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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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At least 199 records · Page 11
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NASA NTRS1991

Development of a calibration workstation for SIR-C

The paper describes the status of a comprehensive synthetic aperture radar (SAR) software package developed specifically to aid the calibration of a multifrequency and multipolarization radar like the Shuttle Imaging Radar, SIR-C. The primary data types processed are engineering telemetry, point targets (corner reflectors and polarimetric active radar calibrators), distributed targets (clutter), tone-generators, and ground receivers. The parameters derived to aid the calibration of the production processor include measurements of relative radiometric channel to channel imbalance, absolute calibration constants, antenna pattern corrections, noise levels, polarimetric cross-talk, and geometric offsets. The software reports standard performance measurements such as resolution, peak and integrated sidelobes, radiometric response accuracy, and geometrical distortions such as scale errors, position bias and standard deviation, and image skew. Furthermore, the inclusion of software to allow updates of the shuttle-state vector (position and velocity) is considered.

Madsen, S. N.↗
NASA NTRS1991

A vision-based end-point control for a two-link flexible manipulator

The measurement and control of the end-effector position of a large two-link flexible manipulator are investigated. The system implementation is described and an initial algorithm for static end-point positioning is discussed. Most existing robots are controlled through independent joint controllers, while the end-effector position is estimated from the joint positions using a kinematic relation. End-point position feedback can be used to compensate for uncertainty and structural deflections. Such feedback is especially important for flexible robots. Computer vision is utilized to obtain end-point position measurements. A look-and-move control structure alleviates the disadvantages of the slow and variable computer vision sampling frequency. This control structure consists of an inner joint-based loop and an outer vision-based loop. A static positioning algorithm was implemented and experimentally verified. This algorithm utilizes the manipulator Jacobian to transform a tip position error to a joint error. The joint error is then used to give a new reference input to the joint controller. The convergence of the algorithm is demonstrated experimentally under payload variation. A Landmark Tracking System (Dickerson, et al 1990) is used for vision-based end-point measurements. This system was modified and tested. A real-time control system was implemented on a PC and interfaced with the vision system and the robot.

Obergfell, Klaus↗
NASA NTRS1993

Star tracker operation in a high density proton field

Algorithms that reject transient signals due to proton effects on charge coupled device (CCD) sensors have been implemented in the HDOS ASTRA-l Star Trackers to be flown on the TOPEX mission scheduled for launch in July 1992. A unique technique for simulating a proton-rich environment to test trackers is described, as well as the test results obtained. Solar flares or an orbit that passes through the South Atlantic Anomaly can subject the vehicle to very high proton flux levels. There are three ways in which spurious proton generated signals can impact tracker performance: the many false signals can prevent or extend the time to acquire a star; a proton-generated signal can compromise the accuracy of the star's reported magnitude and position; and the tracked star can be lost, requiring reacquisition. Tests simulating a proton-rich environment were performed on two ASTRA-1 Star Trackers utilizing these new algorithms. There were no false acquisitions, no lost stars, and a significant reduction in reported position errors due to these improvements.

Miklus, Kenneth J.↗
NASA NTRS1993

Finding the rarest objects in the universe: A new, efficient method for discovering BL Lacertae objects

We present a new, efficient method for discovering new BL Lac Objects based upon the results of the Einstein Extended Medium Sensitivity Survey (EMSS). We have found that all x-ray selected BL Lacs are radio emitters, and further, that in a 'color-color' diagram (radio/optical and optical/x-ray) the BL Lac Objects occupy an area distinct from both radio loud quasars and the radio quiet QSOs and Seyferts which dominate x-ray selected samples. After obtaining radio counterparts via VLA 'snapshot' observations of a large sample of unidentified x-ray sources, the list of candidates is reduced. These candidates then can be confirmed with optical spectroscopy and/or polarimetry. Since greater than 70 percent of these sources are expected to be BL Lacs, the optical observations are very efficient. We have tested this method using unidentified sources found in the Einstein Slew Survey. The 162 Slew Survey x-ray source positions were observed with the VLA in a mixed B/C configuration at 6 cm resulting in 60 detections within 1.5 position error circle radii. These x-ray/optical/radio sources were then plotted, and 40 BL Lac candidates were identified. To date, 10 candidates have been spectroscopically observed resulting in 10 new BL Lac objects! Radio flux, optical magnitude, and polarization statistics (obtained in white light with the Steward Observatory 2.3 m CCD polarimeter) for each are given.

