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NASA NTRS2011

Phaeton Mast Dynamics: On-Orbit Characterization of Deployable Masts

The PMD instrument is a set of three custom-designed triaxial accelerometer systems designed specifically to detect and characterize the modal dynamics of deployable masts in orbit. The instrument was designed and built as a payload for the NuSTAR spacecraft, but it is now sponsored by the Air Force Research Laboratory's DSX project. It can detect acceleration levels from 1 micro gram to 0.12g over a frequency range of 0.1Hz to 30Hz, the results of which can support future modeling and designing of deployable mast structures for space. This paper details the hardware architecture and design, calibration test and results, and current status of the PMD instrument.

Phaeton Mast Dynamics (PMD)↗

NASA NTRS2011

Phaeton Mast Dynamics: On-Orbit Characterization of Deployable Masts

This presentation discusses the Phaeton Mast Dynamics (PMD) instrument architecture and design, including design constraints, design solutions, and instrument results. Since the design and build phases were completed with PMD as a NuSTAR payload, the presentation discusses NuSTAR's constraints and initial accommodations. The instrument results presented here are independent of the host mission, but the effects of a host mission's data handling design on PMD capabilities is discussed in 2011 IEEEAC Paper 1305.

Nuclear Spectroscopic Telescope Array (NuSTAR)↗

NASA NTRS1994

Martian environmental simulation for a deployable lattice mast

The Mars Pathfinder mission (formerly Mars Environmental Survey or MESUR) is scheduled for launch in December 1996 and is designed to place a small lander on the surface of Mars. After impact, the lander unfolds to expose its solar panels and release a miniature rover. Also on board is the Imager for Mars Pathfinder (IMP) binocular camera which is elevated by a deployable mast to obtain a panoramic view of the landing area. The design of this deployable mast is based on similar designs which have a long and successful flight history. In the past when this type of self-deployable mast has been used, a rate limiter has been incorporated to control the speed of deployment. In this application, to reduce weight and complexity, it was proposed to eliminate the rate limiter so that the mast would deploy without restraint. Preliminary tests showed that this type of deployment was possible especially if the deployed length was relatively short, as in this application. Compounding the problem, however, was the requirement to deploy the mast at an angle of up to 30 degrees from vertical. The deployment process was difficult to completely analyze due to the effects of gravitational and inertial loads on the mast and camera during rapid extension. Testing in a realistic manner was imperative to verify the system performance. A deployment test was therefore performed to determine the maximum tilt angle at which the mast could reliably extend and support the camera on Mars. The testing of the deployable mast requires partial gravity compensation to simulate the smaller force of Martian gravity. During the test, mass properties were maintained while weight properties were reduced. This paper describes the testing of a deployable mast in a simulated Martian environment as well as the results of the tests.

Warden, Robert M.↗

NASA NTRS1992

Influence of mass moment of inertia on normal modes of preloaded solar array mast

Earth-orbiting spacecraft often contain solar arrays or antennas supported by a preloaded mast. Because of weight and cost considerations, the structures supporting the spacecraft appendages are extremely light and flexible; therefore, it is vital to investigate the influence of all physical and structural parameters that may influence the dynamic behavior of the overall structure. The study primarily focuses on the mast for the space station solar arrays, but the formulations and the techniques developed in this study apply to any large and flexible mast in zero gravity. Furthermore, to determine the influence on the circular frequencies, the mass moment of inertia of the mast was incorporated into the governing equation of motion for bending. A finite element technique (MSC/NASTRAN) was used to verify the formulation. Results indicate that when the mast is relatively flexible and long, the mass moment inertia influences the circular frequencies.

Armand, Sasan C.↗

NASA NTRS2017

Getting NuSTAR on Target: Predicting Mast Motion

The Nuclear Spectroscopic Telescope Array (NuSTAR) is the first focusing high energy (3-79 keV) X-ray observatory operating for four years from low Earth orbit. The X-ray detector arrays are located on the spacecraft bus with the optics modules mounted on a flexible mast of 10.14m length. The motion of the telescope optical axis on the detectors during each observation is measured by a laser metrology system and matches the pre-launch predictions of the thermal flexing of the mast as the spacecraft enters and exits the Earths shadow each orbit. However, an additional motion of the telescope field of view was discovered during observatory commissioning that is associated with the spacecraft attitude control system and an additional flexing of the mast correlated with the Solar aspect angle for the observation. We present the methodology developed to predict where any particular target coordinate will fall on the NuSTAR detectors based on the Solar aspect angle at the scheduled time of an observation. This may be applicable to future observatories that employ optics deployed on extendable masts. The automation of the prediction system has greatly improved observatory operations efficiency and the reliability of observation planning.

