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NASA NTRS2009

Traveling-Wave Maser for 32 GHz

The figure depicts a traveling-wave ruby maser that has been designed (though not yet implemented in hardware) to serve as a low-noise amplifier for reception of weak radio signals in the frequency band of 31.8 to 32.3 GHz. The design offers significant improvements over previous designs of 32-GHz traveling-wave masers. In addition, relative to prior designs of 32-GHz amplifiers based on high-electron-mobility transistors, this design affords higher immunity to radio-frequency interference and lower equivalent input noise temperature. In addition to the basic frequency-band and low-noise requirements, the initial design problem included a requirement for capability of operation in a closed-cycle helium refrigerator at a temperature .4 K and a requirement that the design be mechanically simplified, relative to prior designs, in order to minimize the cost of fabrication and assembly. Previous attempts to build 32- GHz traveling-wave masers involved the use of metallic slow-wave structures comprising coupled transverse electromagnetic (TEM)-mode resonators that were subject to very tight tolerances and, hence, were expensive to fabricate and assemble. Impedance matching for coupling signals into and out of these earlier masers was very difficult. A key feature of the design is a slow-wave structure, the metallic portions of which would be mechanically relatively simple in that, unlike in prior slow-wave structures, there would be no internal metal steps, irises, or posts. The metallic portions of the slow-wave structure would consist only of two rectangular metal waveguide arms. The arms would contain sections filled with the active material (ruby) alternating with evanescent-wave sections. This structure would be transparent in both the signal-frequency band (the aforementioned range of 31.8 to 32.3 GHz) and the pump-frequency band (65.75 to 66.75 GHz), and would impose large slowing factors in both frequency bands. Resonant ferrite isolators would be placed in the evanescent-wave sections to provide reverse loss needed to suppress reverse propagation of power at the signal frequency. This design is expected to afford a large gain-bandwidth product at the signal frequency and efficient coupling of the pump power into the paramagnetic spin resonances of the ruby sections. The more efficiently the pump power could be thus coupled, the more efficiently it could be utilized and the heat load on the refrigerator correspondingly reduced.

Shell, James↗

NASA NTRS2013

Gesture-Based Robot Control with Variable Autonomy from the JPL Biosleeve

This paper presents a new gesture-based human interface for natural robot control. Detailed activity of the user's hand and arm is acquired via a novel device, called the BioSleeve, which packages dry-contact surface electromyography (EMG) and an inertial measurement unit (IMU) into a sleeve worn on the forearm. The BioSleeve's accompanying algorithms can reliably decode as many as sixteen discrete hand gestures and estimate the continuous orientation of the forearm. These gestures and positions are mapped to robot commands that, to varying degrees, integrate with the robot's perception of its environment and its ability to complete tasks autonomously. This flexible approach enables, for example, supervisory point-to-goal commands, virtual joystick for guarded teleoperation, and high degree of freedom mimicked manipulation, all from a single device. The BioSleeve is meant for portable field use; unlike other gesture recognition systems, use of the BioSleeve for robot control is invariant to lighting conditions, occlusions, and the human-robot spatial relationship and does not encumber the user's hands. The BioSleeve control approach has been implemented on three robot types, and we present proof-of-principle demonstrations with mobile ground robots, manipulation robots, and prosthetic hands.

BioSleeve↗

NASA NTRS2009

LISA Long-Arm Interferometry

An overview of LISA Long-Arm Interferometry is presented. The contents include: 1) LISA Interferometry; 2) Constellation Design; 3) Telescope Design; 4) Constellation Acquisition; 5) Mechanisms; 6) Optical Bench Design; 7) Phase Measurement Subsystem; 8) Phasemeter Demonstration; 9) Time Delay Interferometry; 10) TDI Limitations; 11) Active Frequency Stabilization; 12) Spacecraft Level Stabilization; 13) Arm-Locking; and 14) Embarassment of Riches.

Thorpe, James I.↗

NASA NTRS2009

Floating wind turbine system

A floating wind turbine system with a tower structure that includes at least one stability arm extending therefrom and that is anchored to the sea floor with a rotatable position retention device that facilitates deep water installations. Variable buoyancy for the wind turbine system is provided by buoyancy chambers that are integral to the tower itself as well as the stability arm. Pumps are included for adjusting the buoyancy as an aid in system transport, installation, repair and removal. The wind turbine rotor is located downwind of the tower structure to allow the wind turbine to follow the wind direction without an active yaw drive system. The support tower and stability arm structure is designed to balance tension in the tether with buoyancy, gravity and wind forces in such a way that the top of the support tower leans downwind, providing a large clearance between the support tower and the rotor blade tips. This large clearance facilitates the use of articulated rotor hubs to reduced damaging structural dynamic loads. Major components of the turbine can be assembled at the shore and transported to an offshore installation site.

