ALBERT

Description: Viewgraphs on current analytical gaps for future needs for large space systems are presented. Topics covered include: future spacecraft; common control objectives; accuracy requirements; increasing complexity; promising approaches; and analytical gaps.

Description: Large scale space missions of the near future will depend upon successful multi-launch coordination and construction in the space environment. One of the main challenges is how to accomplish a valid global analysis of a construction project with the intent of improving safety, reducing overall mission cost, and total construction time. These three items are dependent on the interruptability of the project, which is the ability of the project to recover from unplanned interruptions; such as failure of the launch vehicle; sudden, on-orbit, crew illness; or damage from a space debris impact on the partially completed space structure. A new method for addressing and analyzing this type of problem is being developed. The method is called Program Interruptability and Risk Evaluation Technique, or PIRET. PIRET has been developed in order to model and analyze potential interruptability concerns of the construction of the U.S. Space Station Freedom (SSF), although PIRET is applicable to any complex, multi-launch structural assembly. This paper is a progress report on the continuing research of the NASA Center for Space Construction at the University of Colorado, Boulder into this area of space construction interruptability. The paper will define the problem of interruptability, will diagram the PIRET approach to space construction, will share results from a preliminary PIRET analysis of SSF, and will show that PIRET is a useful tool for modelling space construction interruptability.

Description: Large Space Structures do not have much damping, which necessitates the installation of a controller onto the structure. If the controller is improperly designed, the structure may become unstable and be destroyed. Since Large Space Structures are extremely expensive pieces of hardware, new controllers must not be tested first on the structure. They must first be tested in computer simulations. Until now, the usual procedure for simulating controlled Large Space Structures is to compute a reduced order modal representation of the structure and then apply the controller. However, this procedure entails modal truncation error. A new software package which is free from this error is currently under development within the Center for Space Construction. The more accurate finite element representation of the structure is used in the simulation, instead of the less accurate reduced order modal representation. This software also features an efficient matrix storage scheme, which effectively deals with the asymmetric system matrices which occur when control is added to the structure. Also, an integration algorithm was chosen so that the simulation is a reliable indicator of system stability or instability. The software package is fairly general in nature. Linearity of the finite element model and of the controller is the only assumption made. Actuator dynamics, sensor dynamics, noise, and disturbances can be handled by the package. In addition, output feedback of displacement, velocity, and/or acceleration signals can be simulated. Kalman state estimation was also implemented. This software was tested on a finite element model of a real Large Space Structure: The Mini-Mast Truss. Mini-Mast is a testbed at NASA-Langley which is currently under development. A 714 degree of freedom finite element model was computed, and a 19 state controller was designed for it. Torque wheel dynamics were added to the model, and the entire closed loop system was simulated with the software package.

Description: Guided wave modes in cladded or uncladded fiber-reinforced composite plates and tubes have been analyzed using a stiffness method in which the displacement variation through the thickness is approximated by polynomial interpolation functions. This allows for an arbitrary number of laminations and fiber orientations different from lamina to lamina. It is shown that dispersive behavior of guided modes depends significantly on the cladding, number of laminae, and interfaces between the adjacent laminae. A hybrid modeling technique is described in which an inner region containing cracks (or other defects) is discretized by finite elements, and the field in the exterior region is represented in terms of modes that are found using the stiffness method described above. It is found that the reflected and transmitted amplitudes of modes vary significantly with the size of a transverse or longitudinal (delamination) crack and frequency. We have also studied the impact response of a unidirectional fiber-reinforced plate. Received signals at the epicentral and other locations are shown. Strong longitudinal anisotropy of the graphite/epoxy plate causes the signal to be considerably different from that in an isotropic plate.

Description: One of the most difficult problems in controlling large systems and structures is compensating for the destructive interaction which can occur between the reduced-order model (ROM) of the plant, which is used by the controller, and the unmodeled dynamics of the plant, often called the residual modes. The problem is more significant in the case of large space structures because their naturally light damping and high performance requirements lead to more frequent, destructive residual mode interaction (RMI). Using the design/compensation technique of residual mode filters (RMF's), effective compensation of RMI can be accomplished in a straightforward manner when using linear controllers. The use of RMF's has been shown to be effective for a variety of large structures, including a space-based laser and infinite dimensional systems. However, the dynamics of space structures is often uncertain and may even change over time due to on-orbit erosion from space debris and corrosive chemicals in the upper atmosphere. In this case, adaptive control can be extremely beneficial in meeting the performance requirements of the structure. Adaptive control for large structures is also based on ROM's and so destructive RMI may occur. Unfortunately, adaptive control is inherently nonlinear, and therefore the known results of RMF's cannot be applied. The purpose is to present the results of new research showing the effects of RMI when using adaptive control and the work which will hopefully lead to RMF compensation of this problem.

Description: The objective of this program is to develop technology needed for structural evaluation of alternative space construction concepts. Those concepts are as follows: interactive effects on dynamic performance of various environment and self-generated disturbance; new materials concepts, failure mechanisms, and non-destructive evaluation/failure detection; develop stable control algorithms and design effective combination of hierarchical and adaptive controls; and assess control-structure integrated performance and stability.

Description: Through the Surveyor 3 and 7, and Apollo 11-17 missions a knowledge of the mechanical properties of Lunar regolith were gained. These properties, including material cohesion, friction, in-situ density, grain-size distribution and shape, and porosity, were determined by indirect means of trenching, penetration, and vane shear testing. Several of these properties were shown to be significantly different from those of terrestrial soils, such as an interlocking cohesion and tensile strength formed in the absence of moisture and particle cementation. To characterize the strength and deformation properties of Lunar regolith experiments have been conducted on a lunar soil simulant at various initial densities, fabric arrangements, and composition. These experiments included conventional triaxial compression and extension, direct tension, and combined tension-shear. Experiments have been conducted at low levels of effective confining stress. External conditions such as membrane induced confining stresses, end platten friction and material self weight have been shown to have a dramatic effect on the strength properties at low levels of confining stress. The solution has been to treat these external conditions and the specimen as a full-fledged boundary value problem rather than the idealized elemental cube of mechanics. Centrifuge modeling allows for the study of Lunar soil-structure interaction problems. In recent years centrifuge modeling has become an important tool for modeling processes that are dominated by gravity and for verifying analysis procedures and studying deformation and failure modes. Centrifuge modeling is well established for terrestrial enginering and applies equally as well to Lunar engineering. A brief review of the experiments is presented in graphic and outline form.

Description: Partially constructed/assembled structures in space are complicated enough but their dynamics will also be operating in closed-loop with feedback controllers. The dynamics of such structures are modeled by large-scale finite element models. The model dimension L is extremely large (approximately 10,000) while the numbers of actuators (M) and sensors (P) are small. The model parameters M(sub m) mass matrix, D(sub o) damping matrix, and K(sub o) stiffness matrix, are all symmetric and sparse (banded). Thus simulation of open-loop structure models of very large dimension can be accomplished by special integration techniques for sparse matrices. The problem of simulation of closed-loop control of such structures is complicated by the addition of controllers. Simulation of closed-loop controlled structures is an essential part of the controller design and evaluation process. Current research in the following areas is presented: high-order simulation of actively controlled aerospace structures; low-order controller design and SCI compensation for unmodeled dynamics; prediction of closed-loop stability using asymptotic eigenvalue series; and flexible robot manipulator control experiment.

Description: Within the Center for Space Construction, the SIMSTRUC project's objectives center around the development of simulation tools for the realistic analysis of large space structures. The word 'tools' is the broad sense; it designates mathematical models, finite element/finite difference formulations, computational algorithms, implementations on advanced computer architectures, and visualization capabilities. The results of our activities during the first year within the SIMSTRUC project are reported. On the modeling side, an alternative approach to fluid/thermal/structure interaction analysis that is a departure from the 'loosely coupled' and 'unified' approaches that are being currently practiced are described. The advantages of our approach both in terms of accuracy and computational efficiency were demonstrated. On the computational side, a software architecture for parallel/vector and massively parallel supercomputers that speeds up finite element and finite difference computations by several orders of magnitude is presented. As an example, the simulation of the deployment of a space structure that used to require over six hours of a workstation using a conventional finite element software, now runs on a multiprocessor using a parallel computation strategy in less than three seconds. In order to promote the physical understanding of the simulation behavior, a real-time visualization capability on the Connection Machine, which allows the analyst to watch the graphical animation of the results at the same time these are generated, was also developed. It is believed that by combining efficient analytical formulations with the state-of-the-art high performance computer implementations and superfast visualization capabilities, SIMSTRUC is moving fast towards the real-time simulation of large space structures. The designers as well as the researchers will certainly benefit from this technology.

