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At least 343 records · Page 19

Direct adaptive impedance control of manipulators

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

Colbaugh, R.↗

A Green's Function Approach to Simulate DNA Damage by the Indirect Effect

The DNA damage is of fundamental importance in the understanding of the effects of ionizing radiation. DNA is damaged by the direct effect of radiation (e.g. direct ionization) and by indirect effect (e.g. damage by.OH radicals created by the radiolysis of water). Despite years of research, many questions on the DNA damage by ionizing radiation remains. In the recent years, the Green's functions of the diffusion equation (GFDE) have been used extensively in biochemistry [1], notably to simulate biochemical networks in time and space [2]. In our future work on DNA damage, we wish to use an approach based on the GFDE to refine existing models on the indirect effect of ionizing radiation on DNA. To do so, we will use the code RITRACKS [3] developed at the NASA Johnson Space Center to simulate the radiation track structure and calculate the position of radiolytic species after irradiation. We have also recently developed an efficient Monte‐Carlo sampling algorithm for the GFDE of reversible reactions with an intermediate state [4], which can be modified and adapted to simulate DNA damage by free radicals. To do so, we will use the known reaction rate constants between radicals (OH, eaq, H,...) and the DNA bases, sugars and phosphates and use the sampling algorithms to simulate the diffusion of free radicals and chemical reactions with DNA. These techniques should help the understanding of the contribution of the indirect effect in the formation of DNA damage and double‐strand breaks.

Plante, Ianik↗

Radiation transfer in plant canopies - Transmission of direct solar radiation and the role of leaf orientation

Understanding the details of the interaction between the radiation field and plant structures is important climatically because of the influence of vegetation on the surface water and energy balance, but also biologically, since solar radiation provides the energy necessary for photosynthesis. The problem is complex because of the extreme variety of vegetation forms in space and time, as well as within and across plant species. This one-dimensional vertical multilayer model describes the transfer of direct solar radiation through a leaf canopy, accounting explicitly for the vertical inhomogeneities of a plant stand and leaf orientation, as well as heliotropic plant behavior. This model reproduces observational results on homogeneous canopies, but it is also well adapted to describe vertically inhomogeneous canopies. Some of the implications of leaf orientation and plant structure as far as light collection is concerned are briefly reviewed.

Verstraete, Michel M.↗

A fast algorithm for control and estimation using a polynomial state-space structure

One of the major problems associated with the control of flexible structures is the estimation of system states. Since the parameters of the structures are not constant under varying loads and conditions, conventional fixed parameter state estimators can not be used to effectively estimate the states of the system. One alternative is to use a state estimator which adapts to the condition of the system. One such estimator is the Kalman filter. This filter is a time varying recursive digital filter which is based upon a model of the system being measured. This filter adapts the model according to the output of the system. Previously, the Kalman filter has only been used in an off-line capacity due to the computational time required for implementation. With recent advances in computer technology, it is becoming a viable tool for use in the on-line environment. A distributed Kalman filter implementation is described for fast estimation of the state of a flexible arm. A key issue, is the sensor structure and initial work on a distributed sensor that could be used with the Kalman filter is presented.

Shults, James R.↗

Exercise as a countermeasure for physiological adaptation to prolonged spaceflight

Exercise represents the primary countermeasure used during spaceflight to maintain or restore maximal aerobic capacity (VO2max), musculoskeletal structure, and orthostatic function. However, no single exercise or combination of prescriptions has proven entirely effective in restoring cardiovascular and musculoskeletal functions to preflight levels following prolonged spaceflight. As human spaceflight exposures increase in duration, assessment and development of various effective exercise-based protective procedures become paramount. This must involve improvement in specific countermeasure prescription as well as development of additional approaches that will allow space travelers greater flexibility and medical safety during long flights. Effective exercise prescription will be based on identification of basic physiological stimuli that maintain normal function in terrestrial gravity and understanding of how specific combinations of exercise characteristics e.g., duration, frequency, intensity, mode) can mimic these stimuli and affect the overall process of adaptation to microgravity. This can be accomplished only with greater emphasis of research on ground-based experiments. Future attention must be directed to improving exercise compliance while minimizing both crew time and the impact of the exercise on life-support resources.

Skylab Project↗

Maximum likelihood identifier refinements for F-8C adaptive control

Design refinement is described for baseline F-8C adaptive flight test control laws which consist of simplified quadratic-optimal model-following control structures in the pitch and lateral directional axes. The variable gains of both axes are adjusted adaptively by an explicit on-line maximum likelihood parameter identifier. The identifier, consisting of five parallel computing channels which evaluate the likelihood functions at discrete points in parameter space, operates in pitch only, using pitch rate, normal acceleration, and elevator position measurements.