Viterna, Larry A.↗

NASA NTRS1994

Dual-cycle ergometry as an exercise modality during prebreathe with 100 percent oxygen

In an effort to reduce prebreathe time requirements prior to extravehicular activities and high-altitude flights, a combined arm and leg exercise task proposes to enhance denitrogenation by incorporation of both upper and lower body musculature at a moderately high work intensity during prebreathe with 100% oxygen. Preliminary findings indicated peak oxygen consumption (VO2peak) levels attained on the dual-cycle ergometer do not differ significantly from those levels attained on the treadmill. Eight male subjects were exercised to VO2peak using leg-only cycle ergometry and dual-cycle ergometry on separate days. Preliminary data during dual-cycle ergometry showed arm work equaling 30% of the leg workrate at each stage of the incremental test resulted in arm fatigue in several subjects and a reduced VO2peak compared to dual-cycle ergometry with arm work at 20%. Thus, the 20% workrate was used during the dual-cycle VO2peak trial. On a third experimental day, subjects performed a 10 minute exercise test at a workrate required to elicit 75% of VO2peak for each subject on the dual-cycle ergometer. Blood lactate response to the exercise was monitored as an objective measure of fatigue. Peak VO2 levels attained on the leg-only and the dual-cycle ergometry tasks were not significantly different. Blood lactate levels were significantly elevated following the dual-cycle ergometry at 75% VO2peak. However, lactate levels show the expected rate of decline during recovery and, as demonstrated in the literature, should return to baseline levels within 30 minutes following exercise cessation. Thus, dual-cycle ergometry at 75% VO2peak appears to be a valid exercise for use during prebreathe and should not contribute to fatigue during subsequent EVA's.

Heaps, Cristine L.↗

NASA NTRS2002

Expedition 6 Crew Interviews: Ken Bowersox CDR

Expedition 6 Commander Ken Bowersox is seen during a prelaunch interview. He gives details on the mission's goals and significance, his role in the mission, what his responsibilities will be as commander, what the crew exchange will be like (transferring the Expedition 6 crew in place of the Expedition 5 crew on the International Space Station (ISS)) and what day-to-day life on an extended stay mission is like. Bowersox also discusses in some detail the planned extravehicular activities (EVAs), the anticipated use of the robot arms in installing the P1 truss and the on-going science experiments which will be conducted by the Expedition 6 crew. He touches on challenges posed by a late change in the crew roster. Bowersox ends with his thoughts on the value on the ISS in fostering international cooperation.

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NASA NTRS2022

Chapter 5: Climate Science

Biological and Environmental Research (BER) conducts climate science research activities under three programs: the Atmospheric Radiation Measurement (ARM) user facility, the Atmospheric System Research (ASR) program, ad the Earth and Environmental Systems Modeling (EESM) program. This document provides key findings and recommendations from the Biological and Environmental Research Advisory Committee (BERAC) Climate Science Working Group.

Biological and Environmental Research Advisory Com↗

NASA NTRS2013

Dreaming on Mars: How Curiosity Performs Actuator Warm-Up While Sleeping

Before the Curiosity rover can perform its science activities for the day, such as driving, moving its robotic arm, or drilling, it first has to ensure that its actuators are within their allowable flight temperatures (AFTs). When the rover is awake, flight software uses heaters to warm up and maintain thermal zones at operational temperatures. However, Curiosity spends about 70% of its time sleeping, with the flight computer off, in order to conserve energy. Dream Mode is a special behavior that allows the rover to execute warm-up activities while sleeping. Using Dream Mode, actuators can be warmed up to their AFTs before the flight computer wakes up and uses them - saving power and improving operational efficiency. This paper describes the motivation behind Dream Mode, how it was implemented and tested on Curiosity, and the challenges and lessons learned along the way.

fault protection↗

NASA NTRS1999

STS-103 Flight Day Highlights and Crew Activity Report

The crew of Discovery, Mission Commander Curtis L. Brown, Pilot Scott J. Kelly, Mission Specialists Steven L. Smith, C. Michael Foale, John M. Grunsfeld, Claude Nicollier, and Jean-Francois Clervoy are seen executing various activities. Live footage of Clervoy powering up the robotic arm is seen. While Clervoy powers the robotic arm, Brown and Kelly set up the tools for the various different space walks scheduled, Grunsfeld and Nicollier check out the space suits, and Smith and Foale tend to the space walk tools. Foale, Brown, Kelly and Clervoy are also shown participating in a series of interviews.

