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NASA NTRS2023

Analysis of Strategic Conflict Management Approaches as Applied to Simulated UAM Operations

This report presents the results of a comparison analysis of candidate Strategic Conflict Management (SCM) strategies as applied to Urban Air Mobility (UAM) operations. The SCM strategies investigated included: no SCM, resource scheduling (RS), resource flow rates (FR), area-based flow rates (AR), and conflict detection and resolution (CR). The study evaluated each strategy against the same 3 levels of flight demand in a representative airspace construct for the Dallas/Fort Worth region. The study also accounted for different levels of uncertainty in operational planning and equivalent levels of trajectory following error. In the analysis, we compared the SCM strategies’ effectiveness in reducing the need for the tactical conflict management layer to act and looked at the metrics of unmitigated losses-of-separation (LOS), flight delays imposed by strategic planning, and throughput of the overall airspace. The study results indicated that the CR strategy was the most effective at reducing LOS and percentage of flights with LOS, even in the presence of trajectory error when uncertainty is accounted for in planning. Thus, if the objective is to reduce the number of actions that the tactical conflict management layer will have to take, in terms of conflicts that may need to be resolved, CR is the strategy to use. The FR strategy was found to be the worst at reducing LOS and percentage of flights with LOS. Thus, it is not very effective at reducing the actions required by a tactical conflict management layer. In the airspace tested, the demand was high enough to produce unacceptable levels of flight delay and reductions of throughput when the SCM strategies were implemented. This was especially evident at the higher levels of trajectory uncertainty and error. The need to account for expected levels of uncertainty becomes more and more important as the demand level increases and as the level of trajectory error increases. This is because the likelihood of flights with LOS increases as the density of operations increases and as the level of trajectory error increases. Accounting for uncertainty in the SCM strategies improves the strategy effectiveness with respect to LOS but increases delays and reduces throughput. Thus, there is a tradeoff between scalability and allowable levels of uncertainty. That is, we can implement an air traffic management construct that allows high levels of uncertainty, but we can expect that same system to have limits on scalability that may be evident even at small demand levels, such as those used in this study. Therefore, the results in this study indicate that an air traffic system should attempt to implement mechanisms appropriate for reducing uncertainty where possible in order to increase the chances for scalability. And this increased level of predictability of operations needs to be balanced with mechanisms for ensuring flexibility when operational conditions and plans need to change, even though those types of changes should be the exception rather than the rule under normal conditions. The study also introduced a trade space that could serve as a mechanism for selecting the appropriate SCM strategy in a trade-off between uncertainty and error, mean flight delay, and the LOS metrics (which this study equates to the potential for tactical conflict management actions). The optimal solution for a given airspace, demand level, and other factors, could likely be a combination of SCM strategies, although this study only compared the use of a single SCM strategy at a time. The CR strategy appeared to have the best opportunity for scalability by limiting the number of potential tactical actions to nearly zero.

Strategic Conflict Management↗

NASA NTRS1967

Tool facilitates installation of Marmon clamps

Adjustable tool facilitates the installation of Marmon clamps. It provides sufficient mechanical advantage to force the clamps into place, permitting one man operation. Two handles provide the major leverage, and a pivoting arm with a slot enables snap-out action.

Peters, G. A.↗

NASA NTRS2000

A pollen-specific novel calmodulin-binding protein with tetratricopeptide repeats

