Results for “Shoulders” — Page 25

NASA NTRSDate not supplied

Modeling and Simulation Efforts to Support Improved Comfort in ARGOS

BACKGROUND: The Active Response Gravity Offload System (ARGOS) provides an analog environment for extravehicular activity (EVA) testing and training. Discomfort has been observed during longer suited test sessions. While the subject’s core is offloaded during surface EVA evaluations, his/her arms experience full Earth gravity and can become overly fatigued, especially during suited tests which involve reaching and prolonged arm extensions. A device (ARGOS Negation of Gravitational Effects on the Limbs: ANGEL) to offload the weight of the arms and suit sleeves is being developed by JSC’s Flight Systems Branch, and here we present preliminary modeling of that device using the open-source biomechanical tool OpenSim [1,2] with an in-house developed plugin. We analyze a series of motions performed by a single shirt-sleeved subject with goals of characterizing the device, validating the model, and predicting whether reduced gravity conditions (i.e., lunar gravity (Lg) or Martian gravity (Mg)) can be accurately simulated with the device, as well as providing comfort to the ARGOS user. METHODS AND RESULTS: To model the offload device, we augment the OpenSim human model topology with the offload mechanism components and joints, using CAD models to represent the mechanism graphically. The joint angles of the device are either obtained from (1) inverse kinematics (IK) using motion capture markers on the various components of the device or (2) calculated in the OpenSim plugin by modeling how the components configure themselves under the offloading spring tension given a particular IK-derived arm position. Given the joint angles of the device, the resulting force on the arm is computed by the plugin and applied as an external load in inverse dynamics (ID) in order to enable study of overall shoulder joint torques as well as offload achieved. We verify the calculated joint angles by using the inverse kinematic data and the forces from manual measurements of the spring both independently and integrated within the device. We found that calculated joint angles generally represent the angles measured and computed with IK, supporting a possible analysis workflow inputting human motion data and observing system behavior under varied design parameters. In two different device configurations in which the maximum applied force was 131 N, our current model accurately captured force with a difference of 2-3 N from measured loads. Though our initial test was performed with a shirt-sleeve subject, arm weights were added to emulate the weight of the suit sleeve and the subject was positioned in a test stand with a Mark-III Hard Upper Torso (HUT) and Portable Life Support System (PLSS) mockup. Arm range of motion tasks were performed outside of the HUT, inside the HUT, and inside the HUT while using the device. A variety of other upper body tasks were completed as well. In summary, we have developed a model to investigate and verify an upper limb offload device currently in development. We believe this model will be a valuable tool not only for device characterization but also to predict proper configurations to simulate Lg or Mg conditions, investigate range of motion concerns, predict limitations such as internal collisions and contacts, and inform future design improvements.

L B Nilsson↗

NASA NTRSDate not supplied

NASA Advanced Space Suit xEMU Development Report – Components

For the past several years, the Exploration Extra-Vehicular Mobility Unit (xEMU) team at NASA’s Johnson Space Center has focused on the development and detailed design of the xEMU to support missions to the International Space Station (ISS) and a moon landing in 2024. In that context, this paper examines the development and baseline detailed design of the xEMU helmet, extra-vehicular visor assembly (EVVA), hard upper torso (HUT), shoulders, liquid cooling and ventilation garment (LCVG), boots, waist brief hip (WBH), ancillary hardware, and environmental protection garment (EPG) . This paper will outline the challenging technical requirements, significant architectural trades, technical solutions required to overcome these challenges, and a current status of the detailed design. The preliminary results of Design Verification Testing (DVT) as it relates specifically to these components will also be provided, along with a forward strategy for final maturation into a flight-ready design.

