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A satellite experiment, designed to measure potential charging of typical thermal control materials at near geosynchronous altitude, was flown as part of the SCATHA program. Direct observations of charging of typical satellite materials in a natural charging event ( 5 keV) are presented. The results show some features which differ significantly from previous laboratory simulations of the environment.
Examination of the exact analytic solution of a kinetic model of collisional interaction of ionospheric fions with atmospheric neutrals in the Bhatnagar-Gross-Krook approximation, shows that the onset of intense auroral electric fields in the topside ionosphere can produce the following kinetic effects: (1) heat the bulk ionospheric ions to approximately 2 eV, thus driving them up to higher altitudes where they can be subjected to collisionless plasma processes; (2) produce a nonMaxwellian superthermal tail in the distribution function; and (3) cause the ion distribution function to be anisotropic with respect to the magnetic field with the perpendicular average thermal energy exceeding the parallel thermal energy.
A model is developed for the rotational discontinuities associated with the reconnection configuration on the dayside magnetopause and the energy transfer process in the tail magnetopause. The model, in which the ion dynamics is described by the fluid equations and electrons are assumed to move adiabatically along the magnetic field lines, is valid for a rotational discontinuity with a thickness greater than a few ion gyroradii. It is shown, by the inclusion of self-consistency for trapped electrons, that (1) the trapped electron density profile is uniquely related to the rate of angular rotation of the magnetic field, and (2) the sense of magnetic field rotation is determined by the ratio of the normal and tangential components of the magnetic field. It is found that the electron polarization of magnetopause rotational discontinuities should be in agreement with satellite observations.
The results of satellite, balloon-borne, and ground-based observations of auroral phenomena are discussed in terms of the morphology of auroral arcs and the behavior and characteristics of auroral electrons and ions. Further attention is given to auroral electric fields and field aligned currents, and to the development of models of auroral potential structures and energization of auroral particles. A simulation of space plasma phenomena is presented, along with numerical simulations of auroral potential structures and related phenomena, including the V-potential double layers and auroral arc deformations, and a simulation of auroral arcs. Plasma waves observed on auroral field lines and in laboratory conditions are reported, and theoretical studies of waves and turbulence in auroral plasmas are described.
The generation of Alfven waves by the deceleration of magnetospheric convection caused by ionospheric loading effects in the magnetospheric dynamo is considered. A one-dimensional model of that region of the plasma sheet where convection is decelerated due to the dynamo process in the magnetosphere-ionosphere coupling is formulated, and the stability of the region is analyzed in order to derive the growth rate of unstable Alfven waves. The effects of ionospheric damping on unstable Alfven wave packets bounding between hemispheres are estimated. It is found that the overall growth rate is proportional to the height-integrated Pedersen conductivity and the convection speed in the dynamic region, but changes into a damping rate when the Pedersen conductivity is reduced below a specific threshold. The unstable Alfven waves thus generated are also found to contribute to both burstlike and relatively continuous Pi pulsations observed during substorms.
Translational state estimation in terminal area operations, using a set of commonly available position, air data, and acceleration sensors, is described. Kalman filtering is applied to obtain maximum estimation accuracy from the sensors but feasibility in real-time computations requires a variety of approximations and devices aimed at minimizing the required computation time with only negligible loss of accuracy. Accuracy behavior throughout the terminal area, its relation to sensor accuracy, its effect on trajectory tracking errors and control activity in an automatic flight control system, and its adequacy in terms of existing criteria for various terminal area operations are examined. The principal investigative tool is a simulation of the system.