Calcium is essential for pollen germination and pollen tube growth. A large body of information has established a link between elevation of cytosolic Ca(2+) at the pollen tube tip and its growth. Since the action of Ca(2+) is primarily mediated by Ca(2+)-binding proteins such as calmodulin (CaM), identification of CaM-binding proteins in pollen should provide insights into the mechanisms by which Ca(2+) regulates pollen germination and tube growth. In this study, a CaM-binding protein from maize pollen (maize pollen calmodulin-binding protein, MPCBP) was isolated in a protein-protein interaction-based screening using (35)S-labeled CaM as a probe. MPCBP has a molecular mass of about 72 kDa and contains three tetratricopeptide repeats (TPR) suggesting that it is a member of the TPR family of proteins. MPCBP protein shares a high sequence identity with two hypothetical TPR-containing proteins from Arabidopsis. Using gel overlay assays and CaM-Sepharose binding, we show that the bacterially expressed MPCBP binds to bovine CaM and three CaM isoforms from Arabidopsis in a Ca(2+)-dependent manner. To map the CaM-binding domain several truncated versions of the MPCBP were expressed in bacteria and tested for their ability to bind CaM. Based on these studies, the CaM-binding domain was mapped to an 18-amino acid stretch between the first and second TPR regions. Gel and fluorescence shift assays performed with CaM and a CaM-binding synthetic peptide further confirmed MPCBP binding to CaM. Western, Northern, and reverse transcriptase-polymerase chain reaction analysis have shown that MPCBP expression is specific to pollen. MPCBP was detected in both soluble and microsomal proteins. Immunoblots showed the presence of MPCBP in mature and germinating pollen. Pollen-specific expression of MPCBP, its CaM-binding properties, and the presence of TPR motifs suggest a role for this protein in Ca(2+)-regulated events during pollen germination and growth.

NASA Discipline Plant Biology↗

NASA NTRS2008

Laser Sounder for Measuring Atmospheric CO2 Concentrations: Progress Toward Ascends

The next generation of space-based, active remote sensing instruments for measurement of tropospheric CO2 promises a capability to quantify global carbon sources and sinks at regional scales. Active (laser) methods will extend CO2 measurement coverage in time, space, and perhaps precision such that the underlying mechanisms for carbon exchange at the surface can be understood with .sufficient detail to confidently project the future of carbon-climate interaction and the influence of remediative policy actions. The recent Decadal Survey for Earth Science by the US National Research Council has recommended such a mission called the Active Sensing of CO2 Emissions over Nights, Days, and Seasons (ASCENDS) for launch in 2013-2016. We have been developing a laser technique for measurement of tropospheric CO2 for a number of years. Our immediate goal is to develop and demonstrate the method and instrument technology that will permit measurements of the CO2 column abundance over a horizontal path and from aircraft at the few-ppmv level. Our longer-term goal is to demonstrate the required capabilities of the technique, develop a space mission approach, and design the instrument for an ASCENDS-type mission. Our approach is to use a dual channel laser absorption spectrometer (i.e., differential absorption in altimeter mode), which continuously measures from a near-polar circular orbit. We use several co-aligned tunable fiber laser transmitters allowing simultaneous measurement of the absorption from a CO2 line in the 1570 nm band, O2 extinction in the oxygen A-band (near 765 nm), and aerosol backscatter in the same measurement path. We measure the energy of the laser echoes at nadir reflected from land and water surfaces, day and night. The lasers have spectral widths much narrower than the gas absorption lines and are turned on and off the selected CO2 and O2 lines at kHz rates. The gas extinction and column densities for the CO2 and O2 gases are estimated from the ratio of the on and off-line singnals via the DIAL technique. We used pulsed laser signals, photon counting detectors, and time gating to isolate the laser returns from the surface, and to reject photons scattered from thin clouds and aerosols. High signal-to-noise ratios are required and the CO2 estimates can be sensitive to small drifts or other errors in the instrument, so the absorption estimates need to be quite stable for hours. We have constructed a breadboard version of the CO2 sensor that uses a low power fiber laser and a 20 cm diameter telescope. We have used it to make measurements of CO2 absorption in the laboratory and over 200-m to 2-km long open horizontal paths. These have been done in several sessions extending over multiple days, which allows us to assess the measurement stability and to compare absorption variations to readings from an external in situ CO2 sensor. We have also calculated characteristics of the technique for space including its expected measurement performance for different modulation types, and have performed an initial space mission accommodation study. We sill describe these results in the presentation.

Abshire, J. B.↗

NASA NTRS1973

Mechanics of wheel-soil interaction

An approximate theory for wheel-soil interaction is presented which forms the basis for a practical solution to the problem. It is shown that two fundamental observations render the problem determinate: (1) The line of action of the resultant of radial stresses acting at the wheel soil interface approximately bisects the wheel-soil contact angle for all values of slip. (2) A shear stress surface can be hypothesized. The influence of soil inertia forces is also evaluated. A concept of equivalent cohesion is introduced which allows a convenient experimental comparison for both cohesive and frictional soils. This theory compares favorably with previous analyses and experimental data, and shows that soil inertia forces influencing the motion of a rolling wheel can be significant.