Shane McFarland↗

NASA NTRSDate not supplied

TOWARD A METHOD FOR SCALING HUMAN BODY MODELS IN AN IMU-BASED WORKFLOW

BACKGROUND Scaled biomechanical models can more accurately inform crew health decisions when tailored to the wide range of astronaut sizes. One component to improve scaling of existing models to better represent each unique astronaut’s size is the individual length scaling of limbs. Traditionally, these lengths are determined by motion capture or manual measurement. A new method is herein proposed for length scaling which can be done by measuring linear and angular accelerations at a desired point during isolated motion around a point of rotation, then calculating the distance between the desired point and point of rotation. When an Inertial Measurement Unit (IMU) device is placed at the distal point of a limb, the isolated motion is about that limb’s proximal joint. For example, to measure forearm length, an IMU is placed at the wrist, the point of rotation is at the elbow, and the isolated motion is forearm flexion and extension. These calculated lengths are then used to scale models to each unique astronaut’s size, thereby improving the applicability of the model. This method of scaling limb segments can be used for any limb that has an easily defined proximal joint for the limb to rotate around including hands, arms, legs, feet. Utilizing IMUs for data collection also provides the synergistic ability to record data without a dedicated space in a room with many cameras, therefore reducing the data collection footprint, or record data where optical motion capture is not possible, such as inside a spacesuit. METHODS AND RESULTS To test this method, upper body data collection was performed with 5 Xsens DOT IMUs on a single subject. IMUs consist of an accelerometer, a gyroscope, and a magnetometer which collect linear acceleration, angular velocity, and magnetic fluctuations, respectively. Before any ground-based laboratory collection, the magnetic fluctuations are used to correct the heading of the IMU in space relative to the Earth’s magnetic field. The direct measurement of angular velocity is integrated to calculate angular acceleration. Then the linear acceleration ( a ) and angular acceleration (α) are solved using r = at/α to calculate the radius, which in this case is the distance between the IMU and the point of rotation (i.e., segment length). The IMU must be placed at the most distal point of the limb being measured (i.e., ankle if measuring lower leg length) and the test plan must consist of an isolated motion about that limb’s proximal joint (i.e., knee flexion and extension if measuring lower leg length). The distances (radii) calculated at every time interval were filtered (bandpass filter keeping 5th-90th percentile data) to eliminate outliers and spurious data that occur when the isolated motion was stopped or nearly stopped. The remaining distances were averaged, resulting in the calculated limb length. Scaling factors were then computed by dividing the calculated limb length by the unscaled model’s length. These scale factors are plugged into the Scale Tool in OpenSim [1,2] to apply the scaling to the OpenSim Full Body Rajagopal Model [3,4]. Manual measurements of limb lengths were taken before data collection started and used for comparing against the calculated lengths. The Anthropometric Survey of US Army Personnel (ANSUR II) [5] was also used as a third source of reference for limb length measurements. The following measurements were retrieved from the subject before data collection: 34.5 cm from L1 to C7 (thorax), 25.7 cm from C7 Joint Center (JC) to head vertex (neck and head), 36.3 cm from shoulder JC to elbow JC (humerus), 29.5 cm from elbow JC to wrist JC (forearm), and 16.2 cm from clavicle to acromion (clavicle). Of those five, forearm and humerus lengths were calculated using this proposed method to obtain preliminary results. The forearm length after filtering and averaging was calculated to be 37.6 cm. This is a 28% overestimation from the measured forearm length (29.5 cm). The humerus length after filtering and averaging was calculated to be 47.8 cm. This is a 31% difference from the measured subject length (36.3 cm). Sources of error include imperfect isolated motion (method currently expects that motion should be perfectly circular in a 2D plane, include no rotation of the IMU, and be relatively smooth; a more secure IMU attachment method will help), unrefined filter techniques (removed highest and lowest values with 20% high and low pass filters and no smoothing filters), arbitrary removal of stopped or near stopped data (kept data for only a short range before and after the angular velocity peaking), and a more representative method for removing gravitational acceleration is needed (current method is to zero all accelerations against a baseline taken just before the isolated motion which does not account for the gravitational acceleration changed due to IMU rotation during movement). Addressing these error sources will improve the accuracy of the limb length calculation. Next steps include creating a method for whole-body scaling estimation using individual limb scale factors. Continued pursuit of these techniques is expected to enable acquiring anthropometric information using only IMUs in real-time.

