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A review of Odetics' offerings to the mass storage market is given. The main topic of this article is a discussion of Odetics' robotic libraries. The presentation was given in vugraph format.
In response to a proposal from Science Applications International Corporation (SAIC), NASA Headquarters has approved a sounding rocket mission designed to study the physics of intermediate layers in the Earth's ionosphere at middle latitudes. The experiment will be carried out by a team of scientists and engineers from the NASA Wallops Flight Facility, SAIC, the NASA Goddard Space Flight Center, and the Millstone Hill radar observatory. The mission will involve the launch of an instrumented sounding rocket from the Wallops Island rocket range in the summer of 1994, with the objective of penetrating a descending ionized layer in the E-region between altitudes of 115 and 140 km. Instrumentation aboard the rocket will measure the ion and neutral composition of the layer, its plasma density, driving wind and electric field forces, the thermal ion distribution function, and electron temperature. Depending on payload weight constraints and subject to availability, a particle detector to measure energetic ion and/or electron fluxes near the layer may also be included. This document was prepared as a reference for the NASA payload development and experiment teams, for distribution at the Project Initiation Conference (PIC). The design specifications discussed herein are therefore of a preliminary nature; the intent is to promote open discussions between experimenters and NASA engineers that will lead to a final design capable of achieving the experiment objectives.
The invention is a protective helmet assembly with improved safety and impact resistance, high resistance to ignition and combustion, and reduced offgassing. The assembly comprises a hard rigid ballistic outer shell with one or more impact absorbing pads fitted to the interior surface. The pads are made of open cell flexible polyimide foam material, each of which is attached to the inner surface of the ballistic outer shell by cooperative VELCRO fastener strips of hook-and-loop material affixed respectively to the rigid outer shell and the impact absorbing pads. The helmet assembly with shell and pads is sized to fit relatively close over a wearer's head.
Broadband ISDN (B-ISDN) extends the service integration concept to include future high speed, high volume network services as well as to accommodate narrowband ISDN in its infrastructure. The impact of B-ISDN services on satellite communications can be significant, requiring the same or similar quality of communications services provided by the terrestrial B-ISDN network. Potential satellite applications, alternate satellite network architectures, system design issues, and onboard switching/processing options for satellite B-ISDN services are investigated. Special attention is focused on fast packet switching architectures and switch design details to exploit the feasibility of implementing a fast packet switch in the future advanced communications satellite.
An activity index, AI, is derived from observational data to measure the increase of activity in magnitudes for comets when brightest near perihelion as compared to their inactive reflective brightness at great solar distances. Because the observational data are still instrumentally limited in the latter case and because many comets carry particulate clouds about them at great solar distances, the application of the activity index is still limited. A tentative application is made for the comets observed by Max Beyer over a period of nearly 40 years, providing a uniform magnitude system for the near-perihelion observations. In all, 32 determinations are made for long-period (L-P) comets and 15 for short-period (S-P). Although the correlations are scarcely definitive, the data suggest that the faintest comets are just as active as the brightest and that the S-P comets are almost as active as those with periods (P) exceeding 10(exp 4) years or those with orbital inclinations of i less than 120 deg. Comets in the range 10(exp 2) less than P less than 10(exp 4) yr. or with i greater than 120 deg appear to be somewhat more active than the others. There is no evidence to suggest aging among the L-P comets or to suggest other than a common nature for comets generally.
On 20 June 1991, NASA's Boeing 737, equipped with in-situ and look-ahead wind-shear detection systems, made direct low-level penetrations (300-350 m AGL) through a microburst during several stages of its evolution. This microburst was located roughly 20 km northeast of Orlando International Airport and was monitored by a Terminal Doppler Weather Radar (TDWR) located about 10 km south of the airport. The first NASA encounter with this microburst (Event 142), at approximately 2041 UTC, was during its intensification phase. At flight level, in-situ measurements indicated a peak 1-km (averaged) F-factor of approximately 0.1. The second NASA encounter (Event 143) occurred at approximately 2046 UTC, about the time of microburst peak intensity. It was during this penetration that a peak 1-km F-factor of approximately 17 was encountered, which was the largest in-situ measurement of the 1991 summer deployment. By the third encounter (Event 144), at approximately 2051 UTC, the microburst had expanded into a macroburst. During this phase of evolution, an in-situ 1-km F-factor of 0.08 was measured. The focus of this paper is to examine this microburst via numerical simulation from an unsteady, three-dimensional meteorological cloud model. The simulated high-resolution data fields of wind, temperature, radar reflectivity factor, and precipitation are closely examined so as to derive information not readily available from 'observations' and to enhance our understanding of the actual event. Characteristics of the simulated microburst evolution are compared with TDWR and in-situ measurements.