Stein, G.↗

Implications from Near-Shoemaker Imaging of Eros for Small-Scale Structure and Surface Sampling

What we know about asteroids has always been bifurcated by the enormous gap between astronomical studies of small, distant bodies, and the close-up laboratory measurements of hand-sample sized meteorites. The gulf has been narrowed somewhat by improvements in Earth-based astronomical techniques (e.g. Hubble Space Telescope, radar, adaptive optics) and especially by spacecraft fly-bys of asteroids. But the Near Earth Asteroid Rendezvous (NEAR)-Shoemaker mission has gone considerably more in the direction of bridging the gap. Any consideration of intelligent sample-return from an asteroid must be based on the best possible knowledge of the asteroid at the spatial scales pertinent to operations at the asteroid and of the sample/s. Otherwise, we are in danger of succumbing to the 'Martian Horror Story' that Bruce Murray, in the 1960's, envisioned might impair our exploration of the surface of the red planet if we tried to land on it without first bolstering the information content of our database about Mars, especially at high resolutions. NEAR-Shoemaker is helping to bridge that gap in the case of Eros. The best resolution obtained by the Galileo spacecraft on Ida was 25 m/pixel. As of this writing, NEAR has already obtained images with resolutions at least five times better (information content 25 times better) and vastly better images may be available at the time of this Workshop from the late October low flyby. Already, we are seeing that the Martian horror story looks tame compared with Eros. Everywhere we have landed on Mars, the surface has been covered with rocks and boulders, with much higher spatial coverage than seen anywhere on the lunar surface. We have, in fact, been rather lucky that none of our Martian landers have tipped over so far, and there were justified fears in the early aftermath of last year's failure of Mars Polar Lander that it had suffered from inadequate high-resolution characterization of polar regions on Mars (the failure is now known to have had another cause). Eros looks potentially even more terrifying. Additional information is contained in the original extended abstract.

Chapman, C. R.↗

Understanding How Astronauts Adapt to Space and to Earth: Anatomical Studies of Central Vestibular Adaptation

Significant changes take place in the nervous systems of astronauts during and following exposure to microgravity. These changes, particularly in the part of the brain that controls balance, the vestibular system, can cause sensations of rotation, dizziness, and vertigo, as well as space adaptation syndrome. Adaptation to the microgravity environment usually occurs within one week, and a subsequent re-adaptation period of several days is often required upon return to Earth. In order to realize long-term spaceflight, effective countermeasures for these symptoms must be developed. The structural changes that take place in one of the vestibular regions of the brain (the cerebellar cortex) during the process of adaptation to Earth's gravity remain unclear and are the subject of an experiment being conducted on STS-107 by Dr. Gay Holstein of the Mount Sinai School of Medicine in New York. Using the rat as a model, Dr. Holstein and her team will seek to identify the cellular changes underlying the vestibular changes experienced by astronauts.

Holstein, Gay↗

Full Scale Advanced Systems Testbed (FAST): Capabilities and Recent Flight Research

At the NASA Armstrong Flight Research Center research is being conducted into flight control technologies that will enable the next generation of air and space vehicles. The Full Scale Advanced Systems Testbed (FAST) aircraft provides a laboratory for flight exploration of these technologies. In recent years novel but simple adaptive architectures for aircraft and rockets have been researched along with control technologies for improving aircraft fuel efficiency and control structural interaction. This presentation outlines the FAST capabilities and provides a snapshot of the research accomplishments to date. Flight experimentation allows a researcher to substantiate or invalidate their assumptions and intuition about a new technology or innovative approach Data early in a development cycle is invaluable for determining which technology barriers are real and which ones are imagined Data for a technology at a low TRL can be used to steer and focus the exploration and fuel rapid advances based on real world lessons learned It is important to identify technologies that are mature enough to benefit from flight research data and not be tempted to wait until we have solved all the potential issues prior to getting some data Sometimes a stagnated technology just needs a little real world data to get it going One trick to getting data for low TRL technologies is finding an environment where it is okay to take risks, where occasional failure is an expected outcome Learning how things fail is often as valuable as showing that they work FAST has been architected to facilitate this type of testing for control system technologies, specifically novel algorithms and sensors Rapid prototyping with a quick turnaround in a fly-fix-fly paradigm Sometimes it's easier and cheaper to just go fly it than to analyze the problem to death The goal is to find and test control technologies that would benefit from flight data and find solutions to the real barriers to innovation. The FAST vehicle is a flexible laboratory for nascent technologies that would benefit from early life cycle flight research data It provides a robust and safe environment where innovative techniques can be explored in a fly-fix-fly rapid prototyping paradigm IRAC Simple adaptive control technologies can provide real benefits without undo complexity Adverse pilot/adaptive system interactions can be mitigated and tools have been developed to evaluate those interactions ICP Substantial fuel savings can be achieved over a broad range of vehicles and configurations with intelligent control solutions LVAC The AAC design is robust and effective for the SLS mission, and promises to provide benefits to other platforms as well OCLA Hopefully will show that structural feedback can be seamlessly integrated with performance and stability objectives All of these control technologies have been implemented into the same baseline control law and could be combined into one control solution that answers many pressing questions for modern vehicle configurations

