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At least 1,675 records · Page 93
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Robot dynamics in reduced gravity environment

Robot dynamics and control will become an important issue for productive platforms in space. Robotic operations will be necessary for both man tended stations and for the efficient performance of routine operations in a manned platform. The current constraints on the use of robotic devices in a microgravity environment appears to be due to safety concerns and an anticipated increase in acceleration levels due to manipulator motion. The robot used for the initial studies was a UMI RTX robot, which was adapted to operate in a materials processing workcell to simulate sample changing in a microgravity environment. The robotic cell was flown several times on the KC-135 aircraft at Ellington Field. The primary objective of the initial flights was to determine operating characteristics of both the robot and the operator in the variable gravity of the KC-135 during parabolic maneuvers. It was demonstrated that the KC-135 aircraft can be used for observing dynamics of robotic manipulators. The difficulties associated with humans performing teleoperation tasks during varying G levels were also observed and can provide insight into some areas in which the use of artificial techniques would provide improved system performance. Additionally a graphic simulation of the workcell was developed on a Silicon Graphics Workstation using the IGRIP simulation language from Deneb Robotics. The simulation is intended to be used for predictive displays of the robot operating on the aircraft. It is also anticipated that this simulation can be useful for off-line programming of tasks in the future.

Workman, Gary L.↗
NASA NTRS1989

Integrating expert systems into an operational environment

The Communications Link Expert Assistance Resource Expert System is introduced. The experience gained in implementing this expert system is used to discuss solutions to the major problems encountered during the development of an expert system to be realized in an operational environment. Knowledge acquisition is discussed as well as user involvement, interfacing the system to the user, choosing a development environment, prototyping for success, and overcoming the transition.

Hughes, Peter M.↗
NASA NTRS1989

Atmospheric environment during maneuvering descent from Martian orbit

This paper presents an analysis of the atmospheric maneuvering capability of a vehicle designated to land on the Martian surface, together with an analysis of the entry environment encountered by the vehicle. A maximum lift/drag ratio of 2.3 was used for all trajectory calculations. The maximum achievable lateral ranges varied from about 3400 km to 2500 km for entry velocities of 5 km/s (from a highly elliptical Martian orbit) and 3.5 km/s (from a low-altitude lower-speed orbit), respectively. It is shown that the peak decelerations are an order of magnitude higher for the 5-km/s entries than for the 3.5-km/s entries. The vehicle entering at 3.5 km/s along a gliding trajectory encountered a much more benign atmospheric environment. In addition, the glider's peak deceleration was found to be only about 0.7 earth g, making the shallow flight path ideal for manned vehicles whose crews might be physically weakened by the long voyage to Mars.

Tauber, Michael E.↗
NASA NTRS1989

Reduced gravity - A new biomedical research environment

Experiment programs for continuous flow electrophoresis and protein crystal growth are described to demonstrate the utility of the reduced gravity environment for scientific research. The advantages of the reduced gravity environment are outlined. The results of experiments on the Space Shuttle using the Continuous Flow Electrophoresis System and crystal growth experiments on Spacelab-1 and the Space Shuttle are examined, noting the importance of microgravity research.

Snyder, Robert S.↗
NASA NTRS1990

Effects on the orbital debris environment due to solar activity

The rate that earth-orbiting debris is removed from the environment is dependent on a number of factors which include orbital altitude and solar activity. It is generally believed that at lower altitudes and especially during periods of high solar activity, debris generated in the past will be eliminated from the environment. While some debris is eliminated, most is replaced by old debris from higher altitudes or new debris from recent launches. Some low altitude debris, which would reenter if the debris were in circular orbits, does not reenter because the debris is in higher-energy elliptical orbits.

Kessler, Donald J.↗
NASA NTRS1990

Macromolecular assemblies in reduced gravity environments

The assembly of protein macro molecules into structures commonly produced within biological systems was achieved using in vitro techniques carried out in nominal as well as reduced gravity environments. Appropriate hardware was designed and fabricated to support such studies. Experimental protocols were matched to the available reduced gravity test opportunities. In evaluations of tubulin, fibrin and collagen assembly products the influence of differing gravity test conditions are apparent. Product homogeneity and organization were characteristic enhancements documented in reduced gravity samples. These differences can be related to the fluid flow conditions that exist during in vitro product formation. Reduced gravity environments may provide a robust opportunity for directing the products formed in a variety of bioprocessing applications.

Moos, Philip J.↗
NASA NTRS1989

EnviroNET - An interactive space-environment information resource

EnviroNET is an interactive menu-driven system set up as an information resource for experimenters, program managers, and design and test engineers involved in space missions. Its basic use is as a fundamental single source of data for the environment encountered by Shuttle and Space Station payloads, but is also has wider applicability in that it includes information on environments encountered by other satellites in both low altitude and high altitude (including geosynchronous) orbits. It incorporates both a text-retrieval mode and an interactive modeling code mode. The system is maintained on the ENVET MicroVAX computer at NASA/Goddard Space Flight Center. Its services are available at no cost to any user who has access to a terminal and modem. It is a tail-node on SPAN, and so it is accessible either directly or through BITNET, ARPANET, and GTE/TELENET via NPSS.

Vampola, A. L.↗
NASA NTRS1989

Conceptual design of a closed loop nutrient solution delivery system for CELSS implementation in a micro-gravity environment

This paper describes the results of a study to develop a conceptual design for an experimental, closed-loop fluid handling system capable of monitoring, controlling, and supplying nutrient solution to higher plants. The Plant Feeder Experiment (PFX) is designed to be flight tested in a micro-gravity (micro-g) environment and was developed under NASA's In-Space Technology Experiments Program (INSTEP). When flown, PFX will provide information on both the generic problems of micro-g fluid handling and the specific problems associated with the delivery of nutrient solution in a micro-g environment. The experimental hardware is designed to fit into two middeck lockers on the Space Shuttle, and incorporates several components that have previously been flight tested.

