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At least 235 records · Page 13
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NASA NTRS2011

Downhole Elemental Analysis with LIBS

In this paper we discuss a novel instrument, currently under development at Honeybee Robotics with SBIR funding from NASA. The device is designed to characterize elemental composition as a function of depth in non-terrestrial geological formations. The instrument consists of a miniaturized laser-induced breakdown spectrometer (LIBS) analyzer integrated in a 2" diameter drill string. While the drill provides subsurface access, the LIBS analyzer provides information on the elemental composition of the borehole wall. This instrument has a variety of space applications ranging from exploration of the Moon for which it was originally designed, to Mars, as well as a variety of terrestrial applications. Subsurface analysis is usually performed by sample acquisition through a drill or excavator, followed by sample preparation and subsequent sample presentation to an instrument or suite of instruments. An alternative approach consisting in bringing a miniaturized version of the instrument to the sample has many advantages over the traditional methodology, as it allows faster response, reduced probability of cross-contamination and a simplification in the sampling mechanisms. LIBS functions by focusing a high energy laser on a material inducing a plasma consisting of a small fraction of the material under analysis. Optical emission from the plasma, analyzed by a spectrometer, can be used to determine elemental composition. A triangulation sensor located in the sensor head determines the distance of the sensor from the borehole wall. An actuator modifies the position of the sensor accordingly, in order to compensate for changes due to the profile of the borehole walls. This is necessary because LIBS measurements are negatively affected by changes in the relative position of the focus of the laser with respect to the position of the sample (commonly referred to as the "lens to sample distance"). Profiling the borehole is done by adjusting the position of the sensor with a vertical stage; a second actuator at the top of the downhole probe allows radial scanning of the borehole. Analysis of iron and titanium in lunar simulant with LIBS was performed in air using the method of standard addition. The results for lunar simulant NU-LHT-2M show a value for the concentration of iron ranging between 2.29% and 3.05% depending on the atomic line selected. The accepted value for the sample analyzed is 2.83%, showing the capability for the system in development to provide qualitative and semi-quantitative analysis in real-time.

Moreschini, Paolo↗
NASA NTRS1999

Turbomachinery Design Quality Checks to Avoid Friction Induced Structural Failure

A unique configuration of the P&W SSME Alternate Fuel Turbopump turbine disk/blade assembly, combined with a severe thermal environment, resulted in several structural anomalies that were driven by frictional contact forces. Understanding the mechanics of these problems provides new quality checks for future turbo machinery designs. During development testing in 1997 of the SSME alternate fuel turbopump at Stennis Space Center, several potentially serious problems surfaced with the turbine disk/blade assembly that had not been experienced in extensive earlier testing. Changes to the operational thermal environment were noted based on analytical prediction of modifications that affected performance and on stationary thermal measurements adjacent to the rotor assembly. A detailed structural investigation was required to reveal the mechanism of distress induced by the change. The turbine disk experienced cracking in several locations due to increased thermal gradient induced stress during start and shutdown transients. This was easily predictable using standard analysis procedures and expected once the thermal environment was characterized. What was not expected was the curling of a piston ring used for blade axial retention in the disk, indentation of the axial face of the blade attachment by a spacer separating the first and second stage blades, and most significantly, galling and cracking of the blade root attachment that could have resulted in blade release. Past experience, in gas turbine environments, set a precedent of never relying on friction for help and to evaluate it only in specific instances where it was obvious that it would degrade capability. In each of the three cases above, friction proved to be a determining factor that pushed the components into an unsatisfactory mode of operation. The higher than expected temperatures and rapid thermal transients combined with friction to move beyond past experience. The turbine disk/blade assembly configuration contributed to the potential for these problems to occur by limiting the radial deflection from thermals and centrifugal loading. The cooled solid bore configuration was chosen to improve rotordynamic stability by limiting the length of rotor overhang while still protecting the roller bearing by maintaining zero slope under the inner race. During a start transient, the rim area of the disk heats rapidly and expands axially and circumferentially and requires corresponding radial and axial growth of the disk to maintain relative positioning of the disk, blades, spacers and retainer rings. The stiffness, large thermal mass, and bore cooling flow combine to severely limit the disk rim radial growth which results in the potential for relative movement between these parts. Friction then becomes a player in the determination of component stress.

Moore, Jerry H.↗
NASA NTRS2001

Evaluation of Forces on the Welding Probe of the Automated Retractable Pin-Tool (RPT)

The NASA invention entitled 'The Hydraulic Controlled Auto-Adjustable Pin Tool for Friction Stir Welding' (US Patent 5,893,507), better known as the Retractable Pin-Tool (RPT), has been instrumented with a load-detecting device allowing the forces placed on the welding probe to be measured. As the welding probe is plunged into the material, the forces placed on the probe can now be characterized. Of particular interest are those forces experienced as the welding probe comes within close proximity to the back-up anvil. For a given material, it is believed that unique forces are generated relative to the distance between the welding probe and the anvil. The forces have been measured and characterized for several materials, and correlations have been made between these forces and the pin's position relative to the backside of the weld material.

