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NASA NTRS1995

Conceptual Design of a Tiltrotor Transport Flight Deck

A tiltrotor transport has considerable potential as a regional transport, increasing the air transportation system capacity by off-loading conventional runways. Such an aircraft will have a flight deck suited to its air transportation task and adapted to unique urban vertiport operating requirements. Such operations are likely to involve steep, slow instrument approaches for vertical and extremely short rolling take-offs and landings. While much of a tiltrotor transport's operations will be in common with commercial fixed-wing operations, terminal area operations will impose alternative flight deck design solutions. Control systems, displays and guidance, and control inceptors must be tailored to both routine and emergency vertical flight operations. This paper will survey recent experience with flight deck design elements suitable to a tiltrotor transport and will propose a conceptual cockpit design for such an aircraft. A series of piloted simulations using the NASA Ames Vertical Motion Simulator have investigated cockpit design elements and operating requirements for tiltrotor transports operating into urban vertiports. These experiments have identified the need for a flight director or equivalent display guidance for steep final approaches. A flight path vector display format has proven successful for guiding tiltrotor transport terminal area operations. Experience with a Head-Up Display points to the need for a bottom-mounted display device to maximize its utility on steep final approach paths. Configuration control (flap setting and nacelle angle) requires appropriate augmentation and tailoring for civil transport operations, flown to an airline transport pilot instrument flight rules (ATP-IFR) standard. The simulation experiments also identified one thrust control lever geometry as inappropriate to the task and found at least acceptable results with the vertical thrust control lever of the XV-15. In addition to the thrust controller, the attitude control of a tiltrotor transport may be effected through an inceptor other than the current center sticks in the XV-15 and V-22. Simulation and flight investigations of side-stick control inceptors for rotorcraft, augmented by a 1985 flight test of a side-stick controller in the XV-15 suggest the potential of such a device in a transport cockpit.

Decker, William A.↗

NASA NTRS2003

Cooperative Exploration of Rough Martian Terrains with the "Scorpion" Legged Robot as an Adjunct to a Rover.

NASA needs autonomous robotic exploration of difficult (rough and/or steep) scientifically interesting Martian terrains. Concepts involving distributed autonomy for cooperative robotic exploration are key to enabling new scientific objectives in robotic missions. We propose to utilize a legged robot as an adjunct scout to a rover for access to difficult - scientifically interesting - terrains (rocky areas, slopes, cliffs). Our final mission scenario involves the Ames rover platform "K9" and Scorpion acting together to explore a steep cliff, with the Scorpion robot rappelling down using the K9 as an anchor as well as mission planner and executive. Cooperation concepts, including wheeled rappelling robots have been proposed before. Now we propose to test the combined advantages of a wheeled vehicle with a legged scout as well as the advantages of merging of high level planning and execution with biologically inspired, behavior based robotics. We propose to use the 8-legged, multifunctional autonomous robot platform Scorpion that is currently capable of: Walking on different terrains (rocks, sand, grass, ...). Perceiving its environment and modifying its behavioral pattern accordingly. These capabilities would be extended to enable the Scorpion to: communicate and cooperate with a partner robot; climb over rocks, rubble piles, and objects with structural features. This will be done in the context of exploration of rough terrains in the neighborhood of the rover, but inaccessible to it, culminating in the added capability of rappelling down a steep cliff for both vertical and horizontal terrain observation.

Colombano, Silvano P.↗

NASA NTRS2003

Ising model of cardiac thin filament activation with nearest-neighbor cooperative interactions

We have developed a model of cardiac thin filament activation using an Ising model approach from equilibrium statistical physics. This model explicitly represents nearest-neighbor interactions between 26 troponin/tropomyosin units along a one-dimensional array that represents the cardiac thin filament. With transition rates chosen to match experimental data, the results show that the resulting force-pCa (F-pCa) relations are similar to Hill functions with asymmetries, as seen in experimental data. Specifically, Hill plots showing (log(F/(1-F)) vs. log [Ca]) reveal a steeper slope below the half activation point (Ca(50)) compared with above. Parameter variation studies show interplay of parameters that affect the apparent cooperativity and asymmetry in the F-pCa relations. The model also predicts that Ca binding is uncooperative for low [Ca], becomes steeper near Ca(50), and becomes uncooperative again at higher [Ca]. The steepness near Ca(50) mirrors the steep F-pCa as a result of thermodynamic considerations. The model also predicts that the correlation between troponin/tropomyosin units along the one-dimensional array quickly decays at high and low [Ca], but near Ca(50), high correlation occurs across the whole array. This work provides a simple model that can account for the steepness and shape of F-pCa relations that other models fail to reproduce.