E. K. Marecki↗

NASA NTRSDate not supplied

Assessment of Mars 2020 Forebody Heating Predictions with Coupled Material Response

The objective of this work was to assess the impact of flow field - material response cou-pling on reproducing temperatures within the Mars 2020 forebody thermal protection system.Both equilibrium and nonequilibrium coupled material response approaches were considered.Turbulent transition estimates were included in the flow field modeling based on transitiontimes inferred from flight measurements. A coupled equilibrium ablation model was foundto overpredict the in-depth temperatures near the surface by over 100 K in the stagnationregion and by about 200 K near the leeside shoulder, which was subject to turbulent heatingaugmentation. For nonequilibrium ablation, two finite rate surface chemistry models wereused to model the chemical process on the vehicle surface. The first was a model consistingof N2catalysis and CO2recombination model, and the second was a model consisting of onlyN2and O2catalysis. Near the stagnation point, the N2and CO2model was found to be withinabout 10 K from the peak in-depth temperature near the surface; however, overpredictionof the in-depth temperatures was observed early in the trajectory, similar to the equilibriumablation model. The N2and O2catalysis model was found to significantly underpredict nearsurface in-depth temperatures.

Thomas K West↗

NASA NTRSDate not supplied

Flow Physics Study of Sweeping Jet Actuation on a NACA 0015 Swept Wing Configuration

Preliminary results from a recently completed active flow control (AFC) experiment on a 30 deg swept, semispan wing are presented. The constant chord NACA 0015 wing is configured with sweeping jet actuators at the flap shoulder to study the effects of excitation introduced into a separated, three-dimensional flowfield. The research is aimed at developing efficient active flow control approaches for swept wing configurations. Oil and tuft flow visualization data, steady and unsteady pressure data, particle image velocimetry (PIV), oil flow interferometry (OFI), and force and moment data are used to compare the flowfields with and without AFC. The parameters that were varied include freestream velocity, actuator momentum coefficient, and flap deflection angle.

active flow control↗

NASA NTRSDate not supplied

Flow Physics Study of Sweeping Jet Actuation on an NACA 0015 Swept Wing Configuration

Results from a recently completed active flow control (AFC) experiment on a low aspect ratio, AR = 4.35, 30 degree swept, semispan wing with a 30% chord trailing edge flap are presented. The constant chord NACA 0015 wing is configured with sweeping jet actuators at the flap shoulder to facilitate our study of three-dimensional, swept wing separated and AFC controlled flowfields on the flap. Two flap deflection angles (delta_f = 0 degrees and 20 degrees) are examined. Oil and tuft flow visualization data, steady and unsteady pressure data, and particle image velocimetry (PIV) complement the balance lift and drag data. These results are used to examine smooth body separation, fixed separation, and the AFC-controlled flap flowfield downstream of a sweeping jet actuator. A momentum coefficient of 1.1% reattaches the flow to the flap surface when flap delta_f = 20 degrees increasing lift by approximately 0.26. This fundamental study is a first step in a research effort focused on improving the efficiency of AFC systems for swept wing applications.

