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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 253 records · Page 14
All sourcesNASA NTRSDOE OSTI
NASA NTRS1982

The astronomical data base and retrieval system at NASA

More than 250 machine-readable catalogs of stars and extended celestial objects are now available at the NASA/Goddard Space Flight Center (GSFC) as the result of over a decade of catalog acquisition, verification and documentation. Retrieval programs are described which permit the user to obtain from a remote terminal bibliographical listings for stars; to find all celestial objects from a given list that are within a defined angular separation from each object in another list; to plot celestial objects on overlays for sky survey plate areas; and to search selected catalogs for objects by criteria of position, identification number, magnitude or spectral type.

Mead, J. M.↗
NASA NTRS1985

Angle-Measurement and Ranging System

Optical system automatically supplies information on angular position and range of object. Stereo rangefinder video signals from cameras processed to determine center of brightness for images of beacon on target vehicle. Range updated by onboard computer. Originally developed for spacecraft rendezvous and guidance, features of system adapted to angle-measurement and ranging problems on Earth. Technique also used for tool alinement inspections and color recognition.

Tietz, J. C.↗
NASA NTRS1987

Predicting Visible Range Of An Object

Report and supplementary materials present method for estimating maximum distance which Spartan free flyer seen by star trackers on Space Shuttle. Brightness, and visible range calculated by using simplified model of object as reflector, taking into consideration orientation of object and predicted relative positions of Shuttle and Sun.

King, Joseph C.↗
NASA NTRS1986

Containerless processing technology

Ground- and space-based containerless processing levitation devices are described. Experiments performed in the MSFC drop tube, the JPL drag-free drop facilities, a single-axis tuned cavity acoustic levitator furnace on TEXUS-I, and a three-axis acoustic levitator and furnace on the STS-11 mission are discussed. Neither acoustic interference nor aerodynamic levitation trials have yielded promising results in sounding rocket and STS based experiments. An electrostatic levitator has furnished a high degree of positioning control with multiple objects in a terrestrial laboratory.

Naumann, R. J.↗
NASA NTRS1990

Space environment robot vision system

A prototype twin-camera stereo vision system for autonomous robots has been developed at Goddard Space Flight Center. Standard charge coupled device (CCD) imagers are interfaced with commercial frame buffers and direct memory access to a computer. The overlapping portions of the images are analyzed using photogrammetric techniques to obtain information about the position and orientation of objects in the scene. The camera head consists of two 510 x 492 x 8-bit CCD cameras mounted on individually adjustable mounts. The 16 mm efl lenses are designed for minimum geometric distortion. The cameras can be rotated in the pitch, roll, and yaw (pan angle) directions with respect to their optical axes. Calibration routines have been developed which automatically determine the lens focal lengths and pan angle between the two cameras. The calibration utilizes observations of a calibration structure with known geometry. Test results show the precision attainable is plus or minus 0.8 mm in range at 2 m distance using a camera separation of 171 mm. To demonstrate a task needed on Space Station Freedom, a target structure with a movable I beam was built. The camera head can autonomously direct actuators to dock the I-beam to another one so that they could be bolted together.

Wood, H. John↗
NASA NTRS1988

The Cutplane - A tool for interactive solid modeling

A geometric modeling system which incorporates a new concept for intuitively and unambiguously specifying and manipulating points or features in three dimensional space is presented. The central concept, the Cutplane, consists of a plane that moves through space under control of a mouse or similar input device. The intersection of the plane and any object is highlighted, and only this highlighted section can be selected for manipulation. Selection is accomplished with a crosshair that is constrained to remain within the plane, so that the relationship between the crosshair and the feature of interest is immediately evident. Although the idea of a section view is not new, previously it has been used as a way to reveal hidden structure, not as a means of manipulating objects or indicating spatial position, as is proposed here.

