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NASA NTRS1994

NASA Telerobotics Technology Highlights

The goal of the NASA Telerobotics Program, part of the overall research program of the Office of Advanced Concepts and Technology, is to develop the technology in space-borne systems which enables new space tasks in Eath-orbiting satellite and platform servicing; robotic tending of science payloads and instruments; and planetary surface exploration, scientific sampling, and in-situ analysis. Our objective is that by 2004, 50 percent of the EVA-required operations on orbit and on planetary surfaces may be conducted via remote operation.

robotics exploration robotics↗
NASA NTRS2008

Algorithm Optimally Orders Forward-Chaining Inference Rules

People typically develop knowledge bases in a somewhat ad hoc manner by incrementally adding rules with no specific organization. This often results in a very inefficient execution of those rules since they are so often order sensitive. This is relevant to tasks like Deep Space Network in that it allows the knowledge base to be incrementally developed and have it automatically ordered for efficiency. Although data flow analysis was first developed for use in compilers for producing optimal code sequences, its usefulness is now recognized in many software systems including knowledge-based systems. However, this approach for exhaustively computing data-flow information cannot directly be applied to inference systems because of the ubiquitous execution of the rules. An algorithm is presented that efficiently performs a complete producer/consumer analysis for each antecedent and consequence clause in a knowledge base to optimally order the rules to minimize inference cycles. An algorithm was developed that optimally orders a knowledge base composed of forwarding chaining inference rules such that independent inference cycle executions are minimized, thus, resulting in significantly faster execution. This algorithm was integrated into the JPL tool Spacecraft Health Inference Engine (SHINE) for verification and it resulted in a significant reduction in inference cycles for what was previously considered an ordered knowledge base. For a knowledge base that is completely unordered, then the improvement is much greater.

James, Mark↗
NASA NTRS2013

Application Agreement and Integration Services

Application agreement and integration services are required by distributed, fault-tolerant, safety critical systems to assure required performance. An analysis of distributed and hierarchical agreement strategies are developed against the backdrop of observed agreement failures in fielded systems. The documented work was performed under NASA Task Order NNL10AB32T, Validation And Verification of Safety-Critical Integrated Distributed Systems Area 2. This document is intended to satisfy the requirements for deliverable 5.2.11 under Task 4.2.2.3. This report discusses the challenges of maintaining application agreement and integration services. A literature search is presented that documents previous work in the area of replica determinism. Sources of non-deterministic behavior are identified and examples are presented where system level agreement failed to be achieved. We then explore how TTEthernet services can be extended to supply some interesting application agreement frameworks. This document assumes that the reader is familiar with the TTEthernet protocol. The reader is advised to read the TTEthernet protocol standard [1] before reading this document. This document does not re-iterate the content of the standard.

Driscoll, Kevin R.↗
NASA NTRS1977

Exploration of an oculometer-based model of pilot workload

Potential relationships between eye behavior and pilot workload are discussed. A Honeywell Mark IIA oculometer was used to obtain the eye data in a fixed base transport aircraft simulation facility. The data were analyzed to determine those parameters of eye behavior which were related to changes in level of task difficulty of the simulated manual approach and landing on instruments. A number of trends and relationships between eye variables and pilot ratings were found. A preliminary equation was written based on the results of a stepwise linear regression. High variability in time spent on various instruments was related to differences in scanning strategy among pilots. A more detailed analysis of individual runs by individual pilots was performed to investigate the source of this variability more closely. Results indicated a high degree of intra-pilot variability in instrument scanning. No consistent workload related trends were found. Pupil diameter which had demonstrated a strong relationship to task difficulty was extensively re-exmained.

