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At least 145 records · Page 8

Telerobotic research at NASA Langley Research Center

An overview of Automation Technology Branch facilities and research is presented. Manipulator research includes dual-arm coordination studies, space manipulator dynamics, end-effector controller development, automatic space structure assembly, and the development of a dual-arm master-slave telerobotic manipulator system. Sensor research includes gravity-compensated force control, real-time monovision techniques, and laser ranging. Artificial intelligence techniques are being explored for supervisory task control, collision avoidance, and connectionist system architectures. A high-fidelity dynamic simulation of robotic systems, ROBSIM, is being supported and extended. Cooperative efforts with Oak Ridge National Laboratory have verified the ability of teleoperators to perform complex structural assembly tasks, and have resulted in the definition of a new dual-arm master-slave telerobotic manipulator. A bibliography of research results and a list of technical contacts are included.

Sliwa, Nancy E.↗

The coefficient of restitution of ice particles in glancing collisions: Experimental results for unfrosted surfaces

Both Saturn's rings and planetesimal disks are made up of particles in Keplerian orbits. Inelastic collisions between these particles regulate their dynamical evolution and possible aggregation. We present an experiment to simulate glancing collisions in Saturn's rings and in planetesimal disks and thus measure contributions to the energy loss for both normal and tangential velocity components. In this experiment, a spherical iceball mounted on a long-period, two dimensional pendulum is made to impact a flat ice surface in a low-temperature environment. This paper describes the experimental apparatus in detail and presents results for smooth unfrosted surfaces. The energy loss for tangential motion is suprisingly low, indicating that very little friction is present at low impact speeds for relatively smooth ice surfaces and temperatures near 100 K. We have also investigated room-temperature collisions of a rubber ball on a rough surface to understand the energy loss in situations where the tangential friction force is not small. In this analogous case, the energy loss is maximum for impact angles in the range 45 deg-60 deg.

Supulver, Kimberley D.↗

Detailed numerical simulations of laser cooling processes

We developed a detailed semiclassical numerical code of the forces applied on atoms in optical and magnetic fields to increase the understanding of the different roles that light, atomic collisions, background pressure, and number of particles play in experiments with laser cooled and trapped atoms.

numerical simulations laser cooling processes↗

Statistical mechanics models for motion and force planning

The models of statistical mechanics provide an alternative to the methods of classical mechanics more traditionally used in robotics. They have a potential to: improve analysis of object collisions; handle kinematic and dynamic contact interactions within the same frmework; and reduce the need for perfect deterministic world model information. The statistical mechanics models characterize the state of the system as a probability density function (p.d.f.) whose time evolution is governed by a partial differential equation subject to boundary and initial conditions. The boundary conditions when rigid objects collide reflect the conservation of momentum. The models are being developed to embedd in remote semi-autonomous systems with a need to reason and interact with a multiobject environment.

Rodriguez, G.↗

Environmental Catastrophes in the Earth's History Due to Solar Systems Encounters with Giant Molecular Clouds

In its motion through the Milky Way galaxy, the solar system encounters an average density (>=330 H atoms/cubic cm) giant molecular cloud (GMC) approximately every 108 years, a dense (approx 2 x 103 H atoms/cubic cm) GMC every approx 109 years and will inevitably encounter them in the future. However, there have been no studies linking such events with severe (snowball) glaciations in Earth history. Here we show that dramatic climate change can be caused by interstellar dust accumulating in Earth's atmosphere during the solar system's immersion into a dense (approx ,2 x 103 H atoms/cubic cm) GMC. The stratospheric dust layer from such interstellar particles could provide enough radiative forcing to trigger the runaway ice-albedo feedback that results in global snowball glaciations. We also demonstrate that more frequent collisions with less dense GMCs could cause moderate ice ages.