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NASA NTRS2010

Commercial Spacewalking: Designing an EVA Qualification Program for Space Tourism

In the near future, accessibility to space will be opened to anyone with the means and the desire to experience the weightlessness of microgravity, and to look out upon both the curvature of the Earth and the blackness of space, from the protected, shirt-sleeved environment of a commercial spacecraft. Initial forays will be short-duration, suborbital flights, but the experience and expertise of half a century of spaceflight will soon produce commercial vehicles capable of achieving low Earth orbit. Even with the commercial space industry still in its infancy, and manned orbital flight a number of years away, there is little doubt that there will one day be a feasible and viable market for those courageous enough to venture outside the vehicle and into the void, wearing nothing but a spacesuit, armed with nothing but preflight training. What that Extravehicular Activity (EVA) preflight training entails, however, is something that has yet to be defined. A number of significant factors will influence the composition of a commercial EVA training program, but a fundamental question remains: 'what minimum training guidelines must be met to ensure a safe and successful commercial spacewalk?' Utilizing the experience gained through the development of NASA's Skills program - designed to qualify NASA and International Partner astronauts for EVA aboard the International Space Station - this paper identifies the attributes and training objectives essential to the safe conduct of an EVA, and attempts to conceptually design a comprehensive training methodology meant to represent an acceptable qualification standard.

Gast, Matthew A.↗

NASA NTRS1999

Mars 2001 Lander Mission: Measurement Synergy Through Coordinated Operations Planning And Implementation

The 2001 Mars Surveyor Program Mission includes an orbiter with a gamma ray spectrometer and a multispectral thermal imager, and a lander with an extensive set of instrumentation, a robotic arm, and the Marie Curie Rover. The Mars 2001 Science Operations Working Group (SOWG) is a subgroup of the Project Science Group that has been formed to provide coordinated planning and implementation of scientific observations, particularly for the landed portion of the mission. The SOWG will be responsible for delivery of a science plan and, during operations, generation and delivery of conflict-free sequences. This group will also develop an archive plan that is compliant with Planetary Data System (PDS) standards, and will oversee generation, validation, and delivery of integrated archives to the PDS. In this report we cover one element of the SOWG planning activities, the development of a plan that maximizes the scientific return from lander-based observations by treating the instrument packages as an integrated payload. Scientific objectives for the lander mission have been defined. They include observations focused on determining the bedrock geology of the site through analyses of rocks and also local materials found in the soils, and the surficial geology of the site, including windblown deposits and the nature and history of formation of indurated sediments such as duricrust. Of particular interest is the identification and quantification of processes related to early warm, wet conditions and the presence of hydrologic or hydrothermal cycles. Determining the nature and origin of duricrust and associated salts is -very important in this regard. Specifically, did these deposits form in the vadose zone as pore water evaporated from soils or did they form by other processes, such as deposition of volcanic aerosols? Basic information needed to address these questions includes the morphology, topography, and geologic context of landforms and materials exposed at the site, together with quantitative information on material mineralogy, chemistry, and physical properties (rock textures; soil grain size and shape distributions; degree and nature of soil induration; soil magnetic properties). The calibration targets provide radiometric and mineralogical control surfaces. The magnets allow observations of magnetic phases. Patch plates are imaged to determine adhesive and abrasive properties of soils. Coordinated mission planning is crucial for optimizing the measurement synergy among the packages included on the lander. This planning has already begun through generation of multi-sol detailed operations activities. One focus has been to develop a scenario to use the arm to dig a soil trench to a depth of tens of centimeters. The activity will be monitored through use of Pancam and RAC to ensure nominal operations and to acquire data to determine subsurface physical properties (e.g., angle of repose of trench walls). Pancam and Mini-TES observations would also provide constraints on mineralogy and texture for the walls and bottom of the trench during excavation. If desired, soils excavated at depth could be deposited on the surface and Mossbauer and APXS measurements could be acquired for these materials. Soil samples from various depths would be delivered to MECA for characterization of aqueous geochemistry and physical properties of soil grains, particularly size, shape, and hardness. These physical properties would be determined by optical and atomic force microscopy. When completed, detailed information of soil properties as a function of depth would be obtained. These various data sets would constrain our understanding of whether or not there are systematic variations in soil characteristics as a function of depth. These variations might be related, for example, to evaporative moisture losses and formation of salt deposits, thereby indicating water transport processes occurred fairly recently. Many other value-added measurement scenarios are being developed. For example, characterizing the nature and dynamics of dust deposition will be done using MIP/DART to provide deposition rates, Pancam and RAC imaging of lander and rover surfaces to extrapolate these measurements to other areas, and a variety of measurements to determine if the bulk loose soil has the same characteristics as dust that accumulates during the mission. Bedrock geology of the site is primarily an APEX-focus setting, mineralogy, and texture, and APXS data to be we interest will be to determine the extent to which rock hydrothermal processes, given that APEX is the precursor 4 and 2005 rover missions. Additional information is contained in the original.

