-V doping interaction) by diffusion leads to a significant enhancement of their carrier concentration and possible improvement of the thermoelectric figure of merit. High carrier concentrations were achieved by arsenic doping alone, but for a same doping level higher carrier mobilities and lower resistivities are obtained through phosphorus doping. By combining the two dopants with the proper diffusion treatments, it was possible to optimize the different properties, obtaining high carrier concentration, good carrier mobility and low electrical resistivity. Similar experiments, using the III-V doping interaction, were conducted on boron-doped p-type samples and showed the possibility of overcompensating the samples by diffusing arsenic, in order to get n-type behavior.

Fleurial, Jean-Pierre↗

802.11s Wireless Mesh Network Visualization Application

Results of past experimentation at NASA Johnson Space Center showed that the IEEE 802.11s standard has better performance than the widely implemented alternative protocol B.A.T.M.A.N (Better Approach to Mobile Ad hoc Networking). 802.11s is now formally incorporated into the Wi- Fi 802.11-2012 standard, which specifies a hybrid wireless mesh networking protocol (HWMP). In order to quickly analyze changes to the routing algorithm and to support optimizing the mesh network behavior for our intended application a visualization tool was developed by modifying and integrating open source tools.

Mauldin, James Alexander↗

On the Behavior of Phosphorus During the Aqueous Alteration of CM2 Carbonaceous Chondrites

During the earliest period of solar system formation, water played an important role in the evolution of primitive dust, both after accretion of planetesimals and possible before accretion within the protoplanetary disk. Many chondrites show evidence of variable degrees of aqueous alteration, the CM2 chondrites being among the most studied [1]. This group of chondrites is characterized by mineral assemblages of both primary and secondary alteration phases. Hence, these meteorites retain a particularly important record of the reactions that occurred between primary high temperature nebular phases and water. Studies of these chondrites can provide information on the conditions and environments of aqueous alteration and the mobility of elements during alteration. This latter question is at the core of a debate concerning the location of aqueous alteration, i.e. whether alteration occurred predominantly within a closed system after accretion (parent body alteration) or whether some degree of alteration occurred within the solar nebula or on ephemeral protoplanetary bodies prior to accretion. At the core of the parent body alteration model is the hypothesis that elemental exchange between different components, principally chondrules and matrix, must have occurred. chondrules and matrix, must have occurred. In this study, we focus on the behavior of the minor element, phosphorus. This study was stimulated by observations of the behavior of P during the earliest stages of alteration in glassy mesostasis in type II chondrules in CR chondrites and extends the preliminary observations of on Y791198 to other CM chondrites.

Brearley, Adrian J.↗

MBSE Execution of Scalable Autonomous Operations for a High Density Vertiplex

The High Density Vertiplex (HDV) subproject of NASA’s Advanced Air Mobility (AAM) project adopted Model-Based Systems Engineering (MBSE) and NASA SE processes were executed via MBSE using MagicDraw. Since the adoption of MBSE and utilization of MagicDraw, the systems engineering team has made tremendous strides in each pillar of MBSE including, requirements, behavior, and structure. Scalable Autonomous Operations (SAO) was a stage in the development of the High Density Vertiplex focusing on the autonomous terminal operations of a vertiport with sUAS aircraft. MBSE served the systems engineering team to document and verify the physical architecture and capture a logical architecture of SAO for distribution to the AAM community. This paper will detail methodologies that were created to successfully execute NASA SE processes via MBSE in the SAO stage as well as highlight challenges and lessons learned.

Demetrios Katsaduros↗

Precipitation Model Validation in 3rd Generation Aeroturbine Disc Alloys

In support of application of the DARPA-AIM methodology to the accelerated hybrid thermal process optimization of 3rd generation aeroturbine disc alloys with quantified uncertainty, equilibrium and diffusion couple experiments have identified available fundamental thermodynamic and mobility databases of sufficient accuracy. Using coherent interfacial energies quantified by Single-Sensor DTA nucleation undercooling measurements, PrecipiCalc(TM) simulations of nonisothermal precipitation in both supersolvus and subsolvus treated samples show good agreement with measured gamma particle sizes and compositions. Observed longterm isothermal coarsening behavior defines requirements for further refinement of elastic misfit energy and treatment of the parallel evolution of incoherent precipitation at grain boundaries.

