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NASA NTRS1990

Experiments in teleoperator and autonomous control of space robotic vehicles

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Alexander, Harold L.↗

NASA NTRS1996

From Individuals to Epidemics

Heterogeneous mixing fundamentally changes the dynamics of infectious diseases; finding ways to incorporate it into models represents a critical challenge. Phenomenological approaches are deficient in their lack of attention to underlying processes; individual-based models, on the other hand, may obscure the essential interactions in a sea of detail. The challenge then is to find ways to bridge these levels of description, starting from individual-based models and deriving macroscopic descriptions from them that retain essential detail, and filter out the rest. In this paper, attempts to achieve this transformation are described for a class of models where non-random mixing arises from the spatial localization of interactions. In general, the epidemic threshold is found to be larger owing to spatial localization than for a homogeneous mixing population. An improved estimate of the dynamics is developed by the use of moment equations, and a simple estimate of the threshold in terms of a 'dyad heuristic'. For more general models in which local infection is not described by mass action, the connection with related partial differential equations is investigated.

Levin, Simon A.↗

NASA NTRS2001

Theory and Simulation of Self- and Mutual-Diffusion of Carrier Density and Temperature in Semiconductor Lasers

Carrier diffusion and thermal conduction play a fundamental role in the operation of high-power, broad-area semiconductor lasers. Restricted geometry, high pumping level and dynamic instability lead to inhomogeneous spatial distribution of plasma density, temperature, as well as light field, due to strong light-matter interaction. Thus, modeling and simulation of such optoelectronic devices rely on detailed descriptions of carrier dynamics and energy transport in the system. A self-consistent description of lasing and heating in large-aperture, inhomogeneous edge- or surface-emitting lasers (VCSELs) require coupled diffusion equations for carrier density and temperature. In this paper, we derive such equations from the Boltzmann transport equation for the carrier distributions. The derived self- and mutual-diffusion coefficients are in general nonlinear functions of carrier density and temperature including many-body interactions. We study the effects of many-body interactions on these coefficients, as well as the nonlinearity of these coefficients for large-area VCSELs. The effects of mutual diffusions on carrier and temperature distributions in gain-guided VCSELs will be also presented.

Li, Jian-Zhong↗

NASA NTRS2002

Relationships Between the Bulk-Skin Sea Surface Temperature Difference, Wind, and Net Air-Sea Heat Flux

The primary purpose of this project was to evaluate and improve models for the bulk-skin temperature difference to the point where they could accurately and reliably apply under a wide variety of environmental conditions. To accomplish this goal, work was conducted in three primary areas. These included production of an archive of available data sets containing measurements of the skin and bulk temperatures and associated environmental conditions, evaluation of existing skin layer models using the compiled data archive, and additional theoretical work on the development of an improved model using the data collected under diverse environmental conditions. In this work we set the basis for a new physical model of renewal type, and propose a parameterization for the temperature difference across the cool skin of the ocean in which the effects of thermal buoyancy, wind stress, and microscale breaking are all integrated by means of the appropriate renewal time scales. Ideally, we seek to obtain a model that will accurately apply under a wide variety of environmental conditions. A summary of the work in each of these areas is included in this report. A large amount of work was accomplished under the support of this grant. The grant supported the graduate studies of Sandra Castro and the preparation of her thesis which will be completed later this year. This work led to poster presentations at the 1999 American Geophysical Union Fall Meeting and 2000 IGARSS meeting. Additional work will be presented in a talk at this year's American Meteorological Society Air-Sea Interaction Meeting this May. The grant also supported Sandra Castro during a two week experiment aboard the R/P Flip (led by Dr. Andrew Jessup of the Applied Physics Laboratory) to help obtain additional shared data sets and to provide Sandra with a fundamental understanding of the physical processes needed in the models. In a related area, the funding also partially supported Dr. William Emery and Daniel Baldwin in the preparation of their publication "Accuracy of in situ sea surface temperatures used to calibrate infrared satellite measurements". The remainder of this report is drawn from these publications and presentations.

