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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1998

Coordinated Studies of Magnetospheric/Ionospheric Coupling and Dynamics in the Diffuse Aurora

The results of the studies carried out under the grant are described in detail in the following publications: Atmospheric Response in Aurora experiment: Observations of E and F region neutral winds in a region of postmidnight diffuse aurora; Walterscheid, Modified geostrophy in the thermosphere, ARIA II neutral flywheel-driven field-aligned currents in the postmidnight sector of the auroral oval: A case study; Observations of unstable atmospheric shear layers in the lower E region in the post-midnight auroral oval; and Depletion of oxygen in aurora: Evidence for a local mechanism. The objective of the Atmospheric Response in Aurora (ARIA) experiment was to measure the response of the E-region neutral flow to substorm activity in the post-midnight sector of the auroral oval. To this end, neutral wind profiles were obtained from a series of four sets of rocket flights using the chemical release technique. The measurements covered conditions ranging from quiet to disturbed. A consistent feature of the observed winds in disturbed conditions is the presence of an E-region jet located between approximately 110 and 120 km altitude. The profiles presented here show that the neutral wind speeds near 110-120 km altitude increase and the hodographs become more elongated or linear in response to higher magnetic activity levels. The wind speeds decrease and the hodographs become more circular as the activity level decreases. The presence of a wind maximum implies shears both above and below. The observations consistently show larger shears below the peak and smaller shears above. In fact, the bottom-side shears during disturbed conditions have Richardson numbers close to or below the critical value of 0.25 suggesting that the flow is highly unstable in that height range. The instability is expected to produce waves, turbulence, and enhanced diffusivity.

Larsen, M. F.↗
NASA NTRS1998

Current concepts in the pathophysiology, evaluation, and diagnosis of compartment syndrome

This article reviews present knowledge of the pathophysiology and diagnosis of acute compartment syndromes. Recent results using compression of legs in normal volunteers provide objective data concerning local pressure thresholds for neuromuscular dysfunction in the anterior compartment. Results with this model indicate that a progression of neuromuscular deficits occurs when IMP increases to within 35 to 40 mm Hg of diastolic blood pressure. These findings provide useful information on the diagnosis and compression thresholds for acute compartment syndromes. Time factors are also important, however, and usually are incompletely known in most cases of acute compartment syndrome. Although the slit catheter is a very good technique for monitoring IMP during rest, these catheters and their associated extracorporeal transducer systems are not ideal. Recently developed miniature transducer-tipped catheters and, perhaps, future development of noninvasive techniques may provide accurate recordings of IMP in patients with acute compartment syndromes.

NASA Discipline Cardiopulmonary↗
NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗
NASA NTRS2014

