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NASA NTRSDate not supplied

m:N Handoff Study

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m:N operations↗
NASA NTRS1992

A 23.2:1 ratio, 300-watt, 26 N-m output torque, planetary roller-gear robotic transmission: Design and evaluation

The design philosophy and measurements performed on a new roller-gear transmission prototype for a robotic manipulator are described. The design incorporates smooth rollers in a planetary configuration integrated with conventional toothed gears. The rollers were designed to handle low torque with low backlash and friction while the complementary gears support higher torques and prevent accumulated creep or slip of the rollers. The introduction of gears with finite numbers of teeth to function in parallel with the rollers imposes severe limits on available designs. Solutions for two-planet row designs are discussed. A two-planet row, four-planet design was conceived, fabricated, and tested. Detailed calculations of cluster geometry, gear stresses, and gear geometry are given. Measurement data reported here include transmission linearity, static and dynamic friction, inertia, backlash, stiffness, and forward and reverse efficiency. Initial test results are reported describing performance of the transmission in a servomechanism with torque feedback.

Newman, Wyatt S.↗
NASA NTRS2005

Single Axis Flywheel IPACS @1300W, 0.8 N-m

NASA Glenn Research Center is developing flywheels for space systems. A single axis laboratory version of an integrated power and attitude control (IPACs) system has been experimentally demonstrated. This is a significant step on the road to a flight qualified three axes IPACS system. The presentation outlines the flywheel development process at NASA GRC, the experimental hardware and approach, the IPACS control algorithm that was formulated and the results of the test program and then proposes a direction for future work. GRC has made progress on flywheel module design in terms of specific energy density and capability through a design and test program resulting in three flywheel module designs. Two of the flywheels are used in the 1D-IPACS experiment with loads and power sources to simulate a satellite power system. The system response is measured in three power modes: charge, discharge, and charge reduction while simultaneously producing a net output torque which could be used for attitude control. Finally, recommendations are made for steps that should be taken to evolve from this laboratory demonstration to a flight like system.

Jansen, Ralph↗
NASA NTRS1974

Statistical separability of agricultural cover types in subsets of one to twelve spectral channels

The purpose of this study was to determine the statistical separability of multispectral measurements from agricultural cover types: corn, soybeans, green forage (hay and pasture) and forest, in one to twelve spectral channels. Multispectral scanner data in twelve spectral channels in the wavelength range 0.4 to 11.7 microns, acquired for three flightlines were analysed by applying automatic pattern recognition techniques. The same analysis was performed for the data acquired a month later over the same three flightlines to investigate the effect of time on statistical separability of agricultural cover types. In the subsets of one to six spectral channels, the combination of wavelength regions (where V, N, M and T denote the visible, near infrared, middle infrared and thermal infrared wavelength regions, respectively): V, V M, V N M, V N M T, V V N M T, V V N M M T, respectively, were found to be the best choices for getting good overall statistical separability of the agricultural cover types for the data acquired.

Kumar, R.↗
NASA NTRS2006

Method for separating single-wall carbon nanotubes and compositions thereof

The invention relates to a process for sorting and separating a mixture of (n, m) type single-wall carbon nanotubes according to (n, m) type. A mixture of (n, m) type single-wall carbon nanotubes is suspended such that the single-wall carbon nanotubes are individually dispersed. The nanotube suspension can be done in a surfactant-water solution and the surfactant surrounding the nanotubes keeps the nanotube isolated and from aggregating with other nanotubes. The nanotube suspension is acidified to protonate a fraction of the nanotubes. An electric field is applied and the protonated nanotubes migrate in the electric fields at different rates dependent on their (n, m) type. Fractions of nanotubes are collected at different fractionation times. The process of protonation, applying an electric field, and fractionation is repeated at increasingly higher pH to separated the (n, m) nanotube mixture into individual (n, m) nanotube fractions. The separation enables new electronic devices requiring selected (n, m) nanotube types.