Description: Nonthermal radio emissions from earth, Jupiter, Saturn, and Uranus are reviewed. The dominant source of emission at each planet appears to be AKR-like auroral emission in the X-mode. O-mode emissions are substantially responsible. There is a remarkably constant scaling factor relating the total solar wind input power into each planetary system and the AKR-like auroral emissions.

Description: This article presents the results of a fit of a model of the Martian satellite orbits to earthbased and spacecraft-based observations. An assessment of the orbit accuracies is given and the orbits are compared with those obtained by previous investigators.

Description: The petrology and chronology of early lunar crust is examined using the least equivocal of the available petrographic and age data on lunar rock samples, and the possible processes which produced the lunar crust are discussed. The results suggest that the lunar anorthositic crust was formed by about 120 Ma after the primary accretion of the moon at 4.56 Ga. At least some members of the diverse Mg-suites of rocks, such as norites, troctolites, and dunites, crystallized within a very few 100s of Ma after 4.56 Ga. A trace-element-rich material (KREEP) was formed by about 4.3 Ga ago, and this residue was subsequently reworked in melting and impact processes such that most samples which contain it have ages around 3.9-4.0 Ga. The findings also suggest that the onset of ferrous mare basalt volcanism began about 4.33 Ga, much earlier than was once assumed, and was still in process before the end of the most intense period of bombardment (3.9-4.0 Ga ago).

Description: The findings made by the Voyager 2 Neptune encounter are reviewed. Data on the bowshock, magnetic field, magnetosphere, rings, plasma sheet, aurora, moons, and dust of Neptune are discussed. Findings made concerning Triton are summarized.

Description: The composition of lunar regolith and its attendant properties are discussed. Tables are provided listing lunar minerals, the abundance of plagioclase feldspar, pyroxene, olivine, and ilmenite in lunar materials, typical compositions of common lunar minerals, and cumulative grain-size distribution for a large number of lunar soils. Also provided are charts on the chemistry of breccias, the chemistry of lunar glass, and the comparative chemistry of surface soils for the Apollo sites. Lunar agglutinates, constructional particles made of lithic, mineral, and glass fragments welded together by a glassy matrix containing extremely fine-grained metallic iron and formed by micrometeoric impacts at the lunar surface, are discussed. Crystalline, igneous rock fragments, breccias, and lunar glass are examined. Volatiles implanted in lunar materials and regolith maturity are also addressed.

Description: Theoretical models of planetary-ring dynamics are discussed in a detailed analytical review and illustrated with graphs and diagrams. The streamline concept is introduced, and the phenomena associated with the transport of angular momentum are described. Particular attention is then given to (1) broad rings like those of Saturn (shepherding, density-wave excitation, gaps, bending-wave excitation, multiringlet structures, inner-edge shepherding, and the possibility of polar rings around Neptune), (2) narrow rings like those of Uranus (shepherding, ring shapes, and a self-gravity model of rigid precession), and (3) ring arcs like those seen in stellar-occultation observations of Neptune.

Description: Images of Neptune obtained by the narrow-angle camera of the Voyager 2 spacecraft reveal large-scale cloud features that persist for several months or longer. The features' periods of rotation about the planetary axis range from 15.8 to 18.4 hours. The atmosphere equatorward of -53 deg rotates with periods longer than the 16.05-hour period deduced from Voyager's planetary radio astronomy experiment (presumably the planet's internal rotation period). The wind speeds computed with respect to this radio period range from 20 meters per second eastward to 325 meters per second westward. Thus, the cloud-top wind speeds are roughly the same for all the planets ranging from Venus to Neptune, even though the solar energy inputs to the atmospheres vary by a factor of 1000.

Description: The theory of turbulent plumes maintained above steady line sources of buoyancy is worked out in detail within the limitations of Taylor's entrainment assumption. It is applied to the structure of a pure plume injected into a stably stratified atmosphere. Volcanic basalt eruptions that develop from long, narrow vents create line source plumes, which rise well above the magmatic fire fountains playing near the ground level. The eruption of Laki in 1783 may provide an example of this style of eruption. Flood basalts are more ancient examples. Evidence of enormous fissure eruptions that occurred in the past on Mars and Venus also exists. Owing to the different properties of the atmospheres on these two planets from those on the earth, heights of line source plumes are expected to vary in the ratios 1:6:0.6 (earth:Mars:Venus). It is very unlikely that the observed increase of sulfur dioxide above the Venusian cloud deck in 1978 could have been due to a line source volcanic eruption, even if it had been a flood basalt eruption.

Description: An analytical and numerical study of the stability of polar rings around Neptune is presented. The stability proofs are based on various methods used to study gas disks in galaxies. It is shown that stable polar rings can exist despite energy dissipation by collisions between particles. Also, four equilibrium orientations which pass nearly over the pole of Neptune are found, two of which are stable in the presence of dissipation.

Description: Issues related to the establishment of lunar observatories are briefly addressed. The advantages of placing an observatory in a crater at one of the poles, where permanent darkness exists, are pointed out, and the methods required to emplace and operate such an observatory are considered. Planning for the installation of the first set of observatory instruments is discussed.

Description: Future spacecraft design will be affected by collisions with man-made debris orbiting the earth. Most of this orbital space debris comes from spent rocket stages. It is projected that the source of future debris will be the result of fragmentation of large objects through hypervelocity collisions. Orbiting spacecraft will have to be protected from hypervelocity debris in orbit. The options are to armor the spacecraft, resulting in increased mass, or actively removing the debris from orbit. An active space debris sweeper is described which will utilize momentum transfer to the debris through laser-induced ablation to alter its orbital parameters to reduce orbital lifetime with eventual entry into the earth's atmosphere where it will burn. The paper describes the concept, estimates the amount of velocity change (Delta V) that can be imparted to an object through laser-induced ablation, and investigates the use of a neutral particle beam for the momentum transfer. The space sweeper concept could also be extended to provide a collision avoidance system for the space station and satellites, or could be used for collision protection during interplanetary travel.

Description: The design and use of the Space Station Freedom are discussed. The contributions to the Station from EAS, Japan, Canada, and the US are described. Consideration is given to the capability of the Station, the internal accommodations for crew and payloads, various applications for the modules, and the planning and operation of the payloads.

Description: The phenomena of the Saturn system discovered by the Voyager missions are addressed. The characteristics of the rings, including grooves, spikes, and warps, are described, and the discovery of bombarded rings and young rings is discussed. The unique and unexplained properties of Enceladus are summarized, and the possibility that some moons of Saturn have been reassembled is addressed. The interaction of moons with the rings is examined, and the possibility that Titan's atmosphere may contain complex molecules that are the precursors of life is considered.

Description: Spectral data from earth observations have indicated the presence of N2 and CH4 on Triton. This paper outlines the use of the 1-D radiative-convective model developed for Titan to calculate the current pressure of N2 and CH4 on Triton. The production of haze material is obtained by scaling down from the Titan value. Results and predictions for the Voyager Triton encounter are as follows: A N2-CH4 atmosphere on Triton is thermodynamically self consistent and would have a surface pressure of approximately 50 millibar; due to the chemically produced haze, Triton has a hot atmosphere with a temperature of approximately 130 K; Triton's troposphere is a region of saturation of the major constituent of the atmosphere, N2.