Exploring Mars for Evidence of Habitable Environments and Life

The climate of Mars has been more similar to that of Earth than has the climate of any other planet in our Solar System. But Mars still provides a valuable alternative example of how planetary processes and environments can affect the potential presence of life elsewhere. For example, although Mars also differentiated very early into a core, mantle and crust, it then evolved mostly if not completely without plate tectonics and has lost most of its early atmosphere. The Martian crust has been more stable than that of Earth, thus it has probably preserved a more complete record of its earliest history. Orbital observations determined that near-surface water was once pervasive. Orbiters have identified the following diverse aqueous sedimentary deposits: layered phyllosilicates, phyllosilicates in intracrater fans, plains sediments potentially harboring evaporitic minerals, deep phyllosilicates, carbonate-bearing deposits, intracrater clay-sulfate deposits, Meridiani-type layered deposits, valles-type layered deposits, hydrated silica-bearing deposits, and gypsum plains. These features, together with evidence of more vigorous past geologic activity, indicate that early climates were wetter and perhaps also somewhat warmer. The denser atmosphere that was required for liquid water to be stable on the surface also provided more substantial protection from radiation. Whereas ancient climates might have favored habitable environments at least in some localities, clearly much of the Martian surface for most of its history has been markedly less favorable for life. The combination of dry conditions, oxidizing surface environments and typically low rates of sedimentation are not conducive to the preservation of evidence of ancient environments and any biota. Thus a strategy is required whereby candidate sites are first identified and then characterized for their potential to preserve evidence of past habitable environments. Rovers are then sent to explore the most promising candidates. The Mars Exploration Rover (MER) Opportunity revealed that water once flowed to the surface across the vast Meridiani plains, creating saline lakes whose waters were roiled by ancient winds that also sculptured their salt deposits into sand dunes. Opportunity then drove more than 30 km to explore even older deposits on a crater rim. MER Spirit found evidence that thermal waters (heated by volcanism or by impacts?) altered rocks to create sulfate salts, and siliceous sinters. These discoveries indicate that an early hydrological cycle apparently sustained precipitation, streams and lakes. Liquid water participated in rock weathering reactions, such as iron and sulfur oxidation, that created distinctive weathering regimes. Volcanism, impacts, groundwater and ice interacted at least locally. Redox chemical energy from volcanism, hydrothermal activity and weathering of crustal materials would have been available for any life. Thus conditions might have supported life in the past, at least locally. The main objective of the Mars Science Laboratory (MSL) Curiosity rover is to determine the extent to which Gale crater hosted environments capable of supporting microbial life. The rover has already found stream gravels as well as sediments that might have been deposited in an ancient lake. The rover is now traversing to Mt. Sharp, a 5 km-high mound that is located on the crater floor and that exhibits layered sedimentary rocks having diverse minerals (sulfates and clays) that apparently formed in the presence of liquid water. This rock sequence was deposited over an extended time period in diverse potentially habitable watery environments. Curiosity is poised to characterize a a well-preserved rock record of hundreds of millions of years of diverse environments and profound climate change.

layered phyllosilicates↗
NASA NTRS2014

The Use of Software Agents for Autonomous Control of a DC Space Power System

In order to enable manned deep-space missions, the spacecraft must be controlled autonomously using on-board algorithms. A control architecture is proposed to enable this autonomous operation for an spacecraft electric power system and then implemented using a highly distributed network of software agents. These agents collaborate and compete with each other in order to implement each of the control functions. A subset of this control architecture is tested against a steadystate power system simulation and found to be able to solve a constrained optimization problem with competing objectives using only local information.

autonomous control↗
NASA NTRS2020

Supervised Autonomy for Communication-Degraded Subterranean Exploration by a Robot Team

The importance of autonomy in robotics is magnified when the robots need to be deployed and operated in areas that are too dangerous or not accessible for humans, ranging from disaster areas (to assist in emergency situations) to Mars exploration (to uncover the mystery of our neighboring planet). The DARPA Subterranean (SubT) Challenge presents a great opportunity and a formidable robotics challenge to foster such technological advancement for operations in extreme and underground environments. Robot teams are expected to rapidly map, navigate, and search underground environments including natural cave networks, tunnel systems, and urban underground infrastructure. Subterranean environments pose significant challenges for manned and unmanned operations due to limited situational awareness. In the first phase of the DARPA Subterranean Challenge (held in August 2019; targeting underground tunnels and mines), Team CoSTAR, led by NASA JPL, placed second among 11 teams across the world, accurately mapping several kilometers of two mine systems and localizing 17 target objects in the course of four one-hour missions. While the main goal of Team CoSTAR at the end of this threeyear challenge (August 2021) is a fully autonomous robotic solution, this paper describes Team CoSTAR’s results in the first phase of the challenge (August 2019), focusing on supervised autonomy of a multi-robot team under severe communication constraints. This paper also presents the design and initial results obtained from field test campaigns conducted in various tunnel-like environments, leading to the competition.

Otsu, Kyohei↗
NASA NTRS1974

Detection of new celestial objects at far-infrared wavelengths

During a high-altitude balloon flight, sources of far-infrared radiation have been detected with apparent fluxes greater than or about equal to 3 pW/sq cm in the spectral band from 50 to 500 microns. While the sources are not uniquely identifiable with any well-known class of celestial objects, two associations should be noted. Many of the objects lie close to local stars; there is also a tendency to cluster around the ecliptic plane. Alternatively, a new class of celestial objects may have been observed.

