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NASA NTRS2000

2000 FIRST Robotics Competition

The New Horizons Regional Education Center (NHREC) in Hampton, VA sought and received NASA funding to support its participation in the 2000 FIRST Robotics competition. FIRST, Inc. (For Inspiration and Recognition of Science and Technology) is an organization which encourages the application of creative science, math, and computer science principles to solve real-world engineering problems. The FIRST competition is an international engineering contest featuring high school, government, and business partnerships.

Purman, Richard↗

NASA NTRS2001

National General Aviation Design Competition Project Report

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NASA NTRS2001

New Horizons Regional Education Center 2001 FIRST Robotics Competition

The New Horizons Regional Education Center (NHREC) in Hampton, VA sought and received NASA funding to support its participation in the 2001 FIRST Robotics competition. FIRST, Inc. (For Inspiration and Recognition of Science and Technology) is an organization which encourages the application of creative science, math, and computer science principles to solve real-world engineering problems. The FIRST competition is an international engineering contest featuring high school, government, and business partnerships.

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NASA NTRS2001

X-traktor: A Rookie Robot, Simple, Yet Complex, Impeccably Designed, a Very Innovative Multidisciplinary Engineering Masterpiece

FIRST is the acronym of For Inspiration and Recognition of Science and Technology. FIRST is a 501.C.3 non-profit organization whose mission is to generate an interest in science and engineering among today's young adults and youth. This mission is accomplished through a robot competition held annually in the spring of each year. NASAs Marshall Space Flight Center, Education Programs Department, awarded a grant to Lee High School, the sole engineering magnet school in Huntsville, Alabama. MSFC awarded the grant in hopes of fulfilling its goal of giving back invaluable resources to its community and engineers, as well as educating tomorrow's work force in the high-tech area of science and technology. Marshall engineers, Lee High School students and teachers, and a host of other volunteers and parents officially initiated this robot design process and competitive strategic game plan. The FIRST Robotics Competition is a national engineering contest, which immerses high school students in the exciting world of science and engineering. Teaming with engineers from government agencies, businesses, and universities enables the students to learn about the engineering profession. The students and engineers have six weeks to work together to brainstorm, design, procure, construct, and test their robot. The team then competes in a spirited, 'no-holds barred' tournament, complete with referees, other FIRST-designed robots, cheerleaders, and time clocks. The partnerships developed between schools, government agencies, businesses, and universities provide an exchange of resources and talent that build cooperation and expose students to new and rewarding career options. The result is a fun, exciting, and stimulating environment in which all participants discover the important connections between classroom experiences and real-world applications. This paper will highlight the story, engineering development, and evolutionary design of Xtraktor, the rookie robot, a manufacturing marvel and engineering achievement.

Henderson, A. J., Jr.↗

NASA NTRS1996

The Infrared Spectra of Nitriles and Related Compounds Frozen in Ar and H2O

We present the 2320-2050/cm (4.31-4.88 micron) infrared spectra of 16 solid state nitrites, isonitriles, and related compounds in order to facilitate the assignment of absorption features in a spectral region now becoming accessible to astronomers for the first time through the Infrared Space Observatory (ISO). This frequency range spans the positions of the strong C(is congruent to)N stretching vibration of these compounds and is inaccessible from the ground due to absorption by CO2 in the terrestrial atmosphere. Band positions, profiles, and intrinsic strengths (A values) were measured for compounds frozen in Ar and H2O matrices at 12 K. The molecular species examined included acetonitrile, benzonitrile phenylcyanide) 9-anthracenecarbonitrile, dimethylcyanamide, isopropy1nitrile (isobutyronitrile), methylacrylonitrile, crotononitrile, acrylonitrile (vinyl cyanide), 3-aminocrotononitrile, pyr-uvonitrile, dicyandiamide, cyanamide, n-butyfisocyanide, methylisocyanoacetate, dilsopropylcarbodiimide, and hydrogen cyanide. The C(is congruent to)N stretching bands of the majority of nitrites fall in the 2300-2200/cm (4.35-4.55 micron) range and have similar positions in both Ar and H2O matrices, although the bands are generally considerably broader in the H2O matrices. In contest, the isonitriles and a few exceptional nitrites and related species produce bands at lower frequencies spanning the 2200-2080/cm (4.55-4.81 micron) range. These features also have similar positions in both Am and H2O matrices and the bands are broader in the H2O matrices. Three of the compounds (pyruvonitrile, dicyandiamide, and cyanamide) show unusually large shifts of their C(is congruent to)N stretching frequencies when changing from Ar to H2O matrices. We attribute these shifts to the formation of H2O:nitrile complexes with these compounds. The implications of these results for the identification of the 2165/cm (4.62 micron) "XCN" interstellar feature and the 4550/cm (2.2 micron) feature of various objects in the solar system are discussed.