NASA small explorer↗

NASA NTRS2005

Rover mast calibration, exact camera pointing, and camara handoff for visual target tracking

This paper presents three technical elements that we have developed to improve the accuracy of the visual target tracking for single-sol approach-and-instrument placement in future Mars rover missions. An accurate, straightforward method of rover mast calibration is achieved by using a total station, a camera calibration target, and four prism targets mounted on the rover. The method was applied to Rocky8 rover mast calibration and yielded a 1.1-pixel rms residual error. Camera pointing requires inverse kinematic solutions for mast pan and tilt angles such that the target image appears right at the center of the camera image. Two issues were raised. Mast camera frames are in general not parallel to the masthead base frame. Further, the optical axis of the camera model in general does not pass through the center of the image. Despite these issues, we managed to derive non-iterative closed-form exact solutions, which were verified with Matlab routines. Actual camera pointing experiments aver 50 random target image paints yielded less than 1.3-pixel rms pointing error. Finally, a purely geometric method for camera handoff using stereo views of the target has been developed. Experimental test runs show less than 2.5 pixels error on high-resolution Navcam for Pancam-to-Navcam handoff, and less than 4 pixels error on lower-resolution Hazcam for Navcam-to-Hazcam handoff.

camera handoff↗

NASA NTRS1987

The interference of the model support mast with measurements of the longitudinal and lateral aerodynamic coefficients

The effects the single-bottom support masts used in the ONERA S1 and S4 wind tunnels have on aerodynamic data collected with scale model aircraft were examined experimentally and analytically. Systematic studies were performed on the flow characteristics around different diameters for the mounts. Scaling methods used to make data from one wind tunnel correspond to data from the other are described. Airbus 320 models were introduced into the tests and mast-body flow interactions were observed. A summary is presented of restrictions on the mast diameters, relative to cylindrical model diameters, which will minimize the effects the masts have on longitudinal and lateral aerodynamic stability data.

Vandekreeke, C.↗

NASA NTRS1989

Nonlinear and distributed parameter models of the mini-mast truss

Large spacecraft such as Space Station Freedom employ large trusses in their construction. The structural dynamics of such trusses often exhibit nonlinear behavior and little damping which can impact significantly the performance of control systems. The Mini-MAST truss was constructed to research such structural dynamics and control systems. The Mini-MAST truss is an object of study for the guest investigator program as part of NASA's controls-structures interaction program. The Mini-MAST truss is deployable and about 65 ft long. Although the bending characteristics of the Mini-MAST truss are essentially linear, the angular deflection under torsional loading has exhibited significant hysteresis and nonlinear stiffness. It is the purpose to develop nonlinear and distributed parameter models of the truss and to compare the model dynamics with actual measurements. Distributed parameter models have the advantage of requiring fewer model parameters. A tangent function is used to describe the nonlinear stiffness in torsion, partly because of the convenience of its easily expressed inverse. Hysteretic slip elements are introduced and extended to a continuum to account for the observed hysteresis in torsion. The contribution of slipping to the structural damping is analyzed and found to be strongly dependent on the applied loads. Because of the many factors which affect the damping and stiffness in a truss, it is risky to assume linearity.

Taylor, Lawrence W., Jr.↗

NASA NTRS1993

Design of deployable-truss masts for Space Station

This paper presents an overview of three deployable-truss designs that were considered for use on Space Station Freedom to deploy the solar array wings. The first design chosen early in the program was a nut-deployed coilable longeron mast which has the advantage of being lightweight and reliable, with considerable flight history. Subsequently, because of the restructure of Space Station, a second design was chosen: a lanyard-deployed FASTMast (Folding Articulated Square Truss Mast), which has improved strength and redundancy characteristics for a given stowed volume. After further definition of the load requirements during deployment, however, it became necessary to modify the deployment system, resulting in the third mast design for space station solar arrays: a nut-deployed FASTMast, which was ultimately selected to provide increased stiffness and strength during deployment. This paper presents a brief review of these mast designs and their associated deployment systems, emphasizing the trade-offs involved in selecting between them. In addition, some innovative features of the FASTMast design as it stands currently for Space Station are described, and a brief review of the test program that is underway to qualify this design for flight is included.

