Lunar orbital science
Lunar orbital science, discussing U.S. and Soviet missions, NASA plans and results concerning remote sensing, force field and particle studies
Allenby, R. J.↗
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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.
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Near-wall similarity in a pressure-driven three-dimensional turbulent boundary layer
Mean velocity, measured wall pressure and wall shear stress fields were made in a three dimensional pressure-driven turbulent boundary layer created by a cylinder with trailing edge placed normal to a flat plate floor. The direct force wall shear stress measurements were made with floating element direct force sensing shear meter that responded to both the magnitude and direction of the local wall shear stress. The ability of 10 near wall similarity models to describe the near wall velocity field for the measured flow under a wide range of skewing conditions and a variety of pressure gradient and wall shear vector orientations was used.
Pierce, F. J.↗
Direct force wall shear measurements in pressure-driven three-dimensional turbulent boundary layers
Unique, simultaneous direct measurements of the magnitude and direction of the local wall shear stress in a pressure-driven three-dimensional turbulent boundary layer are presented. The flow is also described with an oil streak wall flow pattern, a map of the wall shear stress-wall pressure gradient orientations, a comparison of the wall shear stress directions relative to the directions of the nearest wall velocity as measured with a typical, small boundary layer directionally sensitive claw probe, as well as limiting wall streamline directions from the oil streak patterns, and a comparison of the freestream streamlines and the wall flow streamlines. A review of corrections for direct force sensing shear meters for two-dimensional flows is presented with a brief discussion of their applicability to three-dimensional devices.
Mcallister, J. E.↗
A three-dimensional turbulent separated flow and related mesurements
The applicability of and the limits on the applicability of 11 near wall similarity laws characterizing three-dimensional turbulent boundary layer flows were determined. A direct force sensing local wall shear stress meter was used in both pressure-driven and shear-driven three-dimensional turbulent boundary layers, together with extensive mean velocity field and wall pressure field data. This resulted in a relatively large number of graphical comparisons of the predictive ability of 10 of these 11 similarity models relative to measured data over a wide range of flow conditions. Documentation of a complex, separated three-dimensional turbulent flow as a standard test case for evaluating the predictive ability of numerical codes solving such flows is presented.
Pierce, F. J.↗
Remote-Manipulator Hand With Data-Processing Ability
A "smart" hand for remote manipulator not only senses forces acting on it and detects presence of objects in immediate vicinity but also processes sensory data and controls its gripping claws. Hand reduces computational load on control computer of manipulator system. Includes wrist body and two opposing jaws with sets of claws that mesh with each other. Jaws of hand open as wide as 8.8 cm. Brushless dc motor operates claws through bevel-gear drive train and pair of ball screws. Maximum grip force 540 N, or about 120 lb.
Bejczy, Antal K.↗
h-Parameter Analysis Of Teleoperators
Hybrid two-port input/output mathematical model originally developed for small-signal analysis of transistors, amplifiers, and electrical networks in general adapted to analysis of teleoperator sensing forces and velocities at master and slave. Well suited to characterization of bidirectional flows of energy in terms of relationships between input and output signals. Leads to intuitive representation of performance of system and used to design system according to concept of bilateral impedance control.
Hannaford, Blake↗
Robonaut 2 - The First Humanoid Robot in Space
NASA and General Motors have developed the second generation Robonaut, Robonaut 2 or R2, and it is scheduled to arrive on the International Space Station in late 2010 and undergo initial testing in early 2011. This state of the art, dexterous, anthropomorphic robotic torso has significant technical improvements over its predecessor making it a far more valuable tool for astronauts. Upgrades include: increased force sensing, greater range of motion, higher bandwidth and improved dexterity. R2 s integrated mechatronics design results in a more compact and robust distributed control system with a faction of the wiring of the original Robonaut. Modularity is prevalent throughout the hardware and software along with innovative and layered approaches for sensing and control. The most important aspects of the Robonaut philosophy are clearly present in this latest model s ability to allow comfortable human interaction and in its design to perform significant work using the same hardware and interfaces used by people. The following describes the mechanisms, integrated electronics, control strategies and user interface that make R2 a promising addition to the Space Station and other environments where humanoid robots can assist people.
