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NASA NTRS1989

Experimental constraints on metric and non-metric theories of gravity

Experimental constraints on metric and non-metric theories of gravitation are reviewed. Tests of the Einstein Equivalence Principle indicate that only metric theories of gravity are likely to be viable. Solar system experiments constrain the parameters of the weak field, post-Newtonian limit to be close to the values predicted by general relativity. Future space experiments will provide further constraints on post-Newtonian gravity.

Will, Clifford M.↗

NASA NTRS1990

Smart hands for the EVA retriever

Dexterous, robotic hands are required for the extravehicular activity retriever (EVAR) system being developed by the NASA Johnson Space Center (JSC). These hands, as part of the EVAR system, must be able to grasp objects autonomously and securely which inadvertently separate from the Space Station. Development of the required hands was initiated in 1987. Outlined here are the hand development activities, including design considerations, progress to date, and future plans. Several types of dexterous hands that were evaluated, along with a proximity-sensing capability that was developed to initiate a reflexive, adaptive grasp, are described. The evaluations resulted in the design and fabrication of a 6-degree-of-freedom (DOF) hand that has two fingers and a thumb arranged in an anthropomorphic configuration. Finger joint force and position sensors are included in the design, as well as infrared proximity sensors which allow initiation of the grasp sequence when an object is detected within the grasp envelope.

Hess, Clifford W.↗

NASA NTRS1990

A real-time robot arm collision detection system

A data structure and update algorithm are presented for a prototype real time collision detection safety system for a multi-robot environment. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3-D space into eight equal cubic octants until each octant meets some decomposition criteria. The octree stores cylspheres (cylinders with spheres on each end) and rectangular solids as primitives (other primitives can easily be added as required). These primitives make up the two seven degrees-of-freedom robot arms and environment modeled by the system. Octree nodes containing more than a predetermined number N of primitives are decomposed. This rule keeps the octree small, as the entire environment for the application can be modeled using a few dozen primitives. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Incidents in which one robot arm comes too close to another arm or an object are reported. Cycle time for interpreting current joint angles, updating the octree, and detecting/reporting imminent collisions averages 30 milliseconds on an Intel 80386 processor running at 20 MHz.

Shaffer, Clifford A.↗

NASA NTRS1989

The MFIVE Space Station Crew Activity Scheduler and Stowage Logistics Clerk

An interactive computer scheduling tool, the MFIVE Space Station Crew Activity Scheduler and Stowage Logistics Clerk, is described. The MFIVE employs the intelligent perturbation method, which was developed to schedule complex time and resource constrained problems. This algorithm was used to minimize the completion time of sample scheduling problems and solutions were derived which averaged within 7 percent of optimum where standard solution techniques gave solutions 23 percent longer than optimum.

Kurtzman, Clifford R.↗

NASA NTRS1988

Predicted performance of near-optimally designed indium phosphide space solar cells at high intensities and temperatures

The authors calculated the expected performance dependence of near-optimally designed shallow homojunction n+pp+ InP solar cells on incident intensities up to 200 AM0 and temperatures up to 100 deg C (373 K). Both circular and rectangular cells were considered, the former for use in a Cassegrainian concentrator array at 100 AM0, 80-100 deg C and the latter for use in a Slats concentrator array at 20 AM0, 80-100 deg C. With efficiencies near 22 percent at 80 deg C, both the circular and rectangular InP shallow homojunction solar cells compare very favorably to GaAs cells of the same design and may be preferable to the GaAs cells for space applications because of the superior radiation tolerance of the InP cells.

Goradia, Chandra↗

NASA NTRS1989

Application of biocatalysts to Space Station ECLSS and PMMS water reclamation

Immobilized enzyme reactors have been developed and tested for potential water reclamation applications in the Space Station Freedom Environmental Control and Life Support System (ECLSS) and Process Materials Management System (PMMS). The reactors convert low molecular weight organic contaminants found in ECLSS and PMMS wastewaters to compounds that are more efficiently removed by existing technologies. Demonstration of the technology was successfully achieved with two model reactors. A packed bed reactor containing immobilized urease was found to catalyze the complete decomposition of urea to by-products that were subsequently removed using conventional ion exchange results. A second reactor containing immobilized alcohol oxidase showed promising results relative to its ability to convert methanol and ethanol to the corresponding aldehydes for subsequent removal. Preliminary assessments of the application of biocatalysts to ECLSS and PMMS water reclamation sytems are presented.

Jolly, Clifford D.↗

NASA NTRS1989

Recovery of hygiene water by multifiltration

A multifiltration hygiene water reclamation process that utilizes adsorption and particulate filtration techniques is described and evaluated. The applicability of the process is tested using a simulation of a 4-man subsystem operation for 240 days. It is proposed the process has a 10 year life, weighs 236 kg, and uses 88 kg of expendable filters and adsorption beds to process 8424 kg of water. The data reveal that the multifiltration is an efficient nonphase change technique for hygiene water recovery and that the chemical and microbiological purity of the product water is within the standards specified for the Space Station hygiene water.

