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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.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Implementation and Testing of Inverse Kinematics on Robotic Arm

COSIE (Coronal Spectrographic Imager in the Extreme Ultraviolet) is a proposed solar tracking ISS imaging payload that will help bridge the theoretical gap between the physics of the low corona and the heliosphere. This scientific instrument requires high pointing accuracy, on the order of arc seconds. The instrument is mounted on to a three revolute joint robotic arm in order to track the roll, pitch and yaw motion of the Sun. The goal of this project is to construct a prototype model of the robotic arm and implement the proposed analytical inverse kinematics algorithm. In robotics, the inverse kinematics problem is solving for the set of joint angles that achieve the desired end effect or location and/or orientation. In this case, orientation is the focus. Depending on the configuration, multiple sets of joint angle solutions may exist. Due to the complexity of robotics, typically iterative methods are used to solve for the joint angle solution sets. However, in this case, an analytical solution exists. A small robotic arm representative of the full size hardware was constructed. The inverse kinematics algorithm, originally in MATLAB/Simulink, was converted into C in order to interface with the motors. This C software was implemented on a Windows PC and micro-controller, and serial communication between the two was established, allowing the motors to be directly controlled by the inverse kinematics algorithm. Testing the inverse kinematics on a physical system will allow the validity and accuracy of the analytic solution to be verified.

Franz, Carter↗
NASA NTRS1989

Superconducting gravity gradiometer and a test of inverse square law

The equivalence principle prohibits the distinction of gravity from acceleration by a local measurement. However, by making a differential measurement of acceleration over a baseline, platform accelerations can be cancelled and gravity gradients detected. In an in-line superconducting gravity gradiometer, this differencing is accomplished with two spring-mass accelerometers in which the proof masses are confined to motion in a single degree of freedom and are coupled together by superconducting circuits. Platform motions appear as common mode accelerations and are cancelled by adjusting the ratio of two persistent currents in the sensing circuit. The sensing circuit is connected to a commercial SQUID amplifier to sense changes in the persistent currents generated by differential accelerations, i.e., gravity gradients. A three-axis gravity gradiometer is formed by mounting six accelerometers on the faces of a precision cube, with the accelerometers on opposite faces of the cube forming one of three in-line gradiometers. A dedicated satellite mission for mapping the earth's gravity field is an important one. Additional scientific goals are a test of the inverse square law to a part in 10(exp 10) at 100 km, and a test of the Lense-Thirring effect by detecting the relativistic gravity magnetic terms in the gravity gradient tensor for the earth.

Moody, M. V.↗
NASA NTRS1982

Inversion of the anomalous diffraction approximation for variable complex index of refraction near unity

The Fymat analytic inversion method for retrieving a particle-area distribution function from anomalous diffraction multispectral extinction data and total area is generalized to the case of a variable complex refractive index m(lambda) near unity depending on spectral wavelength lambda. Inversion tests are presented for a water-haze aerosol model. An upper-phase shift limit of 5 pi/2 retrieved an accurate peak area distribution profile. Analytical corrections using both the total number and area improved the inversion.

Smith, C. B.↗
NASA NTRS1980

Test of the inverse Compton model for Cygnus X-1

The unsaturated Compton model for Cygnus X-1 is attractive as it accounts for the power law spectrum with index (alpha) approximately equal to 1, and for the alleged high electron temperature (greater than 1 billion K). A critical test for the model is proposed, utilizing spectral data and especially the transition data when Cyg X-1 exhibited anticorrelated variations in soft and hard X-ray luminosities, with the pivoting point at about 10 keV; it is shown that the hard X-ray data available to date strongly support this model.

Liang, E. P. T.↗
NASA NTRS1991

Out-of-ecliptic tests of the inverse correlation between solar wind speed and coronal expansion factor

The paper addresses the question of whether out-of-ecliptic measurements satisfy the inverse correlation between wind speed at 1 AU and flux-tube divergence in the corona, already found from measurements in the ecliptic. Using the in-ecliptic calibration, out-of-ecliptic speeds are derived from coronal expansion factors determined from global observations of photospheric field and their current-free coronal extension. These derived speeds are compared with speeds inferred from interplanetary scintillation measurements during 1972-1988 and with in situ speeds measured by the Pioneer 11 spacecraft at 16 deg N latitude during 1984-1988. These three sets of wind speed show the same overall variation with latitude and time during the sunspot cycle, with higher latitudes having more years of fast wind than lower latitudes and all latitudes having slow wind at sunspot maximum. Although some detailed discrepancies are also present, the overall agreement is comparable to that achieved in the ecliptic plane.