Houland, H. J.↗

NASA NTRS1978

Minimum energy control of a class of electrically driven vehicles

Theoretical and experimental results are obtained in the investigation of a minimum energy control problem associated with a class of electrically driven vehicles. Analytical results are obtained by making several justifiable approximations in the dynamical equations of the plant, the performance index of which is related to the minimization of system energy consumption for any required control action. The control problem of interest is simplified and solved by using Bellman's invariant imbedding technique. The optimality of the resulting control law is compared with those of the bang-bang control law, which is the exact solution for the case of speed-setting control action, and the classical control laws under identical conditions. A stochastic optimization problem is then formulated and solved by using Bellman's dynamic programming technique. The resulting control law is mechanized for a particular vehicle configuration which is simulated in the laboratory.

Sahinkaya, Y. E.↗

NASA NTRS1986

Time and space integrating acousto-optic folded spectrum processing for SETI

Time and space integrating folded spectrum techniques utilizing acousto-optic devices (AOD) as 1-D input transducers are investigated for a potential application as wideband, high resolution, large processing gain spectrum analyzers in the search for extra-terrestrial intelligence (SETI) program. The space integrating Fourier transform performed by a lens channels the coarse spectral components diffracted from an AOD onto an array of time integrating narrowband fine resolution spectrum analyzers. The pulsing action of a laser diode samples the interferometrically detected output, aliasing the fine resolution components to baseband, as required for the subsequent charge coupled devices (CCD) processing. The raster scan mechanism incorporated into the readout of the CCD detector array is used to unfold the 2-D transform, reproducing the desired high resolution Fourier transform of the input signal.

Wagner, K.↗

NASA NTRS1988

Solutions to time variant problems of real-time expert systems

Real-time expert systems for monitoring and control are driven by input data which changes with time. One of the subtle problems of this field is the propagation of time variant problems from rule to rule. This propagation problem is even complicated under a multiprogramming environment where the expert system may issue test commands to the system to get data and to access time consuming devices to retrieve data for concurrent reasoning. Two approaches are used to handle the flood of input data. Snapshots can be taken to freeze the system from time to time. The expert system treats the system as a stationary one and traces changes by comparing consecutive snapshots. In the other approach, when an input is available, the rules associated with it are evaluated. For both approaches, if the premise condition of a fired rule is changed to being false, the downstream rules should be deactivated. If the status change is due to disappearance of a transient problem, actions taken by the fired downstream rules which are no longer true may need to be undone. If a downstream rule is being evaluated, it should not be fired. Three mechanisms for solving this problem are discussed: tracing, backward checking, and censor setting. In the forward tracing mechanism, when the premise conditions of a fired rule become false, the premise conditions of downstream rules which have been fired or are being evaluated due to the firing of that rule are reevaluated. A tree with its root at the rule being deactivated is traversed. In the backward checking mechanism, when a rule is being fired, the expert system checks back on the premise conditions of the upstream rules that result in evaluation of the rule to see whether it should be fired. The root of the tree being traversed is the rule being fired. In the censor setting mechanism, when a rule is to be evaluated, a censor is constructed based on the premise conditions of the upstream rules and the censor is evaluated just before the rule is fired. Unlike the backward checking mechanism, this one does not search the upstream rules. This paper explores the details of implementation of the three mechanisms.

