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NASA NTRS2003

The Clock Is Ticking

Recently, I worked on creating a one-of-a-kind device for a Space Station group studying exercise physiology at another NASA Center. They approached my department at Ames Research Center to design and build an exercise bed that allowed users to perform the motions that they needed for ground-based research. The real challenge was that they needed the device designed, built, and delivered in just one month. The bed was intended to simulate doing squats while in a horizontal position as if on a moving sled. They wanted to incorporate a resistant device called an Interim Resistive Exercise Device (IRED), an adjustable cable tied into a reel to provide a measured amount of resistance. This device was used on the Station for exercising in space; we were taking the same resistant reel and incorporating it in this bed. In the early stages of a design project, I communicate with a customer as much as I can and as often as they will tolerate. There s a lot of learning that needs to go on, and I prefer to spend a little bit of extra time here because that can save a lot of time later. In the beginning, you need to volley the information back-and-forth, so that you understand the customer s requirements and they know what you re capable of doing.

Gundo, Dan↗

NASA NTRS2018

Mars Ecopoiesis Testbed

Mars surface conditions where liquid water is absent were simulated for the purposes of laboratory research. A pressure-temperature (P-T) profile was maintained in which no combination of pressure or temperature corresponds to the liquid region of the water phase diagram. The triple point of pure water occurs at T = 0.1oC and P(H2O) = 6.01 mbar; therefore all temperatures and pressures must be kept below these values, respectively. A 35-day test was performed in a commercial planetary simulation system (Techshot, Inc., Greenville, IN) in which the minimum night-time temperature was -80oC, the maximum daytime temperature was +26oC, the simulated day-night light cycle in earth hours was 12-on and 12-off, and the total pressure of the pure CO2 atmosphere was maintained below 11 mbar. Any water present was allowed to equilibrate with the changing temperature and pressure. The gas phase was sampled into a CR1-A condensation-mirror low-pressure hygrometer, which uses liquid nitrogen (down to 77oK) to determine the dew point (Buck Technologies, Boulder, CO). Dew point was measured once every hour and recorded on a data logger, along with the varying temperature in the chamber, from which the partial pressure of water was calculated. The resulting calculated daily cycles were tracked on the water P-T diagram, and no points were found to fall within the liquid-phase region of the diagram. It is concluded that there was no liquid water present throughout the test except during the initial pump-down period when aqueous specimens were introduced on the first day (less than 1 hour). Mars regolith simulant was present during this test, and further investigation is needed to determine whether liquid water could have been present or absent in the regolith in the form of brine. Biological samples consisting of Cyanobacteria: Anabena sp., Chroococcidiopsis CCMEE171, Plectonema boryanum; Eubacteria: Bacillus subtilis, Pseudomonas aeruginosa, and Eukaryota: Chlorella ellipsoidia were maintained in the simulator under the above-described conditions. The exposed specimens were tested for intracellular esterase activity, chlorophyll content (where appropriate) and reproductive survival. All tests yielded low-level positive results in all cases. In parallel to these terrestrial studies a planned design study was undertaken for the proposed test bed. Design requirements include compact assembly for transport and installation on the planetary surface (multiple units per mission would be expected), protective internal package for the release of organisms, a means of atmosphere exchange, access to sunlight, a means of penetrating the planetary surface, and most importantly a means of acquiring regolith while meeting the requirements of planetary protection. In consultation with advisers a design was created, and a large-scale mock-up of this design was fabricated by additive manufacturing at Techshot, Inc. with moving parts that simulated the components of the design. The mock-up assembly has been demonstrated to interested parties. A means of detecting live metabolism will also be included in the test bed. Several options were reviewed, and it is concluded that, by the time the ecopoiesis test bed is ready for testing the optimum instrument will be the equivalent of a hand-held mass spectrometer for metabolic gas analysis. This will maximize versatility and reveal much more information than could a detector of a single product (such as molecular oxygen), and the