Ding, R. J.↗
NASA NTRS1999

Evaluation of Forces on the Welding Probe of the Retractable Pin-Tool (RPT)

NASA invention entitled, "The Hydraulic Controlled Auto-Adjustable Pin Tool for Friction Stir Welding" (U.S. Patent 5,893,5 07), better known as the Retractable Pin-Tool (RPT) has been instrumented with a load detecting devise allowing the forces placed upon the welding probe to be measured. As the welding probe is plunged into the material, the forces placed upon the probe can now be charactefized. Of particular interest are those forces experienced as the welding probe comes within close proximity to the back-up anvil. For a given material, it is believed that unique forces are generated relative to the distance between the welding probe and the anvil. The forces have been measured and characterized for several materials, and correlations have been made between these forces and the pin's position relative to the backside of the weld material.

Ding, R. Jeffrey↗
NASA NTRS1988

Error dynamics and relative orbital uncertainty of the Magellan spacecraft

Relative error is discussed in light of a proposed orbiter mission to Venus. It is hypothesized that the relative (position) error of the orbiting spacecraft between disjoint data sets will be large because of residual uncertainties of the absolute estimates and their decorrelation caused by succeeding estimates. A method is proposed to limit relative error by inducing correlations between the estimates on successive data arcs. These correlations are induced by overlapping the data arcs. Covariance analyses of the data sets are undertaken at two distinct mapping times, yielding the relative error between those mapping times. The technique is applied to a mosaicking problem on a specific day in the mission.

Haw, R. J.↗
NASA NTRS1991

Microgravity vibration isolation: An optimal control law for the one-dimensional case

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platform. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) exp 4. Low frequency accelerations are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, Richard D.↗
NASA NTRS1991

Microgravity vibration isolation: An optimal control law for the one-dimensional case

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega)(exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics guaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, R. D.↗
NASA NTRS1992

Optimal microgravity vibration isolation - An algebraic introduction

Certain experiments contemplated for space platforms must be isolated from the accelerations of the platforms. An optimal active control is developed for microgravity vibration isolation, using constant state feedback gains (identical to those obtained from the Linear Quadratic Regulator (LQR) approach) along with constant feedforward (preview) gains. The quadratic cost function for this control algorithm effectively weights external accelerations of the platform disturbances by a factor proportional to (1/omega) (exp 4). Low frequency accelerations (less than 50 Hz) are attenuated by greater than two orders of magnitude. The control relies on the absolute position and velocity feedback of the experiment and the absolute position and velocity feedforward of the platform, and generally derives the stability robustness characteristics quaranteed by the LQR approach to optimality. The method as derived is extendable to the case in which only the relative positions and velocities and the absolute accelerations of the experiment and space platform are available.

Hampton, R. D.↗
NASA NTRS2025

Simultaneous Localization and Mapping for Spacecraft Rendezvous and Proximity Operations Using Random Finite Sets

Future space missions require spacecraft to autonomously navigate non-cooperative environments for rendezvous and proximity operations (RPO). Current navigation filters used for RPO can have difficulty when optical sensors are used, due to complications with data association, high measurement uncertainty, and clutter. This paper provides an initial demonstration of the feasibility of using random finite set (RFS) filters for spacecraft relative navigation and pose estimation. Spacecraft relative navigation is formulated as a simultaneous localization and mapping (SLAM) problem, in which an observer spacecraft seeks to simultaneously estimate the location of features on a target object or spacecraft as well as its relative position, velocity and attitude. Simulated flash LIDAR measurements are processed using a Gaussian Mixture Probability Hypothesis Density (GMPHD) filter embedded in a particle filter to obtain a feature map of a target and a relative pose estimate between the target and observer over time. Results show that an RFS-based filter can successfully perform SLAM in a spacecraft relative navigation scenario.

David E Gaylor↗
NASA NTRS1989

Satellite-map position estimation for the Mars rover

A method for locating the Mars rover using an elevation map generated from satellite data is described. In exploring its environment, the rover is assumed to generate a local rover-centered elevation map that can be used to extract information about the relative position and orientation of landmarks corresponding to local maxima. These landmarks are integrated into a stochastic map which is then matched with the satellite map to obtain an estimate of the robot's current location. The landmarks are not explicitly represented in the satellite map. The results of the matching algorithm correspond to a probabilistic assessment of whether or not the robot is located within a given region of the satellite map. By assigning a probabilistic interpretation to the information stored in the satellite map, researchers are able to provide a precise characterization of the results computed by the matching algorithm.