Evaluation Studies↗

NASA NTRS2007

Evidence of the Exponential Decay Emission in the Swift Gamma-ray Bursts

We present a systematic study of the steep decay emission of gamma-ray bursts (GRBs) observed by the Swift X-Ray Telescope (XRT). In contrast to the analysis in recent literature, instead of extrapolating the data of Burst Alert Telescope (BAT) down into the XRT energy range, we extrapolated the XRT data up to the BAT energy range, 15-25 keV, to produce the BAT and XRT composite light curve. Based on our composite light curve fitting, we have confirmed the existence of an exponential decay component which smoothly connects the BAT prompt data to the XRT steep decay for several GRBs. We also find that the XRT steep decay for some of the bursts can be well fitted by a combination of a power-law with an exponential decay model. We discuss that this exponential component may be the emission from an external shock and a sign of the deceleration of the outflow during the prompt phase.

Sakamoto, T.↗

NASA NTRS2010

Progress in Development of the Axel Rovers

Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.

Nesnas, Issa A.↗

NASA NTRS2011

An Unlikely Radio Halo in the Low X-Ray Luminosity Galaxy Cluster RXCJ1514.9-1523

Aims: We report the discovery of a giant radio halo in the galaxy cluster RXCJ1514,9-1523 at z=0.22 with a relatively low X-ray luminosity, L(sub X) (0.1-2.4kev) approx. 7 x 10(exp 44) ergs/s. Methods: This faint, diffuse radio source is detected with the Giant Meterwave Radio Telescope at 327 MHz. The source is barely detected at 1.4 GHz in a NVSS pointing that we have reanalyzed. Results: The integrated radio spectrum of the halo is quite steep, with a slope alpha = 1.6 between 327 MHz and 1.4 GHz. While giant radio halos are common in more X-ray luminous cluster mergers, there is a less than 10% probability to detect a halo in systems with L(sub X) < 8 x 10(exp 44) ergs/s. The detection of a new giant halo in this borderline luminosity regime can be particularly useful for discriminating between the competing theories for the origin of ultrarelativistic electrons in clusters. Furthermore, if our steep radio spectral index is confirmed by future deeper radio observations, this cluster would provide another example of the very rare, new class of ultra-steep spectrum radio halos, predicted by the model in which the cluster cosmic ray electrons are produced by turbulent reacceleration.

Marketvitch, M.↗

NASA NTRS2012

Mission Sizing and Trade Studies for Low Ballistic Coefficient Entry Systems to Venus

The U.S and the U.S.S.R. have sent seventeen successful atmospheric entry missions to Venus. Past missions to Venus have utilized rigid aeroshell systems for entry. This rigid aeroshell paradigm sets performance limitations since the size of the entry vehicle is constrained by the fairing diameter of the launch vehicle. This has limited ballistic coefficients (beta) to well above 100 kg/m2 for the entry vehicles. In order to maximize the science payload and minimize the Thermal Protection System (TPS) mass, these missions have entered at very steep entry flight path angles (gamma). Due to Venus thick atmosphere and the steep-gamma, high- conditions, these entry vehicles have been exposed to very high heat flux, very high pressures and extreme decelerations (upwards of 100 g's). Deployable aeroshells avoid the launch vehicle fairing diameter constraint by expanding to a larger diameter after the launch. Due to the potentially larger wetted area, deployable aeroshells achieve lower ballistic coefficients (well below 100 kg/m2), and if they are flown at shallower flight path angles, the entry vehicle can access trajectories with far lower decelerations (~50-60 g's), peak heat fluxes (~400 W/cm2) and peak pressures. The structural and TPS mass of the shallow-gamma, low-beta deployables are lower than their steep-gamma, high-beta rigid aeroshell counterparts at larger diameters, contributing to lower areal densities and potentially higher payload mass fractions. For example, at large diameters, deployables may attain aeroshell areal densities of 10 kg/m2 as opposed to 50 kg/m2 for rigid aeroshells. However, the low-beta, shallow-gamma paradigm also raises issues, such as the possibility of skip-out during entry. The shallow-gamma could also increase the landing footprint of the vehicle. Furthermore, the deployable entry systems may be flexible, so there could be fluid-structure interaction, especially in the high altitude, low-density regimes. The need for precision in guidance, navigation and control during entry also has to be better understood. This paper investigates some of the challenges facing the design of a shallow-gamma, low-beta entry system.

