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The mathematical model developed to describe the three-dimensional motion of the dynamic docking test system active table is described. The active table is modeled as a rigid body supported by six flexible hydraulic actuators which produce the commanded table motions.
New system of elements and motion tables for Jupiters tenth satellite
The ACCESS truss was telerobotically assembled in order to gain experience with robotic assembly of hardware designed for astronaut extravehicular (EVA) assembly. Tight alignment constraints of the ACCESS hardware made telerobotic assembly difficult. A wider alignment envelope and a compliant end effector would have reduced the problem. The manipulator had no linear motion capability, but many of the assembly operations required straight line motion. The manipulator was attached to a motion table in order to provide the X, Y, and Z translations needed. A programmable robot with linear translation capability would have eliminated the need for the motion table and streamlined the assembly. Poor depth perception was a major problem. Shaded paint schemes and alignment lines were helpful in reducing this problem. The four cameras used worked well for only some operations. It was not possible to identify camera locations that worked well for all assembly steps. More cameras or movable cameras would have simplified some operations. The audio feedback system was useful.
Between October 15 and November 8, 1988, the Goddard Space Flight Center mobile stratospheric lidar was in place at the (JPL) Table Mountain Facility (located at 34.4 deg N, 117.7 deg W) for the purpose of intercomparing with the JPL lidar permanently stationed at the observatory. During the course of the intercomparison both lidar systems detected a significant change in the vertical profile of ozone lasting for several days. An analysis of meteorological data available from the National Meteorological Center has shown this change to be dynamical in origin due to the transport of subpolar air over Table Mountain.
In order to support the National Aeronautics and Space Administration’s (NASA) Extravehicular Activity and Surface Mobility Program (EHP), system engineers, designers, and researchers embarked on a yearlong challenge to develop a new lunar rover-based motion table simulator to study handling qualities of lunar rovers in the lunar South Pole region, support development research for any lunar rover vendor, and provide a lunar training capability for future lunar/planetary astronauts. In 1989, the United Kingdom’s Royal Air Force Institute of Aviation Medicine (RAF-IAM) stated that motion platforms are the only simulation devices capable of fully stimulating the body motion sensors. They confirmed that motion platforms can impart accelerations to the whole body and therefore exercise the automatic motion feedback-loop that operators are used to. With both visual and motion cues handling the vehicle becomes more realistic. Strachan (2019) con-firms motion cueing from a well set-up motion platform has been found to be important especially in conditions such as night or reduced visibility where motion cues may be more relied upon
Testing of a particular nutation control system for the synchronous meteorological satellite (SMS) is described. The test method and principles are applicable to nutation angle control for other satellites with similar requirements. During its ascent to synchronous orbit, a spacecraft like the SMS spins about its minimum-moment-of-inertia axis. An uncontrolled spacecraft in this state is unstable because torques due to fuel motion increase the nutation angle. However, the SMS is equipped with an automatic nutation control (ANC) system which will keep the nutation angle close to zero. Because correct operation of this system is critical to mission success, it was tested on an air-bearing table. The ANC system was mounted on the three-axis air-bearing table which was scaled to the SMS and equipped with appropriate sensors and thrusters. The table was spun up in an altitude chamber and nutation induced so that table motion simulated spacecraft motion. The ANC system was used to reduce the nutation angle. This dynamic test of the ANC system met all its objectives and provided confidence that the ANC system will control the SMS nutation angle.
