ALBERT

Beschreibung: The benefits of using a hypersonic waverider for spacecraft trajectory modification are presented. A waverider is a hypersonic vehicle specifically designed so that the undersurface bow shock is attached to the leading edge, which provides for the highest known lift-to-drag ratios achievable at high Mach number flight. Several viable space missions are suggested which could use such configurations for low-drag aero-assisted maneuvers in planetary atmospheres. It is shown that large changes in the spacecraft velocity vector can be accomplished with acceptably small losses in energy due to drag using a waverider aeroshell. The primary advantage of an aero-assist maneuver is suggested by comparison to a traditional gravity-assist trajectory. Some scaling laws are presented for comparing waveriders designed for different planetary atmospheres, and it is shown that the compositional differences between the terrestrial planets has a minimal impact on waverider design.

Beschreibung: Unsteady flow behavior and load characteristics of a 2D VR-7 airfoil with and without a leading-edge slat were studied in the water tunnel of the Aeroflightdynamics Directorate, NASA Ames Research Center. Both airfoils were oscillated sinusoidally between 5 and 25 deg at Re = 200,000 to obtain the unsteady lift, drag, and pitching moment data. A fluorescent dye was released from an orifice located at the leading edge of the airfoil for the purpose of visualizing the boundary layer and wake flow. The flowfield and load predictions of an incompressible Navier-Stokes code based on a velocity-vorticity formulation were compared with the test data. The test and predictions both confirm that the slatted VR-7 airfoil delays both static and dynamic stall as compared to the VR-7 airfoil alone.

Beschreibung: Analytic expressions have been derived for estimating the nonablating laminar and turbulent boundary-layer convective heating rates on inclined flat surfaces for the Martian atmosphere in thermochemical equilibrium. The equations are valid in the speed and altitude regime where aerobraking would occur at Mars. Comparisons with limited experimental measurements and calculations for CO2 (the Martian atmosphere is 95.6 percent CO2) yielded reasonably good agreement, especially for the ratios of heating rates in CO2 to those in air at the same conditions. In the aerobraking speed regime, the laminar flat surface boundary layer heating rates are 15-25 percent greater at Mars than in air. The differences between the turbulent heating rates are even more pronounced. The turbulent heating rates can be over 50 percent greater at Mars than in air at the same flight conditions.

Beschreibung: An incompressible three-dimensional laminar boundary-layer flow over a swept wing is used as a model to study both the wall-curvature and streamline-curvature effects on the stationary crossflow instability. The basic state is obtained by solving the full Navier-Stokes (N-S) equations numerically. The linear disturbance equations are cast on a fixed, body-intrinsic, curvilinear coordinate system. Those nonparallel terms which contribute mainly to the streamline-curvature effect are retained in the formulation of the disturbance equations and approximated by their local finite difference values. The resulting eigenvalue problem is solved by a Chebyshev collocation method. The present results indicate that the convex wall curvature has a stabilizing effect, whereas the streamline curvature has a destabilizing effect. A validation of these effects with an N-S solution for the linear disturbance flow is provided.

Beschreibung: The paper presents a general approach to constructing mean velocity profiles for compressible turbulent boundary layers with isothermal or adiabatic walls. The theory is based on a density-weighted transformation that allows the extension of the incompressible similarity laws of the wall to the compressible regions. The velocity profile family is compared to a range of experimental data, and excellent agreement is obtained. A self-consistent skin friction law, which satisfies the proposed velocity profile family, is derived and compared with the well-known Van Driest II theory for boundary layers in zero pressure gradient. The results are found to be at least as good as those obtained by using the Van Driest II transformation.

Beschreibung: A number of chemical-kinetic problems related to phenomena occurring behind a shock wave surrounding an object flying in the earth atmosphere are discussed, including the nonequilibrium thermochemical relaxation phenomena occurring behind a shock wave surrounding the flying object, problems related to aerobraking maneuver, the radiation phenomena for shock velocities of up to 12 km/sec, and the determination of rate coefficients for ionization reactions and associated electron-impact ionization reactions. Results of experiments are presented in form of graphs and tables, giving data on the reaction rate coefficients for air, the ionization distances, thermodynamic properties behind a shock wave, radiative heat flux calculations, Damkoehler numbers for the ablation-product layer, together with conclusions.

