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The intent is to prepare a set of Doppler tracking data for the NOVA-1 Satellite to be included in a data base of satellite tracking data. This data base is to be used in a solution for the gravity field of the Earth. This new gravity field model is needed so that the orbit of the proposed TOPEX (Ocean TOPography EXperiment) satellite can be determined accurately enough for the satellite's missions to be accomplished.
In the transition from the short-duration missions of the Space Shuttle era to long-duration exploration missions, the health and safety of crewmembers must be ensured. The body undergoes many complex physiological changes as a result of its adaptation to a microgravity environment and U.S. and Soviet experiences have shown that time is required for readaptation to gravity. The consequences of these changes for the extended exploration missions envisioned for the future are unknown. A Mars mission may require crewmembers to spend many months in microgravity, and then work effectively in a one-third gravity environment. Other problems may arise when returning crewmembers must readapt to earth's gravity. Life Sciences activities are being planned to systematically address the physiological issues involved with long-term manned exploration missions, through ground-based studies and flight investigations on the Shuttle and Space Station Freedom. The areas of focus are artificial gravity, radiation, health care, and space human factors.
NASA's Gravity Recovery and Climate Experiment (GRACE) satellites measure time variations nf the Earth's gravity field enabling reliable detection of spatio-temporal variations in total terrestrial water storage (TWS), including ground water. The U.S. and North American Drought Monitors are two of the premier drought monitoring products available to decision-makers for assessing and minimizing drought impacts, but they rely heavily on precipitation indices and do not currently incorporate systematic observations of deep soil moisture and groundwater storage conditions. Thus GRACE has great potential to improve the Drought Monitors hy filling this observational gap. Horizontal, vertical and temporal disaggregation of the coarse-resolution GRACE TWS data has been accomplished by assimilating GRACE TWS anomalies into the Catchment Land Surface Model using ensemble Kalman smoother. The Drought Monitors combine several short-term and long-term drought indices and indicators expressed in percentiles as a reference to their historical frequency of occurrence for the location and time of year in question. To be consistent, we are in the process of generating a climatology of estimated soil moisture and ground water based on m 60-year Catchment model simulation which will subsequently be used to convert seven years of GRACE assimilated fields into soil moisture and groundwater percentiles. for systematic incorporation into the objective blends that constitute Drought Monitor baselines. At this stage we provide a preliminary evaluation of GRACE assimilated Catchment model output against independent datasets including soil moisture observations from Aqua AMSR-E and groundwater level observations from the U.S. Geological Survey's Groundwater Climate Response Network.
The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).
NASA's Gravity Recovery and Climate Experiment (GRACE) satellites measure time variations of the Earth's gravity field enabling reliable detection of spatio-temporal variations in total terrestrial water storage (TWS), including groundwater. The U.S. and North American Drought Monitors rely heavily on precipitation indices and do not currently incorporate systematic observations of deep soil moisture and groundwater storage conditions. Thus GRACE has great potential to improve the Drought Monitors by filling this observational gap. GRACE TWS data were assimilating into the Catchment Land Surface Model using an ensemble Kalman smoother enabling spatial and temporal downscaling and vertical decomposition into soil moisture and groundwater components. The Drought Monitors combine several short- and long-term drought indicators expressed in percentiles as a reference to their historical frequency of occurrence. To be consistent, we generated a climatology of estimated soil moisture and ground water based on a 60-year Catchment model simulation, which was used to convert seven years of GRACE assimilated fields into drought indicator percentiles. At this stage we provide a preliminary evaluation of the GRACE assimilated moisture and indicator fields.
The Gravity Recovery and Climate Experiment (GRACE) twin satellites observe time variations in Earth's gravity field which yield valuable information about changes in terrestrial water storage (TWS). GRACE is characterized by low spatial (greater than 150,000 square kilometers) and temporal (greater than 10 day) resolution but has the unique ability to sense water stored at all levels (including groundwater) systematically and continuously. The GRACE Data Assimilation System (GRACE-DAS), based on the Catchment Land Surface Model (CLSM) enhances the value of the GRACE water storage data by enabling spatial and temporal downscaling and vertical decomposition into moisture 39 components (i.e. groundwater, soil moisture, snow), which individually are more useful for scientific applications. In this study, GRACE-DAS was applied to North America and GRACE-based drought indicators were developed as part of a larger effort that investigates the possibility of more comprehensive and objective identification of drought conditions by integrating spatially, temporally and vertically disaggregated GRACE data into the U.S. and North American Drought Monitors. Previously, the Drought Monitors lacked objective information on deep soil moisture and groundwater conditions, which are useful indicators of drought. Extensive datasets of groundwater storage from USGS monitoring wells and soil moisture from the Soil Climate Analysis Network (SCAN) were used to assess improvements in the hydrological modeling skill resulting from the assimilation of GRACE TWS data. The results point toward modest, but statistically significant, improvements in the hydrological modeling skill across major parts of the United States, highlighting the potential value of GRACE assimilated water storage field for improving drought detection.