Stocke, John↗
NASA NTRS1993

Mass balance assessment using GPS

Mass balance is an integral part of any comprehensive glaciological investigation. Unfortunately, it is hard to determine at remote locations where there is no fixed reference. The Global Positioning System (GPS) offers a solution. Simultaneous GPS observations at a known location and the remote field site, processed differentially, will accurately position the camp site. From there, a monument planted in the firn atop the ice can also be accurately positioned. Change in the monument's vertical position is a direct indicator of ice thickness change. Because the monument is not connected to the ice, its motion is due to both mass balance change and to the settling of firn as it densifies into ice. Observations of relative position change between the monument and anchors at various depths within the firn are used to remove the settling effect. An experiment to test this method has begun at Byrd Station on the West Antarctic Ice Sheet and the first epoch of observations was made. Analysis indicates that positioning errors will be very small. It appears likely that the largest errors involved with this technique will arise from ancillary data needed to determine firn settling.

Hulbe, Christina L.↗
NASA NTRS1991

Direct adaptive impedance control of manipulators

An adaptive scheme for controlling the end-effector impedance of robot manipulators is presented. The proposed control system consists of three subsystems: a simple filter which characterizes the desired dynamic relationship between the end-effector position error and the end-effector/environment contact force, an adaptive controller which produces the Cartesian-space control input required to provide this desired dynamic relationship, and an algorithm for mapping the Cartesian-space control input to a physically realizable joint-space control torque. The controller does not require knowledge of either the structure or the parameter values of the robot dynamics, and it is implemented without calculation of the robot inverse kinematic transformation. As a result, the scheme represents a very general and computationally efficient approach to controlling the impedance of both nonredundant and redundant manipulators. Furthermore, the method can be applied directly to trajectory tracking in free-space motion by removing the impedance filter.

Colbaugh, R.↗
NASA NTRS1992

Developments of new force reflecting control schemes and an application to a teleoperation training simulator

Two schemes of force reflecting control, position-error based force reflection and low-pass-filtered force reflection, both combined with shared compliance control, were developed for dissimilar master-slave arms. These schemes enabled high force reflection gains, which were not possible with a conventional scheme when the slave arm was much stiffer than the master arm. The experimental results with a peg-in-hole task indicated that the newly force reflecting control schemes combined with compliance control resulted in best task performances. As a related application, a simulated force reflection/shared compliance control teleoperation trainer was developed that provided the operator with the feel of kinesthetic force virtual reality.

Kim, Won S.↗
NASA NTRS1993

Smoothed particle hydrodynamics with GRAPE-1A

We describe the implementation of a smoothed particle hydrodynamics (SPH) scheme using GRAPE-1A, a special-purpose processor used for gravitational N-body simulations. The GRAPE-1A calculates the gravitational force exerted on a particle from all other particles in a system, while simultaneously making a list of the nearest neighbors of the particle. It is found that GRAPE-1A accelerates SPH calculations by direct summation by about two orders of magnitudes for a ten thousand-particle simulation. The effective speed is 80 Mflops, which is about 30 percent of the peak speed of GRAPE-1A. Also, in order to investigate the accuracy of GRAPE-SPH, some test simulations were executed. We found that the force and position errors are smaller than those due to representing a fluid by a finite number of particles. The total energy and momentum were conserved within 0.2-0.4 percent and 2-5 x 10 exp -5, respectively, in simulations with several thousand particles. We conclude that GRAPE-SPH is quite effective and sufficiently accurate for self-gravitating hydrodynamics.

Umemura, Masayuki↗
NASA NTRS1993

Joint-space Lyapunov-based direct adaptive control of a kinematically redundant telerobot manipulator

This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.

