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NASA NTRS2006

Silica and Pyroxene in IVA Irons; Possible Formation of the IVA Magma by Impact Melting and Reduction of L-LL-Chondrite Materials Followed by Crystallization and Cooling

Group IVA is a large magmatic group of iron meteorites. The mean DELTA O-17 (= delta O-17 - 0.52(raised dot) delta O-18) of the silicates is approx. plus or minus 1.2%o, similar to the highest values in L chondrites and the lowest values in LL chondrites; delta O-18 values are also in the L/LL range. This strongly suggests that IVA irons formed by melting L-LL parental material, but the mean Ni content of IVA irons (83 mg/g) is much lower than that of a presumed L-LL parent (approx. 170 mg/g) and the low-Ca pyroxene present in two IVA meteorites is Fs13, much lower than the Fs20-29 values in L and LL chondrites. Thus, formation from L-LL precursors requires extensive addition of metallic Fe, probably produced by reduction of FeS and FeO. Group IVA also has S/Ni, Ga/Ni, and Ge/Ni ratios that are much lower than those in L-LL chondrites or any chondrite group that preserves nebular compositions, implying loss of these volatile elements during asteroidal processing. We suggest that these reduction and loss processes occurred near the surface of the asteroid during impact heating, and resulted partly from reduction by C, and partly from the thermal dissociation of FeS and FeO with loss of O and S. The hot (approx. 1770 K) low-viscosity melt quickly moved through channels in the porous asteroid to form a core. Two members of the IVA group, Sao Joao Nepomuceno (hereafter, SJN) and Steinbach, contain moderate amounts of orthopyroxene and silica, and minor amounts of low-Ca clinopyroxene. Even though SJN formed after approx. 26% crystallization and Steinbach formed after approx. 77% Crystallization of the IVA core, both could have originated within several tens of meters of the core-mantle interface if 99% of the crystallization occurred from the center outwards. Two other members of the group (Gibeon and Bishop Canyon) contain tabular tridymite, which we infer to have initially formed as veins deposited from a cooling SiO-rich vapor. The silicates were clearly introduced into IVA irons after the initial magma crystallized. Because the y-iron crystals in SJN are typically about 5 cm across, an order of magnitude smaller than in IVA irons that do not contain massive silicates, we infer that the metal was in the gamma-iron field when the silicates were injected. The SJN and Steinbach silicate compositions are near the low-Ca-pyroxene/silica eutectic compositions. We suggest that a tectonic event produced a eutectic-like liquid and injected it together with unmelted pyroxene grains into fissures in the solid metal core. Published estimates of IVA metallographic cooling rates range from 20 to 3000 K/Ma, leading to a hypothesized breakup of the core during a major impact followed by scrambling of the core and mantle debris [Haack, H., Scott, E.R.D., Love, S.G., Brearley, A. 1996. Thermal histories of IVA stony-iron and iron meteorites: evidence for asteroid fragmentation and reaccretion. Geochim. Cosmochim. Acta 60, 3103-3113]. This scrambling model is physically implausible and cannot explain the strong correlation of estimated cooling rates with metal composition. Previous workers concluded that the low-Ca clinopyroxene in SJN and Steinbach formed from protopyroxene by quenching at a cooling rate of 10(sup 12) K/Ma, and suggested that this also supported an impact-scrambling model. This implausible spike in cooling rate by a factor of 10(sup 10) can be avoided if the low-Ca clinopyroxene were formed by a late shock event that converted orthopyroxene to clinopyroxene followed by minimal growth in the clinopyroxene field, probably because melt was also produced. We suggest that metallographic cooling-rate estimates (e.g., based on island taenite) giving similar values throughout the metal compositional range are more plausible, and that the IVA parent asteroid can be modeled by monotonic cooling followed by a high-temperature impact event that introduced silicates into the metal and a low-temperature impact event that partially converted thopyroxene into low-Ca clinopyroxene.