Smalley, Richard E.↗
NASA NTRS2022

PAAV Concept Document

The Pathfinding for Airspace with Autonomous Vehicles (PAAV) Concept Document, version 1.0, lays out the key challenges and potential solutions for the use of uncrewed aircraft (UA) technology for future regional air cargo operations. The challenges and solutions described in this document were informed by communications with the UA industry community (e.g., RTCA, the Federal Aviation Administration, and regional air cargo business operators), as well as the PAAV team’s research activities during the last two years including four tabletop exercises, a human-in-the-loop simulation study, a numerical simulation study, a functional allocation study, and flight data analysis (Appendix A). This document first describes the expected operational context of PAAV (Section 2), such as the flight mission, baseline UAS components, nominal operations, m:N operations (i.e., "m" remote pilots per "N" aircraft), and off-nominal operations. This context sets the scope for the PAAV concept development work. PAAV concept development assumes that UA operations will be increasingly autonomous. Thus, near- and far-term assumptions are defined (Section 3). PAAV identified seven key challenges for UA operations (Section 4): - Flight route planning - Separation and flow management - Traffic pattern integration - Contingency management - Taxi, takeoff, and landing - m:N operations - Communications operations The following 13 potential solutions to these challenges are then described (Section 5): - Scalable communications architecture - Data link - Designated UAS corridors - Crew planning for m:N operations - Flight route optimization - Traffic load-level control - Trajectory solutions with data link - Automated hazard avoidance for m:N operations - Traffic pattern integration (TPI) tool - Standard lost command and control (C2) link (LC2L) procedures - Automated hazard avoidance under LC2L - Auto-taxi, auto-takeoff, and auto-land - Ground control station (GCS) user interface for m:N operations The document attempts to link each of these solutions to one or more of the challenge areas. Novel solutions involving numerous automation technologies are needed to mitigate traffic and airspace management challenges, especially for realizing m:N operations and ensuring safety under LC2L conditions. The purpose of this document is to help understand alternatives and tradeoffs among potential solutions and provide a foundation for a cohesive PAAV concept that will be described and refined in subsequent concept versions.

Unmanned aircraft, uncrewed aircraft, regional air↗
NASA NTRS2008

Determining Exercise Strength Requirements for Astronaut Critical Mission Tasks: Reaching Under G-Load

The critical mission tasks assessments effort seeks to determine the physical performance requirements that astronauts must meet in order to safely and successfully accomplish lunar exploration missions. These assessments will determine astronaut preflight strength, fitness, and flexibility requirements, and the extent to which exercise and other countermeasures must prevent the physical deconditioning associated with prolonged weightlessness. The purpose is to determine the flexibility and strength that crewmembers must possess in order to reach Crew Exploration Vehicle controls during maneuvers that result in sustained acceleration levels ranging from 3.7G to 7.8G. An industry standard multibody dynamics application was used to create human models representing a 5th percentile female, a 50th percentile male, and a 95th percentile male. The additional mass of a space suit sleeve was added to the reaching arm to account for the influence of the suit mass on the reaching effort. The human model was merged with computer models of a pilot seat and control panel for the Crew Exploration Vehicle. Three dimensional paths were created that guided the human models hand from a starting position alongside its thigh to three control targets: a joystick, a keyboard, and an overhead switch panel. The reaching motion to each target was repeated under four vehicle acceleration conditions: nominal ascent (3.7G), two ascent aborts (5.5G and 7.8G) and lunar reentry (4.6G). Elbow and shoulder joint angular excursions were analyzed to assess range of motion requirements. Mean and peak elbow and shoulder joint torques were determined and converted to equivalent resistive exercise loads to assess strength requirements. Angular excursions for the 50th and 95th percentile male models remained within joint range of motion limits. For the 5th percentile female, both the elbow and the shoulder exceeded range of motion limits during the overhead reach. Elbow joint torques ranged from 10 N-m (nominal ascent) to 60 N-m (ascent abort). Shoulder joint torques ranged from 65 N-m (nominal ascent) to 280 N-m (ascent abort). Maximal equivalent exercise loads reached 30 lb in tricep extension, 9 lb in bicep curl, 110 lb in unilateral pullover and unilateral bench press for nominal conditions (lunar reentry), and 188 lb in unilateral pullover and unilateral bench press. The location of the pilot seat was found to be inadequately located to allow a 5th percentile female to reach the switches on the overhead panel. Elbow strength requirements were found to be well within population norms. Shoulder strength was found to be a limiting factor. Reaching under nominal ascent and lunar reentry conditions was found to require near maximal shoulder strength. Reaching under ascent abort conditions requires shoulder strength well beyond population norms. Pilot seats must adjust to accomodate a 5th percentile female. Exercise countermeasures must maintain maximal pullover and bench press strength to allow pilots to reach and operate controls during lunar reentry. Reaching will not be possible during ascent abort conditions. Flight controls should be built into armrests or flight control must be accomplished by autonomous systems during acceleration exceeding 4.6G.