Krebs, M. J.↗
NASA NTRSDate not supplied

Development of the Suited Injury Modes and Effects Analysis for Identification of Top Injury Risks in Lunar Missions and Training

A new Exploration Extravehicular Activity Services (xEVAS) suit is being designed to replace the current Extravehicular Mobility Unit (EMU) for the National Aeronautics and Space Administration’s (NASA’s) Artemis program to return astronauts to the lunar surface. This new suit will allow for increased range of motion compared to the current EMU and Apollo era suits and additional features will enhance the health and safety of exploration. With the design of lunar missions and the xEVAS suit progressing, it is important to consider possible injuries and injury mechanisms that could occur in the suit. To address these concerns, the suited Injury Modes and Effects Analysis (IMEA) was developed to outline suited injury scenarios and rank them based on risk score. The IMEA documents possible scenarios and underlying mechanisms of injury. History has shown that more suit injuries occur during training than in flight; therefore, currently planned training events to prepare for lunar missions and tasks during lunar surface EVAs were considered. Each scenario is ranked with likelihood and consequence scorings based on our current understanding of suit and application of Artemis design reference missions. The scoring allowed identification of the high-risk cases that will drive further work in suited injury. Mechanisms of injury, injury outcomes, and mitigation strategies are evaluated within each scenario. The Suited Injury Summit was held on January 5, 2022, to vet the IMEA with external experts. This was an all-day virtual meeting with the suited injury team; ergonomists; suit engineers; safety engineers; the flight operations directorate; flight doctors; astronauts; astronaut strength, conditioning, and rehabilitation specialists (ASCRS); and external subject matter experts (SMEs). External SMEs consisted of surgeons with varying specialties. The intent of this meeting was to walk through the top injury risks identified in the analysis, identify any gaps that were not captured, and discuss mitigations. With participation from all groups, countless lessons-learned came from the Summit meeting. Using these, the top 10 risks have been identified: neutral buoyancy laboratory training, hand/glove injuries, poor suit fit, field training, specific EVA tasks/design of task, boots/ankle injuries, falls from heights, background radiation, repetitive contact, and ambulation/longdistance ambulation. Mitigation steps have also been determined for each of the top risks. The IMEA and documentation of top risks is a living document. Yearly meetings are planned to update the analysis and reevaluate top risks and mitigations. The IMEA is being used to drive work in suited injury, and this work will continue to evolve with IMEA and lunar mission updates.

Teresa Reiber↗
NASA NTRS2004

The Processing of Airspace Concept Evaluations Using FASTE-CNS as a Pre- or Post-Simulation CNS Analysis Tool

As NASA speculates on and explores the future of aviation, the technological and physical aspects of our environment increasing become hurdles that must be overcome for success. Research into methods for overcoming some of these selected hurdles have been purposed by several NASA research partners as concepts. The task of establishing a common evaluation environment was placed on NASA's Virtual Airspace Simulation Technologies (VAST) project (sub-project of VAMS), and they responded with the development of the Airspace Concept Evaluation System (ACES). As one examines the ACES environment from a communication, navigation or surveillance (CNS) perspective, the simulation parameters are built with assumed perfection in the transactions associated with CNS. To truly evaluate these concepts in a realistic sense, the contributions/effects of CNS must be part of the ACES. NASA Glenn Research Center (GRC) has supported the Virtual Airspace Modeling and Simulation (VAMS) project through the continued development of CNS models and analysis capabilities which supports the ACES environment. NASA GRC initiated the development a communications traffic loading analysis tool, called the Future Aeronautical Sub-network Traffic Emulator for Communications, Navigation and Surveillance (FASTE-CNS), as part of this support. This tool allows for forecasting of communications load with the understanding that, there is no single, common source for loading models used to evaluate the existing and planned communications channels; and that, consensus and accuracy in the traffic load models is a very important input to the decisions being made on the acceptability of communication techniques used to fulfill the aeronautical requirements. Leveraging off the existing capabilities of the FASTE-CNS tool, GRC has called for FASTE-CNS to have the functionality to pre- and post-process the simulation runs of ACES to report on instances when traffic density, frequency congestion or aircraft spacing/distance violations have occurred. The integration of these functions require that the CNS models used to characterize these avionic system be of higher fidelity and better consistency then is present in FASTE-CNS system. This presentation will explore the capabilities of FASTE-CNS with renewed emphasis on the enhancements being added to perform these processing functions; the fidelity and reliability of CNS models necessary to make the enhancements work; and the benchmarking of FASTE-CNS results to improve confidence for the results of the new processing capabilities.