Friedlander, M. W.↗
NASA NTRS2001

Aspect-Oriented Programming

Computer science has experienced an evolution in programming languages and systems from the crude assembly and machine codes of the earliest computers through concepts such as formula translation, procedural programming, structured programming, functional programming, logic programming, and programming with abstract data types. Each of these steps in programming technology has advanced our ability to achieve clear separation of concerns at the source code level. Currently, the dominant programming paradigm is object-oriented programming - the idea that one builds a software system by decomposing a problem into objects and then writing the code of those objects. Such objects abstract together behavior and data into a single conceptual and physical entity. Object-orientation is reflected in the entire spectrum of current software development methodologies and tools - we have OO methodologies, analysis and design tools, and OO programming languages. Writing complex applications such as graphical user interfaces, operating systems, and distributed applications while maintaining comprehensible source code has been made possible with OOP. Success at developing simpler systems leads to aspirations for greater complexity. Object orientation is a clever idea, but has certain limitations. We are now seeing that many requirements do not decompose neatly into behavior centered on a single locus. Object technology has difficulty localizing concerns invoking global constraints and pandemic behaviors, appropriately segregating concerns, and applying domain-specific knowledge. Post-object programming (POP) mechanisms that look to increase the expressiveness of the OO paradigm are a fertile arena for current research. Examples of POP technologies include domain-specific languages, generative programming, generic programming, constraint languages, reflection and metaprogramming, feature-oriented development, views/viewpoints, and asynchronous message brokering. (Czarneclu and Eisenecker s book includes a good survey of many of these technologies).

Elrad, Tzilla↗
NASA NTRS1984

Kinematics of Nearby Gas and Stars

The kinematic properties of gas and stars in the solar neighborhood are described in terms of the line of sight component of a three dimensional first order Taylor series expansion of the local velocity field. The types of object analyzed are: (1) 21 cm absorbing clouds; (2) intercloud medium; (3) main sequence B-stars closer than 200 pc; (4) B-stars of luminosity class ranging from I to IV; (5) main sequence A stars; (6) K-giant stars. The least squares fitting procedure used to derive the 10 coefficients describes each of the six velocity fields was essentially the same for comparison. Marked departures from circular motion are found in most cases, but the only systematic trend is a correlation between delta u/delta x and stellar spectral type, where the gas behaves like a medium younger than the early type stars. It is indicated that the standard plane-parallel model provides a good description for the intercloud medium, but is inadequate for the absorbing clouds. A velocity ellipsoid description of the residuals is presented for each type of object. The influence of the Gould belt on local kinematics is discussed.

Goulet, T.↗
NASA NTRS1976

Study of short-haul aircraft operating economics. Phase 2: An analysis of the impact of jet modernization on local service airline operating costs

The objectives of this phase of the study were (1) to assess the 10 year operating cost trends of the local service airlines operating in the 1965 through 1974 period, (2) to glean from these trends the technological and operational parameters which were impacted most significantly by the transition to newer pure jet, short haul transports, and effected by changing fuel prices and cost of living indices, and (3) to develop, construct, and evaluate an operating cost forecasting model which would incorporate those factors which best predicted airline total operating cost behavior over that 10-year period.

Andrastek, D. A.↗
NASA NTRS1994

Vapor generator wand

In low speed wind tunnels it is often desirable to visualize airflow to augment observations made with instruments such as strain and pressure gages. Current technology devices for delivery of a vapor are bulky and thus disrupt local airflow. It is the object of this invention to provide a device capable of delivering a stream of vapor with a minimal effect on local airflow. The present invention achieves this object by utilizing a narrow tube as a heating device for producing the vapor. Running an electrical current through the tube provides resistive heating to a liquid which produces a vapor when boiled. As the entire heating and delivery portion of the device is simply a small cylinder the disruption to airflow within the tunnel is minimized. this allows an experimenter to place the source of vapor fairly close to a model without causing too much change to the model data. The novelty of the present invention lies in reducing the bulk of current technology devices by combining the acts of heating and delivery.