Schaffner, Grant↗
NASA NTRSDate not supplied

RTCA Special Committee 228 Working Group (DAA) 1

The Radio Technical Commission for Aeronautics (RTCA) is an American organization comprised of government, industry, and academic stakeholders in aviation for the purpose of providing technical guidance to regulatory authorities. In late 2022, RTCA Special Committee 228 (Minimum Performance Standards for Unmanned Aircraft Systems) decided to form a working group to study a burgeoning multi-vehicle, supervisory control paradigm colloquially known as "m:N" (vocalized as "em-to-en"). Within the m:N control paradigm, multiple aircraft (N) are collaboratively managed by a body of operators/pilots (m). This presentation describes the scope of the m:N working group and its goal of producing an Operational Service and Environment Definition (OSED) for m:N operations.

RTCA↗
NASA NTRS1994

One-dimensional multispecies magnetohydrodynamic models of the ramside ionosphere of Titan

The interaction of the Saturnian magnetosphere with the ionosphere of Titan has much in common with the solar wind interaction with nonmagnetic bodies in general. A one-dimensional magnetohydrodynamic model was developed, for radial distances of 1.3 to 2 Titan radii (R(sub T)), to study the dynamics of H2CN(+), C(sub n) H(sub m) (+) (n, m greater than z), C2H5(+), and CH5(+), in the ramside ionosphere of Titan. For the case of a dayside ramside ionosphere (solar zenith angle of 60 degs) we found that the external magnetospheric plasma interacting with Titan's ionosphere produced a very broad region of ionospheric magnetic field whose peak field strength was approximately 26 nT. The ionosphere was magnetized well below the ionospheric peak, allowing ionizing Saturnian magnetospheric electrons access to this region. The sources of ionization and the electron temperature profiles incorporated into the model depend on the relative locations of Titan, Saturn, and the Sun. The calculated electron and ion density profiles as well as the magnetic field profile also depend on the relative positions of Titan, Saturn, and the Sun.

Keller, C. N.↗
NASA NTRS1987

Pressure structure of solar coronal loops

The steady state pressure structure of a coronal loop is discussed in terms of the MHD global invariants of an incompressible plasma. The steady state is represented by the superposition of two Chandrasekhar-Kendall functions corresponding to (n=m=0) and (n=m=1) modes. The relative contribution of the two modes (epsilon) is found to depend on the surface pressure of the coronal loop which is also the pressure of the external medium. The mixed mode state does not exist for high values of the external pressure because epsilon becomes complex.

Krishan, V.↗
NASA NTRS1988

Programmable pipelined image processor

A pipelined image processor selectively interconnects modules in a column of a two-dimensional array to modules of the next column of the array of modules 1,1 through M,N, where M is the number of modules in one dimension and N is the number of modules in the other direction. Each module includes two input selectors for A and B inputs, two convolvers, a binary function operator, a neighborhood comparison operator which produces an A output and an output selector which may select as a B output the output of any one of the components in the module, including the A output of the neighborhood comparison operator. Each module may be connected to as many as eight modules in the next column, preferably with the majority always in a different row that is up (or down) in the array for a generally spiral data path around the torus thus formed. The binary function operator is implemented as a look-up table addressed by the most significant 8 bits of each 12-bit argument. The table output includes a function value and the slopes for interpolation of the two arguments by multiplying the 4 least significant bits in multipliers and adding the products to the function value through adders.

Donald B Gennery↗