Beschreibung: The development of implicit upwind algorithms for the solution of the three-dimensional, time-dependent Euler equations on unstructured tetrahedral meshes is described. The implicit temporal discretization involves either a two-sweep Gauss-Seide relaxation procedure, a two-sweep Point-Jacobi relaxation procedure, or a single-sweep Point-Implicit procedure; the upwind spatial discretization is based on the flux-difference splitting of Roe. Detailed descriptions of the three implicit solution algorithms are given, and calculations for the Boeing 747 transport configuration are presented to demonstrate the algorithms. Advantages and disadvantages of the implicit algorithms are discussed. A steady-state solution for the 747 configuration, obtained at transonic flow conditions using a mesh of over 100,000 cells, required less than one hour of CPU time on a Cray-2 computer, thus demonstrating the speed and robustness of the general capability.

Beschreibung: Two-dimensional CFD analyses are presented related to the ground testing of hypersonic, air-breathing models which feature scramjet exhaust flow simulation. CFD analysis indicates that it is possible to test aftbody powered hypersonic airbreather configurations in a static, pumped-down environment to obtain aftbody aerodynamic performance data.

Beschreibung: In this paper a distributed parameter model for the estimation of modal characteristics of NASA Mini-Mast truss is proposed. A closed-form solution of the Timoshenko beam equation, for a uniform cantilevered beam with two concentrated masses, is derived so that the procedure and the computational effort for the estimation of modal characteristics are improved. A maximum likelihood estimator for the Timoshenko beam model is also developed. The resulting estimates from test data by using Timoshenko beam model are found to be comparable to those derived from other approaches.

Beschreibung: Experimental studies have been conducted to assess Reynolds and Mach number effects on a supercritical multielement airfoil. The airfoil is representative of the stall-critical station of an advanced transport wing design. The experimental work was conducted as part of a cooperative program between the Douglas Aircraft Company and the NASA Langley Research Center to improve current knowledge of high-lift flows and to develop a validation data base with practical geometries/conditions for emerging computational methods. This article describes results obtained for both landing and takeoff multielement airfoils (four- and three-element configurations) for a variety of Mach/Reynolds number combinations up to flight conditions. Effects on maximum lift are considered for the landing configurations, and effects on both lift and drag are reported for the takeoff geometry. The present test results revealed considerable maximum lift effects on the three-element landing configuration for Reynolds number variations, and significant Mach number effects on the four-element airfoil.

Beschreibung: A time-optimal open-loop control problem of flexible spacecraft in the presence of modeling uncertainty has been investigated. The results indicate that the proposed approach significantly reduces the residual structural vibrations caused by modeling uncertainty. The results also indicate the importance of proper jet placement for practical tradeoffs among the maneuvering time, fuel consumption, and performance robustness.

Beschreibung: This paper uses spatial operator techniques to develop a new algorithm for the dynamics of multibody systems with hinges undergoing prescribed motion. This algorithm is spatially recursive, and its computational complexity grows only linearly with the number of degrees of freedom in the system. Its structure is a hybrid of known recursive forward and inverse dynamics algorithms for regular multibody systems. Changes to the prescribed/nonprescribed nature of hinges can be implemented during run time since they are handled with very low overhead in the algorithm.

Beschreibung: This paper presents an alternate approach for the generation of volumetric grids for supersonic and hypersonic flows about complex configurations. The method uses parametric two-dimensional block-face grid definitions, within the framework of GRIDGEN2D. The incorporation of a face decomposition reduces complex surfaces to simple shapes. These simple shapes are recombined to obtain the final face definition. The advantages of this method include the reduction of overall grid generation time through the use of vectorized computer code, the elimination of generating matching block faces, and simplified boundary conditions.

Beschreibung: An algorithm is described that calculates inviscid, laminar, and turbulent flows on triangular meshes with an upwind discretization. A brief description of the base solver and the multigrid implementation is given, followed by results that consist mainly of convergence rates for inviscid and viscous flows over a NACA four-digit airfoil section. The results show that multigrid does accelerate convergence when the same relaxation parameters that yield good single-grid performance are used; however, larger gains in performance can be realized by doing less work in the relaxation scheme.

Beschreibung: The interaction of a turbulent boundary layer with rarefaction and shock waves in flows past inclined steps was investigated experimentally and theoretically. The experiments were carried out in supersonic wind tunnels with test sections of 0.6 x 0.6 m and 0.2 x 0.2 m, with adiabatic conditions on the surface model. Based on detailed measurements of pressure fields, velocity, and surface friction, combined with results of optical visualization and analysis of limiting flow lines, three characteristic flow regimes are identified. These are (1) nonseparated flow at small step angles, (2) formation of a local separation zone with a free separation point at moderate step angles, and (3) formation of a large-scale separated flow with a fixed separation point at sufficiently large step angles. The quantitative gasdynamic schemes and surface pressure distributions for these flow regimes are shown for Mach 2.85.