Yeh, Show-Way↗

NASA NTRS1998

Applications of Anabolic Vitamin D Analogs as Countermeasures to Bone Loss

The experiments in Round 2 were designed to extend the results of our efforts in Round 1 which led us to hypothesize that the seco-steroid, 1,25-dihydroxyvitamin D3[1,25(OH)2D3], acts in synergy with parathyroid hormone (PTH) to regulate bone calcium homeostasis. Our work centered on one particular target of 1,25(OH)2D3 action, the voltage-sensitive calcium channels (VSCC's), which are activated acutely by this steroid within milliseconds of exposure . A second area of research focused on the effects of mechanical strain on VSCC expression in bone. These experiments were performed in collaboration with Dr. Steven Goldstein (Univ. Michigan), who generously provided RNA extracted from dog bones that had been exposed to mechanical strain in vivo. Our results suggest that mechanical loading elevated VSCC expression in the long bones from 3 of the 6 animals tested. A second line of experimentation, carried out in collaboration with Dr. Randall Duncan, a NASA-funded investigator in Indianapolis, centered on RT-PCR analysis of effects of mechanical strain on Ca2(+) channel expression in cultured bone cells. Compared to unstrained controls, the expression of vitamin-D-sensidve Ca2(+) channels is elevated 3- to 5-fold over a 24 hr period.

Karin, Norman J.↗

NASA NTRS1981

Gravitropism in higher plant shoots. I - A role for ethylene

Two inhibitors of ethylene synthesis, Co(2+) and aminoethoxyvinylglycine (AVG), and two inhibitors of ethylene action, Ag(+) and CO2, are shown to delay the gravitropic response of cocklebur (Xanthium strumarium L.), tomato (Lycopersicon esculentum Mill.), and castor bean (Ricinus communis L.) stems. Gentle shaking on a mechanical shaker does not inhibit the gravitropic response, but vigorous hand shaking for 120 seconds delays the response somewhat. AVG and Ag(+) further delay the response of mechanically stimulated plants. AVG retards the storage of bending energy but not of stimulus. In gravitropism, graviperception may first stimulate ethylene evolution, which may then influence bending directly, or responses involving ethylene could be more indirect.

Wheeler, Raymond M.↗

NASA NTRS1932

Dynamic and Flight Tests on Rubber-Cord and Oleo-Rubber-Disk Landing Gears for an F6C-4 Airplane

The investigation described in this report was conducted for the purpose of comparing an oleo-rubber-disk and a rubber-cord landing gear, built for use on an F6C-4 airplane. The investigation consisted of drop tests under various loading conditions and flight tests on an F6C-4 airplane. In the drop tests the total work done on each gear and the work done on each of the shock-absorbing units were determined. For both drop tests and flight tests the maximum loads and accelerations were determined. The comparative results showed that the oleo gear was slightly superior in reducing the ordinary landing shocks, that it had a greater capacity for work, and that it was very superior in the reduction of the rebound. The results further showed that for drops comparable to very severe landings, the rubber-cord gear was potentially more effective as a shock-reducing mechanism. However, due to the construction of this chassis, which limited the maximum elongation of the cords, this gear was incapable of withstanding as severe tests as the oleo gear. The action of the oleo gear was greatly inferior to the action of an ideal gear. The maximum accelerations encountered during the flight tests for severe landings were 3.64g for the rubber-cord gear and 2.27g for the oleo gear. These were less than those experienced in free drops of 7 inches on either gear.

