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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

An Interim Set of TNT Curves for LOX/LNG Explosions

Space launch companies are actively developing, or in some cases have already developed, new vehicles that use large quantities of liquid oxygen (LOX) and liquid natural gas (LNG) propellants. This propellant mixture currently lacks sound/verified explosive safety standards for use in explosive siting and flight safety analysis. In the U.S., multiple government and commercial organizations have conducted limited testing, or are preparing to conduct tests, intended to provide a sound technical basis for LOX/LNG explosive standards applicable to space launch vehicle ground and flight operations. The limited testing and analysis conducted so far indicates the potential to produce extremely energetic explosions due to the miscibility of LOX/LNG (methane), a unique feature relative to previously used propellant mixtures such as hydrogen/oxygen or kerosene/oxygen. MOX is a homogenous mixture of methane and oxygen that is possible because of methane’s 100% miscibility in LOX. Preliminary testing by N2L, Inc. described in this paper shows that it is possible to form MOX with a variety of mixing methods, and that MOX is a sensitive high explosive capable of producing overpressures greater than comparable masses of C-4. The limited amount and quality of large-scale LOX/LNG explosive test data, and the potential formation of high-explosive MOX, create significant unknowns in the determination of hazard areas (cleared of the public) for ground operations (such as a static fire test) and flights of launch vehicles with LOX/LNG propellant. This paper will review the methods used by NASA to develop and validate the LOX/LH2 blast model using large-scale explosive test programs such as Project PYRO, the Hydrogen-Oxygen Vertical Impact (HOVI), and the Large-Scale Hydrogen-Oxygen Explosion (LSHOE) tests. This paper will describe how the same process was used to prepare an interim LOX/LNG blast model that applies to various LV failure scenarios and conservatively accounts for potential MOX formation. This paper also summarizes past and future testing and modeling efforts funded by a consortium of NASA, the US Federal Aviation Administration (FAA), and the US Space Force (USSF). These test programs should be concluded within the next 3 years and are intended to provide empirical data for model verification and validation.

Liquid Oxygen↗
NASA NTRSDate not supplied

An Interim Set of TNT Curves for LOX/LNG Explosions

Space launch companies are actively developing, or in some cases have already developed, new vehicles that use large quantities of liquid oxygen (LOX) and liquid natural gas (LNG) propellants. This propellant mixture currently lacks sound/verified LOX/LNG explosive safety standards for use in explosive siting and flight safety analysis. In the U.S., multiple government and commercial organizations have conducted limited testing, or are preparing to conduct tests, intended to provide a sound technical basis for explosive standards applicable to space launch vehicle ground and flight operations. The limited testing and analysis conducted so far indicates the potential to produce extremely energetic explosions due to the miscibility of LOX/LNG (methane), a unique feature relative to previously used propellant mixtures such as hydrogen/oxygen or kerosene/oxygen. MOX is a homogenous mixture of methane and oxygen that is possible because of methane’s 100% miscibility in LOX. Preliminary testing by N2L, Inc. described in this paper shows that it is possible to form MOX with a variety of mixing methods, and that MOX is a sensitive high explosive capable of producing overpressures greater than comparable masses of C-4. The limited amount and quality of large-scale LOX/LNG explosive test data, and the potential formation of high-explosive MOX, create significant unknowns in the determination of hazard areas (cleared of the public) for ground operations (such as a static fire test) and flights of launch vehicles with LOX/LNG propellant. This paper will review the methods used by NASA to develop and validate the LOX/LH2 blast model using large-scale explosive test programs such as Project PYRO, the Hydrogen-Oxygen Vertical Impact (HOVI), and the Large-Scale Hydrogen-Oxygen Explosion (LSHOE) tests. This paper will describe how the same process was used to prepare an interim LOX/LNG blast model that applies to various LV failure scenarios and conservatively accounts for potential MOX formation. This paper also summarizes past and future testing and modeling efforts funded by a consortium of NASA, the US Federal Aviation Administration (FAA), and the US Space Force (USSF). These test programs should be concluded within the next 3 years and are intended to provide empirical data for model verification and validation.