NASA’s 4th New Frontiers Mission is the Titan Dragonfly relocatable lander. This coaxial quadrotor vehicle will be launched on a rocket to Titan in 2028. Following a gravity assisted Earth flyby and an approximate 6-year transit, Dragonfly will enter the Titan atmosphere around 2034 with the goal of exploring Titan’s pre-biotic chemistry and habitability. The multirotor design for this unique application has continually evolved since 2016 with constraints such as Titan’s cryogenic atmosphere at 95 Kelvin (-288 F), gravity 14% that of Earth’s, atmospheric density 440% of standard sea-level air, and the inability to test the entire system together under all these conditions until the first flight on Titan. This paper focuses on rotor design aspects of the Dragonfly lander and introduces a novel framework for multirotor design optimization considering multiple flight conditions. The methodology leverages machine learning methods and is demonstrated in the context of Dragonfly. A new OVERFLOW Machine Learning Airfoil Performance (PALMO) database is first presented. PALMO is then wrapped inside a Bayesian optimization framework and applied to a 4-rotor system (one side of the Dragonfly lander). Training data is generated on each iteration of the optimization using the CAMRAD-II comprehensive analysis software to evaluate successive rotor designs in multiple relevant flight conditions. An optimal design for the 4-rotor system was found with approximately 900 rotor designs analyzed in CAMRAD-II, which required 9 million queries of the PALMO surrogate models. This demonstration case evaluated 10,000,000 potential candidate rotor designs in 5.5 hours on 114 CPU cores using uniform inflow, and in 27.8 hours using the prescribed wake model. This work thus enables mid-fidelity rotor design optimization without requiring access to high-performance computing.
We describe a mission concept for a stand-alone Titan airplane mission: Aerial Vehicle for In-situ and Airborne Titan Reconnaissance (AVIATR). With independent delivery and direct-to-Earth communications, AVIATR could contribute to Titan science either alone or as part of a sustained Titan Exploration Program. As a focused mission, AVIATR as we have envisioned it would concentrate on the science that an airplane can do best: exploration of Titan's global diversity. We focus on surface geology/hydrology and lower-atmospheric structure and dynamics. With a carefully chosen set of seven instruments-2 near-IR cameras, 1 near-IR spectrometer, a RADAR altimeter, an atmospheric structure suite, a haze sensor, and a raindrop detector-AVIATR could accomplish a significant subset of the scientific objectives of the aerial element of flagship studies. The AVIATR spacecraft stack is composed of a Space Vehicle (SV) for cruise, an Entry Vehicle (EV) for entry and descent, and the Air Vehicle (AV) to fly in Titan's atmosphere. Using an Earth-Jupiter gravity assist trajectory delivers the spacecraft to Titan in 7.5 years, after which the AVIATR AV would operate for a 1-Earth-year nominal mission. We propose a novel 'gravity battery' climb-then-glide strategy to store energy for optimal use during telecommunications sessions. We would optimize our science by using the flexibility of the airplane platform, generating context data and stereo pairs by flying and banking the AV instead of using gimbaled cameras. AVIATR would climb up to 14 km altitude and descend down to 3.5 km altitude once per Earth day, allowing for repeated atmospheric structure and wind measurements all over the globe. An initial Team-X run at JPL priced the AVIATR mission at FY10 $715M based on the rules stipulated in the recent Discovery announcement of opportunity. Hence we find that a standalone Titan airplane mission can achieve important science building on Cassini's discoveries and can likely do so within a New Frontiers budget.