Mainger, Steve↗
NASA NTRS2019

An Exploration of Mission Concepts That Could Utilize Small RPS

The NASA Radioisotope Power Systems (RPS) Program Mission Analysis Team at the Jet Propulsion Laboratory (JPL) requested a JPL Innovation Foundry Architecture Team (A-Team) study to assess mission pull for small RPS (1 mWe - 40 We) in order to inform the RPS Program Office on what future power system developments should be focused on. The A-Team is JPL’s concurrent engineering design team for science definition and early mission concept development, targeting concept maturation levels of 1 through 3. The requested small RPS study was tasked to identify the architecture space of potential small RPS missions, and suggest power levels that could enable or enhance potential future small spacecraft missions. This paper describes the collaborative engineering processes that the A-Team and Mission Analysis Team used to reach results quickly and the findings to inform the RPS Program about mission concept power requirements on RPS for small missions.

Bairstow, Brian K.↗
NASA NTRS1979

Low-level processing for real-time image analysis

A system that detects object outlines in television images in real time is described. A high-speed pipeline processor transforms the raw image into an edge map and a microprocessor, which is integrated into the system, clusters the edges, and represents them as chain codes. Image statistics, useful for higher level tasks such as pattern recognition, are computed by the microprocessor. Peak intensity and peak gradient values are extracted within a programmable window and are used for iris and focus control. The algorithms implemented in hardware and the pipeline processor architecture are described. The strategy for partitioning functions in the pipeline was chosen to make the implementation modular. The microprocessor interface allows flexible and adaptive control of the feature extraction process. The software algorithms for clustering edge segments, creating chain codes, and computing image statistics are also discussed. A strategy for real time image analysis that uses this system is given.

Eskenazi, R.↗
NASA NTRS1979

Geochemical data synthesis and analysis

Data obtained at the Goddard Flight Center were collected for the purpose of completing analyses started at Goddard in order to maximize the scientific yield of the geochemistry program which was terminated in 1977. The major analytical task undertaken was to complete Gd analyses on a large number of samples already analyzed by mass spectrometry for other rare earth element abundances at Goddard. Gd values are important for pinning down the central part of the geochemically significant rare earth abundance pattern and are especially useful in the high precision definition of the utilitarian Eu anomaly. Isotope-dilution Gd abundances were obtained for 39 samples. The data are for 27 partition-coefficient samples, six Apollo 15 and 16 breccia samples, four terrestrial impactities, and associated rock standards.

Philpotts, J. A.↗
NASA NTRS2015

Analysis of Human-Spacesuit Interaction

Astronauts sustain injuries of various natures such as finger delamination, joint pain, and redness due to their interaction with the space suit. The role of the Anthropometry and Biomechanics Facility is to understand the biomechanics, environmental variables, and ergonomics of the suit. This knowledge is then used to make suggestions for improvement in future iterations of the space suit assembly to prevent injuries while allowing astronauts maneuverability, comfort, and tactility. The projects I was involved in were the Extravehicular Mobility Unit (EMU) space suit stiffness study and the glove feasibility study. The EMU project looked at the forces exerted on the shoulder, arm, and wrist when subjects performed kinematic tasks with and without a pressurized suit. The glove study consisted of testing three conditions - the Series 4000 glove, the Phase VI glove, and the no glove condition. With more than forty channels of sensor data total, it was critical to develop programs that could analyze data with basic descriptive statistics and generate relevant graphs to help understand what happens within the space suit and glove. In my project I created a Graphical User Interface (GUI) in MATLAB that would help me visualize what each sensor was doing within a task. The GUI is capable of displaying overlain plots and can be synchronized with video. This was helpful during the stiffness testing to visualize how the forces on the arm acted while the subject performed tasks such as shoulder adduction/abduction and bicep curls. The main project of focus, however, was the glove comparison study. I wrote MATLAB programs which generated movies of the strain vectors during specific tasks. I also generated graphs that summarized the differences between each glove for the strain, shear and FSR sensors. Preliminary results indicate that the Phase VI glove places less strain and shear on the hand. Future work includes continued data analysis of surveys and sensor data. In the end, the ideal glove is one that provides more tactility for the astronauts but lessens injuries. Often times, a more tactile glove transmits forces better to the hand; thus, achieving a balance of both a tactile and safe glove is the main challenge present.