Diftler, M. A.↗
Advancing Robotic Control for Space Exploration Using Robonaut 2
Robonaut 2, or R2, arrived on the International Space Station (ISS) in February 2011 and is currently being tested in preparation for its role initially as an Intra-Vehicular Activity (IVA) tool and eventually as a robot that performs Extra-Vehicular Activities (EVA). Robonaut 2, is a state of the art dexterous anthropomorphic robotic torso designed for assisting astronauts. R2 features increased force sensing, greater range of motion, higher bandwidth, and improved dexterity over its predecessor. Robonaut 2 is unique in its ability to safely allow humans in its workspace and to perform significant tasks in a workspace designed for humans. The current operational paradigm involves either the crew or the ground control team running semi-autonomous scripts on the robot as both the astronaut and the ground team monitor R2 and the data it produces. While this is appropriate for the check-out phase of operations, the future plans for R2 will stress the current operational framework. The approach described here will outline a suite of operational modes that will be developed for Robonaut 2. These operational modes include teleoperation, shared control, directed autonomy, and supervised autonomy, and they cover a spectrum of human involvement in controlling R2.
Badger, Julia↗
Forming Human-Robot Teams Across Time and Space
NASA pushes telerobotics to distances that span the Solar System. At this scale, time of flight for communication is limited by the speed of light, inducing long time delays, narrow bandwidth and the real risk of data disruption. NASA also supports missions where humans are in direct contact with robots during extravehicular activity (EVA), giving a range of zero to hundreds of millions of miles for NASA s definition of "tele". . Another temporal variable is mission phasing. NASA missions are now being considered that combine early robotic phases with later human arrival, then transition back to robot only operations. Robots can preposition, scout, sample or construct in advance of human teammates, transition to assistant roles when the crew are present, and then become care-takers when the crew returns to Earth. This paper will describe advances in robot safety and command interaction approaches developed to form effective human-robot teams, overcoming challenges of time delay and adapting as the team transitions from robot only to robots and crew. The work is predicated on the idea that when robots are alone in space, they are still part of a human-robot team acting as surrogates for people back on Earth or in other distant locations. Software, interaction modes and control methods will be described that can operate robots in all these conditions. A novel control mode for operating robots across time delay was developed using a graphical simulation on the human side of the communication, allowing a remote supervisor to drive and command a robot in simulation with no time delay, then monitor progress of the actual robot as data returns from the round trip to and from the robot. Since the robot must be responsible for safety out to at least the round trip time period, the authors developed a multi layer safety system able to detect and protect the robot and people in its workspace. This safety system is also running when humans are in direct contact with the robot, so it involves both internal fault detection as well as force sensing for unintended external contacts. The designs for the supervisory command mode and the redundant safety system will be described. Specific implementations were developed and test results will be reported. Experiments were conducted using terrestrial analogs for deep space missions, where time delays were artificially added to emulate the longer distances found in space.
Hambuchen, Kimberly↗
Satellite Remote Sensing of Aerosol Forcing
The role of aerosol forcing remains one of the largest uncertainties in estimating man's impact on the global climate system. One school of thought suggests that remote sensing by satellite sensors will provide the data necessary to narrow these uncertainties. While satellite measurements of direct aerosol forcing appear to be straightforward, satellite measurements of aerosol indirect forcing will be more complicated. Pioneering studies identified indirect aerosol forcing using AVHRR data in the biomass burning regions of Brazil. We have expanded this analysis with AVHRR to include an additional year of data and assimilated water vapor fields. The results show similar latitudinal dependence as reported by Kaufman and Fraser, but by using water vapor observations we conclude that latitude is not a proxy for water vapor and the strength of the indirect effect is not correlated to water vapor amounts. In addition to the AVHRR study we have identified indirect aerosol forcing in Brazil at much smaller spatial scales using the MODIS Airborne Simulator. The strength of the indirect effect appears to be related to cloud type and cloud dynamics. There is a suggestion that some of the cloud dynamics may be influenced by smoke destabilization of the atmospheric column. Finally, this study attempts to quantify remote sensing limitations due to the accuracy limits of the retrieval algorithms. We use a combination of numerical aerosol transport models, ground-based AERONET data and ISCCP cloud climatology to determine how much of the forcing occurs in regions too clean to determine from satellite retrievals.