Pavlov, Alexander A.↗

Role of ion temperature anisotropy in multistage refilling of the outer plasmasphere

The refilling processes predicted by the ion temperature anisotropy (TAN) model and those of a model based on the assumption of temperature isotropy (TISO) are compared. It is noted that the TISO model predicts that a flux tube with L = 4 undergoes a substantial refilling in about 12 hours after a severe depletion, while the TAN model predicts much longer refilling time divided in two stages, with the supersonic flows from the conjugate ionospheres in the early stage, lasting over a few hours. The plasma in the flux tube develops an anisotropy causing a downward force, which balances the upward electric and pressure forces on ions keeping the flux tube depleted. The second stage starts when the temperature anisotropy begins to relax due to Coulomb collisions at high altitudes and is characterized by a subsonic flow.

Singh, Nagendra↗

Asymmetrical Capacitors for Propulsion

Asymmetrical Capacitor Thrusters have been proposed as a source of propulsion. For over eighty years, it has been known that a thrust results when a high voltage is placed across an asymmetrical capacitor, when that voltage causes a leakage current to flow. However, there is surprisingly little experimental or theoretical data explaining this effect. This paper reports on the results of tests of several Asymmetrical Capacitor Thrusters (ACTs). The thrust they produce has been measured for various voltages, polarities, and ground configurations and their radiation in the VHF range has been recorded. These tests were performed at atmospheric pressure and at various reduced pressures. A simple model for the thrust was developed. The model assumed the thrust was due to electrostatic forces on the leakage current flowing across the capacitor. It was further assumed that this current involves charged ions which undergo multiple collisions with air. These collisions transfer momentum. All of the measured data was consistent with this model. Many configurations were tested, and the results suggest general design principles for ACTs to be used for a variety of purposes.

Canning, Francis X.↗

UAS-NAS Project Demo - Mini HITL Week 2 Stats

The UAS-NAS Project demo will showcase recent research efforts to ensure the interoperability between proposed UAS detect and avoid (DAA) human machine interface requirements (developed within RTCA SC-228) and existing collision avoidance displays. Attendees will be able to view the current state of the art of the DAA pilot traffic, alerting and guidance displays integrated with Traffic advisory and Collision Avoidance (TCAS) II in the UAS-NAS Project's research UAS ground control station (developed in partnership with the Air Force Research Laboratory). In addition, attendees will have the opportunity to interact with the research UAS ground control station and "fly" encounters, using the DAA and TCAS II displays to avoid simulated aircraft. The display of the advisories will be hosted on a laptop with an external 30" monitor, running the Vigilant Spirit system. DAA advisories will be generated by the JADEM software tool, connected to the system via the LVC Gateway. A repeater of the primary flight display will be shown on a 55" monitor mounted on a stand at the back of the booth to show the pilot interaction to the passersby.

UAS↗

AIAA Aviation UAS DAA Demonstration-Mini HITL Week 2 Stats

The UAS-NAS Project demo will showcase recent research efforts to ensure the interoperability between proposed UAS detect and avoid (DAA) human machine interface requirements (developed within RTCA SC-228) and existing collision avoidance displays. Attendees will be able to view the current state of the art of the DAA pilot traffic, alerting and guidance displays integrated with Traffic advisory and Collision Avoidance (TCAS) II in the UAS-NAS Project's research UAS ground control station (developed in partnership with the Air Force Research Laboratory). In addition, attendees will have the opportunity to interact with the research UAS ground control station and "fly" encounters, using the DAA and TCAS II displays to avoid simulated aircraft. The display of the advisories will be hosted on a laptop with an external 30" monitor, running the Vigilant Spririt system. DAA advisories will be generated by the JADEM software tool, connected to the system via the LVC Gateway. A repeater of the primary flight display will be shown on a 55" tv/monitor mounted on a stand at the back of the booth to show the pilot interaction to the passersby.