Beschreibung: An account is given of experimental and computational results on the mixing of single, double, and opposed rows of jets characterized by an either isothermal or variable temperature mainstream in a confined subsonic crossflow; these flow configurations are typical of gas turbine combustor dilution chambers. It is established that the momentum-flux ratio is the most significant flow variable. Combinations of flow and geometry yielding optimum mixing were identified from experimental and computational results. The orifice spacing and momentum-flux relationships affected jet structure, which was significantly different between jets injected from the inner wall of a turn and those injected from the outer wall.

Beschreibung: The essential elements of a computational fluid dynamics analysis of the HL-20/personnel launch system aerothermal environment at hypersonic speeds including surface definition, grid generation, solution techniques, and visual representation of results are presented. Examples of solution technique validation through comparison with data from ground-based facilities are presented, along with results from computations at flight conditions. Computations at flight points indicate that real-gas effects have little or no effect on vehicle aerodynamics and, at these conditions, results from approximate techniques for determining surface heating are comparable with those obtained from Navier-Stokes solutions.

Beschreibung: Definition of the aerothermal environment is critical to any vehicle such as the HL-20 Personnel Launch System that operates within the hypersonic flight regime. Selection of an appropriate thermal protection system design is highly dependent on the accuracy of the heating-environment prediction. It is demonstrated that the entry environment determines the thermal protection system design for this vehicle. The methods used to predict the thermal environment for the HL-20 Personnel Launch System vehicle are described. Comparisons of the engineering solutions with computational fluid dynamic predictions, as well as wind-tunnel test results, show good agreement. The aeroheating predictions over several critical regions of the vehicle, including the stagnation areas of the nose and leading edges, windward centerline and wing surfaces, and leeward surfaces, are discussed. Results of predictions based on the engineering methods found within the MINIVER aerodynamic heating code are used in conjunction with the results of the extensive wind-tunnel tests on this configuration to define a flight thermal environment. Finally, the selection of the thermal protection system based on these predictions and current technology is described.

Beschreibung: Experiments were conducted to observe the cross-sectional structure and streamwise growth of round transverse liquid jets injected into a highly accelerated boundary layer in supersonic flow. The accompanying shock structure was also visualized. In one case, a round jet of acetone was injected into a fully turbulent Mach 2.5 boundary layer that was subsequently accelerated and partially laminarized through a sharp Prandtl-Meyer expansion corner. In the second case, a jet was injected into the laminarized Mach 3.2 boundary layer downstream of the expansion corner at the same jet-to-freestream momentum ratio. The jet and shock structure in both cases were visualized using schlieren optics. Wall-flow patterns were visualized using paints. It was found that the lateral spreading of jets injected downstream of the expansion fan was augmented close to the wall and had a cross-sectional structure significantly different from that of the jet injected upstream: the upstream jet spreads rapidly at the expansion corner in both the lateral and vertical directions.

Beschreibung: Computational results are presented to illustrate the powered aftbody effects of representing the scramjet inlet on a generic hypersonic vehicle with a fairing, to divert the external flow, as compared to an operating flow-through scramjet inlet. This study is pertinent to the ground testing of hypersonic, airbreathing models employing scramjet exhaust flow simulation in typical small-scale hypersonic wind tunnels. The comparison of aftbody effects due to inlet representation is well-suited for computational study, since small model size typically precludes the ability to ingest flow into the inlet and perform exhaust simulation at the same time. Two-dimensional analysis indicates that, although flowfield differences exist for the two types of inlet representations, little, if any, difference in surface aftbody characteristics is caused by fairing over the inlet.

Beschreibung: In this article, the vibration control of adaptive truss structures, where the control actuation is provided by length adjustable active members, is formulated as a direct output feedback control problem. A control method named Model Truncated Output Feedback (MTOF) is presented. The method allows the control feedback gain to be determined in a decoupled and truncated modal space in which only the critical vibration modes are retained. The on-board computation required by MTOF is minimal; thus, the method is favorable for the applications of vibration control of large scale structures. The truncation of the modal space inevitably introduces spillover effect during the control process. In this article, the effect is quantified in terms of active member locations, and it is shown that the optimal placement of active members, which minimizes the spillover effect (and thus, maximizes the control performance) can be sought. The problem of optimally selecting the locations of active members is also treated.

Beschreibung: A detailed description of the bow-shock behavior associated with a conical-walled cavity with a flat circular base at M(infinity) = 10 is presented. An experimental test was performed on this configuration, and measurements of shock-oscillation frequency and amplitude, as well as shock shape, were recorded by a number of techniques. A laser-interferometer system was used for the first time during this test to determine bow-shock oscillation frequency in a nonintrusive manner. The primary behavior was a stable, periodically oscillating bow shock. Attention is also given to a violent bow-shock instability.