Thomas, Neha↗
NASA NTRS1983

Technical and investigative support for high density digital satellite recording systems

Recent results of dropout measurements and defect analysis conducted on one reel of Ampex 721 which was submitted for evaluation by the manufacturer are described. The results or status of other tape evaluation activities are also reviewed. Several changes in test interpretations and applications are recommended. In some cases, deficiencies in test methods or equipment became apparent during continued work on this project and other IITRI tape evaluation projects. Techniques and equipment for future tasks such as tape qualification are also recommended and discussed. Project effort and expenditures were kept at a relatively low level. This rate provided added development time and experience with the IITRI Dropout Measurement System, which is approaching its potential as a computer based dropout analysis tool. Another benefit is the expanded data base on critical parameters that can be achieved from tests on different tape types and lots as they become available. More consideration and effort was directed toward identification of critical parameters, development of meaningful repeatable test procedures, and tape procurement strategy.

Schultz, R. A.↗
NASA NTRS1984

Conceptual design of a monitoring system for the Charters of Freedom

A conceptual design of a monitoring system for the Charters of Freedom was developed for the National Archives and Records Service. The monitoring system would be installed at the National Archives and used to document the condition of the Charters as part of a regular inspection program. The results of an experimental measurements program that led to the definition of analysis system requirements are presented, a conceptual design of the monitoring system is described and the alternative approaches to implementing this design were discussed. The monitoring system is required to optically detect and measure deterioration in documents that are permanently encapsulated in glass cases. An electronic imaging system with the capability for precise photometric measurements of the contrast of the script on the documents can perform this task. Two general types of imaging systems are considered (line and area array), and their suitability for performing these required measurements are compared. A digital processing capability for analyzing the electronic imaging data is also required, and several optional levels of complexity for this digital analysis system are evaluated.

Cutts, J. A.↗
NASA NTRS2012

Face-Sheet Quality Analysis and Thermo-Physical Property Characterization of OOA and Autoclave Panels

Increased application of polymer matrix composite (PMC) materials in large vehicle structures requires consideration of non-autoclave manufacturing technology. The NASA Composites for Exploration project, and its predecessor, Lightweight Spacecraft Structures and Materials project, were tasked with the development of materials and manufacturing processes for structures that will perform in a heavy-lift-launch vehicle environment. Both autoclave and out of autoclave processable materials were considered. Large PMC structures envisioned for such a vehicle included the payload shroud and the interstage connector. In this study, composite sandwich panels representing 1/16th segments of the barrel section of the Ares V rocket fairing were prepared as 1.8 m x 2.4 m sections of the 10 m diameter arc segment. IM7/977-3 was used as the face-sheet prepreg of the autoclave processed panels and T40-800B/5320-1 for the out of autoclave panels. The core was 49.7 kg/sq m (3.1 lb/cu ft (pcf)) aluminum honeycomb. Face-sheets were fabricated by automated tape laying 153 mm wide unidirectional tape. This work details analysis of the manufactured panels where face-sheet quality was characterized by optical microscopy, cured ply thickness measurements, acid digestion, and thermal analysis.