Putnam, David F.↗

NASA NTRS1990

Flight-measured streamwise disturbance instabilities in laminar flow

NASA is presently conducting laminar-flow flight research to explore the limits of practical applications of laminar-flow drag reduction technology. An important aspect of this research involves studies of the dominant instability or instabilities responsible for initiating the transition process from laminar to turbulent flow. Recent subsonic flight experiments using an instrumented wing glove on a Lear 28/29 airplane measured the growth of the two-dimensional, viscous Tollmien-Schlichting (T-S) instability. The gloved wing section incorporated closely-spaced, flush-mounted, streamwise-located instrumentation for measuring the instability frequencies, surface temperatures, and pressure distributions. Flight conditions of the experiment includeed Mach numbers from 0.70 to 0.79 and chord Reynolds numbers from 10 to 20 million. An onboard engineer's station allowed for real-time analysis of the instability frequency data. In addition to a sample of results on the streamwise growth of instabilities, details of the glove and sensor installation and the onboard real-time data analysis system are given.

Lee, Cynthia C.↗

NASA NTRS1989

Testing general relativity in space-borne and astronomical laboratories

The current status of space-based experiments and astronomical observations designed to test the theory of general relativity is surveyed. Consideration is given to tests of post-Newtonian gravity, searches for feeble short-range forces and gravitomagnetism, improved measurements of parameterized post-Newtonian parameter values, explorations of post-Newtonian physics, tests of the Einstein equivalence principle, observational tests of post-Newtonian orbital effects, and efforts to detect quadrupole and dipole radiation damping. Recent numerical results are presented in tables.

Will, Clifford M.↗

NASA NTRS1991

Treating Wastewater With Immobilized Enzymes

Experiments show enzymes are immobilized on supporting materials to make biocatalyst beds for treatment of wastewater. With suitable combination of enzymes, concentrations of various inorganic and organic contaminants, including ammonia and urea, reduced significantly.

Jolly, Clifford D.↗

NASA NTRS1991

Liquid-Crystal Coats Help Make Flows Visible

Visible indication of transition of boundary layer from laminar to turbulent flow plays important role in aerodynamic tests in wind tunnels and in flight. In newly developed method, liquid-crystal coats used to make visible such features of boundary-layer flows as transitions, separations, and locations of shocks. Changes of color rapid and reversible. For flight applications, provides capability for making transitions visible throughout almost entire altitude and speed ranges of subsonic aircraft. Also applicable to visible indication of supersonic flows and suitable for general use in high- and low-speed wind-tunnel and water-tunnel testing.

Holmes, Bruce J.↗

NASA NTRS1990

Rapid mix concepts for low emission combustors in gas turbine engines

NASA LeRC has identified the Rich burn/Quick mix/Lean burn (RQL) combustor as a potential gas turbine combustor concept to reduce NOx emissions in High Speed Civil Transport (HSCT) aircraft. To demonstrate reduced NOx levels, NASA LeRC soon will test a flametube version of an RQL combustor. The critical technology needed for the RQL combustor is a method of quickly mixing combustion air with rich burn gases. Two concepts were proposed to enhance jet mixing in a circular cross-section: the Asymmetric Jet Penetration (AJP) concept; and the Lobed Mixer (LM) concept. In Phase 1, two preliminary configurations of the AJP concept were compared with a conventional 12-jet radial-inflow slot design. The configurations were screened using an advanced 3-D Computational Fluid Dynamics (CFD) code named REFLEQS. Both non-reacting and reacting analyses were performed. For an objective comparison, the conventional design was optimized by parametric variation of the jet-to-mainstream momentum flux (J) ratio. The optimum J was then employed in the AJP simulations. Results showed that the three-jet AJP configuration was superior in overall mixedness compared to the conventional design. However, in regards to NOx emissions, the AJP configuration was inferior. The higher emission level for AJP was caused by a single hot spot located in the wake of the central jet as it entered the combustor. Ways of maintaining good mixedness while eliminating the hot spot were identified for Phase 2 study. Overall, Phase 1 showed the viability of using CFD analyses to evaluate quick-mix concepts. A high probability exists that advancing mixing concepts will reduce NOx emissions in RQL combustors, and should be explored in Phase 2, by parallel numerical and experimental work.