Remer, Lorraine↗
Satellite Remote Sensing of Aerosol Forcing
Aerosol and cloud impacts on the earth's climate become a recent hot topic in climate studies. Having near future earth observing satellites, EOS-AM1 (Earth Observing System-AM1), ENVISAT (Environmental Satellites) and ADEOS-2 (Advanced Earth Observation Satellite-2), it will be a good timing to discuss how to obtain and use the microphysical parameters of aerosols and clouds for studying their climate impacts. Center for Climate System Research (CCSR) of the University of Tokyo invites you to 'Symposium on synergy between satellite-remote sensing and climate modeling in aerosol and cloud issues.' Here, we like to discuss the current and future issues in the remote sensing of aerosol and cloud microphysical parameters and their climate modeling studies. This workshop is also one of workshop series on aerosol remote sensing held in 1996, Washington D. C., and Meribel, France in 1999. It should be reminded that NASDA/ADEOS-1 & -2 (National Space Development Agency of Japan/Advanced Earth Observation Satellite-1 & -2) Workshop will be held in the following week (Dec. 6-10, 1999), so that this opportunity will be a perfect period for you to attend two meetings for satellite remote sensing in Japan. A weekend in Kyoto, the old capital of Japan, will add a nice memory to your visiting Japan. *Issues in the symposium: 1) most recent topics in aerosol and cloud remot sensing, and 2) utility of satellite products on climate modeling of cloud-aerosol effects.
Remer, Lorraine↗
Remote Sensing of Aerosol and their Radiative Forcing of Climate
Remote sensing of aerosol and aerosol radiative forcing of climate is going through a major transformation. The launch in next few years of new satellites designed specifically for remote sensing of aerosol is expected to further revolutionized aerosol measurements: until five years ago satellites were not designed for remote sensing of aerosol. Aerosol optical thickness was derived as a by product, only over the oceans using one AVHRR channel with errors of approx. 50%. However it already revealed a very important first global picture of the distribution and sources of aerosol. In the last 5 years we saw the introduction of polarization and multi-view observations (POLDER and ATSR) for satellite remote sensing of aerosol over land and ocean. Better products are derived from AVHRR using its two channels. The new TOMS aerosol index shows the location and transport of aerosol over land and ocean. Now we anticipate the launch of EOS-Terra with MODIS, MISR and CERES on board for multi-view, multi-spectral remote sensing of aerosol and its radiative forcing. This will allow application of new techniques, e.g. using a wide spectral range (0.55-2.2 microns) to derive precise optical thickness, particle size and mass loading. Aerosol is transparent in the 2.2 microns channel, therefore this channel can be used to detect surface features that in turn are used to derive the aerosol optical thickness in the visible part of the spectrum. New techniques are developed to derive the aerosol single scattering albedo, a measure of absorption of sunlight, and techniques to derive directly the aerosol forcing at the top of the atmosphere. In the last 5 years a global network of sun/sky radiometers was formed, designed to communicate in real time the spectral optical thickness from 50-80 locations every day, every 15 minutes. The sky angular and spectral information is also measured and used to retrieve the aerosol size distribution, refractive index, single scattering albedo and the spectral flux reaching the surface. Effort to introduce remote sensing from lidars will literally additional dimension to aerosol remote sensing. The vertical dimension is a critical link between the global satellite observations and modeling of aerosol transport. Lidars are also critical to study aerosol impact on cloud microphysics and reflectance. Both lidar ground networks and satellite systems are in development. This new capability is expected to put remote sensing in the forefront of aerosol and climate studies. Together with field experiments, chemical analysis and chemical transport models we anticipate, in the next decade, to be able to resolve some of the outstanding questions regarding the role of aerosol in climate, in atmospheric chemistry and its influence on human health and life on this planet.