Nguyen, Charles C.↗
NASA NTRS1995

Analysis of solar receiver flux distributions for US/Russian solar dynamic system demonstration on the MIR Space Station

The United States and Russia have agreed to jointly develop a solar dynamic (SD) system for flight demonstration on the Russian MIR space station starting in late 1997. Two important components of this SD system are the solar concentrator and heat receiver provided by Russia and the U.S., respectively. This paper describes optical analysis of the concentrator and solar flux predictions on target receiver surfaces. The optical analysis is performed using the code CIRCE2. These analyses account for finite sun size with limb darkening, concentrator surface slope and position errors, concentrator petal thermal deformation, gaps between petals, and the shading effect of the receiver support struts. The receiver spatial flux distributions are then combined with concentrator shadowing predictions. Geometric shadowing patterns are traced from the concentrator to the target receiver surfaces. These patterns vary with time depending on the chosen MIR flight attitude and orbital mechanics of the MIR spacecraft. The resulting predictions provide spatial and temporal receiver flux distributions for any specified mission profile. The impact these flux distributions have on receiver design and control of the Brayton engine are discussed.

Kerslake, Thomas W.↗
NASA NTRS1993

Effect of marine stratocumulus in TOMS ozone

The algorithm used to correct total O3 from the total ozone mapping spectrometer (TOMS) for cloud effects is based on the measured reflectivity, a climatological cloud top height, and an assumed tropospheric O3 column amount below clouds. In regions of persistent subtropical marine stratocumulus it is assumed that this introduces a positive error into total O3 because these clouds are lower than the assumed mean cloud height used in the algorithm. This appears to be confirmed by high correlation between Nimbus 7 TOMS total O3 and reflectivity data for typical regimes of persistent stratus, as identified by the international satellite cloud climatology project (ISCCP) observations. The TOMS total O3 overestimate has been computed using Nimbus 7/solar backscattered ultraviolet total O3 derived using temperature humidity infrared radiometer (THIR) data for years 1979-1984. A functional relationship between the THIR/non-THIR total O3 difference and reflectivity is used with TOMS reflectivity to modify Nimbus 7 TOMS O3 data for selected regions and periods. The correction diminishes or eliminates a number of apparent O3 maxima, with reductions of up to 20 Dobson units (DU) in total O3 on daily maps and approximately 5 DU on monthly mean O3 maps. Significant correlation between corrected TOMS O3 and reflectivity data remains because low-altitude O3 is retrieved more efficiently over a high-albedo surface. It is also possible that dynamical influences leading to stratocumulus formation bring O3-enriched air into the area. These results imply that although good arguments can be made for the use of TOMS total O3 as a proxy for tropospheric O3 in the tropics, caution must be exercised in the use of daily and even monthly O3 maps in the vicinity of clouds. Further research into the TOMS algorithm in cloudy regions is required to derive reliable estimates of tropospheric O3.

Thompson, A. M.↗
NASA NTRS1995

Wavelet transform analysis of the small-scale X-ray structure of the cluster Abell 1367

