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At least 73 records · Page 4

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NASA NTRS1972

Design of the UCLA general circulation model

An edited version is reported of notes distributed at the Summer Workshop on the UCLA General Circulation Model in June 1971. It presents the computational schemes of the UCLA model, along with the mathematical and physical principles on which these schemes are based. Included are the finite difference schemes for the governing fluid-dynamical equations, designed to maintain the important integral constraints and dispersion characteristics of the motion. Also given are the principles of parameterization of cumulus convection by an ensemble of identical clouds. A model of the ground hydrology, involving the liquid, ice and snow states of water, is included. A short summary is given of the scheme for computing solar and infrared radiation transfers through clear and cloudy air.

Arakawa, A.↗

NASA NTRS2004

Random Matrix Approach to Quantum Adiabatic Evolution Algorithms

We analyze the power of quantum adiabatic evolution algorithms (Q-QA) for solving random NP-hard optimization problems within a theoretical framework based on the random matrix theory (RMT). We present two types of the driven RMT models. In the first model, the driving Hamiltonian is represented by Brownian motion in the matrix space. We use the Brownian motion model to obtain a description of multiple avoided crossing phenomena. We show that the failure mechanism of the QAA is due to the interaction of the ground state with the "cloud" formed by all the excited states, confirming that in the driven RMT models. the Landau-Zener mechanism of dissipation is not important. We show that the QAEA has a finite probability of success in a certain range of parameters. implying the polynomial complexity of the algorithm. The second model corresponds to the standard QAEA with the problem Hamiltonian taken from the Gaussian Unitary RMT ensemble (GUE). We show that the level dynamics in this model can be mapped onto the dynamics in the Brownian motion model. However, the driven RMT model always leads to the exponential complexity of the algorithm due to the presence of the long-range intertemporal correlations of the eigenvalues. Our results indicate that the weakness of effective transitions is the leading effect that can make the Markovian type QAEA successful.

Boulatov, Alexei↗

NASA NTRS2000

SHIVA (Spaceflight Holography Investigation in a Virtual Apparatus)

This paper provides the description and results of a ground-based experiment designed to support the spaceflight program SHIVA, which started its flight definition in 1998. SHIVA will apply new diagnostic tools and experimental techniques to test the validity of a newly discovered analytical solution to the general equation of motion of a particle in a fluid. We have designed a spaceflight experiment with the help of the theoretical model that is optimized for testing the model, and for measuring g, g-jitter, and other microgravity phenomena. Our ongoing, ground-based particle/fluid experiment supports both the experimental and theoretical aspects of the project. The ultimate spaceflight experiment will be similar to the ground-based experiment. The "virtual spaceflight chamber" concept asserts that certain spaceflight experiments can be recorded in holograms in such a manner that having the holograms on earth is optically equivalent to being back in space with unlimited time to conduct the experiment. Properly exploited, this concept can save a significant amount of experiment time in space by effectively bringing the. experiment optically back to earth. SHIVA will accomplish the following: record a large number of holograms of particle fields in space under controlled conditions, extract the precise, three-dimensional position of all of the particles as a function of time, examine the effects of all parameters on the motion of the particles, and test these against predictions of the Coimbra-Range1 solution to the general equation of motion. Particle sizes will range from hundreds of microns up to about 2 mm in diameter and will cover a range of densities and fluid viscosities. Forcing functions will be introduced onto the particle field, including at least the following: a) No isolation in the Spacelab vibration environment. b) Isolation from Spacelab. c) Oscillatory motion from 1 to 100 Hz with amplitudes of a few millimeters. d) Convective fields to be introduced mechanically. The first objective of this research is to understand the physics of particle interactions with fluids and other particles in low Reynolds number flows in microgravity. Secondary objectives are to: (1) observe and quantify g-jitter effects and microconvection on particles in fluids, (2) validate an exact solution to the general equation of motion of a particle in a fluid, and (3) to characterize'the ability of isolating platforms to isolate experiments containing particles in liquids.

Trolinger, James D.↗

NASA NTRS1972

Analog analysis of a tracked air-cushion vehicle.