Peck, William C↗

NASA NTRS2010

Ultrasonic/Sonic Rotary-Hammer Drills

Ultrasonic/sonic rotary-hammer drill (USRoHD) is a recent addition to the collection of apparatuses based on ultrasonic/sonic drill corer (USDC). As described below, the USRoHD has several features, not present in a basic USDC, that increase efficiency and provide some redundancy against partial failure. USDCs and related apparatuses were conceived for boring into, and/or acquiring samples of, rock or other hard, brittle materials of geological interest. They have been described in numerous previous NASA Tech Briefs articles. To recapitulate: A USDC can be characterized as a lightweight, lowpower, piezoelectrically driven jackhammer in which ultrasonic and sonic vibrations are generated and coupled to a tool bit. A basic USDC includes a piezoelectric stack, an ultrasonic transducer horn connected to the stack, a free mass ( free in the sense that it can bounce axially a short distance between hard stops on the horn and the bit), and a tool bit. The piezoelectric stack creates ultrasonic vibrations that are mechanically amplified by the horn. The bouncing of the free mass between the hard stops generates the sonic vibrations. The combination of ultrasonic and sonic vibrations gives rise to a hammering action (and a resulting chiseling action at the tip of the tool bit) that is more effective for drilling than is the microhammering action of ultrasonic vibrations alone. The hammering and chiseling actions are so effective that unlike in conventional twist drilling, little applied axial force is needed to make the apparatus advance into the material of interest. There are numerous potential applications for USDCs and related apparatuses in geological exploration on Earth and on remote planets. In early USDC experiments, it was observed that accumulation of cuttings in a drilled hole causes the rate of penetration of the USDC to decrease steeply with depth, and that the rate of penetration can be increased by removing the cuttings. The USRoHD concept provides for removal of cuttings in the same manner as that of a twist drill: An USRoHD includes a USDC and a motor with gearhead (see figure). The USDC provides the bit hammering and the motor provides the bit rotation. Like a twist drill bit, the shank of the tool bit of the USRoHD is fluted. As in the operation of a twist drill, the rotation of the fluted drill bit removes cuttings from the drilled hole. The USRoHD tool bit is tipped with a replaceable crown having cutting teeth on its front surface. The teeth are shaped to promote fracturing of the rock face through a combination of hammering and rotation of the tool bit. Helical channels on the outer cylindrical surface of the crown serve as a continuation of the fluted surface of the shank, helping to remove cuttings. In the event of a failure of the USDC, the USRoHD can continue to operate with reduced efficiency as a twist drill. Similarly, in the event of a failure of the gearmotor, the USRoHD can continue to operate with reduced efficiency as a USDC.

Badescu, Mircea↗

NASA NTRS2014

Percussive Augmenter of Rotary Drills for Operating as a Rotary-Hammer Drill

A percussive augmenter bit includes a connection shaft for mounting the bit onto a rotary drill. In a first modality, an actuator percussively drives the bit, and an electric slip-ring provides power to the actuator while being rotated by the drill. Hammering action from the actuator and rotation from the drill are applied directly to material being drilled. In a second modality, a percussive augmenter includes an actuator that operates as a hammering mechanism that drives a free mass into the bit creating stress pulses that fracture material that is in contact with the bit.

Aldrich, Jack Barron↗

NASA NTRS1985

Zero-gravity movement studies

The use of computer graphics to simulate the movement of articulated animals and mechanisms has a number of uses ranging over many fields. Human motion simulation systems can be useful in education, medicine, anatomy, physiology, and dance. In biomechanics, computer displays help to understand and analyze performance. Simulations can be used to help understand the effect of external or internal forces. Similarly, zero-gravity simulation systems should provide a means of designing and exploring the capabilities of hypothetical zero-gravity situations before actually carrying out such actions. The advantage of using a simulation of the motion is that one can experiment with variations of a maneuver before attempting to teach it to an individual. The zero-gravity motion simulation problem can be divided into two broad areas: human movement and behavior in zero-gravity, and simulation of articulated mechanisms.

Badler, N. I.↗

NASA NTRS2013

Systems Engineering Lessons Learned from Solar Array Structures and Mechanisms Deployment

This report has been developed by the National Aeronautics and Space Administration (NASA) Human Exploration and Operations Mission Directorate (HEOMD) Risk Management team in close coordination with the Engineering Directorate at LaRC. This document provides a point-in-time, cumulative, summary of actionable key lessons learned derived from the design project. Lessons learned invariably address challenges and risks and the way in which these areas have been addressed. Accordingly the risk management thread is woven throughout the document.

