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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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At least 127 records · Page 7
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NASA NTRS1992

Flight 20 (STS-45) polysulfide gas path investigation

This report documents the results of the investigation into causes of gas paths on the 20A and 20B case-to-nozzle joints on STS-42. The investigation was conducted by the Investigation Board appointed by the senior vice president and general manager of Space Operations, Mr. R. E. Lindstrom, on 7 Feb. 1992. The probability of gas path occurrence in the nozzle-to-case-joint polysulfide had been identified during joint redesign. However, actual flight gas path incidence has been limited to RSRM-11 and the 20A and 20B segments. The blow-by condition on the 20A segment was a first time occurrence which was a special concern. The investigation covered all technical aspects associated with the gas path and blow-by conditions: materials and processing history, design requirements and as-built compliance to the design, thermal and structural analyses, computer modeling, and laboratory experimentation with the materials involved. The investigation was coordinated with Mr. Ken Jones at NASA Marshall in bi-weekly teleconferences. The Board also supported Dr. James C. Blair's independent NASA investigation team by providing copies of collected data, conducting requested analyses, and supporting several all-day teleconferences to provide understanding and resolve issues. The Dr. Blair support requirement was successfully concluded on 4 Mar. 1992.

Bjorkman, Rey C.↗
NASA NTRS1993

A global approach to kinematic path planning to robots with holonomic and nonholonomic constraints

Robots in applications may be subject to holonomic or nonholonomic constraints. Examples of holonomic constraints include a manipulator constrained through the contact with the environment, e.g., inserting a part, turning a crank, etc., and multiple manipulators constrained through a common payload. Examples of nonholonomic constraints include no-slip constraints on mobile robot wheels, local normal rotation constraints for soft finger and rolling contacts in grasping, and conservation of angular momentum of in-orbit space robots. The above examples all involve equality constraints; in applications, there are usually additional inequality constraints such as robot joint limits, self collision and environment collision avoidance constraints, steering angle constraints in mobile robots, etc. The problem of finding a kinematically feasible path that satisfies a given set of holonomic and nonholonomic constraints, of both equality and inequality types is addressed. The path planning problem is first posed as a finite time nonlinear control problem. This problem is subsequently transformed to a static root finding problem in an augmented space which can then be iteratively solved. The algorithm has shown promising results in planning feasible paths for redundant arms satisfying Cartesian path following and goal endpoint specifications, and mobile vehicles with multiple trailers. In contrast to local approaches, this algorithm is less prone to problems such as singularities and local minima.

Divelbiss, Adam↗
NASA NTRS1994

UV laser long-path absorption spectroscopy

Long path Differential Optical Absorption Spectroscopy (DOAS) using a picosecond UV laser as a light source was developed in our institute. Tropospheric OH radicals are measured by their rotational absorption lines around 308 nm. The spectra are obtained using a high resolution spectrograph. The detection system has been improved over the formerly used optomechanical scanning device by application of a photodiode array which increased the observed spectral range by a factor of 6 and which utilizes the light much more effectively leading to a considerable reduction of the measurement time. This technique provides direct measurements of OH because the signal is given by the product of the absorption coefficient and the OH concentration along the light path according to Lambert-Beers law. No calibration is needed. Since the integrated absorption coefficient is well known the accuracy of the measurement essentially depends on the extent to which the OH absorption pattern can be detected in the spectra. No interference by self generated OH radicals in the detection lightpath has been observed. The large bandwidth (greater than 0.15 nm) and the high spectral resolution (1.5 pm) allows absolute determination of interferences by other trace gas absorptions. The measurement error is directly accessible from the absorption-signal to baseline-noise ratio in the spectra. The applicability of the method strongly depends on visibility. Elevated concentrations of aerosols lead to considerable attenuation of the laser light which reduces the S/N-ratio. In the moderately polluted air of Julich, where we performed a number of OH measurement spectra. In addition absorption features of unidentified species were frequently detected. A quantitative deconvolution even of the known species is not easy to achieve and can leave residual structures in the spectra. Thus interferences usually increase the noise and deteriorate the OH detection sensitivity. Using diode arrays for sensitive absorption measurements some specific problems of those detectors have to be solved experimentally (i.e. fixed pattern noise, dark signal noise, nonuniform efficiency of individual elements, spatial sensitivity variations). In order to improve the low spatial resolution we performed laboratory studies using a multiple reflection cell to convert the long path technique to a real in situ point measurement. Under the conditions of field experiments in Julich residual absorbance signals at present are about 1.5x10(exp -4) corresponding to an OH detection sensitivity of 2x10(exp 6) OH/cm(exp 3) using a light path of 5.8 km. Total integration times for one measurement point vary between a few minutes and an hour.