Dutta, Soumyo↗

NASA NTRS1963

Some Flight Characteristics of a Deflected Slipstream V/STOL Aircraft

The Ryan VZ-3RY V/STOL test vehicle was flight tested over the airspeed range from 80 knots to below 6 knots. The deflected slipstream concept proved to be better suited to STOL than VTOL operation. Adverse ground effects prevented operation close to the ground at speeds less than 20 knots and below approximately 15 feet altitude. Steep glide slopes to landing (up to -16 deg) at approximately 40 knots were achieved, but steep, slow, descending flight did not appear feasible. Full-span leading-edge slats markedly increased the descent capability and reduced the minimum level flight speed.

V/STOL AIRCRAFT↗

NASA NTRS1971

Fundamental limitations on V/STOL terminal guidance due to aircraft characteristics

A review is given of limitations on approach flight paths of V/STOL aircraft, including limits on descent angle due to maximum drag/lift ratio. A method of calculating maximum drag/lift ratio of tilt-wing and deflected slipstream aircraft is presented. Derivatives and transfer functions for the CL-84 tilt-wing and X-22A tilt-duct aircraft are presented. For the unaugmented CL-84 in steep descents the transfer function relating descent angle to thrust contains a right-half plane zero. Using optimal control theory, it is shown that this zero causes a serious degradation in the accuracy with which steep flight paths can be followed in the presence of gusts.

Wolkovitch, J.↗

NASA NTRS1972

STEEP32 computer code

A manual is presented as an aid in using the STEEP32 code. The code is the EXEC 8 version of the STEEP code (STEEP is an acronym for shock two-dimensional Eulerian elastic plastic). The major steps in a STEEP32 run are illustrated in a sample problem. There is a detailed discussion of the internal organization of the code, including a description of each subroutine.

Goerke, W. S.↗

NASA NTRS1973

Circadian phase relationships in monkeys

Two adult male pigtail monkeys were placed in an isolated, soundproofed chamber (entered for cleaning only) for a period of six months, during which time their deep body temperatures T sub DB, telemetered from transmitters implanted in the abdominal cavity), fluid intake, urinary output (UV), urinary sodium and potassium were continuously monitored. During the first 3 1/2 months, lights (L) were turned on at 0000 hours, off at 1200 hours. Photoperiod phase was then delayed (light span prolonged) 6 hours to a new schedule: L on at 0600 hours, off at 1800 hours. Six weeks later, photoperiod phase was advanced 6 hours to return to the original schedule. Prior to shift, T sub DB typically began a steep rise 0-5 hours prior to L on, a steep fall 3-4 hours prior to L off, relative plateaus in between. Urinary Na typically peaks 2 hours prior to L off, has a minimum 2-4 hours prior to L on; K tends both to peak and show a minimum 2-8 hours earlier than Na; in contrast, UV peaks at L on, has a minimum 2-6 hours after L off. Upon delaying photoperiod phase, T sub DB shift was completed in 8 days. UV shifted more rapidly but tended to overshoot the new phase. Within 5 days, UV and K completed their shifts, although Na did not fully resynchronize within the 6 week period monitored.

Smith, R. E.↗

NASA NTRS1973

Speed and thickness of the magnetopause.

We have used the finite gyroradius of protons with energies greater than 140 keV to determine the location of the magnetopause when the satellite is within the adjacent steep proton flux gradient. This steep gradient region is usually two to four 140-keV proton gyroradii, or about 1000 to 4000 km thick. The measurements described here were made within 45 deg of the earth-sun line on moderately disturbed days, when proton fluxes were unusually high. On these days, the magnetopause usually moves at a speed of less than 20 km/sec. The magnetopause velocity sometimes changes abruptly, while remaining below 20 km/sec. Very rapid (about 50 km/sec) radial motion appears to be associated with the propagation of single, isolated waves along the magnetopause. The thickness of the electric current sheet that produces the magnetic field rotation in the magnetopause is usually on the order of 10 times the gyroradius of a 1-keV proton, or about 1000 km.

Kaufmann, R. L.↗

NASA NTRS1974

Observation of soft X-ray emission from a region near Per X-1

Soft X-ray emission from the X-ray source Per X-1 was observed in the 0.4-2 keV energy interval from a rocket-borne X-ray detector. Spectral analysis of the data indicates that in the 0.4-2 keV band the X-ray emission from Per X-1 can be fitted either with a power law or a steep thermal bremsstrahlung spectrum. This steep spectrum is inconsistent with the spectrum measured above 2 keV. The measured flux in 0.4-2 keV band corresponds to X-ray luminosity of 3 times 10 to the 45th ergs per second for Per X-1.