Solar Array Structures↗

NASA NTRS2016

Flat H Frangible Joint Evolution

Space vehicle staging and separation events require pyrotechnic devices. They are single-use mechanisms that cannot be tested, nor can failure-tolerant performance be demonstrated in actual flight articles prior to flight use. This necessitates the implementation of a robust design and test approach coupled with a fully redundant, failure-tolerant explosive mechanism to ensure that the system functions even in the event of a single failure. Historically, NASA has followed the single failure-tolerant (SFT) design philosophy for all human-rated spacecraft, including the Space Shuttle Program. Following the end of this program, aerospace companies proposed building the next generation human-rated vehicles with off-the-shelf, non-redundant, zero-failure-tolerant (ZFT) separation systems. Currently, spacecraft and launch vehicle providers for both the Orion and Commercial Crew Programs (CCPs) plan to deviate from the heritage safety approach and NASA's SFT human rating requirements. Both programs' partners have base-lined ZFT frangible joints for vehicle staging and fairing separation. These joints are commercially available from pyrotechnic vendors. Non-human-rated missions have flown them numerous times. The joints are relatively easy to integrate structurally within the spacecraft. In addition, the separation event is debris free, and the resultant pyro shock is lower than that of other design solutions. It is, however, a serious deficiency to lack failure tolerance. When used for critical applications on human-rated vehicles, a single failure could potentially lead to loss of crew (LOC) or loss of mission (LOM)). The Engineering and Safety & Mission Assurance directorates within the NASA Johnson Space Center took action to address this safety issue by initiating a project to develop a fully redundant, SFT frangible joint design, known as the Flat H. Critical to the ability to retrofit on launch vehicles being developed, the SFT mechanisms must fit within the same three-dimensional envelope as current designs as well as meet structural loads requirements. There is increased mass associated with the redundant design, and the goal is to minimize the weight impact as much as possible. These requirements presented significant challenges, both technically and financially; these challenges will be explored in this paper. Perhaps greater than the technical issues confronted during this design process, were the financial considerations. These were a significant part of the story of this design and development plan. Insufficient financial and labor resources were formidable barriers to completing this project. Nevertheless, JSC personnel successfully conducted several test series at JSC with very useful results. The many lessons learned drove design improvements, performance efficiency, and increased functional reliability. This paper examines the significant technical and financial challenges that these requirements posed to the project team. It discusses the evolution of the SFT frangible joint design, including optimization, testing, and successful partnering of the Johnson Space Center (JSC) engineering and JSC safety organizations, to enhance the flight safety margin for America's next generation of human-rated space vehicles.

Diegelman, Thomas E.↗

NASA NTRS1999

A Framework for Dynamic Constraint Reasoning Using Procedural Constraints

Many complex real-world decision and control problems contain an underlying constraint reasoning problem. This is particularly evident in a recently developed approach to planning, where almost all planning decisions are represented by constrained variables. This translates a significant part of the planning problem into a constraint network whose consistency determines the validity of the plan candidate. Since higher-level choices about control actions can add or remove variables and constraints, the underlying constraint network is invariably highly dynamic. Arbitrary domain-dependent constraints may be added to the constraint network and the constraint reasoning mechanism must be able to handle such constraints effectively. Additionally, real problems often require handling constraints over continuous variables. These requirements present a number of significant challenges for a constraint reasoning mechanism. In this paper, we introduce a general framework for handling dynamic constraint networks with real-valued variables, by using procedures to represent and effectively reason about general constraints. The framework is based on a sound theoretical foundation, and can be proven to be sound and complete under well-defined conditions. Furthermore, the framework provides hybrid reasoning capabilities, as alternative solution methods like mathematical programming can be incorporated into the framework, in the form of procedures.

Jonsson, Ari K.↗

NASA NTRS2014

James Webb Space Telescope (JWST) Integrated Science Instruments Module (ISIM) Cryo-Vacuum (CV) Test at GSFC

JWST ISIM has entered into its system-level testing program at NASA Goddard Space Flight Center (GSFC). In December 2013, ISIM successfully completed the first in a series of three cryo-vacuum tests, which included two flight science instruments. Since then, there have been full-fledged efforts towards the CV2 test scheduled to finish at the end of 2014. The complexity of the mission has generated challenging requirements that demand highly reliable system performance and capabilities from the Space Environment Simulator (SES) vacuum chamber. In order to satisfy the program requirements, GSFC had to develop unique structural and thermal hardware to test ISIM. Most noteworthy is a helium shroud structure and cooling system built in order to achieve operational temperatures below 20K (-253C). This paper: (1) provides an overview of the integrated mechanical and thermal facility systems required to achieve the objectives of JWST ISIM testing, (2) communicates the performance and challenges of the SES during the first ISIM test, and (3) summarizes the action plan to improve the system prior to the next test.

Thermal Vacuum Cryo Testing Chamber↗