Emery, William J.↗

NASA NTRS1995

Scientific Visualization and Computational Science: Natural Partners

Scientific visualization is developing rapidly, stimulated by computational science, which is gaining acceptance as a third alternative to theory and experiment. Computational science is based on numerical simulations of mathematical models derived from theory. But each individual simulation is like a hypothetical experiment; initial conditions are specified, and the result is a record of the observed conditions. Experiments can be simulated for situations that can not really be created or controlled. Results impossible to measure can be computed.. Even for observable values, computed samples are typically much denser. Numerical simulations also extend scientific exploration where the mathematics is analytically intractable. Numerical simulations are used to study phenomena from subatomic to intergalactic scales and from abstract mathematical structures to pragmatic engineering of everyday objects. But computational science methods would be almost useless without visualization. The obvious reason is that the huge amounts of data produced require the high bandwidth of the human visual system, and interactivity adds to the power. Visualization systems also provide a single context for all the activities involved from debugging the simulations, to exploring the data, to communicating the results. Most of the presentations today have their roots in image processing, where the fundamental task is: Given an image, extract information about the scene. Visualization has developed from computer graphics, and the inverse task: Given a scene description, make an image. Visualization extends the graphics paradigm by expanding the possible input. The goal is still to produce images; the difficulty is that the input is not a scene description displayable by standard graphics methods. Visualization techniques must either transform the data into a scene description or extend graphics techniques to display this odd input. Computational science is a fertile field for visualization research because the results vary so widely and include things that have no known appearance. The amount of data creates additional challenges for both hardware and software systems. Evaluations of visualization should ultimately reflect the insight gained into the scientific phenomena. So making good visualizations requires consideration of characteristics of the user and the purpose of the visualization. Knowledge about human perception and graphic design is also relevant. It is this breadth of knowledge that stimulates proposals for multidisciplinary visualization teams and intelligent visualization assistant software. Visualization is an immature field, but computational science is stimulating research on a broad front.

Uselton, Samuel P.↗

NASA NTRS2003

Upward And Downward Flame Spreading And Extinction In Partial Gravity Environments

The premise of this research effort has been to begin exploring the gap in the literature between studies of material flammability and flame spread phenomena in normal-gravity and those conducted in the microgravity environment, with or without forced flows. From a fundamental point of view, flame spreading in upward (concurrent) buoyant flow is considerably different from concurrent forced flow. The flow accelerates throughout the length of the buoyant flame bringing the streamlines and the flame closer to the fuel surface and strengthening the interaction between the flame and fuel. Forced flows are diverted around the flame and away from the fuel surface, except where the flow might be constrained by a finite duct. The differences may be most clearly felt as the atmospheric conditions, viz. pressure or oxygen content, approach the flammability limit. From a more practical point of view, flame spreading and material flammability behavior have not been studied under the partial gravity conditions that are the natural state in space exploration destinations such as the Moon and Mars. This effort constitutes the beginning of the research needed to engineer fire safety provisions for such future missions. In this program we have performed partial-gravity experiments (from 0.1 to 1 g/g(sub Earth)) considering both upward and downward flame spread over thin solid fuels aboard the NASA KC-135 aircraft. In those tests, the atmospheric pressure and the fuel sample width were varied. Steady flame spread rates and approximate extinction boundaries were determined. Flame images were recorded using video cameras and two-dimensional fuel surface temperature distributions were determined using an IR camera. These results are available, and complement our earlier work in downward spread in partial gravity varying oxygen content. In conjunction with the experiment, three-dimensional models of flame spreading in buoyant flow have been developed. Some of the computed results on upward spreading have been presented. A derivative three-dimensional model of downward spreading has been developed. It is currently being used to evaluate the standard limiting oxygen index (LOI) measuring device and its potential performance in different gravity levels.

Sacksteder, Kurt R.↗

NASA NTRS2006

Intelligence for Human-Assistant Planetary Surface Robots

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

Hirsh, Robert↗

NASA NTRS2003

Software for Training in Pre-College Mathematics

The Intelligent Math Tutor (IMT) is a computer program for training students in pre-college and college-level mathematics courses, including fundamentals, intermediate algebra, college algebra, and trigonometry. The IMT can be executed on a server computer for access by students via the Internet; alternatively, it can be executed on students computers equipped with compact- disk/read-only-memory (CD-ROM) drives. The IMT provides interactive exercises, assessment, tracking, and an on-line graphing calculator with algebraic-manipulation capabilities. The IMT provides an innovative combination of content, delivery mechanism, and artificial intelligence. Careful organization and presentation of the content make it possible to provide intelligent feedback to the student based on performance on exercises and tests. The tracking and feedback mechanisms are implemented within the capabilities of a commercial off-the-shelf development software tool and are written in the Unified Modeling Language to maximize reuse and minimize development cost. The graphical calculator is a standard feature of most college and pre-college algebra and trigonometry courses. Placing this functionality in a Java applet decreases the cost, provides greater capabilities, and provides an opportunity to integrate the calculator with the lessons.