Arvidson, R.↗

NASA NTRS1997

Physiological and Thermal Responses of MS Patients to Head and Vest Cooling: A Case Study

Personal cooling systems are used to alleviate symptoms of multiple sclerosis (MS) and to prevent increased core temperature during daily activities. The objective of this study was to determine the operating characteristics and the physiologic changes produced by short term application of the stationary thermal control system used by most clinical institutions. The Life Enhancement Tech (LET) Mark VII portable cooling system and a lightweight Head-vest active cooling garment were used to cool the head and chest regions of 4 male and 3 female MS patients (30 to 66 yrs. old) in this study. The subjects, seated in an upright position at normal room temperature (approx. 24 C), were tested for 60 min. with the liquid cooling garment (LCG) operated at 50 F. Oral, right and left ear temperatures and cooling system parameters were logged manually every 5 min. Arm, leg, chest and rectal temperatures, heart rate, respiration, and an activity index were recorded continuously on a U.F.I., Inc., Biolog ambulatory monitor. All temperature responses showed extreme variation among subjects. The cold-sensitive subject's rectal temperature increased initially in response to cooling; the heat sensitive subject's rectal temperature decreased. After 40 min. of cooling and during recovery, all subjects'rectal temperatures decreased. Oral temperatures began to decrease after 30 min. of cooling. After 60 min. of cooling, temperature drops ranged from approx. 0.3 - 0.8 C. Oral temperatures continued to decrease during recovery (approx. 0.2 C). The car temperature of the heat sensitive subject was increased after cooling, other subjects exhibited an ear temperature decrease (0.0 - 0.5 C). These data indicate that head and vest cooling may be used to reduce the oral temperatures of MS patients by the approximate amount needed for symptomatic relief as shown by other researchers. The combination of a small subject population and a large subject variance does not permit us to draw statistical conclusions about the temperature response of MS patients. An individual's heat or cold sensitivity may influence their thermal response to cooling. This factor should be considered in the prescribed use of liquid cooling garments in the therapeutic management of MS.

Luna, Bernadette↗

NASA NTRS1987

Telerobotic technology for nuclear and space applications

Developments in telerobotics applicable to nuclear and space environments are discussed. The advanced servomanipulator (ASM) slave arm force-reflected servomanipulators designed for modular remote maintainability of the Advanced Integrated Maintenance System is examined. Consideration is given to the master controller, transporter, interface package, operator control station, and the control system for the ASM arm. A prototype of a telerobot capable of performing the activity of an astronaut during EVA is developed. The mechanical and control system features of the telerobot are described.

Herndon, J. N.↗

NASA NTRS1993

Controllable Optical Delay Line For Stellar Interferometry

Prototype optical delay line for use in Big Optical Array stellar interferometer developed by Naval Research Laboratory, is advanced version of Mark III stellar interferometer at Mt. Wilson. Several delay lines used in system; their purpose to equalize optical pathlengths from target star to beam combiner in interferometer via each of arms of interferometer. Features passive mechanical suppression of vibrations plus active control for tracking, slewing, and suppression of vibrations.