Bernstain, Max P.↗

NASA NTRS2002

Virginia Space Grant Consortium Management of National General Aviation Design Competition

This report summarizes the management of the National General Aviation Design Competition on behalf of NASA, the FAA and the Air Force by the Virginia Space Grant Consortium (VSGC) for the time period October 1, 2000 through September 30, 2001. This was the VSGC's seventh and final year of managing the Competition, which the Consortium originally designed, developed and implemented for NASA and the FAA. The competition is now being managed in-house by NASA. Awards to winning university teams were presented at a ceremony held at AirVenture 2001, the Experimental Aircraft Association's Annual Convention and Fly-In at Oshkosh, Wis. by NASA and FAA officials. The competition called for individuals or teams of undergraduate and graduate students from U.S. engineering schools to participate in a major national effort to rebuild the U.S. general aviation sector. Participants were challenged to meet the engineering goals of the Advanced General Aviation Transport Experiment (AGATE) project. For the purpose of the contest, general aviation aircraft are typically defined as single or twin engine (turbine or piston), single-pilot, fixed-wing aircraft for 2 - 6 passengers. The competition seeks to raise student awareness of the importance of general aviation by having students address design challenges for a small aircraft transportation system. NASA, AFRL and the FAA hope to stimulate breakthroughs in technology and their application in the general aviation marketplace. National goals for revitalizing the industry offer excellent, open-ended design challenges with real world applications for the Innovative Design Category. Both individual and team submissions were encouraged. University faculty advisors and students consistently cite the value of this kind of educational experience for their engineering students. Eight proposals were submitted for the 2001 Competition for the Innovative Design Category. Eleven faculty members and 124 students participated. Since inception, more than 785 students and 60 faculty members have participated in the Competition. A review panel comprised of general aviation experts from the FAA, EAA, NASA and industry representatives reviewed the design packages and selected the winners. The VSGC coordinated marketing of the competition to a mailing list which included selected deans and department chairs from ABET-accredited institutions, Space Grant affiliates, faculty who had previously participated in or expressed interest in the Competition, and others.

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NASA NTRS2002

The Summer Robotic Autonomy Course

We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the midst of a new community for roboticists. CMU provided undergraduate course credit for this official course, 16-162U, for 13 students, with all other students receiving course credit from National Hispanic University.

Nourbakhsh, Illah R.↗

NASA NTRS2003

The NASA Education Enterprise: Inspiring the Next Generation of Explorers

On April 12, 2002, NASA Administrator Sean O Keefe opened a new window to the future of space exploration with these words in his Pioneering the Future address. Thus began the conceptual framework for structuring the new Education Enterprise. The Agency s mission is to understand and protect our home planet; to explore the universe in search for life; and to inspire the next generation of explorers as only NASA can. In adopting this mission, education became a core element and is now a vital part of every major NASA research and development mission. NASA s call to inspire the next generation of explorers is now resounding throughout the NASA community and schools of all levels all around the country. The goal is to capture student interest, nurture their natural curiosities, and intrigue their minds with new and exciting scientific research; as well as to provide educators with the creative tools they need to improve America s scientific literacy. The future of NASA begins with America s youngest scholars. According to Administrator O Keefe s address, if NASA does not motivate the youngest generation now, there is little prospect this generation will choose to pursue scientific disciplines later. Since embracing Administrator O Keefe s educational mandate over a year ago, NASA has been fully devoted to broadening its roadmap to motivation. The efforts have generated a whole new showcase of thoughtprovoking and fun learning opportunities, through printed material, Web sites and Webcasts, robotics, rocketry, aerospace design contests, and various other resources as only NASA can.

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NASA NTRS2003

Estimating the Average Diameter of a Population of Spheres from Observed Diameters of Random Two-Dimensional Sections

Size distributions of chondrules, volcanic fire-fountain or impact glass spherules, or of immiscible globules in silicate melts (e.g., in basaltic mesostasis, agglutinitic glass, impact melt sheets) are imperfectly known because the spherical objects are usually so strongly embedded in the bulk samples that they are nearly impossible to separate. Hence, measurements are confined to two-dimensional sections, e.g. polished thin sections that are commonly examined under reflected light optical or backscattered electron microscopy. Three kinds of approaches exist in the geologic literature for estimating the mean real diameter of a population of 3D spheres from 2D observations: (1) a stereological approach with complicated calculations; (2) an empirical approach in which independent 3D size measurements of a population of spheres separated from their parent sample and their 2D cross sectional diameters in thin sections have produced an array of somewhat contested conversion equations; and (3) measuring pairs of 2D diameters of upper and lower surfaces of cross sections each sphere in thin sections using transmitted light microscopy. We describe an entirely probabilistic approach and propose a simple factor of 4/x (approximately equal to 1.27) to convert the 2D mean size to 3D mean size.

