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NASA NTRS1990

Terrain interaction with the quarter scale beam walker

Frame walkers are a class of mobile robots that are robust and capable mobility platforms. Variations of the frame walker robot are in commercial use today. Komatsu Ltd. of Japan developed the Remotely Controlled Underwater Surveyor (ReCUS) and Normed Shipyards of France developed the Marine Robot (RM3). Both applications of the frame walker concept satisfied robotic mobility requirements that could not be met by a wheeled or tracked design. One vehicle design concept that falls within this class of mobile robots is the walking beam. A one-quarter scale prototype of the walking beam was built by Martin Marietta to evaluate the potential merits of utilizing the vehicle as a planetary rover. The initial phase of prototype rover testing was structured to evaluate the mobility performance aspects of the vehicle. Performance parameters such as vehicle power, speed, and attitude control were evaluated as a function of the environment in which the prototype vehicle was tested. Subsequent testing phases will address the integrated performance of the vehicle and a local navigation system.

Chun, Wendell H.↗

NASA NTRS1993

Massively parallel support for a case-based planning system

Case-based planning (CBP), a kind of case-based reasoning, is a technique in which previously generated plans (cases) are stored in memory and can be reused to solve similar planning problems in the future. CBP can save considerable time over generative planning, in which a new plan is produced from scratch. CBP thus offers a potential (heuristic) mechanism for handling intractable problems. One drawback of CBP systems has been the need for a highly structured memory to reduce retrieval times. This approach requires significant domain engineering and complex memory indexing schemes to make these planners efficient. In contrast, our CBP system, CaPER, uses a massively parallel frame-based AI language (PARKA) and can do extremely fast retrieval of complex cases from a large, unindexed memory. The ability to do fast, frequent retrievals has many advantages: indexing is unnecessary; very large case bases can be used; memory can be probed in numerous alternate ways; and queries can be made at several levels, allowing more specific retrieval of stored plans that better fit the target problem with less adaptation. In this paper we describe CaPER's case retrieval techniques and some experimental results showing its good performance, even on large case bases.

Kettler, Brian P.↗

NASA NTRS2016

Big Science in Small Packages: a Constellation of Cubesats to Search for Near Earth Asteroids

Astronomers for many decades have been searching for Near Earth Asteroids (NEA) that could potentially impact the Earth in the future. Large Synoptic Survey Telescope (LSST), when completed, would be by far the most powerful tool for a ground-based search for NEAs. In space, IR telescopes are undergoing detailed design studies. These facilities are projected to find 90% of potentially hazardous NEAs in about a dozen years. We introduce a different approach to search for these objects by using multiple micro- and nano-spacecraft distributed in orbit around the Sun. Their ability to faint moving objects with small telescopes is based on a new generation of low noise, fast-frame cameras combined with processors that can execute 100’s of gigaflops in a low power space environment.

Shao, Michael↗

NASA NTRS1991

Optical studies in the holographic ground station

The Holographic Group System (HGS) Facility in rooms 22 & 123, Building 4708 has been developed to provide for ground based research in determining pre-flight parameters and analyzing the results from space experiments. The University of Alabama, Huntsville (UAH) has researched the analysis aspects of the HGS and reports their findings here. Some of the results presented here also occur in the Facility Operating Procedure (FOP), which contains instructions for power up, operation, and powerdown of the Fluid Experiment System (FES) Holographic Ground System (HGS) Test Facility for the purpose of optically recording fluid and/or crystal behavior in a test article during ground based testing through the construction of holograms and recording of videotape. The alignment of the optical bench components, holographic reconstruction and and microscopy alignment sections were also included in the document for continuity even though they are not used until after optical recording of the test article) setup of support subsystems and the Automated Holography System (AHS) computer. The HGS provides optical recording and monitoring during GCEL runs or development testing of potential FES flight hardware or software. This recording/monitoring can be via 70mm holographic film, standard videotape, or digitized images on computer disk. All optical bench functions necessary to construct holograms will be under the control of the AHS personal computer (PC). These include type of exposure, time intervals between exposures, exposure length, film frame identification, film advancement, film platen evacuation and repressurization, light source diffuser introduction, and control of realtime video monitoring. The completed sequence of hologram types (single exposure, diffuse double exposure, etc.) and their time of occurrence can be displayed, printed, or stored on floppy disk posttest for the user.