Description: The process by which ambient gases can be implanted into silicates by shocks was investigated by analyzing the noble-gas content of several experimentally and naturally shocked silicate samples. The retentivity of shock-implanted gas during stepwise heating in the laboratory was defined in terms of two parameters, namely, the activation energy for diffusion and the extraction temperature at which 50 percent of the gas is released, both of which correlate with the shock pressure. The experiments indicate that, with increasing shock pressure, gas implantation occurs through an increasing production of microcracks/defects in the silicate lattice. The degree of annealing of these defects control the degree of diffusive loss of implanted gas.

Description: The long-term modulation of Saturn's nonthermal radio emission in the kilometric wavelength range has been studied based upon data obtained by Voyagers 1 and 2. A comparison of the ballistic and hydrodynamic propagation of solar wind features from the spacecraft to Saturn allows the uncertainty inherent in the projection to be determined. The results confirm the previous suggestion that momentum, ram pressure, and kinetic energy flux are the primary solar wind parameters that drive the nonthermal radio emission. It is suggested that, under certain conditions and for limited periods of time, the magnetic properties and time derivatives of the solar wind have increased importance.

Description: Procedures for attitude determination based on Wahba's loss function are generalized to include the estimation of parameters other than the attitude, such as sensor biases. Optimization with respect to the attitude is carried out using the q-method, which does not require an a priori estimate of the attitude. Optimization with respect to the other parameters employs an iterative approach, which does require an a priori estimate of these parameters. Conventional state estimation methods require a priori estimates of both the parameters and the attitude, while the algorithm presented in this paper always computes the exact optimal attitude for given values of the parameters. Expressions for the covariance of the attitude and parameter estimates are derived.

Description: It has been observed from the plasma experiments on the Pioneer Venus Orbiter that the altitude of the upper boundary of the ionosphere decreases in response to increasing solar wind dynamic pressure. However, at pressures above about 2.5 x 10 to the -8th dynes/sq cm, the further decrease in the ionopause height is rather small. Following the model of Cloutier et al. (1969), it is suggested that during high solar wind conditions, when the ionopause is formed at lower altitudes, the solar wind induces vertical and horizontal flows which sweep away the ionospheric plasma that is produced locally by photoionization. As a result, a disturbed photodynamical ionosphere is formed which has the scale height of the ionizable neutral constituent. It is shown that such a photodynamical ionosphere is observed at the subsolar ionopause under these conditions. As a consequence of this interaction, the ionopause altitude is observed to follow the small-scale height of the ionizable species, atomic oxygen, showing only small changes with solar wind pressure.

Description: Asteroids appear in light of telescopic and meteority studies to be the most accessible repositories of early solar system history available. In the cooler regions of the outer asteroid belt, apparently unaffected by severe heating, the C, P, and D populations appear to harbor significant inventories of volatiles; the larger primordial belt population may have had an even greater percentage of volatile-rich, low-albedo asteroids, constituting a potent asteroid for veneering early terrestrial planet atmospheres. The volatile-rich asteroids contain carbon, structurally bound and adsorbed water, as well as remnants of interstellar material predating the solar system.

Description: The development and implementation of the Voyager missions are reviewed. The interplanetary missions preceding Voyager are discussed, focusing on the technological development leading up to the Voyager spacecraft. The main results from Voyager observations of Jupiter, Saturn, and Uranus are outlined. Also, consideration is given to the prospects for observations of Neptune.

Description: Isotopic analysis of nesquehonite recovered from the surface of the LEW 85320 H5 ordinary chondrite shows that the delta C-13 and delta O-18 values of the two generations of bicarbonate (Antarctic and Texas) are different: delta C-13 = + 7.9 per mil and + 4.2 per mil; delta O-18 = + 17.9 per mil and + 12.1 per mil, respectively. Carbon isotopic compositions are consistent with equilibrium formation from atmospheric carbon dioxide at - 2 + or - 4 C (Antarctic) and + 16 + or - 4 C (Texas). Oxygen isotopic data imply that the water required for nesquehonite precipitation was derived from atmospheric water vapor or glacial meltwater which had locally exchanged with silicates, either in the meteorite or in underlying bedrock. Although carbonates with similar delta C-13 values have been identified in the SNC meteorites EETA 79001 and Nakhla, petrographic and temperature constraints argue against their simply being terrestrial weathering products.

Description: The status and results to date of the NASA-Lewis/USAF Astronautics study of technology for large spacecraft heat-dissipation by means of liquid-droplet radiation (LDR) are discussed. The LDR concept uses a droplet generator to create billions of 200-micron droplets of a heatsink fluid which will cool through radiation into deep space as they fly toward a dropet collector. This exposure to the space environment entails the maintenance of vapor pressure as low as 10 to the -7th torr; the fluid must also be very stable chemically. While certain oils are good fluids for LDR use at low temperatures, higher-temperature heatsink fluids include Li, Sn, and Ga liquid metals.

Description: A primary concern in the formation of a multinational Mars-exploration program is that of technology transfer, which would be most acute in the U.S./U.S.S.R. case but would exist in lesser degree among other nations. Another concern is that of management-complexity, which could inflate total costs and substantially counteract the anticipated benefits of spreading program costs among a number of nations. It is presently suggested that these problems can be substantially reduced by having each nation become responsible for one (or more) complete flight system. Each nation's role in mission operations must be clear, and the cleanliness of interfaces among flight systems must carry over into mission operations.

Description: Observations of the stratospheric IR emission structure on Saturn are presented. The high-spatial-resolution global images show a variety of new features, including a narrow equatorial belt of enhanced emission at 7.8 micron, a prominent symmetrical north polar hotspot at all three wavelengths, and a midlatitude structure which is asymmetrically brightened at the east limb. The results confirm the polar brightening and reversal in position predicted by recent models for seasonal thermal variations of Saturn's stratosphere.

Description: An overview of the Voyager 2 encounter with Neptune is presented, including a brief discussion of the trajectory, the planned observations, and highlights of the results described in the 11 companion papers. Neptune's blue atmosphere has storm systems reminiscent of those in Jupiter's atmosphere. An optically thin methane ice cloud exists near the 1.5-bar pressure level, and an optically thick cloud exists below 3 bars. Neptune's magnetic field is highly tilted and offset from the planet's center; it rotates with a period of 16.11 hours. Two narrow and two broad rings circle the planet; the outermost of these rings has three optically thicker arc segments. Six new moons were discovered in circular prograde orbits, all well inside Triton's retrograde orbit. Triton has a highly reflective and geologically young surface, a thin nitrogen atmosphere, and at least two active geyser-like plumes.

Description: Recent models of the internal structure of Pluto and Charon, made possible by analysis of the Pluto/Charon mutual events are reviewed. At a mean density of just over 2 g/cu cm and a predicted rock mass fraction of roughly 0.7, the Pluto/Charon system is significantly rockier than the icy satellites of the giant planets, a contrast which may reflect its formation in a CO-rich outer solar nebula rather than a circumplanetary nebula. Pluto and Charon may in fact be so rocky that they lost volatiles early in their history (possibly during a Charon-forming impact event), although this is still an open issue.

Description: A review of unfurlable satellite antennas is presented. Typical application requirements for future space missions are first outlined. Then, U.S. and European mesh and inflatable antenna concepts are described. Precision deployables using rigid panels or petals are not included in the survey. RF modeling and performance analysis of gored or faceted mesh reflector antennas are then reviewed. Finally, both on-ground and in-orbit RF test techniques for large unfurlable antennas are discussed.

Description: Preliminary results from electric field measurements in the environment of Mars using the plasma-wave system on board Phobos 2 are reported. Electron-plasma oscillations observed upstream of the bow shock correspond to a solar-wind density of 2/cu cm. The shock-foot boundary was crossed up to three times on each orbit. The shock ramp was detected at altitudes between 0.45 and 0.75 Mars radii R(M) above the planetary surface. The density increased by about a factor of two at the ramp. The shock position, although variable, seems to be consistent with previous measurements. The downstream magnetosheath contained broadband electric-field noise below the plasma frequency. The boundary of th obstacle, or plasmapause, was crossed at altitudes of the order of 0.28 R(M); the cold plasma density was highly variable within the planetopause and reached the unexpected value of 700/cu cm on the third orbit, at 0.25 R(M) altitude. Bursts of waves with frequencies below the electron cyclotron frequency occur within the planetopause.