Talpallikar, Milind V.↗

NASA NTRS1991

Chemical approaches to carbon dioxide utilization for manned Mars missions

Use of resources available in situ is a critical enabling technology for a permanent human presence in space. A permanent presence on Mars, e.g., requires a large infrastructure to sustain life under hostile conditions. As a resource on Mars, atmospheric CO2 is as follows: abundant; available at all points on the surface; of known presence; chemically simple; and can be obtained by simple compression. Many studies focus on obtaining O2 and the various uses for O2 including life support and fuel; discussion of CO, the coproduct from CO2 fixation revolves around its uses as a fuel, being oxidized back to CO2. Several new proposals are studied for CO2 fixation through chemical, photochemical, and photoelectrochemical means. For example, the reduction of CO2 to hydrocarbons such as acetylene (C2H2) can be accomplished with H2. C2H2 has a theoretical vacuum specific impulse of approx. 375 secs. Potential uses were also studied of CO2, as obtained or further reduced to carbon, as a reducing agent in metal oxide processing to form metals or metal carbides for use as structural or power materials; the CO2 can be recycled to generate O2 and CO.

Hepp, Aloysius F.↗

NASA NTRS1990

Heteroepitaxial InP solar cells on Si and GaAs substrates

The characteristics of InP cells processed from thin layers of InP heteroepitaxially grown on GaAs, on silicon with an intervening GaAs layer, and on GaAs with intervening Ga(x)In(1-x)As layers are described, and the factors affecting cell efficiency are discussed. Under 10 MeV proton irradiations, the radiation resistances of the heteroepitaxial cells were superior to that of homoepitaxial InP cells. The superior radiation resistance is attributed to the high dislocation densities present in the heteroepitaxial cells.

Weinberg, Irving↗

NASA NTRS1990

Method and apparatus for positioning a robotic end effector

A robotic end effector and operation protocol for a reliable grasp of a target object irrespective of the target's contours is disclosed. A robotic hand includes a plurality of jointed fingers, one of which, like a thumb, is in opposed relation to the other. Each finger is comprised of at least two jointed sections, and provided with reflective proximity sensors, one on the inner surface of each finger section. Each proximity sensor comprises a transmitter of a beam of radiant energy and means for receiving reflections of the transmitted energy when reflected by a target object and for generating electrical signals responsive thereto. On the fingers opposed to the thumb, the proximity sensors on the outermost finger sections are aligned in an outer sensor array and the sensors on the intermediate finger sections and sensors on the innermost finger sections are similarly arranged to form an intermediate sensor array and an inner sensor array, respectively. The invention includes a computer system with software and/or circuitry for a protocol comprising the steps in sequence of: (1) approach axis alignment to maximize the number of outer layer sensors which detect the target; (2) non-contact contour following the target by the robot fingers to minimize target escape potential; and (3) closing to rigidize the target including dynamically re-adjusting the end effector finger alignment to compensate for target motion. A signal conditioning circuit and gain adjustment means are included to maintain the dynamic range of low power reflection signals.

Hess, Clifford W.↗

NASA NTRS1990

Hypermedia and intelligent tutoring applications in a mission operations environment

Hypermedia, hypertext and Intelligent Tutoring System (ITS) applications to support all phases of mission operations are investigated. The application of hypermedia and ITS technology to improve system performance and safety in supervisory control is described - with an emphasis on modeling operator's intentions in the form of goals, plans, tasks, and actions. Review of hypermedia and ITS technology is presented as may be applied to the tutoring of command and control languages. Hypertext based ITS is developed to train flight operation teams and System Test and Operation Language (STOL). Specific hypermedia and ITS application areas are highlighted, including: computer aided instruction of flight operation teams (STOL ITS) and control center software development tools (CHIMES and STOL Certification Tool).

Ames, Troy↗

NASA NTRS1991

Lessons learned in the development of the STOL intelligent tutoring system

Lessons learned during the development of the NASA Systems Test and Operations Language (STOL) Intelligent Tutoring System (ITS), being developed at NASA Goddard Space Flight Center are presented. The purpose of the intelligent tutor is to train STOL users by adapting tutoring based on inferred student strengths and weaknesses. This system has been under development for over one year and numerous lessons learned have emerged. These observations are presented in three sections, as follows. The first section addresses the methodology employed in the development of the STOL ITS and briefly presents the ITS architecture. The second presents lessons learned, in the areas of: intelligent tutor development; documentation and reporting; cost and schedule control; and tools and shells effectiveness. The third section presents recommendations which may be considered by other ITS developers, addressing: access, use and selection of subject matter experts; steps involved in ITS development; use of ITS interface design prototypes as part of knowledge engineering; and tools and shells effectiveness.

Seamster, Thomas↗

NASA NTRS1990

Long-term propellant/material compatibility

More than 400 test capsules containing liquid propellants in contact with metallic and nonmetallic specimens are now approaching twenty years in JPL's temperature controlled storage facility. A testing program is being established for the systematic analysis of at least half of those capsules. In addition, the results are reported of about 40 recent analyses.

Clifford M. Moran↗