Robelen, David B.↗
NASA NTRS1995

Ionization Nebulae Surrounding CAL 83 and Other Supersoft X-ray Sources

We present the results of an optical search for ionized gaseous nebulae surrounding luminous, "supersoft" X-ray sources in the Large and Small Magellanic Clouds. This relatively new and mysterious X-ray class has characteristic luminosities approximately 10(exp 37) - 10(exp 38) ergs/s with effective temperatures in the range of 2 - 6 x 10(exp 5) K. The presence of a large flux of UV and soft X-ray photons from these objects has led to predictions of bright optical emission lines from the local interstellar medium. One such object, CAL 83 in the LMC, was known to have an associated nebula, and we quantify here the asymmetry and luminosity of this remarkable nebula. Deep images were made using narrowband filters to isolate the emission lines of H.alpha and [O III] (lamda5007). In these emission lines, the nebula is detected out to distances as far as 25 pc from the central object, and the integrated luminosity in each line is of order approximately 100 solar luminosity. Model calculations of such nebulae for chemical abundances characteristic of the LMC indicate that approximately 1% of the X-ray luminosity of the central source is reprocessed into the nebular H.alpha and [O III] lamda5007 emission lines, from which we conclude that the time-averaged X-ray luminosity of the central source, CAL 83, is greater than 3 x 10(exp 37) ergs/s. The bright inner nebula contains approximately 150 solar mass within 7.5 pc of CAL 83, which clearly indicates that the nebular material has its origin in the interstellar medium. In sharp contrast, there were null detections for nebulae associated with nine other luminous, supersoft X-ray sources in the LMC and SMC, with upper limits for the [O III] luminosity that are a factor of approximately 10 below that for CAL 83. For eight of these latter sources, we conclude that either their time-averaged luminosity is substantially below that of CAL 83, or that the local interstellar medium is much less dense. The latter effect may be enhanced by expansion of the ionized nebula during the last several million years.

Remillard, R. A.↗
NASA NTRS1995

Ionization nebulae surrounding CAL 83 and other supersoft X-ray sources

We present the results of an optical search for ionized gaseous nebulae surrounding luminous, 'supersoft' X-ray sources in the Large and Small Magellanic Clouds. This relatively new and mysterious X-ray class has characteristic luminosities approximately 10(exp 37)-10(exp 38) ergs/s with effective temperatures in the range of 2-6 x 10(exp 5) K. The presence of a large flux of UV and soft X-ray photons from these objects has led to predictions of bright optical emission lines from the local interstellar medium. One such object, CAL 83 in the LMC, was known to have an associated nebula, and we quantify here the asymmetry and luminosity of this remarkable nebula. Deep images were made using narowband filters to isolate the emission lines of H alpha and (O III) (lambda 5007). In these emission lines, the nebula is detected out to distances as far as 25 pc from the central object, and the integrated luminositu in each line is of order approximately 100 solar luminosity. Model calculations of such nebulae for chemical abundances characteristic of the LMC indicate that approximately 1% of the X-ray luminosity of the central source is reprocessed into the nebular H-alpha and (O III) lambda 5007 emission lines, from which we conclude that the time-averaged X-ray luminosity of the central source, CAL 83, is greater than 3 x 10(exp 37) ergs/s. The bright inner nebula contains approximately 150 solar mass within 7.5 pc of CAL 83, which clearly indicates that the nebular material has its origin in the interstelar medium. In sharp contrast, there were null detections for nebulae associated with nine other luminous, supersoft X-ray sources in the LMC and SMC, with upper limits for the (O III) luminosity that are a factor of approximately 10 below that for CAL 83. For eight of these latter sources, we conclude that either their time-averaged luminosity is substantially below that of CAL 83, or that the local interstellar medium is much less dense. The latter effect may be enhanced by expansion of the ionized nebula during the last several million years.