Shelton, Robert O.↗

NASA NTRS1977

A fundamental approach to adhesion: Synthesis, surface analysis, thermodynamics and mechanics

The effects of composites as adherends was studied. Several other variables were studied by fractography: aluminum powder adhesive filler, fiber glass cloth scrim or adhesive carrier, new adhesives PPQ-413 and LARC-13, and strength-test temperature. When the new results were juxtaposed with previous work, it appeared that complex interactions between adhesive, adherend, bonding, and testing conditions govern the observed strength and fracture-surface features. The design parameters likely to have a significant effect upon strength-test results are listed.

Dwight, D. W.↗

NASA NTRS2001

Experimental and Computational Studies of the Control of Convection of Non-Conducting Liquids During solidification by Means of a Magnetic Field Gradient

The elimination of convection is essential in experimental investigations of diffusive transport (of heat and matter) during solidification. One classical approach to damping convection in a conducting liquid is the application of a magnetic field. The damping phenomenon is the induction, by the motion of a conductor in a magnetic field, of currents which interact with the field to produce Lorentz forces that oppose the flow. However, there are many liquids which are not sufficiently conducting to exploit this phenomenon; examples include the transparent liquids (such as succinonitrile-acetone) that are used as "model alloys" in fundamental solidification studies. There have been several investigations of the solidification of these liquids that have been carried out in orbiting laboratories to eliminate natural convection. The paper describes an investigation of an alternative approach whereby a magnetic field gradient is applied to the liquid. A magnetic body force then arises which is dependent on the susceptibility of the liquid and thereby on the temperature and or concentration. With the field gradient aligned vertically and of correct magnitude, the variation of gravitational body force due to temperature/concentration dependent density can be counterbalanced by a variation in magnetic body force. Experiments have been carried out in a super-conducting magnet at Marshall Space Flight Center to measure velocities in an aqueous manganese chloride solution. The solution was contained in a chamber with temperature controlled end walls and glass side walls. Velocities were measured by particle image velocimetry. Starting from zero current in the magnet (zero field gradient) flow driven by the temperature difference between the end walls was measured. At a critical current the flow was halted. At higher currents the normal convection was reversed. The experiments included ones where the solution was solidified and were accompanied by solution of the flow/transport equations using the software package FLUENT.

Seybert, C. D.↗

NASA NTRS1994

Numerical Simulations of Self-Focused Pulses Using the Nonlinear Maxwell Equations

This paper will present results in computational nonlinear optics. An algorithm will be described that solves the full vector nonlinear Maxwell's equations exactly without the approximations that are currently made. Present methods solve a reduced scalar wave equation, namely the nonlinear Schrodinger equation, and neglect the optical carrier. Also, results will be shown of calculations of 2-D electromagnetic nonlinear waves computed by directly integrating in time the nonlinear vector Maxwell's equations. The results will include simulations of 'light bullet' like pulses. Here diffraction and dispersion will be counteracted by nonlinear effects. The time integration efficiently implements linear and nonlinear convolutions for the electric polarization, and can take into account such quantum effects as Kerr and Raman interactions. The present approach is robust and should permit modeling 2-D and 3-D optical soliton propagation, scattering, and switching directly from the full-vector Maxwell's equations. Abstract of a proposed paper for presentation at the meeting NONLINEAR OPTICS: Materials, Fundamentals, and Applications, Hyatt Regency Waikaloa, Waikaloa, Hawaii, July 24-29, 1994, Cosponsored by IEEE/Lasers and Electro-Optics Society and Optical Society of America

Goorjian, Peter M.↗

NASA NTRS1991

Multiple methods integration for structural mechanics analysis and design

A new research area of multiple methods integration is proposed for joining diverse methods of structural mechanics analysis which interact with one another. Three categories of multiple methods are defined: those in which a physical interface are well defined; those in which a physical interface is not well-defined, but selected; and those in which the interface is a mathematical transformation. Two fundamental integration procedures are presented that can be extended to integrate various methods (e.g., finite elements, Rayleigh Ritz, Galerkin, and integral methods) with one another. Since the finite element method will likely be the major method to be integrated, its enhanced robustness under element distortion is also examined and a new robust shell element is demonstrated.