Ecopoiesis↗

NASA NTRS2010

Extracting Oxygen from Lunar Simulant Using a Transparent Furnace Pulsed Fluidized Bed

In the event that humans return to the moon, utilizing the local materials will be beneficial for extended stays. Rather than transporting resources, such as oxygen, from Earth, NASA is investigating methods of extracting it from lunar regolith. One promising process is hydrogen reduction. In the hydrogen reduction process, lunar regolith is heated to 1000 C in the presence of hydrogen. The iron oxide (Fe-O) bonds, found in lunar material, are broken and the hydrogen attracts the oxygen to produce water vapor [Allen et al., 1996]. FeO + H2 (right arrow) Fe +H2O. The water vapor is then captured, cleaned, and electrolyzed. The hydrogen is recycled back to the reduction process and the oxygen is stored until consumed by an end user (propulsion, life support, etc.). To obtain a good oxygen yield, the majority of lunar regolith must be exposed to the hydrogen gas and have a high rate of heat transfer from heat source to particle. This is achieved with good solids mixing via fluidization or mechanical agitation. In Generation II of the ROxygen program, the ROxygen Team at Johnson Space Center (JSC) investigated the feasibility of gas only pulsed fluidization as the only means to mix synthetic lunar regolith (simulant) at high temperatures. Fluidized beds have been used in industry to effectively process powders for decades. They consist of gas flowing upward through a bed of particles. The stirring action continuously moves the grains around to achieve uniform mixing of gas, solids, and heat [Geldart, 1986]. A transparent furnace unit was developed by Thoughventions Unlimited LLC (TvU) to aid in the qualitative observation of the fluidization behavior at high temperatures. Multipoint thermocouples and pressure sensors provided quantitative information regarding the quality of mixing. The water produced was measured using humidity sensors and captured using a NASA designed and built condenser. Once the simulant was processed, pneumatically transporting the 'hot' simulant out of the furnace was investigated.

Oryshchyn, L.↗

NASA NTRS1991

Postural responses of head and foot cutaneous microvascular flow and their sensitivity to bed rest

To explore the mechanism for facial puffiness, headache, and nasal congestion associated with microgravity and cephalad fluid shifts, the postural responses of the cutaneous microcirculation (CMC) in the forehead and dorsum of the foot of eight healthy men were studied by changing body position on a tilt table and measuring blood flows with a laser Doppler flowmeter. Increasing arterial pressure in the feet by moving from a -6-deg head-down tilt to a 60-deg head-up posture decreased foot CMC by 46.5 + or - 12.0 percent. Raising arterial pressure in the head increased forehead CMC by 25.5 + or - 0.7 percent (p less than 0.05). To investigate the possibility that these opposite responses could be modified by simulated microgravity, tilt test were repeated after 7 d of -6-deg head-down-tilt bed rest. The responses were not significantly different from those recorded before bed rest. Therefore, CMC in the feet is well regulated to prevent edema when shifting to an upright position, whereas there is less regulation in the head CMC.