Dorn, Hans-Peter↗
NASA NTRS1995

A path-oriented knowledge representation system: Defusing the combinatorial system

LIMAP is a programming system oriented toward efficient information manipulation over fixed finite domains, and quantification over paths and predicates. A generalization of Warshall's Algorithm to precompute paths in a sparse matrix representation of semantic nets is employed to allow questions involving paths between components to be posed and answered easily. LIMAP's ability to cache all paths between two components in a matrix cell proved to be a computational obstacle, however, when the semantic net grew to realistic size. The present paper describes a means of mitigating this combinatorial explosion to an extent that makes the use of the LIMAP representation feasible for problems of significant size. The technique we describe radically reduces the size of the search space in which LIMAP must operate; semantic nets of more than 500 nodes have been attacked successfully. Furthermore, it appears that the procedure described is applicable not only to LIMAP, but to a number of other combinatorially explosive search space problems found in AI as well.

Karamouzis, Stamos T.↗
NASA NTRS1994

Characterization of path effects on the properties of balloon films

The effect of stress and temperature path on the mechanical properties of a balloon film material (Astrofilm E2) have been studied using two techniques. The first technique is based on uniaxial tensile measurements of prestrained strips of the film as a function of temperature. Data are analyzed in terms of two temperature coefficients, defined here as a stiffness coefficient and a strength coefficient; and by comparing the areas under the stress-strain curves. The second technique investigated the effect of stress and temperature path on inflated cylinders of the same material. The changes in the mechanical properties due to preconditioning in the biaxial stress state were evaluated using the ball burst test. Preliminary findings indicate that the material is stress and temperature path dependent. Changes in stiffness coefficient, draw strength and toughness were measured and discussed. The above techniques may be suitable to document path dependent changes, and to discriminate among films of different manufacture.

Said, Magdi A.↗
NASA NTRS1995

Multilayer Active Control For Structural Damping And Optical-Path Regulation

Two active-control concepts incorporated into system for suppression of vibrations in truss structure and regulation of length of optical path on structure to nanometer level. Optical-path-length-control subsystem contains two feedback control loops to obtain active damping in wide amplitude-and-frequency range. Concept described in more detail in number of previous articles, including "Stabilizing Optical-Path Length on a Vibrating Structure" (NPO-19040), "Controllable Optical Delay Line for Stellar Interferometry" (NPO-18686), "Test Bed for Control of Optical-Path Lengths" (NPO-18487).

Rahman, Zahidul H.↗
NASA NTRS1995

Accuracy of wet troposphere radio path delay estimated from infrared emission

Several radio science applications require determination of the excess radio-propagation path delay caused by the Earth's atmosphere. These include very long baseline interferometry, spacecraft tracking, and potentially, detection of gravitational waves utilizing a link to a distant interplanetary spacecraft. At Ka band, the major source of variability of path delay is the fluctuations in the moisture content of the troposphere. The path delay characterization requirements for a planned gravitational wave experiment are novel and challenging. the error contribution to the phase observations due to path delay variation must be reduced by nearly two orders of magnitude over that occurring naturally on time scales of 100 to 10,000 seconds. Current approaches relying on microwave water vapor radiometry with ancillary data can deliver one order of magnitude calibration of these fluctuations, and more advanced systems are under development within the 2001-2002 time frame of the Cassini Mission to Saturn. The current work evaluates the potential for an alternative observational approach, using a ground-based Fourier transform spectrometer.