Schwartzkopf, Steven H.↗
NASA NTRS1989

Development of real-time software environments for NASA's modern telemetry systems

An effort has been made to maintain maximum performance and flexibility for NASA-Goddard's VLSI telemetry system elements through the development of two real-time systems: (1) the Base System Environment, which supports generic system integration and furnishes the basic porting of various manufacturers' cards, and (2) the Modular Environment for Data Systems, which supports application-specific developments and furnishes designers with a set of tested generic library functions that can be employed to speed up the development of such application-specific real-time codes. The performance goals and design rationale for these two systems are discussed.

Horner, Ward↗
NASA NTRS1989

Primitive bodies - Molecular abundances in Comet Halley as probes of cometary formation environments

The most recent results on abundances of molecules in Halley's comet are examined in the context of various models for the environment in which comets formed. These environments include molecular clouds associated with star-forming regions, the solar nebula, gaseous disks around proto-planets, and combinations of these. Of all constituents in a cometary nucleus, the highly volatile molecules such as methane, ammonia, molecular nitrogen, and carbon monoxide are most sensitive to the final episode of cometary grain formation and incorporation in the comet's nucleus; hence they likely reflect at least some chemical processing in the solar nebula. Proper interpretation requires modeling of a number of physical processes including gas phase chemistry, chemistry on grain surfaces, and fractionation effects resulting from preferential incorporation of certain gases in proto-cometary grains. The abundance of methane in Halley's comet could be a key indicator of where that comet formed, provided the methane abundance on grains in star-forming regions can be observationally constrained.

Lunine, Jonathan I.↗
NASA NTRS1990

A review of orbital debris environment modeling at NASA/JSC

Orbital debris modeling in three areas is presented in this paper. These are: (1) debris environment evolution, as characterized by a numerical processor using detailed mission model projections, (2) debris cloud evolution for the time immediately after breakup, and (3) two-dimensional flux density modeling to characterize both flux levels and directionality for a debris environment.

Reynolds, Robert C.↗
NASA NTRS1990

EnviroNET - A space environment data resource

This paper reviews the features of EnviroNET that make it a valuable space data resource. This computerized data base provides rapid access to the latest information on space debris and other space environments and spacecraft interactions of importance to the space community. Although originally conceived as an information resource for Space Shuttle users, EnviroNET has expanded into other areas including space debris and the near-earth environments of potential interest to the conference attendees.

Lauriente, Michael↗
NASA NTRS1989

CHIMERA II - A real-time multiprocessing environment for sensor-based robot control

A multiprocessing environment for a wide variety of sensor-based robot system, providing the flexibility, performance, and UNIX-compatible interface needed for fast development of real-time code is addressed. The requirements imposed on the design of a programming environment for sensor-based robotic control is outlined. The details of the current hardware configuration are presented, along with the details of the CHIMERA II software. Emphasis is placed on the kernel, low-level interboard communication, user interface, extended file system, user-definable and dynamically selectable real-time schedulers, remote process synchronization, and generalized interprocess communication. A possible implementation of a hierarchical control model, the NASA/NBS standard reference model for telerobot control system is demonstrated.

Stewart, David B.↗
NASA NTRS1989

Noise environment reduction foam spheres in space

The advent of lightweight fairings for new spacecraft and the increased thrust of new launch vehicles have intensified the need for better techniques for predicting and for reducing the low frequency noise environment of spacecraft at liftoff. This paper presents a VAPEPS (VibroAcoustic Payload Environment Prediction System) parametrical analysis of the noise reduction of spacecraft fairings and explores a novel technique for increasing the low frequency noise reduction of lightweight fairing by approximately 10 dB.

Scharton, Terry↗
NASA NTRS1990

Fluid behavior in microgravity environment

The instability of liquid and gas interface can be induced by the presence of longitudinal and lateral accelerations, vehicle vibration, and rotational fields of spacecraft in a microgravity environment. In a spacecraft design, the requirements of settled propellant are different for tank pressurization, engine restart, venting, or propellent transfer. In this paper, the dynamical behavior of liquid propellant, fluid reorientation, and propellent resettling have been carried out through the execution of a CRAY X-MP super computer to simulate fluid management in a microgravity environment. Characteristics of slosh waves excited by the restoring force field of gravity jitters have also been investigated.

Hung, R. J.↗
NASA NTRS1990

Measurement and Characterization of the Acceleration Environment on Board the Space Station

This workshop provides a comprehensive overview of the work and status of each of these areas to provide a basis for establishing a systematic approach to the challenge of avoiding these difficulties during the Space Station era of materials experimentation. The discussions were arranged in the order of: the scientific understanding of the requirements for a micro-gravity environment, a history of acceleration measurements on spacecraft, the state of accelerometer technology, and the current understanding of the predicted Space Station environment.

Baugher, Charles R.↗
NASA NTRS1990

Effect of science laboratory centrifuge of space station environment

It is argued that it is essential to have a centrifuge operating during manned space station operations. Background information and a rationale for the research centrifuge are given. It is argued that we must provide a controlled acceleration environment for comparison with microgravity studies. The lack of control groups in previous studies throws into question whether the obseved effects were the result of microgravity or not. The centrifuge could be used to provide a 1-g environment to supply specimens free of launch effects for long-term studies. With the centrifuge, the specimens could be immediately transferred to microgravity without undergoing gradual acclimation. Also, the effects of artificial gravity on humans could be investigated. It is also argued that the presence of the centrifuge on the space station will not cause undo vibrations or other disturbing effects.

Searby, Nancy↗