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At least 145 records · Page 8

ROTEX-TRIIFEX: Proposal for a joint FRG-USA telerobotic flight experiment

The concepts and main elements of a RObot Technology EXperiment (ROTEX) proposed to fly with the next German spacelab mission, D2, are presented. It provides a 1 meter size, six axis robot inside a spacelab rack, equipped with a multisensory gripper (force-torque sensors, an array of range finders, and mini stereo cameras). The robot will perform assembly and servicing tasks in a generic way, and will grasp a floating object. The man machine and supervisory control concepts for teleoperation from the spacelab and from ground are discussed. The predictive estimation schemes for an extensive use of time-delay compensating 3D computer graphics are explained.

Hirzinger, G.

Cathodes Delivered for Space Station Plasma Contactor System

The International Space Station's (ISS) power system is designed with high-voltage solar arrays that typically operate at output voltages of 140 to 160 volts (V). The ISS grounding scheme electrically ties the habitat modules, structure, and radiators to the negative tap of the solar arrays. Without some active charge control method, this electrical configuration and the plasma current balance would cause the habitat modules, structure, and radiators to float to voltages as large as -120 V with respect to the ambient space plasma. With such large negative floating potentials, the ISS could have deleterious interactions with the space plasma. These interactions could include arcing through insulating surfaces and sputtering of conductive surfaces as ions are accelerated by the spacecraft plasma sheath. A plasma contactor system was baselined on the ISS to prevent arcing and sputtering. The sole requirement for the system is contained within a single directive (SSP 30000, paragraph 3.1.3.2.1.8): "The Space Station structure floating potential at all points on the Space Station shall be controlled to within 40 V of the ionospheric plasma potential using a plasma contactor." NASA is developing this plasma contactor as part of the ISS electrical power system. For ISS, efficient and rapid emission of high electron currents is required from the plasma contactor system under conditions of variable and uncertain current demand. A hollow cathode plasma source is well suited for this application and was, therefore, selected as the design approach for the station plasma contactor system. In addition to the plasma source, which is referred to as a hollow cathode assembly, or HCA, the plasma contactor system includes two other subsystems. These are the power electronics unit and the xenon gas feed system. The Rocketdyne Division of Boeing North American is responsible for the design, fabrication, assembly, test, and integration of the plasma contactor system. Because of technical and schedule considerations, the NASA Lewis Research Center was asked to manufacture and deliver the engineering model, the qualification model, and the flight HCA units for the plasma contactor system as government furnished equipment. To date, multiple units have been built. One cathode has demonstrated approximately 28 000-hr lifetime, two development HCA units have demonstrated over 15 000-hr lifetime, and one HCA unit has demonstrated more than 38 000 ignitions. All eight flight HCA's have been manufactured, acceptance tested, and are ready for delivery to the flight contractor.

Patterson, Michael J.

Stereo and IMU-Assisted Visual Odometry for Small Robots

This software performs two functions: (1) taking stereo image pairs as input, it computes stereo disparity maps from them by cross-correlation to achieve 3D (three-dimensional) perception; (2) taking a sequence of stereo image pairs as input, it tracks features in the image sequence to estimate the motion of the cameras between successive image pairs. A real-time stereo vision system with IMU (inertial measurement unit)-assisted visual odometry was implemented on a single 750 MHz/520 MHz OMAP3530 SoC (system on chip) from TI (Texas Instruments). Frame rates of 46 fps (frames per second) were achieved at QVGA (Quarter Video Graphics Array i.e. 320 240), or 8 fps at VGA (Video Graphics Array 640 480) resolutions, while simultaneously tracking up to 200 features, taking full advantage of the OMAP3530's integer DSP (digital signal processor) and floating point ARM processors. This is a substantial advancement over previous work as the stereo implementation produces 146 Mde/s (millions of disparities evaluated per second) in 2.5W, yielding a stereo energy efficiency of 58.8 Mde/J, which is 3.75 better than prior DSP stereo while providing more functionality.