Description: The magnetic fields of Mars have been measured from Phobos 2 with high temporal resolution in the tail and down to an 850-km altitude. During four successive highly elliptical orbits, the position of the bow shock as well as that of a transition layer, the 'planetopause', were identified. Subsequent circular orbits at 6000-km altitude provided the first high-resolution data in the planetary tail and indicate that the interplanetary magnetic field mainly controls the magnetic tail. Magnetic turbulence was also detected when the spacecraft crossed the orbit of Phobos, indicating the possible existence of a torus near the orbit of this moon.

Description: The formation of the ice-rock cores of the giant planets by density wave-assisted accretion is outlined. The process could be rapid (100,000-1,000,000 yr) and completed within the probable lifetime of the solar nebula. The mechanism works for both Jupiter and Saturn and does not require a large excess of mass over that believed present in their cores.

Description: This paper identifies and documents several well-preserved examples of Martian strike-slip faults and examines their relationships to wrinkle-ridges. The strike-slip faulting predates or overlaps periods of wrinkle-ridge growth southeast of Valles Marineris, and some wrinkle ridges may have nucleated and grown as a result of strike-slip displacements along the echelon fault arrays. Lateral displacements of several km inferred along these arrays may be related to tectonism in Tharsis.

Description: Results are presented on the long-term behavior of the main peak electron density in the Venus ionosphere during the solar cycle 21, based on 104 radio occultation measurements of the vertical electron density profile in the dayside ionosphere of Venus carried out aboard the Pioneer Venus Orbiter spacecraft (along with published data on 11 Venera 9-10 measurements). The equation representing the electron temperature at h = 140 km is presented. The results imply that the electron temperature at h = 140 km decreased by about 25 percent from solar maximum to solar minimum, compared to a decrease of 50-75 percent above 200 km found by Kliore and Mullen (1989).

Description: The development and use of microspacecraft are examined. It is proposed that 10-50 microspacecraft per year can be launched; up to 50 microspacecraft can be dispatched with traditional launchers; and 1-3 experiments can be performed on the spacecraft. Various applications for the microspacecraft are discussed and specific examples of proposed missions are presented. Some systems and instruments designed for the microspacecraft are described.

Description: Theoretical models of early Martian atmospheric evolution describe the maintenance of a dense CO2 atmosphere and a warm, wet climate until the end of the heavy-bombardment phase of impacting. However, the presence of very young, earthlike fluvial valleys on the northern flank of Alba Patera conflicts with this scenario. Whereas the widespread ancient Martian valleys generally have morphologies indicative of sapping erosion by the slow outflow of subsurface water, the local Alba valleys were probably formed by surface-runoff processes. Because subsurface water flow might be maintained by hydrothermal energy inputs and because surface-runoff valleys developed late in Martian history, it is not necessary to invoke drastically different planet-wide climatic conditions to explain valley development on Mars. The Alba fluvial valleys can be explained by hydrothermal activity or outflow-channel discharges that locally modified the atmosphere, including precipitation and local overland flow on low-permeability volcanic ash.

Description: On the Mars rover sample-return mission, the rover vehicle will collect and select samples from different locations on the Martian surface to be brought back to earth for laboratory studies. It is anticipated that an in situ energy-dispersive X-ray fluorescence (XRF) spectrometer will be on board the rover. On such a mission, sample selection is of higher priority than in situ quantitative chemical anlaysis. With this in mind, a pattern recognition technique is proposed as a simple, direct, and speedy alternative to detailed chemical analysis of the XRF spectra. The validity and efficacy of the pattern recognition technique are demonstrated by the analyses of laboratory XRF spectra obtained from a series of geological samples, in the form both of standardized pressed pellets and as unprepared rocks. It is found that pattern recognition techniques applied to the raw XRF spectra can provide for the same discrimination among samples as a knowledge of their actual chemical composition.

Description: The present photoelectric lightcurve observations of 44 Nysa at one aspect, and 64 Angelina at both polar aspects, indicate the presence of an opposition spike or brightening of approximately 0.25 mag within several deg of zero-phase angle. Since the three curves are identical within the bounds of observational scatter, the opposition spike cannot be judged anomalous within the asteroid taxonomic class E. The general similarity of the observed phase curves to those of the Uranian satellites and the rings of Saturn supports the status of the spike as an ordinary property of moderate-to-high albedo atmosphereless surfaces.

Description: In order to ascertain the features of organic compound-production in planetary atmospheres under the effects of plasmas and shocks, various mixtures of N2, CH4, and H2 modeling the atmosphere of Titan were subjected to discrete sparks, laser-induced plasmas, and UV radiation. The experimental results obtained suggest that UV photolysis from the plasma is an important organic compound synthesis process, as confirmed by the photolysis of gas samples that were exposed to the light but not to the shock waves emitted by the sparks. The thermodynamic equilibrium theory is therefore incomplete in the absence of photolysis.

Description: An account is given of the results of photometric light curve observations in the V band for asteroids, yielding estimates of the mean and maximum reduced magnitudes for each object. On the basis of fits of the H-G magnitude relation for 33 objects, the mean values of the slope parameter are examined for different taxonomic classes; these values are then applied to the analysis of less complete data sets. While in the case of the moderate albedo S and M class asteroids the H-G relation appears to fit the available data, the relation for dark asteroids appears to predict more of an opposition than is characteristically present.

Description: Voyager imaging, radio occultation, and stellar occultation data for the regular structure of Saturn's inner Cassini Division are presently analyzed. The regular optical depth variation observed by the radio occultation experiment scan and the feature noted in Voyager images is the same structure, namely the gravitational wakes of two 10-km radius satellites orbiting within the division. The structure is azimuthally symmetric, and is judged to rule out the possibility that large moonlets may be responsible for the observed structure.

Description: TEM and IR spectroscopy investigations of the interplanetary dust particles (IDPs) collected in the stratosphere have shown the majority of IDPs in the layer-lattice silicate and pyroxene classes to not have been heated to temperatures above 600 C during atmospheric entry. This implies that they arrive at the upper atmosphere with low geocentric encounter velocities, and limits the possible encounter trajectories for these particles to relatively circular prograde orbits. On this basis, it is judged unlikely that these IDPs are from earth-crossing comets or asteroids; collected IDPs dominated by olivine include a larger portion of above-600 C-heated particles, suggesting their capture from more eccentric orbits.

Description: The present examination of the west Deuteronilus Mensae region of Mars notes the changes in fretted terrain across the gradational boundary from uplands to lowlands to include a reduction of canyon wall slopes and depths, so that the fretted terrain north of the gradational boundary appears matted, but not obscured. The two process-classes that may account for the lateral overlap are the erosion of stratified upland terrain, and the deposition of plains materials onto the sloping upland margin and fretted terrain. A variety of plains-emplacement mechanisms is considered.

Description: The compositional contrast between the giant-planet satellites and the significantly rockier Pluto/Charon system is indicative of different formation mechanisms; cosmic abundance calculations, in conjunction with an assumption of the Pluto/Charon system's direct formation from solar nebula condensates, strongly suggest that most of the carbon in the outer solar nebula was in CO form, in keeping with both the inheritance from the dense molecular clouds in the interstellar medium, and/or the Lewis and Prinn (1980) kinetic-inhibition model of solar nebula chemistry. Laboratory studies of carbonaceous chondrites and Comet Halley flyby studies suggest that condensed organic material, rather than elemental carbon, is the most likely candidate for the small percentage of the carbon-bearing solid in the outer solar nebula.

Description: An attempt is made to provide a constraint on the combined mass of Janus and Epimetheus from an analysis of Voyager I and Voyager 2 data and ground-based observations obtained during the 1966 and 1980 ring plane crossings. The results of the analysis presented here suggest that the total mass is 2.59 + or - 0.26 x 10 to the 21st g, the mass ratio is 3.61 + or - 0.01, and Janus' density is 0.67 + or - 0.10 g/cu cm. The low density of Janus is attributed to its porosity rather than composition.