A large amount of attention has recently been given to global issues such as the ozone hole, tropospheric temperature variability, etc. A scientific challenge is to better understand atmospheric processes on a variety of spatial and temporal scales in order to predict environmental changes. Measurement of geophysical parameters such as wind, temperature, and moisture are needed to validate theories, provide analyzed data sets, and initialize or constrain numerical models. One of NASA's initiatives is the Mission to Planet Earth Program comprised of an Earth Observation System (EOS) and the scientific strategy to analyze these data. This work describes these efforts in the context of satellite data analysis and fundamental studies of atmospheric dynamics which examine selected processes important to the global circulation.
A fully nonlinear 3-dimensional numerical model (GEOSIM), previously developed and validated for several cases of geophysical fluid flow, has been used to investigate the dynamical behavior of laboratory experiments of fluid flows similar to those of the Earth's atmosphere. The phenomena investigated are amplitude vacillation, and the response of the fluid system to uneven heating and cooling. The previous year's work included hysteresis in the transition between axisymmetric and wave flow. Investigation is also continuing of the flows in the Geophysical Fluid Flow Cell (GFFC), a low-gravity Spacelab experiment. Much of the effort in the past year has been spent in validation of the model under a wide range of external parameters including nonlinear flow regimes. With the implementation of a 3-dimensional upwind differencing scheme, higher spectral resolution, and a shorter time step, the model has been found capable of predicting the majority of flow regimes observed in one complete series of baroclinic annulus experiments of Pfeffer and co-workers. Detailed analysis of amplitude vacillation has revealed that the phase splitting described in the laboratory experiments occurs in some but not all cases. Through the use of animation of the models output, a vivid 3-dimensional view of the phase splitting was shown to the audience of the Southeastern Geophysical Fluid Dynamics Conference in March of this year. A study on interannual variability was made using GEOSIM with periodic variations in the thermal forcing. Thus far, the model has not predicted a chaotic behavior as observed in the experiments, although there is a sensitivity in the wavenumber selection to the initial conditions. Work on this subject, and on annulus experiments with non-axisymmetric thermal heating, will continue. The comparison of GEOSIM's predictions will result from the Spacelab 3 GFFC experiments continued over the past year, on a 'back-burner' basis. At this point, the study (in the form of a draft of a journal article) is nearly completed. The results from GEOSIM compared very well with the experiments, and the use of the model allows the demonstration of flow mechanics that were not possible with the experimental data. For example, animation of the model output shows that the forking of the spiral bands is a transient phenomenon, due to the differential east-west propagation of convection bands from different latitudes.
The purpose of this study is to determine the adequacy of the Global Positioning System (GPS) in providing relative navigation for automated rendezvous and proximity operations. The study was performed using the Proximity Operations Simulator (POS), Lockheed's high-fidelity, six-degree-of-freedom simulation of the Space Shuttle and Space Station. This simulation includes identical models of GPS receivers for each vehicle. The navigation software in each vehicle includes identical Kalman filters. Each vehicle estimates its own state, and the relative state is obtained by simply subtracting absolute states.
The Autonomous Docking Ground Demonstration is an evaluation of the laser sensor system to support the docking phase (12 ft to contact) when operated in conjunction with the guidance, navigation, and control (GN&C) software. The docking mechanism being used was developed for the Apollo/Soyuz Test Program. This demonstration will be conducted using the 6-DOF Dynamic Test System (DTS). The DTS simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration, the laser sensor will be mounted on the target vehicle and the retroflectors will be on the chase vehicle. This arrangement was chosen to prevent potential damage to the laser. The laser sensor system, GN&C, and 6-DOF DTS will be operated closed-loop. Initial conditions to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved.