Sheeley, N. R., Jr.↗
NASA NTRS2005

Should We Believe Atmospheric Temperatures Measured by Entry Accelerometers Traveling at "Slow" Near-Sonic Speeds?

Mars Pathfinder's Accelerometer instrument measured an unexpected and large temperature inversion between 10 and 20 kilometer altitude. Other instruments have failed to detect similar temperature inversions. I test whether this inversion is real or not by examining what changes have to be made to the assumptions in the accelerometer data processing to obtain a more "expected" temperature profile. Changes in derived temperature of up to 30K, or 15%, are necessary, which correspond to changes in derived density of up to 25% and changes in derived pressure of up to 10%. If the drag coefficient is changed to satisfy this, then instead of decreasing from 1.6 to 1.4 from 20 kilometers to 10 kilometers, the drag coefficient must increase from 1.6 to 1.8 instead. If winds are invoked, then speeds of 60 meters per second are necessary, four times greater than those predicted. Refinements to the equation of hydrostatic equilibrium modify the temperature profile by an order of magnitude less than the desired amount. Unrealistically large instrument drifts of 0.5-1.0 meters per square second are needed to adjust the temperature profile as desired. However, rotational contributions to the accelerations may have the necessary magnitude and direction to make this correction. Determining whether this hypothesis is true will require further study of the rigid body equations of motion, with detailed knowledge of the positions of all six accelerometers. The paradox concerning this inversion is not yet resolved. It is important to resolve it because the paradox has some startling implications. At one extreme, are temperature profiles derived from accelerometers inherently inaccurate by 20K or more? At the other extreme, are RS temperature profiles inaccurate by this same amount?

Withers, Paul↗
NASA NTRS1975

Doppler measurements of the ionosphere on the occasion of the Apollo-Soyuz test project. Part 2: Inversion of differential and rotating Doppler shifts

The preparation of the analytical approach and of the related software used in the inversion of the differential and rotating Doppler data obtained from the ionospheric experiment of the Apollo-Soyuz Test Project (ASTP) is discussed. These data were collected in space-to-space paths (between the ASTP Docking Module (DM) and the Apollo Command Service Module and in space-to-ground paths (between the DM and ground). The Doppler links operated at 162 and 324 MHz and have an accuracy better than 3 MHz over 10-sec integration time. The inversion approach was tested with dummy data obtained with a computer simulation. It was found that a measurement accuracy of 1 to 10% in the value of the horizontal electron density gradient at 221-km altitude can be achieved, in space-to-space paths. For space-to-ground paths near the orbital plane, possible effects of the horizontal gradients on the received differential Doppler shifts were identified. It was possible to reduce the gradient-associated errors in the inversion that leads to the columnar electron content by approximately one-half. Accuracies of 5 to 10% in columnar electron content are achievable, with this gradient-compensation technique.

Gay, R. H.↗
NASA NTRS2009

Testing of Commercial Hollow Fiber Membranes for Space Suit Water Membrane Evaporator

Three commercial-off-the-shelf (COTS) hollow fiber (HoFi) membrane evaporators, modified for low pressure, were tested in a vacuum chamber at pressures below 33 pascals as potential space suit water membrane evaporator (SWME) heat rejection technologies. Water quality was controlled in a series of 25 tests, first simulating potable water reclaimed from waste water and then changing periodically to simulate the ever concentrating make-up of the circulating coolant over that is predicted over the course of 100 EVAs. Two of the systems, comprised of non-porous tubes with hydrophilic molecular channels as the water vapor transport mechanism, were severely impacted by the increasing concentrations of cations in the water. One of the systems, based on hydrophobic porous polypropylene tubes was not affected by the degrading water quality, or the presence of microbes. The polypropylene system, called SWME 1, was selected for further testing. An inverse flow configuration was also tested with SWME 1, with vacuum exposure on the inside of the tubes, provided only 20% of the performance of the standard configuration. SWME 1 was also modified to block 50% and 90% of the central tube layers, and tested to investigate performance efficiency. Performance curves were also developed in back-pressure regulation tests, and revealed important design considerations arising from the fully closed valve. SWME 1 was shown to be insensitive to air bubbles injected into the coolant loop. Development and testing of a full-scale prototype based on this technology and these test results is in progress.