The dynamics of tracked air-cushion vehicles considered for high-speed ground transportation systems are examined using a vehicle model represented by a one-degree-of-freedom system. The respective equations of motion are derived, and the control system is discussed. The equations obtained for the cushion are solved using an analog computer. The computer showed the effect of the control technique on the relative motion between vehicle and guideway.

Leatherwood, J. D.↗

NASA NTRS1974

The response of many-storied structures under seismic actions

A seismic action which is characterized by the acceleration function of the seismic motion is analyzed. The equations of motion in the direction of the seismic action are determined for a completely rigid ground and for a ground with linear deformability characteristics (rotation deformability). The equation for the rotation motion is derived by considering elastic and viscoelastic properties of the foundation ground. The differential equations are written by treating the mechanical model of a many-storied structure as a fixed vertical beam with a uniformly distributed mass as well as with concentrated masses on each floor.

Munteanu, K.↗

NASA NTRS1975

Development of a remote digital augmentation system and application to a remotely piloted research vehicle

A cost-effective approach to flight testing advanced control concepts with remotely piloted vehicles is described. The approach utilizes a ground based digital computer coupled to the remotely piloted vehicle's motion sensors and control surface actuators through telemetry links to provide high bandwidth feedback control. The system was applied to the control of an unmanned 3/8-scale model of the F-15 airplane. The model was remotely augmented; that is, the F-15 mechanical and control augmentation flight control systems were simulated by the ground-based computer, rather than being in the vehicle itself. The results of flight tests of the model at high angles of attack are discussed.

Edwards, J. W.↗

NASA NTRS1991

Dynamics modeling for ERBS attitude propagation

The development and evaluation of a model of the Earth Radiation Budget Satellite (ERBS) attitude dynamics for use in attitude determination is described. Attitude rates for the three axis stabilized spacecraft are derived analytically from Euler's equation using modeled disturbance torques and telemetered flight data from control system actuators for computation of the control torques. The modeled rates are used for attitude propagation in a batch least squares attitude estimation algorithm originally designed to use onboard gyro measurements of attitude motion. The capabilities for near fine attitude determination without gyros is important for operational attitude ground support of the aging ERBS spacecraft as two out of three gyro axes have failed. The accuracy of this method of dynamic propagation is strongly dependent on the quality and availability of control system telemetry data. Detailed disturbance torque models are also necessary to accurately model attitude rates. Even with the relatively coarse ERBS control system telemetry, accuracy to within 0.2 deg of gyro propagated reference attitudes is achieved.

Harvie, E.↗

NASA NTRS2023

The Digital Astronaut Simulation

The Digital Astronaut Simulation provides a human biomechanics modeling, simulation, and analysis capability that is enabling spaceflight hardware design to incorporate the human dynamic input early in development cycles as well as characterize performance after prototypes are built. The enhanced toolset includes a modified multibody model, updated motion capture marker sets, and refined methods for scaling and inverse kinematics. These provide increased accuracy for applications in exercise and extravehicular tasks in reduced gravity, especially where upper extremity motion is involved. A core capability highlighted is the calculation of ground reaction forces, moments, and center of pressure based on motion capture. Verification and validation efforts include comparison with force platform measurements.

Human Spaceflight↗

NASA NTRS1981

An antenna fine pointing mechanism

SOFA, a device designed for the highly accurate 2 axis pointing of antenna or any feature installed on a spacecraft is described. The major characteristic of this system is complete freedom from friction and wear out, resulting in numerous advantages, such as outstanding precision, virtually endless service life, high simplicity, and reliability. The sizing method is described and performances are analyzed. The results from analogue simulations are presented. A functional model of the electrical and mechanical parts was built and subjected to on ground tests using a 2 axis platform simulating the spacecraft's motions. The results obtained are thoroughly in keeping with the predictions and simulations. Various possible applications of the SOFA system are mentioned.