Kong, Maiying↗

NASA NTRS2004

NASA Celebrates the World Year of Physics

One of the goals of NASA's Exploration Systems Education and Outreach team is to provide educators and students authentic, relevant opportunities and activities. In celebration of the World Year of Physics 2005, there will be several NASA-sponsored events and classroom activities geared to the teaching and learning of physics. Proposed events and activities include a contest for high school classes to design a reduced gravity experiment or demonstration for flight on an aircraft executing a parabolic flight path, amusement park activities with a NASA twist, and a symposium bringing together prominent leaders in the diverse areas of physics research.

Szofran, Frank↗

NASA NTRS2003

The Impact of Total Liberalization of Domestic Air Transport on the Social Welfare and on the Dynamic of Competition: Comparison Between the United States and the European Union

Since the lst of April 1997 date of the implementation of the third package of the liberalization, air transport, within the european Union has become totally liberalized. In the United States the deregulation of domestic air traffic was earlier and faster since it took place in October 1978 after the adoption of the only act of deregulation. This paper, in its first part, deals with the liberalization of the industry of air traffic in the european union. After a comparison with US system based on market demand, fare policy and network restrictions, we present our descriptive results coming from treatments on the OAG data. These results present several aspects such as the evolution of the competitive structure of the intra-european routes, the level of airport dominance and the growth of hub structure. The second part of the paper presents models of entry in the airline industry. As profitability" of route flown explains correctly decisions taken by airlines to serve or not a route, the paper focuses on the specification and the estimation of the determinants of city, pair profitability in the european union. Treatments done on the OAG data show a rapid development of leasing space agreement (partial and total) and code sharing practices between 1995 and 2000 in Europe that's why we differentiate first between the two type of competitive strategy of entry(direct entry and leasing space agreement) and second between the competitive strategy of entry and the alliance strategy of code sharing. So the estimation of model will be able to answer the question if the european air transport market is contestable and in case not to see if the decision of entry is more directed by the level of airport dominance (as in the domestic United States market)or essentially by the competitive structure of the routes. We try to explain the nature of entry(directleasing or code sharing) by the different levels of these two determinants.

Zbidi, Karim↗

NASA NTRS2004

Teleoperated Modular Robots for Lunar Operations

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Globus, Al↗

NASA NTRS2004

FIRST 2002, 2003, 2004 Robotics Competition(s)

The New Horizons Regional Education Center (NHREC) in Hampton, VA sought and received NASA funding to support its participation in the 2002, 2003, and 2004 FIRST Robotics Competitions. FIRST, Inc. (For Inspiration and Recognition of Science and Technology) is an organization which encourages the application of creative science, math, and computer science principles to solve real-world engineering problems. The FIRST competition is an international engineering contest featuring high school, government, and business partnerships.

Purman, Richard↗

NASA NTRS2004

College Bound with the Office of Educational Programs

The Educational Programs Office at NASA Glenn Research Center hosts a variety of programs that takes on the hard task of getting students of all ages interested in pursuing careers in science, mathematics, and engineering. To help assist students along the way there are many programs to participate in such as: the explorers, shadowing opportunities, and paid internships. The Educational Programs Office not only creates learning opportunities for students, they also host workshops to help educators enhance their knowledge these fields. This summer I assisted Marie Borowski in the Educational Programs Office with the Tennessee State University College Bound Program. The Tennessee state University College Bound Program is an intensive two-week summer academic workshop designed to introduce minority students to the profession of engineering. NASA Glenn Research Center sent forty dedicated students on a bus to Nashville, Tennessee to experience college life as a whole. At the college the students day consisted of a math class, aeronautics, ACT/SAT preparation, writing and research, African American Culture, computer science, and study sessions. The students also went on educational field trips to the Fisk Museum, the Space and Rocket Center, and the Parthenon Museum. On the last day of the program the students competed in an oratorical contest where the students made a Powerpoint presentation on the class that they enjoyed the most. There were many processes that had to be put into action for the college bound program to run smoothly. The process started in early January with the preparation of applications. Once prepared, the applications were then sent to schools and past participants in hopes of receiving a well-qualified pool of applicants. Once the applications were received, a prescreening is done which ensures all of the information is complete. Then, they are reviewed by a panel, using a rubric to evaluate them, and the semifinalists are then selected. Interviews are held with the students and their parents had to be interviewed by a panel of judges and graded on a rubric. The scores were added up and the forty students were selected. My job this summer was getting the students ready to leave for Tennessee. My job consisted of working very closely with my mentor, Marie Borowski, compile the student data to provide it to the chaperones, TSU records, and NASA records. I learned about the vital communication between the NASA and the TSU program managers. After all the planning was done and the program had begun I had a chance to fly to Tennessee for six days to observe the students daily activities. The students had adjusted very well to the intense schedule, and seemed very enthusiastic about the activities to follow. The whole group was very attentive and enthusiastic program be longer. My goals for the summer were all met. I wanted to learn and retain all the information I possibly could on the job I was given. I was very happy with the end result.