Liquid Oxygen↗
NASA NTRSDate not supplied

UAM Noise Working Group Meeting Subgroup 2: Ground & Flight Testing

The Urban Air Mobility Noise Working Group (UNWG) Sub-Group 2 is tasked with development of a research measurement protocol for UAM vehicle ground and flight testing to determine the impact of representative vehicles on community noise. This briefing is a bi-annual update to the UNWG participants at large regarding the activities of SG2, specifically the status of the group’s measurement protocols document under development.

Urban Air Mobility↗
NASA NTRS2006

Detection of Water Hazards for Autonomous Robotic Vehicles

Four methods of detection of bodies of water are under development as means to enable autonomous robotic ground vehicles to avoid water hazards when traversing off-road terrain. The methods involve processing of digitized outputs of optoelectronic sensors aboard the vehicles. It is planned to implement these methods in hardware and software that would operate in conjunction with the hardware and software for navigation and for avoidance of solid terrain obstacles and hazards. The first method, intended for use during the day, is based on the observation that, under most off-road conditions, reflections of sky from water are easily discriminated from the adjacent terrain by their color and brightness, regardless of the weather and of the state of surface waves on the water. Accordingly, this method involves collection of color imagery by a video camera and processing of the image data by an algorithm that classifies each pixel as soil, water, or vegetation according to its color and brightness values (see figure). Among the issues that arise is the fact that in the presence of reflections of objects on the opposite shore, it is difficult to distinguish water by color and brightness alone. Another issue is that once a body of water has been identified by means of color and brightness, its boundary must be mapped for use in navigation. Techniques for addressing these issues are under investigation. The second method, which is not limited by time of day, is based on the observation that ladar returns from bodies of water are usually too weak to be detected. In this method, ladar scans of the terrain are analyzed for returns and the absence thereof. In appropriate regions, the presence of water can be inferred from the absence of returns. Under some conditions in which reflections from the bottom are detectable, ladar returns could, in principle, be used to determine depth. The third method involves the recognition of bodies of water as dark areas in short-wavelength infrared (SWIR) images. This method is based on the fact, well known among experts in remote sensing, that water bodies of any appreciable depth appear very dark in near-infrared, overhead imagery. Even under a thick layer of marine fog, SWIR illumination is present. Hence, this method may work even in the presence of clouds, though it is unlikely to work at night. Snow and ice also exhibit very strong absorption at wavelengths greater than about 1.4 m. Hence, the wavelength range of about 1.5 to 1.6 m might be useable in this method for recognizing water, snow, and ice. One notable drawback of this method is that useful look-ahead distance could be limited by surface reflections. The fourth method, intended for use at night, involves the contrast between water and terrain in thermal-infrared (medium-wavelength infrared) imagery. This method is based on the fact that at night, water is usually warmer than the adjacent terrain. Look-ahead distance could be limited in this method because, for reasons not yet fully understood, water appears to darken in the thermal infrared with increasing distance.

Matthes, Larry↗
NASA NTRS2021

Advanced Air Mobility(AAM) Ecosystems Working Group Briefing Urban Air Mobility Noise Working Group (UNWG) Subgroup 2: Ground & Flight Testing

Overview of Urban Air Mobility Noise Working Group (UNWG) activities of Subgroup 2, responsible for developing Urban Air Mobility (UAM) vehicle ground and flight testing recommendations for those tasked with evaluating the acoustic characteristics of UAM vehicles under development. This topic is being briefed to an audience at the Advanced Air Mobility (AAM) Ecosystems Working Group Meeting (AEWG).

acoustics↗
NASA NTRS1972

Atmospheric electricity criteria guidelines for use in aerospace vehicle development

Lightning has always been of concern for aerospace vehicle ground activities. The unexpected triggering of lightning discharges by the Apollo 12 space vehicle shortly after launch and the more recent repeated lightning strikes to the launch umbilical tower while the Apollo 15 space vehicle was being readied for launch have renewed interest in studies of atmospheric electricity as it relates to space vehicle missions. The material presented reflects some of the results of these studies with regard to updating the current criteria guidelines.