Aratow, Michael↗

NASA NTRS1998

Tutorial on the Psychophysics and Technology of Virtual Acoustic Displays

Virtual acoustics, also known as 3-D sound and auralization, is the simulation of the complex acoustic field experienced by a listener within an environment. Going beyond the simple intensity panning of normal stereo techniques, the goal is to process sounds so that they appear to come from particular locations in three-dimensional space. Although loudspeaker systems are being developed, most of the recent work focuses on using headphones for playback and is the outgrowth of earlier analog techniques. For example, in binaural recording, the sound of an orchestra playing classical music is recorded through small mics in the two "ear canals" of an anthropomorphic artificial or "dummy" head placed in the audience of a concert hall. When the recorded piece is played back over headphones, the listener passively experiences the illusion of hearing the violins on the left and the cellos on the right, along with all the associated echoes, resonances, and ambience of the original environment. Current techniques use digital signal processing to synthesize the acoustical properties that people use to localize a sound source in space. Thus, they provide the flexibility of a kind of digital dummy head, allowing a more active experience in which a listener can both design and move around or interact with a simulated acoustic environment in real time. Such simulations are being developed for a variety of application areas including architectural acoustics, advanced human-computer interfaces, telepresence and virtual reality, navigation aids for the visually-impaired, and as a test bed for psychoacoustical investigations of complex spatial cues. The tutorial will review the basic psychoacoustical cues that determine human sound localization and the techniques used to measure these cues as Head-Related Transfer Functions (HRTFs) for the purpose of synthesizing virtual acoustic environments. The only conclusive test of the adequacy of such simulations is an operational one in which the localization of real and synthesized stimuli are directly compared in psychophysical studies. To this end, the results of psychophysical experiments examining the perceptual validity of the synthesis technique will be reviewed and factors that can enhance perceptual accuracy and realism will be discussed. Of particular interest is the relationship between individual differences in HRTFs and in behavior, the role of reverberant cues in reducing the perceptual errors observed with virtual sound sources, and the importance of developing perceptually valid methods of simplifying the synthesis technique. Recent attempts to implement the synthesis technique in real time systems will also be discussed and an attempt made to interpret their quoted system specifications in terms of perceptual performance. Finally, some critical research and technology development issues for the future will be outlined.

Wenzel, Elizabeth M.↗

NASA NTRS2003

Numerical Models of Human Circulatory System under Altered Gravity: Brain Circulation

A computational fluid dynamics (CFD) approach is presented to model the blood flow through the human circulatory system under altered gravity conditions. Models required for CFD simulation relevant to major hemodynamic issues are introduced such as non-Newtonian flow models governed by red blood cells, a model for arterial wall motion due to fluid-wall interactions, a vascular bed model for outflow boundary conditions, and a model for auto-regulation mechanism. The three-dimensional unsteady incompressible Navier-Stokes equations coupled with these models are solved iteratively using the pseudocompressibility method and dual time stepping. Moving wall boundary conditions from the first-order fluid-wall interaction model are used to study the influence of arterial wall distensibility on flow patterns and wall shear stresses during the heart pulse. A vascular bed modeling utilizing the analogy with electric circuits is coupled with an auto-regulation algorithm for multiple outflow boundaries. For the treatment of complex geometry, a chimera overset grid technique is adopted to obtain connectivity between arterial branches. For code validation, computed results are compared with experimental data for steady and unsteady non-Newtonian flows. Good agreement is obtained for both cases. In sin-type Gravity Benchmark Problems, gravity source terms are added to the Navier-Stokes equations to study the effect of gravitational variation on the human circulatory system. This computational approach is then applied to localized blood flows through a realistic carotid bifurcation and two Circle of Willis models, one using an idealized geometry and the other model using an anatomical data set. A three- dimensional anatomical Circle of Willis configuration is reconstructed from human-specific magnetic resonance images using an image segmentation method. The blood flow through these Circle of Willis models is simulated to provide means for studying gravitational effects on the brain circulation under auto-regulation.

Kim, Chang Sung↗

NASA NTRS2026

Characterizing the subglacial environment of lower Thwaites Glacier using radar modeling

Understanding the spatial heterogeneity beneath Thwaites Glacier, West Antarctica, is vital to projecting its impact on future sea levels. Radar-echo sounding (RES) is commonly used to infer subglacial conditions, but these data can be challenging to interpret. We assess basal heterogeneity across Thwaites Glacier by comparing RES returns to a radar backscattering simulator for over 400 km of RES data. The modeled variations in bed returned power exhibited a strong correlation with actual RES data in 40% of our simulated flight segments, which we consider evidence for a relatively homogeneous glacier bed. Other sites (40%) demonstrated improved fit quality when hydrology or substrate transitions were introduced in the bed material model. The remaining simulated segments (20%) were diagnosed as having more complex basal heterogeneity. The spatial distribution of complex heterogeneity appears to coincide with asymmetric patterns in the RES specularity content, which has been interpreted in previous studies as a signature for channelized hydrology. Conversely, the homogeneous substrate locations coincide with areas of fast-moving ice in western Thwaites. Our simulation method can isolate power variations induced by material heterogeneity vs topography, which is an important limitation of existing RES analysis methods.