Neal, Brittany D.↗

NASA NTRS2005

STS-114 Flight Day 6 Highlights

Day 6 is a relatively quiet day for the STS-114 crew. The main responsibility for crew members of Space Shuttle Discovery (Commander Eileen Collins, Pilot James Kelly, Mission Specialists Soichi Noguchi, Stephen Robinson, Andrew Thomas, Wendy Lawrence, and Charles Camarda) and the Expedition 11 crew of the International Space Station (ISS) (Commander Sergei Krikalev and NASA ISS Science Officer and Flight Engineer John Phillips) is to unload supplies from the shuttle payload bay and from the Raffaello Multipurpose Logistics Module onto the ISS. Several of the astronauts answer interview questions from the news media, with an emphasis on the significance of their mission for the Return to Flight, shuttle damage and repair, and the future of the shuttle program. Thomas announces the winners of an essay contest for Australian students about the importance of science and mathematics education. The video includes the installation of a stowage rack for the Human Research Facility onboard the ISS, a brief description of the ISS modules, and an inverted view of the Nile Delta.

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NASA NTRS2006

Recent Selected Ion Flow Tube (SIFT) Studies Concerning the Formation of Amino Acids in the Gas Phase

Recently the simplest amino acid, glycine, has been detected in interstellar clouds, ISC, although this has since been contested. In order to substantiate either of these claims, plausible routes to amino acids need to be investigated. For gas phase synthesis, the SIFT technique has been employed to study simple amino acids via ion-molecule reactions of several ions of interstellar interest with methylamine, ethylamine, formic acid, acetic acid, and methyl formate. Carboxylic acid type ions were considered in the reactions involving the amines. In reactions where the carboxylic acid and methyl formate neutrals were studied, the reactant ions were primarily amine ion fragments. It was observed that the amines and acids preferentially fragment or accept a proton whenever energetically possible. NH3(+), however, uniquely reacted with the neutrals via atom abstraction to form NH4(+). These studies yielded a body of data relevant to astrochemistry, supplementing the available literature. However, the search for gas phase routes to amino acids using conventional molecules has been frustrated. Our most recent research investigates the fragmentation patterns of several amino acids and several possible routes have been suggested for future study.

Jackson, Douglas M.↗

NASA NTRS2006

Lifetime Evolution of UV Jets

We report on observations acquired in May 2003 during a SOHO-Ulysses quadrature campaign. From May 25 to May 28, the SoHO LASCO Coronal Mass Ejection (CME) catalog lists a number of events which might have been observed by SOHO/UVCS, whose slit was centered along the Ulysses direction. However, because of time gaps in the observing schedule, or because of the unfavorable position of some CMEs, the most interesting events recorded by UVCS were a few short-lived ejections that represent the extension at higher altitudes of recursive EIT jets. We focus on jets occurring on May 26/27, visible also in EIT and LASCO images, which seem to propagate along the radial to Ulysses. UVCS spectra at 1.7 Rsun showed an unusually high emission in cool lines, lasting for about 10 to 25 minutes, with no evidence of hot plasma. Analysis of the cool line emission allowed us to infer the evolution of physical parameters during the jets lifetime and derive a crude estimate of the energy needed to account for their properties. We also looked for any evidence of the event in in situ data. Whether UVCS is observing jets or narrow CMEs is discussed in the contest of previous works on these classes of events and, in the last Section, we propose a scenario that accounts for our observations.

Corti, G.↗

NASA NTRS2006

Biomimetics as a Model for Inspiring Human Innovation

Electroactive polymers (EAP) are human made actuators that are the closest to mimic biological muscles. Technology was advanced to the level that biologically inspired robots are taking increasing roles in the world around us and making science fiction ideas a closer engineering reality. Artificial technologies (AI, AM, and others) are increasingly becoming practical tools for making biologically inspired devices and instruments with enormous potential for space applications. Polymer materials are used to produce figures that resemble human and animals. These materials are widely employed by the movie industry for making acting figures and by the orthopedic industry to construct cyborg components. There are still many challenges ahead that are critical to making such possibilities practical. The annual armwrestling contest is providing an exciting measure of how well advances in EAP are implemented to address the field challenges. There is a need to document natures inventions in an engineering form to possibly inspire new capabilities.

Electroactive Polymers (EAP)↗