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The purpose of the RPI composites program is to develop advanced technology in the areas of physical properties, structural concepts and analysis, manufacturing, reliability and life prediction. Concommitant goals are to educate engineers to design and use composite materials as normal or conventional materials. A multifaceted program was instituted to achieve these objectives.
The concept and design of a dynamic test platform for development and evluation of a robot vision system is discussed. The platform is to serve as a diagnostic and developmental tool for future work with the RPI Mars Rover's multi laser/multi detector vision system. The platform allows testing of the vision system while its attitude is varied, statically or periodically. The vision system is mounted on the test platform. It can then be subjected to a wide variety of simulated can thus be examined in a controlled, quantitative fashion. Defining and modeling Rover motions and designing the platform to emulate these motions are also discussed. Individual aspects of the design process are treated separately, as structural, driving linkages, and motors and transmissions.
The deblocking process in a circuit breaker nozzle is similar to the flow starting process in a shock tunnel, and the computer uses this analogy to solve for the deblocking process by utilizing a diaphragm at the throat of a nozzle. At time equal to zero the diaphragm is broken and the throat area increases with time. It is a rarity to have the area as a function of both time and distance. Experimental data obtained from the RPI calibration shock tunnel are utilized to verify some of the calculated results with the area being a function of distance and the agreement is found to be good. The circuit breaker designer can utilize the computer simulation to estimate the deblocking time, an important parameter in the design of circuit breakers.
An investigation of the passive shock wave/boundary layer control for reducing the drag of 14 percent-thick supercritical airfoil was conducted in the 3 in. x 15.4 in. RPI Transonic Wind Tunnel at transonic Mach numbers. Various porous surfaces with a cavity beneath it was positioned on the area of the airfoil, mounted on the test section bottom wall, where the shock wave occurs. The static pressure distributions over the airfoil, the wake impact pressure survey for determining the profile drag and the Schlieren photographs for porous surfaces are presented and compared with the results for solid surface airfoil. With a uniform porosity surface the normal shock wave for solid surface was changed to a lambda shock wave, and the wake impact pressure data indicated an appreciable drag reduction at transonic Mach numbers. For a free stream Mach number of 0.81 the profile drag coefficient for the airfoil top surface with uniform porosity was 46 percent lower than for the solid surface airfoil.
The passive shock wave/boundary layer control for reducing the drag of 14%-thick supercritical airfoil was investigated in the 3 in. x 15.4 in. RPI Transonic Wind Tunnel with and without the top wall insert at transonic Mach numbers. Top wall insert was installed to increase the flow Mach number to 0.90 with the model mounted on the test section bottom wall. Various porous surfaces with a cavity underneath were positioned on the area of the airfoil where the shock wave occurs. The higher pressure behind the shock wave circulates flow through the cavity to the lower pressure ahead of the shock wave. The effects from this circulation prevent boundary layer separation and enthropy increase hrough the shock wave. The static pressure distributions over the airfoil, the wake impact pressure survey for determining the profile drag and the Schlieren photographs for porous surfaces are presented and compared with the results for solid surface airfoil. With a 2.8% uniform porosity the normal shock wave for the solid surface was changed to a lambda shock wave, and the wake impact pressure data indicate a drag coefficient reduction as much as 45% lower than for the solid surface airfoil at high transonic Mach numbers.
Enhancement of FPI temperatures above quiet levels was observed a few hours after the start of magnetic activity. Magnitude of this enhancement is about 300 degrees. This is followed by relaxation to prestorm levels. Apparent average offset of RPI temperatures from mass spectrometer incoherent scatter radar by 100 to 200 degrees for relatively quiet times is also observed. There was a definite suggestion of a midnight thermal enhancement for April and August data, with a magnitude of about 100 degrees, seen in both 1983 and 1984 observations. There was a definite enhancement of 6300A surface brightness in the south as compared with other directions, probably connected to the tropical airglow arcs. Meridional winds were small (less than 25 m/s) throughout night. Indication of northward migration of the observed 6300A enhancement in the evening hours as observations approach local winter solstice. This is probably related to the observed poleward (to the south) meridional wind (of magnitude 50 m/s) in this period. Zonal component of winds always eastward, but speed approaches zero sooner near equinox than at summer solstice. Typical magnitude at peak is of order 100 to 150 m/s. Suggestion of zonal wind increase after twilight and recovery of 6300A emission for April data. Origin not clear but may be related to midnight thermal enhancement. Meridional wind virtually zero for equinox in 1983; shows evening flow towards winter hemisphere in early evening for solstice data. Suggestion of post-midnight surge in April 1984 data. No major effects associated with magnetic storm activity, but a suggestion of decrease in zonal component below nominal levels.