After forty years of experience with human space flight (Table 1), the current emphasis is on the design of space vehicles, habitats, and missions to ensure mission success. What lessons have we learned that will affect the design of spacecraft for future space exploration, leading up to exploring Mars? This chapter addresses this issue in four sections: Anthropometry and Biomechanics; Environmental Factors; Habitability and Architecture; and Crew Personal Sustenance. This introductory section introduces factors unique to space flight. A unique consideration for design of a habitable volume in a space vehicle is the lack of gravity during a space flight, referred to as microgravity. This affects all aspects of life, and drives special features in the habitat, equipment, tools, and procedures. The difference in gravity during a space mission requires designing for posture and motion differences. In Earth s gravity, or even with partial gravity, orientation is not a variable because the direction in which gravity acts defines up and down. In a microgravity environment the working position is arbitrary; there is no gravity cue. Orientation is defined primarily through visual cues. The orientation within a particular crew station or work area is referred to as local vertical, and should be consistent within a module to increase crew productivity. Equipment was intentionally arranged in various orientations in one module on Skylab to assess the efficiency in use of space versus the effects of inconsistent layout. The effects of that arrangement were confusion on entering the module, time spent in re-orientation, and conflicts in crew space requirements when multiple crew members were in the module. Design of a space vehicle is constrained by the three major mission drivers: mass, volume and power. Each of these factors drives the cost of a mission. Mass and volume determine the size of the launch vehicle directly; they can limit consumables such as air, water, and propellant; and they impact crew size and the types of activities the crew performs. Power is a limiting factor for a space vehicle. All environmental features (e.g., atmosphere, temperature, lighting) require power to maintain them. Power can be generated from batteries, from fuel cells, or from solar panels. Each of these sources requires lifting mass and volume from Earth, driving mission cost. All engineering decisions directly impact the design for habitation design and usage. For instance, if fuel cells are used they produce water, which is used for drinking and food preparation. If a different power source is used water has to be carried and stored on the vehicle which then directly impacts the food system choice as well as the launch weight of the vehicle.
The baseline trajectory for the Cassini mission to Saturn is an Oct. 1997 VVEJGA (Venus-Venus-Earth-Jupiter-Gravity-Assist) trajectory. The current choice for an arrival date, June 25, 2004, provides a rare Phoebe flyby opportunity. The goal of this analysis is to determine the optimal feasible trajectory for any launch/arrival date combination.
A mean sea surface map was computed for the global ocean areas between 70 deg N latitude and 62 deg S latitude based upon the 70 day SEASAT and 3.5 year GEOS-3 altimeter data sets. The mean sea surface is presented in the form of a global contour map and a 0.25 deg x 0.25 deg grid. A combination of regional adjustments based upon crossover techniques and the subsequent adjustment of the regional solutions into a global reference system was employed in order to minimize the effects of radial orbit error. A global map of the crossover residuals after the crossover adjustments are made is in good agreement with earlier mesoscale variability contour maps based upon the last month of SEASAT collinear data. This high level of agreement provides good evidence that relative orbit error was removed to the decimeter level on a regional basis. This represents a significant improvement over our previous maps which contained patterns, particularly in the central Pacific, which were due to radial orbit error. Long wavelength, basin scale errors are still present with a submeter amplitude due to errors in the PGS-S4 gravity model. Such errors can only be removed through the improvement of the Earth's gravity model and associated geodetic parameters.
The equivalence principle prohibits the distinction of gravity from acceleration by a local measurement. However, by making a differential measurement of acceleration over a baseline, platform accelerations can be cancelled and gravity gradients detected. In an in-line superconducting gravity gradiometer, this differencing is accomplished with two spring-mass accelerometers in which the proof masses are confined to motion in a single degree of freedom and are coupled together by superconducting circuits. Platform motions appear as common mode accelerations and are cancelled by adjusting the ratio of two persistent currents in the sensing circuit. The sensing circuit is connected to a commercial SQUID amplifier to sense changes in the persistent currents generated by differential accelerations, i.e., gravity gradients. A three-axis gravity gradiometer is formed by mounting six accelerometers on the faces of a precision cube, with the accelerometers on opposite faces of the cube forming one of three in-line gradiometers. A dedicated satellite mission for mapping the earth's gravity field is an important one. Additional scientific goals are a test of the inverse square law to a part in 10(exp 10) at 100 km, and a test of the Lense-Thirring effect by detecting the relativistic gravity magnetic terms in the gravity gradient tensor for the earth.