Description: A coordinated multinational Mars Surveyor Program involving a series of robotic missions is proposed in order to select worthwhile human landing sites for discoveries, for safe operations, and for testing and proving technologies for making human flight to Mars possible. Some characteristics motivating exploration of the planet are briefly discussed, including the possibility of life, geological features, and meteorological conditions. The necessity for preliminary exploration of Mars by robots prior to human exploration is discussed, and the rationale behind a multinational approach for a Mars Surveyor Program is presented.

Description: Arecibo high-resolution (1.5 to 2 km) radar data of Venus for the area extending from Beta Regio to western Eisila Regio provide strong evidence that the mountains in Beta and Eisila Regiones and plains in and adjacent to Guinevere Planitia are of volcanic origin. Recognized styles of volcanism include large volcanic edifices on the Beta and Eisila rises related to regional structural trends, plains with multiple source vents and a mottled appearance due to the ponding of volcanic flows, and plains with bright features surrounded by extensive quasi-circular radar-dark halos. The high density of volcanic vents in the plains suggests that heat loss by abundant and widely distributed plains volcanism may be more significant than previously recognized. The low density of impact craters greater than 15 km in diameter in this region compared to the average density for the higher northern latitudes suggests that the plains have a younger age.

Description: In February and March 1989 the Phobos 2 spacecraft took 37 television images of Phobos from a distance of 190-1100 km. The data are being used to update the three-dimensional model of Phobos, to provide improved determinations of its density and orbital dynamics, and to study its surface color, composition, and texture. Preliminary findings are presented here which include different integrated photometric behavior in visible and near-infrared bands, observation of a region immediately west of Stickney which is relatively free of large grooves, the prevalence of bright rims on grooves and younger craters, and low bulk density.

Description: The nearly ubiquitous presence of a negative Eu anomaly in the mare basalts has been suggested to indicate prior separation and flotation of plagioclase from the basalt source region during its crystallization from a lunar magma ocean (LMO). Are there any mare basalts derived from a mantle source which did not experience prior plagioclase separation? Crystal chemical rationale for REE substitution in pyroxene suggests that the combination of REE size and charge, M2 site characteristics of pyroxene, fO2, magma chemistry, and temperature may account for the negative Eu anomaly in the source region of some types of primitive, low TiO2 mare basalts. This origin for the negative Eu anomaly does not preclude the possibility of the LMO as many mare basalts still require prior plagioclase crystallization and separation and/or hybridization involving a KREEP component.

Description: Pioneer Venus ion composition measurements are used to study the Venus ionosphere during solar minimum. It is suggested that the topside electron density profile at Venus during solar minimum has two distinct regimes. One beween 140 and 180 km is dominated by O2(+) ions which are in photochemical equilibrium. The other regime is above 180 km and is dominated by O(+) ions which are disturbed by the solar wind induced plasma transport. For Pioneer Venus, Mariner 10, and Venera 9 and 10 data, it is found that Venus exhibits a photodynamical type of ionopause during solar minimum.

Description: Voyager 2's IR observations of Neptune encompass thermal emissions and broadband radiometer measurements of reflected solar radiation. Temperature maps were obtained for the planet between 80 deg S and 30 deg N for two atmospheric layers, one in the lower stratosphere and the other in the troposphere. The relatively warm pole and equator, with cooler midlatitudes, are qualitatively similar to Uranus, despite the two planets' very different obliquities and internal heat fluxes. Powerful wavelike longitudinal thermal structure is noted, of which some appears to be associated with the Great Dark Spot; a localized cold region uncorrelated with any visible feature is found in the lower stratosphere.

Description: Detection of very intense short radio bursts from Neptune was possible as early as 30 days before closest approach and at least 22 days after closest approach. The bursts lay at frequencies in the range 100 to 1300 kilohertz, were narrowband and strongly polarized, and presumably originated in southern polar regions of the planet. Episodes of smooth emissions in the frequency range from 20 to 865 kilohertz were detected during an interval of at least 10 days around closest approach. The bursts and the smooth emissions can be described in terms of rotation in a period of 16.11 + or - 0.05 hours. The bursts came at regular intervals throughout the encounter, including episodes both before and after closest approach. The smooth emissions showed a half-cycle phase shift between the five episodes before and after closest approach. This experiment detected the foreshock of Neptune's magnetosphere and the impacts of dust at the times of ring-plane crossings and also near the time of closest approach. Finally, there is no evidence for Neptunian electrostatic discharges.

Description: Based on the success of several two-dimensional (latitude, longitude) linear barotropic instability models at matching some of the observed characteristics of the cloud level, polar region of the Venus atmosphere, a more realistic, linear, three-dimensional (height, latitude and longitude) model has been developed to further test the hypothesis that the observed features can be described by linear instability theory. The approach taken is to vary the model input parameters to see whether it is possible to produce modes that resemble the observations of wave activity and to compare those input parameters with other observations of the mean state. Sensitivity studies show that in addition to a well-documented dependence on the mean zonal wind, the growth and propagation of unstable modes depends on the latitude variation of the mean temperature (and hence static stability). These studies have led to the specification of a model basic state wind and temperature field that produces modes which are matched to observations of spatial structure, preferred wavenumber and phase speed of the polar disturbances. Wavenumber 2 is found to have the shortest growth time and unlike the two-dimensional results, wavenumbers 1-3 share a nearly common period of about 3 days. The derived basic state has a temperature field that is quite similar to Pioneer Venus observations; however, in some regions the model basic state wind field departs from cyclostrophic values based on temperature observations.

Description: For 22 years (from ATS-1 to GOES-H) a single technology has dominated imaging from geosynchronous altitudes. In 1990, with the scheduled launch of GOES-I, a major change will occur which will in turn open the way for the Geostationary Platform. The need for improved observations of severe storms has led NOAA to a decision to replace spinning geostationary spacecraft with a three-axis-stabilized type (non-spinning) vehicle already common among communications spacecraft and demonstrated by INSAT. Also, the current spin-scan imager with sounder channels will be replaced by separate instruments capable of independent aiming. The advantages and challenges of the changes are discussed.

Description: A new, near-optimal feedback control technique is introduced that is shown to provide excellent vibration attenuation for those distributed parameter systems that are often encountered in the areas of aeroservoelasticity and large space systems. The technique relies on a novel solution methodology for the classical optimal control problem. Specifically, the quadratic regulator control problem for a flexible vibrating structure is first cast in a weak functional form that admits an approximate solution. The necessary conditions (first-order) are then solved via a time finite-element method. The procedure produces a low dimensional, algebraic parameterization of the optimal control problem that provides a rigorous basis for a discrete controller with a first-order like hold output. Simulation has shown that the algorithm can successfully control a wide variety of plant forms including multi-input/multi-output systems and systems exhibiting significant nonlinearities. In order to firmly establish the efficacy of the algorithm, a laboratory control experiment was implemented to provide planar (bending) vibration attenuation of a highly flexible beam (with a first clamped-free mode of approximately 0.5 Hz).

Description: Flexibility is important for high speed, high precision operation of lightweight manipulators. Accurate dynamic modeling of flexible robot arms is needed. Previous work has mostly been based on linear elasticity with prescribed rigid body motions (i.e., no effect of flexible motion on rigid body motion). Little or no experimental validation of dynamic models for flexible arms is available. Experimental results are also limited for flexible arm control. Researchers include the effects of prismatic as well as revolute joints. They investigate the effect of full coupling between the rigid and flexible motions, and of axial shortening, and consider the control of flexible arms using only additional sensors.

Description: A flexible aircraft or space structure with active control is typically modeled by a large-order state space system of equations in order to accurately represent the rigid and flexible body modes, unsteady aerodynamic forces, actuator dynamics and gust spectra. The control law of this multi-input/multi-output (MIMO) system is expected to satisfy multiple design requirements on the dynamic loads, responses, actuator deflection and rate limitations, as well as maintain certain stability margins, yet should be simple enough to be implemented on an onboard digital microprocessor. A software package for performing an analog or digital control law synthesis for such a system, using optimal control theory and constrained optimization techniques is described.