Bowden, Mary↗

NASA NTRS1993

MAST - A mass spectrometer telescope for studies of the isotopic composition of solar, anomalous, and galactic cosmic ray nuclei

The Mass Spectrometer Telescope (MAST) on SAMPEX is designed to provide high resolution measurements of the isotopic composition of energetic nuclei from He to Ni (Z = 2 to 28) over the energy range from about 10 to several hundred MeV/nuc. During large solar flares MAST will measure the isotopic abundances of solar energetic particles to determine directly the composition of the solar corona, while during solar quiet times MAST will study the isotopic composition of galactic cosmic rays. In addition, MAST will measure the isotopic composition of both interplanetary and trapped fluxes of anomalous cosmic rays, believed to be a sample of the nearby interstellar medium.

Cook, Walter R.↗

NASA NTRS1995

Exploratory flow visualization investigation of mast-mounted sights in presence of a rotor

A flow visualization investigation with a laser light sheet system was conducted on a 27-percent-scale AH-64 attack helicopter model fitted with two mast-mounted sights in the langley 14- by 22-foot subsonic tunnel. The investigation was conducted to identify aerodynamic phenomena that may have contributed to adverse vibration encountered during full-scale flight of the AH-64D apache/longbow helicopter with an asymmetric mast-mounted sight. Symmetric and asymmetric mast-mounted sights oriented at several skew angles were tested at simulated forward and rearward flight speeds of 30 and 45 knots. A laser light sheet system was used to visualize the flow in planes parallel to and perpendicular to the free-stream flow. Analysis of these flow visualization data identified frequencies of flow patterns in the wake shed from the sight, the streamline angle at the sight, and the location where the shed wake crossed the rotor plane. Differences in wake structure were observed between the sight configurations and various skew angles. Analysis of lateral light sheet plane data implied significant vortex structure in the wake of the asymmetric mast-mounted sight in the configuration that produced maximum in-flight vibration. The data showed no significant vortex structure in the wake of the asymmetric and symmetric configurations that produced no increase in in-flight adverse vibration.

Ghee, Terence A.↗

NASA NTRS2000

Autonomous Performance Monitoring System: Monitoring and Self-Tuning (MAST)

Maintaining the long-term performance of software onboard a spacecraft can be a major factor in the cost of operations. In particular, the task of controlling and maintaining a future mission of distributed spacecraft will undoubtedly pose a great challenge, since the complexity of multiple spacecraft flying in formation grows rapidly as the number of spacecraft in the formation increases. Eventually, new approaches will be required in developing viable control systems that can handle the complexity of the data and that are flexible, reliable and efficient. In this paper we propose a methodology that aims to maintain the accuracy of flight software, while reducing the computational complexity of software tuning tasks. The proposed Monitoring and Self-Tuning (MAST) method consists of two parts: a flight software monitoring algorithm and a tuning algorithm. The dependency on the software being monitored is mostly contained in the monitoring process, while the tuning process is a generic algorithm independent of the detailed knowledge on the software. This architecture will enable MAST to be applicable to different onboard software controlling various dynamics of the spacecraft, such as attitude self-calibration, and formation control. An advantage of MAST over conventional techniques such as filter or batch least square is that the tuning algorithm uses machine learning approach to handle uncertainty in the problem domain, resulting in reducing over all computational complexity. The underlying concept of this technique is a reinforcement learning scheme based on cumulative probability generated by the historical performance of the system. The success of MAST will depend heavily on the reinforcement scheme used in the tuning algorithm, which guarantees the tuning solutions exist.