active flow control↗

NASA NTRSDate not supplied

A Crew Seat for Human Exploration in Multiple Gravity Environments

This work attempts to develop a single crew seating solution that is applicable across a range of gravity environments encountered by spacecraft proposed in several conceptual spacecraft architectures. All of these spacecraft will need to provide some sort of stationary accommodation for the crew for performing various activities such as work in science laboratories, maintenance and repair facilities, medical care facilities, and spacecraft operations centers, as well as for basic habitation in crew quarters, entertainment / relaxation facilities, and crew dining facilities. Depending on the spacecraft or architecture, this stationary accommodation may be experienced continuously in microgravity, such as would be the case for the Deep Space Exploration Vehicle. Alternately, it could be in continuous lunar or Martian gravity, such as the Common Habitat base camps. It could experience fractional gravity, such as a Pressurized Rover for In-Space Missions at a Near Earth Asteroid or one of the Martian moons. It could alternate between artificial gravity and microgravity, such as the Nautilus-X. It could alternate between microgravity and lunar or Martian gravity, such as the SpaceX Starship Human Landing System or the Blue Origin Blue Moon Block 2 Human Landing System. Or it could be in continuous Earth gravity, such as ground trainer systems. Prior human spaceflight systems for stationary accommodation have been focused on microgravity applications. These systems have their own limitations and cannot be used in a gravity environment. A public crowdsourcing campaign generated dozens of ideas, which ultimately generated a Gecko Mobility Aids system for crew translation and the Multi-Gravity Crew Seat (MGCS) for stationary accommodation. The MGCS functions in gravity as a traditional terrestrial seat, performing functions of load for the overall body and forearms, as well as head and neck load relief while positioning the body within range of an intended task. In microgravity, the MGCS functions as a body restraint, securing the body against inadvertent drifting by applying a restraining pressure at the front and back of the thighs, shoulders, and back. The initial MGCS concept was developed in a NASA hackathon and was refined through a review of dozens of terrestrial seating styles. Additionally, a review of anthropometry and biomechanics data related to the neutral body posture was conducted to help inform the microgravity configuration of the MGCS. A series of CAD models were iteratively developed, with subject matter expert reviews leading to design improvements. A scale model was constructed and used with a humanoid model to demonstrate MGCS accommodation of a human-like body in both gravity and microgravity modes. Work to develop a full-scale protype of the MGCS is discussed, including design and fabrication of the headrest, arm rest, seat back, seat pan, seat base, and the conversion mechanisms. A 1-g human-in-the-loop evaluation of the prototype assessed the acceptability of performing seated activities in the MGCS, collecting data on the usability, comfort, and ease of ingress/egress. Based on the evaluation results, design modifications needed for reduced gravity testing are documented and initial work is indicated for a reduced gravity test plan.

Restraints and Mobility Aids↗

NASA NTRSDate not supplied

A Daily Surface Melt Product From Passive Microwave Swath Observations for Arctic Sea Ice Studies

Most passive microwave sea ice data products are produced with daily gridded brightness temperatures. However, a single polar-orbiting passive microwave instrument makes many measurements per day where swaths overlap in the polar regions. These level 1 swath brightness temperature observations can be used to derive information on sub-daily sea ice processes. One such process is the rapid transition of snow and ice between freezing and melting due to diurnal freeze-thaw cycling or brief warming events in the pre-melt season. Here, a new method utilizing the sub-daily variability in swath-to-swath observations is used to produce daily, binary maps of the melting status on Arctic Sea ice using Level 1C brightness temperatures from the Special Sensor Microwave Imager and Sounder (SSM/I-SSMIS) data record. The resulting data set will enable investigations of the frequency, inter-annual variability, and spatial extent of brief surface melting events occurring in the winter and shoulder seasons outside of the traditional summer melt season.