Description: Simulation of structural response of multi-flexible-body systems by linearized flexible motion combined with nonlinear rigid motion is discussed. Advantages and applicability of such an approach for accurate simulation with greatly reduced computational costs and turnaround times are described, restricting attention to the control design environment. Requirements for updating the linearized flexibility model to track large angular motions are discussed. Validation of such an approach by comparison with other existing codes is included. Application to a flexible robot manipulator system is described.

Description: A simulation of the system made up of the Orbiter, Remote Manipulator System (RMS), and payload grappled by the RMS was completed. The simulation was used to study the stability of this overall system when its attitude is under control of the Orbiter's on-orbit Flight Control System (FCS). The simulation was also used to study the dynamics of the system when the RMS and its associated command software are in active control of the relative Orbiter to payload position and orientation. The simulation models all of the following elements: RMS boom bending (represented by two cubic bending models); RMS boom torsion; RMS joint gearbox compliance (represented by a non-linear wind-up model); flexibility at the RMS to Orbiter interface; flexibility at the RMS to payload interface; joint motor dynamics; joint servo-loop dynamics; RMS on-board computer command logic; data transfer delays between the RMS sensor and the RMS on-board computer and between the RMS on-board computer and RMS joint servos; on-orbit flight control nonlinear control logic; and the Reaction Control System (both Primary and Vernier) jet forces and moments.

Description: A three-dimensional finite element formulation for modeling the transient dynamics of constrained multibody space sructures with truss-like configurations is presented. Convected coordinate systems are used to define rigid-body motion of individual elements in the system. These systems are located at one end of each element and are oriented such that one axis passes through the other end of the element. Deformation of each element, relative to its convected coordinate system, is defined by cubic flexural shape functions as used in finite element methods of structural analysis. The formulation is oriented toward joint dominated structures and places the generalized coordinates at the joint. A transformation matrix is derived to integrate joint degree-of-freedom into the equations of motion of the element. Based on the derivation, a general-purpose code LATDYN (Large Angle Transient DYNamics) was developed. Two examples are presented to illustrate the application of the code. For the spin-up of a flexible beam, results are compared with existing solutions available in the literature. For the deployment of one bay of a deployable space truss (the Minimast), results are verified by the geometric knowledge of the system and converged solution of a successively refined model.

Description: Described here are Boeing software tools used for the development of control laws of flexible structures. The Boeing Company has developed a software tool called Modern Control Software Package (MPAC). MPAC provides the environment necessary for linear model development, analysis, and controller design for large models of flexible structures. There are two features of MPAC which are particularly appropriate for use with large models: (1) numerical accuracy and (2) label-driven nature. With the first feature MPAC uses double precision arithmetic for all numerical operations and relies on EISPAC and LINPACK for the numerical foundation. With the second feature, all MPAC model inputs, outputs, and states are referenced by user-defined labels. This feature allows model modification while maintaining the same state, input, and output names. In addition, there is no need for the user to keep track of a model variable's matrix row and colunm locations. There is a wide range of model manipulation, analysis, and design features within the numerically robust and flexible environment provided by MPAC. Models can be built or modified using either state space or transfer function representations. Existing models can be combined via parallel, series, and feedback connections; and loops of a closed-loop model may be broken for analysis.

Description: The goal is to develop the next generation guidance and control analysis and design tools to enable future missions and to improve productivity and reliability.

Description: A NASA program is about to start which has the objective to advance Controls-Structures Interaction (CSI) technology to a point where it can be used in spacecraft design for future missions. Because of the close interrelationships between the structure, the control hardware, and the analysis/design, a highly interdisciplinary activity is defined in which structures, dynamics, controls, computer and electronics engineers work together on a daily basis and are co-located to a large extent. Methods will be developed which allow the controls and structures analysis and design functions to use the same mathematical models. Hardware tests and applications are emphasized and will require development of concepts and test methods to carry out. Because of a variety of mission application problem classes, several time-phased, focus ground test articles are planned. They will be located at the Langley Researdh Center (LaRC), the Marshall Space Flight Center (MSFC) and at the Jet Propulsion Laboratory (JPL). It is anticipated that the ground tests will be subject to gravity and other environmental effects to the extent that orbital flights tests will be needed for verification of some technology items. The need for orbital flight experiments will be quantified based on ground test results and mission needs. Candidate on-orbit experiments will be defined and preliminary design/definition and cost studies will be carried out for one or more high-priority experiments.

Description: Actual design turn-around time has become shorter due to the use of optimization techniques which have been introduced into the design process. It seems that what, how and when to use these optimization techniques may be the key factor for future aircraft engineering operations. Another important aspect of this technique is that complex physical phenomena can be modeled by a simple mathematical equation. The new powerful multilevel methodology reduces time-consuming analysis significantly while maintaining the coupling effects. This simultaneous analysis method stems from the implicit function theorem and system sensitivity derivatives of input variables. Use of the Taylor's series expansion and finite differencing technique for sensitivity derivatives in each discipline makes this approach unique for screening dominant variables from nondominant variables. In this study, the current Computational Fluid Dynamics (CFD) aerodynamic and sensitivity derivative/optimization techniques are applied for a simple cone-type forebody of a high-speed vehicle configuration to understand basic aerodynamic/structure interaction in a hypersonic flight condition.

Description: The problem is to develop analysis methods, modeling stategies, and simulation tools to predict with assurance the on-orbit performance and integrity of large complex space structures that cannot be verified on the ground. The problem must incorporate large reliable structural models, multi-body flexible dynamics, multi-tier controller interaction, environmental models including 1g and atmosphere, various on-board disturbances, and linkage to mission-level performance codes. All areas are in serious need of work, but the weakest link is multi-body flexible dynamics.

Description: The double lead spiral platen parallel jaw end effector is an extremely powerful, compact, and highly controllable end effector that represents a significant improvement in gripping force and efficiency over the LaRC Puma (LP) end effector. The spiral end effector is very simple in its design and has relatively few parts. The jaw openings are highly predictable and linear, making it an ideal candidate for remote control. The finger speed is within acceptable working limits and can be modified to meet the user needs; for instance, greater finger speed could be obtained by increasing the pitch of the spiral. The force relaxation is comparable to the other tested units. Optimization of the end effector design would involve a compromise of force and speed for a given application.

Description: The Deployable Retrievable Boom which was developed as a part of the joint U.S.-Italian Tethered Satellite System (TSS) is described. The design mission of the boom is to support, deploy, and retrieve an experiment package for the study of the electromagnetic field surrounding the satellite. The mechanism includes a jettisoning provision and deployable harness for the supported payloads connection. The boom is based on a tubular telescopic concept. Particular emphasis is placed on the payload harness connection capability and safety provisions.

Description: A brief listing of the concerns of the working group on spacecraft charging is presented. Brief conclusions for each concern is also given.

Description: The effects of spacecraft charging on spacecraft materials are studied. Spacecraft charging interactions seem to couple environment to system performance through materials. Technology is still developing concerning both environment-driven and operating system-driven interactions. The meeting addressed environment but lacked specific mission requirements, as a result system definition are needed to prioritize interactions.

Description: An overview is presented of potential interactions that can occur on spacecraft operating in space environments. These interactions are discussed in detail. The environment acts on spacecraft in such a way that charging of exterior surfaces occurs. The consequences from this charging then affect system operational performance. Hence, it is the coupling of this exterior charging to system performance that is of concern here. These interactions were first discovered in the spacecraft charging phenomena in which the geomagnetic substorms charged external surfaces to a level that discharges occurred. As a result of the discharge, electronic systems either changed logic state (anomalous switching) or failed. These interactions can occur in all orbits. The type associated with geosynchronous orbits is called passive since the environment provides the charging mechanism. This type can also occur in polar orbits due to auroral charging environments. In low Earth orbits, the thermal plasma alleviates charging environment concerns, but system operations can induce similar effects.