Beschreibung: Hypersonic reactive flowfield results are presented for the flow about an axisymmetric representation of a three-dimensional aeroassisted vehicle using the viscous shock-layer (VSL) and Navier-Stokes (NS) equations for low- and high-altitude entry conditions, respectively. Solutions are limited to the stagnation region. The NS results have been obtained by employing the surface recombination boundary condition for an 11-species air model, whereas the VSL calculations are carried out by using a 5-species model. Three widely used surface recombination rate models are implemented with these two flowfield calculation procedures. The low-density (or high altitude) NS solutions are obtained with surface slip equations and compare quite well with the direct simulation Monte Carlo predictions. For higher densities (or lower altitudes), the no-slip VSL solutions are considered adequate. Results from this study highlight the effect of surface catalyticity on surface heating and electron number density.

Beschreibung: Qualitative features of the inviscid instability characteristics of hypersonic boundary-layer flows over a flat plate are considered. The instability of a viscous hypersonic boundary layer which exists far downstream from the leading edge of the plate. It is shown that the vorticity mode of instability operates on a different lengthscale from that obtained using a Chapman viscosity law. The growth rate predicted by a linear viscosity law is found to overestimate the size of the growth rate. The inviscid instability of the boundary layer near the leading edge interaction zone is discussed focusing on the strong-interaction zone which occurs sufficiently close to the leading edge. The vorticity mode in this regime is found to be unstable.

Beschreibung: This paper describes a preliminary design of the thrust vector control algorithm for the interplanetary spacecraft, Cassini. Topics of discussion include flight software architecture, modeling of sensors, actuators, and vehicle dynamics, and controller design and analysis via classical methods. Special attention is paid to potential interactions with structural flexibilities and propellant dynamics. Controller performance is evaluated in a simulation environment built around a multi-body dynamics model, which contains nonlinear models of the relevant hardware and preliminary versions of supporting attitude determination and control functions.

Beschreibung: An effort was made to increase the predicted lifetime of the SIRTF dewar by lowering the exterior shell temperature, increasing the radiated energy from the vapor cooled shields and reconfiguring the vapor cooled shields. The lifetime increases can be used to increase the scientific return from the mission and as a trade-off against mass and cost. This paper describes the configurations studied, the steady state thermal model used, the analytical methods and the results of the analysis. Much of the heat input to the outside dewar shell is radiative heat transfer from the solar panel. To lower the shell temperature, radiative cooled shields were placed between the solar panel and the dewar shell and between the bus and the dewar shell. Analysis showed that placing a radiator on the outer vapor cooled shield had a significant effect on lifetime. Lengthening the distance between the outer shell and the point where the vapor cooled shields are attached to the support straps also improved lifetime.

Beschreibung: The potential benefits of employing controlled structures technology in spacecraft design are illustrated using an example of a Mission-to-Planet Earth multisensor geostationary platform. The platform has a precipitation mapping sensor which requires large antennas to meet the science requirement of resolution cell size and dynamic measurement range. A series approach and an integrated approach to designing a controlled structure are discussed.

Beschreibung: Major issues in system identification are summarized and recent advances are reviewed. Modal testing and system identification used in control theory are examined, and the mathematical relationships and conversions of the models appropriate to modal testing and those appropriate to modern control design methods are discussed. The importance of obtaining input and output matrices in modal testing is emphasized, and the changes that may be needed in modal testing procedures to meet the needs of the control system designer are addressed. Directions for future research are considered.

Beschreibung: A Mars Aerial Platform (MAP) mission capable of generating thousands of very-high-resolution (20 cm/pixel) pictures of the Martian surface is considered. The MAP entry vehicle will map the global circulation of the planet's atmosphere and examine the surface and subsurface. Data acquisition will use instruments carried aboard balloons flying at nominal altitude of about 7 km over the Martian surface. The MAP balloons will take high- and medium-resolution photographs of Mars, sound its surface with radar, and provide tracking data to chart its winds. Mars vehicle design is based on the fourth-generation NTP, NEP, SEP vehicle set that provides a solid database for determining transportation system costs. Interference analysis and 3D image generation are performed using manual system sizing and sketching in conjunction with precise CAD modeling.

Beschreibung: A closed-form analysis of flow in a two-dimensional subsonic wind tunnel that uses sidewall suction around the model to reduce sidewall boundary-layer effects is presented. The model problem that is treated involves a flat plate airfoil in a tunnel with a suction window shaped to permit an analytic solution. This solution shows that the lift coefficient depends explicitly on the porosity parameter of the suction window and implicitly on the suction pressure differential. For a given sidewall displacement thickness, the lift coefficient increases as the suction-window porosity decreases.