Engineering Automation at Northrop encompasses the various design and analytical phases of air vehicle development. Design systems addresses automation of engineering/tooling design and computer aided manufacturing processes. The analysis systems automate aeroelastic modeling and postprocessing analysis results. These systems interface with aircraft loft and geometric entities thru localized transfer techniques. However, total integration effort based on a geometric database nucleus with peripheral design, analytical and manufacturing systems is well underway. An outline of the present and future trends is presented to help channel the RPI effort in this direction.
Traction tests were performed on RPI, a common kerosene-based rocket propellant. Traction data on this fluid are required for purposes of turbopump bearing design, using such codes as SHABERTH. To obtain the traction data, an existing twin disk machine was used, operating under the side slip mode and using elliptical contacts. The resulting traction curves were reduced to fundamental fluid property parameters using the Johnson and Tevaarwerk traction model. Theoretical traction predictions were performed by back substitution of the fundamental properties into the traction model. Comparison of the predicted with the measured curves gives a high degree of confidence in the correctness of the traction model.
As part of a program to determine the capabilities of Telescience as applied to Microgravity Materials Science the need for a remotely controlled microscope was recognized. For this purpose we equipped a microscope with an X-Y-Z positioning device and motors on the zoom and focus controls. Computer control of these devices allowed remote operation. A standard TV camera was mounted to the computer controlled video board which could compress the image in resolution and grey scale. The operator control console was programmed to display three still video pictures as well as provide command access. A standard data transfer network was used to transmit the video data files and the command interaction was via a high speed phone modem. This system, with the microscope in the Microgravity Materials Science Laboratory (MMSL) at LeRC and the control at RPI, was used to determine the accuracy of setting, time required to achieve setting and the operator ease factor. It was found that the focus setting could be established well within the resolution limit of the TV system and that each motion took about 50 seconds and approximately 12 minutes was required to reach ?best? focus. These times could be reduced significantly with operator experience. The operators were provided with ancillary equipment which provided assistance in making the necessary decisions and they reported satisfaction with the control.
Rensselaer Polytechnic Institute has been developing a transatmospheric 'Lightcraft' technology which uses beamed laser energy to propel advanced shuttle craft to orbit. In the past several years, Rensselaer students have analyzed the unique combined-cycle Lightcraft engine, designed a small unmanned Lightcraft Technology Demonstrator, and conceptualized larger manned Lightcraft - to name just a few of the interrelated design projects. The 1990-91 class carried out preliminary and detailed design efforts for a one-person 'Mercury' Lightcraft, using computer-aided design and finite-element structural modeling techniques. In addition, they began construction of a 2.6 m-diameter, full-scale engineering prototype mockup. The mockup will be equipped with three robotic legs that 'kneel' for passenger entry and exit. More importantly, the articulated tripod gear is crucial for accurately pointing at, and tracking the laser relay mirrors, a maneuver that must be performed just prior to liftoff. Also accomplished were further design improvements on a 6-inch-diameter Lightcraft model (for testing in RPI's hypersonic tunnel), and new laser propulsion experiments. The resultant experimental data will be used to calibrate Computational Fluid Dynamic (CFD) codes and analytical laser propulsion models that can simulate vehicle/engine flight conditions along a transatmospheric boost trajectory. These efforts will enable the prediction of distributed aerodynamic and thruster loads over the entire full-scale spacecraft.
Construction, repair, and maintenance of space-based structures will require extensive planning of operations in order to effectively carry out these tasks. The path planning algorithm described here is a general approach to generating paths that guarantee collision avoidance for a single chain nonredundant or redundant robot. The algorithm uses a graph search of feasible points in position space, followed by a local potential field method that guarantees collision avoidance among objects, structures, and the robot arm as well as conformance to joint limit constraints. This algorithm is novel in its computation of goal attractive potential fields in Cartesian space, and computation of obstacle repulsive fields in robot joint space. These effects are combined to generate robot motion. Computation is efficiently implemented through the computation of the robot arm Jacobian and not the full inverse arm kinematics. These planning algorithms have been implemented and evaluated using existing space-truss designs, and are being integrated into the RPI-CIRSSE Testbed environment.
The overall goal for this NASA/USRA-sponsored 'Apollo Lightcraft Project' is to develop a revolutionary launch vehicle technology that can reduce payload transport costs by a factor of 1000 below the Space Shuttle Orbiter. The RPI design team proposes to utilize advanced, highly energetic, beamed-energy sources (laser, microwave) and innovative combined-cycle (airbreathing/rocket) engines to accomplish this goal. This second year focused on systems integration and analysis of the 'Apollo Lightcraft'. This beam-powered, single-stage-to-orbit vehicle is envisioned as the globe-trotting family shuttlecraft of the 21st century. Detailed investigations of the Apollo Lightcraft Project during the second year of study helped evolve the propulsion system design, while focusing on the following areas: (1) man/machine interface; (2) flight control systems; (3) power beaming system architecture; (4) reentry aerodynamics; (5) shroud structural dynamics; and (6) optimal trajectory analysis.