Description: Charging of dielectrics is a bulk, not a surface property. Radiation driven charge stops within the bulk and is not quickly conducted to the surface. Very large electric fields develop in the bulk due to this stopped charge. At space radiation levels, it typically requires hours or days for the internal electric fields to reach steady state. The resulting electric fields are large enough to produce electrical failure within the insulator. This type failure is thought to produce nearly all electric discharge anomalies. Radiation also induces bond breakage, creates reactive radicals, displaces atoms and, in general, severely changes the chemistry of the solid state material. Electric fields can alter this process by reacting with charged species, driving them through the solid. Irradiated polymers often lose as much as a percent of their mass, or more, at exposures typical in space. Very different aging or contaminant emission can be induced by the stopped charge electric fields. These radiation effects are detailed.

Description: The effects of thermal cycling on the thermal and mechanical properties of composite materials that are candidates for space structures are briefly described. The results from a thermal analysis of the orbiting Space Station Freedom is used to define a typical thermal environment and the parameters that cause changes in the thermal history. The interactions of this environment with composite materials are shown and described. The effects of this interaction on the integrity as well as the properties of GR/thermoset, Gr/thermoplastic, Gr/metal and Gr/glass composite materials are discussed. Emphasis is placed on the effects of the interaction that are critical to precision spacecraft. Finally, ground test methodology are briefly discussed.

Description: Component qualification and acceptance temperatures are derived from worst case thermal analyses and analytic uncertainty margin subject to certain specified temperature extremes. Temperature requirements are shown for equipment operation within specification and for survival and turn-on (need not operate within specification, but must not experience any degradation when returned to operational range). Temperature excursions for most equipment are seen to be 20 to 50 C above and below room temperature. Components without active electronics which are mounted outboard, such as solar arrays and antennas, are usually designed to withstand wider temperature excursions, particularly at the cold end. Batteries are tightly controlled at cold temperatures to increase life. Payload components such as extremely accurate clocks for precise navigation are controlled over a relatively narrow temperature range.

Description: Effective contamination control must encompass all aspects of ground and flight from design of the system through the end of mission life. Design systems are needed to minimize sensitivity to contamination, ease of cleaning, and contaminant production. Facilities and procedures are critical to maintaining cleanliness during ground operations. Flight operations should be planned so as to minimize contamination. More data from flights are required to assess the adequacy of designs and operations. Standards and specifications should include contamination control requirements.

Description: In the flight materials exposure data base extensive quantitative data is available from limited exposures in a narrow range of orbital environments. More data is needed in a wider range of environments as well as longer exposure times. Synergistic effects with other environmental factors; polar orbit and higher altitude environments; and real time materials degradation data is needed to understand degradation kinetics and mechanism. Almost no laboratory data exists from high fidelity simulations of the LEO environment. Simulation and test system are under development, and the data base is scanty. Theoretical understanding of hyperthermal atom surface reactions in the LEO environment is not good enough to support development of reliable accelerated test methods. The laser sustained discharge, atom beam sources are the most promising high fidelity simulation-test systems at this time.

Description: The Spacecraft Anomaly Data Base was useful in identifying trends in anomaly occurrence. Trends alone do not provide quantitative testimony to a spacecraft's reliability, but they do indicate areas that command closer study. An in-depth analysis of a specific anomaly can be expensive and difficult without access to the spacecraft. Statistically verified anomaly trends can provide a good reference point to begin anomaly analysis. Many spacecraft experience an increase in anomalies during the period of several days centered on the solar equinox, a period that is also correlated with sun eclipse at geostationary altitude and an increase in major geomagnetic storms. Increase anomaly occurrence can also be seen during the local time interval between midnight and dawn. This local time interval represents a region in Earth's near space that experiences an enhancement in electron plasma density due to a migration from the magnetotail during or following a geomagnetic substorm.

Description: The long-term performance of structural materials in the space environment is a key research activity within NASA. The primary concerns for materials in low Earth orbit (LEO) are atomic oxygen erosion and space debris impact. Atomic oxygen studies have included both laboratory exposures in atomic oxygen facilities and flight exposures using the Shuttle. Characterization of atomic oxygen interaction with materials has included surface recession rates, residual mechanical properties, optical property measurements, and surface analyses to establish chemical changes. The Long Duration Exposure Facility (LDEF) is scheduled to be retrieved in 1989 and is expected to provide a wealth of data on atomic oxygen erosion in space. Hypervelocity impact studies have been conducted to establish damage mechanisms and changes in mechanical properties. Samples from LDEF will be analyzed to determine the severity of space debris impact on coatings, films, and composites. Spacecraft placed in geosynchronous Earth orbit (GEO) will be subjected to high doses of ionizing radiation which for long term exposures will exceed the damage threshold of many polymeric materials. Radiation interaction with polymers can result in chain scission and/or cross-linking. The formation of low molecular weight products in the epoxy plasticize the matrix at elevated temperatures and embrittle the matrix at low temperatures. This affects both the matrix-dominated mechanical properties and the dimensional stability of the composite. Embrittlement of the matrix at low temperatures results in enhanced matrix microcracking during thermal cycling. Matrix microcracking changes the coefficient of thermal expansion (CTE) of composite laminates and produces permanent length changes. Residual stress calculations were performed to estimate the conditions necessary for microcrack development in unirradiated and irradiated composites. The effects of UV and electron exposure on the optical properties of transparent polymer films were also examined to establish the optimum chemical structure for good radiation resistance. Thoughts on approaches to establishing accelerated testing procedures are discussed.

Description: The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base.

Description: The new concepts are presented for the Geostationary Earth Science Platform. Bus and payload arrangements, with instrument locations on the payload module and basic payload dimensions, are depicted and compared for each concept. The Titan 4 SRMU (with solid rocket motor upgrage) launch vehicle is described and compared to the standard Titan 4. The upgraded Titan 4 is capable of launching a 13,500 lb payload to GEO. The launch configuration showing each concept packaged within the 16 ft diameter payload envelope is presented. This presentation is represented by viewgraph only.

Description: The completion of the Space Station Propulsion Advanced Technology Programs established an in-depth data base for the baseline gaseous oxygen/gaseous hydrogen thruster, the waste gas resistojet, and the associated system operations. These efforts included testing of a full end-to-end system at National Aeronautics and Space Administration (NASA)-Marshall Space Flight Center (MSFC) in which oxygen and hydrogen were generated from water by electrolysis at 6.89 MPa (1,000 psia), stored and fired through the prototype thruster. Recent end-to-end system tests which generate the oxygen/hydrogen propellants by electrolysis of water at 20.67 MPa (3,000 psia) were completed on the Integrated Propulsion Test Article (IPTA) at NASA-Johnson Space Center (JSC). Resistojet testing has included 10,000 hours of life testing, plume characterization, and electromagnetic interference (EMI) testing. Extensive 25-lbf thruster testing was performed defining operating performance characteristics across the required mixture ratio and thrust level ranges. Life testing has accumulated 27 hours of operation on the prototype thruster. A total of seven injectors and five thrust chambers were fabricated to the same basic design. Five injectors and three thrust chambers designed to incorporate improved life, performance, and producibility characteristics are ready for testing. Five resistojets were fabricated and tested, with modifications made to improve producibility. The lessons learned in the area of producibility for both the O2/H2 thrusters and for the resistojet have resolved critical fabrication issues. The test results indicate that all major technology issues for long life and reliability for space station application were resolved.