Angela C. Bliss↗

NASA NTRSDate not supplied

Task Load Management in Earth Independent Medical Operations

BACKGROUND: Medical care in spaceflight carries a high task load and can easily overwhelm a small crew. Present day operations in low Earth orbit (LEO) offload most medical tasks to ground teams in mission control. This team includes dozens of flight surgeons, specialists, and engineers and supports the on-orbit crew in monitoring environmental systems, tracking medications, guiding procedures, providing expert advice, and many other tasks. However, the physical limitations of the speed of light and technical limitations of bandwidth, channel capacity, and signal processing mean that missions beyond LEO cannot rely on this level of telemedical support. The further we travel from Earth the more these tasks will fall on the shoulders of the crew and the greater the risk of task saturation to the wellbeing of the crew and the success of the mission. Exploration class space crews will need progressively more robust systems for managing task load as they progress further out in space. OVERVIEW: Medical task management systems will need to assist with two broad categories of tasks; cognitively intensive tasks and procedure execution tasks. In both cases the goal is for the systems to operate in the background with minimal human-in-the-loop intervention. To accomplish this such systems will need to be designed with careful consideration for human factors and human systems integration to maximize efficiency, minimize alarm fatigue, and avoid inadvertently increasing task loads. Finally, the key domains of space medicine tasking can be used to map present day and near future technologies to the areas where they are best suited to support and identify gaps which can be targeted for research and development. DISCUSSION: Task load is a major challenge for Earth Independent Medical Operations to overcome. It will require careful coordination between experts in a variety of fields paying attention to human factors and human systems integration as well as technical and medical expertise. If done well medical task management systems can handle many of the tasks currently run by humans in mission control and enable human crews to maintain terrestrial standards of care in the extraterrestrial environment.

Dana Levin↗

NASA NTRSDate not supplied

EVA SPACESUIT INCIDENCE TRACKING

INTRODUCTION: Extravehicular Activity (EVA)suit-related injuries to crew during training and inflight operations are not uncommon. Systematic tracking of these issues has waxed and waned throughout NASA’s history. Given two new EVA suits in development and an increase in EVA training, the need for dutiful recording of this data is critical. The Suited User Incident Tracking System (SUITS) was developed in the last decade to track all suited exposures, recording exposure details and any related issues, pains, or injuries that arise. METHODS: SUITS data collected from 2017 to 2022 was analyzed for issue frequency and severity for each body location and plotted to visualize where issues were occurring. Clustering techniques using a k-modes approach were also applied to the data set to generate profiles of populations that experienced issues in the suit, and populations that did not. RESULTS:A key finding from SUITS is that discomfort and pain observed in the new planetary spacesuits are occurring in new body locations than those experienced in the microgravity space suit (Extravehicular Mobility Unit (EMU)).To date, the lower body and torso regions account for most pain reports in planetary spacesuits whereas most reports in EMU were shoulders and hands. DISCUSSION:SUITS will continue to be used to capture exposures for all suit types. As training suit availability improves and training cadence increases in preparation for planetary missions, it is critical to capture and assess all suit incidences. Further, a Suited Anomaly Assessment Team (SAAT) consisting of a broad range of EVA stakeholders was formed to share and act on SUITS data with the goal of developing robust solutions to issues/injuries as they arise. Understanding the types and locations of injuries that occur during suited operations will help inform future work related to EVA fitness training requirements, suit design, and modeling efforts to avoid injury. LEARNING OBJECTIVES: 1. Systematic tracking of suited exposures and issues is critical for understanding the complex interaction between the human and the EVA spacesuit. 2. As EVA suit issues/injuries arise it is important to share that data with a broad group to ensure robust strategies are developed.

N Newby↗

NASA NTRSDate not supplied

Discerning Cell Surface Defects with 3D Optical Profilometry

This investigation seeks to establish better criteria that can be used for qualitative visual screening of cylindrical battery cells through exploration of various defects across multiple cylindrical Lithium-Ion battery cells. This investigation focuses on INR18650s and INR21700s cells from Molicel, LG, and Samsung. The principal instrument used is a high-definition 3D optical profilometer with measurement accuracy less than 0.5 microns. Through this effort, a catalog was built discerning minor surface imperfections from significant flaws. The catalog generated covers a comparison of axial and radial scratches, less than 5 microns, greater than 5 microns and greater than 15 microns, as well as the difference between surface discoloration, early-stage pitting, and late stages of corrosion. An exploration is made into cell button defects and crimp shoulder defects. When ultra-high-power optical magnification and three-dimension topological tools are not immediately available, this catalog will help determine if an individual cell is usable, worth further investigation, or failing. The purpose of this catalog is to be a field guide used for quick reference of a potential issue, with the goal of increasing screening throughput while reducing the need for costly examination. Trade names and trademarks are used in this abstract for identification only. Their usage does not constitute an official endorsement, either expressed or implied, by the National Aeronautics and Space Administration.