Beschreibung: An attitude control law is derived to realize linear unforced error dynamics with the attitude error defined in terms of rotation group algebra (rather than vector algebra). Euler parameters are used in the rotational dynamics model because they are globally nonsingular, but only the minimal three Euler parameters are used in the error dynamics model because they have no nonlinear mathematical constraints to prevent the realization of linear error dynamics. The control law is singular only when the attitude error angle is exactly pi rad about any eigenaxis, and a simple intuitive modification at the singularity allows the control law to be used globally. The forced error dynamics are nonlinear but stable. Numerical simulation tests show that the control law performs robustly for both initial attitude acquisition and attitude control.

Beschreibung: In support of the NASA Balloon Program, small-scale balloons were flown with varying lifting gas and total system mass. Instrument packages were developed to measure and record acceleration and temperature data during these tests. Top fitting and instrument payload accelerations were measured from launch to steady state ascent and through ballast drop transients. The development of the small lightweight self-powered Stowaway Special instrument packages is discussed along with mathematical models developed to determine gas mass, drag and virtual mass coefficients.

Beschreibung: Viewgraphs on autonomous rendezvous and docking (AR&D) for Space Station Freedom are presented. Topics covered include: requirements for AR&D experience; Comet spacecraft performance; AR&D mission profile; analytical models for approach trajectory, loosely coupled configuration, and contact dynamics; and application to space infrastructure.

Beschreibung: The flow field over an airfoil contains several distinct flow characteristics, e.g. laminar, transitional, turbulent boundary layer flow, flow separation, unstable free shear layers, and a wake. This diversity of flow regimes taxes the presently available Reynolds averaged turbulence models. Such models are generally tuned to predict a particular flow regime, and adjustments are necessary for the prediction of a different flow regime. Similar difficulties are likely to emerge when the large eddy simulation technique is applied with the widely used Smagorinsky model. This model has not been successful in correctly representing different turbulent flow fields with a single universal constant and has an incorrect near-wall behavior. Germano et al. (1991) and Ghosal, Lund & Moin have developed a new subgrid-scale model, the dynamic model, which is very promising in alleviating many of the persistent inadequacies of the Smagorinsky model: the model coefficient is computed dynamically as the calculation progresses rather than input a priori. The model has been remarkably successful in prediction of several turbulent and transitional flows. We plan to simulate turbulent flow over a '2D' airfoil using the large eddy simulation technique. Our primary objective is to assess the performance of the newly developed dynamic subgrid-scale model for computation of complex flows about aircraft components and to compare the results with those obtained using the Reynolds average approach and experiments. The present computation represents the first application of large eddy simulation to a flow of aeronautical interest and a key demonstration of the capabilities of the large eddy simulation technique.

Beschreibung: The ability to model turbulence near solid walls and other types of boundaries is important in predicting complex engineering flows. Most turbulence modeling has concentrated either on flows which are nearly homogeneous or isotropic, or on turbulent boundary layers. Boundary layer models usually rely very heavily on the presence of mean shear and the production of turbulence due to that mean shear. Most other turbulence models are based on the assumption of quasi-homogeneity. However, there are many situations of engineering interest which do not involve large shear rates and which are not quasi-homogeneous or isotropic. Shear-free turbulent boundary layers are the prototypical example of such flows, with practical situations being separation and reattachment, bluff body flow, high free-stream turbulence, and free surface flows. Although these situations are not as common as the variants of the flat plate turbulent boundary layer, they tend to be critical factors in complex engineering situations. The models developed are intended to extend classical quasi-homogeneous models into regions of large inhomogeneity. These models do not rely on the presence of mean shear or production, but are still applicable when those additional effects are included. Although the focus is on shear-free boundary layers as tests for these models, results for standard shearing boundary layers are also shown.

Beschreibung: The problem to be addressed in this work is that of modeling nondimensional force and moment aerodynamic coefficients over the entire subsonic envelope. The particular application discussed here is the Z force coefficient for the F-18 High Angle of Attack Research Vehicle (HARV).

Beschreibung: We are going to meet the era when advanced spacecraft such as space stations are developed and operated. The current system of the satellite operations control will need to undergo many changes. We consider that the future system will require the following functions: the function for interchanging data between international agencies, processing the various kinds of space data, and distributing data as many unspecified users require. However, we have to solve the following problems in order to satisfy these requirements: the problem of standardization of space data communication protocol, establishment of multimedia data management method, and standardization of the user interface. This paper describes three techniques to solve the above mentioned problems. That is, standardization of the data communication protocol between space and ground by AOS (Advanced Orbiting System) protocol of CCSDS (Consultative Committee for Space Data Systems) Recommendation, management of multimedia data by catalog reference, standardization of user interface by SFDU(Standard Formatted Data Unit) of CCSDS Recommendation.