The Six-degree-of-freedom Dynamic Test System (SDTS) is a short-range real-time motion based testing platform. Its primary use at NASA/JSC has been for development and qualification testing of docking systems, robotic assisted berthing mechanisms, and dynamic attachment systems. The SDTS is a closed-loop force feedback system that can simulate on-orbit contact dynamics between two vehicles utilizing the actual mechanical interfaces for testing. The facility is controlled by interconnected computers running real-time simulation software that takes measured contact forces, integrates the equations of motion in real time, and provide those states back into the motion table. This infrastructure can also be used for non-mating applications such as relative position sensor testing/evaluations. The SDTS facility provides a superstructure for mounting test articles, multiple test sensors, an intercom network for voice communications, and a synchronized timing system for data acquisition that includes HD video. This time-lapse video shows the buildup and testing of a modern electric actuation system created by Mikrolar, Inc. at the Johnson Space Center. This motion base will replace the current hydraulic actuator system, which is been in use since the 1970s, for all-future NASA testing. Once the system goes through customization to provide JSC’s unique closed-loop environment, the facility will help certify docking system and attach mechanisms on the ground before we send the first woman and the next man to the lunar surface
The U.S. Department of Energy Spent Fuel and Waste Science and Technology (SFWST) program is planning to conduct a series of full-scale shake table tests to simulate hypothetical earthquake conditions and record the response of surrogate spent nuclear fuel (SNF) assemblies in a dry canister storage system mockup. The shake table motions will represent a range of hypothetical earthquake conditions at hypothetical locations in the continental U.S. to generally define the range of mechanical loads that SNF can be expected to experience during extended dry storage periods. This paper describes the pretest predictions made with LS-DYNA models of the mockup storage systems. The test will use two dry storage system configurations, a mockup vertical concrete cask (VCC) and a mockup horizontal storage module (HSM). The test will use a production-quality canister and basket. Within the canister will be four instrumented fuel assemblies with fuel rods containing surrogate mass and 28 instrumented dummy assemblies that are intended to match the mass and outer dimension of a fuel assembly. The finite element models include models of the VCC and HSM on the shake table to calculate the system level dynamic responses and separate single fuel assembly models to calculate stress and strain in fuel assembly components. Both types of models include nonlinear behavior like rod-to-rod contact and the ability for VCC’s to rock and slide. This paper presents the expected response of the VCC, HSM, and fuel assemblies to the shake table testing that is planned to start in April of 2024. The earthquake conditions represent seismic hazards in the 2,000-to-20,000-year return period range. The test data is expected to confirm the expectation that fuel rod cladding will remain intact, fuel assembly structural components like guide tubes will remain intact, and no significant VCC sliding or tipping will occur in the range of conditions to be tested with the shake table.
Marshall Space Flight Center (MSFC) has maintained and operated a world-class x-ray optics and detector testing facility known as the X-ray Calibration Facility (XRCF) since the mid 1970's. The ground test and calibration of the Chandra X-ray Observatory optics and detectors were successfully completed at the XRCF in 1997. The beginning of the Next Generation Space Telescope (NGST) development programs (NMSD, SBMD, AMSD, etc.) and the establishment of the Space Optics Manufacturing Technology Center at MSFC have led to an XRCF modification. In 1999 the facility was upgraded to perform cryogenic testing of lightweight visible optics (without compromising the existing x-ray testing capability). A thermal enclosure capable of 20 degrees Kelvin and vibration isolated instrumentation mount were added. A vacuum-compatible five-axis motion table was modified to operate under cryogenic conditions. Optics up to two meters in diameter with radii of curvature of up to twenty meters can be accommodated. Facility characterization tests and one NGST program mirror test have been completed to date. By July 2000, two other mirrors will be tested. Optical wavefront measurements were made at < 35 degrees Kelvin with several instruments located at the test mirror's radius of curvature. The current wavefront measuring instruments include a Shack-Hartman wavefront sensor, a point diffraction interferometer, a point spread function-measuring device, and a radius of curvature measuring instrument. A vibration insensitive phase shifting interferometer is planned for future optical testing. This paper will present a brief history of the facility, a discussion of its current x-ray optic testing capabilities, and a complete description of the new capabilities in the visible optical testing regime.
The Lunar Terrain Vehicle (LTV) is one of the key elements of NASA’s Artemis return to the Moon. As an unpressurized rover, the LTV hand controller must take into account the limitations of the spacesuit worn by the crew as well as lessons learned operating the Apollo Lunar Roving Vehicle and preliminary NASA simulations. Because the NASA Ground Test Unit (GTU) design features omnidirectional steering, NASA engineers developed the TriRotor is an innovation to minimize crew fatigue and discomfort. NASA conducted a series of tests, initially with 3D printed mockup controllers, and expanding to a functional prototype used in an LTV video wall simulation. The Tri-Rotor compared favorably with legacy Apollo T-Handles, though numerous test subject comments were collected to improve the controller’s usability. Several options to improve the Tri-Rotor’s usability are also discussed, along with opportunities to test the Tri-Rotor in Virtual Reality, a motion table, and in field analogs.