Source record

An Input Routine Using Arithmetic Statements for the IBM 704 Digital Computer

An input routine has been designed for use with FORTRAN or SAP coded programs which are to be executed on an IBM 704 digital computer. All input to be processed by the routine is punched on IBM cards as declarative statements of the arithmetic type resembling the FORTRAN language. The routine is 850 words in length. It is capable of loading fixed- or floating-point numbers, octal numbers, and alphabetic words, and of performing simple arithmetic as indicated on input cards. Provisions have been made for rapid loading of arrays of numbers in consecutive memory locations.

Turner, Don N.

Large area focusing collector for the observation of cosmic X rays.

A large area focusing X-ray collector constructed for a sounding rocket is described. The instrument consists of nested reflecting plates that are curved slightly in one dimension to form a set of parabolas with a common focus. An array of plates such as the one in the sounding rocket focuses a parallel beam of X-rays to a line. The reflecting surfaces are commercial float glass with an evaporated metallic coating such as gold or nickel. With a gold coating, the effective area of the rocket collector is about 250 sq cm for 0.3 keV X rays and about 150 sq cm at 1.2 keV. Its angular resolution is a few arc minutes and field of view is about plus or minus .75 deg (full width at half maximum). The collector performed successfully during a sounding rocket flight.

Gorenstein, P.

Definition study for photovoltaic residential prototype system

A site evaluation was performed to assess the relative merits of different regions of the country in terms of the suitability for experimental photovoltaic powered residences. Eight sites were selected based on evaluation criteria which included population, photovoltaic systems performance and the cost of electrical energy. A parametric sensitivity analysis was performed for four selected site locations. Analytical models were developed for four different power system implementation approaches. Using the model which represents a direct (or float) charge system implementation the performance sensitivity to the following parameter variations is reported: (1) solar roof slope angle; (2) ratio of the number of series cells in the solar array to the number of series cells in the lead-acid battery; and (3) battery size. For a Cleveland site location, a system with no on site energy storage and with a maximum power tracking inverter which feeds back excess power to the utility was shown to have 19 percent greater net system output than the second place system. The experiment test plan is described. The load control and data acquisition system and the data display panel for the residence are discussed.

Shepard, N. F.

STS-86 Day 07 Highlights

On this seventh day of the STS-86 mission, the flight crew, Cmdr. James D. Wetherbee, Jr., Pilot Michael J. Bloomfield, Mission Specialists Scott E. Parazynski, Jean-Loup Chretien, Vladimir G. Titov, Wendy B. Lawrence and Mike Foale are seen in preparations for a planned five-hour spacewalk to retrieve four experiment packages and to test tools and techniques for construction of the International Space Station. Parazynski and Titov are seen floating out of a hatch on Atlantis' tunnel adapter in front of the Orbiter Docking System to begin their spacewalk. They then affix a 121-pound instrument called a Solar Array Cap to the Docking Module for future use by Russian cosmonauts to seal off a suspected breach in the hull of the Spektr Module.

Source record

Feasibility study, software design, layout and simulation of a two-dimensional fast Fourier transform machine for use in optical array interferometry

The NASA-Cornell Univ.-Worcester Polytechnic Institute Fast Fourier Transform (FFT) chip based on the architecture of the systolic FFT computation as presented by Boriakoff is implemented into an operating device design. The kernel of the system, a systolic inner product floating point processor, was designed to be assembled into a systolic network that would take incoming data streams in pipeline fashion and provide an FFT output at the same rate, word by word. It was thoroughly simulated for proper operation, and it has passed a comprehensive set of tests showing no operational errors. The black box specifications of the chip, which conform to the initial requirements of the design as specified by NASA, are given. The five subcells are described and their high level function description, logic diagrams, and simulation results are presented. Some modification of the Read Only Memory (ROM) design were made, since some errors were found in it. Because a four stage pipeline structure was used, simulating such a structure is more difficult than an ordinary structure. Simulation methods are discussed. Chip signal protocols and chip pinout are explained.