Translational state estimation in terminal area operations, using a set of commonly available position, air data, nd acceleration sensors, is described. Kalman filtering is applied to obtain maximum estimation occuracy from the sensors but feasibility in real-time computations requires a variety of approximations and devices aimed at minimizing the required computation time with only negligible loss of accuracy. Accuracy behavior throughout the terminal area, its relation to sensor accuracy, its effect on trajectory tracking errors and control activity in an automatic flight control system, and its adequacy in terms of existing criteria for various terminal area operations are examined. The principal investigative tool is a simulation of the system. Previously announced in STAR as N83-29193
A one-dimensional, nonperiodic hybrid code in which ion dynamics are treated exactly, while those of electrons are omitted by neglecting electron inertia and pressure, is employed in the simulation of quasi-parallel bow shock structures. It is found that for an Alfven Mach number smaller than 3, the magnetic field profile of the shock is laminar or quasi-laminar, and that the upstream waves are right-hand polarized whistlers. Downstream waves are absent or low in amplitudes. For Alfven Mach numbers greater than 3, the magnetic field profile of the shock is turbulent, and the upstream waves are again right-hand polarized whistlers. The transition from laminar-subcritical to turbulent-supercritical shock structures is shown to be due to the firehose instability which occurs at Alfven Mach numbers greater than about 3.
Two-step flow control adjusts to dimensional changes in purged equipment. Two pressure actuated valves provide two-step control. When turbopump starts, helium flows through both valves. As pump operates its parts expand, clearance decrease and back pressure builds up on valves. At preset back pressure value, one valve closes, reducing helium flow.
Recent observations suggest that the Hall current tends to be highly divergence-free in the westward traveling surge. It is shown in a model calculation that the blockage of the Hall current from closure along field lines leads to a significant reduction of the divergence of the Hall current, but is not divergence-free. The westward electrojet in this models is found to rotate counterclock wise around the leading edge of the surge and merge into the eastward electrojet. The difference in strength between the two electrojets at the head of the surge goes into the upward field-aligned current. It is also shown that the conductivity enhanced by the discrete auroral precipitation does not contribute to the divergence of the Hall current, provided that the electric fields are coplanar along a field line. The above results strongly suggest that the Hall current tends to be highly divergence-free in regions of bright auroral forms, especially in the westward traveling surge.
It is shown that the global convection pattern, the ionospheric current, and the field-aligned current associated with the westward traveling surge in the asymptotic state can be modeled quantitatively as consequences of a blockage of the Hall current from closure in the magnetosphere via field-aligned currents. The conductivity is allowed to increase self-consistently with increasing upward field-aligned current in the model. This inclusion of the self-consistent enhanced ionospheric conductivity due to discrete auroral precipitations is found to generate a localized intense westward electrojet on the poleward side of the Harang discontinuity. The westward electrojet is also found to rotate counterclockwise, merging into the eastward electrojet around the leading edge of the surge. Thus the major features of the westward traveling surge can be reproduced reasonably well in the model.
Dexterous manipulation of a robot hand requires the use of multiple sensors integrated into the mechanical hand under distributed microcomputer control. Where space applications such as construction, assembly, servicing and repair tasks are desired of smart robot arms and robot hands, several critical drives influence the design, engineering and integration of such an electromechanical hand. This paper describes a smart robot hand developed at the Jet Propulsion Laboratory for experimental use and evaluation with the Protoflight Manipulator Arm (PFMA) at the Marshall Space Flight Center (MSFC).
Collection of programs supports robotic research. Report describes computer-vision software library NASA's Jet Propulsion Laboratory. Programs evolved during past 10 years of research into robotics. Collection includes low- and high-level image-processing software proved in applications ranging from factory automation to spacecraft tracking and grappling. Programs fall into several overlapping categories. Image utilities category are low-level routines that provide computer access to image data and some simple graphical capabilities for displaying results of image processing.