Daniels, G. E.↗
NASA NTRS1995

Single-stage-to-orbit: Meeting the challenge

There has been and continues to be significant discussion about the viability of fully reusable, single-stage-to-orbit (SSTO) concepts for delivery of payloads to orbit. Often, these discussions have focused in detail on performance and technology requirements relating to the technical feasibility of the concept, with only broad generalizations on how the SSTO will achieve its economic goals of greatly reduced vehicle ground and flight operations costs. With the current industry and NASA Reusable Launch Vehicle Technology Program efforts underway to mature and demonstrate technologies leading to a viable commercial launch system that also satisfies national needs, achieving acceptable recurring costs becomes a significant challenge. This paper reviews the current status of the Reusable Launch Vehicle Technology Program including the DC-XA, X-33, and X-34 flight systems and associated technology programs. The paper also examines lessons learned from the recently completed DC-X reusable rocket demonstrator program. It examines how these technologies and flight systems address the technical and operability challenges of SSTO whose solutions are necessary to reduce costs. The paper also discusses the management and operational approaches that address the challenge of a new cost-effective, reusable launch vehicle system.

Freeman, Delma C., Jr.↗
NASA NTRS1974

Transportation vehicle energy intensities. A joint DOT/NASA reference paper

A compilation of data on the energy consumption of air and ground vehicles is presented. The ratio BTU/ASM, British Thermal Units/Available Seat Mile, is used to express vehicle energy intensiveness, and related to the energy consumed directly in producing seat-mile or ton-mile productivity. Data is presented on passenger and freight vehicles which are in current use or which are about to enter service, and advanced vehicles which may be operational in the 1980's and beyond. For the advanced vehicles, an estimate is given of the date of initial operational service, and the performance characteristics. Other key considerations in interpreting energy intensiveness for a given mode are discussed, such as: load factors, operations, overhead energy consumption, and energy investments in new structure and equipment.

Mascy, A. C.↗
NASA NTRS2005

Proceedings of the 2004 NASA/ONR Circulation Control Workshop, Part 1

As technological advances influence the efficiency and effectiveness of aerodynamic and hydrodynamic applications, designs and operations, this workshop was intended to address the technologies, systems, challenges and successes specific to Coanda driven circulation control in aerodynamics and hydrodynamics. A major goal of this workshop was to determine the 2004 state-of-the-art in circulation control and understand the roadblocks to its application. The workshop addressed applications, CFD, and experiments related to circulation control, emphasizing fundamental physics, systems analysis, and applied research. The workshop consisted of 34 single session oral presentations and written papers that focused on Naval hydrodynamic vehicles (e.g. submarines), Fixed Wing Aviation, V/STOL platforms, propulsion systems (including wind turbine systems), ground vehicles (automotive and trucks) and miscellaneous applications (e.g., poultry exhaust systems and vacuum systems). Several advanced CFD codes were benchmarked using a two-dimensional NCCR circulation control airfoil. The CFD efforts highlighted inconsistencies in turbulence modeling, separation and performance predictions.

Jones, Gregory S.↗
NASA NTRS2008

Control Architecture for Robotic Agent Command and Sensing

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Huntsberger, Terrance↗
DOE OSTI2020

GEMINI Case Study

Sandia's GEMINI-Scout Mine Rescue Robot is an unmanned ground vehicle designed to enter potentially hazardous environments to explore, assess, and evaluate dangerous situations first responders may face when conducting a rescue mission. GEMINI is approximately four feet long and two feet tall, which enables the robot to maneuver through small locations on rough terrains caused by earthquakes, fires, or radiological incidents. GEMINI uses track propulsion to climb stairs, travel through gravel and sand pits, pivot in place, and traverse 45-degree climbs with few problems. Furthermore, the vehicle's dual tracked-chassis design allows it to operate in hostile, dark, muddy, high-temperature, and explosive debris-strewn environments, while maintaining efficient ground mobility. The mobility and modularity of the vehicle allow for easy integration of sensors to conduct gas and temperature sensing and offers pan/tilt, zoom color, and thermal camera video streaming capabilities. The vehicle is also able to carry a payload of about 50 pounds of batteries and can handle an additional 200 pounds of payload, whether for additional diagnostics, supplies, or clothing for those trapped in an effected area. GEMINI is remotely operated through a wireless connection and an onboard computer running a customized embedded control application, which directly communicates to all onboard components except for the audio and video systems. When line of sight is not possible, operators use a shockresistant fiber optic cable to ensure continuous functionality of the vehicle. This allows for direct local control of the vehicle, which streams collected data back to the operator for enhanced situational awareness. In addition, the vehicle incorporates safety features such as explosion proof housing to ensure safe electronic operations in hazardous gas or flooded environments; a four-channel video link and two-way audio to ensure located survivors can communicate with operators; and an MSHA-approved multi-gas sensor to monitor air quality.