Antarctic glaciology↗

NASA NTRSDate not supplied

Effect of Vacuum on Force Response of an Ultrasonic Penetrator

Introduction: The Apollo astronauts encountered higher than expected resistances when interacting with the lunar soil via the Apollo Lunar Surface Drill (ALSD) and the trenching tool. Reducing the force required to move tools or other mechanical components through regolith will impact many steps of the resource extraction process. Force reduction has been achieved in soil materials by imparting vibration to tooling interfaces such as a vibratory farming cultivator, a percussive scoop, and ultrasonically resonant penetrators. Vibration-assisted tools in granular media reduce interaction forces by fluidizing a volume around the tool, allowing the tool to progress through a dynamic (fluid) medium instead of a static (solid) medium. This work seeks to quantify ultrasonic vibration’s effect on the force response of a penetrator in lunar soil simulant in vacuum sufficient to be within the molecular flow regime of any disturbed gases. Methods: A custom vacuum chamber setup, CUBEvac, was designed and built to facilitate penetration testing in a high vacuum environment, for comparison to penetration behavior in ambient terrestrial environment. A two-stage pumping system (Agilent Triscroll 600 roughing pump, Agilent VHS-6 oil diffusion pump) reached chamber pressures of about 5x10-6 Torr with regolith simulant in place. Figure 1 is a schematic of the heart of the assembly (note the penetration drive mechanisms above the chamber feedthrough and the regolith simulant sample in the bottom are not shown). The penetration actuation stack was comprised of a stepper motor driving a lead screw to move the ultra-sonic probe vertically inside the chamber. Motion was coordinated with an Arduino Uno. GRC-3 lunar simulant was used for this set of experiments. Samples were prepared in a four-liter stain-less steel, cylindrical pot with an internal diameter of approximately 15.56 cm (6.125 in) and a depth of 19.37 cm (7 5/8 in) for testing. The soil was baked out prior to compaction preparation as a measure to reduce soil moisture which interfered with pump down capacity. The soil was not baked again if it was removed from the vacuum chamber, prepped, and immediately returned to the vacuum chamber for pump down. The soil was compacted using a 60 Hz vibration table with a surcharge of 34 kg place on top of the soil in the container. Prepared soil samples weighed approximately 6.5 kg (bulk density 1.895-1.934 g/cm3). Two probe end effectors were tested: A cone penetrometer (static only) with a nominal diameter of 12.7 mm (0.5 in) and a nominal height of 28.6 mm (1.125 in); and a vibrating cylindrical probe measuring 12.7 mm in diameter and 50.8 mm in effective length from the tip (Figure 2). The cylindrical probe vibrated resonantly at 20 kHz with an amplitude 23 μm. The cone penetration tests were conducted to assess potential soil behavior differences in vacuum. The cylinder probe tests were conducted as the primary subject of this investigation to assess force response in vacuum. For each test, a regolith simulant sample was load-ed and compacted in the chamber, which was then evacuated for roughly 18 hours to reach the lowest possible pressure (approximately 5x10-6 Torr for most tests). The probe was then moved to about 10 mm above the soil surface before being pushed to a depth of 50 mm for the cylinder probe tests and to a depth of 100 mm for the cone penetrometer tests, both at a speed of 2 mm/s. The simulant samples were prepared the same for all tests. Ideally, they would respond consistently to probe penetration under ambient and vacuum conditions. This was evaluated by measuring the resistance of representative prepared simulant beds with a standard cone penetrometer in both environments. Results and Discussion: The resistance of the simulant samples in the vacuum tests was consistently lower than in the ambient tests as determined by the cone penetration tests. Thus, the ambient and vacuum results cannot be compared directly; work is underway to de-confound and better correlate the data. Still, figures 3-6 show that probe penetration forces are lower overall in the vacuum environment. In both environments, resonant vibration of the probe provides two useful effects: It reduces the probe penetration force and smooths the force-depth curve, significantly reducing local maxima. These effects have implications for various potential applications, such as astronaut hand-tools, where benefits (reducing astronaut effort) outweigh the cost of the additional energy re-quired to generate vibration. These results demonstrate that resonantly vibrating tools can meaningfully reduce the penetration force required for excavation, probing, and drilling tools in simulated lunar regolith deposits under vacuum levels approaching those that will be experience on the Moon’s surface. Lunar-gravity, ambient environment tests are scheduled soon. The effects of realistic temperatures and temperature gradients and deeper vacuum remain to be tested.