Boriakoff, Valentin

A 190 by 244 charge-coupled area image sensor with interline transfer organization

A 190 x 244 element charge coupled area image sensor has been designed, fabricated and tested. This sensor employs an interline transfer organization and buried n-channel technology. It features a novel on-chip charge integrator and a distributed floating gate amplifier for high and low light level applications. The X-Y element count has been chosen to establish the capability of producing an NTSC compatible video signal. The array size is also compatible with the Super 8 lens format. The first few sample devices have been successfully operated at full video bandwidth for both high and low light levels with the charge amplifier system.

Walsh, L. R.

Opportunities for Utilizing the International Space Station for Studies of F2- Region Plasma Science and High Voltage Solar Array Interactions with the Plasma Environment

The near circular, 51.6deg inclination orbit of the International Space Station (ISS) is maintained within an altitude range of approximately 300 km to 400 km providing an ideal platform for conducting in-situ studies of space weather effects on the mid and low-latitude F-2 region ionosphere. The Floating Potential Measurement Unit (FPMU) is a suite of instruments installed on the ISS in August 2006 which includes a Floating Potential Probe (FPP), a Plasma Impedance Probe (PIP), a Wide-sweep Langmuir Probe (WLP), and a Narrow-sweep Langmuir Probe (NLP). The primary purpose for deploying the FPMU is to characterize ambient plasma temperatures and densities in which the ISS operates and to obtain measurements of the ISS potential relative to the space plasma environment for use in characterizing and mitigating spacecraft charging hazards to the vehicle and crew. In addition to the engineering goals, data from the FPMU instrument package is available for collaborative multi-satellite and ground based instrument studies of the F-region ionosphere during both quiet and disturbed periods. Finally, the FPMU measurements supported by ISS engineering telemetry data provides a unique opportunity to investigate interactions of the ISS high voltage (160 volt) solar array system with the plasma environment. This presentation will provide examples of FPMU measurements along the ISS orbit including night-time equatorial plasma density depletions sampled near the peak electron density in the F2-region ionosphere, charging phenomenon due to interaction of the ISS solar arrays with the plasma environment, and modification of ISS charging due to visiting vehicles demonstrating the capabilities of the FPMU probes for monitoring mid and low latitude plasma processes as well as vehicle interactions with the plasma environment.

Minow, Joseph I.

The economic payoff for a state-of-the-art high-efficiency flat-plate crystalline silicon solar cell technology

In 1986 during the flat-plate solar array project, silicon solar cells 4.0 sq cm in area were fabricated at the Jet Propulsion Laboratory (JPL) with a conversion efficiency of 20.1 percent (AM1.5-global). Sixteen cells were processed with efficiencies measuring 19.5 percent (AM1.5 global) or better. These cells were produced using refined versions of conventional processing methods, aside from certain advanced techniques that bring about a significant reduction in a major mechanism (surface recombination) that limits cell efficiency. Wacker Siltronic p-type float-zone 0.18-ohm-cm wafers were used. Conversion efficiencies in this range have previously been reported by other researchers, but generally on much smaller (0.5 vs. 4.0 cm) devices which have undergone sophisticated and costly processing steps. An economic analysis is presented of the potential payoffs for this approach, using the Solar Array Manufacturing Industry Costing Standards (SAMICS) methodology. The process sequence used and the assumptions made for capturing the economies of scale are presented.

Bickler, Donald B.

Active pixel sensor array with electronic shuttering

An active pixel cell includes electronic shuttering capability. The cell can be shuttered to prevent additional charge accumulation. One mode transfers the current charge to a storage node that is blocked against accumulation of optical radiation. The charge is sampled from a floating node. Since the charge is stored, the node can be sampled at the beginning and the end of every cycle. Another aspect allows charge to spill out of the well whenever the charge amount gets higher than some amount, thereby providing anti blooming.

Fossum, Eric R.