battery↗

NASA NTRSDate not supplied

Discerning Cell Surface Defects with 3D Optical Profilometry

This investigation seeks to establish better criteria that can be used for qualitative visual screening of cylindrical battery cells through exploration of various defects across multiple cylindrical Lithium-Ion battery cells. This investigation focuses on INR18650s and INR21700s cells from Molicel, LG, and Samsung. The principal instrument used is a high-definition 3D optical profilometer with measurement accuracy less than 0.5 microns. Through this effort, a catalog was built discerning minor surface imperfections from significant flaws. The catalog generated covers a comparison of axial and radial scratches, less than 5 microns, greater than 5 microns and greater than 15 microns, as well as the difference between surface discoloration, early-stage pitting, and late stages of corrosion. An exploration is made into cell button defects and crimp shoulder defects. When ultra-high-power optical magnification and three-dimension topological tools are not immediately available, this catalog will help determine if an individual cell is usable, worth further investigation, or failing. The purpose of this catalog is to be a field guide used for quick reference of a potential issue, with the goal of increasing screening throughput while reducing the need for costly examination. Trade names and trademarks are used in this abstract for identification only. Their usage does not constitute an official endorsement, either expressed or implied, by the National Aeronautics and Space Administration.

battery↗

NASA NTRSDate not supplied

CFD Predictions of Fluctuating Pressure Environments on NASA’s SLS Ascent Unsteady Aerodynamics Wind Tunnel Test

This paper details work that is being conducted on predicting fluctuating pressure environments on NASA launch vehicles using computational fluid dynamics (CFD). The accurate characterization of these aeroacoustics environments is necessary in the analysis of vehicle structural health and aerodynamic performance and in the vehicle design process. High-fidelity simulations of the unsteady flow over NASA’s SLS Ascent Unsteady Aerodynamics wind tunnel Test (AUAT) using the hybrid Reynolds-averaged Navier-Stokes (RANS)-large eddy simulations (LES) methodologies in Mississippi States’ Loci/CHEM solver are presented. The two available methods, Nelson-Nichols and dynamic hybrid RANS-LES (DHRL), are compared head-to-head on identical grids at two Mach numbers. At the high-subsonic Mach number, locally supersonic flow expanding over a shoulder induces a separation-reattachment system that is predicted poorly by the Nelson-Nichols method due to an under-prediction in unsteady content. The DHRL solution predicts the spatial extent and frequency domain response of this system well but under-predicts the peak noise levels due to a delay in the RANS-to-LES transition. At the low-supersonic Mach number, compression corner dynamics dominate the unsteady flow. While the Nelson Nichols solution captures this phenomenon well, another solution on a refined grid indicates that some model stress depletion is occurring. The DHRL solution again performs well at this Mach number and matches the wind tunnel data fairly closely, but perhaps most impressively, is fairly agnostic to increasing grid resolution. The findings in this paper are expected to be generally applicable and will be used to guide the prediction of aeroacoustics environments of other NASA launch vehicles.

CFD↗

NASA NTRSDate not supplied

Evidence for Partially Chloritized Smectite in Gale Crater, Mars, and Implications for Diagenesis