Rensselaer Polytechnic Institute has been developing transatmospheric 'Lightcraft' technology aimed at creating an efficient, economically affordable, hypersonic mass transportation system. The system utilizes laser-energized airbreathing engines to accelerate minimum-volume passenger capsules. The system gains a high level of reliability by using remote 'centralized' space power sources, e.g., satellite solar power stations. The most critical portion of the Lightcraft's acceleration trajectory involves flight propulsion at hypersonic velocities within the Earth's atmosphere, using a 'Magneto-Hydro-Dynamic (MHD) Fanjet' mode. Of all the propulsion modes proposed for the Lightcraft's combined-cycle engine, the MHD-Fanjet mode has received the least critical inquiry, largely because of its complexity. During the 1991-1992 academic year, Rensselaer's ADP teams produced a detailed conceptual design for the MHD-Fanjet engine, including the specific details of its integration with the other three propulsive modes. To facilitate this process, students built a full-scale mockup of a 1/12th section of this annular engine, complete with a working model of the shroud translation system. The class also made preliminary design calculations for the double-dipole, 'cuspfield' superconducting magnets that provide the external magnetic field needed by the MHD air accelerator, as well as for an onboard microwave power system to enhance the electrical conductivity of the air plasma working fluid. In addition, a large hypersonic model of the MHD accelerator was designed for future tests in RPI's Hypersonic Shock Tunnel in order to validate present analytical performance models. Another group continued design work on a full-sized prototype of a one-person 'Mercury Lightcraft' (a transatmospheric flight simulator), with major emphasis on the detailed design of the major structure, robotic landing gear, and exterior aeroshell.
Papers and abstracts included represent both formal presentations and experimental demonstrations at the Workshop on Selected Topics in Robotics for Space Exploration which took place at NASA Langley Research Center, 17-18 March 1993. The workshop was cosponsored by the Guidance, Navigation, and Control Technical Committee of the NASA Langley Research Center and the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) at RPI, Troy, NY. Participation was from industry, government, and other universities with close ties to either Langley Research Center or to CIRSSE. The presentations were very broad in scope with attention given to space assembly, space exploration, flexible structure control, and telerobotics.
The use of radio sounding techniques for the study of the ionospheric plasma dates back to G. Briet and M. A. Tuve in 1926. Ground based swept frequency sounders can monitor the electron number density (N(sub e)) as a function of height (the N(sub e) profile). These early instruments evolved into a global network that produced high-resolution displays of echo time delay vs frequency on 35-mm film. These instruments provided the foundation for the success of the International Geophysical Year (1958). The Alouette and International Satellites for Ionospheric Studies (ISIS) programs pioneered the used of spaceborne, swept frequency sounders to obtain N(sub e) profiles of the topside of the ionosphere, from a position above the electron density maximum. Repeated measurements during the orbit produced an orbital plane contour which routinely provided density measurements to within 10%. The Alouette/ISIS experience also showed that even with a high powered transmitter (compared to the low power sounder possible today) a radio sounder can be compatible with other imaging instruments on the same satellite. Digital technology was used on later spacecraft developed by the Japanese (the EXOS C and D) and the Soviets (Intercosmos 19 and Cosmos 1809). However, a full coherent pulse compression and spectral integrating capability, such as exist today for ground-based sounders (Reinisch et al., 1992), has never been put into space. NASA's 1990 Space Physics Strategy Implementation Study "The NASA Space Physics Program from 1995 to 2010" suggested using radio sounders to study the plasmasphere and the magnetopause and its boundary layers (Green and Fung, 1993). Both the magnetopause and plasmasphere, as well as the cusp and boundary layers, can be observed by a radio sounder in a high-inclination polar orbit with an apogee greater than 6 R(sub e) (Reiff et al., 1994; Calvert et al., 1995). Magnetospheric radio sounding from space will provide remote density measurements of unprecedented precision and coverage in the plasmasphere, inner magnetosphere and magnetopause, from which the structure, inter-relationship, and variations of different plasma regions can be determined (Armstrong Johnson, 1995). A space-borne Radio Plasma Imager (RPI) could provide a unique global view of the magnetosphere revealing the underlying structure of remote plasma regions, thereby providing a framework for the interpretation of images obtained by other techniques as identified in the technical areas TA1 to TA4 in the MSFC NRA8-8.