Agrawal, P. C.↗

NASA NTRS1974

SAS-2 observations of celestial diffuse gamma radiation above 30 MeV

The small astronomy satellite, SAS-2, used a 32-deck magnetic core digitized spark chamber to study gamma rays with energies above 30 MeV. Data for four regions of the sky away from the galactic plane were analyzed. These regions show a finite, diffuse flux of gamma rays with a steep energy spectrum, and the flux is uniform over all the regions. Represented by a power law, the differential energy spectrum shows an index of 2.5 + or - 0.4. The steep SAS-2 spectrum and the lower energy data are reasonably consistent with a neutral pion gamma-ray spectrum which was red-shifted (such as that proposed by some cosmological theories). It is concluded that the diffuse celestial gamma ray spectrum observed presents the possibility of cosmological studies and possible evidence for a residual cosmic ray density, and supports the galactic superclusters of matter and antimatter remaining from baryon-symmetric big bang.

Thompson, D. J.↗

NASA NTRS1974

A proposed origin of the Olympus Mons escarpment

Olympus Mons (Nix Olympica) on Mars is delimited by a unique steep, nearly circular scarp. A pyroclastic model is proposed for the construct's origin. It is postulated that the Olympus Mons plateau is constructed predominantly of numerous ash-flow tuffs which were erupted from central sources over an extended period of time. Lava flows may be intercalated with the tuffs. A schematic radial profile incorporating the inferred compaction zones for an ash sheet is proposed. Following emplacement, eolian (and possibly fluvial) erosion and abrasion during dust storms would act on the ash sheets. Interior portions of the sheets would spall and slump following eolian erosion, generating steep, relatively smooth boundary scarps. The scarp would be circular due to symmetrical distribution of compaction zones. The model implies further that the Olympus Mons plateau rests on a more resistant rock substrate.

King, J. S.↗

NASA NTRS1976

The log N-log S curve for 3CR radio galaxies and the problem of identifying faint radio galaxies

The log N-log S slope of optically identified galaxies in the 3CR catalog is analyzed for galaxies with flux levels greater than 10 Jy and located at galactic latitudes greater than 7 deg. For the 86 galaxies with known redshifts, the slope is found to be about 1.16; for all 119 galaxies, the slope is found to be about 1.50. If the 113 unidentified sources are included, the slope steepens to about 1.81. It is shown that this steepness is caused by the unidentified sources. Assuming that the slope is due to evolution at redshifts of 1 to 3 and that the unidentified sources are bright ellipticals, the mean redshifts and apparent brightnesses of these galaxies are calculated. The results indicate that it is impossible to observe the unidentified sources with existing ground-based telescopes, implying that it is presently impossible to establish directly that evolution is responsible for the steep log N-log S curve of the 3CR galaxies.

Burbidge, G. R.↗

NASA NTRS1977

SAS-2 observations of the diffuse gamma radiation in the galactic latitude interval 10 deg absolute b or equal to 90 deg

An analysis of all of the second small astronomy satellite gamma-ray data for galactic latitudes with the absolute value of b 10 deg has shown that the intensity varies with galactic latitude, being larger near 10 deg than 90 deg. For energies above 100 MeV the gamma-ray data are consistent with a latitude distribution of the form I(b) = C sub 1 + C sub 2/sin b, with the second term being dominant. This result suggests that the radiation above 100 MeV is coming largely from local regions of the galactic disk. Between 35 and 100 MeV, a similar equation is also a good representation of the data, but here the two terms are comparable. These results indicate that the diffuse radiation above 35 MeV consists of two parts, one with a relatively hard galactic component and the other an isotropic, steep spectral component which extrapolates back well to the low energy diffuse radiation. The steepness of the diffuse isotropic component places significant constraints on possible theoretical models of this radiation.

Fichtel, C. E.↗

NASA NTRS1977

SAS-2 observations of the diffuse gamma radiation in the galactic latitude interval from 10 to 90 deg in both hemispheres

An analysis of all the second Small Astronomy Satellite (SAS-2) gamma-ray data for galactic latitudes higher than 10 deg in both hemispheres has shown that the intensity varies with galactic latitude, being larger near 10 deg than 90 deg. For energies above 100 MeV the gamma-ray data are consistent with a latitude distribution of the form I(b) = C1 + C2/sin b, with the second term being dominant. This result suggests that the radiation above 100 MeV is coming largely from local regions of the galactic disk. Between 35 and 100 MeV, a similar equation is also a good representation of the data, but here the two terms are comparable. These results indicate that the diffuse radiation above 35 MeV consists of two parts, one with a relatively hard galactic component and the other an isotropic steep spectral component which extrapolates back well to the low-energy (less than 10 MeV) diffuse radiation. The steepness of the diffuse isotropic component places significant constraints on possible theoretical models of this radiation.

Fichtel, C. E.↗