42 ENGINEERING↗
NASA NTRS1991

Real-time control of the MIT vehicle emulation system

The MIT vehicle emulation system (VES) is an experimental facility designed to facilitate the study of controlling robots fixed to nonstationary bases. This includes assembly and repair manipulators attached to space vehicles, or to the space shuttle arm, as well as manipulators fixed to the bed of moving ground vehicles. Controlling manipulators under these conditions for endpoint force and positioning tasks requires both the development of new theory, and the development of a testbed for verifying theoretical results through experimentation. A description is presented of the technical details of the real-time controller for the second generation VES system.

Durfee, William K.↗
NASA NTRS1981

Recent Progress Towards Predicting Aircraft Ground Handling Performance

The significant progress which has been achieved in development of aircraft ground handling simulation capability is reviewed and additional improvements in software modeling identified. The problem associated with providing necessary simulator input data for adequate modeling of aircraft tire/runway friction behavior is discussed and efforts to improve this complex model, and hence simulator fidelity, are described. Aircraft braking performance data obtained on several wet runway surfaces is compared to ground vehicle friction measurements and, by use of empirically derived methods, good agreement between actual and estimated aircraft braking friction from ground vehilce data is shown. The performance of a relatively new friction measuring device, the friction tester, showed great promise in providing data applicable to aircraft friction performance. Additional research efforts to improve methods of predicting tire friction performance are discussed including use of an instrumented tire test vehicle to expand the tire friction data bank and a study of surface texture measurement techniques.

Yager, T. J.↗
NASA NTRS1962

An Investigation of the Effects of the Time Lag Due to Long Transmission Distance upon Remote Control. Phase II - Vehicle Experiments. Phase III - Conclusions

An experimental program is undertaken to define the effects upon remote control of long transmission delays. Investigation centers around remote control of a ground vehicle, which is considered to be a representative remote control task. A series of pursuit tracking tests is performed with transport lags ranging from 0 to 6 seconds between the control and the controlled quantity. Various target speeds are tracked with both velocity and acceleration controls. Two types of tracking are performed in an attempt to bracket the actual vehicle situation. In the first the operator attempts to follow the target with his controlled quantity in real time, using the delayed position and rates as feedback. In the second he attempts to follow the target with the delayed controlled quantity. In addition, tests are performed substituting simple electronic models for the human in an attempt to gain an understanding of human response with time delays in the control loop. A series of tests with an actual vehicle are performed with the intent of relating the tracking tests to the actual situation of interest. Time delays of from 0 to 3 seconds are included in the control loop. Performance is scored at various speeds over both continuous and obstacle courses. Both two and four-wheel steering are investigated. In the experiments the effects of all variables except delay magnitude and target complexity are minimized. Curves are obtained showing performance as a function of time delay and target complexity. These curves are discussed. Correlation of the tracking and vehicle experiments is discussed. Comments are made concerning the design of a minimum control system for a remotely controlled lunar roving vehicle.

REMOTE CONTROL↗
NASA NTRS1972

Sonic-boom ground-pressure measurements from Apollo 15

Sonic boom pressure signatures recorded during the launch and reentry phases of the Apollo 15 mission are presented. The measurements were obtained along the vehicle ground track at 87 km and 970 km downrange from the launch site during ascent; and at 500 km, 55.6 km, and 12.9 km from the splashdown point during reentry. Tracings of the measured signatures are included along with values of the overpressure, impulse, time duration, and rise times. Also included are brief descriptions of the launch and recovery test areas in which the measurements were obtained, the sonic boom instrumentation deployment, flight profiles and operating conditions for the launch vehicle and spacecraft, surface weather information at the measuring sites, and high altitude weather information for the general measurement areas.