Phyllosilicates are an important mineral group found in ancient (~3.5-4.1 Gyr old) martian terrains because they are a marker of water-rock interactions and can help constrain aqueous conditions (e.g., pH, salinity, temperature) and, thus, identify habitable environments. Orbital visible/short-wave infrared (VSWIR) data demonstrate that smectite is the most abundant type of phyllosilicate on Mars, followed by chlorite [e.g., 1]. The geologic settings in which phyllosilicates are found provide important clues into their formation. Smectite has been identified in abundances of up to ~30 wt.% in early Hesperian-aged fluvial-lacustrine sedimentary rocks in Gale crater using the CheMin X-ray diffractometer on the Mars Science Laboratory Curiosity rover [e.g., 2-6]. CheMin XRD patterns and evolved water measured by the Sample Analysis at Mars (SAM) instrument suite show the structure of smectite changes from trioctahedral Fe(II)-bearing smectite at the base of the section to dioctahedral nontronite and montmorillonite ~400 m up section in the Glen Torridon valley where orbital VSWIR show evidence of Fe/Mg smectite. Most of the smectite identified by CheMin is collapsed (i.e., lacking substantial interlayer H2O) based on basal spacings at 10 Å. Fe(II) saponite found in two drill targets at the base of the section in Yellowknife Bay, however, suggest the smectite is expanded. The XRD pattern of the “Cumberland” drill target has a peak at 13.5 Å, whereas the “John Klein” drill target has a peak at 10 Å and a shoulder extending to higher d-spacings (Fig. 1) [2]. A possible explanation for this expanded structure is partial chloritization of the interlayer site caused by the precipitation of small domains of brucite-like sheets [e.g., 7,8]. Here, we synthesize smectite with different degrees of chloritization and analyze the products via XRD, evolved gas analysis (EGA), and VSWIR to determine whether chloritized smectite on Mars can be recognized with these techniques.

E B Rampe↗

NASA NTRSDate not supplied

Testing of Two Mars Powered Descent Vehicle Concepts in the Langley Unitary Plan Wind Tunnel

Testing was conducted in the NASA Langley Unitary Plan Wind Tunnel in order to investigate the aerodynamic interference of sub-scale versions of two Mars powered descent vehicle concepts at supersonic Mach numbers (2.4 and 3.5): a model based on a blunt hypersonic inflatable aerodynamic decelerator (HIAD) and the second representing a more slender rigid vehicle with body flaps (CobraMRV). Each model was designed to accommodate up to eight nozzles, with the HIAD model having five different nozzle configurations to investigate the effects of nozzle location, cant angle, and area ratio. The models were tested with high pressure air as the nozzle plume gas, and included the following instrumentation: high-speed video, discrete steady state and high-frequency pressure, pressure sensitive paint, and a new flow-through force and moment balance for the HIAD model. The high-speed imagery showed the overall expected growth of the shock layer to increasing thrust levels. The discrete stagnation pressure data on the HIAD model with four and eight blowing nozzles was sensitive to thrust coefficient with the nozzles canted at 0 degrees, whereas having nozzles canted outward 20 degrees and/or being located closer to the heatshield shoulder largely removed that sensitivity. The CobraMRV model stagnation pressure was more sensitive to tunnel Mach number and sideslip angle, due to the nozzle arrangement and plume interference. Pressure sensitive paint data quality was compromised by paint damage from frequent model changes, especially for the HIAD model. However, pressure coefficient data on the CobraMRV model showed the same trends as the discrete pressure measurements, as well as a sensitivity to non-zero sideslip angles. The aerodynamic force coefficients were derived from the pressure sensitive paint data. On the HIAD models, the primary force coefficient decreased with increasing thrust due to the nozzle plumes blocking flow to the heatshield area surrounding the nozzle exist. On the CobraMRV model, the force coefficient was relatively insensitive to thrust coefficient at the lower Mach number when sideslip angle was 0 degrees The force coefficient decreases with increasing thrust coefficient when the sideslip angle is 10 degrees. Balance data quality was negatively impacted by thermal drift issues that were not apparent in pre-test calibration measurements, thus preventing usable test data. Results and lessons learned will be used to take further technology development steps, including more advanced ground test techniques and flight testing.