Workman, Gary L.↗

NASA NTRS1972

A study of the utilization of ERTS-A data from the Wabash River Basin. An early analysis of ERTS-1 data

The author has identified the following significant results. A classification of a portion of frame E-1016-16050 CCT was completed using the LARSYS software. The categories: row crops (corn or soybeans), forest and woodland areas, diverted acres of pastureland or nonproductive grassland areas, water (rivers), clouds, and cloud shadows, were represented by one or more spectral classes. The results of this classification are significant in that they show potential for accurate identification and delineation of forested and agricultural areas using automatic data handling techniques.

Landgrebe, D. A.↗

NASA NTRS1996

Determination of Elastic Moduli of Fiber-Resin Composites Using an Impulse Excitation Technique

The elastic moduli of graphite/epoxy and graphite/cyanate ester composite specimens with various laminate lay-ups was determined using an impulse excitation/acoustic resonance technique and compared to those determined using traditional strain gauge and extensometer techniques. The stiffness results were also compared to those predicted from laminate theory using uniaxial properties. The specimen stiffnesses interrogated ranged from 12 to 30 Msi. The impulse excitation technique was found to be a relatively quick and accurate method for determining elastic moduli with minimal specimen preparation and no requirement for mechanical loading frames. The results of this investigation showed good correlation between the elastic modulus determined using the impulse excitation technique, strain gauge and extensometer techniques, and modulus predicted from laminate theory. The flexural stiffness determined using the impulse excitation was in good agreement with that predicted from laminate theory. The impulse excitation/acoustic resonance interrogation technique has potential as a quality control test.

Viens, Michael J.↗

NASA NTRS2014

Mass and Volume Optimization of Space Flight Medical Kits

Resource allocation is a critical aspect of space mission planning. All resources, including medical resources, are subject to a number of mission constraints such a maximum mass and volume. However, unlike many resources, there is often limited understanding in how to optimize medical resources for a mission. The Integrated Medical Model (IMM) is a probabilistic model that estimates medical event occurrences and mission outcomes for different mission profiles. IMM simulates outcomes and describes the impact of medical events in terms of lost crew time, medical resource usage, and the potential for medically required evacuation. Previously published work describes an approach that uses the IMM to generate optimized medical kits that maximize benefit to the crew subject to mass and volume constraints. We improve upon the results obtained previously and extend our approach to minimize mass and volume while meeting some benefit threshold. METHODS We frame the medical kit optimization problem as a modified knapsack problem and implement an algorithm utilizing dynamic programming. Using this algorithm, optimized medical kits were generated for 3 mission scenarios with the goal of minimizing the medical kit mass and volume for a specified likelihood of evacuation or Crew Health Index (CHI) threshold. The algorithm was expanded to generate medical kits that maximize likelihood of evacuation or CHI subject to mass and volume constraints. RESULTS AND CONCLUSIONS In maximizing benefit to crew health subject to certain constraints, our algorithm generates medical kits that more closely resemble the unlimited-resource scenario than previous approaches which leverage medical risk information generated by the IMM. Our work here demonstrates that this algorithm provides an efficient and effective means to objectively allocate medical resources for spaceflight missions and provides an effective means of addressing tradeoffs in medical resource allocations and crew mission success parameters.

Monte Carlo Method↗

NASA NTRS2018

A Revised Exoplanet Yield from the Transiting Exoplanet Survey Satellite (TESS)

The Transiting Exoplanet Survey Satellite (TESS) has a goal of detecting small planets orbiting stars bright enough for mass determination via ground-based radial velocity observations. Here, we present estimates of how many exoplanets the TESS mission will detect, the physical properties of the detected planets, and the properties of the stars that those planets orbit. This work uses stars drawn from the TESS Input Catalog Candidate Target List and revises yields from prior studies that were based on Galactic models. We modeled the TESS observing strategy to select approximately 200,000 stars at 2-minute cadence, while the remaining stars are observed at 30-minute cadence in full-frame image data. We placed zero or more planets in orbit around each star, with physical properties following measured exoplanet occurrence rates, and used the TESS noise model to predict the derived properties of the detected exoplanets. In the TESS 2-minute cadence mode we estimate that TESS will find 1250 ± 70 exoplanets (90% confidence), including 250 smaller than 2 R(sub ⊕). Furthermore, we predict that an additional 3100 planets will be found in full-frame image data orbiting bright dwarf stars and more than 10,000 around fainter stars. We predict that TESS will find 500 planets orbiting M dwarfs, but the majority of planets will orbit stars larger than the Sun. Our simulated sample of planets contains hundreds of small planets amenable to radial velocity follow-up, potentially more than tripling the number of planets smaller than 4 R(sub ⊕) with mass measurements. This sample of simulated planets is available for use in planning follow-up observations and analyses.