Housner, J. M.↗

NASA NTRS1997

Remote radio tracking of interplanetary CMEs

Two examples of type 2 radio emissions associated with the propagation of earth-directed coronal mass ejections (CMEs) through the interplanetary medium are illustrated and compared. The two type 2 radio events were observed by WIND/WAVES in January and May of 1997 and exhibit very different radio characteristics. The analyses presented here use the novel approach of presenting the radio data as a function of the inverse of the frequency and time, which facilitates remote radio tracking of the CME through the interplanetary medium. It is demonstrated unequivocally that for the May 1997 event, the radio emissions were generated at the fundamental, and harmonic of the plasma frequency in the ambient plasma upstream of the CME-driven shock. For the January 1997 event, evidence is presented that some of the radio emissions were generated while the CME-driven shock passed through a corotating interaction region (CIR). This is the first time that type 2 radio emissions were shown to originate in a specific interplanetary structure.

Reiner, M. J.↗

NASA NTRS2013

Physical and Chemical Toeholds for Exoplanet Bioastronomy

If a search for exoplanet life were mounted today, the likely focus would be to detect oxygen (or ozone) in the atmosphere of a water-bearing rocky planet orbiting roughly 1AU from a G-type star. This appropriately conservative and practical default is necessary in large part because biological input on the question of where and how to look for life has progressed little beyond a purely empirical reliance on the example of terrestrial biology. However, fundamental physical and chemical considerations may impose significant yet universal constraints on biological potential. The liquid water + oxygen paradigm will be considered as an example, with a focus on the question, is liquid water a prerequisite for life? . Life requires a solvent to mediate interactions among biological molecules. A key class of these interactions is molecular recognition with high specificity, which is essential for high fidelity catalysis and (especially) information processing. For example, to correctly reproduce a string consisting of 600,000 units of information (e.g., 600 kilobases, equivalent to the genome of the smallest free living terrestrial organisms) with a 90% success rate requires specificity greater than 10(exp 7):1 for the target molecule vs. incorrect alternatives. Such specificity requires (i) that the correct molecular association is energetically stabilized by at least 40 kJ/mol relative to alternatives, and (ii) that the system is able to sample among possible states (alternative molecular associations) rapidly enough to allow the system to fall under thermodynamic control and express the energetic stabilization. We argue that electrostatic interactions are required to confer the necessary energetic stabilization vs. a large library of molecular alternatives, and that a solvent with polarity and dielectric properties comparable to water is required for the system to sample among possible states and express thermodynamic control. Electrostatic associations can be made in non-polar solvents, but the resulting complexes are too stable to be "unmade" with sufficient frequency to confer thermodynamic control on the system. Such considerations suggest that water, or a solvent with properties very like water, is necessary to support high-fidelity information processing a feature that must be common to all biology and can therefore be considered a critical prerequisite for life.

Hoehler, Tori↗

NASA NTRS2016

Simulation of Satellite, Airborne and Terrestrial LiDAR with DART (I):Waveform Simulation with Quasi-Monte Carlo Ray Tracing

Light Detection And Ranging (LiDAR) provides unique data on the 3-D structure of atmosphere constituents and the Earth's surface. Simulating LiDAR returns for different laser technologies and Earth scenes is fundamental for evaluating and interpreting signal and noise in LiDAR data. Different types of models are capable of simulating LiDAR waveforms of Earth surfaces. Semi-empirical and geometric models can be imprecise because they rely on simplified simulations of Earth surfaces and light interaction mechanisms. On the other hand, Monte Carlo ray tracing (MCRT) models are potentially accurate but require long computational time. Here, we present a new LiDAR waveform simulation tool that is based on the introduction of a quasi-Monte Carlo ray tracing approach in the Discrete Anisotropic Radiative Transfer (DART) model. Two new approaches, the so-called "box method" and "Ray Carlo method", are implemented to provide robust and accurate simulations of LiDAR waveforms for any landscape, atmosphere and LiDAR sensor configuration (view direction, footprint size, pulse characteristics, etc.). The box method accelerates the selection of the scattering direction of a photon in the presence of scatterers with non-invertible phase function. The Ray Carlo method brings traditional ray-tracking into MCRT simulation, which makes computational time independent of LiDAR field of view (FOV) and reception solid angle. Both methods are fast enough for simulating multi-pulse acquisition. Sensitivity studies with various landscapes and atmosphere constituents are presented, and the simulated LiDAR signals compare favorably with their associated reflectance images and Laser Vegetation Imaging Sensor (LVIS) waveforms. The LiDAR module is fully integrated into DART, enabling more detailed simulations of LiDAR sensitivity to specific scene elements (e.g., atmospheric aerosols, leaf area, branches, or topography) and sensor configuration for airborne or satellite LiDAR sensors.