Karl T Edquist↗

NASA NTRSDate not supplied

Extinction of Solid Diffusion Flame in Microgravity: Details of Quenching and Blowoff Processes

Long duration microgravity experiments aboard the International Space Station determine diffusion flame extinction limits of PMMA spheres. Upon ignition from an electrically-heated coil, the 4-cm-diameter samples are exposed to forced flows ranging from 0.2 to 80 cm/s and an oxygen ranging from 13 to 28% in one atmosphere total pressure. Extinction is reached as oxygen concentration gradually decreases by natural depletion. Five extinction tests are presented at different flow velocities and oxygen concentrations. Quenching at low velocity is observed with the flame tip shrinking upstream and blowoff is observed when a hole forms in the flame at the forward flow stagnation point. However, these processes are not quasistatic. The quenching motion involves periodic flame tip pulsating toward downstream and shrinking upstream with a continually decreasing flame size at the end of each cycle. In blowoff, the flame base pulsates between the flame hole and the downstream location, although with far fewer cycles compared to quenching. The pulsations appear to be the result of a premixed flame front spreading into a combustible mixture. Two specific cases are discussed. In the first, at very low flow velocity (~ 0.4 cm/s) and elevated oxygen, self-sustained flame tip cyclic pulsations are observed for a lengthy period (~15 minutes). In the second case with a higher flow velocity (50 cm/s), the diffusion flame is stabilized at the shoulder of the spherical sample after local stagnation point blowoff. With steady decrease in ambient oxygen due to depletion, spinning flamelets are formed. The long-duration microgravity environment makes it possible to observe. these interesting and detailed extinction processes.

Flame quenching↗

NASA NTRS2024

Redundancy Parameterization and Inverse Kinematics of 7-DOF Revolute Manipulators

Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

Kinematics↗

NASA NTRSDate not supplied

Testing of Two Mars Powered Descent Vehicle Concepts in the Langley Unitary Plan Wind Tunnel

Testing was conducted in the NASA Langley Unitary Plan Wind Tunnel in order to investigate the aerodynamic interference of sub-scale versions of two Mars powered descent vehicle concepts at supersonic Mach numbers (2.4 and 3.5): a model based on a blunt hypersonic inflatable aerodynamic decelerator (HIAD) and the second representing a more slender rigid vehicle with body flaps (CobraMRV). Each model was designed to accommodate up to eight nozzles, with the HIAD model having five different nozzle configurations to investigate the effects of nozzle location, cant angle, and area ratio. The models were tested with high pressure air as the nozzle plume gas, and included the following instrumentation: high-speed video, discrete steady state and high-frequency pressure, pressure sensitive paint, and a new flow-through force and moment balance for the HIAD model. The high-speed imagery showed the overall expected growth of the shock layer to increasing thrust levels. The discrete stagnation pressure data on the HIAD model with four and eight blowing nozzles was sensitive to thrust coefficient with the nozzles canted at 0 degrees, whereas having nozzles canted outward 20 degrees and/or being located closer to the heatshield shoulder largely removed that sensitivity. The CobraMRV model stagnation pressure was more sensitive to tunnel Mach number and sideslip angle, due to the nozzle arrangement and plume interference. Pressure sensitive paint data quality was compromised by paint damage from frequent model changes, especially for the HIAD model. However, pressure coefficient data on the CobraMRV model showed the same trends as the discrete pressure measurements, as well as a sensitivity to non-zero sideslip angles. The aerodynamic force coefficients were derived from the pressure sensitive paint data. On the HIAD models, the primary force coefficient decreased with increasing thrust due to the nozzle plumes blocking flow to the heatshield area surrounding the nozzle exist. On the CobraMRV model, the force coefficient was relatively insensitive to thrust coefficient at the lower Mach number when sideslip angle was 0 degrees The force coefficient decreases with increasing thrust coefficient when the sideslip angle is 10 degrees. Balance data quality was negatively impacted by thermal drift issues that were not apparent in pre-test calibration measurements, thus preventing usable test data. Results and lessons learned will be used to take further technology development steps, including more advanced ground test techniques and flight testing.

Supersonic Retropropulsion↗