Description: Space Station and satellite reservicing will require the ability to vent gas on orbit from liquid supply or storage tanks and to gage liquid quantity under microgravity conditions. In zero gravity, (zero-g) the vortex vent is capable of venting gas from a tank of liquid containing gas randomly distributed as bubbles. The concept uses a spinning impeller to create centrifugal force inside a vortex tube within a tank. This creates a gas pocket and forces the liquid through a venturi and back into the tank. Gas is then vented from the gas pocket through a liquid detector and then out through an exhaust port. If the liquid detector senses liquid in the vent line, the fluid is directed to the low-pressure port on the venturi and is returned to the tank. The advantages of this system is that it has no rotating seals and is compatible with most corrosive and cryogenic fluids. A prototype was designed and built at the NASA Johnson Space Center and flown on the KC-135 zero-g aircraft. During these test flights, where microgravity conditions are obtained for up to 30 sec, the prototype demonstrated that less than 0.10 percent of the volume of fluid vented was liquid when the tank was half full of liquid. The pressure volume temperature (PVT) gaging system is used in conjunction with the vortex vent to calculate the amount of liquid remaining in a tank under microgravity conditions. The PVT gaging system is used in conjunction with the vortex vent to gage liquid quantity in zero or low gravity. The system consists of a gas compressor, accumulator, and temperature and pressure instrumentation. To measure the liquid in a tank a small amount of gas is vented from the tank to the compressor and compressed into the accumulator. Pressure and temperature in the tank and accumulator are measured before and after the gas transfer occurs. Knowing the total volume of the tank, the volume of the accumulator, the volume of the intermediate lines, and initial and final pressures and temperatures, the mass of the gas leaving the tank is equated to the mass of the gas entering the accumulator. The volume of liquid remaining in the tank is calculated using the ideal gas law.

Description: Common static trusses are constrained to permit no relative motion between truss elements. A Variable Geometry Truss (VGT), however, is a truss which contains some number of variable length links. The extensible links allow the truss to change shape in a precise, controllable manner. These changes can also be used to control the vibrational response of a truss structure or to perform robotic tasks. Many geometric configurations, both planar and spatial, are possible candidates for VGT manipulators. Here, only two geometries are discussed; the three degree-of-freedom (DOF) spatial octahedral/octahedral truss and the three DOF planar tetrahedral truss. These truss geometries are used as the fundamental element in a repeating chain of trusses. This results in a highly dexterous manipulator with perhaps 30 to 60 degrees of freedom that retains the favorable stiffness properties of a conventional truss. From a fixed base, this type of manipulator could perform shape or vibration control while extending and snaking through complex passageways or moving around obstacles to perform robotic tasks. The approach taken here is to first concentrate on fully understanding the forward and inverse kinematics of the fundamental elements and then utilizing the insight thus gained to solve the more complex problem of the kinematic chains.

Description: An overview is given of work in progress aimed at developing computational algorithms addressing two important aspects in the control of large flexible space structures; namely, the selection and placement of sensors and actuators, and the resulting multivariable control law design problem. The issue of sensor/actuator set selection is particularly crucial to obtaining a satisfactory control design, as clearly a poor choice will inherently limit the degree to which good control can be achieved. With regard to control law design, the researchers are driven by concerns stemming from the practical issues associated with eventual implementation of multivariable control laws, such as reliability, limit protection, multimode operation, sampling rate selection, processor throughput, etc. Naturally, the burden imposed by dealing with these aspects of the problem can be reduced by ensuring that the complexity of the compensator is minimized. Our approach to these problems is based on extensions to input/output oriented techniques that have proven useful in the design of multivariable control systems for aircraft engines. In particular, researchers are exploring the use of relative gain analysis and the condition number as a means of quantifying the process of sensor/actuator selection and placement for shape control of a large space platform.

Description: Information is given in viewgraph form on the modeling of nonlinear damping in distributed parameter systems.

Description: Asymptotic formulas for the characteristic root errors as well as transfer function gain and phase errors are presented for a number of traditional and new integration methods. Normalized stability regions in the lambda h plane are compared for the various methods. In particular, it is shown that a modified form of Euler integration with root matching is an especially efficient method for simulating lightly-damped structural modes. The method has been used successfully for structural bending modes in the real-time simulation of missiles. Performance of this algorithm is compared with other special algorithms, including the state-transition method. A predictor-corrector version of the modified Euler algorithm permits it to be extended to the simulation of nonlinear models of the type likely to be obtained when using the discretized structure approach. Performance of the different integration methods is also compared for integration step sizes larger than those for which the asymptotic formulas are valid. It is concluded that many traditional integration methods, such as RD-4, are not competitive in the simulation of lightly damped structures.

Description: Simulation efficiency and capability go hand in hand. The more capability you have the lower the efficiency will be. The efficiency and capabilities are discussed. The lesson learned about generic simulation is: Don't rule out any capabilities at the beginning, but keep each one on a switch so it can be bypassed when warranted by a specific application.

Description: Two important aspects of concurrent processing under development at TRW are discussed. These are: (1) the derivation of explicit mathematical models of multibody dynamic systems, and (2) a balanced computational load distribution (BCLD) among loosely coupled computational units (processors) of a concurrent processing system. The developed methodologies are demonstrated by way of an application to the Phase 1 of the Space Station - a task being performed by TRW under NASA/JSC contract NAS9-17778. The mathematical model of the Space Station consists of three interconnected flexible bodies capable of undergoing large, rigid-body motion with respect to each other. Body 1 is the main central body and contains the pressurized modules inboard of the two Alpha gimbals. Bodies 2 and 3 are the starboard and port bodies connected to Body 1 at the Alpha gimbals and include all components on the transverse booms outboard of the Alpha gimbals (including the solar arrays). The control systems in the model maintain Body 1 in a prescribed 3-axis attitude control mode, while producing large-angle rotations of the flexible solar arrays to position them normal to the sun-line.

Description: The efforts of Mechanical Dynamics, Inc. in obtaining a general formulation for flexible bodies in a multibody setting are discussed. The efforts being supported by MDI, both in house and externally are summarized. The feasibility of using lumped mass approaches to modeling flexibility in a multibody dynamics context is examined. The kinematics and kinetics for a simple system consisting of two rigid bodies connected together by an elastic beam are developed in detail. Accuracy, efficiency and ease of use using this approach are some of the issues that are then looked at. The formulation is then generalized to a superelement containing several nodes and connecting several bodies. Superelement kinematics and kinetics equations are developed. The feasibility and effectiveness of the method is illustrated by the use of some examples illustrating phenomena common in the context of spacecraft motions.

Description: An Optimal Integral Controller that readily accommodates Sensor Failure - without resorting to (Kalman) filter or observer generation - has been designed. The system is based on Navy-sponsored research for the control of high performance aircraft. In conjunction with a NASA developed Numerical Optimization Code, the Integral Feedback Controller will provide optimal system response even in the case of incomplete state feedback. Hence, the need for costly replication of plant sensors is avoided since failure accommodation is effected by system software reconfiguration. The control design has been applied to a particularly ill-behaved, third-order system. Dominant-root design in the classical sense produced an almost 100 percent overshoot for the third-order system response. An application of the newly-developed Optimal Integral Controller - assuming all state information available - produces a response with no overshoot. A further application of the controller design - assuming a one-third sensor failure scenario - produced a slight overshoot response that still preserved the steady state time-point of the full-state feedback response. The control design should have wide application in space systems.

Description: Most of the presently available control system design techniques applicable to flexible structure problems were developed to design controllers for rigid body systems. Although many of these design methods can be applied to flexible dynamics problems, recently developed techniques may be more suitable for flexible structure controller design. The purpose of this presentation is to examine briefly the peculiarities of the dynamics of flexible structures and to stimulate discussion about top level controller design approaches when designing controllers for flexible structures. Presented here is a suggestion of a set of categories of design methods for designing controllers for flexible structures as well as a discussion of the advantages and disadvantages of each category. No attempt has been made herein to select one category of design techniques as the best for flexible structure controller design. Instead, it is hoped that the structure suggested by these categories will facilitate further discussion on the merits of particular methods that will eventually point to those design techniques suitable for further development.

Description: A researcher proposes a cooperative effort among specialists who use or develop software for simulating and analyzing the control of flexible aerospace systems. A comparison of existing software for modeling control systems and flexible structures, applied to several example problems would be quite valuable. The comparison would indicate computational efficiency and capabilities with respect to handling nonlinearities and graphical output. Because of the diversity of applications of such software, the researcher believes that the proposed cooperative effort can transcend projects involving specific applications. Comparisons of software capability and efficiency can be made and gaps can be identified. In this way the results of the cooperative effort can provide guidance for individual projects. Several charts which outline the objectives and approach of the proposed cooperative effort are given here.