The westward traveling surge and the Pi2 pulsations are simulated as a consequence of an enhanced magnetospheric convection in a model of magnetosphere coupling. The coupling is characterized by the bouncing of Alfven waves launched by the enhanced convection. The reflection of Alfven waves from the ionosphere is treated in which the height-integrated conductivity is allowed to be highly nonuniform and fully anisotropic. The reflection of Alfven waves from the magnetosphere is characterized by the coefficient Rm, depending on whether the field lines are open or closed. The conductivity in the model is self-consistently enhanced with increasing upward field-aligned current density. The results of the simulation, including the convection pattern, the electrojets, the field-aligned current, the conductivity enhancement, the oscillation of the westward electrojet, and the average speed of the westward surge are in reasonable agreement with the features of the westward traveling surge and the Pi 2 pulsations observed during substorms.
A comprehensive static aerodynamic simulation model of the 8 by 8 by 20 ft MILVAN cargo container is determined by combining the wind tunnel data from a 1972 NASA Ames Research Center study taken over the restricted domain (0 is less than or equal to phi is less than or equal to 90 degrees; 0 is less than or equal to alpha is less than or equal to 45 degrees) with extrapolation relations derived from the geometric symmetry of rectangular boxes. It is found that the aerodynamics of any attitude can be defined from the aerodynamics at an equivalent attitude in the restricted domain (0 is less than phi is less than 45 degrees; 0 is less than alpha is less than 90 degrees). However, a similar comprehensive equivalence with the domain spanned by the data is not available; in particular, about two-thirds of the domain with the absolute value of alpha is greater than 45 degrees is unrelated to the data. Nevertheless, as estimate can be defined for this region consistent with the measured or theoretical values along its boundaries and the theoretical equivalence of points within the region. These descrepancies are assumed to be due to measurement errors. Data from independent wind tunnel studies are reviewed; these are less comprehensive than the NASA Ames Research Center but show good to fair agreement with both the theory and the estimate given here.
The NASA Computer Graphics Pilot Project was undertaken to enhance the quality control, productivity and efficiency of mission support operations at the Goddard Operations Support Computing Facility. The Project evolved into a set of demonstration programs for graphics intensive simulated control room operations, particularly in connection with the complex space missions that began in the 1980s. Complex mission mean more data. Graphic displays are a means to reduce the probabilities of operator errors. Workstations were selected with 1024 x 768 pixel color displays controlled by a custom VLSI chip coupled to an MC68010 chip running UNIX within a shell that permits operations through the medium of mouse-accessed pulldown window menus. The distributed workstations run off a host NAS 8040 computer. Applications of the system for tracking spacecraft orbits and monitoring Shuttle payload handling illustrate the system capabilities, noting the built-in capabilities of shifting the point of view and rotating and zooming in on three-dimensional views of spacecraft.
The equilibrium characteristics of a dual-lift helicopter system are examined. The system consists of the cargo attached by cables to the endpoints of a spreader bar which is suspended by cables below two helicopters. Results are given for the orientation angles of the suspension system and its internal forces, and for the helicopter thrust vector requirements under general circumstances, including nonidentical helicopters, any accelerating or static equilibrium reference flight condition, any system heading relative to the flight direction, and any distribution of the load to the two helicopters. Optimum tether angles which minimize the sum of the required thrust magnitudes are also determined. The analysis does not consider the attitude degrees of freedom of the load and helicopters in detail, but assumes that these bodies are stable, and that their aerodynamic forces in equilibrium flight can be determined independently as functions of the reference trajectory. The ranges of these forces for sample helicopters and loads are examined and their effects on the equilibrium characteristics are given parametrically in the results.
A device for human operator control of a robotic gripper has been developed and preliminary evaluation has been performed. The JPL Force Reflecting Hand Trigger system features an instrumented index finger trigger with load cell detection of finger force, a servo-controlled, lead-screw-driven backdrive capability by which the trigger's position can be made to follow that of the remotely controlled gripper, and a novel feedback mechanism by which clamping force or some other signal can be fed back by a swiveling motion, also servo-controlled, of the trigger surface (force reflection). This system has undergone preliminary testing in which the amount of force reflection is varied and dynamic force-tracking response is observed.