Wasson, John T.↗
NASA NTRS2001

Fractionation Trends Among IVA Iron Meteorites: Contrasts with IIIAB Trends

A neutron-activation study of 49 group-IVA irons shows much lower negative slopes on Ir-Au and Ir-As diagrams than observed in the larger magmatic group IIIAB. This difference seems to reflect the tendency of D(sub Ir), D(sub Au), and D(sub As) to increase with increasing S content. Contents of S and other volatiles are much lower in IVA irons than IIIAB irons. We show that both groups can be fit with Dx values that depend quadratically on S, with initial IVA S contents about 6X lower than those in IIIAB. The IVA scatter fields show a spread in Au or As at constant Ir that appears to reflect variations in the fraction of trapped melt between 0% and 30%. Copper shows an S-shaped trend that may reflect moderate positive and negative changes in D(sub Cu) as the magma evolved or, less likely, sampling variations in a broad band reflecting fractionation and trapping of melt. Gibeon, the largest IVA iron with a mass greater than 30 tons, shows an appreciable range in compositions consistent either with differences in the degree of magma crystallization or with differences in the content of trapped melt. A striking difference between IVA and IIIAB is observed in the Ir/Au ratios in the most Ir-rich irons in the groups; that in IVA is 40% lower than the IIIAB ratio, and lower than those in other iron-meteorite groups, The IVA Ir/Au ratio is about half the ratios in the chondrite groups. We examined three possible explanations of this anomaly: (1) the high-Ir irons contain large amounts of trapped melt: or (2) half of the IVA core (i.e., the first 50% to crystallize) is missing from the terrestrial set of IVA irons; or (3) the IVA magma formed by incomplete melting of the metal in the chondritic precursor material, with the metal that remained in the mantle having high Ir and low Au contents. Plausibility arguments favor the third possibility. The third scenario is the most plausible, but the second cannot be ruled out. We review recent evidence regarding the cooling rates in group IVA. In contrast to recent interpretations, we note several lines of evidence that indicate constant cooling rates independent of composition, as expected if all IVA meteorites were in the same core when cooling between 900 and 650 K occurred.

Wasson, J. T.↗
NASA NTRS2013

Robonaut 2 on the International Space Station: Status Update and Preparations for IVA Mobility

Robotics engineers, ground controllers and International Space Station (ISS) crew have been running successful experiments using Robonaut 2 (R2) on-board the ISS for more than a year. This humanoid upper body robot continues to expand its list of achievements and its capabilities to safely demonstrate maintenance and servicing tasks while working alongside human crewmembers. The next phase of the ISS R2 project will transition from a stationary Intra Vehicular Activity (IVA) upper body using a power/data umbilical, to an IVA mobile system with legs for repositioning, a battery backpack power supply, and wireless communications. These upgrades will enable the R2 team to evaluate hardware performance and to develop additional control algorithms and control verification techniques with R2 inside the ISS in preparation for the Extra Vehicular Activity (EVA) phase of R2 operations. As R2 becomes more capable in assisting with maintenance tasks, with minimal supervision, including repositioning itself to different work sites, the ISS crew will be burdened with fewer maintenance chores, leaving them more time to conduct other activities. R2's developers at the Johnson Space Center (JSC) are preparing the R2 IVA mobility hardware and software upgrades for delivery to the ISS in late 2013. This paper summarizes R2 ISS achievements to date, briefly describes the R2 IVA mobility upgrades, and discusses the R2 IVA mobility objectives and plans.

Ahlstrom, Thomas D.↗
NASA NTRS2005

Metallographic Cooling Rate of IVA Irons Revisited

There is long standing problem reconciling the chemical evidence that the IVA iron meteorites formed in a core with the diverse cooling rates reported by several researchers. This large inferred range of cooling rates suggests that the IVA irons were distributed at different depths in a parent body with a complex structure when the Widmanstatten pattern formed. On the other hand, some researchers argued that the diverse cooling rates in group IVA result from inaccurate model parameters such as phase diagram, interdiffusion coefficients, and kamacite nucleation and growth mechanisms. In addition, the measured cooling rates may not apply for the same cooling temperature ranges, and the variation in the crystallographic orientations of the Widmanstatten plates on the analysis surface may result in inaccurate measurements of widths needed for the computer simulation models. We have revaluated the major parameters in computer model developed by Hopfe and Goldstein and measured cooling rates for the IVA irons. Such data are useful in evaluating whether these meteorites were part of a single core of a parent body during the formation of the Widmanstatten pattern.

Yang, J.↗
NASA NTRS1989

The impact of an IVA robot on the Space Station microgravity environment

In order to maintain a microgravity environment during Space Station operations, it will be necessary to minimize reaction forces. These mechanical forces will typically occur during reboost, docking, equipment operation, intravehicular activities (IVA) robot operation, or crew activity. This paper focuses on those disturbances created by an IVA robot and its impact on the Space Station microgravity environment. The robot dynamic analysis that was used to generate the forcing function as the input into a finite element model of the U.S. Laboratory will be shown. Acceleration levels were determined through analysis and have shown that a robotic system can sustain reaction forces into the station below 0.0001 g. A comparison between IVA robot effects and crew motion effects on the low-g environment is also described. It is concluded that robot trajectory shaping and motor accelerations feedback can minimize reaction forces.