Parker, J. W.↗
NASA NTRS1989

SSME Propellant Path Leak Detection

The complicated high-pressure cycle of the space shuttle main engine (SSME) propellant path provides many opportunities for external propellant path leaks while the engine is running. This mode of engine failure may be detected and analyzed with sufficient speed to save critical engine test hardware from destruction. The leaks indicate hardware failures which will damage or destroy an engine if undetected; therefore, detection of both cryogenic and hot gas leaks is the objective of this investigation. The primary objective of this phase of the investigation is the experimental validation of techniques for detecting and analyzing propellant path external leaks which have a high probability of occurring on the SSME. The selection of candidate detection methods requires a good analytic model for leak plumes which would develop from external leaks and an understanding of radiation transfer through the leak plume. One advanced propellant path leak detection technique is obtained by using state-of-the-art technology infrared (IR) thermal imaging systems combined with computer, digital image processing, and expert systems for the engine protection. The feasibility of IR leak plume detection is evaluated on subscale simulated laboratory plumes to determine sensitivity, signal to noise, and general suitability for the application.

Roger Crawford↗
NASA NTRS1996

A Method to Analyze and Optimize the Load Sharing of Split Path Transmissions

Split-path transmissions are promising alternatives to the common planetary transmissions for rotorcraft. Heretofore, split-path designs proposed for or used in rotorcraft have featured load-sharing devices that add undesirable weight and complexity to the designs. A method was developed to analyze and optimize the load sharing in split-path transmissions without load-sharing devices. The method uses the clocking angle as a design parameter to optimize for equal load sharing. In addition, the clocking angle tolerance necessary to maintain acceptable load sharing can be calculated. The method evaluates the effects of gear-shaft twisting and bending, tooth bending, Hertzian deformations within bearings, and movement of bearing supports on load sharing. It was used to study the NASA split-path test gearbox and the U.S. Army's Comanche helicopter main rotor gearbox. Acceptable load sharing was found to be achievable and maintainable by using proven manufacturing processes. The analytical results compare favorably to available experimental data.

Krantz, Timothy L.↗
NASA NTRS1999

Space Shuttle Solid Rocket Nozzle Joint 2 Gas Path Study

Each Space Shuttle solid rocket nozzle contains five joints. By design, each nozzle joint utilizes room-temperature vulcanized (RTV) rubber as a thermal barrier to protect the nozzle metal parts and O-rings from heat degradation due to motor combustion gas. Typically, combustion gas does not penetrate through the RTV in nozzle Joints. However, Joint currently experiences gas penetration through the RTV over 90 percent of the time. The occurrence of Joint gas paths is a very complex phenomenon with several known contributors such as the unique geometry of the joint, motor pressure, nozzle vectoring, manufacturing induced RTV voids. RTV material capability, and joint skip (relative radial displacement of joint components). The occurrence of Joint gas paths appears to be a combination of these causes. To better understand the causes of gas paths in Joint, the circumferential locations of gas paths in the RTV were identified and correlated with nozzle vectoring, RTV closeour locations (where the RTV backfill is completed), and X-ray low-density. anomaly (LDA) indications. Results that no specific cause was determined.

Lui, R. C.↗
NASA NTRS1999

Climatic Implications of the Observed Temperature Dependence of the Liquid Water Path of Low Clouds in the Southern Great Plains