Miller, Sandi G.↗
NASA NTRS1973

Digital processing of Mariner 9 television data.

The digital image processing performed by the Image Processing Laboratory (IPL) at JPL in support of the Mariner 9 mission is summarized. The support is divided into the general categories of image decalibration (the removal of photometric and geometric distortions from returned imagery), computer cartographic projections in support of mapping activities, and adaptive experimenter support (flexible support to provide qualitative digital enhancements and quantitative data reduction of returned imagery). Among the tasks performed were the production of maximum discriminability versions of several hundred frames to support generation of a geodetic control net for Mars, and special enhancements supporting analysis of Phobos and Deimos images.

Green, W. B.↗
NASA NTRS1973

Programmer's manual for the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

The Mission Analysis Evaluation and Space Trajectory Operations program known as MAESTRO is described. MAESTRO is an all FORTRAN, block style, computer program designed to perform various mission control tasks. This manual is a guide to MAESTRO, providing individuals the capability of modifying the program to suit their needs. Descriptions are presented of each of the subroutines descriptions consist of input/output description, theory, subroutine description, and a flow chart where applicable. The programmer's manual also contains a detailed description of the common blocks, a subroutine cross reference map, and a general description of the program structure.

Lutzky, D.↗
NASA NTRS1974

Turbulence flight director analysis and preliminary simulation

A control column and trottle flight director display system is synthesized for use during flight through severe turbulence. The column system is designed to minimize airspeed excursions without overdriving attitude. The throttle system is designed to augment the airspeed regulation and provide an indication of the trim thrust required for any desired flight path angle. Together they form an energy management system to provide harmonious display indications of current aircraft motions and required corrective action, minimize gust upset tendencies, minimize unsafe aircraft excursions, and maintain satisfactory ride qualities. A preliminary fixed-base piloted simulation verified the analysis and provided a shakedown for a more sophisticated moving-base simulation to be accomplished next. This preliminary simulation utilized a flight scenario concept combining piloting tasks, random turbulence, and discrete gusts to create a high but realistic pilot workload conducive to pilot error and potential upset. The turbulence director (energy management) system significantly reduced pilot workload and minimized unsafe aircraft excursions.

Johnson, D. E.↗
NASA NTRS1975

On hemispheric differences in evoked potentials to speech stimuli

Confirmation is provided for the belief that evoked potentials may reflect differences in hemispheric functioning that are marginal at best. Subjects were right-handed and audiologically normal men and women, and responses were recorded using standard EEG techniques. Subjects were instructed to listen for the targets while laying in a darkened sound booth. Different stimuli, speech and tone signals, were used. Speech sounds were shown to evoke a response pattern that resembles that to tone or clicks. Analysis of variances on peak amplitude and latency measures showed no significant differences between hemispheres, however, a Wilcoxon test showed significant differences in hemispheres for certain target tasks.

Galambos, R.↗
NASA NTRS1983

Customer premise service study for 30/20 GHz satellite system

Satellite systems in which the space segment operates in the 30/20 GHz frequency band are defined and compared as to their potential for providing various types of communications services to customer premises and the economic and technical feasibility of doing so. Technical tasks performed include: market postulation, definition of the ground segment, definition of the space segment, definition of the integrated satellite system, service costs for satellite systems, sensitivity analysis, and critical technology. Based on an analysis of market data, a sufficiently large market for services is projected so as to make the system economically viable. A large market, and hence a high capacity satellite system, is found to be necessary to minimize service costs, i.e., economy of scale is found to hold. The wide bandwidth expected to be available in the 30/20 GHz band, along with frequency reuse which further increases the effective system bandwidth, makes possible the high capacity system. Extensive ground networking is required in most systems to both connect users into the system and to interconnect Earth stations to provide spatial diversity. Earth station spatial diversity is found to be a cost effective means of compensating the large fading encountered in the 30/20 GHz operating band.

Milton, R. T.↗