Harman, Phillip E.↗
NASA NTRS1991

IVA the robot: Design guidelines and lessons learned from the first space station laboratory manipulation system

The first interactive Space Station Freedom (SSF) lab robot exhibit was installed at the Space and Rocket Center in Huntsville, AL, and has been running daily since. IntraVehicular Activity (IVA) the robot is mounted in a full scale U.S. Lab (USL) mockup to educate the public on possible automation and robotic applications aboard the SSF. Responding to audio and video instructions at the Command Console, exhibit patrons may prompt IVA to perform a housekeeping task or give a speaking tour of the module. Other exemplary space station tasks are simulated and the public can even challenge IVA to a game of tic tac toe. In anticipation of such a system being built for the Space Station, a discussion is provided of the approach taken, along with suggestions for applicability to the Space Station Environment.

Konkel, Carl R.↗
NASA NTRS2005

Re-187-Os-187, Pt-190-Os-186 Isotopic and Highly Siderophile Element Systematics of Group IVA Irons

We have recently completed Re-187-Os-187 and Pt-190-Os-186 isotopic and elemental studies of the two largest magmatic iron meteorite groups, IIAB and IIIAB [1]. These studies revealed closed-system behavior of both isotopic systems, but complex trace element behavior for Re, Pt and Os in group IIIAB. Here we examine isotopic and trace elemental systematics of group IVA irons. The IVA irons are not as extensively fractionated as IIAB and IIIAB and their apparently less complex crystallization history may make for more robust interpretation of the relative partitioning behavior of Re, Pt and Os, as well as the other highly siderophile elements (HSE) measured here; Pd, Ru and Ir [e.g. 2]. An additional goal of our continuing research plan for iron meteorites is to assess the possibility of relating certain ungrouped irons with major groups via trace element modeling. Here, the isotopic and trace element systematics of the ungrouped irons Nedagolla and EET 83230 are compared with the IVA irons.

Walker, R. J.↗
NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗
NASA NTRS1978

A core origin for group IVA iron meteorites - A reply to Moren and Goldstein

Because uncertainties in experimental data are large, one has considerable latitude in choosing the input parameters needed to calculate iron meteorite cooling rates. The best way to test input parameters is by examining their ability to yield the observed properties of the meteorites. Our phase diagram yields fits to kamacite profiles that are superior to those based on the Moren-Goldstein phase diagram. Our method of allowing for the effect of P on the Ni diffusion coefficient takes into account the enhancement in this effect with decreasing temperature; Moren and Goldstein use a relationship derived for a temperature of 1100 C, well outside the 700-350 C range where kamacite growth occurs. Use of our input parameters yields cooling rates in IVA irons that are independent of composition, consistent with a core origin. Since the fractionation of siderophiles in group IVA also indicates a core origin, we conclude that this is the correct model for this group.

Willis, J.↗
NASA NTRS2000

Mechanical Abrasion as a Low Cost Technique for Contamination-Free Sample Acquisition from a Category IVA Clean Platform

The proposed Mars Sample Transfer Chain Architecture provides Planetary Protection Officers with clean samples that are required for the eventual release from confinement of the returned Martian samples. At the same time, absolute cleanliness and sterility requirement is not placed of any part of the Lander (including the deep drill), Mars Assent Vehicle (MAV), any part of the Orbiting Sample container (OS), Rover mobility platform, any part of the Minicorer, Robotic arm (including instrument sensors), and most of the caching equipment on the Rover. The removal of the strict requirements in excess of the Category IVa cleanliness (Pathfinder clean) is expected to lead to significant cost savings. The proposed architecture assumes that crosscontamination renders all surfaces in the vicinity of the rover(s) and the lander(s) contaminated. Thus, no accessible surface of Martian rocks and soil is Earth contamination free. As a result of the latter, only subsurface samples (either rock or soil) can be and will be collected for eventual return to Earth. Uncontaminated samples can be collected from a Category IVa clean platform. Both subsurface soil and rock samples can be maintained clean if they are collected by devices that are self-contained and clean and sterile inside only. The top layer of the sample is removed in a manner that does not contaminate the collection tools. Biobarrier (e.g., aluminum foil) covering the moving parts of these devices may be used as the only self removing bio-blanket that is required. The samples never leave the collection tools. The lids are placed on these tools inside the collection device. These single use tools with the lid and the sample inside are brought to Earth in the OS. The lids have to be designed impenetrable to the Earth organisms. The latter is a well established art.