Edwards, Laurence↗
NASA NTRS1990

Comparison of two on-orbit attitude sensor alignment methods

Compared here are two methods of on-orbit alignment of vector attitude sensors. The first method uses the angular difference between simultaneous measurements from two or more sensors. These angles are compared to the angular differences between the respective reference positions of the sensed objects. The alignments of the sensors are adjusted to minimize the difference between the two sets of angles. In the second method, the sensor alignment is part of a state vector that includes the attitude. The alignments are adjusted along with the attitude to minimize all observation residuals. It is shown that the latter method can result in much less alignment uncertainty when gyroscopes are used for attitude propagation during the alignment estimation. The additional information for this increased accuracy comes from knowledge of relative attitude obtained from the spacecraft gyroscopes. The theoretical calculations of this difference in accuracy are presented. Also presented are numerical estimates of the alignment uncertainties of the fixed-head star trackers on the Extreme Ultraviolet Explorer spacecraft using both methods.

Krack, Kenneth↗
NASA NTRS1992

Numerical analysis of right-half plane zeros for a single-link manipulator

The purpose of this research is to further develop an understanding of how nonminimum phase zero location is affected by structural link design. As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links become more of an issue in controls problems. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. The research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixes, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to inverse dynamic algorithms currently under development at Georgia Tech.

Girvin, Douglas Lynn↗
NASA NTRS1991

Numerical analysis of nonminimum phase zero for nonuniform link design

As the demand for light-weight robots that can operate in a large workspace increases, the structural flexibility of the links becomes more of an issue in control. When the objective is to accurately position the tip while the robot is actuated at the base, the system is nonminimum phase. One important characteristic of nonminimum phase systems is system zeros in the right half of the Laplace plane. The ability to pick the location of these nonminimum phase zeros would give the designer a new freedom similar to pole placement. This research targets a single-link manipulator operating in the horizontal plane and modeled as a Euler-Bernoulli beam with pinned-free end conditions. Using transfer matrix theory, one can consider link designs that have variable cross-sections along the length of the beam. A FORTRAN program was developed to determine the location of poles and zeros given the system model. The program was used to confirm previous research on nonminimum phase systems, and develop a relationship for designing linearly tapered links. The method allows the designer to choose the location of the first pole and zero and then defines the appropriate taper to match the desired locations. With the pole and zero location fixed, the designer can independently change the link's moment of inertia about its axis of rotation by adjusting the height of the beam. These results can be applied to the inverse dynamic algorithms that are currently under development.

Girvin, Douglas L.↗
NASA NTRS1991

Optical correlators for automated rendezvous and capture

Two dimensional image correlation is a robust technique for recognizing known objects and determining their position with respect to the sensing platform. This capability is of paramount importance to vehicles which must rendezvous and capture using only on-board sensors and processors. Standard digital processors can provide the necessary correlations, but their speed, weight, size and power consumption make them undesirable components of an on-board tracking system. Optical correlators provide correlation results comparable to digital systems, but with a fraction of the size, weight and power and often many times faster. This presentation discusses the application of optical correlators to Automated Rendezvous & Capture (AR&C), and the specific work being done at the Johnson Space Center and DARPA in developing optical correlator technology.

Juday, Richard↗
NASA NTRS1994

Powerful Electromechanical Linear Actuator

Powerful electromechanical linear actuator designed to replace hydraulic actuator that provides incremental linear movements to large object and holds its position against heavy loads. Electromechanical actuator cleaner and simpler, and needs less maintenance. Two principal innovative features that distinguish new actuator are use of shaft-angle resolver as source of position feedback to electronic control subsystem and antibacklash gearing arrangement.

Cowan, John R.↗
NASA NTRS1991

Coordination of human upper arm and forearm motion in rapid extensions

In many movements of the upper limb such as reaching, positioning, and displacing the objects, the hand moves smoothly along a uni-directional planar trajectory with a bell-shaped speed profile. Because of variability of the load, gravitational and velocity interaction forces between its segments, the dynamics of the arm during the motion is very complex. Motion of the upper arm and the forearm are coordinated to produce smooth movements despite such complex dynamics. This coordination constitutes an important organizational feature of arm movement. The present paper describes some experimental results related to the above and interprets their role in producing smooth motion of the hand. Trajectories of the right upper limb in vertical plane and the simultaneous muscles' EMG activities were recorded for extensions of various amplitudes under four loads. The forearm trajectories are smooth with bell-shaped speed profiles. The upper arm trajectories may have bimodal speed profiles and three segments, resembling an inverted 'Z.' Segmentation is sharper for the points near the shoulder joint, and is accentuated by load. As one moves from the central points near the shoulder joint to the peripheral points near the hand, the three segments merge and result in smooth curves with single-peaked speed profiles. The three segments have a coherent time course and can be identified rather accurately and non-ambiguously. The observed trajectories and the EMG patterns reveal an effective coordination strategy which utilizes the structure and the dynamics of the moving arm to produce smooth movement.