Satellite observations of low-level clouds have challenged the assumption that adiabatic liquid water content combined with constant physical thickness will lead to a negative cloud optics feedback in a decadal climate change. We explore the reasons for the satellite results using four years of surface remote sensing data from the Atmospheric Radiation Measurement Program Cloud and Radiation Testbed site in the Southern Great Plains of the United States. We find that low cloud liquid water path is approximately invariant with temperature in winter but decreases strongly with temperature in summer, consistent with the satellite inferences at this latitude. This behavior occurs because liquid water content shows no detectable temperature dependence while cloud physical thickness decreases with warming. Thinning of clouds with warming is observed on seasonal, synoptic, and diurnal time scales; it is most obvious in the warm sectors of baroclinic waves. Although cloud top is observed to slightly descend with warming, the primary cause of thinning is the ascent of cloud base due to the reduction in surface relative humidity and the concomitant increase in the lifting condensation level of surface air. Low cloud liquid water path is not observed to be a continuous function of temperature. Rather, the behavior we observe is best explained as a transition in the frequency of occurrence of different boundary layer types: At cold temperatures, a mixture of stratified and convective boundary layers is observed, leading to a broad distribution of liquid water path values, while at warm temperatures, only convective boundary layers with small liquid water paths, some of them decoupled, are observed. Our results, combined with the earlier satellite inferences, imply that the commonly quoted 1.50 C lower limit for the equilibrium global climate sensitivity to a doubling of CO2, which is based on models with near-adiabatic liquid water behavior and constant physical thickness, should be revised upward.

DelGenio, Anthony D.↗
NASA NTRS1999

Climatic Implications of the Observed Temperature Dependence of the Liquid Water Path of Low Clouds in the Southern Great Plains

Satellite observations of low-level clouds have challenged the assumption that adiabatic liquid water content combined with constant physical thickness will lead to a negative cloud optics feedback in a decadal climate change. We explore the reasons for the satellite results using four years of surface remote sensing data from the Atmospheric Radiation Measurement Program Cloud and Radiation Testbed site in the Southern Great Plains of the United States. We find that low cloud liquid water path is approximately invariant with temperature in winter but decreases strongly with temperature in summer, consistent with the satellite inferences at this latitude. This behavior occurs because liquid water content shows no detectable temperature dependence while cloud physical thickness decreases with warming. Thinning of clouds with warming is observed on seasonal, synoptic, and diurnal time scales; it is most obvious in the warm sectors of baroclinic waves. Although cloud top is observed to slightly descend with warming, the primary cause of thinning, is the ascent of cloud base due to the reduction in surface relative humidity and the concomitant increase in the lifting condensation level of surface air. Low cloud liquid water path is not observed to be a continuous function of temperature. Rather, the behavior we observe is best explained as a transition in the frequency of occurrence of different boundary layer types. At cold temperatures, a mixture of stratified and convective boundary layers is observed, leading to a broad distribution of liquid water path values, while at warm temperatures, only convective boundary layers with small liquid water paths, some of them decoupled, are observed. Our results, combined with the earlier satellite inferences, imply that the commonly quoted 1.5C lower limit for the equilibrium global climate sensitivity to a doubling of CO2 which is based on models with near-adiabatic liquid water behavior and constant physical thickness, should be revised upward.

DelGenio, Anthony↗
NASA NTRS1999

The Human Space Life Sciences Critical Path Roadmap Project: A Strategy for Human Space Flight through Exploration-Class Missions

The product of the critical path roadmap project is an integrated strategy for mitigating the risks associated with human exploration class missions. It is an evolving process that will assure the ability to communicate the integrated critical path roadmap. Unlike previous reports, this one will not sit on a shelf - it has the full support of the JSC Space and Life Sciences Directorate (SA) and is already being used as a decision making tool (e.g., budget and investigation planning for Shuttle and Space Station mission). Utility of this product depends on many efforts, namely: providing the required information (completed risk data sheets, critical question information, technology data). It is essential to communicate the results of the critical path roadmap to the scientific community - this meeting is a good opportunity to do so. The web site envisioned for the critical path roadmap will provide the capability to communicate to a broader community and to track and update the system routinely.

Sawin, Charles F.↗
NASA NTRS1997

Robust Flight Path Determination for Mars Precision Landing Using Genetic Algorithms

This paper documents the application of genetic algorithms (GAs) to the problem of robust flight path determination for Mars precision landing. The robust flight path problem is defined here as the determination of the flight path which delivers a low-lift open-loop controlled vehicle to its desired final landing location while minimizing the effect of perturbations due to uncertainty in the atmospheric model and entry conditions. The genetic algorithm was capable of finding solutions which reduced the landing error from 111 km RMS radial (open-loop optimal) to 43 km RMS radial (optimized with respect to perturbations) using 200 hours of computation on an Ultra-SPARC workstation. Further reduction in the landing error is possible by going to closed-loop control which can utilize the GA optimized paths as nominal trajectories for linearization.