Research and development of low cost processes for integrated solar arrays

Si reduction, purification and sheet generation work has been concentrated on gaining information about a reduction process combined with purification (higher purity arc furnace with gas blowing and gradient freezing), transport process with purification and polycrystal sheet growth potential (SiF2), plastic deformation for sheet generation, and float zone sheet recrystallization.

Wolf, M.

Floating Potential Probe Deployed on the International Space Station

In the spring and summer of 2000, at the request of the International Space Station (ISS) Program Office, a Plasma Contactor Unit Tiger Team was set up to investigate the threat of the ISS arcing in the event of a plasma contactor outage. Modeling and ground tests done under that effort showed that it is possible for the external structure of the ISS to become electrically charged to as much as -160 V under some conditions. Much of this work was done in anticipation of the deployment of the first large ISS solar array in November 2000. It was recognized that, with this deployment, the power system would be energized to its full voltage and that the predicted charging would pose an immediate threat to crewmembers involved in extravehicular activities (EVA's), as well as long-term damage to the station structure, were the ISS plasma contactors to be turned off or stop functioning. The Floating Potential Probe was conceived, designed, built, and deployed in record time by a crack team of scientists and engineers led by the NASA Glenn Research Center in response to ISS concerns about crew safety.

Ferguson, Dale C.

Instrumentation for vector electric field measurements from DE-B

Instrumentation has been developed, using the symmetric double-floating probe technique, to make vector electric field measurements from the low-altitude Dynamics Explorer (DE-B) spacecraft. Six 11-m cylindrical antennas are deployed along three orthogonal axes to form the sensor array. The outer two meters of each element are used as sensors, which results in a baseline of 21.4 m for the dc measurement for each axis. Efforts have been made to provide straight antennas and antennas that will not bend from thermal stresses as sun angles are changed. Measurements of the dc electric field will be made 16 times/sec or every half-kilometer along the orbit. Sensitivity will be 0.1 mV/m with a range of + or - 1 V/m. A 20-channel comb filter spectrometer will monitor ac electric fields, concentrating on frequencies below 1 kHz. Electric fields from any single axis or two axes may be sampled by the spectrometer within the range of 1 microvolt/m to 10 mV/m

Maynard, N. C.

In-FEEP ion beam neutralization with thermionic and field emission cathodes

Charge neutralization of an In-FEEP thruster was demonstrated with three different electron sources by zeroing the floating potential of the thruster and neutralizer system. The three cathodes used in the investigation include a mixed metal thermionic cathode, a carbon nanotube field emission cathode, and a Spindt-type Mo field emission array cathode.

field emission cathodes FEEP electric propulsion

Temporal Evolution of the Plasma Sheath Surrounding Solar Cells in Low Earth Orbit

High voltage solar array interactions with the space environment can have a significant impact on array performance and spacecraft charging. Over the past 10 years, data from the International Space Station has allowed for detailed observations of these interactions over long periods of time. Some of the surprising observations have been floating potential transients, which were not expected and are not reproduced by existing models. In order to understand the underlying processes producing these transients, the temporal evolution of the plasma sheath surrounding the solar cells in low Earth orbit is being investigated. This study includes lumped element modeling and particle-in-cell simulation methods. This presentation will focus on recent results from the on-going investigations.

Willis, Emily M.

Temporal Evolution of the Plasma Sheath Surrounding Solar Cells in Low Earth Orbit

High voltage solar array interactions with the space environment can have a significant impact on array performance and spacecraft charging. Over the past 10 years, data from the International Space Station has allowed for detailed observations of these interactions over long periods of time. Some of the surprising observations have been floating potential transients, which were not expected and are not reproduced by existing models. In order to understand the underlying processes producing these transients, the temporal evolution of the plasma sheath surrounding the solar cells in low Earth orbit is being investigated. This study includes lumped element modeling and particle-in-cell simulation methods. This presentation will focus on recent results from the on-going investigations.

Willis, Emily M.