Optoelectronic sensors and magnetic actuators have been developed as parts of a system for controlling the relative position and attitude of two massive optical tables that float on separate standard air suspensions that attenuate ground vibrations. In the specific application for which these sensors and actuators were developed, one of the optical tables holds an optical system that mimics distant stars, while the other optical table holds a test article that simulates a spaceborne stellar interferometer that would be used to observe the stars. The control system is designed to suppress relative motion of the tables or, on demand, to impose controlled relative motion between the tables. The control system includes a sensor system that detects relative motion of the tables in six independent degrees of freedom and a drive system that can apply force to the star-simulator table in the six degrees of freedom. The sensor system includes (1) a set of laser heterodyne gauges and (2) a set of four diode lasers on the star-simulator table, each aimed at one of four quadrant photodiodes at nominal corresponding positions on the test-article table. The heterodyne gauges are used to measure relative displacements along the x axis.
Calculating an accurate nutation time constant (NTC), or nutation rate of growth, for a spinning upper stage is important for ensuring mission success. Spacecraft nutation, or wobble, is caused by energy dissipation anywhere in the system. Propellant slosh in the spacecraft fuel tanks is the primary source for this dissipation and, if it is in a state of resonance, the NTC can become short enough to violate mission constraints. The Spinning Slosh Test Rig (SSTR) is a forced-motion spin table where fluid dynamic effects in full-scale fuel tanks can be tested in order to obtain key parameters used to calculate the NTC. We accomplish this by independently varying nutation frequency versus the spin rate and measuring force and torque responses on the tank. This method was used to predict parameters for the Genesis, Contour, and Stereo missions, whose tanks were mounted outboard from the spin axis. These parameters are incorporated into a mathematical model that uses mechanical analogs, such as pendulums and rotors, to simulate the force and torque resonances associated with fluid slosh.
Calculating an accurate nutation time constant for a spinning spacecraft is an important step for ensuring mission success. Spacecraft nutation is caused by energy dissipation about the spin axis. Propellant slosh in the spacecraft fuel tanks is the primary source for this dissipation and can be simulated using a forced motion spin table. Mechanical analogs, such as pendulums and rotors, are typically used to simulate propellant slosh. A strong desire exists for an automated method to determine these analog parameters. The method presented accomplishes this task by using a MATLAB Simulink/SimMechanics based simulation that utilizes the Parameter Estimation Tool.
— Motion and visual cue influences are critical in any simulator system, as they impact multiple aspects of the human’s neurovestibular and visual systems. Cues of real motion proceeds to the brain before cues of visual change. It is important therefore for simulator motion cues to exist and to match those realistically with those of the real vehicle to provide transferable training of the activity for operations. The United Kingdom’s Royal Air Force Institute of Aviation Medicine (1989)[1] stated that motion platforms are the only simulation devices capable of fully stimulating the body motion sensors. They confirmed that motion platforms can impart accelerations to the whole body and therefore exercise the automatic motion feedback-loop that operators are used to. With both visual and motion cues handling the vehicle becomes more realistic. Strachan (2019)[1] confirms motion cueing from a well set-up motion platform has been found to be important especially in conditions such as night or reduced visibility where motion cues may be more relied upon. As of this writing, the only lunar rover motion simulator is housed at the General Motors (GM) Milford Proving Ground, which only simulates the motions of a traditional car. A NASA Test Team proposed to complete a motion-based simulation system for NASA’s Lunar Terrain Vehicle (LTV) which resides at Johnson Space Center’s Systems Engineering Simulator facility. This activity integrated existing fixed base simulation capabilities with a newly procured six-degree of freedom motion base platform for the design, development, evaluation, and training associated with the LTV project. This would incorporate a South Pole Lunar virtual reality simulation using Lunar Reconnaissance Orbiter 5m/pixel high-resolution imagery and Unreal 5.2 Virtual Shadow Maps, combined with a virtual reality (VR) headset, integrated within a rover cockpit on a Mikrolar Motion Platform for evaluating human performance and vehicle handling qualities for concept roving vehicle designs. The motion-based system received its Human Rating Certification on March 2023. To begin testing the new facility, a preliminary handling qualities study was conducted. The objectives were to determine if there is a correlation amongst three handling quality methods of performance for a lunar vehicle and to understand the effects of a simulated 1/6-g loads and visuals with a motion platform on the operator while in a 1-g physical environment. The capability this system provides directly benefits the NASA’s Extravehicular Activity and Human Surface Mobility Program and NASA’s Flight Operations Directorate in evaluating the driving qualities of vehicle concepts, human performance related to the operating of a lunar surface vehicle, and assessment of suit related driving impacts. It would also provide direct operational benefit by providing a first-in class and unique simulation platform for the lunar astronaut training curriculum. The empirical knowledge of rover and human performance on this scale is paramount as there is currently no other lunar surface simulator with these capabilities. The result of this study ensures a broadly applicable method of testing for shirtsleeve, unpressurized and pressurized suited rover handling qualities.