Bayard, David S.↗
NASA NTRS2005

Path Planning Algorithms for the Adaptive Sensor Fleet

The Adaptive Sensor Fleet (ASF) is a general purpose fleet management and planning system being developed by NASA in coordination with NOAA. The current mission of ASF is to provide the capability for autonomous cooperative survey and sampling of dynamic oceanographic phenomena such as current systems and algae blooms. Each ASF vessel is a software model that represents a real world platform that carries a variety of sensors. The OASIS platform will provide the first physical vessel, outfitted with the systems and payloads necessary to execute the oceanographic observations described in this paper. The ASF architecture is being designed for extensibility to accommodate heterogenous fleet elements, and is not limited to using the OASIS platform to acquire data. This paper describes the path planning algorithms developed for the acquisition phase of a typical ASF task. Given a polygonal target region to be surveyed, the region is subdivided according to the number of vessels in the fleet. The subdivision algorithm seeks a solution in which all subregions have equal area and minimum mean radius. Once the subregions are defined, a dynamic programming method is used to find a minimum-time path for each vessel from its initial position to its assigned region. This path plan includes the effects of water currents as well as avoidance of known obstacles. A fleet-level planning algorithm then shuffles the individual vessel assignments to find the overall solution which puts all vessels in their assigned regions in the minimum time. This shuffle algorithm may be described as a process of elimination on the sorted list of permutations of a cost matrix. All these path planning algorithms are facilitated by discretizing the region of interest onto a hexagonal tiling.

Stoneking, Eric↗
NASA NTRS2007

Trajectory Generation and Path Planning for Autonomous Aerobots

This paper presents global path planning algorithms for the Titan aerobot based on user defined waypoints in 2D and 3D space. The algorithms were implemented using information obtained through a planner user interface. The trajectory planning algorithms were designed to accurately represent the aerobot's characteristics, such as minimum turning radius. Additionally, trajectory planning techniques were implemented to allow for surveying of a planar area based solely on camera fields of view, airship altitude, and the location of the planar area's perimeter. The developed paths allow for planar navigation and three-dimensional path planning. These calculated trajectories are optimized to produce the shortest possible path while still remaining within realistic bounds of airship dynamics.

trajectory↗
NASA NTRS2006

Stochastic Evolutionary Algorithms for Planning Robot Paths

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Fink, Wolfgang↗
NASA NTRS2008

Robust Path Planning and Feedback Design Under Stochastic Uncertainty

Autonomous vehicles require optimal path planning algorithms to achieve mission goals while avoiding obstacles and being robust to uncertainties. The uncertainties arise from exogenous disturbances, modeling errors, and sensor noise, which can be characterized via stochastic models. Previous work defined a notion of robustness in a stochastic setting by using the concept of chance constraints. This requires that mission constraint violation can occur with a probability less than a prescribed value.In this paper we describe a novel method for optimal chance constrained path planning with feedback design. The approach optimizes both the reference trajectory to be followed and the feedback controller used to reject uncertainty. Our method extends recent results in constrained control synthesis based on convex optimization to solve control problems with nonconvex constraints. This extension is essential for path planning problems, which inherently have nonconvex obstacle avoidance constraints. Unlike previous approaches to chance constrained path planning, the new approach optimizes the feedback gain as wellas the reference trajectory.The key idea is to couple a fast, nonconvex solver that does not take into account uncertainty, with existing robust approaches that apply only to convex feasible regions. By alternating between robust and nonrobust solutions, the new algorithm guarantees convergence to a global optimum. We apply the new method to an unmanned aircraft and show simulation results that demonstrate the efficacy of the approach.

autonomuys vehicles↗