E Rezich↗

NASA NTRS1990

Effect of simulated weightlessness on the postural response of microvascular cutaneous blood flow

The effect of simulated weightlessness (1 week of bed rest) on the response of cutaneous microcirculatory blood flow to postural changes was investigated by measuring rates of the cutaneous blood flow in the central forehead and in the dorsum of the left foot in subjects who were tested in -6 deg head-down tilt (HDT) and 60-deg head-up tilt (HUT) before and after the week of bed rest. It was found that, when the subjects were moved from HUT to HDT before the bed rest period, the forehead cutaneous blood flow increased (in comparison to no-tilt baseline), due to increased arterial pressure, by about 26 percent, and that the response was the same on the first and the second day after 1 week of bed rest. The cutaneous blood flow in the dorsum of the foot decreased by about 46 percent in response to tilting from HDT to HUT both before and after bedrest.

Aratow, M.↗

NASA NTRS1985

Mechanisms for negative water balance during weightlessness Immersion or bed rest?

Results of bedrest and water immersion studies are of interest when formulating an hypothesis to explain inflight changes in water and electrolyte metabolism. A comparison of the two techniques is made, and it is found that the time course of fluid-electrolyte responses with bedrest occur more slowly than during weightlessness and faster with immersion. Hence, the head-down bedrest is the more appropriate model for simulation studies. The facts lead to the following hypothesis: Because of the head-ward shift of fluid , there is a transient elevation of central venous pressure upon reaching weightlessness that is not sufficiently intense to significantly activate the vasopressin-diuresis mechanism. But the increased pressure is of significant intensity to release atrial natriuretic peptides. A hypotonic fluid moving into the cells contributes to edema and inhibits thirst. In this manner, astronauts gradually lose body water as a result of slightly increased urinary sodium coupled with decreased fluid intake. These responses continue until a new fluid-electrolyte steady state is attained at a reduced level of total body water.