Colavita, Mark↗

NASA NTRS2003

Some approaches to medical support for Martian expedition

Medical support in a Martian expedition will be within the scope of crew responsibilities and maximally autonomous. Requirements to the system of diagnostics in this mission include considerable use of means and methods of visualization of the main physiological parameters, telemedicine, broad usage of biochemical analyses (including "dry" chemistry), computerized collection, measurement, analysis and storage of medical information. The countermeasure system will be based on objective methods of crew fitness and working ability evaluation, individual selection of training regimens, and intensive use of computer controlled training. Implementation of the above principles implies modernization and refinement of the countermeasures currently used by space crews of long-term missions (LTM), and increases of the assortment of active and passive training devices, among them a short-arm centrifuge. The system of medical care with the functions of prevention, clinical diagnostics and timely treatment will be autonomous, too. The general requirements to medical care during the future mission are the following: availability of conditions and means for autonomous urgent and special medical aid and treatment of the most possible states and diseases, "a hospital", and assignment to the crew of one or two doctors. To ensure independence of medical support and medical care in an expedition to Mars an automated expert system needs to be designed and constructed to control the medical situation as a whole. c2003 Published by Elsevier Science Ltd.

Mars↗

NASA NTRS1993

Effect of Hindlimb Unweighting on Single Soleus Fiber Maximal Shortening Velocity and ATPase Activity

This study characterizes the time course of change in single soleus muscle fiber size and function elicited by hindlimb un weighting (HU) and analyzes the extent to which varying durations of HU altered maximal velocity of shortening (V(sub o)), myofibrillar adenosinetriphosphatase (ATPase), and relative content of slow and fast myosin in individual soleus fibers. After 1, 2, or 3 weeks of HU, soleus muscle bundles were prepared and stored in skinning solution at -20 C. Single fibers were isolated and mounted between a motor arm and a transducer, and fiber force, V(sub o), and ATPase activity were measured. Fiber myosin content was determined by one-dimensional sodium dodecyl sulfate- (SDS) polyacrylamide gel electrophoresis. After 1, 2, and 3 weeks of HU, soleus fibers exhibited a progressive reduction in fiber diameter (16, 22, and 42%, respectively) and peak force (42, 48, and 7%, respectively). Peak specific tension was significantly reduced after 1 week of HU (18%) and showed no further change in 2-3 weeks of HU. During 1 and 3 wk of HU, fiber V(sub o) and ATPase showed a significant increase. By 3 week, V(sub o) had increased from 1.32 +/- 0.04 to 2.94 +/- 0.17 fiber lengths/s and fiber ATPase from 291 +/- 16 to 1064 +/- 128 micro-M min(sub -1) mm(sub -3). The percent fibers expressing fast myosin heavy chain increased from 4% to 29% by 3 week of HU, and V(sub o) and ATPase activity within a fiber were highly correlated. However, a large population of fibers after 1, 2, and 3 weeks of HU showed increases in V(sub o) and ATPase but displayed the same myosin protein profile on SDS gels as control fibers. The mechanism eliciting increased fiber V(sub o) and ATPase activity was not obvious but may have been due to increases in fast myosin that went undetected on SDS gels and/or other factors unrelated to the myosin filament.

McDonald, K. S.↗

NASA NTRS1999

Exercise Training During +Gz Acceleration

The overall purpose is to study the effect of passive (without exercise) and active (with exercise) +Gz (head-to-foot) acceleration training, using a short-arm (1.9m radius) centrifuge, on post- training maximal oxygen uptake (VO2 max, work capacity) and 70 deg head-up tilt (orthostatic) tolerance in ambulatory subjects to test the hypothesis that (a) both passive and active acceleration training will improve post-training tilt-tolerance, and (b) there will be no difference in tilt-tolerance between passive and active exercise acceleration training because increased hydrostatic and blood pressures, rather than increased muscular metabolism, will provide the major adaptive stimulus. The purpose of the pilot study was to test the hypothesis that there would be no significant difference in the metabolic responses (oxygen uptake, heart rate, pulmonary ventilation, or respiratory exchange ratio) during supine exercise with moderate +Gz acceleration.

Greenleaf, J. E.↗

NASA NTRS1990

Conceptual second-generation lunar equipment

The spring 1990 Introduction to Design class was asked to conceptually design second-generation lunar vehicles and equipment as a semester design project. The basic assumption made in designing second-generation lunar vehicles and equipment was that a network of permanent lunar bases already existed. The designs were to facilitate the transportation of personnel and materials. The eight topics to choose from included flying vehicles, ground-based vehicles, robotic arms, and life support systems. Two teams of two or three members competed on each topic and results were exhibited at a formal presentation. A clean-propellant powered lunar flying transport vehicle, an extra-vehicular activity life support system, a pressurized lunar rover for greater distances, and a robotic arm design project are discussed.

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