Beschreibung: The Space Flyer Unit (SFU) is an unmanned, multi-purpose, retrievable and reusable space platform. The first mission of SFU (SFU-1) will be launched by NASDA's H-2 launch vehicle in early 1995 and retrieved by NASA's Space Shuttle after several months in orbit. Two Japanese ground stations, several ground stations belonging to NASA, and a ground station in Chile will be used for tracking of SFU-1. The control center of SFU-1 is the Sagamihara Operations Center (SOC) of ISAS located in Sagamihara, Japan. This paper describes the tracking and data acquisition network for SFU-1, the configuration and design policy of the SFU operations control system, and data processing schemes used for mission operations of SFU.

Beschreibung: A member of the constellation of TDR satellites (TDRS) has experienced a failure of its prime earth sensor. Failure of the remaining earth sensor could result in the inability of the satellite to control its attitude and provide user services. Loss of the satellite would be a serious event. The multiple access (MA) antenna array on the TDRS has been proposed for use as a backup sensor for the attitude control system. This paper describes our analysis of the performance of the MA array as an interferometer used for accurate attitude determination. A least squares fit of a plane to the MA phase information appears to represent the TDRS body roll and pitch within about 0.1 deg. This is sufficient for SGL pointing and MA and SSA user services. Analytic improvements that include ionospheric correction may yield sufficient accuracy for KSA user services.

Beschreibung: The new NASA credo of 'faster, better, cheaper' calls for a new generation of smaller and less complex spacecraft. In response to this challenge, many new spacecraft concepts have been generated within NASA, industry, and academia. The JPL, Rockwell International Space Systems Division, and The Space Dynamics Laboratory (SDL)/Utah State University (USU) are jointly examining one such new spacecraft concept, hereafter termed ISOBUS, which is derived from recent research and development work in isogrid structures based on a six-sided hexagon shaped structure. Two prototypical products from SDL/USU's work are ISOSPACEPACK and ISOSAT. These hexagon shaped elements serve as building blocks for the ISOBUS spacecraft concept. Various aspects of the ISOBUS concept are discussed.

Beschreibung: The KSC program has the ability to prove the soundness of a particular robotic concept on the ground before it is used in space. In this context, three (3) robotic systems are discussed: the tile robot (Tessellator); HFIR (High Efficiency Particulate Air (HEPA) Filter Inspection Robot); and ARID (Automatic Radiator Inspection Project). The Tessellator is a semi-autonomous robotic system used to rewaterproof and inspect thermal protection system tiles on the underside of the orbiter. The HFIR is used for autonomous inspection of HEPA filters located at the top of the LC 39 payload changeout rooms. The ARID is designed for autonomous inspection of orbiter radiators for damage while in the orbiter processing facility.

Beschreibung: The man-tended configuration (MTC) of Space Station Freedom (SSF) provides a unique opportunity to move robotic systems from the laboratory into the mainstream space program. Restricted crew access due to the Shuttle's flight rate, as well as constrained on-orbit stay time, reduces the productivity of a facility dependent on astronauts to perform useful work. A natural tendency toward robotics to perform maintenance and routine tasks will be seen in efforts to increase SSF usefulness. This tendency will provide the foothold for deploying space robots. This paper outlines a flight experiment that will capitalize on the investment in robotic technology made by NASA over the past ten years. The flight experiment described herein provides the technology demonstration necessary for taking advantage of the expected opportunity at MTC. As a context to this flight experiment, a broader view of the strategy developed at the JSC is required. The JSC is building toward MTC by developing a ground-based SSF emulation funded jointly by internal funds, NASA/Code R, and NASA/Code M. The purpose of this ground-based Station is to provide a platform whereby technology originally developed at JPL, LaRC, and GSFC can be integrated into a near flight-like condition. For instance, the Automated Robotic Maintenance of Space Station (ARMSS) project integrates flat targets, surface inspection, and other JPL technologies into a Station analogy for evaluation. Also, ARMSS provides the experimental platform for the Capaciflector from GSPC to be evaluated for its usefulness in performing ORU change out or other tasks where proximity detection is required. The use and enhancement of these ground-based SSF models are planned for use through FY-93. The experimental data gathered from tests in these facilities will provide the basis for the technology content of the proposed flight experiment.