Greenleaf, J. E.↗

NASA NTRS2006

Marshall Space Flight Center Autumn 2005

The East Test Area at Marshall Space Flight Center has five major test stands, each of which has two or more test positions, not counting the SSME and RD-180 engine test facilities in the West Test Area. These research and development facilities are capable of testing high pressure pumps, both fuel and oxidizer, injectors, chambers and sea-level engine assemblies, as well as simulating deep space environments in the 12, 15 and 20 foot vacuum chambers. Liquid propellant capabilities are high pressure hydrogen (liquid and gas), methane (liquid and gas), and RP-1 and high pressure LOX. Solid propellant capability includes thrust measurement and firing capability up to 1/6 scale Shuttle SRB segment. In the past six months MSFC supported multiple space access and exploration programs in the previous six months. Major programs were Space Exploration, Shuttle External Tank research, Reusable Solid Rocket Motor (RSRM) development, as well as research programs for NASA and other customers. At Test Stand 115 monopropellant ignition testing was conducted on one position. At the second position multiple ignition/variable burn time cycles were conducted on Vacuum Plasma Spatter (VPS) coated injectors. Each injector received fifty cycles; the propellants were LOX Hydrogen and the ignition source was TEA. Following completion of the monopropellant test series the stand was reconfigured to support ignition testing on a LOX Methane injector system. At TS 116 a thrust stand used to test Booster Separation Motors from the Shuttle SRB system was disassembled and moved from Chemical Systems Division s Coyote Canyon plant to MSFC. The stand was reassembled and readied for BSM testing. Also, a series of tests was run on a Pratt & Whitney Rocketdyne Low Element Density (LED) injector engine. The propellants for this engine are LOX and LH2. At TS 300 the 20 foot vacuum chamber was configured to support hydrogen testing in the Multipurpose Hydrogen Test Bed (MHTB) test article. This testing, which went 24/7 for fourteen consecutive days, demonstrated long duration storage methods intended to minimize losses of propellant in support of the Space Exploration Initiative. The facility is being converted to support similar research using liquid methane. The 12 foot chamber at TS 300 was used to create ascent profiles (both heat and altitude effects) for foam panel testing in support of the Shuttle External Tank program. At TS 500, one position was in build-up to support ATK Thiokol research into the gas dynamics associated with high pressure flow across the propellant joint in segmented solid rocket motors. The testing involves flowing high pressure gas through a 24 motor case. Initial tests will be conducted with simulated aluminum grain, followed by tests using actual propellant. The second position at TS 500 has been in build-up for testing a LOX methane thruster manufactured by KT Engineering. At the Solid Propulsion Test Area (SPTA), the first dual segment 24 solid rocket motor was fired for ATK Thiokol in support of the RSRM program. A new axial thrust measurement stand was designed and fabricated for this testing. Real Time Radiography (RTR) will be deployed to examine nozzle erosion on the next dual segment motor.

Allen, Mike↗

NASA NTRS2003

Sheet Flows, Avalanches, and Dune Evolution on Earth and Mars

This investigation is a collaboration between researchers at Cornell University, the University of Florida, and the University of Rennes 1, France. Flow modeling at Cornell University focused on mechanisms for the suspension and transport of wind-blown sand that are important in both terrestrial and Martian environments. These mechanisms include the saltation (or jumping) of grains, collisions between grains, and the interaction of grains with the velocity fluctuations of the turbulent wind. Of particular interest are sheet flows; these are relatively thin, highly concentrated regions of grains flowing near the ground under the influence of a strong turbulent wind. In them, the grains are suspended by interparticle collisions. Sheet flows may be relatively rare events, but they have the capacity to move great amounts of sand. In order to describe sheet flows, a turbulent mixture theory was formulated for particles in a fluid in which fluctuations in the volume fiaction of the particles take place on the scale of the turbulent eddies. Ensemble averaged equations for particle and fluid mass, momentum, and energy and fluid rate of dissipation were expressed in terms of Farve (concentration) averaged velocities and the associated velocity fluctuations. Correlations that describe the turbulent suspension of particles and dissipation of turbulent energy of both phases due to fluid particle interactions were modeled and boundary conditions at the bed and at the upper surface of the collisional flow were formulated. The boundary conditions at the upper surface were tested in a numerical simulation developed at the University of Florida. Steady and unsteady solutions for steady and unsteady fully-developed flows were obtained over a range of wind speeds fiom the lowest for which collisional between particles occurred to at which turbulent suspension is found to dominate collisional suspension. Below the value of the wind speed at which collisions between particles were unimportant, numerical solutions were obtained for the velocity distribution function and the resulting fields of concentration, particle and gas mean velocity, and particle shear stress for the steady two-dimensional saltation of spherical sand particles driven by a turbulent wind over a bed characterized by a simple relationship (the splash function) between the properties of incoming particles and those of the rebounding particles and other particles ejected fiom the bed. At the University of Rennes 1, experiments devoted to the characterization of the splash function for beds consisting of either random or ordered arrays of spheres in two- dimensions were completed. These indicated the role played by the packing geometry in the rebound and ejection of grains. Preliminary experiments on response of a three- dimensional collision bed to a collision with a single particle were performed. Data was taken with a single camera focused on the plane of collision. Here, for example, the decrease of the effective coefficient of restitution of the bed with an increase of the angle of incidence of the incoming particle has been measured. Other experiments on avalanches at Rennes studied the properties of the flows of particles that are responsible for the motion of the leeward side of a dune. In these, the dependence of the initiation of avalanches on the packing and depth of the particles was measured. Particle migration was studied in inclined flows of a binary mixture of disks and the mechanisms of diffision and segregation were isolated and characterized. The influence of side wall on dense, rapid inclined flows was measured and shown to be the reason why the angle of the free surface in such flows can exceed the static angle of repose. Future research will be devoted to a better understanding the transition between saltating (collisionless) and collisional flows as the wind speed the increases. This will involve the understanding of the evolution of the splash function as clisions with the bed become more numerous, more frequent, and more violent.