Nahvi, Mahmood↗
NASA NTRS1994

Detection of EUV emission from the low activity dwarf HD 4628: Evidence for a cool corona

We present observations of low activity late-type stars obtained with the Extreme Ultraviolet Explorer (EUVE). These stars are the slowest rotators, and acoustic heating may dominate their outer atmospheric heating process. We report detection of EUV emission from the low acitivity K dwarf HD 4628 during the EUVE Deep Survey in the Lexan/boran band. This detection, in conjunction with the non-detection of this object in the ROSAT Position Sensitive Proportional Counter (PSPC) all-sky survey, suggests the existence of a cool corona with a characteristic temperature of less than 10(exp 6) K. The flux and spectral signature are consistent with current theories of acoustic heating.

Mathioudakis, M.↗
NASA NTRS1996

Fade Measurements into Buildings from 500 to 3000 MHz

Slant-path fade measurements from 500 to 3000 MHz were made into six different buildings employing a vector network analyzer, a tower-mounted transmitting antenna and an automatically positioned receiving antenna. The objective of the measurements was to provide information for satellite audio broadcasting and personal communications satellite design on the correlation of fading inside buildings. Fades were measured with 5 cm spatial separation and every 0.2 percent of the frequency. Median fades ranged from 10 to 20 dB in woodframe houses with metal roofs and walls without and with an aluminum heat shield, respectively. The median decorrelation distance was from 0.5 to 1.1. m and was independent of frequency. The attenuation into the buildings increased only moderately with frequency in most of the buildings with a median slope of about 1 to 3 db/GHz, but increased fastest in the least attenuating building with a slope of 5 dB/GHz. The median decorrelation bandwidth ranged from 1.2 to 3.8 percent of frequency in five of the buildings, and was largest in the least attenuating building, with 20.2 percent of frequency.

Vogel, Wolfhard J.↗
NASA NTRS1996

Fade Measurements into Buildings from 500 to 3000 MHz

Slant-path fade measurements from 500 to 3000 MHz were made into six different buildings employing a vector network analyzer, a tower-mounted transmitting antenna and an automatically positioned receiving antenna. The objective of the measurements was to provide information for satellite audio broadcasting and personal communications satellite design on the correlation of fading inside buildings. Fades were measured with 5 cm spatial separation and every 0.2% of the frequency. Median fades ranged from 10 to 20 dB in woodframe houses with metal roofs and walls without and with an aluminum heatshield, respectively. The median decorrelation distance was from 0.5 to 1.1 m and was independent of frequency. The attenuation into the buildings increased only moderately with frequency in most of the buildings with a median slope of about 1 to 3 dB/GHz, but increased fastest in the least attenuating building with a slope of 5 dB/GHz. The median decorrelation bandwidth ranged from 1.2 to 3.8% of frequency in five of the buildings, and was largest in the least attenuating building, with 20.2% of frequency.

Vogel, Wolfhard J.↗
NASA NTRS1998

Investigating the Near-Infrared Properties of Planetary Nebulae II. Medium Resolution Spectra: Medium Resolution Spectra - 2