Hubert, B.↗

NASA NTRS1985

Spacelab experiments on space motion sickness

Recent research results from ground and flight experiments on motion sickness and space sickness conducted by the Man Vehicle Laboratory are reviewed. New tools developed include a mathematical model for motion sickness, a method for quantitative measurement of skin pallor and blush in ambulatory subjects, and a magnitude estimation technique for ratio scaling of nausea or discomfort. These have been used to experimentally study the time course of skin pallor and subjective symptoms in laboratory motion sickness. In prolonged sickness, subjects become hypersensitive to nauseogenic stimuli. Results of a Spacelab-1 flight experiment are described in which 4 observers documented the stimulus factors for and the symptoms/signs of space sickness. The clinical character of space sickness differs somewhat from acute laboratory motion sickness. However SL-1 findings support the view that space sickness is fundamentally a motion sickness. Symptoms were subjectively alleviated by head movement restriction, maintenance of a familiar orientation with respect to the visual environment, and wedging between or strapping onto surfaces which provided broad contact cues confirming the absence of body motion.

Oman, C. M.↗

NASA NTRS1987

Spacelab experiments on space motion sickness

Recent research results from ground and flight experiments on motion sickness and space sickness conducted by the Man Vehicle Laboratory are reviewed. New tools developed include a mathematical model for motion sickness, a method for quantitative measurements of skin pallor and blush in ambulatory subjects, and a magnitude estimation technique for ratio scaling of nausea or discomfort. These have been used to experimentally study the time course of skin pallor and subjective symptoms in laboratory motion sickness. In prolonged sickness, subjects become hypersensitive to nauseogenic stimuli. Results of a Spacelab-1 flight experiment are described in which four observers documented the stimulus factors for and the symptoms/signs of space sickness. The clinical character of space sickness differs somewhat from acute laboratory motion sickness. However SL-1 findings support the view that space sickness is fundamentally a motion sickness. Symptoms were subjectively alleviated by head movement restriction, maintenance of a familiar orientation with respect to the visual environment, and wedging between or strapping onto surfaces which provided broad contact cues confirming the absence of body motion.

Flight Experiment↗

NASA NTRS2011

Biomechanical Analysis of Treadmill Locomotion on the International Space Station

Treadmill locomotion exercise is an important aspect of ISS exercise countermeasures. It is widely believed that an optimized treadmill exercise protocol could offer benefits to cardiovascular and bone health. If training heart rate is high enough, treadmill exercise is expected to lead to improvements in aerobic fitness. If impact or bone loading forces are high enough, treadmill exercise may be expected to contribute to improved bone outcomes. Ground-based research suggests that joint loads increase with increased running speed. However, it is unknown if increases in locomotion speed results in similar increases in joint loads in microgravity. Although data exist regarding the biomechanics of running and walking in microgravity, a majority were collected during parabolic flight or during investigations utilizing a microgravity analog. The Second Generation Treadmill (T2) has been in use on the International Space Station (ISS) and records the ground reaction forces (GRF) produced by crewmembers during exercise. Biomechanical analyses will aid in understanding potential differences in typical gait motion and allow for modeling of the human body to determine joint and muscle forces during exercise. By understanding these mechanisms, more appropriate exercise prescriptions can be developed that address deficiencies. The objective of this evaluation is to collect biomechanical data from crewmembers during treadmill exercise prior to and during flight. The goal is to determine if locomotive biomechanics differ between normal and microgravity environments and to determine how combinations of subject load and speed influence joint loading during in-flight treadmill exercise. Further, the data will be used to characterize any differences in specific bone and muscle loading during locomotion in these two gravitational conditions. This project maps to the HRP Integrated Research Plan risks including Risk of Bone Fracture (Gap B15), Risk of Early Onset Osteoporosis Due to Spaceflight (Gap B15), Risk of Impaired Performance Due to Reduced Muscle Mass, Strength, and Endurance (Gaps M3, M4, M6, Ml, M8, M9) and Risk of reduced Physical Performance Capabilities Due to Reduce Aerobic Capacity (Gaps M7, M8, M9).

De Witt, J. K.↗

NASA NTRS1974

Effects of curvilinear motion in large-amplitude bending of C3

The geometry of the bending of a linear triatomic molecule is analyzed, and an expression for the average rotational constant is derived. A harmonic oscillator model of C3 is fitted to the observed rotational constant within 0.6%. The bond distance between atoms at zero bending is 1.287 A according to this model; this is noticeably larger than the average internuclear distance of 1.277 A for the vibrational ground state. The first order perturbation solutions for the vibrational energy levels, taking into account the effect of a quartic perturbation potential, closely match observed levels. For a square well potential model of C3, the effect of curvilinear motion in bending is similar to that found for the harmonic oscillator model, though the decreases in energy are about twice as large. In both models, the average energy decrease is relatively constant at approximately 10% over a wide range of vibrational quantum number.