Hilton, D. A.↗
NASA NTRS2006

The Role of Flight Experiments in the Development of Cryogenic Fluid Management Technologies

This paper reviews the history of cryogenic fluid management technology development and infusion into both the Saturn and Centaur vehicles. Ground testing and analysis proved inadequate to demonstrate full scale performance. As a consequence flight demonstration with a full scale vehicle was required by both the Saturn and Centaur programs to build confidence that problems were addressed. However; the flight vehicles were highly limited on flight instrumentation and the flight demonstration locked-in the design without challenging the function of design elements. Projects reviewed include: the Aerobee Sounding Rocket Cryogenic Fluid Management (CFM) tests which served as a valuable stepping stone to flight demonstration and built confidence in the ability to handle hydrogen in low gravity; the Saturn IVB Fluid Management Qualification flight test; the Atlas Centaur demonstration flights to develop two burn capability; and finally the Titan Centaur two post mission flight tests.

Chato, David J.↗
DOE OSTI2023

Reducing Conservativeness of Polytopic Linear-Parameter-Varying Robust Vehicle Sideslip Angle Observer Through Minimum-Area Convex Quadrilateral Design

The polytopic linear-parameter-varying (LPV) method has become increasingly popular for designing intelligent control and estimation systems for ground vehicles, particularly for the vehicle sideslip angle observer. In vehicle lateral dynamics, the vehicle longitudinal velocity-induced nonlinearities are conventionally outer-approximated with polytopes such as rectangles or triangles to obtain a polytopic LPV system. Yet, such polytopic approximations tend to be conservative and may lead to inadequate observer performance. To address this issue, a minimum-area convex quadrilateral construction is proposed in this paper to reduce design conservatism. The suggested design is demonstrated through the synthesis of an LPV H ∞ robust vehicle sideslip angle observer. Furthermore, a dSPACE-ASM simulation study is conducted to demonstrate the effectiveness and the advantage of the proposed polytopic construction over a baseline approach.

Zhou, Xingyu↗
NASA NTRS2005

Adaptable System for Vehicle Health and Usage Monitoring

Aircraft and other vehicles are often kept in service beyond their original design lives. As they age, they become susceptible to system malfunctions and fatigue. Unlike future aircraft that will include health-monitoring capabilities as integral parts in their designs, older aircraft have not been so equipped. The Adaptable Vehicle Health and Usage Monitoring System is designed to be retrofitted into a preexisting fleet of military and commercial aircraft, ships, or ground vehicles to provide them with state-of-the-art health- and usage-monitoring capabilities. The monitoring system is self-contained, and the integration of it into existing systems entails limited intrusion. In essence, it has bolt-on/ bolt-off simplicity that makes it easy to install on any preexisting vehicle or structure. Because the system is completely independent of the vehicle, it can be certified for airworthiness as an independent system. The purpose served by the health-monitoring system is to reduce vehicle operating costs and to increase safety and reliability. The monitoring system is a means to identify damage to, or deterioration of, vehicle subsystems, before such damage or deterioration becomes costly and/or disastrous. Frequent monitoring of a vehicle enables identification of the embryonic stages of damage or deterioration. The knowledge thus gained can be used to correct anomalies while they are still somewhat minor. Maintenance can be performed as needed, instead of having the need for maintenance identified during cyclic inspections that take vehicles off duty even when there are no maintenance problems. Measurements and analyses acquired by the health-monitoring system also can be used to analyze mishaps. Overall, vehicles can be made more reliable and kept on duty for longer times. Figure 1 schematically depicts the system as applied to a fleet of n vehicles. The system has three operational levels. All communication between system components is by use of wireless transceivers operating at frequencies near 433 MHz. Electromagnetic-interference tests have demonstrated that the radio-frequency emissions from the transceivers do not influence civilian aircraft communication and navigation systems.

Woodart, Stanley E.↗