We have developed a new technique based on a wavelet transform analysis to quantify the small-scale (less than a few arcminutes) X-ray structure of clusters of galaxies. We apply this technique to the ROSAT position sensitive proportional counter (PSPC) and Einstein high-resolution imager (HRI) images of the central region of the cluster Abell 1367 to detect sources embedded within the diffuse intracluster medium. In addition to detecting sources and determining their fluxes and positions, we show that the wavelet analysis allows a characterization of the sources extents. In particular, the wavelet scale at which a given source achieves a maximum signal-to-noise ratio in the wavelet images provides an estimate of the angular extent of the source. To account for the widely varying point response of the ROSAT PSPC as a function of off-axis angle requires a quantitative measurement of the source size and a comparison to a calibration derived from the analysis of a Deep Survey image. Therefore, we assume that each source could be described as an isotropic two-dimensional Gaussian and used the wavelet amplitudes, at different scales, to determine the equivalent Gaussian Full Width Half-Maximum (FWHM) (and its uncertainty) appropriate for each source. In our analysis of the ROSAT PSPC image, we detect 31 X-ray sources above the diffuse cluster emission (within a radius of 24 min), 16 of which are apparently associated with cluster galaxies and two with serendipitous, background quasars. We find that the angular extents of 11 sources exceed the nominal width of the PSPC point-spread function. Four of these extended sources were previously detected by Bechtold et al. (1983) as 1 sec scale features using the Einstein HRI. The same wavelet analysis technique was applied to the Einstein HRI image. We detect 28 sources in the HRI image, of which nine are extended. Eight of the extended sources correspond to sources previously detected by Bechtold et al. Overall, using both the PSPC and the HRI observations, we detect 16 extended features, of which nine have galaxies coincided with the X-ray-measured positions (within the positional error circles). These extended sources have luminosities lying in the range (3 - 30) x 10(exp 40) ergs/s and gas masses of approximately (1 - 30) x 10(exp 9) solar mass, if the X-rays are of thermal origin. We confirm the presence of extended features in A1367 first reported by Bechtold et al. (1983). The nature of these systems remains uncertain. The luminosities are large if the emission is attributed to single galaxies, and several of the extended features have no associated galaxy counterparts. The extended features may be associated with galaxy groups, as suggested by Canizares, Fabbiano, & Trinchieri (1987), although the number required is large.

Grebeney, S. A.↗
NASA NTRS1995

Ground-recorded sonic boom signatures of F-18 aircraft formation flight

Two F-18 aircraft were flown, one above the other, in two formations, in order for the shock systems of the two aircraft to merge and propagate to the ground. The first formation had the canopy of the lower F-18 in the inlet shock of the upper F-18 (called inlet-canopy). The flight conditions were Mach 1.22 and an altitude of 23,500 ft. An array of five sonic boom recorders was used on the ground to record the sonic boom signatures. This paper describes the flight test technique and the ground level sonic boom signatures. The tail-canopy formation resulted in two, separated, N-wave signatures. Such signatures probably resulted from aircraft positioning error. The inlet-canopy formation yielded a single modified signature; two recorders measured an approximate flattop signature. Loudness calculations indicated that the single inlet-canopy signatures were quieter than the two, separated tail-canopy signatures. Significant loudness occurs after a sonic boom signature. Such loudness probably comes from the aircraft engines.

Bahm, Catherine M.↗
NASA NTRS1996

Ground-Recorded Sonic Boom Signatures of F-18 Aircraft in Formation Flight

Two F-18 aircraft were flown, one above the other, in two formations, in order for the shock systems of the two aircraft to merge and propagate to the ground. The first formation had the canopy of the lower F-18 in the tail shock of the upper F-18 (called tail-canopy). The second formation had the canopy of the lower F- 18 in the inlet shock of the upper F-18 (called inlet-canopy). The flight conditions were Mach 1.22 and an altitude of 23,500 ft . An array of five sonic boom recorders was used on the ground to record the sonic boom signatures. This paper describes the flight test technique and the ground level sonic boom signatures. The tail-canopy formation resulted in two, separated, N-wave signatures. Such signatures probably resulted from aircraft positioning error. The inlet-canopy formation yielded a single modified signature; two recorders measured an approximate flattop signature. Loudness calculations indicated that the single inlet-canopy signatures were quieter than the two, separated tail-canopy signatures. Significant loudness occurs after a sonic boom signature. Such loudness probably comes from the aircraft engines.

Bahm, Catherine M.↗
NASA NTRS1996

Calibration of NASA Turbulent Air Motion Measurement System

A turbulent air motion measurement system (TAMMS) was integrated onboard the Lockheed 188 Electra airplane (designated NASA 429) based at the Wallops Flight Facility in support of the NASA role in global tropospheric research. The system provides air motion and turbulence measurements from an airborne platform which is capable of sampling tropospheric and planetary boundary-layer conditions. TAMMS consists of a gust probe with free-rotating vanes mounted on a 3.7-m epoxy-graphite composite nose boom, a high-resolution inertial navigation system (INS), and data acquisition system. A variation of the tower flyby method augmented with radar tracking was implemented for the calibration of static pressure position error and air temperature probe. Additional flight calibration maneuvers were performed remote from the tower in homogeneous atmospheric conditions. System hardware and instrumentation are described and the calibration procedures discussed. Calibration and flight results are presented to illustrate the overall ability of the system to determine the three-component ambient wind fields during straight and level flight conditions.