Gastellu-Etchegorry, Jean-Philippe↗

NASA NTRS2018

Spacecraft Contamination Control Challenges for Space Missions with Organic Compound Detection Capabilities and for Potential Sample Return

Contamination control is critical to missions with organic compound detection capabilities, and for missions targeting acquisition of samples for potential return to Earth. Significant challenges are being addressed in the design of current flight projects and conceptual mission studies at JPL. These challenges extend to both orbiting spacecraft, as well as landed missions, for future missions to Mars and Europa, and potential missions to Titan and Enceladus. Contamination control during all phases of a mission, from preliminary design through operation, is fundamental to ensure that organic compounds of terrestrial origin are controlled to ensure successful completion of science objectives. This presentation summarizes contamination control challenges specific to landed missions (which include sample acquisition, encapsulation, caching, potential sample return, and UV instruments), and orbiting missions (modeling interactions between the spacecraft, and local exospheres and plumes).

Soares, Carlos↗

NASA NTRS2017

Spacecraft Contamination Control Challenges for Space Missions with Organic Compound Detection Capabilities and for Potential Sample Return

Spacecraft contamination control is critical to space exploration missions with organic compound detection capabilities, and also for missions targeting acquisition of samples for potential return to Earth. Significant challenges are being addressed and resolved in the design of current flight projects and conceptual mission studies at JPL. These challenges extend to both orbiting spacecraft, as well as landed missions, for future missions to Mars and Europa, and potential missions to Titan and Enceladus. Contamination control during all phases of a mission, from preliminary design through operation, is fundamental to ensure that organic compounds of terrestrial origin are controlled to ensure successful completion of science objectives. This paper examines contamination control challenges specific to landed missions (which include sample acquisition, encapsulation, caching, potential sample return, and UV instruments), and orbiting missions (modeling interactions between the spacecraft and local exospheres and plumes).

Sylvia, Margarite↗

NASA NTRSDate not supplied

Molecular dynamics simulation of effects of solutes on dislocation propagation in Ni-based superalloys

Ni-based superalloys are used in the hot sections of jet turbine engines because of their high strength, stability and resistance to oxidation. The properties of these alloys can be further optimized by adding alloying elements. Therefore, a fundamental knowledge on the effect of different elements on properties of Ni-based superalloys is required. Molecular dynamics simulation could shed light here but its application is hindered by the absence of reliable and computationally cheap semi-empirical potential of the interatomic interaction for 4 and more element alloys. We will present a new Ni-Al-Cr-Nb Finnis-Sinclair (FS) potential specially designed to simulate the dislocation propagation from to  phase. In order to construct this potential, we designed a special algorithm to incorporate the data on element partitioning in the potential development procedure. For example, it is known from experiment, that Cr is mostly present in the gamma phase. Figure 1 shows a snapshot obtained after equilibration of the model of the Ni68Al17Cr15 alloy at T=1000 K using the hybrid Monte-Carlo (MC)/molecular dynamics (MD) simulation with the developed semi-empirical potential. One can clearly see that the Cr partitioning is in agreement with the experimental data. We will discuss the developed algorithm to incorporate the solute partition data in details. Using the developed semi-empirical potential, we first investigated the effect of anti-site defects in the  phase on the single dislocation propagation. It was found that the dislocation velocity increases with the increasing of the anti-site defect concentration. This effect was attributed to smaller number of Al-Al pairs forming during the dislocation migration in the presence of the anti-site defects. Next, we investigated the effect of Nb on the dislocation pair propagation in the Kolbe mechanism. It was found that the addition of Nb leads to considerable decrease in the dislocation propagation rate. This is in agreement with the experimental data on the effect of Nb on the creep resistance of the Ni-based superalloys. We will discuss the origin of this effect.

Mikhail I. Mendelev↗