Beschreibung: A three-year, three-phase program to demonstrate the applicability of telerobotic technology to the testing of satellites and other spacecraft has been initiated. Specifically, the objectives are to design, fabricate, and install into the JPL 25-ft. Space Simulator (SS) a system that will provide the capability to view test articles from all directions in both the visible and infrared (IR) spectral regions, to automatically map the solar flux intensity over the entire work volume of the chamber, and to provide the capability for leak detection. The first year's work, which provides a vertically mobile viewing platform equipped with stereo cameras, will be discussed. Design constraints and system implementation approaches mandated by the requirements of thermal vacuum operation will be emphasized.

Beschreibung: NASA LaRC has developed a unique testbed for investigating the practical problems associated with the assembly of large space structures using robotic manipulators. The testbed is an interdisciplinary effort which considers the full spectrum of assembly problems from the design of mechanisms to the development of software. This paper will describe the automated structures assembly testbed and its operation, detail the expert system executive and its development, and discuss the planned system evolution. Emphasis will be placed on the expert system development of the program executive. The executive program must be capable of directing and reliably performing complex assembly tasks with the flexibility to recover from realistic system errors. By employing an expert system, information pertaining to the operation of the system was encapsulated concisely within a knowledge base. This lead to a substantial reduction in code, increased flexibility, eased software upgrades, and realized a savings in software maintenance costs.

Beschreibung: Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Beschreibung: Detailed optical scanning of tray clamps is being conducted in the Facility for the Optical Inspection of Large Surfaces at JSC to locate and document impacts as small as 40 microns in diameter. Residues from selected impacts are then being characterized by Scanning Electron Microscopy/Energy Dispersive X-ray Analysis at CNES. Results from this analysis will be the initial step to classifying projectile residues into specific sources.

Beschreibung: This report focuses on the data acquired by detailed examination of LDEF intercostals, 68 of which are now in possession of the Meteoroid and Debris Special Investigation Group (M&D SIG) at JSC. In addition, limited data will be presented for several small sections from the A0178 thermal control blankets that were examined/counted prior to being shipped to Principal Investigators (PI's) for scientific study. The data presented here are limited to measurements of crater and penetration-hole diameters and their frequency of occurrence which permits, yet also constrains, more model-dependent, interpretative efforts. Such efforts will focus on the conversion of crater and penetration-hole sizes to projectile diameters (and masses), on absolute particle fluxes, and on the distribution of particle-encounter velocities. These are all complex issues that presently cannot be pursued without making various assumptions which relate, in part, to crater-scaling relationships, and to assumed trajectories of natural and man-made particle populations in LEO that control the initial impact conditions.

Beschreibung: Access to space and cost have been two major inhibitors of low Earth orbit research. The Retrievable Payload Carrier (RPC) Program is a commercial space program which strives to overcome these two barriers to space experimentation. The RPC Program's fleet of spacecraft, ground communications station, payload processing facility, and experienced integration and operations team will provide a convenient 'one-stop shop' for investigators seeking to use the unique vantage point and environment of low Earth orbit for research. The RPC is a regularly launched and retrieved, free-flying spacecraft providing resources adequate to meet modest payload/experiment requirements, and presenting ample surface area, volume, mass, and growth capacity for investigator usage. Enhanced capabilities of ground communications, solar-array-supplied electrical power, central computing, and on-board data storage pick up on the path where NASA's Long Duration Exposure Facility (LDEF) blazed the original technology trail. Mission lengths of 6-18 months, or longer, are envisioned. The year 1992 was designated as the 'International Space Year' and coincides with the 500th anniversary of Christopher Columbus's voyage to the New World. This is a fitting year in which to launch the full scale development of our unique shop of discovery whose intent is to facilitate retrieving technological rewards from another new world: space. Presented is an update on progress made on the RPC Program's development since the November 1991 LDEF Materials Workshop.

Beschreibung: The Entry Systems Panel was chaired by Don Rummler, LaRC and Dan Rasky, ARC. As requested, each panel participant prior to the workshop prepared and delivered presentations to: (1) identify technology needs; (2) assess current programs; (3) identify technology gaps; and (4) identify highest payoff areas R&D. Participants presented background on the entry systems R&D efforts and operations experiences for the Space Shuttle Orbiter. These participants represented NASA Centers involved in research (Ames Research Center), development (Johnson Space Center) and operations (Kennedy Space Center) and the Shuttle Orbiter prime contractor. The presentations lead to the discovery of several lessons learned.

Beschreibung: The objectives are: (1) to demonstrate the cost benefits of built-up cryotank and dry bay structures; (2) to study of benefits of using Al alloys; (3) to study of benefit of using Al-Li alloys; (4) to evaluate alternative low-cost stiffener and joining concepts.