Barrick, John D. W.↗
NASA NTRS1997

Attitude and Trajectory Determination using Magnetometers and Estimated Rates

A simultaneous attitude and orbit determination algorithm which uses magnetometer measurements and estimated attitude rates is presented. This is an extension of an algorithm which uses magnetometer and rate gyro measurements. The new algorithm is intended for gyroless spacecraft, or in the case of gyro failures/saturation. Torque control input data is used in forming the rate estimates. Simulation tests of the algorithm are presented. First, tests were performed using the 'true' rate values at each time step. This simulated using accurate gyro measurements. Then, tests were performed estimating the rates. Using estimated rates rather than 'gyro measurements' did not significantly degrade the algorithm's performance if accurate estimates of the initial rates were available. An initial Root-Sum-Square (RSS) position error of 1,400 km was reduced to an average error of approximately 100 km within the first two minutes. The RSS attitude error converged to less than 1.5 degrees within three orbits.

Schierman, J. D.↗
NASA NTRS1997

Women in Flight Research at NASA Dryden Flight Research Center from 1946 to 1995: Monographs in Aerospace History - Number 6

This monograph discusses the working and living environment of women involved with flight research at NASA Dryden Flight Research Center during the late 1940s and early 1950s. The women engineers, their work and the airplanes they worked on from 1960 to December 1995 are highlighted. The labor intensive data gathering and analysis procedures and instrumentation used before the age of digital computers are explained by showing and describing typical instrumentation found on the X-series aircraft from the X-1 through the X-15. The data reduction technique used to obtain the Mach number position error curve for the X-1 aircraft and which documents the historic first flight to exceed the speed of sound is described and a Mach number and altitude plot from an X-15 flight is shown.

Powers, Sheryll Goecke↗
NASA NTRS1996

AO 0235+164 and Surrounding Field: Surprising HST Results

Results obtained with the Hubble Space Telescope on the highly variable radio, x-ray, and gamma-ray emitting QSO (or BL Lac object) AO 0235 + 164 are presented and analyzed. WFPC2 images were obtained in 1994 June, when AO 0235 + 164 was bright (m approx. 17), and the results are described in Sec. 3. After subtraction of the PSF of the QSO, hereafter called AO following the nomenclature of Yanny et al. (1989), the companion object named A, 2 sec south of AO, is discovered not to be an elliptical galaxy as hypothesized earlier, but to be an AGN object, with a central UV-bright point-source nucleus and faint surrounding nebulosity extending to AO. The second companion object 1.3 sec east of AO discovered by Yanny et al. (1989) and named object Al, appears more like a normal spiral galaxy. We have measured the positions, luminosities, and colors of some 30 faint objects in the field around AO 0235 + 16; most are extended and may be star-forming galaxies in a loose group or cluster. Our most surprising result of the HST observations comes from FOS spectra obtained in 1995 July, discussed in Sec. 4. Because of a positioning error of the telescope and AO's faintness at that time (m approx. 20), object A was observed instead of the intended target AO. Serendipitously, we discovered A to have broad deep BALQSO-type absorptions of C IV, Si IV, N V shortward of broad emissions. A is thus ejecting high velocity, highly ionized gas into the surrounding IGM. We discuss in Sec. 5 the relationship of the objects in the central 10 sec X 1O sec region around AO, where redshifts z(sub e) = 0.94, z(sub a) = 0.524, 0.851 in AO, (sub e) = 0.524 and Z(sub BAL)=0.511 in A, are found. We hypothesize that some of the 30 faint objects in the 77 sec. x 77 sec. field may be part of a large star-forming region at z approx. 0.5, as suggested for a few objects by Yanny et al. (1989). The proximity of two highly active extragalactic objects, AO 0235+164 and its AGN companion A, is remarkable and one of the authors (EMB) suggests it may require consideration of a non-cosmological component of redshift in AO 0235+164.

Burbidge, E. M.↗