Bue, Grant C.↗
NASA NTRS1984

Statistical tests of additional plate boundaries from plate motion inversions

The application of the F-ratio test, a standard statistical technique, to the results of relative plate motion inversions has been investigated. The method tests whether the improvement in fit of the model to the data resulting from the addition of another plate to the model is greater than that expected purely by chance. This approach appears to be useful in determining whether additional plate boundaries are justified. Previous results have been confirmed favoring separate North American and South American plates with a boundary located beween 30 N and the equator. Using Chase's global relative motion data, it is shown that in addition to separate West African and Somalian plates, separate West Indian and Australian plates, with a best-fitting boundary between 70 E and 90 E, can be resolved. These results are generally consistent with the observation that the Indian plate's internal deformation extends somewhat westward of the Ninetyeast Ridge. The relative motion pole is similar to Minster and Jordan's and predicts the NW-SE compression observed in earthquake mechanisms near the Ninetyeast Ridge.

Stein, S.↗
NASA NTRS1998

Magnetospheric Image Unfolding

The Grant was a three year grant funded under the Space Physics Supporting Research and Technology and Suborbital Program. Our objective was to develop automated techniques needed to unfold or "invert" global images of the magnetospheric ion populations obtained by the new magnetospheric imaging techniques (ENA, EUV) in anticipation of future missions such as the Magnetospheric Imager and, now, IMAGE. Our focus on the present three year grant is to determine the degree to which such images can quantitatively constrain the global electromagnetic properties of the magnetosphere. In a previous three year grant period we successfully automated a forward modeling inversion algorithm, demonstrated that these inversions are robust in the face of realistic instrumental considerations such as counting statistics and backgrounds, applied error analysis techniques to the extracted parameters using variational procedures, implemented very realistic magnetospheric test images to test the inversion algorithms using the Rice University Magnetospheric Specification Model, and began the process of generating parametric models with the flexibility to handle the realistic magnetospheric images (e.g. Roelof et al, 1992; 1993). Our plan for the present 3 year grant period was to complete the development of the inversion tools needed to handle realistic magnetospheric images, assess the degree to which global electrodynamics is quantitatively constrained by ENA images of the magnetosphere, and bring the inversion of EUV images up to the maturity that we will have achieved for the ENA imaging. Below the accomplishments of our three year effort are present followed by a list of our presentations and publications. The accomplishments of all three years are presented here, and thus some of these items appeared on interim progress reports.

Source record↗
NASA NTRS2009

Efficient Method for Analyzing Hyperspectral Remote Sensing Data

The current and next generation satellite infrared sensors such as AIRS, IASI, CrIS, and CLARREO all have one thing in common: large number of spectral channels. In order to fully utilize the information content of these sensors, a large number of Radiative Transfer (RT) calculations through the inhomogeneous atmosphere are needed. It is also computationally intensive to invert atmospheric and surface properties using all the channels. Usually, only subsets of channels are used to perform physical inversions for atmospheric profiles. We will explore ways to speed up RT calculations and inversions and test the algorithms using data from the Infrared Atmospheric Sounding Interferometer (IASI) satellite instrument. We will describe a retrieval algorithm using a Principal Component-based Radiative Transfer Model (PCRTM) for generating atmospheric temperature/moisture/ozone profiles and surface properties. The retrieval algorithm performs both the radiative transfer calculations and inversions in the Principal Component (PC) domain. The inversion algorithm is based on a non-linear Levenberg- Marquardt method with climatology covariance matrices and a priori information as constraints. One advantage of this approach is that it uses all information content from the ultraspectral data so that the retrieval is less sensitive to instrument noise and eliminates the need for selecting a sub-set of the channels. We will also use data collected during the Joint Airborne IASI Validation Experiment (JAIVEx) field campaign to validate the algorithm and IASI retrievals.

Liu, Xu↗
NASA NTRS1984

Convex profiles from asteroid lightcurves

A lightcurve inversion method that yields a two-dimensional convex profile is introduced. The number of parameters that characterize the profile is limited only by the number of Fourier harmonics used to represent the parent lightcurve. The implementation of the method is outlined by a recursive quadratic programming algorithm, and its application to photoelectric lightcurves and radar measurements is discussed. Special properties of the lightcurves of geometrically scattering ellipsoids are pointed out, and those properties are used to test the inversion method and obtain a criterion for judging whether any lightcurve could actually be due to such an object. Convex profiles for several asteroids are shown, and the method's validity is discussed from a physical as well as purely statistical point of view.

Ostro, S. J.↗
NASA NTRS1985

Convex-profile Inversion of Asteroid Lightcurves

A lightcurve inversion method that yields a two-dimensional convex profile is introduced. The number of parameters that characterize the profile is limited only by the number of Fourier harmonics used to represent the parent lightcurve. The implementation of the method is outlined by a recursive quadratic programming algorithm, and its application to photoelectric lightcurves and radar measurements is discussed. Special properties of the lightcurves of geometrically scattering ellipsoids are pointed out, and those properties are used to test the inversion method and obtained a criterion for judging whether any lightcurve could actually be due to such an object. Convex profiles for several asteroids are shown, and the method's validity is discussed from a physical as well as purely statistical point of view.