We present medium-resolution (R approximately 700) near-infrared (lambda = 1 - 2.5 micrometers) spectra of a sample of planetary nebulae (PNe). A narrow slit was used which sampled discrete locations within the nebulae; observations were obtained at one or more positions in the 41 objects included in the survey. The PN spectra fall into one of four general categories: H1 emission line-dominated PNe, H1 and H2 emission line PNe, H2 emission line-dominated PNe, and continuum-dominated PNe. These categories correlate with morphological type, with the elliptical PNe falling into the first group, and the bipolar PNe primarily in the H2 and continuum emission groups. The categories also correlate with C/O ratio, with the O-rich objects falling into the first group and the C-rich objects in the groups. Other spectral features were observed in all catagories, such as continuum emission from the central star, and warm dust continuum emission towards the long wavelength end of the spectra. H2 was detected in four PNe in this survey for the first time. An analysis was performed using the H2 line ratios in all of the PN spectra in the survey where a sufficient number of lines were observed to determine the ortho-to-para ratio and the rotational and vibrational excitation temperatures of the H-2 in those objects. One unexpected result from this analysis is that the H-2 is excited by absorption of ultraviolet photons in most of the PNe, although there are several PNe in which collisional excitation plays an important role. The correlation between bipolar morphology and H2 emission has been strengthened with the new detections of H2 in this survey.

Hora, Joseph L.↗
NASA NTRS2009

Automation of a Versatile Crane (the LSMS) for Lunar Outpost Construction, Maintenance and Inspection

Devices for lifting, translating and precisely placing payloads are critical for efficient Earth-based construction operations. Both recent and past studies have demonstrated that devices with similar functionality will be needed to support lunar outpost operations. Although several designs have been developed for Earth based applications, these devices lack unique design characteristics necessary for transport to and use on the harsh lunar surface. These design characteristics include: a) lightweight components, b) compact packaging for launch, c) automated deployment, d) simple in-field reconfiguration and repair, and e) support for tele-operated or automated operations. Also, because the cost to transport mass to the lunar surface is very high, the number of devices that can be dedicated to surface operations will be limited. Thus, in contrast to Earth-based construction, where many single-purpose devices dominate a construction site, a lunar outpost will require a limited number of versatile devices that provide operational benefit from initial construction through sustained operations. The first generation test-bed of a new high performance device, the Lunar Surface Manipulation System (LSMS) has been designed, built and field tested. The LSMS has many unique features resulting in a mass efficient solution to payload handling on the lunar surface. Typically, the LSMS device mass is estimated at approximately 3% of the mass of the heaviest payload lifted at the tip, or 1.8 % of the mass of the heaviest mass lifted at the elbow or mid-span of the boom for a high performance variant incorporating advanced structural components. Initial operational capabilities of the LSMS were successfully demonstrated during field tests at Moses Lake, Washington using a tele-operated approach. Joint angle sensors have been developed for the LSMS to improve operator situational awareness. These same sensors provide the necessary information to support fully automated operations, greatly expanding the operational versatility of the LSMS. This paper develops the equations describing the forward and inverse relation between LSMS joint angles and Cartesian coordinates of the LSMS tip. These equations allow a variety of schemes to be used to maneuver the LSMS to optimize the maneuver. One such scheme will be described in detail that eliminates undesirable swinging of the payload at the conclusion of a maneuver, even when the payload is suspended from a passive rigid link. The swinging is undesirable when performing precision maneuvers, such as aligning an object for mating or positioning a camera. Use of the equations described here enables automated control of the LSMS greatly improving its operational versatility.

Doggett, William R.↗
NASA NTRS2006

SOFTC: A Software Correlator for VLBI

SOFTC is an advanced software implementation of a signal correlator for very-long-baseline interferometry (VLBI) for measuring positions of natural celestial objects and distant spacecraft. Because of increases in processing speeds of general-purpose computers, software VLBI correlators have become viable alternatives to hardware ones. The input to SOFTC consists of digitized samples of raw VLBI-antenna received- signal voltages. Optionally, SOFTC also tracks calibration tones superimposed on the received signals. The outputs of SOFTC are (1) phases and amplitudes as functions of time and frequency for cross-correlated received signals and (2) phases and amplitudes as functions of time, station, and tone number for the calibration tones. SOFTC was created to be as accurate as possible, capable of processing essentially any VLBI data, pass strong debugging tests, have a simple user interface, and have no platform dependencies. SOFTC is written modularly in the C programming language. The great advantage of implementing a correlator in software, in contradistinction to hardware, is that it becomes relatively easy and much less expensive and time-consuming to adapt, modify, improve, and update the correlator.

Lowe, Stephen↗