Source record↗

NASA NTRS2002

Models to study gravitational biology of Mammalian reproduction

Mammalian reproduction evolved within Earth's 1-g gravitational field. As we move closer to the reality of space habitation, there is growing scientific interest in how different gravitational states influence reproduction in mammals. Habitation of space and extended spaceflight missions require prolonged exposure to decreased gravity (hypogravity, i.e., weightlessness). Lift-off and re-entry of the spacecraft are associated with exposure to increased gravity (hypergravity). Existing data suggest that spaceflight is associated with a constellation of changes in reproductive physiology and function. However, limited spaceflight opportunities and confounding effects of various nongravitational factors associated with spaceflight (i.e., radiation, stress) have led to the development of ground-based models for studying the effects of altered gravity on biological systems. Human bed rest and rodent hindlimb unloading paradigms are used to study exposure to hypogravity. Centrifugation is used to study hypergravity. Here, we review the results of spaceflight and ground-based models of altered gravity on reproductive physiology. Studies utilizing ground-based models that simulate hyper- and hypogravity have produced reproductive results similar to those obtained from spaceflight and are contributing new information on biological responses across the gravity continuum, thereby confirming the appropriateness of these models for studying reproductive responses to altered gravity and the underlying mechanisms of these responses. Together, these unique tools are yielding new insights into the gravitational biology of reproduction in mammals.

Review, Tutorial↗

NASA NTRS2017

Control Demonstration of Multiple Doubly-Fed Induction Motors for Hybrid Electric Propulsion

The Convergent Aeronautics Solutions (CAS) High Voltage-Hybrid Electric Propulsion (HVHEP) task was formulated to support the move into future hybrid-electric aircraft. The goal of this project is to develop a new AC power architecture to support the needs of higher efficiency and lower emissions. This proposed architecture will adopt the use of the doubly-fed induction machine (DFIM) for propulsor drive motor application.The Convergent Aeronautics Solutions (CAS) High Voltage-Hybrid Electric Propulsion (HVHEP) task was formulated to support the move into future hybrid-electric aircraft. The goal of this project is to develop a new AC power architecture to support the needs of higher efficiency and lower emissions. This proposed architecture will adopt the use of the doubly-fed induction machine (DFIM) for propulsor drive motor application. DFIMs are attractive for several reasons, including but not limited to the ability to self-start, ability to operate sub- and super-synchronously, and requiring only fractionally rated power converters on a per-unit basis depending on the required range of operation. The focus of this paper is based specifically on the presentation and analysis of a novel strategy which allows for independent operation of each of the aforementioned doubly-fed induction motors. This strategy includes synchronization, soft-start, and closed loop speed control of each motor as a means of controlling output thrust; be it concurrently or differentially. The demonstration of this strategy has recently been proven out on a low power test bed using fractional horsepower machines. Simulation and hardware test results are presented in the paper.