Barclay, Thomas↗

NASA NTRS1974

Possible histories of the obliquity of Mercury

Possible evolutionary paths of the spin axis of Mercury are studied theoretically in terms of generalized Cassini's laws using the Hamiltonian approach. Three stable positions (Cassini states) of the spin axis are discerned. The Cassini states in which the spin axis remains fixed in the frame rotating with the orbit precession are extremes in the tide-free Hamiltonian under the condition of constant angular momentum. The stability of the 3/2 spin resonance for Mercury as a function of obliquity is discussed, and it is shown how control of the resonance is passed from one to another term in the averaged potential as the obliquity is increased with a corresponding loss of stability at each transfer. A sampling technique is used to infer the evolution due to tidal interaction. Two tidal models are used - one with a constant value of the specific dissipation function Q and the other with Q inversely proportional to frequency. An approximate analytic solution for precession trajectories very close to a Cassini state is developed.

Peale, S. J.↗

NASA NTRS1993

Effects of polar ice on the earth's rotation and gravitational potential

The contributions of the Antarctic and the Greenland ice sheets to the earth's gravity, displacement, and rotation are estimated using gridded values of the net surface accumulation rates in the ice sheets of these two regions. It is found that the contributions to the low-order zonal harmonic coefficients of the earth's gravitational potential from Antarctica are between 2 and 10 times larger than the uncertainties of the zonal harmonics derived from satellite solutions; for Greenland, the coefficients are within an order of magnitude of the uncertainties of the satellite solutions. Polar contributions to the displacement of the center of mass of the solid earth, as seen in the frame of reference of satellites tracked from the earth surface, range from less than 1 mm to 1.5 cm over a 60-yr period.

Trupin, Andrew S.↗

NASA NTRS1995

Harmonic oscillator representation in the theory of scattering and nuclear reactions

The following questions, concerning the application of the harmonic oscillator representation (HOR) in the theory of scattering and reactions, are discussed: the formulation of the scattering theory in HOR; exact solutions of the free motion Schroedinger equation in HOR; separable expansion of the short range potentials and the calculation of the phase shifts; 'isolated states' as generalization of the Wigner-von Neumann bound states embedded in continuum; a nuclear coupled channel problem in HOR; and the description of true three body scattering in HOR. As an illustration the soft dipole mode in the (11)Li nucleus is considered in a frame of the (9)Li+n+n cluster model taking into account of three body continuum effects.

Smirnov, Yuri F.↗

NASA NTRS1995

Laser-Induced Incandescence Calibration via Gravimetric Sampling

Various beam imaging and/or sheet forming optics delivered light at 1064 nm from a pulsed Nd:YAG laser for use either as a beam of 3 mm radius or as a laser sheet. Imaging measurements were performed with a grated intensified array camera equipped with an ultraviolet f4.5 lens and a 40 mm extension tube. Point measurements were performed using an ultraviolet 250 mm focal length lens to collect and focus the laser induced incandescence (LII) signal into a 1 meter long quartz optical fiber which directed the LII signal to a 1/4 meter monochromator. An aperture preceding the lens restricted the signal collection region to 1 cm along the laser beam at the center of the gravimetric chimney. Signals from the PMT were processed by a boxcar integrator whereas the images were captured digitally using a frame-grabber with 16 MByte of on-board memory. Both 'point' and planar measurements were made with detector gates of 250 ns to minimize possible morphology bias in collection of the LII signal. Additionally, the imaging measurements were performed with broadband spectral collection of the LII signal to maximize the signal and again minimize any potential effects of morphology dependent heating and/or cooling rates. Digital delay generators controlled the firing of he laser, detector gates and data acquisition. Neutral density filters were used for both sets of measurements to maintain signal levels within linear dynamic ranges of the detectors, the range being determined prior to experiments.