Hansen, C. F.↗

NASA NTRS1989

Simulation and control problems in elastic robots

Computational issues associated with modeling and control of robots with revolute joints and elastic arms are considered. A manipulator with one arm and pinned at one end is considered to investigate various aspects of the modeling procedure and the model, and the effect of coupling between the rigid-body and the elastic motions. The rigid-body motion of a manipulator arm is described by means of a reference frame attached to the shadow beam, and the linear elastic operator denoting flexibility is defined with respect to this reference frame. The small elastic motion assumption coupled with the method of assumed modes is used to model the elasticity in the arm. It is shown that only terms up to quadratic in these model amplitudes need to be retained. An important aspect of the coupling between the rigid-body and the elastic motion is the centrifugal stiffening effect. This effect stiffens the elastic structure, as to be expected on physical grounds, gives rise to a time-varying inertia term for the rigid-body motion, and, in general, results in an effective inertia term smaller than the rigid-body inertia term. Simulation results are presented for an elastic beam pinned at one end and free at the other, and rotating in a horizontal plane, and control issues such as the order of the model, number of sensors, and modal extraction are examined within this context.

Tadikonda, S. S. K.↗

NASA NTRS1992

Liquid Motion in a Rotating Tank Experiment (LME)

The Liquid Motion in Rotating Tank Experiment (LME) will investigate and quantify liquid motions occurring in spin-stabilized spacecraft; acquire representative data to validate ground-test scaling procedures; and obtain scientific understanding to formulate better analytical models. LME eliminates the limitations of ground testing. LME design is nearing the end of phase B: the breadboard hardware model has been completed; the load cells have been fabricated and tested; the experiment computer has been flight qualified; and other electronics have been breadboarded. Various aspects of this experiment are presented in viewgraph form.

Dodge, F. T.↗

NASA NTRS1999

Overview of the Third Convection and Moisture EXperiment (CAMEX-3)

The Convection And Moisture EXperiment (CAMEX) is a series of field research investigations sponsored by the National Aeronautics and Space Administration (NASA). The third field campaign in the CAMEX series (CAMEX-3) is scheduled for 6 August - 23 September, 1998 to study tropical cyclone development, tracking, intensification, and landfalling impacts using NASA-funded aircraft remote sensing instrumentation. This study will yield high spatial and temporal information of hurricane structure, dynamics, and motion. These data, when analyzed within the context of more traditional aircraft, satellite, and ground-based radar observations, should provide additional insight to hurricane modelers and forecasters who continually strive to improve hurricane predictions. During CAMEX-3, NASA will deploy a high attitude ER-2 and medium altitude DC-8 aircraft from Patrick Air Force Base, Florida. Ground-based instrumentation will also be stationed on Andros Island, Bahamas. Opportunities for coordinated aircraft missions with the National Oceanic and Atmospheric Administration (NOAA) Hurricane Research Division are also being planned. This presentation will provide an overview of the CAMEX-3 missions and key case studies sampled. Data availability and access will also be discussed.

Hood, Robbie↗

NASA NTRS2021

Teleoperation and Visualization Interfaces for Remote Intervention in Space

Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.

space robotics↗

NASA NTRS1976

Close-up view of 20 March 1976 tornadoes - Sinking cloud tops to suction vortices

The article describes an airborne mission using a Learjet to secure direct data on a family of tornadoes spawned by a rotating thunderstorm in the Missouri-Illinois-Indiana area in March 1976 following an unusually warm February. Weakening of the tornado following increased cloud-scale vertical motion, predicted by a model constructed by Fujita (1972), was confirmed. The aircraft inspected overshooting cloud tops, examined subsidence (holes and depressions) in anvil tops it overflew, and surveyed footprints left by the tornadoes and tornado-blown litter on the ground traversed by the disturbances. Subsidence of cloud tops in advance of violent tornadoes below was confirmed. Isolated and multiple suction vortices left their characteristic ground marks; three scales of motion: tornado cyclone, tornado, and suction vortex, are evidenced by the ground truth.

Fujita, T. T.↗