CAS↗

NASA NTRS1991

Lunar rovers and local positioning system

Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

Avery, James↗

NASA NTRS1985

Numerical simulation of compressible, turbulent, two-phase flow

A computer program for numerically simulating compressible, turbulent, two-phase flows is described and applied. Special attention is given to flows in which dust is ingested into the turbulent boundary layer behind shock waves moving over the earth's surface. it is assumed that the two phases are interpenetrating continua which are coupled by drag forces and heat transfer. The particle phase is assumed to be dilute, and turbulent effects are modeled by zero- and two-equation eddy viscosity models. An important feature of the turbulence modeling is the treatment of surface boundary conditions which control the ingestion of particles into the boundary layer by turbulent friction and diffusion. The numerical method uses second-order implicit upwind differencing of the inviscid terms of the equations and second-order central differencing of the viscous terms. A diagonal form of the implicit algorithm is used to improve efficiency, and the transformation to a curvilinear coordinate system is accomplished by the finite volume techniques. Applications to a series of representative flows include a two-phase nozzle flow, the steady flow of air over a sand bed, and the air flow behind a normal shock wave in uniform motion over a sand bed. Results of the latter two applications are compared with experimental results.

Coakley, t. J.↗

NASA NTRS2017

Generating Real-Time Robotics Control Software from SysML

In this paper, we outline an approach for autogenerating real-time robotics control code from hierarchical state machines and hardware configurations encoded in Systems Modeling Language (SysML). We propose a software architecture that provides an abstract SysML layer with access to device state information and a set of primitive device commands, such as move actuator and release brake, allowing a user to build up a complete functional state machine directly in SysML. The SysML diagram is then exported to a standard SCXML file format and subsequently used to auto-generate hardware control code. Once this architecture is in place, the only explicit code elements that need to be written are the primitive device commands, which can be easily unit tested and reused across different systems. The motivation for this work was the need for a test bed that enables the rapid prototyping of mechanisms and control algorithms for a spacecraft that could ultimately be used for preparing Martian rock samples for their return to Earth. To this end, our software system was also designed to allow for the run-time specification of the hardware layout in SysML, with the hardware-level control functions kept agnostic to the specific parameters or communication bus of any particular device. Further, we outline a system for specifying both the state machine and hardware configuration in the MagicDraw IDE in such a way that the system can be simulated before any code is generated. The resultant software system is easy to debug, understand, and allows users to choose how much information is encoded as a visual or text-based representation.

Godart, Peter↗

NASA NTRS1987

Arcjet thruster research and technology. Phase 1: Executive summary

The principal objective of this two phase program is to conduct the development research required to make the low power arcjet a flight ready technology. Many important results were obtained during Phase 1 to move closer to this objective. Fundamental analyses were performed of the arcjet nozzle, the gas kinetic reaction effects, the thermal environment, and the arc stabilizing vortex. These aided the conceptual understanding of the arcjet and guided design work. A hydrazine (N2H4) arcjet was designed that combined a flight qualified catalyst bed with a modular arcjet. Extensive testing was performed which demonstrated the feasibility of using this propellant in an arcjet for the first time. Startup techniques were developed, stability maintained, material compatibility tests conducted, and performance mapping tests performed. Specific impulse values from 400 to 730 seconds were produced with a non-optimized design. These levels are higher than were originally thought possible and proved that extremely high enthalpy values can be obtained with constricted arc technology. Erosion rate data are promising for lifetime extensions to meet flight application requirements. Power control unit (PCU) development was started with the design and fabrication of a laboratory high switching frequency supply. Valuable data were obtained on PCU operation and on the interaction with the dynamic arc. Phase 2 efforts presently underway are resolving key issues for multi-hundred hour lifetimes, are continuing to investigate arcjet/PCU interactions, and will demonstrate duty cycle N2H4 arcjet/PCU operation in a simulated flight mode for lifetimes consistent with initial applications.

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