Olson, G. B.↗

Towards Autonomous Operation of Robonaut 2

The Robonaut 2 (R2) platform, as shown in Figure 1, was designed through a collaboration between NASA and General Motors to be a capable robotic assistant with the dexterity similar to a suited astronaut [1]. An R2 robot was sent to the International Space Station (ISS) in February 2011 and, in doing so, became the first humanoid robot in space. Its capabilities are presently being tested and expanded to increase its usefulness to the crew. Current work on R2 includes the addition of a mobility platform to allow the robot to complete tasks (such as cleaning, maintenance, or simple construction activities) both inside and outside of the ISS. To support these new activities, R2's software architecture is being developed to provide efficient ways of programming robust and autonomous behavior. In particular, a multi-tiered software architecture is proposed that combines principles of low-level feedback control with higher-level planners that accomplish behavioral goals at the task level given the run-time context, user constraints, the health of the system, and so on. The proposed architecture is shown in Figure 2. At the lowest-level, the resource level, there exists the various sensory and motor signals available to the system. The sensory signals for a robot such as R2 include multiple channels of force/torque data, joint or Cartesian positions calculated through the robot's proprioception, and signals derived from objects observable by its cameras.

Badger, Julia M.↗

Mixed-Domain Charge Transport in the S-Se System from First Principles

Lithium-sulfur (Li-S) batteries are emerging systems heralded for the inexpensive cathode component (in S)and higher energy density than that of typical Li-ion batteries [1–5]. For the latter reason in particular, they are drawing high levels of interest for long-range electric air-craft applications where high gravimetric energy density is of utmost importance. Unfortunately, S by itself has a much too low electrical conductivity to be useful asa stand-alone cathode material. One effort to alleviate these shortcomings is to alloy sulfur with selenium [6–13],which is expected to improve the paltry conductivity of S as Se, depending on the phase, is 10∼30 times more conductive. This, however, comes at the cost of the heavier mass of Se that works against the gravimetric energy density. The charge transport behavior in the S1−xSex alloy system, not yet fully known or understood, is necessary for one to navigate the trade-offs between conductivity and other variables such as energy density en route to ultimately determining the optimum Se content, on demand. Charting carrier mobilities and conductivities in the S-Se system throughout the compositional spectrum from first principles at a predictive level is therefore critical.

Junsoo Park↗

In-Situ TEM-STM Observations of SWCNT Ropes/Tubular Transformations

Single-walled carbon nanotubes (SWCNTs) prepared by the HiPco process were purified using a modified gas phase purification technique. A TEM-STM holder was used to study the morphological changes of SWCNT ropes as a function of applied voltage. Kink formation, buckling behavior, tubular transformation and eventual breakdown of the system were observed. The tubular formation was attributed to a transformation from SWCNT ropes to multi-walled carbon nanotube (MWCNT) structures. It is likely mediated by the patching and tearing mechanism which is promoted primarily by the mobile vacancies generated due to current-induced heating and, to some extent, by electron irradiation.

Sola, F.↗

Effects of Kinetic Roughening and Liquid-Liquid Phase Transition on Lysozyme Crystal Growth Velocities

We measured the growth velocities of the (110) face of tetragonal lysozyme, V (centimeters per second), at four different concentrations, c (milligrams per milliliter), as the solution temperature, T (Centigrade), was reduced. For a broad range of T dependent on c, we find that the growth velocities increased as the solution temperature was reduced. The initial increase in V is well characterized by the 2D nucleation model for crystal growth, yielding the magnitude of an effective barrier for growth, gamma(sub s) = 1.2 plus or minus 0.1 x 10(exp -13) erg/molecule. Below certain temperatures, T(sub cr), dependent on c, however, a kinetic roughening hypothesis that considers the continuous addition of molecules anywhere on the crystal surface better describes the observed growth velocities. The application of the continuous growth model, up to the solution cloud-point temperatures, T(sub cl), enabled the determinations of the crossover concentration, c(sub r), from estimated values of T(sub cr). For all conditions presented, we find that the crossover from growth by 2D nucleation to continuous addition occurs at a supersaturation, sigma (sub c), = 2.0 plus or minus 0.1. Moreover, we find the energy barrier for the continuous addition, E(sub c), within the temperature range T(sub cl) less than T less than T less than T (sub cr), to be 6 plus or minus 1 x 10(exp -13) erg/molecule. Further reduction of T below approximately 2-3 C of T(sub cl), also revealed a rapid slowing of crystal growth velocities. From quasi-elastic light scattering investigations, we find that the rapid diminishment of crystal growth velocities can be accounted for by the phase behavior of lysozyme solutions. Namely, we find the reversible formation of dense fluid proto-droplets comprised of lysozyme molecules to occur below approximately 0.3 C of T(sub cl). Hence, the rapid slowing of growth velocities may occur as a result of the sudden depletion of "mobile" molecules within crystal growth solutions as dense fluid proto-droplets form.