Hayashi, Akira↗
NASA NTRS1992

Ulysses navigation at Jupiter encounter

The Ulysses spacecraft encountered Jupiter in February 1992, to provide a gravity assist for its prime mission over the poles of the sun. Orbit determination performed before the nominal final targeting maneuver resulted in the maneuver being cancelled. A surprisingly large Jupiter ephemeris error resulted in a slightly different encounter than planned, but one still meeting requirements. In an accompanying experiment, an alternative method of processing two-way range data was demonstrated, showing that orbit solutions obtained from only range and Doppler data can approach the accuracy of solutions based on Very Long Baseline Interferometry, range and Doppler data. Post-encounter reconstruction of the spacecraft orbit shows that the Jupiter-relative position of the spacecraft is known to within 3 kilometers, and that the Jupiter ephemeris at the time of encounter has an uncertainty of 11, 12, and .8 kilometers in the transverse, normal, and radial directions relative to Jupiter's orbit plane.

Mcelrath, Timothy P.↗
NASA NTRS1992

Interchangeable end effector tools utilized on the PFMA

An instrumented task board, used for measuring forces applied by the Protoflight Manipulator Arm (PFMA) to the task board, was fabricated and delivered to Marshall Space Flight Center. SRS Technologies phased out the existing IBM compatible data acquisition system, used with a instrumented task board, and integrated the force measuring electronic hardware in with the Macintosh II data acquisition system. The purpose of this change was to acquire all data with the same time tag, allowing easier and more accurate data reduction in addition to real-time graphics. A three-dimensional optical position sensing system for determining the location of the PFMA's end effect or in reference to the center of the instrumented task board was also designed and delivered under. An improved task board was fabricated which included an improved instrumented beam design. The modified design of the task board improved the force/torque measurement system by increasing the sensitivity, reliability, load range and ease of maintenance. A calibration panel for the optical position system was also designed and fabricated. The calibration method developed for the position sensors enhanced the performance of the sensors as well as simplified the installation and calibration procedures required. The modifications made under this effort expanded the capabilities of the task board system. The system developed determines the arm's position relative to the task board and measures the signals to the joints resulting from the operator's control signals in addition to the task board forces. The software and hardware required to calculate and record the position of the PFMA during the performance of tasks with the instrumented task board were defined, designed and delivered to MSFC. PFMA joint input signals can be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to realtime force and position sensor data presentation.

Cody, Joe↗
NASA NTRS1986

A 43GHz VLBI mapping of SiO maser emission associated with Orion-KL IRC-2

A milliarcsecond resolution spot map of the SiO maser emission associated with IRC-2 in Orion-KL is presented. The two dominant groups of spectral features, near V(LRS) = -6 and 16 km/s, were observed in the 43 GHz, v = 1 to 0 transition of SiO, using a Mark III VLBI system. The 74 km baseline ran from Haystack Observatory in Westford, Massachusetts to Five College Radio Astronomy Observatory (FCRAO) in New Salem, Massachusetts. Five distinct maser features were observed: -8.5 to -6.5 km/s; -5 to -1.5 km/s; 12 to 13.5 km/s; 16.5 to 19 km/s; and 20 to 21 km/s (stellar velocity = 5 km/s). The relative positions were established, from an analysis of fringe phases, to an accuracy of about 5 milliarcseconds. All the features lay within an area of radius 0.08 arcseconds or 6x10(14) cm, at a distance of 500 pc. Previous interferometric studies were only able to measure the gross separation between the red and the blue shifted groups. Our measurement of the separation between these two gropus is consistent with those of the previous studies, indicating the persistence of these two centers of activity. The absolute positions of the masers with respect to IRC-2 are only known to an accuracy of about 1 arcsecond. It is assumed that IRC-2 is centered between the red shifted and the blue shifted maser features. The relative placement of these two groups of maser features agrees with observations of thermal emission from SO, which traces the outflow on a much larger scale. The SiO masers trace the neutral outflow from IRC-2 on the smallest scale yet observed.

Greenhill, L. J.↗
NASA NTRS1987

Orbit determination accuracy assessment for an asteroid flyby - A Galileo case study

The Galileo spacecraft may be targeted for a close flyby of an asteroid on its way to an encounter with Jupiter. An orbit determination accuracy analysis was carried out for the case of the asteroid 29 Amphitrite based on the use of radio metric and optical data types. Prior to encounter, the uncertainty in the asteroid's position, based on astrometric observations from earth, amounts to several hundred kilometers. This ephemeris uncertainty constitutes the dominant error in the determination of the spacecraft orbit with respect to Amphitrite. It is shown that the spacecraft-asteroid relative position can be improved by imaging asteroid-star pairs with the Galileo charge-coupled device (CCD) camera, enabling an accurate flyby of the asteroid. The main benefit of optical navigation is to enable the instrument pointing updates necessary for closeup viewing of the asteroid. A discussion of the evolution of the target error ellipse parameters as a function of data coverage and various combinations of radiometric and optical data types is also presented.