VanderWal, R. L.↗

NASA NTRS2012

Solar Wind Electron Interaction with the Dayside Lunar Surface and Crustal Magnetic Fields: Evidence for Precursor Effects

Electron distributions measured by Lunar Prospector above the dayside lunar surface in the solar wind often have an energy dependent loss cone, inconsistent with adiabatic magnetic reflection. Energy dependent reflection suggests the presence of downward parallel electric fields below the spacecraft, possibly indicating the presence of a standing electrostatic structure. Many electron distributions contain apparent low energy (<100 eV) upwardgoing conics (58% of the time) and beams (12% of the time), primarily in regions with non-zero crustal magnetic fields, implying the presence of parallel electric fields and/or wave-particle interactions below the spacecraft. Some, but not all, of the observed energy dependence comes from the energy gained during reflection from a moving obstacle; correctly characterizing electron reflection requires the use of the proper reference frame. Nonadiabatic reflection may also play a role, but cannot fully explain observations. In cases with upward-going beams, we observe partial isotropization of incoming solar wind electrons, possibly indicating streaming and/or whistler instabilities. The Moon may therefore influence solar wind plasma well upstream from its surface. Magnetic anomaly interactions and/or non-monotonic near surface potentials provide the most likely candidates to produce the observed precursor effects, which may help ensure quasi-neutrality upstream from the Moon.

Solar↗

NASA NTRS1985

The investigation of tethered satellite system dynamics

A progress report is presented that deals with three major topics related to Tethered Satellite System Dynamics. The SAO rotational dynamics computer code was updated. The program is now suitable to deal with inclined orbits. The output has been also modified in order to show the satellite Euler angles referred to the rotating orbital frame. The three-dimensional high resolution computer program SLACK3 was developed. The code simulates the three-dimensional dynamics of a tether going slack taking into account the effect produced by boom rotations. Preliminary simulations on the three-dimensional dynamics of a recoiling slack tether are shown in this report. A program to evaluate the electric potential around a severed tether is immersed in a plasma. The potential is computed on a three-dimensional grid axially symmetric with respect to the tether longitudinal axis. The electric potential variations due to the plasma are presently under investigation.

Lorenzini, E.↗

NASA NTRS1985

Design, performance investigation and delivery of a miniaturized Cassegrainian concentrator solar array

A miniaturized Cassegrainian concentrator (MCC) solar array concept is being developed with the objective of significantly reducing the recurring cost of multikilowatt solar arrays. The desired cost reduction is obtained as a result of using very small high efficiency solar cells in conjunction with low-cost optics. In the MCC single element concept and panel concept, incident solar radiation is reflected from a primary parabolic reflector to a secondary hyperbolic reflector and finally to a 4-millimetr diameter solar cell. A light catcher cone is used to improve off-axis performance. An element is approximately 13-millimeters thick which permits efficient launch stowage of the concentrator system panels without complex optical component deployments or retractions. The MCC elements are packed in bays within graphite epoxy frames and are electrically connected into appropriate series-parallel circuits. A MCC single element with a 21 sq cm entrance aperture and a 20 percent efficient, 0.25 sq cm gallium arsenide solar cell has the same power output as 30-sq cm of 11-percent efficiency (at 68 C) silicon solar cells. The MCC concept provides the potential for a significant reduction in array cost due to a 99 percent reduction in required cell area and a 30 percent reduction in array area relative to planar array of equivalent power.