In the development of the technology for autonomous rendezvous and docking, key infrastructure capabilities must be used for effective and economical development. This involves facility capabilities, both equipment and personnel, to devise, develop, qualify, and integrate ARD elements and subsystems into flight programs. One effective way of reducing technical risks in developing ARD technology is the use of the ultimate test facility, using a Shuttle-based reusable free-flying testbed to perform a Technology Demonstration Test Flight which can be structured to include a variety of additional sensors, control schemes, and operational approaches. This conceptual testbed and flight demonstration will be used to illustrate how technologies and facilities at MSFC can be used to develop and prove an ARD system.
The purpose of this study is to determine the adequacy of the Global Positioning System (GPS) in providing relative navigation for automated rendezvous and proximity operations. The study was performed using the Proximity Operations Simulator (POS), Lockheed's high-fidelity, 6 degree of freedom simulation of the space shuttle and space station. This simulation includes identical models of GPS receivers for each vehicle. The navigation software in each vehicle includes identical Kalman filters. Each filter computes the absolute state of its vehicle, and the relative state vector is obtained by simply subtracting absolute states.
The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.
The NASA Johnson Space Center (JSC) is involved in the development of an autonomous docking ground demonstration. The demonstration combines the technologies, expertise and facilities of the JSC Tracking and Communications Division (EE), Structures and Mechanics Division (ES), and the Navigation, Guidance and Control Division (EG) and their supporting contractors. The autonomous docking ground demonstration is an evaluation of the capabilities of the laser sensor system to support the docking phase (12ft to contact) when operated in conjunction with the Guidance, Navigation and Control Software. The docking mechanism being used was developed for the Apollo Soyuz Test Program. This demonstration will be conducted using the Six-Degrees of Freedom (6-DOF) Dynamic Test System (DTS). The DTS environment simulates the Space Station Freedom as the stationary or target vehicle and the Orbiter as the active or chase vehicle. For this demonstration the laser sensor will be mounted on the target vehicle and the retroreflectors on the chase vehicle. This arrangement was used to prevent potential damage to the laser. The sensor system. GN&C and 6-DOF DTS will be operated closed-loop. Initial condition to simulate vehicle misalignments, translational and rotational, will be introduced within the constraints of the systems involved. Detailed description of each of the demonstration components (e.g., Sensor System, GN&C, 6-DOF DTS and supporting computer configuration) including their capabilities and limitations will be discussed. A demonstration architecture drawing and photographs of the test configuration will be presented.
The purpose of this report is to assess Vehicle Health Management (VHM) technologies for implementation as a demonstration. Extensive studies have been performed to determine technologies which could be implemented on the Atlas and Centaur vehicles as part of a bridging program. This paper discusses areas today where VHM can be implemented for benefits in reliability, performance, and cost reduction. VHM Options are identified and one demonstration is recommended for execution.
This session of discussions reports on two sides of the technology transfer issue. The speakers are representatives of the aluminum industry (Alcoa Aluminum) and the National Aeronautics and Space Administration, Office of Commercial Programs. They discuss what technology transfer means, what NASA does for industry, and how information is disseminated.
The properties of gamma ray bursts of classical type are found to be explicable in terms of high speed collisions between stars. A model is proposed in which the frequency of such collisions can be calculated. The model is then applied to the nuclei of galaxies in general on the basis that galaxies, or at least some fraction of them, originate in the expulsion of stars from creation centers. Evidence that low level activity of this kind is also taking place at the center of our own Galaxy is discussed. The implications for galactic evolution are discussed and a negative view of black holes is taken.
A logic for reasoning about timing properties of concurrent programs is presented. The logic is based on Hoare-style proof outlines and can handle maximal parallelism as well as certain resource-constrained execution environments. The correctness proof for a mutual exclusion protocol that uses execution timings in a subtle way illustrates the logic in action. A soundness proof using structural operational semantics is outlined in the appendix.