The upcoming NASA Lunar Terrain Vehicle (LTV) will succeed the Apollo Lunar Roving Vehicle, performing both surface exploration and logistics transfer in NASA’s return to the Moon. Human-in-the-Loop (HITL) testing will play a key role in refining the design of the LTV, ensuring its usability and ability to accommodate the astronaut population. A motion-based platform and a lunar terrain and lighting model can simulate the conditions of the lunar south pole region. It can be used by NASA to conduct HITL testing in concert with HITL testing of the drivable Ground Reference Unit (GTU) concept vehicle. The dynamic motion of the platform combined with the mobility restrictions of pressurized suits could help improve NASA understanding of vehicle-suit-astronaut interfaces. NASA human factors practitioners have proposed multiple HITL test series to use the motion-based platform in conjunction with testing of the GTU in hopes that lessons learned can be applied to help select a commercial partner to develop the Artemis LTV.
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The goal of this research is more precise description of adaptation to sensory rearrangements, including microgravity, by development of improved procedures for assessing spatial orientation perception. Thirty-six subjects reported perceived self-motion following exposure to complex inertial-visual motion. Twelve subjects were assigned to each of 3 perceptual reporting procedures: (a) animation movie selection, (b) written report selection and (c) verbal report generation. The question addressed was: do reports produced by these procedures differ with respect to complexity and reliability? Following repeated (within-day and across-day) exposures to 4 different "motion profiles," subjects either (a) selected movies presented on a laptop computer, or (b) selected written descriptions from a booklet, or (c) generated self-motion verbal descriptions that corresponded most closely with their motion experience. One "complexity" and 2 reliability "scores" were calculated. Contrary to expectations, reliability and complexity scores were essentially equivalent for the animation movie selection and written report selection procedures. Verbal report generation subjects exhibited less complexity than did subjects in the other conditions and their reports were often ambiguous. The results suggest that, when selecting from carefully written descriptions and following appropriate training, people may be better able to describe their self-motion experience with words than is usually believed.
Equations for the downwash and sidewash due to supersonic yawed and unswept horseshoe vortices have been utilized in formulating tables and charts to permit a rapid estimation of the flow velocities behind wings performing various steady motions. Tabulations are presented of the downwash and sidewash in the wing vertical plane of symmetry due to a unit-strength yawed horseshoe vortex located at 20 equally spaced spanwise positions along lifting lines of various sweeps. (The bound portion of the yawed vortex is coincident with the lifting line.) Charts are presented for the purpose of estimating the spanwise variations of the flow-field velocities and give longitudinal variations of the downwash and sidewash at a nuMber of vertical and spanwise locations due to a unit-strength unswept horseshoe vortex. Use of the tables and charts to calculate wing downwash or sidewash requires a knowledge of the wing spanwise distribution of circulation. Sample computations for the rolling sidewash and angle-of-attack downwash behind a typical swept wing are presented to demonstrate the use of the tables and charts.