Automatic rendezvous system testing at the Flight Robotics Laboratory

The Flight Robotics Laboratory of MSFC provides sophisticated real time simulation capability in the study of human/system interactions of remote systems. This paper will describe the Flight Robotics Facility of NASA/MSFC, the hardware-in-the-loop simulation configuration, and test results

Preliminary assessment of the vacuum environment in the wake of large space vehicles

The vacuum environment in the wake region of presently planned large space vehicles is calculated using simplified models of the particle fluxes from the various sources. The fluxes which are calculated come directly from the ambient, are due to ambient particles backscattered from spacecraft emissions, and are due to self scattering of spacecraft emissions. Using nominal values for the surface emissions, the flux density environment behind a large unmanned craft at 550 km altitude is calculated. Calculations indicate that the flux density on a wake vacuum experiment conducted in the vicinity of the shuttle is substantially greater than that behind unmanned craft

Thirty-seven years of relational Hoare logic: remarks on its principles and history

Relational Hoare logics extend the applicability of modular, deductive verification to encompass important 2-run properties including dependency requirements such as confidentiality and program relations such as equivalence or similarity between program versions. A considerable number of recent works introduce different relational Hoare logics without yet converging on a core set of proof rules. This paper looks backwards to little known early work. This brings to light some principles that clarify and organize the rules as well as suggesting a new rule and a new notion of completeness.Comment: A version appears in proceedings of ISOLA 2020. Version2: fix typos, minor clarifications, add a citation. Version3: copy edits, add citations on completeness. Version 4: minor corrections. Version 5: restore missing precond in loop rul

Pressure distribution on wings in reversed flow

The series of pressure distribution measurements at three test sections on NACA airfoils 2212 and M6 within 170 to 210 angles of attack in reversed flow proved to be largely independent of the profile form. In contradiction to the pressure distribution in normal flow considerable negative pressure from the upper surface spills over onto the lower surface, and vice versa, even in the zone of sound flow. The results are presented as chord-wise pressure and load distribution. The spanwise lift distribution and the total lift coefficients of the wing obtained by integration manifest approximate agreement with the behavior of a diagonally disposed flat plate. By consideration of the ground effect (represented by a flat wall) the lower surface of the wing shows an increase in the low pressure

Postflight analysis of the single-axis acoustic system on SPAR VI and recommendations for future flights

The single axis acoustic levitator that was flown on SPAR VI malfunctioned. The results of a series of tests, analyses, and investigation of hypotheses that were undertaken to determine the probable cause of failure are presented, together with recommendations for future flights of the apparatus. The most probable causes of the SPAR VI failure were lower than expected sound intensity due to mechanical degradation of the sound source, and an unexpected external force that caused the experiment sample to move radially and eventually be lost from the acoustic energy well

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations