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NASA NTRS1994

A hydrodynamic approach to cosmology: The mixed dark matter cosmological scenario

We compute the evolution of spatially flat, mixed cold and hot dark matter models containing both baryonic matter and two kinds of dark matter. Hydrodynamics is treated with a highly developed Eulerian hydrodynamic code (see Cen 1992). A standard particle-mesh (PM) code is also used in parallel to calculate the motion of the dark matter components. We adopt the following parameters: h equivalent to (sub 0)/100 km/s Mpc(exp -1) = 0.5, OMEGA(sub C) = 0.3, and OMEGA(sub B) = 0.06, with amplitude of the perturbation spectrum fixed by the Cosmic Background Explorer Satellite (COBE) Dark Matter Radiation (DMR) measurements (Smoot et al. 1992) being sigma (sub 8) = 0.67. Four different boxes are simulated with box sizes of L = (64, 16, 4, 1) h(exp -1) Mpc, respectively, the two small boxes providing good resolution but little valid information due to absence of large-scale power. We use 128(exp 3) approximate 10(exp 6.3) baryonic cells, 128(exp .3) cold dark matter particles, and 2 x 128(exp 3) hot dark matter particles. In addition to the dark matter we follow separately six baryonic species (H, H(+), He, He(+), He(++), e(-)) with allowance for both (nonequilibrium) collisional and radiative ionization in every cell. The background radiation field is also followed in detail with allowance made for both continuum and line processes, to allow nonequilibrium heating and cooling processes to be followed in detail. The mean final Zeldovich-Sunyaev y parameter is estimated to be y Bar = (5.4 + or - 2.7) x 10(exp -7) below currently attainable observations, with a rms fluctuation of approximately delta bar y = (0.6 + or - 3.0) x 10(exp -7) on arcminute scales. The rate of galaxy formation peaks at an even later epoch (z approximate 0.3) than in the standard (OMEGA = 1, sigma sub 8 = 0.67) cold dark matter (CDM) model (z approximate 0.5) and, at a redshift of z = 4, is nearly a factor of 100 lower than for the CDM model with the same value of sigma sub 8. With regard to mass function, the smallest objects are stabilized against collapse by thermal energy: the mass-weighted mass spectrum has a broad peak in the vicinity of M(sub B) = 10(exp 9.5) solar mass with a reasonable fit to the Schechter luminosity function if the ratio of baryon mass to blue light is approximately 4. In addition, one very large PM simulation was made in a box with size (320 h(exp - 1) Mpc) containing 3 x 200(exp 3) = 10(exp 7.4) particles. Utilizing this simulation we find that the model yields a cluster mass function which is about a factor of 4 higher than observed, but a cluster-cluster correlation length marginally lower than observed, but that both are closer to observations than in the (COBE) normalized CDM model. The one-dimensional pairwise velocity dispersion is 605 + or - 8 km/s at 1/h separation, lower than that of the DCM model normalized to COBE, but still significant higher than observations (Davis & Peebles 1983). A plausible velocity bias b(sub v) = 0.8 + or - 0.1 on this scale will reduce but not remove the discrepancy. The velocity auto-correlat ion function has a coherence length of 40/h Mpc, which is somewhat lower than the observed counterpart. In all these respects the model would be improved by decreasing the cold fraction of the dark OMEGA(sub CDM)/ (OMEGA(sub CDM) + OMEGA(sub HDB). But formation of galaxies and clusters of galaxies is much later in this model than in COBE-normalized CDM, perhaps too late. To improve on these constraints a larger ratio of OMEGA(sub CDM)/ (OMEGA(sub CDM) + OMEGA(sub HDM)) is required than the value of 0.67 adopted here. It does not seem possible to find a value for this ratio which would satisfy all tests. Overall, the model is similar both on large and intermediate scales to the standard CDM model normalized to the same value of sigma(sub B), but the problem with regard to late formation of galaxies is more severe in this model than in that CDM model. Adding hot dark matter, significantly improves the ability of the COBE-normalized CDM scenario to fit existing observations, but the model is in fact not as good as the CDM model with the same sigma(sub 8) and is still probably unsatisfactory with regard to several critical tests.

Cen, Renyue↗
NASA NTRS2006

Earth Observations and the Role of UAVs: A Capabilities Assessment

This document provides an assessment of the civil UAV missions and technologies and is intended to parallel the Office of the Secretary of Defense UAV Roadmap. The intent of this document is four-fold: 1. Determine and document desired future missions of Earth observation UAVs based on user-defined needs 2. Determine and document the technologies necessary to support those missions 3. Discuss the present state of the platform capabilities and required technologies, identifying those in progress, those planned, and those for which no current plans exist 4. Provide the foundations for development of a comprehensive civil UAV roadmap to complement the Department of Defense (DoD) effort (http://www.acq.osd.mil/uas/). Two aspects of the President's Management Agenda (refer to the document located at: www.whitehouse.gov/omb/budget/fy2002/mgmt.pdf ) are supported by this undertaking. First, it is one that will engage multiple Agencies in the effort as stakeholders and benefactors of the systems. In that sense, the market will be driven by the user requirements and applications. The second aspect is one of supporting economic development in the commercial sector. Market forecasts for the civil use of UAVs have indicated an infant market stage at present with a sustained forecasted growth. There is some difficulty in quantifying the value of the market since the typical estimate excludes system components other than the aerial platforms. Section 2.4 addresses the civil UAV market forecast and lists several independent forecasts. One conclusion that can be drawn from these forecasts is that all show a sustained growth for the duration of each long-term forecast.

Cox, Timothy H.↗
NASA NTRS2012

Development of Field Excavator with Embedded Force Measurement

A semi-intelligent excavation mechanism was developed for use with the NASA-built Centaur 2 rover prototype. The excavator features a continuously rotatable large bucket supported between two parallel arms, both of which share a single pivot axis near the excavator base attached to the rover. The excavator is designed to simulate the collection of regolith, such as on the Moon, and to dump the collected soil into a hopper up to one meter tall for processing to extract oxygen. Because the vehicle can be autonomous and the terrain is generally unknown, there is risk of damaging equipment or using excessive power when attempting to extract soil from dense or rocky terrain. To minimize these risks, it is critical for the rover to sense the digging forces and adjust accordingly. It is also important to understand the digging capabilities and limitations of the excavator. This paper discusses the implementation of multiple strain gages as an embedded force measurement system in the excavator's arms. These strain gages can accurately measure and resolve multi-axial forces on the excavator. In order to validate these sensors and characterize the load capabilities, a series of controlled excavation tests were performed at Glenn Research Center with the excavator at various depths and cut angles while supported by a six axis load cell. The results of these tests are both compared to a force estimation model and used for calibration of the embedded strain gages. In addition, excavation forces generated using two different types of bucket edge (straight vs. with teeth) were compared.

Soils↗
NASA NTRS1961

A Study of the Free Oscillations of the Earth

Published observations on the toroidal oscillations of the earth are critically reviewed. A supplementary analysis of the record obtained by the Lamont strain seismometer is presented. Eleven toroidal modes are identified, and it is concluded that the periods are known to within 1 per cent. A perturbation scheme involving the ratio of the angular velocity of the earth to the resonant frequency is used in calculating the effects due to the rotation of the earth on the resonant frequency. The free oscillations are viewed as a superposition of traveling waves. In a nonrotating system two traveling waves combine to produce a stationary standing wave. In a rotating system, the rotation distinguishes between waves that travel in the direction of rotation and those that travel in the opposite direction. Rotation removes a degeneracy and results in a splitting of a spectral peak of order l into 2 times l plus 1 peaks. The fractional displacement in frequency for the lowest-order toroidal oscillations is 1/206 and of the same order as the Q of the peak, so that splitting will probably not be observed in the toroidal oscillations. Viewed locally, rotation causes a particle to precess about a direction parallel to the axis of rotation. This precession will cause a variation of amplitude with time if the motion is recorded by an instrument with an anisotropic response function. Care is therefore needed in studying the time decay of a given spectral peak. Rotation also couples the normal coordinates so that a motion that is initially purely horizontal will develop a vertical component. It is expected that vertical seismometers should record particle motion with the toroidal frequencies. The perturbations of the toroidal oscillations due to core-mantle interaction are treated in detail. An exact expression is obtained for the rate of energy dissipated by a finitely conducting plate oscillating across a magnetic field. The energy dissipated at the core-mantle boundary due to viscous and hydromagnetic coupling is shown to be insignificant as compared with the energy dissipated within the mantle. The toroidal magnetic field leaking into the lower mantle combines with the dipole field, resulting in a stress on the mantle, tending to stiffen the lower boundary. The stress is of sufficient magnitude to produce a displacement toward higher frequency in the lower-order toroidal oscillations. Observations on the (sub 0) T (sub 2) oscillations lead to an estimate of the toroidal magnetic field in the lower mantle. A calculation of elastic energy in the low-order oscillations suggests a value of 10 (sup 18) ergs per cycles per hour for the energy density at low frequencies in the Chilean earthquake. Each mode of oscillation has a characteristic radial distribution of elastic energy associated with it. This distribution determines which parts of the earth contribute most heavily in determining a particular resonant frequency. The distribution of energy for the lower 17 modes for a homogeneous and a Gutenberg model earth is calculated. The resonant frequencies for models of the earth based on the Gutenberg and Lehmann distribution of elastic properties are presented. It is shown that the Gutenberg model earth fits the observations more closely than the Lehmann model and that a slight alteration of the Gutenberg model gives a significantly better fit to the observations. The alteration involves a lower shear-wave velocity in the lower mantle while the Gutenberg velocity distribution is maintained in the upper mantle. Various studies of the earth's oscillations coupled with surface-wave investigations substantiate Gutenberg's hypothesis of a layer of low velocity in the upper mantle. The physical conditions required for the formation of a region of low velocity are examined in detail. The results confirm Birch's earlier statement that a temperature gradient in excess of 6 degrees to 7 degrees per kilometer is needed to produce a decrease in velocity. The low-velocity layer does not require that the temperature approach or exceed the melting temperature. If tile upper mantle is homogeneous, the region of lower velocity should commence at the base of the crust and extend to 150 kilometers under the oceans and about 100 kilometers under continental regions. The distribution of thermal conductivity and radioactivity consistent with the low-velocity layer is also considered.

MacDonald, Gordon J. F.↗
NASA NTRS1973

Use of Polarization Lidar for Investigation of Meteorological Formations

This paper presents the results of theoretical and experimental, investigations of depolarization characteristics of different meteorological formations. Experimental investigations are carried out with a monostatic lidar. The ruby laser radiation is polarized in a vertical plane. The radiation reflected is accepted by a lens system of 150 rom in diameter and a viewing angle of 12' and further it is divided by Wollaston prism into the components polarized orthogonally. In this case the principal plane of the prism is exposed parallel with the laser polarization plane. Investigations show the degree of radiation polarization, reflected from water clouds, to be changed within 1/0.7 (seldom up to 0.6) depending on their density. In most cases a signal reflected from the cloud leading edge is polarized completely. The time shift is observed between polarized and crosspolarized components of a Fignal, reflected from a cloud, depending on the density of a meteorological object. While penetrating into the cloud depth a degree of polarization decreases up to 0.8-0.7, and the character of this decrease is different for various types of clouds. For crystal clouds the shift between the components of the reflected signal is not observed and the magnitude of polarization degree amounts to 0.1/0.3 in comparison with water clouds. The polarization degree of radiation reflected by fog is not less than 0.6, and that in the rains of average intensity (about 5 mm/h) is always about 1. The authors have suggested an algorithm of numerical solution of nonstationary transfer equation in the vector form to forecast the influence of multiple scattering effects on polarization characteristics of the lidar light signal. The method of statistical simulation (Monte-Carlo technique) forms the basis of the algorithm. Numerical estimates obtained for a model of stratocumulus at lambda = 0.6943 microns under boundary conditions close to the conditions of natural experiment being discussed proved to be in a good agreement with the results of observation. Specifically, Fig. 1 shows the profiles of polarization (p) versus depth (L) of the following drop formations: fog (curve 1) with horizontal meteorological visibility of 4 km two stratocumulus at a height of 1100 m with the attenuation factors delta = 0.01m(exp -1) (curve 2) and delta = 0.05m(exp -1) (curve 3). Curve 3 shows the results of numerical estimates and the value of their statistical error.

Balin, Yu. S.↗
NASA NTRS2005

A Ka-Band Wide-Bandgap Solid-State Power Amplifier: Architecture Performance Estimates

Motivated by recent advances in wide-bandgap (WBG) gallium nitride (GaN) semiconductor technology, there is considerable interest in developing efficient solidstate power amplifiers (SSPAs) as an alternative to the traveling-wave tube amplifier (TWTA) for space applications. This article documents the results of a study to investigate power-combining technology and SSPA architectures that can enable a 120-W, 40 percent power-added efficiency (PAE) SSPA. Results of the study indicate that architectures based on at least three power combiner designs are likely to enable the target SSPA. The proposed architectures can power combine 16 to 32 individual monolithic microwave integrated circuits (MMICs) with >80 percent combining efficiency. This corresponds to MMIC requirements of 5- to 10-W output power and >48 percent PAE. For the three proposed architectures [1], detailed analysis and design of the power combiner are presented. The first architecture studied is based on a 16-way septum combiner that offers low loss and high isolation over the design band of 31 to 36 GHz. Analysis of a 2-way prototype septum combiner had an input match >25 dB, output match >30 dB, insertion loss <0.02 dB, and isolation >30 dB over the design band. A 16-way design, based on cascading this combiner in a binary fashion, is documented. The second architecture is based on a 24-way waveguide radial combiner. A prototype 24-way radial base was analyzed to have an input match >30 dB (under equal excitation of all input ports). The match of the mode transducer that forms the output of a radial combiner was found to be >27 dB. The functional bandwidth of the radial base and mode transducer, which together will form a radial combiner/divider, exceeded the design band. The third architecture employs a 32-way, parallel-plate radial combiner. Simulation results indicated an input match >24 dB, output match >22 dB, insertion loss <0.23 dB, and adjacent port isolation >20 dB over the design band. All three architectures utilize a low-loss MMIC amplifier module based on commercial MMIC packaging and a custom microstrip-to-rectangular-waveguide transition. The insertion loss of the module is expected to be 0.45 dB over the design band.

Epp, L.↗
NASA NTRS2015

Quantification of Plume-Soil Interaction and Excavation Due to the Sky Crane Descent Stage

The quantification of the particulate erosion that occurs as a result of a rocket exhaust plume impinging on soil during extraterrestrial landings is critical for future robotic and human lander mission design. The aerodynamic environment that results from the reflected plumes results in dust lifting, site alteration and saltation, all of which create a potentially erosive and contaminant heavy environment for the lander vehicle and any surrounding structures. The Mars Science Lab (MSL), weighing nearly one metric ton, required higher levels of thrust from its retro propulsive systems and an entirely new descent system to minimize these effects. In this work we seek to quantify plume soil interaction and its resultant soil erosion caused by the MSL's Sky Crane descent stage engines by performing three dimensional digital terrain and elevation mapping of the Curiosity rover's landing site. Analysis of plume soil interaction altitude and time was performed by detailed examination of the Mars Descent Imager (MARDI) still frames and reconstructed inertial measurement unit (IMU) sensor data. Results show initial plume soil interaction from the Sky Crane's eight engines began at ground elevations greater than 60 meters and more than 25 seconds before the rovers' touchdown event. During this time, viscous shear erosion (VSE) was dominant typically resulting in dusting of the surface with flow propagating nearly parallel to the surface. As the vehicle descended and decreased to four powered engines plume-plume and plume soil interaction increased the overall erosion rate at the surface. Visibility was greatly reduced at a height of roughly 20 meters above the surface and fell to zero ground visibility shortly after. The deployment phase of the Sky Crane descent stage hovering at nearly six meters above the surface showed the greatest amount of erosion with several large particles of soil being kicked up, recirculated, and impacting the bottom of the rover chassis. Image data obtained from MSL's navigation camera (NAVCAM) pairs on Sols 002, 003, and 016 were used to virtually recreate local surface topography and features around the rover by means of stereoscopic depth mapping. Images taken simultaneously by the left and right navigation cameras located on the rover's mast assembly spaced 42 centimeters were used to generate a three dimensional depth map from flat, two dimensional images of the same feature at slightly different angles. Image calibration with physical hardware on the rover and known terrain features were used to provide scaling information that accurately sizes features and regions of interest within the images. Digital terrain mapping analysis performed in this work describe the crater geometry (shape, radius, and depth), eroded volume, volumetric erosion rate, and estimated mass erosion rate of the Hepburn, Sleepy Dragon, Burnside, and Goulburn craters. Crater depths ranged from five to ten centimeters deep influencing an area as wide as two meters in some cases. The craters formed were highly asymmetrical and generally oblong primarily due to the underlying bedrock formations underneath the surface. Comparison with ground tests performed at the NASA AMES Planetary Aeolian Laboratory (PAL) by Mehta showed good agreement with volumetric erosion rates and crater sizes of large particle soil simulants, providing validation to Earth based ground tests of Martian regolith.

Vizcaino, Jeffrey↗
NASA NTRS2010

NASA Tech Briefs, March 2010

Topics covered include: Software Tool Integrating Data Flow Diagrams and Petri Nets; Adaptive Nulling for Interferometric Detection of Planets; Reducing the Volume of NASA Earth-Science Data; Reception of Multiple Telemetry Signals via One Dish Antenna; Space-Qualified Traveling-Wave Tube; Smart Power Supply for Battery-Powered Systems; Parallel Processing of Broad-Band PPM Signals; Inexpensive Implementation of Many Strain Gauges; Constant-Differential-Pressure Two-Fluid Accumulator; Inflatable Tubular Structures Rigidized with Foams; Power Generator with Thermo-Differential Modules; Mechanical Extraction of Power From Ocean Currents and Tides; Nitrous Oxide/Paraffin Hybrid Rocket Engines; Optimized Li-Ion Electrolytes Containing Fluorinated Ester Co-Solvents; Probabilistic Multi-Factor Interaction Model for Complex Material Behavior; Foldable Instrumented Bits for Ultrasonic/Sonic Penetrators; Compact Rare Earth Emitter Hollow Cathode; High-Precision Shape Control of In-Space Deployable Large Membrane/Thin-Shell Reflectors; Rapid Active Sampling Package; Miniature Lightweight Ion Pump; Cryogenic Transport of High-Pressure-System Recharge Gas; Water-Vapor Raman Lidar System Reaches Higher Altitude; Compact Ku-Band T/R Module for High-Resolution Radar Imaging of Cold Land Processes; Wide-Field-of-View, High-Resolution, Stereoscopic Imager; Electrical Capacitance Volume Tomography with High-Contrast Dielectrics; Wavefront Control and Image Restoration with Less Computing; Polarization Imaging Apparatus; Stereoscopic Machine-Vision System Using Projected Circles; Metal Vapor Arcing Risk Assessment Tool; Performance Bounds on Two Concatenated, Interleaved Codes; Parameterizing Coefficients of a POD-Based Dynamical System; Confidence-Based Feature Acquisition; Algorithm for Lossless Compression of Calibrated Hyperspectral Imagery; Universal Decoder for PPM of any Order; Algorithm for Stabilizing a POD-Based Dynamical System; Mission Reliability Estimation for Repairable Robot Teams; Processing AIRS Scientific Data Through Level 3; Web-Based Requesting and Scheduling Use of Facilities; AutoGen Version 5.0; Time-Tag Generation Script; PPM Receiver Implemented in Software; Tropospheric Emission Spectrometer Product File Readers; Reporting Differences Between Spacecraft Sequence Files; Coordinating "Execute" Data for ISS and Space Shuttle; Database for Safety-Oriented Tracking of Chemicals; Apparatus for Cold, Pressurized Biogeochemical Experiments; Growing B Lymphocytes in a Three-Dimensional Culture System; Tissue-like 3D Assemblies of Human Broncho-Epithelial Cells; Isolation of Resistance-Bearing Microorganisms; Oscillating Cell Culture Bioreactor; and Liquid Cooling/Warming Garment.

Source record↗
NASA NTRS2011

The Impact of Rise of the Andes and Amazon Landscape Evolution on Diversification of Lowland terra-firme Forest Birds

Since the 19th Century, the unmatched biological diversity of Amazonia has stimulated a diverse set of hypotheses accounting for patterns of species diversity and distribution in mega-diverse tropical environments. Unfortunately, the evidence supporting particular hypotheses to date is at best described as ambiguous, and no generalizations have emerged yet, mostly due to the lack of comprehensive comparative phylogeographic studies with thorough trans-Amazonian sampling of lineages. Here we report on spatial and temporal patterns of diversification estimated from mitochondrial gene trees for 31 lineages of birds associated with upland terra-firme forest, the dominant habitat in modern lowland Amazonia. The results confirm the pervasive role of Amazonian rivers as primary barriers separating sister lineages of birds, and a protracted spatio-temporal pattern of diversification, with a gradual reduction of earlier (1st and 2nd) and older (> 2 mya) splits associated with each lineage in an eastward direction. (The easternmost tributaries of the Amazon, the Xingu and Tocantins Rivers, are not associated with any splits older than > 2 mya). For the suboscine passerines, maximum-likelihood estimates of rates of diversification point to an overall constant rate over the past 5 my (up to a significant downturn at 300,000 y ago). This "younging-eastward" pattern may have an abiotic explanation related to landscape evolution. Triggered by a new pulse of Andean uplift, it has been proposed that modern Amazon basin landscapes may have evolved successively eastward, away from the mountain chain, starting approximately 10 mya. This process was likely based on the deposition of vast fluvial sediment masses, known as megafans, that may have extended progressively and in series eastward from Andean sources. This process plausibly explains the progressive extinction of original Pebas wetland of western-central Amazonia by the present fluvial landsurfaces of a more terra-firme type. The youngest landsurfaces thus lie furthest from the mountains. In this scenario major drainages were also reoriented in wholesale fashion away from a northerly orientation generally towards the east and an Atlantic Ocean outlet. The advance of megafans is best seen by the location of axial rivers such as the Orinoco and Mamore which lie against the cratonic margins furthest from the Andes, at the distal ends of major megafan ramparts. More importantly, other major river courses in western-central Amazonia will have been established at progressively younger dates with distance eastward. If this landscape-sequence scenario is accurate, it parallels the progressive younging of the passerine lineages. The bird DNA data appears to confirm strongly the pervasive role of Amazonian rivers--as primary barriers separating sister lineages of birds, and thus probably as facilitaters of bird speciation. We show for the first time that a general spatio-temporal pattern of diversification for terra-firme lineages in the Amazon is associated with rivers ("younging-eastward"), and furthermore parallels a specific scenario of regional drainage evolution.

Aleixo, Alexandre↗
NASA NTRS2008

Re-Engineering the Tropical Rainfall Measuring Mission (TRMM) Satellite Utilizing Goddard Space Flight Center (GSFC) Mission Services Center (GMSEC) Middleware Based Technology to Enable Lights Out Operations and Autonomous Re-Dump of Lost Telemetry Data

The Tropical Rainfall Measuring Mission (TRMM) spacecraft was launched in November of 1996 in order to obtain unique three dimensional radar cross sectional observations of cloud structures with particular interest in hurricanes. The TRMM mission life was recently extended with current estimates that operations will continue through the 2012-2013 timeframe. Faced with this extended mission profile, the project has embarked on a technology refresh and re-engineering effort. TRMM has recently implemented a re-engineering effort to expand a middleware based messaging architecture to enable fully redundant lights-out of flight operations activities. The middleware approach is based on the Goddard Mission Services Evolution Center (GMSEC) architecture, tools and associated open-source Applications Programming Interface (API). Middleware based messaging systems are useful in spacecraft operations and automation systems because private node based knowledge (such as that within a telemetry and command system) can be broadcast on the middleware messaging bus and hence enable collaborative decisions to be made by multiple subsystems. In this fashion, private data is made public and distributed within the local area network and multiple nodes can remain synchronized with other nodes. This concept is useful in a fully redundant architecture whereby one node is monitoring the processing of the 'prime' node so that in the event of a failure the backup node can assume operations of the prime, without loss of state knowledge. This paper will review and present the experiences, architecture, approach and lessons learned of the TRMM re-engineering effort centered on the GMSEC middleware architecture and tool suite. Relevant information will be presented that relates to the dual redundant parallel nature of the Telemetry and Command (T and C) and Front-End systems and how these systems can interact over a middleware bus to achieve autonomous operations including autonomous commanding to recover missing science data during the same spacecraft contact.

Marius, Julio L.↗
NASA NTRS2014

Conventional and Bimodal Nuclear Thermal Rocket (NTR) Artificial Gravity Mars Transfer Vehicle Concepts

A variety of countermeasures have been developed to address the debilitating physiological effects of "zero-gravity" (0-g) experienced by cosmonauts and astronauts during their approximately 0.5-1.2 year long stays in LEO (Low Earth Orbit). Longer interplanetary flights, combined with possible prolonged stays in Mars orbit, could subject crewmembers to up to approximately 2.5 years of weightlessness. In view of known and recently diagnosed problems associated with 0-g, an artificial gravity spacecraft offers many advantages and may indeed be an enabling technology for human flights to Mars. A number of important human factors must be taken into account in selecting the rotation radius, rotation rate, and orientation of the habitation module or modules. These factors include the gravity gradient effect, radial and tangential Coriolis forces, along with cross-coupled acceleration effects. Artificial gravity (AG) Mars transfer vehicle (MTV) concepts are presented that utilize both conventional NTR, as well as, enhanced "bimodal" nuclear thermal rocket (BNTR) propulsion. The NTR is a proven technology that generates high thrust and has a specific impulse (I (sub sp)) capability of approximately 900 s - twice that of today's best chemical rockets. The AG/MTV concepts using conventional NTP carry twin cylindrical "ISS-type" habitation modules with their long axes oriented either perpendicular or parallel to the longitudinal spin axis of the MTV and utilize photovoltaic arrays (PVAs) for spacecraft power. The twin habitat modules are connected to a central operations hub located at the front of the MTV via two pressurized tunnels that provide the rotation radius for the habitat modules. For the BNTR AG/MTV option, each engine has its own "closed" secondary helium-xenon gas loop and Brayton rotating unit that can generate tens of kilowatts (kW (sub e)) of spacecraft electrical power during the mission coast phase eliminating the need for large PVAs. A single inflatable "TransHab-type" habitation module is also used with multiple vertical floors oriented radial to the MTV spin axis. The BNTR MTV's geometry - long and linear - is naturally compatible with AG operation. By rotating the vehicle about its center-of-mass and perpendicular to its flight vector at approximately 3.0 - 5.2 rpm, a centrifugal force and AG environment corresponding to approximately 0.38 - 1.0 g can be established to help maintain crew fitness out to Mars and back. Vehicles using NTP/BNTP can more readily accommodate the heavier payload mass and increased RCS propellant loading associated with AG operation, and can travel faster to and from Mars thereby reducing the crew's exposure to galactic cosmic radiation and solar flares. Mission scenario descriptions, key vehicle features and operational characteristics for each propulsion options are presented using the lift capability and payload volumes estimated for the SLS-1A and HLV.

Nuclear Propulsion↗
NASA NTRS2012

Performance Considerations for the SIMPL Single Photon, Polarimetric, Two-Color Laser Altimeter as Applied to Measurements of Forest Canopy Structure and Composition

The Slope Imaging Multi-polarization Photon-counting Lidar (SIMPL) is a multi-beam, micropulse airborne laser altimeter that acquires active and passive polarimetric optical remote sensing measurements at visible and near-infrared wavelengths. SIMPL was developed to demonstrate advanced measurement approaches of potential benefit for improved, more efficient spaceflight laser altimeter missions. SIMPL data have been acquired for wide diversity of forest types in the summers of 2010 and 2011 in order to assess the potential of its novel capabilities for characterization of vegetation structure and composition. On each of its four beams SIMPL provides highly-resolved measurements of forest canopy structure by detecting single-photons with 15 cm ranging precision using a narrow-beam system operating at a laser repetition rate of 11 kHz. Associated with that ranging data SIMPL provides eight amplitude parameters per beam unlike the single amplitude provided by typical laser altimeters. Those eight parameters are received energy that is parallel and perpendicular to that of the plane-polarized transmit pulse at 532 nm (green) and 1064 nm (near IR), for both the active laser backscatter retro-reflectance and the passive solar bi-directional reflectance. This poster presentation will cover the instrument architecture and highlight the performance of the SIMPL instrument with examples taken from measurements for several sites with distinct canopy structures and compositions. Specific performance areas such as probability of detection, after pulsing, and dead time, will be highlighted and addressed, along with examples of their impact on the measurements and how they limit the ability to accurately model and recover the canopy properties. To assess the sensitivity of SIMPL's measurements to canopy properties an instrument model has been implemented in the FLIGHT radiative transfer code, based on Monte Carlo simulation of photon transport. SIMPL data collected in 2010 over the Smithsonian Environmental Research Center, MD are currently being modelled and compared to other remote sensing and in situ data sets. Results on the adaptation of FLIGHT to model micropulse, single'photon ranging measurements are presented elsewhere at this conference. NASA's ICESat-2 spaceflight mission, scheduled for launch in 2016, will utilize a multi-beam, micropulse, single-photon ranging measurement approach (although non-polarimetric and only at 532 nm). Insights gained from the analysis and modelling of SIMPL data will help guide preparations for that mission, including development of calibration/validation plans and algorithms for the estimation of forest biophysical parameters.

Dabney, Philip W.↗
NASA NTRSDate not supplied

Entry, Descent, and Landing GN&C System Evaluation via Cable-Driven Emulation Robotics

An innovative cable-driven parallel robot named the Six Degree-of-Freedom Tendon Actu- ated Robot (STAR), recently developed by researchers at NASA Johnson Space Center, was built to enable entry, descent, and landing (EDL) emulation experiments. Upon functional testing and system verification, STAR employed several simulated EDL trajectories to validate velocimeter LIDAR-based sensor models for cooperative terrain relative navigation applica- tions for its first testing campaign. The STAR lab also hosted researchers from Astrobotic to evaluate the real-time performance of a newly developed sensor payload, UltraNav, through hardware in-the-loop-testing (HWIL). This work introduces the STAR system along with its accompanying testing utilities and capabilities, and deliver the experimental methodology and results of test campaigns performed with the STAR facility to date.

navigation↗
NASA NTRS2016

Conventional and Bimodal Nuclear Thermal Rocket (NTR) Artificial Gravity Mars Transfer Vehicle Concepts

A variety of countermeasures have been developed to address the debilitating physiological effects of zero-gravity (0-g) experienced by cosmonauts and astronauts during their approximately 0.5 to 1.2 year long stays in low Earth orbit (LEO). Longer interplanetary flights, combined with possible prolonged stays in Mars orbit, could subject crewmembers to up to approximately 2.5 years of weightlessness. In view of known and recently diagnosed problems associated with 0-g, an artificial gravity (AG) spacecraft offers many advantages and may indeed be an enabling technology for human flights to Mars. A number of important human factors must be taken into account in selecting the rotation radius, rotation rate, and orientation of the habitation module or modules. These factors include the gravity gradient effect, radial and tangential Coriolis forces, along with cross-coupled acceleration effects. Artificial gravity Mars transfer vehicle (MTV) concepts are presented that utilize both conventional NTR, as well as, enhanced bimodal nuclear thermal rocket (BNTR) propulsion. The NTR is a proven technology that generates high thrust and has a specific impulse (Isp) capability of approximately 900 s-twice that of today's best chemical rockets. The AG/MTV concepts using conventional Nuclear Thermal Propulsion (NTP) carry twin cylindrical International Space Station (ISS)- type habitation modules with their long axes oriented either perpendicular or parallel to the longitudinal spin axis of the MTV and utilize photovoltaic arrays (PVAs) for spacecraft power. The twin habitat modules are connected to a central operations hub located at the front of the MTV via two pressurized tunnels that provide the rotation radius for the habitat modules. For the BNTR AG/MTV option, each engine has its own closed secondary helium(He)-xenon (Xe) gas loop and Brayton Rotating Unit (BRU) that can generate 10s of kilowatts (kWe) of spacecraft electrical power during the mission coast phase eliminating the need for large PVAs. A single inflatable TransHab-type habitation module is also used with multiple vertical floors oriented radial to the MTV spin axis. The BNTR MTV's geometry-long and linear-is naturally compatible with AG operation. By rotating the vehicle about its center-of-mass (CM) and perpendicular to its flight vector at approximately 3.0 to 5.2 rpm, a centrifugal force and AG environment corresponding to approximately 0.38 to 1.0 g can be established to help maintain crew fitness out to Mars and back. Vehicles using NTP/ Bimodal Nuclear Thermal Propulsion (BNTP) can more readily accommodate the heavier payload mass and increased RCS propellant loading associated with AG operation, and can travel faster to and from Mars thereby reducing the crew's exposure to galactic cosmic radiation and solar flares. Mission scenario descriptions, key vehicle features and operational characteristics for each propulsion option are presented using the lift capability and payload volumes estimated for the Space Launch System (SLS)-1B and followon Heavy Lift Vehicle (HLV).

Nuclear Propulsion↗
NASA NTRS2000

Thermocapillary Flow and Aggregation of Bubbles on a Solid Wall

During the electrolytic evolution of oxygen bubbles forming on a vertically oriented transparent tin oxide electrode, bubbles were found to be mutually attractive. The mechanism of the aggregation had never been explained satisfactorily until Guelcher et al. attributed it to thermocapillary flow. The gradient of surface tension of the liquid at the bubble's surface, which was established because of reaction heat and ohmic heat loss at the electrode wall, drives flow of the liquid adjacent to each bubble; the bubble "pumps" fluid along its surface away from the wall. Fluid flows toward the bubble to conserve mass and entrains nearby bubbles in the flow pattern. The same logic would apply when two bubbles of equal size are adjacent to each other on a warm wall. Each bubble drives thermocapillary flow and hence entrains the other in its flow pattern, which drives the aggregation. Our objective here is to perform experiments where the temperature gradient at the wall is well known and controlled. The theory can be quantitatively tested by studying aggregation of bubble pairs of equal size, and by varying system parameters such as temperature gradient, bubble size and fluid viscosity. The results are then compared with the theory in a quantitatively rigorous manner. We demonstrate that the theory without adjustable parameters is capable of quantitatively modeling the rate of aggregation of two bubbles. The equations governing the thermocapillary flow around a single stationary bubble on a heated or cooled wall in a semi-infinite domain were solved. Both Reynolds number and Marangoni number were much less than unity. The critical result is that liquid in the vicinity of a warm wall flows toward a stationary collector bubble. Consequently the thermocapillary flow around the stationary bubble entrains another bubble toward itself. The bubbles undergo hindered translation parallel to the wall with velocity U while the fluid flow field is described with u. Two velocities were equated by using a wall hindrance parameter q: U = qu [1] which shows the velocity of bubble is proportional to the entraining velocity. The hindrance parameter q can experimentally be measured independently. q can also be calculated by solving the equations of motion for a bubble translating parallel to a solid wall. The experimental cell is cylindrical with an ID of 10 cm and consists of a 1 cm deep main cell filled with silicone oil and flanked by two thermal reservoirs. The upper thermal reservoir was heated and the lower thermal reservoir was cooled so that the bubbles aggregate. Two types of silicone oil (eta = 0.02 and 0.50 Pa s) were used. Two equal sized air bubbles were injected into the cell with a syringe. The center-to-center distance of bubbles was observed through a microscope. Bubble radius ranged from 0.40 mm to 0.65 mm and the temperature gradients along with the cell ranged from 1400 to 5000 K/m. The bubbles aggregated when heat flows from the wall to the fluid. The velocities of bubbles were in the range of 1 - 10 microns/s. The separation r decreased more quickly when the temperature gradient was higher, bubble size was larger, and the oil viscosity was lower. r decreased more rapidly as the bubbles approached each other. Dimensionless time was arbitrarily set to be zero when the dimensionless center-to-center distance between the bubbles was 4. All the bubble trajectories fall onto one line, especially in the range of dimensionless distance from 4 to 3. This means the relative movement of the bubble pair is proportional to the temperature gradient and bubble size and it is inversely proportional to the viscosity of the oil. This result strongly suggests that the thermocapillary flow-based aggregation mechanism is correct. A value of q can be estimated by fitting the scaled data to Eq. [1]. A best fit value of q was obtained as q = 0.26 with a standard deviation of 0.03. Independent experimental results for q for a 0.5 mm radius bubble, give values of q in the range 0.11 to 0.23. The value of q obtained from solving the equations of motion reveals q has values in the range 0.23 - 0.30. Since the full scale of possible values of q is zero to one, the maximum deviation of independently determined values of q from the best fit value was 15% of this full scale. Thus reasonable quantitative agreement between theory and experiment has been obtained.

Kasumi, Hiroki↗
NASA NTRS2006

Single- and Multiple-Objective Optimization with Differential Evolution and Neural Networks

Genetic and evolutionary algorithms have been applied to solve numerous problems in engineering design where they have been used primarily as optimization procedures. These methods have an advantage over conventional gradient-based search procedures became they are capable of finding global optima of multi-modal functions and searching design spaces with disjoint feasible regions. They are also robust in the presence of noisy data. Another desirable feature of these methods is that they can efficiently use distributed and parallel computing resources since multiple function evaluations (flow simulations in aerodynamics design) can be performed simultaneously and independently on ultiple processors. For these reasons genetic and evolutionary algorithms are being used more frequently in design optimization. Examples include airfoil and wing design and compressor and turbine airfoil design. They are also finding increasing use in multiple-objective and multidisciplinary optimization. This lecture will focus on an evolutionary method that is a relatively new member to the general class of evolutionary methods called differential evolution (DE). This method is easy to use and program and it requires relatively few user-specified constants. These constants are easily determined for a wide class of problems. Fine-tuning the constants will off course yield the solution to the optimization problem at hand more rapidly. DE can be efficiently implemented on parallel computers and can be used for continuous, discrete and mixed discrete/continuous optimization problems. It does not require the objective function to be continuous and is noise tolerant. DE and applications to single and multiple-objective optimization will be included in the presentation and lecture notes. A method for aerodynamic design optimization that is based on neural networks will also be included as a part of this lecture. The method offers advantages over traditional optimization methods. It is more flexible than other methods in dealing with design in the context of both steady and unsteady flows, partial and complete data sets, combined experimental and numerical data, inclusion of various constraints and rules of thumb, and other issues that characterize the aerodynamic design process. Neural networks provide a natural framework within which a succession of numerical solutions of increasing fidelity, incorporating more realistic flow physics, can be represented and utilized for optimization. Neural networks also offer an excellent framework for multiple-objective and multi-disciplinary design optimization. Simulation tools from various disciplines can be integrated within this framework and rapid trade-off studies involving one or many disciplines can be performed. The prospect of combining neural network based optimization methods and evolutionary algorithms to obtain a hybrid method with the best properties of both methods will be included in this presentation. Achieving solution diversity and accurate convergence to the exact Pareto front in multiple objective optimization usually requires a significant computational effort with evolutionary algorithms. In this lecture we will also explore the possibility of using neural networks to obtain estimates of the Pareto optimal front using non-dominated solutions generated by DE as training data. Neural network estimators have the potential advantage of reducing the number of function evaluations required to obtain solution accuracy and diversity, thus reducing cost to design.

Rai, Man Mohan↗
NASA NTRS2009

Cooperative Three-Robot System for Traversing Steep Slopes

Teamed Robots for Exploration and Science in Steep Areas (TRESSA) is a system of three autonomous mobile robots that cooperate with each other to enable scientific exploration of steep terrain (slope angles up to 90 ). Originally intended for use in exploring steep slopes on Mars that are not accessible to lone wheeled robots (Mars Exploration Rovers), TRESSA and systems like TRESSA could also be used on Earth for performing rescues on steep slopes and for exploring steep slopes that are too remote or too dangerous to be explored by humans. TRESSA is modeled on safe human climbing of steep slopes, two key features of which are teamwork and safety tethers. Two of the autonomous robots, denoted Anchorbots, remain at the top of a slope; the third robot, denoted the Cliffbot, traverses the slope. The Cliffbot drives over the cliff edge supported by tethers, which are payed out from the Anchorbots (see figure). The Anchorbots autonomously control the tension in the tethers to counter the gravitational force on the Cliffbot. The tethers are payed out and reeled in as needed, keeping the body of the Cliffbot oriented approximately parallel to the local terrain surface and preventing wheel slip by controlling the speed of descent or ascent, thereby enabling the Cliffbot to drive freely up, down, or across the slope. Due to the interactive nature of the three-robot system, the robots must be very tightly coupled. To provide for this tight coupling, the TRESSA software architecture is built on a combination of (1) the multi-robot layered behavior-coordination architecture reported in "An Architecture for Controlling Multiple Robots" (NPO-30345), NASA Tech Briefs, Vol. 28, No. 10 (October 2004), page 65, and (2) the real-time control architecture reported in "Robot Electronics Architecture" (NPO-41784), NASA Tech Briefs, Vol. 32, No. 1 (January 2008), page 28. The combination architecture makes it possible to keep the three robots synchronized and coordinated, to use data from all three robots for decision- making at each step, and to control the physical connections among the robots. In addition, TRESSA (as in prior systems that have utilized this architecture) , incorporates a capability for deterministic response to unanticipated situations from yet another architecture reported in Control Architecture for Robotic Agent Command and Sensing (NPO-43635), NASA Tech Briefs, Vol. 32, No. 10 (October 2008), page 40. Tether tension control is a major consideration in the design and operation of TRESSA. Tension is measured by force sensors connected to each tether at the Cliffbot. The direction of the tension (both azimuth and elevation) is also measured. The tension controller combines a controller to counter gravitational force and an optional velocity controller that anticipates the motion of the Cliffbot. The gravity controller estimates the slope angle from the inclination of the tethers. This angle and the weight of the Cliffbot determine the total tension needed to counteract the weight of the Cliffbot. The total needed tension is broken into components for each Anchorbot. The difference between this needed tension and the tension measured at the Cliffbot constitutes an error signal that is provided to the gravity controller. The velocity controller computes the tether speed needed to produce the desired motion of the Cliffbot. Another major consideration in the design and operation of TRESSA is detection of faults. Each robot in the TRESSA system monitors its own performance and the performance of its teammates in order to detect any system faults and prevent unsafe conditions. At startup, communication links are tested and if any robot is not communicating, the system refuses to execute any motion commands. Prior to motion, the Anchorbots attempt to set tensions in the tethers at optimal levels for counteracting the weight of the Cliffbot; if either Anchorbot fails to reach its optimal tension level within a specified time, it sends message to the other robots and the commanded motion is not executed. If any mechanical error (e.g., stalling of a motor) is detected, the affected robot sends a message triggering stoppage of the current motion. Lastly, messages are passed among the robots at each time step (10 Hz) to share sensor information during operations. If messages from any robot cease for more than an allowable time interval, the other robots detect the communication loss and initiate stoppage.

Stroupe, Ashley↗
NASA NTRS2002

Maximizing TDRS Command Load Lifetime

The GNC software onboard ISS utilizes TORS command loads, and a simplistic model of TORS orbital motion to generate onboard TORS state vectors. Each TORS command load contains five "invariant" orbital elements which serve as inputs to the onboard propagation algorithm. These elements include semi-major axis, inclination, time of last ascending node crossing, right ascension of ascending node, and mean motion. Running parallel to the onboard software is the TORS Command Builder Tool application, located in the JSC Mission Control Center. The TORS Command Builder Tool is responsible for building the TORS command loads using a ground TORS state vector, mirroring the onboard propagation algorithm, and assessing the fidelity of current TORS command loads onboard ISS. The tool works by extracting a ground state vector at a given time from a current TORS ephemeris, and then calculating the corresponding "onboard" TORS state vector at the same time using the current onboard TORS command load. The tool then performs a comparison between these two vectors and displays the relative differences in the command builder tool GUI. If the RSS position difference between these two vectors exceeds the tolerable lim its, a new command load is built using the ground state vector and uplinked to ISS. A command load's lifetime is therefore defined as the time from when a command load is built to the time the RSS position difference exceeds the tolerable limit. From the outset of TORS command load operations (STS-98), command load lifetime was limited to approximately one week due to the simplicity of both the onboard propagation algorithm, and the algorithm used by the command builder tool to generate the invariant orbital elements. It was soon desired to extend command load lifetime in order to minimize potential risk due to frequent ISS commanding. Initial studies indicated that command load lifetime was most sensitive to changes in mean motion. Finding a suitable value for mean motion was therefore the key to achieving this goal. This goal was eventually realized through development of an Excel spreadsheet tool called EMMIE (Excel Mean Motion Interactive Estimation). EMMIE utilizes ground ephemeris nodal data to perform a least-squares fit to inferred mean anomaly as a function of time, thus generating an initial estimate for mean motion. This mean motion in turn drives a plot of estimated downtrack position difference versus time. The user can then manually iterate the mean motion, and determine an optimal value that will maximize command load lifetime. Once this optimal value is determined, the mean motion initially calculated by the command builder tool is overwritten with the new optimal value, and the command load is built for uplink to ISS. EMMIE also provides the capability for command load lifetime to be tracked through multiple TORS ephemeris updates. Using EMMIE, TORS command load lifetimes of approximately 30 days have been achieved.

Brown, Aaron J.↗