The burning of single fuel (n-decane) droplets in a microgravity environment (below 0.00001 of the earth's gravity, achieved in the NASA-Lewis 5-Second Zero-Gravity Facility) was studied, as part of the development of the Droplet Combustion Experiment for eventual operation aboard either the Shuttle middeck or Spacelab. Special attention is given to the combustion equipment used and its operations and performance. Temporal analysis of the local burning rates in these tests showed increasing rates of change in the local burning as droplet combustion progressed. Result point to the need of studying large droplets, with long droplet combustion lifetimes as well as low gas/droplet motion to understand reasons for this unsteadiness.
The GRACE mission has been in orbit now for three years and now regularly produces snapshots of the Earth s gravity field on a monthly basis. The convenient standard approach has been to perform global solutions in spherical harmonics. Alternative local representations of mass variations using mascons show great promise and offer advantages in terms of computational efficiency, minimization of problems due to aliasing, and increased temporal resolution. In this paper, we discuss the results of processing the GRACE KBRR data from March 2003 through August 2005 to produce solutions for GRACE mass variations over mid-latitude and equatorial regions, such as South America, India and the United States, and over the polar regions (Antarctica and Greenland), with a focus on the methodology. We describe in particular mascon solutions developed on regular 4 degree x 4 degree grids, and those tailored specifically to drainage basins over these regions.
A large number of experiments dealing with protein crystal growth and also with growth of crystals from solution require complicated fluid handling procedures including filling of empty containers with liquids, mixing of solutions, and stirring of liquids. Such procedures are accomplished in a straight forward manner when performed under terrestrial conditions in the laboratory. However, in the low gravity environment of space, such as on board the Space Shuttle or an Earth-orbiting space station, these procedures sometimes produced entirely undesirable results. Under terrestrial conditions, liquids usually completely separate from the gas due to the buoyancy effects of Earth's gravity. Consequently, any gas pockets that are entrained into the liquid during a fluid handling procedure will eventually migrate towards the top of the vessel where they can be removed. In a low gravity environment any folded gas bubble will remain within the liquid bulk indefinitely at a location that is not known a priori resulting in a mixture of liquid and vapor.
The objective of this investigation has been to examine the mass and momentum exchange between the atmosphere, oceans, solid Earth, hydrosphere, and cryosphere. The investigation has focused on changes in the Earth's gravity field, its rotation rate, atmospheric and oceanic circulation, global sea level change, ice sheet change, and global ground water circulation observed by contemporary sensors and models. The primary component of the mass exchange is water. The geodetic observables provided by these satellite sensors are used to study the transport of water mass in the hydrological cycle from one component of the Earth to another, and they are also used to evaluate the accuracy of models. As such, the investigation is concerned with the overall global water cycle. This report provides a description of scientific, educational and programmatic activities conducted during the period July 1, 1999 through June 30,2000. Research has continued into measurements of time-varying gravity and its relationship to Earth rotation. Variability of angular momentum and the related excitation of polar motion and Earth rotation have been examined for the atmosphere and oceans at time-scales of weeks to several years. To assess the performance of hydrologic models, we have compared geodetic signals derived from them with those observed by satellites. One key component is the interannual mass variability of the oceans obtained by direct observations from altimetry after removing steric signals. Further studies have been conducted on the steric model to quantify its accuracy at global and basin-scales. The results suggest a significant loss of water mass from the Oceans to the land on time-scales longer than 1-year. These signals are not reproduced in any of the models, which have poorly determined interannual fresh water fluxes. Output from a coupled atmosphere-ocean model testing long-term climate change hypotheses has been compared to simulated errors from the Gravity Recovery and Climate Experiment (GRACE) mission. Results indicate that GRACE will be able to observe seasonal signals at half-wavelengths ranging from 1000 to 10000 km, and may be able to observe secular trends at half- wavelengths of greater than 2000-3000 km for soil moisture and snow depth if they are as large as some of the climate experiments predict.
Tesseral harmonics of the potential of the earth as derived from satellite motions
Laminar gas jet diffusion flames of hydrogen, methane, ethane, and propane, stabilized on small cylindrical burners, were studied at elevated gravity in a centrifuge to investigate the role of buoyancy in such flames. Photographic observation of the hydrocarbon flames indicated that length and carbon luminosity decreased with increasing buoyancy. These flames eventually separated from the burner rim and finally extinguished as gravity increased. Hydrogen flames, however, did not separate or extinguish up to about 31 times earth normal gravity. Length data are reported and interpreted with the aid of a simplified model which describes the flame as a heated vertical cylindrical sheet to which oxygen is supplied by a free convection boundary layer.