UAS↗

Dynamical Evolution of Asteroids and Meteoroids Using the Yarkovsky Effect

The Yarkovsky effect is a thermal radiation force which causes objects to undergo semimajor axis drift and spin up/down as a function of their spin, orbit, and material properties. This mechanism can be used to (i) deliver asteroids (and meteoroids) with diameter D < 20 km from their parent bodies in the main belt to chaotic resonance zones capable of transporting this material to Earth-crossing orbits, (ii) disperse asteroid families, with drifting bodies jumping or becoming trapped in mean-motion and secular resonances within the main belt, and (iii) modify the rotation rates of asteroids a few km in diameter or smaller enough to explain the excessive number of very fast and very slow rotators among the small asteroids. Accordingly, we suggest that nongravitational forces, which produce small but meaningful effects on asteroid orbits and rotation rates over long timescales, should now be considered as important as collisions and gravitational perturbations to our overall understanding of asteroid evolution.

Bottke, William F., Jr.↗

Numerical Simulations of Drop Collisions

Three-dimensional simulations of the off-axis collisions of two drops are presented. The full Navier-Stokes equations are solved by a Front-Tracking/Finite-Difference method that allows a fully deformable fluid interface and the inclusion of surface tension. The drops are accelerated towards each other by a body force that is turned off before the drops collide. Depending on whether the interface between the drops is ruptured or not, the drops either bounce or coalesce. For drops that coalesce, the impact parameter, which measures how far the drops are off the symmetry line, determines the eventual outcome of the collision. For low impact parameters, the drops coalesce permanently, but for higher impact parameters, a grazing collision, where the drops coalesce and then stretch apart again is observed. The results are in agreement with experimental observations.

Nobari, M. R. H.↗

An Investigation Into Transecting Satellites in Future Space Traffic Management Scenarios

The number of satellites expected to populate the near-Earth space environment is set to dramatically increase in the coming decade as new large constellations are approved and deployed. Current strategies for deploying new batches of these satellites often involve launching into an initial orbit, and then performing apogee raising maneuvers to reach a target altitude. Similarly, end-of-life planning for these constellation satellites can consist of de-orbit burns that lower perigee to permit disposal via re-entry. Both the raising and de-orbiting maneuvers can result in the individual satellites traveling in transecting orbits that have the potential to cross other spacecraft trajectories. While individual large constellations may be able to coexist in separate altitude and inclination bands, having thousands of satellites moving between these bands as new satellites are added and old satellites are removed could pose additional collision risks. Similar concerns have been raised regarding the impact that large numbers of university-class CubeSats might have in terms of their overall collision risk, especially as these satellites typically do not have propulsion systems for active maneuvering. To assess the impact that transecting satellites might have on future space traffic management strategies, this study explored a variety of realistic future scenarios using a high-fidelity simulation tool. The model can simulate the orbit of tens of thousands of resident space objects (RSOs) simultaneously, to include active satellites, debris, rocket bodies, or even future hypothetical satellite constellations, using a realistic force model that incorporates non-spherical gravity, atmospheric drag, and solar radiation pressure, as well as station-keeping. The simulation can be customized to accommodate different methods of calculating the probability of collision, as well as the process for determining probability ellipsoids and screening volumes. This makes it possible to replicate, and compare, different processes used by different spacecraft operators and space situational awareness (SSA) providers. As the model is run forward in time, each conjunction event is recorded, allowing for the analysis of statistics and meta-data related to these events, providing insight into the nature and frequency of potential collisions, such as whether are they active or passive objects, what size are the two objects, and who owns the objects (if known). This information makes it possible to characterize how changes to the status quo affect the number and type of conjunctions that occur, as well as the distributional effects on various types of satellite operators. To assess the general risks that transecting satellites might pose for hypothetical future space object environments, approximately 60,000 new large constellation satellites were considered, in addition to the existing catalog of approximately 7800 known resident space objects (RSOs), over a simulation period of one year. The results indicate that the future space environment will introduce a non-linear increase in conjunction events as the number of RSOs also increase. This will require adjustments to spacecraft fuel budgets in order to conduct the avoidance maneuvers necessary to minimize collision risk, both for existing and new satellites. This increase is due in large part to the higher density of RSOs and the overlap between some constellation orbits. Current catalog objects were shown to require three times more ∆V for collision avoidance (CA) maneuvers in the simulated future environment, and some constellation spacecraft were estimated to devote the majority of their annual ∆V to CA. The impact of small satellites was found to be proportional for the current space environment, and actually decreased in terms of percentage for the future scenario, suggesting that small satellites do not pose an outsized collision risk. Lastly, transecting satellites were found to contribute thousands of additional conjunctions outside of their operational orbit, and may require up to an additional 5% in CA maneuver fuel allocation.