Beschreibung: The Naval Research Laboratory (NRL) is involved in an active program of CSI flight experiments. The first CSI flight experiment of the Naval Research Laboratory, the Low Power Atmospheric Compensation Experiment (LACE) dynamics experiment, has successfully measured vibrations of an orbiting satellite with a ground-based laser radar. The observations, made on January 7, 8 and 10, 1991, represent the first ever measurements of this type. In the tests, a narrowband heterodyne CO2 laser radar, operating at a wavelength of 10.6 microns, detected vibration induced differential-Doppler signatures of the LACE satellite. Power spectral densities of forced oscillations and modal frequencies and damping rates of free-damped vibrations were obtained and compared with finite element structural models of the LACE system. Another manifested flight experiment is the Advanced Controls Technology Experiment (ACTEX) designed to demonstrate active and passive damping with piezo-electric (PZT) sensors and actuators. This experiment was developed under the management of the Air Force Phillips Laboratory with integration of the experiment at NRL. It is to ride as a secondary, or 'piggyback,' experiment on a future Navy satellite.

Beschreibung: In this paper, the design, analysis, and test of a low cost, linear proof mass actuator for vibration control is presented. The actuator is based on a linear induction coil from a large computer disk drive. Such disk drives are readily available and provide the linear actuator, current feedback amplifier, and power supply for a highly effective, yet inexpensive, experimental laboratory actuator. The device is implemented as a force command input system, and the performance is virtually the same as other, more sophisticated, linear proof mass systems.

Beschreibung: The modeling, system identification and controller design aspects of the ASTREX precision space structure are presented in this work. Modeling of ASTREX is performed using NASTRAN, TREETOPS and I-DEAS. The models generated range from simple linear time-invariant models to nonlinear models used for large angle simulations. Identification in both the time and frequency domains are presented. The experimental set up and the results from the identification experiments are included. Finally, controller design for ASTREX is presented. Simulation results using this optimal controller demonstrate the controller performance. Finally the future directions and plans for the facility are addressed.

Beschreibung: The expected future high performance requirements for Large Space Structures (LSS) enforce technology innovations such as active vibration damping techniques e.g., by means of structure sensors and actuators. The implementation of new technologies like that requires an interactive and integrated structural and control design with an increased effort in hardware validation by ground testing. During the technology development phase generic system tests will be most important covering verification and validation aspects up to the preparation and definition of relevant space experiments. For many applications using advanced designs it is deemed necessary to improve existing testing technology by further reducing disturbances and gravity coupling effects while maintaining high performance reliability. A key issue in this context is the improvement of suspension techniques. The ideal ground test facility satisfying these requirements completely will never be found. The highest degree of reliability will always be obtained by passive suspension methods taking into account severe performance limitations such as non-zero rigid body modes, restriction of degrees of freedom of motion and frequency response limitations. Passive compensation mechanisms, e.g., zero-spring-rate mechanisms, either require large moving masses or they are limited with respect to low-frequency performance by friction, stiction or other non-linear effects. With active suspensions these limitations can be removed to a large extent thereby increasing the range of applications. Despite an additional complexity which is associated with a potential risk in reliability their development is considered promising due to the amazing improvement of real-time control technology which is still continuing.

Beschreibung: A method is presented for the synthesis of robust controllers for linear time invariant structural systems with parameterized uncertainty. The method involves minimizing quantities related to the quadratic cost (H2-norm) averaged over a set of systems described by real parameters such as natural frequencies and modal residues. Bounded average cost is shown to imply stability over the set of systems. Approximations for the exact average are derived and proposed as cost functionals. The properties of these approximate average cost functionals are established. The exact average and approximate average cost functionals are used to derive dynamic controllers which can provide stability robustness. The robustness properties of these controllers are demonstrated in illustrative numerical examples and tested in a simple SISO experiment on the MIT multi-point alignment testbed.

Beschreibung: A model was developed to determine the origin of orbital impacts measured on the training surfaces of LDEF. The model calculates the expected debris impact crater distribution around LDEF as a function of debris orbital parameters. The results show that only highly elliptical, low inclination orbits could be responsible for these impacts. The most common objects left in this type of orbit are orbital transfer stages used by the U.S. and ESA to place payloads into geosynchronous orbit. Objects in this type of orbit are difficult to catalog by the U.S. Space Command; consequently there are independent reasons to believe that the catalog does not adequately represent this population. This analysis concludes that the relative number of cataloged objects with highly elliptical, low inclination orbits must be increased by a factor of 20 to be consistent with the LDEF data.