Kechichian, Jean A.↗
NASA NTRS1982

Active wavefront correction in large telescopes

Astronomical progress with the MMT telescope, which attains high-resolution imaging by partial compensation for atmospheric distortion, is discussed. The small tertiary and beam combiner mirrors at the MMT bring six images to a common focus, where there is a TV system for acquisition and guiding. Individual image positions can be controlled by stepper motors driving actuators on the secondaries, each step moving an image 0.05 arc seconds in the focal plane. The instrument's correction for image jiggle due to atmospheric turbulence and drift of the relative positions of the images due to gravitational and thermal effects on the structure are described. A scheme for correcting residual structural errors is discussed. It appears that the telescope can work to about the 17th visual magnitude. For faint sky limited objects comparable performance would require a perfectly rigid single mirror of the same aperture to have 50 percent more collecting area and cost at least 1.5 times more.

Angel, J. R. P.↗
NASA NTRS2017

Accuracy/Computation Performance of a New Trilateration Scheme for GPS-Style Localization

We recently introduced a new geometric trilateration (GT) method for GPS-style positioning. Preliminary singlepoint analysis using simplistic error assumptions indicates that the new scheme delivers almost indistinguishable localization accuracy as the traditional Newton-Raphson (NR) approach. Also, the same computation procedure can be used to perform high-accuracy relative positioning between a reference vehicle and an arbitrary number of target vehicles. This scheme has the potential to enable a) new mission concepts in collaborative science, b) in-situ navigation services for human Mars missions, and c) lower cost and faster acquisition of GPS signals for consumer-grade GPS products. The new GT scheme differs from the NR scheme as follows: 1. The new scheme is derived from Pythagoras Theorem, whereas the NR method is based on the principle of linear regression. 2. The NR method uses the absolute locations (xi, yi, zi)’s of the GPS satellites as input to each step of the localization computation. The GT method uses the Directional Cosines Ui’s from Earth’s center to the GPS satellite Si. 3. Both the NR method and the GT method iterate to converge to a localized solution. In each iteration step, multiple matrix operations are performed. The NR method constructs a different matrix in each iterative step, thus requires performing a new set of matrix operations in each step. The GT scheme uses the same matrix in each iteration, thus requiring computing the matrix operations only once for all subsequent iterations. In this paper, we perform an in-depth comparison between the GT scheme and the NR method in terms of a) GPS localization accuracy in the GPS operation environment, b) its sensitivity with respect to systematic errors and random errors, and c) computation load required to converge to a localization solution.

Lee, Charles↗
NASA NTRS2004

Simulations of Solar Wind Plasma Flow Around a Simple Solar Sail

In recent years, a number of solar sail missions of various designs and sizes have been proposed (e.g., Geostorm). Of importance to these missions is the interaction between the ambient solar wind plasma environment and the sail. Assuming a typical 1 AU solar wind environment of 400 km/s velocity, 3.5 cu cm density, ion temperature of approx.10 eV, electron temperature of 40 eV, and an ambient magnetic field strength of 10(exp -4) G, a first order estimate of the plasma interaction with square solar sails on the order of the sizes being considered for a Geostorm mission (50 m x 50 m and 75 m x 75 m corresponding to approx.2 and approx.3 times the Debye length in the plasma) is carried out. First, a crude current balance for the sail surface immersed in the plasma environment and in sunlight was used to estimate the surface potential of the model sails. This gave surface potentials of approx.10 V positive relative to the solar wind plasma. A 3-D, Electrostatic Particle-in-Cell (PIC) code was then used to simulate the solar wind flowing around the solar sail. It is assumed in the code that the solar wind protons can be treated as particles while the electrons follow a Boltzmann distribution. Next, the electric field and particle trajectories are solved self-consistently to give the proton flow field, the electrostatic field around the sail, and the plasma density in 3-D. The model sail was found to be surrounded by a plasma sheath within which the potential is positive compared to the ambient plasma and followed by a separate plasma wake which is negative relative to the plasma. This structure departs dramatically from a negatively charged plate such as might be found in the Earth s ionosphere on the night side where both the plate and its negative wake are contiguous. The implications of these findings are discussed as they apply to the proposed Geostorm solar sail mission.

Garrett, Henry B.↗
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.↗