Dolgin, B.↗
NASA NTRS2014

Use MACES IVA Suit for EVA Mobility Evaluations

The use of an Intra-Vehicular Activity (IVA) suit for a spacewalk or Extra-Vehicular Activity (EVA) was evaluated for mobility and usability in the Neutral Buoyancy Lab (NBL) environment. The Space Shuttle Advanced Crew Escape Suit (ACES) has been modified (MACES) to integrate with the Orion spacecraft. The first several missions of the Orion MPCV spacecraft will not have mass available to carry an EVA specific suit so any EVA required will have to be performed by the MACES. Since the MACES was not designed with EVA in mind, it was unknown what mobility the suit would be able to provide for an EVA or if a person could perform useful tasks for an extended time inside the pressurized suit. The suit was evaluated in multiple NBL runs by a variety of subjects including crewmembers with significant EVA experience. Various functional mobility tasks performed included: translation, body positioning, carrying tools, body stabilization, equipment handling, and use of tools. Hardware configurations included with and without TMG, suit with IVA gloves and suit with EVA gloves. Most tasks were completed on ISS mockups with existing EVA tools. Some limited tasks were completed with prototype tools on a simulated rocky surface. Major findings include: demonstration of the ability to weigh-out the suit, understanding the need to have subjects perform multiple runs prior to getting feedback, determination of critical sizing factors, and need for adjustment of suit work envelop. The early testing has demonstrated the feasibility of EVA's limited duration and limited scope. Further testing is required with more flight like tasking and constraints to validate these early results. If the suit is used for EVA, it will require mission specific modifications for umbilical management or PLSS integration, safety tether attachment, and tool interfaces. These evaluations are continuing through calendar year 2014.

Watson, Richard D.↗
NASA NTRS2023

Payload Topology Forum: IVA Payload Placement Process and Timeline

The IVA Payloads team provides two types of assessments for payloads with different timelines depending on the complexity and flight of the payload. This presentation provides insight into the products and services provided by the Topology team and the proper channels for requesting Topology Assessments or Placement Studies.

Placement Study↗
NASA NTRS1978

Cooling rates of group IVA iron meteorites

Cooling rates of six group IVA iron meteorites were estimated by a taenite central Ni concentration-taenite half-width method. Calculated cooling rates range from 13 to 25 C/Myr, with an average of 20 C/Myr. No correlation between cooling rate and bulk Ni content is observed, and the data appear to be consistent with a uniform cooling rate as expected from an igneous core origin. This result differs from previous studies reporting a wide range in cooling rates that were strongly correlated with bulk Ni content. The differences result mainly from differences in the phase diagram and the selected diffusion coefficients. Cooling rates inferred from taenite Ni concentrations at the interface with kamacite are consistent with those based on taenite central Ni content.

Willis, J.↗
NASA NTRS1982

Seasat wind and wave observations of northeast Pacific hurricane Iva, August 13, 1978

The paper examines Seasat wind and wave observations collected in the eye of hurricane Iva on August 13, 1978 in the northeast Pacific. A maximum wind speed of 25-30 m/s is observed, along with a banana-shape high-wind-speed distribution. Two-dimensional Fourier transforms of selected SAR scenes show a dominant wavefield characterized by wavelengths of 166-211 m, with a fanlike distribution of propagation directions. A simple geometric model is proposed to explain the dominant wave field in terms of prior storm intensity and location, which is combined with the Ross parametric hurricane wave model and Seasat wind and wave data to estimate a value of 43 km for the effective radial distance from the storm center to the region of maximum winds.

Gonzalez, F. I.↗
NASA NTRS1982

Mark IVA microprocessor support

The requirements and plans for the maintenance support of microprocessor-based controllers in the Deep Space Network Mark IVA System are discussed. Additional new interfaces and 16-bit processors have introduced problems not present in the Mark III System. The need for continuous training of maintenance personnel to maintain a level of expertise consistent with the sophistication of the required tools is also emphasized.

Burford, A. L.↗
NASA NTRS1983

The measurement of operator workload in the Mark IVA DSCC monitor and control subsystem

An operator workload measurement methodology is presented which will be used in support of the Mark IVA operational test and evaluation plan. Three operator workload measures are suggested: operator ratings, primary task work measures, and information processing time measures. A method of validating the workload measures using secondary task work measures is presented. It is expected that operations testing using these measures will assist in establishing the time required to perform essential operational activities and will indicate high risk operations areas due to potential operator overload.

Lemay, M.↗
NASA NTRS1991

IVA robotics for Space Station Freedom

The objective is to increase the scientific productivity of Space Station Freedom (Spacelab) during the man-tended phase and beyond. The topics are presented in viewgraph form and include: Space Station Freedom (SSF) background, man-tended phase, intra-vehicular activity (IVA) robotics, protein crystal growth experiment, thermal enclosure system equipment, and candidate mockup demonstrations.

Sharon Monica Jones↗