Gorti, Sridhar↗

Assessment of Postflight Locomotor Performance Utilizing a Test of Functional Mobility: Strategic and Adaptive Responses

Space flight induces adaptive modification in sensorimotor function, allowing crewmembers to operate in the unique microgravity environment. This adaptive state, however, is inappropriate for a terrestrial environment. During a re-adaptation period upon their return to Earth, crewmembers experience alterations in sensorimotor function, causing various disturbances in perception, spatial orientation, posture, gait, and eye-head coordination. Following long duration space flight, sensorimotor dysfunction would prevent or extend the time required to make an emergency egress from the vehicle; compromising crew safety and mission objectives. We are investigating two types of motor learning that may interact with each other and influence a crewmember's ability to re-adapt to Earth's gravity environment. In strategic learning, crewmembers make rapid modifications in their motor control strategy emphasizing error reduction. This type of learning may be critical during the first minutes and hours after landing. In adaptive learning, long-term plastic transformations occur, involving morphological changes and synaptic modification. In recent literature these two behavioral components have been associated with separate brain structures that control the execution of motor strategies: the strategic component was linked to the posterior parietal cortex and the adaptive component was linked to the cerebellum (Pisella, et al. 2004). The goal of this paper was to demonstrate the relative contributions of the strategic and adaptive components to the re-adaptation process in locomotor control after long duration space flight missions on the International Space Station (ISS). The Functional Mobility Test (FMT) was developed to assess crewmember s ability to ambulate postflight from an operational and functional perspective. Sixteen crewmembers were tested preflight (3 sessions) and postflight (days 1, 2, 4, 7, 25) following a long duration space flight (approx 6 months) on the ISS. We have further analyzed the FMT data to characterize strategic and adaptive components during the postflight readaptation period. Crewmembers walked at a preferred pace through an obstacle course set up on a base of 10 cm thick medium density foam (Sunmate Foam, Dynamic Systems, Inc., Leicester, NC). The 6.0m X 4.0m course consisted of several pylons made of foam; a Styrofoam barrier 46.0cm high that crewmembers stepped over; and a portal constructed of two Styrofoam blocks, each 31cm high, with a horizontal bar covered by foam and suspended from the ceiling which was adjusted to the height of the crewmember s shoulder. The portal required crewmembers to bend at the waist and step over a barrier simultaneously. All obstacles were lightweight, soft and easily knocked over. Crewmembers were instructed to walk through the course as quickly and as safely as possible without touching any of the objects on the course. This task was performed three times in the clockwise direction and three times in the counterclockwise direction that was randomly chosen. The dependent measures for each trial were: time to complete the course (seconds) and the number of obstacles touched or knocked down. For each crewmember, the time to complete each FMT trial from postflight days 1, 2, 4, 7 and 25 were further analyzed. A single logarithmic curve using a least squares calculation was fit through these data to produce a single comprehensive curve (macro). This macro curve composed of data spanning 25 days, illustrates the re-adaptive learning function over the longer time scale term. Additionally, logarithmic curves were fit to the 6 data trials within each individual post flight test day to produce 5 separate daily curves. These micro curves, produced from data obtained over the course of minutes, illustrates the strategic learning function exhibited over a relative shorter time scale. The macro curve for all subjects exhibited adaptive motor learning patterns over the 25 day period. Howev, 9/16 crewmembers exhibited significant strategic motor learning patterns in their micro curves, as defined by m > 1 in the equation of the line y=m*LN(x) +b. These data indicate that postflight recovery in locomotor function involves both strategic and adaptive mechanisms. Future countermeasures will be designed to enhance both recovery processes.

Warren, L. E.↗

Assured Vehicle Automation 1 Sim - Results Outbrief

In early 2022, the Human Autonomy Teaming Lab (NASA Ames Research Center) conducted a manned, human-in-the-loop (HITL) simulation. This part-task HITL began the lab’s Hazard Perception and Avoidance (HPA) technical work under NASA’s Advanced Air Mobility (AAM), Automated Flight and Contingency Management (AFCM) Sub-Project. The results of that sim guided the objectives of the current study, which were to examine pilots’ use of the Airborne Collision Avoidance System (ACAS) rotorcraft variant (Xr) v2 in multiple phases of flight with two separate Xr Modes, fully leverage Xr v2 features (e.g., use radar altimeter data to inform low altitude Resolution Advisory [RA] behavior, utilize the ability to designate “terminal-area intruders,” and display airspeed-based Detect and Avoid [DAA] guidance), emulate a “Traffic Advisory” (TA), and present Xr in a higher-fidelity environment. Therefore, this study was conducted in the Vertical Motion Simulator, and the variables included Phase of Flight (En-route, Hover, and Approach) as well as ACAS Xr Mode (TA/RA and DAA). The data collected included response times, losses of well clear, and maneuver sizes and durations as well as subjective ratings like acceptability and usability. Additional details and future anticipations are also discussed.

air taxis↗