Radio plasma imaging uses total reflection of electromagnetic waves from plasmas whose plasma frequencies equal the radio sounding frequency and whose electron density gradients are parallel to the wave normals. The Radio Plasma Imager (RPI) has two orthogonal 500-m long dipole antennas in the spin plane for near omni-directional transmission. The third antenna is a 20-m dipole. Echoes from the magnetopause, plasmasphere and cusp will be received with three orthogonal antennas, allowing the determination of their angle-of-arrival. Thus it will be possible to create image fragments of the reflecting density structures. The instrument can execute a large variety of programmable measuring programs operating at frequencies between 3 kHz and 3 MHz. Tuning of the transmit antennas provides optimum power transfer from the 10 W transmitter to the antennas. The instrument can operate in three active sounding modes: (1) remote sounding to probe magnetospheric boundaries, (2) local (relaxation) sounding to probe the local plasma, and (3) whistler stimulation sounding. In addition, there is a passive mode to record natural emissions, and to determine the local electron density and temperature by using a thermal noise spectroscopy technique.
AZ Technology has been working with NASA MSFC (Marshall Space Flight Center) to find ways to make it easier for remote experimenters (RPI's) to monitor their International Space Station (ISS) payloads in real-time from anywhere using standard/familiar devices. That effort resulted in a product called 'EZStream' which is in use on several ISS-related projects. Although the initial implementation is geared toward ISS, the architecture and lessons learned are applicable to other space-related programs. This paper begins with a brief history on why Internet-based real-time data is important and where EZStream or products like it fit in the flow of data from orbit to experimenter/researcher. A high-level architecture is then presented along with explanations of the components used. A combination of commercial-off-the-shelf (COTS), Open Source, and custom components are discussed. The use of standard protocols is shown along with some details on how data flows between server and client. Some examples are presented to illustrate how a system like EZStream can be used in real world applications and how care was taken to make the end-user experience as painless as possible. A system such as EZStream has potential in the commercial (non-ISS) arena and some possibilities are presented. During the development and fielding of EZStream, a lot was learned. Good and not so good decisions were made. Some of the major lessons learned will be shared. The development of EZStream is continuing and the future of EZStream will be discussed to shed some light over the technological horizon.
AZ Technology has been working with MSFC Ground Systems Department to find ways to make it easier for remote experimenters (RPI's) to monitor their International Space Station (ISS) payloads in real-time from anywhere using standard/familiar devices. AZ Technology was awarded an SBIR Phase I grant to research the technologies behind and advancements of distributing live ISS data across the Internet. That research resulted in a product called "EZStream" which is in use on several ISS-related projects. Although the initial implementation is geared toward ISS, the architecture and lessons learned are applicable to other space-related programs. This paper presents the high-level architecture and components that make up EZStream. A combination of commercial-off-the-shelf (COTS) and custom components were used and their interaction will be discussed. The server is powered by Apache's Jakarta-Tomcat web server/servlet engine. User accounts are maintained in a My SQL database. Both Tomcat and MySQL are Open Source products. When used for ISS, EZStream pulls the live data directly from NASA's Telescience Resource Kit (TReK) API. TReK parses the ISS data stream into individual measurement parameters and performs on-the- fly engineering unit conversion and range checking before passing the data to EZStream for distribution. TReK is provided by NASA at no charge to ISS experimenters. By using a combination of well established Open Source, NASA-supplied. and AZ Technology-developed components, operations using EZStream are robust and economical. Security over the Internet is a major concern on most space programs. This paper describes how EZStream provides for secure connection to and transmission of space- related data over the public Internet. Display pages that show sensitive data can be placed under access control by EZStream. Users are required to login before being allowed to pull up those web pages. To enhance security, the EZStream client/server data transmissions can be encrypted to preclude interception. EZStream was developed to make use of a host of standard platforms and protocols. Each are discussed in detail in this paper. The I3ZStream server is written as Java Servlets. This allows different platforms (i.e. Windows, Unix, Linux . Mac) to host the server portion. The EZStream client component is written in two different flavors: JavaBean and ActiveX. The JavaBean component is used to develop Java Applet displays. The ActiveX component is used for developing ActiveX-based displays. Remote user devices will be covered including web browsers on PC#s and scaled-down displays for PDA's and smart cell phones. As mentioned. the interaction between EZStream (web/data server) and TReK (data source) will be covered as related to ISS. EZStream is being enhanced to receive and parse binary data stream directly. This makes EZStream beneficial to both the ISS International Partners and non-NASA applications (i.e. factory floor monitoring). The options for developing client-side display web pages will be addressed along with the development of tools to allow creation of display web pages by non-programmers.