flight controls↗

Late Effects of Heavy-Ion Irradiation on Ex Vivo Osteoblastogenesis and Cancellous Bone Microarchitecture

Prolonged spaceflight causes degeneration of skeletal tissue with incomplete recovery even after return to Earth. We hypothesize that heavy-ion irradiation, a component of Galactic Cosmic Radiation, damages osteoblast progenitors and may contribute to bone loss during long duration space travel beyond the protection of the Earth's magnetosphere. Male, 16 week-old C57BL6/J mice were exposed to high-LET (56-Fe, 600MeV) radiation using either low (5 or 10cGy) or high (50 or 200cGy) doses at the NASA Space Radiation Lab and were euthanized 3-4, 7, or 35 days later. Bone structure was quantified by microcomputed tomography (6.8 μm pixel size) and marrow cell redox assessed using membrane permeable, free radical-sensitive fluorogenic dyes. To assess osteoblastogenesis, adherent marrow cells were cultured ex vivo, then mineralized nodule formation quantified by imaging and gene expression analyzed by RT-PCR. Interestingly, 3-4 days post-exposure, fluorogenic dyes that reflect cytoplasmic generation of reactive nitrogen/oxygen species (DAF-FM Diacetate or CM-H2DCFDA) revealed irradiation (50cGy) reduced free radical generation (20-45%) compared to sham-irradiated controls. Alternatively, use of a dye showing relative specificity for mitochondrial superoxide generation (MitoSOX) revealed an 88% increase compared to controls. One week after exposure, reactive oxygen/nitrogen levels remained lower (24%) relative to sham-irradiated controls. After one month, high dose irradiation (200 cGy) caused an 86% decrement in ex vivo nodule formation and a 16-31% decrement in bone volume to total volume and trabecular number (50, 200cGy) compared to controls. High dose irradiation (200cGy) up-regulated expression of a late osteoblast marker (BGLAP) and select genes related to oxidative metabolism (Catalase) and DNA damage repair (Gadd45). In contrast, lower doses (5, 10cGy) did not affect bone structure or ex vivo nodule formation, but did down-regulate iNOS by 0.54-0.58 fold. Thus, both low- and high-doses of heavy-ion irradiation cause time-dependent, adaptive changes in redox state within marrow cells but only high doses (50, 200cGy) inhibit osteoblastogenesis and cause cancellous bone loss. We conclude space radiation has the potential to cause persistent damage to bone marrow-derived stem and progenitor cells for osteoblasts despite adaptive changes in cellular redox state.