Kaufman, Yoram J.↗
Observations of Smoke Aerosol from Biomass Burning in Mexico: Effect of Particle Aging on Radiative Forcing and Remote Sensing
We take advantage of the May 1998 biomass burning event in Southern Mexico to test the global applicability of a smoke aerosol size model developed from data observed in South America. The Mexican event is an unique opportunity to observe well-aged, residual smoke. Observations of smoke aerosol size distribution made from vertical profiles of airborne in situ measurements show an inverse relationship between concentration and particle size that suggests the aging process continues more than a week after the smoke is separated from its fire sources. The ground-based radiometer retrievals show that the column-averaged, aged, Mexican smoke particles are larger (diameter = 0.28 - 0.33 micrometers) than the mean smoke particles in South America (diameter = 0.22 - 0.30 micrometers). However, the difference (delta - 0.06 micrometer) translates into differences in backscattering coefficient of only 4-7% and an increase of direct radiative forcing of only 10%.
Remer, Lorraine A.↗
Remote Sensing of Coronal Forces during a Solar Prominence Eruption
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V. M. Uritsky↗
Compliant Robot Wrist Senses Deflections And Forces
Precise parts assembled without damage. Goddard Space Flight Center developed compliant wrist that moves in any direction and rotates about any axis in response to applied forces. Deflection calibrated and instrumented so control computer measures degree of deflection and derives magnitude and direction of applied forces and torques. Compliant wrist brings to robots important capabilities humans use in manipulating objects. Helps prevent damage to precise, delicate parts during assembly by robot. Rod lengths, spring stiffnesses, and type of displacement sensor changed to suit different applications.
Purves, Lloyd R.↗
Cognitive Sciences
Session MP4 includes short reports on: (1) Face Recognition in Microgravity: Is Gravity Direction Involved in the Inversion Effect?; (2) Motor Timing under Microgravity; (3) Perceived Self-Motion Assessed by Computer-Generated Animations: Complexity and Reliability; (4) Prolonged Weightlessness Reference Frames and Visual Symmetry Detection; (5) Mental Representation of Gravity During a Locomotor Task; and (6) Haptic Perception in Weightlessness: A Sense of Force or a Sense of Effort?
Source record↗
Remote Sensing of Coronal Forces During a Solar Prominence Eruption
We present a new methodology—the Keplerian Optical Dynamics Analysis (KODA)—for quantifying the dynamics of erupting magnetic structures in the solar corona. The technique involves adaptive spatiotemporal tracking of propagating intensity gradients and their characterization in terms of time-evolving Keplerian areas swept out by the position vectors of moving plasma blobs. Whereas gravity induces purely ballistic motions consistent with Kepler's second law, noncentral forces such as the Lorentz force introduce nonzero torques resulting in more complex motions. KODA algorithms enable direct evaluation of the line-of-sight component of the net torque density from the image-plane projection of the areal acceleration. The method is applied to the prominence eruption of 2011 June 7, observed by the Solar Dynamics Observatory's Atmospheric Imaging Assembly. Results obtained include quantitative estimates of the magnetic forces, field intensities, and blob masses and energies across a vast region impacted by the postreconnection redistribution of the prominence material. The magnetic pressure and energy are strongly dominant during the early, rising phase of the eruption, while the dynamic pressure and kinetic energy become significant contributors during the subsequent falling phases. Measured intensive properties of the prominence blobs are consistent with those of typical active-region prominences; measured extensive properties are compared with those of the whole pre-eruption prominence and the post-eruption coronal mass ejection of 2011 June 7, all derived by other investigators and techniques. We show that KODA provides valuable information on spatially and temporally dependent characteristics of coronal eruptions that is not readily available via alternative means, thereby shedding new light on the environment and evolution of these solar events.
V M Uritskiy↗
Unveiling the Lithology of Vegetated Terrains in Remotely Sensed Imagery
-Forced invariance- is a processing method that can subdue the expression of vegetation and enhance the expression of the underlying lithology in remotely sensed imagery.
Remote Sensing Spectral Unmixing Vegetation Lithol↗