Ostro, S. J.↗
NASA NTRS1998

Evaluation of 3D Inverse Code Using Rotor 67 as Test Case

A design modification of Rotor 67 is carried out with a full 3D inverse method. The blade camber surface is modified to produce a prescribed pressure loading distribution, with the blade tangential thickness distribution and the blade stacking line at midchord kept the same as the original Rotor 67 design. Because of the inviscid-flow assumption used in the current version of the method, Rotor 67 geometry is modified for use at a design point different from the original design value. A parametric study with the prescribed pressure loading distribution yields the following results. In the subsonic section, smooth pressure loading shapes generally produce blades with well-behaved blade surface pressure distributions. In the supersonic section, the study shows that the strength and position of the passage shock correlate with the characteristics of the blade pressure loading shape. In general, "smooth" prescribed blade pressure loading distributions generate blade designs with reverse cambers which have the effect of weakening the passage shock.

Dang, T.↗
NASA NTRS2011

Nonlinear Dynamic Inversion Baseline Control Law: Flight-Test Results for the Full-scale Advanced Systems Testbed F/A-18 Airplane

A model reference nonlinear dynamic inversion control law has been developed to provide a baseline controller for research into simple adaptive elements for advanced flight control laws. This controller has been implemented and tested in a hardware-in-the-loop simulation and in flight. The flight results agree well with the simulation predictions and show good handling qualities throughout the tested flight envelope with some noteworthy deficiencies highlighted both by handling qualities metrics and pilot comments. Many design choices and implementation details reflect the requirements placed on the system by the nonlinear flight environment and the desire to keep the system as simple as possible to easily allow the addition of the adaptive elements. The flight-test results and how they compare to the simulation predictions are discussed, along with a discussion about how each element affected pilot opinions. Additionally, aspects of the design that performed better than expected are presented, as well as some simple improvements that will be suggested for follow-on work.

Miller, Christopher J.↗
NASA NTRS1977

Data processing for the DMSP microwave radiometer system

A software program was developed and tested to process microwave radiometry data to be acquired by the microwave sensor (SSM/T) on the Defense Meteorological Satellite Program spacecraft. The SSM/T 7-channel microwave radiometer and systems data will be data-linked to Air Force Global Weather Central (AFGWC) where they will be merged with ephemeris data prior to product processing for use in the AFGWC upper air data base (UADB). The overall system utilizes an integrated design to provide atmospheric temperature soundings for global applications. The fully automated processing at AFGWC was accomplished by four related computer processor programs to produce compatible UADB soundings, evaluate system performance, and update the a priori developed inversion matrices. Tests with simulated data produced results significantly better than climatology.

Rigone, J. L.↗
NASA NTRS1981

Continuation of potential field data to a common altitude

It is noted that the distorsions introduced by the variation of distance between the sources and the measurement points can be important enough to create fake anomalies. The average amplitude of the anomalies at MAGSAT altitude is of the order of a few nT. Thus it is necessary to be careful in reducing MAGSAT data to a common elevation. The achievement of the corresponding anomaly map is of primary importance for the study of regional and long wave length anomalies. A method for the continuation of potential fields is described which consists in representing any harmonic function (in particular the anomaly is function of space coordinates) as a sum of elementary harmonic functions; the continuation being achieved by an inverse technique. Tests, made on a synthetic set of data, evaluate the method.

Lemouel, J. L.↗
NASA NTRS1988

Superconducting gravity gradiometer mission. Volume 2: Study team technical report

Scientific and engineering studies and developments performed or directed by a Study Team composed of various Federal and University activities involved with the development of a three-axis superconducting gravity gradiometer integrated with a six-axis superconducting accelerometer are examined. This instrument is being developed for a future orbital mission to make precise global gravity measurements. The scientific justification and requirements for such a mission are discussed. This includes geophysics, the primary mission objective, as well as secondary objective, such as navigation and feats of fundamental laws of physics, i.e., a null test of the inverse square law of gravitation and tests of general relativity. The instrument design and status along with mission analysis, engineering assessments, and preliminary spacecraft concepts are discussed. In addition, critical spacecraft systems and required technology advancements are examined. The mission requirements and an engineering assessment of a precursor flight test of the instrument are discussed.

Morgan, Samuel H.↗