LATE EFFECTS OF HEAVY-ION IRRADIATION↗

Access to Space for NASA Small Sats: Current and Future Needs

Small spacecraft technology advancements have fundamentally shifted how NASA’s Science Mission Directorate (SMD) executes science investigations. To support this approach, the SMD Rideshare Office (SRO) was established in 2020 to lead the definition and implementation of a directorate-wide rideshare strategy. Serving as the central point of contact for coordinating compatible NASA payloads with launch opportunities, the SRO maximizes science, exploration, and technology return on investment by enabling rideshare or other access to space opportunities for small spacecraft on SMD primary mission launches, VADR commercial launch procurements, and other government agency launch opportunities. As NASA seeks to reduce costs and increase the rate of discovery, small satellites and multi manifest access to space have become integral to achieving the agency’s strategic vision. While NASA has created the above-mentioned mechanisms to expand access to space and achieve lower launch costs for its small satellites, many factors have limited full exploit of the opportunity these mechanisms can bring. NASA continues to evolve its mission cultures and technical requirements to adapt and take advantage of burgeoning commercial launch and rideshare advancements. To do so NASA requires collaboration with small satellite manufacturers, principal investigators, and commercial industry partners. Current needs include technical development and design of structurally robust spacecraft buses capable of withstanding varied launch loads, which will increase rideshare interchangeability and versatility. Further, instrument and spacecraft designs must also evolve to handle diverse launch environments and loads factors, while reducing reliance on complex purge and cleanliness constraints, sensitivities to silicones and hydrocarbons, and magnetic requirements. Continued maturation of small and medium launch providers in the near-term is also essential to drive down costs through competition. The current mission selection cadence often complicates the ability to synchronize multiple missions on a single launch. Future needs can include affordable space maneuverability options such as enhanced spacecraft propulsion systems and unique orbital maneuvering capabilities for our individual smallsats or constellations. These emerging capabilities offer a path to unique science orbits for NASA small satellites, but only under the condition that their cost remains affordable and competitive to accommodate inherently smaller mission budgets. Additionally, the projected surge of multiple SMD small satellites launching simultaneously and to unique deep space science orbits necessitates evaluation of expanding deep space communications capabilities. This presentation provides a comprehensive overview of NASA SMD’s access to space landscape and offers further unique insights and discussion, backed by NASA rideshare experiences and lessons learned, on the current and future developments required to unleash the full potential of rideshare opportunities.

Rideshare↗

Access to Space for NASA SmallSats: Current and Future Needs

Small spacecraft technology advancements have fundamentally shifted how NASA’s Science Mission Directorate (SMD) executes science investigations. To support this approach, the SMD Rideshare Office (SRO) was established in 2020 to lead the definition and implementation of a directorate-wide rideshare strategy. Serving as the central point of contact for coordinating compatible NASA payloads with launch opportunities, the SRO maximizes science, exploration, and technology return on investment by enabling rideshare or other access to space opportunities for small spacecraft on SMD primary mission launches, VADR commercial launch procurements, and other government agency launch opportunities. As NASA seeks to reduce costs and increase the rate of discovery, small satellites and multi manifest access to space have become integral to achieving the agency’s strategic vision. While NASA has created the above-mentioned mechanisms to expand access to space and achieve lower launch costs for its small satellites, many factors have limited full exploit of the opportunity these mechanisms can bring. NASA continues to evolve its mission cultures and technical requirements to adapt and take advantage of burgeoning commercial launch and rideshare advancements. To do so NASA requires collaboration with small satellite manufacturers, principal investigators, and commercial industry partners. Current needs include technical development and design of structurally robust spacecraft buses capable of withstanding varied launch loads, which will increase rideshare interchangeability and versatility. Further, instrument and spacecraft designs must also evolve to handle diverse launch environments and loads factors, while reducing reliance on complex purge and cleanliness constraints, sensitivities to silicones and hydrocarbons, and magnetic requirements. Continued maturation of small and medium launch providers in the near-term is also essential to drive down costs through competition. The current mission selection cadence often complicates the ability to synchronize multiple missions on a single launch. Future needs can include affordable space maneuverability options such as enhanced spacecraft propulsion systems and unique orbital maneuvering capabilities for our individual smallsats or constellations. These emerging capabilities offer a path to unique science orbits for NASA small satellites, but only under the condition that their cost remains affordable and competitive to accommodate inherently smaller mission budgets. Additionally, the projected surge of multiple SMD small satellites launching simultaneously and to unique deep space science orbits necessitates evaluation of expanding deep space communications capabilities. This presentation provides a comprehensive overview of NASA SMD’s access to space landscape and offers further unique insights and discussion, backed by NASA rideshare experiences and lessons learned, on the current and future developments required to unleash the full potential of rideshare opportunities.

Rideshare↗

Spacecraft applications of advanced global positioning system technology

This is the final report on the Texas Instruments Incorporated (TI) simulations study of Spacecraft Application of Advanced Global Positioning System (GPS) Technology. This work was conducted for the NASA Johnson Space Center (JSC) under contract NAS9-17781. GPS, in addition to its baselined capability as a highly accurate spacecraft navigation system, can provide traffic control, attitude control, structural control, and uniform time base. In Phase 1 of this program, another contractor investigated the potential of GPS in these four areas and compared GPS to other techniques. This contract was for the Phase 2 effort, to study the performance of GPS for these spacecraft applications through computer simulations. TI had previously developed simulation programs for GPS differential navigation and attitude measurement. These programs were adapted for these specific spacecraft applications. In addition, TI has extensive expertise in the design and production of advanced GPS receivers, including space-qualified GPS receivers. We have drawn on this background to augment the simulation results in the system level overview, which is Section 2 of this report.