Patterson, R. E.↗

NASA NTRS2010

Stereoscopic Machine-Vision System Using Projected Circles

A machine-vision system capable of detecting obstacles large enough to damage or trap a robotic vehicle is undergoing development. The system includes (1) a pattern generator that projects concentric circles of laser light forward onto the terrain, (2) a stereoscopic pair of cameras that are aimed forward to acquire images of the circles, (3) a frame grabber and digitizer for acquiring image data from the cameras, and (4) a single-board computer that processes the data. The system is being developed as a prototype of machine- vision systems to enable robotic vehicles ( rovers ) on remote planets to avoid craters, large rocks, and other terrain features that could capture or damage the vehicles. Potential terrestrial applications of systems like this one could include terrain mapping, collision avoidance, navigation of robotic vehicles, mining, and robotic rescue. This system is based partly on the same principles as those of a prior stereoscopic machine-vision system in which the cameras acquire images of a single stripe of laser light that is swept forward across the terrain. However, this system is designed to afford improvements over some of the undesirable features of the prior system, including the need for a pan-and-tilt mechanism to aim the laser to generate the swept stripe, ambiguities in interpretation of the single-stripe image, the time needed to sweep the stripe across the terrain and process the data from many images acquired during that time, and difficulty of calibration because of the narrowness of the stripe. In this system, the pattern generator does not contain any moving parts and need not be mounted on a pan-and-tilt mechanism: the pattern of concentric circles is projected steadily in the forward direction. The system calibrates itself by use of data acquired during projection of the concentric-circle pattern onto a known target representing flat ground. The calibration- target image data are stored in the computer memory for use as a template in processing terrain images. During operation on terrain, the images acquired by the left and right cameras are analyzed. The analysis includes (1) computation of the horizontal and vertical dimensions and the aspect ratios of rectangles that bound the circle images and (2) comparison of these aspect ratios with those of the template. Coordinates of distortions of the circles are used to identify and locate objects. If the analysis leads to identification of an object of significant size, then stereoscopicvision algorithms are used to estimate the distance to the object. The time taken in performing this analysis on a single pair of images acquired by the left and right cameras in this system is a fraction of the time taken in processing the many pairs of images acquired in a sweep of the laser stripe across the field of view in the prior system. The results of the analysis include data on sizes and shapes of, and distances and directions to, objects. Coordinates of objects are updated as the vehicle moves so that intelligent decisions regarding speed and direction can be made. The results of the analysis are utilized in a computational decision-making process that generates obstacle-avoidance data and feeds those data to the control system of the robotic vehicle.

Mackey, Jeffrey R.↗

NASA NTRS2012

An Examination of Coarse Sun Sensor Contingencies in Attitude Determination and the Sun Vector Calculation

Satellite pointing is vital to the success of a mission. One element of that entails describing the position of the sun relative to the frame of the satellite. Coarse Sun Sensors (CSS) are typically used to provide the information to calculate the sun's position in Safe Modes or contingency operations. In the OCO-2 configuration there are 13 CSS total, which provide redundant 4 celestial coverage. Failures of the individual CSS elements can introduce holes in the celestial coverage resulting in potential loss of sun knowledge. These failures must be analyzed to determine if the contingency plan is sufficient to assure mission success. First the static case was looked at and determined that at a maximum, 3 CSS failures can be sustained on the body and 1 on the array without causing coverage holes. Also array sensors are more important to mission success. The Sun Vector calculation has been transcribed to MATLAB code and failure scenarios are being examined to determine the maximum error given a set of failure scenarios. This activity indicated that if there is a loss of the sun, the sun-searching algorithm could be modified to use XZ rotation as that is guaranteed to find it whereas the design using the YZ rotation misses the sun if it is at the + or - Y orientation.

celestial bodies↗

NASA NTRS2016

Nongyrotropic Electrons in Guide Field Reconnection

We apply a scalar measure of nongyrotropy to the electron pressure tensor in a 2D particle-in-cell simulation of guide field reconnection and assess the corresponding electron distributions and the forces that account for the nongyrotropy. The scalar measure reveals that the nongyrotropy lies in bands that straddle the electron diffusion region and the separatrices, in the same regions where there are parallel electric fields. Analysis of electron distributions and fields shows that the nongyrotropy along the inflow and outflow separatrices emerges as a result of multiple populations of electrons influenced differently by large and small-scale parallel electric fields and by gradients in the electric field. The relevant parallel electric fields include large-scale potential ramps emanating from the x-line and sub-ion inertial scale bipolar electron holes. Gradients in the perpendicular electric field modify electrons differently depending on their phase, thus producing nongyrotropy. Magnetic flux violation occurs along portions of the separatrices that coincide with the parallel electric fields. An inductive electric field in the electron EB drift frame thus develops, which has the effect of enhancing nongyrotropies already produced by other mechanisms and under certain conditions producing their own nongyrotropy. Particle tracing of electrons from nongyrotropic populations along the inflows and outflows shows that the striated structure of nongyrotropy corresponds to electrons arriving from different source regions. We also show that the relevant parallel electric fields receive important contributions not only from the nongyrotropic portion of the electron pressure tensor but from electron spatial and temporal inertial terms as well.

Parallel Electric Fields↗