Remillard, R. A.↗
NASA NTRS2012

Photogrammetry Tool for Forensic Analysis

A system allows crime scene and accident scene investigators the ability to acquire visual scene data using cameras for processing at a later time. This system uses a COTS digital camera, a photogrammetry calibration cube, and 3D photogrammetry processing software. In a previous instrument developed by NASA, the laser scaling device made use of parallel laser beams to provide a photogrammetry solution in 2D. This device and associated software work well under certain conditions. In order to make use of a full 3D photogrammetry system, a different approach was needed. When using multiple cubes, whose locations relative to each other are unknown, a procedure that would merge the data from each cube would be as follows: 1. One marks a reference point on cube 1, then marks points on cube 2 as unknowns. This locates cube 2 in cube 1 s coordinate system. 2. One marks reference points on cube 2, then marks points on cube 1 as unknowns. This locates cube 1 in cube 2 s coordinate system. 3. This procedure is continued for all combinations of cubes. 4. The coordinate of all of the found coordinate systems is then merged into a single global coordinate system. In order to achieve maximum accuracy, measurements are done in one of two ways, depending on scale: when measuring the size of objects, the coordinate system corresponding to the nearest cube is used, or when measuring the location of objects relative to a global coordinate system, a merged coordinate system is used. Presently, traffic accident analysis is time-consuming and not very accurate. Using cubes with differential GPS would give absolute positions of cubes in the accident area, so that individual cubes would provide local photogrammetry calibration to objects near a cube.

Lane, John↗
NASA NTRS1998

Local Data Integration in East Central Florida Using the ARPS Data Analysis System

This paper describes the Applied Meteorology Unit's (AMU) efforts to configure, implement, and test a version of the Advanced Regional Prediction System (ARPS) Data Analysis System (ADAS; Brewster 1996) that assimilates all available data within 250 km of the Kennedy Space Center (KSC) and the Eastern Range at Cape Canaveral Air Station (CCAS). The objective for running a Local Data Integration System (LDIS) such as ADAS is to generate products which may enhance weather nowcasts and short-range (less than 6 h) forecasts issued in support of ground and aerospace operations at KSC/CCAS. A LDIS such as ADAS has the potential to provide added value because it combines observational data to produce gridded analyses of temperature, wind, and moisture (including clouds) and diagnostic quantities such as vorticity, divergence, etc. at specified temporal and spatial resolutions. In this regard, a LDTS along with suitable visualization tools may provide users with a ignore complete and comprehensive understanding of evolving weather than could be developed by individually examining the disparate data sets over the same area and time. The AMU implemented a working prototype of the ADAS which does not run in real-time. Instead, the AMU is evaluating ADAS through post-analyses of weather events for a warm and cool season case. The case studies were chosen to investigate the capabilities and limitations of a LDIS such as ADAS including the impact of non-incorporation of specific data sources on the utility of the subsequent analyses.

Case, Jonathan↗
NASA NTRS2002

Migration of Matter from the Edgeworth-Kuiper and Main Asteroid Belts to the Earth

The main asteroid belt (MAB), the Edgeworth-Kuiper belt (EKB), and comets belong to the main sources of dust in the Solar System. Most of Jupiter-family comets came from the EKB. Comets can be distracted due to close encounters with planets and the Sun, collisions with small bodies, a nd internal forces. We support the Eneev's idea that the largest objects in the ELB and MAB could be formed directly by the compression of rarefied dust condensations of the protoplanetary cloud but not by the accretion of small (for example, 1-km) planetesimals. The total mass of planetesimals that entered the EKB from the feeding zone of the giant planets during their accumulation could exceed tens of Earth's masses. These planetesimals increased eccentricities of 'local' trans-Neptunian objects (TNOs) and swept most of these TNOs. A small portion of such planetesimals could left beyond Neptune's orbit in highly eccentric orbits. The results of previous investigations of migration and collisional evolution of minor bodies were summarized. Mainly our recent results are presented.

Ipatov. S. I.↗