Source record↗

DIAMOND - an Architecture for Persistent Space Platforms

We define DIAMOND, an architecture for generalized, persistent platforms in space, providing support infrastructure for multiple payloads with diverse missions, and able to accept the integration of payloads delivered to the platform after it is established in space. Such platforms would create a new space ecosystem with opportunities for much larger platforms than currently exist, for adaptation to changing technological and market conditions over long periods of time, and for tenants of the platform to launch only their unique payloads without having to carry all the equipment needed to support them. The DIAMOND architecture uses a novel “Architectural Shearing Layer” approach combining long-lived but replaceable structural and support infrastructure components with shorter-lived, higher-value service and tenant facilities. The structural aspect of the proposed architecture is a regular lattice constructed of tetrahedral cells, constructed of only a few types of simple structural components, patterned according to the cubic lattice of natural diamond crystals. The cubic lattice is arranged on larger scales to be fractal sponge, providing a disproportionately large number of surface attachment points while maintaining overall low mass of the entire structure. Generalized architectural shearing layers are also provided that permit easy separation between structural, power, thermal, propulsion/attitude control, pointing/vibration control, computing/data storage, and communication, and various operational aspects of the architecture. The combined result ensures longevity by enabling space platforms to undergo many cycles of change with little peril and at low cost, changing any part of the platform at different times and rates while leaving the remaining parts of the platform undisturbed.

Breidenthal, Julian↗

Regression techniques for oceanographic parameter retrieval using space-borne microwave radiometry

Variations of conventional multiple regression techniques are applied to the problem of remote sensing of oceanographic parameters from space. The techniques are specifically adapted to the scanning multichannel microwave radiometer (SMRR) launched on the Seasat and Nimbus 7 satellites to determine ocean surface temperature, wind speed, and atmospheric water content. The retrievals are studied primarily from a theoretical viewpoint, to illustrate the retrieval error structure, the relative importances of different radiometer channels, and the tradeoffs between spatial resolution and retrieval accuracy. Comparisons between regressions using simulated and actual SMMR data are discussed; they show similar behavior.

Hofer, R.↗

Application of Normal Mode Expansion to AE Waves in Finite Plates

Breckenridge et al. (1975), Hsu (1985) and Pao (1978) adapted approaches from seismology to calculate the response at the surface of an infinite half-space and an infinite plate. These approaches have found use in calibrating acoustic emission (AE) transducers. However, it is difficult to extend this theoretical approach to AE testing of practical structures. Weaver and Pao (1982) considered a normal mode solution to the Lamb equations. Hutchinson (1983) pointed out the potential relevance of Mindlin's plate theory (1951) to AE. Pao (1982) reviewed Medick s (1961) classical plate theory for a point source, but rejected it as useful for AE and no one seems to have investigated its relevance to AE any further. Herein, a normal mode solution to the classical plate bending equation was investigated for its applicability to AE. The same source-time function chosen by Weaver and Pao is considered. However, arbitrary source and receiver positions are chosen relative to the boundaries of the plate. This is another advantage of the plate theory treatment in addition to its simplicity. The source does not have to be at the center of the plate as in the axisymmetric treatment. The plate is allowed to remain finite and reflections are predicted. The importance of this theory to AE is that it can handle finite plates, realistic boundary conditions, and can be extended to composite materials.

Gorman, M. R.↗

Visual-vestibular integration as a function of adaptation to space flight and return to Earth

Research on perception and control of self-orientation and self-motion addresses interactions between action and perception . Self-orientation and self-motion, and the perception of that orientation and motion are required for and modified by goal-directed action. Detailed Supplementary Objective (DSO) 604 Operational Investigation-3 (OI-3) was designed to investigate the integrated coordination of head and eye movements within a structured environment where perception could modify responses and where response could be compensatory for perception. A full understanding of this coordination required definition of spatial orientation models for the microgravity environment encountered during spaceflight.

Reschke, Millard R.↗

Cradles for Support in Transit

C-shaped cradles distribute weight of large objects. Originally developed for holding satellite in bay of Space Shuttle orbiter, concept also adaptable to such terrestrial uses as carrying odd-shaped equipment by truck. Cradle set consists of single prime cradle and several basic cradles. Composed of bar bent into a half circle, each cradle has own keel and longeron trunnions that brace structure by mating with receptacles in vehicle and its own foam pads, on which load rests. One 548-lb (249-kg) cradle supports up to 3,000 lb (1,361 kg); thus, 15,000-lb (6,800-kg) object requires five cradles distributed along its length. Through their trunnions, cradles spread weight of load along vehicle.

Crane, W. H.↗