conjunction assessment↗

Barium cloud evolution and striation formation in the magnetospheric release on September 21, 1971

The joint NASA-Max Planck Institute Barium Ion Cloud (BIC) Experiment on September 21, 1971 involved the release of 1.7 kg of neutral barium at an altitude of 31,500 km at a latitude of 6.93 deg N. and a longitude of 74.40 deg W. A theoretical model describing the barium neutral cloud expansion and the ion cloud formation is developed. The mechanism of formation of the striational features observed in the release is also discussed. Two candidate instabilities, which may contribute to striation formation, are examined. The drift instability stemming from the outwardly directed drag force exerted on the ions by the outstreaming neutrals is rejected on the grounds that the ion density is too low during the collision-dominated phase of the cloud expansion to support this kind of instability. The joint action of Rayleigh-Taylor and flute instabilities plausibly accounts for the observed striational structure. This same mechanism may well be operative at times of sudden injection of plasma into the inner magnetosphere during geomagnetic storms and may thus contribute to the formation of field-alined inhomogeneities which serve as whistler ducts.

Adamson, D.↗

High-Altitude ADS-B Flight Tests on a NASA ER-2 Research Airplane

Researchers at the National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center (Edwards, California); the Federal Aviation Administration (FAA); and Regulus Group, LLC (Atlantic City, New Jersey) collaborated for the flight-test demonstration of an Automatic Dependent Surveillance-Broadcast (ADS-B) system equipped on a high-altitude Earth Resources-2 (ER-2) research airplane. The unique ER-2 airplane is a NASA-owned and operated airborne science version of the United States Air Force / Lockheed Martin Aeronautics (Bethesda, Maryland) U-2S airplane. The FAA has mandated that by the year 2020, aircraft operating within certain sections of the United States National Airspace system be equipped with ADS-B Out technology; the research presented in this paper is the first to show how the NASA ADS-B architecture satisfies the mandate for a unique high-altitude aircraft. An exceptional military aircraft design, security protocols, and the performance envelope of the ER-2 airplane made the avionics integration remarkably challenging. The design required the ADS-B avionics to survive the harsh flight environment of the ER-2 airplane. The most prominent challenge was the functional integration of modern civilian avionics into federated military legacy avionics. Flight-test objectives were to certify an ADS-B Out (1090ES) passive surveillance integrated with a Traffic Alert and Collision Avoidance System (TCAS) I active surveillance system on an ER-2 platform for high-altitude cruise operations. In April 2022, NASA conducted three flights at Edwards Air Force Base (Edwards, California) - each greater than one-hour flight reaching altitudes above 60,000 ft.

ADS-B↗

Molecular tori in Seyfert galaxies - Feeding the monster and hiding it

The principal properties of the tori of gas which surround Seyfert nuclei are discussed. The internal state of the clouds and their size distribution function are examined, and it is shown that the Jeans mass scale results in clouds which are individually sufficiently opaque to block out the nucleus, and that the balance of processes which controls their size distribution function also forces the covering factor to be of the order of or greater than unity. Where the gravitational potential is dominated by stars, cloud-cloud collisions keep the molecular clouds close to the equatorial plane. Stirring by stellar processes is never strong enough to compete with collisional losses. The position of the inner edge of the torus is determined by a balance between the inward flow of clouds and the rate at which the nuclear continuum can evaporate them.