Peterson, Chariya↗

NASA NTRS2006

2D/3D Visual Tracker for Rover Mast

A visual-tracker computer program controls an articulated mast on a Mars rover to keep a designated feature (a target) in view while the rover drives toward the target, avoiding obstacles. Several prior visual-tracker programs have been tested on rover platforms; most require very small and well-estimated motion between consecutive image frames a requirement that is not realistic for a rover on rough terrain. The present visual-tracker program is designed to handle large image motions that lead to significant changes in feature geometry and photometry between frames. When a point is selected in one of the images acquired from stereoscopic cameras on the mast, a stereo triangulation algorithm computes a three-dimensional (3D) location for the target. As the rover moves, its body-mounted cameras feed images to a visual-odometry algorithm, which tracks two-dimensional (2D) corner features and computes their old and new 3D locations. The algorithm rejects points, the 3D motions of which are inconsistent with a rigid-world constraint, and then computes the apparent change in the rover pose (i.e., translation and rotation). The mast pan and tilt angles needed to keep the target centered in the field-of-view of the cameras (thereby minimizing the area over which the 2D-tracking algorithm must operate) are computed from the estimated change in the rover pose, the 3D position of the target feature, and a model of kinematics of the mast. If the motion between the consecutive frames is still large (i.e., 3D tracking was unsuccessful), an adaptive view-based matching technique is applied to the new image. This technique uses correlation-based template matching, in which a feature template is scaled by the ratio between the depth in the original template and the depth of pixels in the new image. This is repeated over the entire search window and the best correlation results indicate the appropriate match. The program could be a core for building application programs for systems that require coordination of vision and robotic motion.

Bajracharya, Max↗

NASA NTRS2012

Model Calibration Efforts for the International Space Station's Solar Array Mast

The International Space Station (ISS) relies on sixteen solar-voltaic blankets to provide electrical power to the station. Each pair of blankets is supported by a deployable boom called the Folding Articulated Square Truss Mast (FAST Mast). At certain ISS attitudes, the solar arrays can be positioned in such a way that shadowing of either one or three longerons causes an unexpected asymmetric thermal loading that if unchecked can exceed the operational stability limits of the mast. Work in this paper documents part of an independent NASA Engineering and Safety Center effort to assess the existing operational limits. Because of the complexity of the system, the problem is being worked using a building-block progression from components (longerons), to units (single or multiple bays), to assembly (full mast). The paper presents results from efforts to calibrate the longeron components. The work includes experimental testing of two types of longerons (straight and tapered), development of Finite Element (FE) models, development of parameter uncertainty models, and the establishment of a calibration and validation process to demonstrate adequacy of the models. Models in the context of this paper refer to both FE model and probabilistic parameter models. Results from model calibration of the straight longerons show that the model is capable of predicting the mean load, axial strain, and bending strain. For validation, parameter values obtained from calibration of straight longerons are used to validate experimental results for the tapered longerons.

Elliott, Kenny B.↗

NASA NTRS1979

Extendable mast

Extendable mast is constructed from mutually supporting members that unfold as mast is deployed from compact package. Extendable mast is sturdy and can be compared to conventional rigid structures.

Coyner, J. V., Jr.↗

NASA NTRS1980

Changes in mast cells and in permeability of mesenteric microvessels under the effect of immobilization and electrostimulation

It was shown that a reduction in the amount of mast cells in the mesentery and an increase in their degranulation was accompanied by an increase in vascular permeability of rat mesentery. It is supposed that immobilization and electrostimulation causing degranulation of mast cells prompted histamine and serotonin release from them, thus increasing the permeability of the venular portion of the microvascular bed. Prophylactic use of esculamin preparation with P-vitaminic activity decreased mast cell degranulation, which apparently prolonged the release of histamine and serotonin from them and normalized vascular permeability.

Gorizontova, M. P.↗

NASA NTRS1982

Preliminary sizing of vibration absorber for space mast structures

A simple method of sizing a vibration absorber for a large, cantilevered flexible mast is presented. The method is based on Den Hartog's vibration absorber theory for two-degree-of-freedom systems. Generalized design curves are presented as well as specific numerical results for a candidate space experiment in which a long flexible antenna mast is attached to the shuttle orbiter and dynamically excited by orbiter accelerations. Results indicate that for large flexible masts, the mass of the vibration absorber required to meet stringent tip deflection tolerances becomes prohibitively large.

Card, M. F.↗

NASA NTRS1985

Automatic Erection System for Antenna Masts

A telescoping mast does not require the payout of guy wires under tension. Erection system is built into stack of telescoping mast elements and is thereby protected from the weather. Concept is based on a telescoping tube mast, it is also applicable to an open truss with only minor modifications.

Dotson, R. D.↗