Krolik, Julian H.↗

Validation of A Simulation Environment for Future Space Traffic Management

This study presents initial results of a newly developed simulation environment intendedto explore and assess future Space Traffic Management (STM) scenarios. The number ofnew Resident Space Objects (RSOs) in near-Earth orbit is expected to increase significantlywith the expected future deployment of a number of large constellations. These futurescenarios involve the addition of many tens of thousands of new RSOs, making the analysisinto their impact on collision risk extend beyond what traditional data-mining of present-dayconjunction data can reliably predict. To address this, a robust simulation environment wasdeveloped that implements a full force-model for orbit propagation, and computes continuousall-on-all conjunction statistics for arbitrarily large catalog sizes and simulation timeframes.Collision avoidance and station-keeping maneuvers can be optionally implemented based onconfigurable user inputs including physical characteristics and spacecraft meta-data (e.g.,commercial/government, owner country, etc.). Constellation build-out and de-orbit scenarioswere also implemented and modeled based on real-data analysis. Validation of the simulationresults was a critical component of the simulation development, and was done using the currentcatalog with comparisons against both public and internal NASA data-sets. The comparisonsdemonstrate that, with the appropriate settings, representative levels of conjunction ratesand probabilities can be obtained, providing confidence that the simulation tool can generatemeaningful outcomes for test scenarios. As an initial demonstration of the tool’s capabilities,year-long simulations with station-keeping were conducted to examine conjunction historiesusing both the current object catalog (5800 active satellites) and a hypothetical 60,000 objectscenario involving five potential large constellations. Output metrics include the number ofconjunction events, estimates of collision consequence (fragmentation), delta-V maneuver costs,and the probability of at least one collision occurring. The results highlight the potential thatthe simulation tool has for incorporating and running performance comparisons between, e.g.,various sets of maneuver guidelines, industry norms, and definitions of risk, with the overallobjective of providing actionable data to STM policy makers. The presentation will providean overview of the simulation development and validation efforts, as well as a discussion ofobservations gathered from the initial simulations performed.

conjunction assessment↗

Active Compliance And Damping In Telemanipulator Control

Experimental telemanipulator system of force-reflecting-hand-controller type provides for active compliance and damping in remote, robotic manipulator hand. Distributed-computing and -control system for research in various combinations of force-reflecting and active-compliance control regimes. Shared compliance control implemented by low-pass-filtered force/torque feedback. Variable simulated springs and shock absorbers soften collisions and increase dexterity.

Kim, Won S.↗

A violent interaction between the dwarf galaxy UGC 7636 and the giant elliptical galaxy NGC 4472

We present new U, B, R, and H I imagery of the Virgo Cluster giant elliptical galaxy NGC 4472 and its interacting dwarf companion galaxy UGC 7636. Using a composite image reconstruction technique, we show that a trail of debris approx. 5 arcmin in length and approx. 1 arcmin in width (30x6 kpc for a Virgo cluster distance of 20 Mpc) is projected northward from the dwarf galaxy. A cloud of H I is projected along the northwest edge of the debris between the dwarf and gE. The dwarf's nuclear morphology is irregular and bow-shaped on what appears to be its leading edge. Apart from a number of isolated blue regions, most of of the trailing debris is similar in color to the dwarf's nucleus. Only a modest enhancement of star formation appears to have been induced by the interaction. Although separated by 15 kpc, the H I and stellar morphologies are remarkably similar. The stars and H I appear to have been tidally distorted in situ, prior to the cloud's removal by ram pressure. If the H I has maintained its shape by magnetic support, a magnetic field strength an order of magnitude larger than the galaxy's is required. Ram pressure deceleration due to the cloud's motion through NGC 4472's x-ray-emitting interstellar medium shold be sufficient for the cloud to become gravitationally bound to NGC 4472. The H I cloud is not self-gravitating and may fragment and be destroyed in the interaction. UGC 7636 will probably be disrupted by NGC 4472's strong tidal forces; the stellar debris will disperse into the Virgo cluster or become bound to NGC 4472's halo on eccentric orbits. The debris captured in the collision will have a negligible impact on NGC 4472's stellar and gaseous content. On the other hand, if similar interactions are common in giant elliptical galaxies, they could alter or deplete surrounding dwarf galaxy populations, fuel bursts of nuclear activity, and perhaps provide a source of magnetic energy to their interstellar media.

Mcnamara, Brian R.↗