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Wilcox, Brian

Publications and source records attributed to Wilcox, Brian.

At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Outpost Assembly Using the ATHLETE Mobility System

A planetary surface outpost will likely consist of elements delivered on multiple manifests, that will need to be assembled from a scattering of landings. Using the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) limbed robotic mobility system, the outpost site can be prepared in advance through leveling, paving, and in-situ structures. ATHLETE will be able to carry pressurized and non-pressurized payloads overland from the lander descent stage to the outpost location, and perform precision docking and assembly of components. In addition, spent descent stages can be carried to assembly locations to form elevated decks for external work platforms above the planet surface. This paper discusses several concepts that have been studied for possible inclusion in the NASA Evolvable Mars Campaign human exploration mission scenarios.

Mars outpost↗
NASA NTRS2013

Faxing Structures to the Moon: Freeform Additive Construction System (FACS)

Using the highly articulated All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system as a precision positioning tool, a variety of print head technologies can be used to 3D print large-scale in-situ structures on planetary surfaces such as the moon or Mars. In effect, in the same way CAD models can be printed in a 3D printer, large-scale structures such as walls, vaults, domes, berms, paving, trench walls, and other insitu derived elements can be FAXed to the planetary surface and built in advance of the arrival of crews, supplementing equipment and materials brought from earth. This paper discusses the ATHLETE system as a mobility / positioning platform, and presents several options for large-scale additive print head technologies, including tunable microwave "sinterator" approaches and in-situ concrete deposition. The paper also discusses potential applications, such as sintered-in-place habitat shells, radiation shielding, road paving, modular bricks, and prefabricated construction components.

Apollo Lunar Module↗
DOE OSTI2013

Decommissioning of Active Ventilation Systems in a Nuclear R and D Facility to Prepare for Building Demolition (Whiteshell Laboratories Decommissioning Project, Canada) - 13073

Whiteshell Laboratories (WL) is a nuclear research establishment owned by the Canadian government and operated by Atomic Energy of Canada Limited (AECL) since the early 1960's. WL is currently under a decommissioning license and the mandate is to remediate the nuclear legacy liabilities in a safe and cost effective manner. The WL Project is the first major nuclear decommissioning project in Canada. A major initiative underway is to decommission and demolish the main R and D Laboratory complex. The Building 300 R and D complex was constructed to accommodate laboratories and offices which were mainly used for research and development associated with organic-cooled reactors, nuclear fuel waste management, reactor safety, advanced fuel cycles and other applications of nuclear energy. Building 300 is a three storey structure of approximately 16,000 m{sup 2}. In order to proceed with building demolition, the contaminated systems inside the building have to be characterized, removed, and the waste managed. There is a significant focus on volume reduction of radioactive waste for the WL project. The active ventilation system is one of the significant contaminated systems in Building 300 that requires decommissioning and removal. The active ventilation system was designed to manage hazardous fumes and radioactivity from ventilation devices (e.g., fume hoods, snorkels and glove boxes) and to prevent the escape of airborne hazardous material outside of the laboratory boundary in the event of an upset condition. The system includes over 200 ventilation devices and 32 active exhaust fan units and high efficiency particulate air (HEPA) filters. The strategy to remove the ventilation system was to work from the laboratory end back to the fan/filter system. Each ventilation duct was radiologically characterized. Fogging was used to minimize loose contamination. Sections of the duct were removed by various cutting methods and bagged for temporary storage prior to disposition. Maintenance of building heating, ventilation and air conditioning (HVAC) balancing was critical to ensure proper airflow and worker safety. Approximately 103 m{sup 3} of equipment and materials were recovered or generated by the project. Low level waste accounted for approximately 37.4 m{sup 3}. Where possible, ducting was free released for metal recycling. Contaminated ducts were compacted into B-1000 containers and stored in a Shielded Modular Above-Ground Storage Facility (SMAGS) on the WL site awaiting final disposition. The project is divided into three significant phases, with Phases 1 and 2 completed. Lessons learned during the execution of Phases 1 and 2 have been incorporated into the current ventilation removal. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2013

Accelerating the Whiteshell Laboratories Decommissioning Through the Implementation of a Projectized and Delivery-Focused Organization - 13074

Whiteshell Laboratories (WL) is a nuclear research site in Canada that was commissioned in 1964 by Atomic Energy of Canada Limited. It covers a total area of approximately 4,375 hectares (10,800 acres) and includes the main campus site, the Waste Management Area (WMA) and outer areas of land identified as not used for or impacted by nuclear development or operations. The WL site employed up to 1100 staff. Site activities included the successful operation of a 60 MW organic liquid-cooled research reactor from 1965 to 1985, and various research programs including reactor safety research, small reactor development, fuel development, biophysics and radiation applications, as well as work under the Canadian Nuclear Fuel Waste Management Program. In 1997, AECL made a business decision to discontinue research programs and operations at WL, and obtained government concurrence in 1998. The Nuclear Legacy Liabilities Program (NLLP) was established in 2006 by the Canadian Government to remediate nuclear legacy liabilities in a safe and cost effective manner, including the WL site. The NLLP is being implemented by AECL under the governance of a Natural Resources Canada (NRCan)/AECL Joint Oversight Committee (JOC). Significant progress has since been made, and the WL site currently holds the only Canadian Nuclear Safety Commission (CNSC) nuclear research site decommissioning license in Canada. The current decommissioning license is in place until the end of 2018. The present schedule planned for main campus decommissioning is 30 years (to 2037), followed by institutional control of the WMA until a National plan is implemented for the long-term management of nuclear waste. There is an impetus to advance work and complete decommissioning sooner. To accomplish this, AECL has added significant resources, reorganized and moved to a projectized environment. This presentation outlines changes made to the organization, the tools implemented to foster projectization, and the benefits and positive impacts on schedule and delivery. A revised organizational structure was implemented in two phases, starting 2011 April 1, to align WL staff with the common goal of decommissioning the site through the direction of the WL Decommissioning Project General Manager. On 2011 September 1, the second phase of the reorganization was implemented and WL Decommissioning staff was organized under five Divisions: Programs and Regulatory Compliance, General Site Services, Decommissioning Strategic Planning, Nuclear Facilities and Project Delivery. A new Mission, Vision and Objectives were developed for the project, and several productivity enhancements are being implemented. These include the use of an integrated and fully re-sourced Site Wide Schedule that is updated and reviewed at Plan-of-the-Week meetings, improved work distribution throughout the year, eliminating scheduling 'push' mentality, project scoreboards, work planning implementation, lean practices and various process improvement initiatives. A revised Strategic Plan is under development that reflects the improved project delivery capabilities. As a result of these initiatives, and a culture change towards a projectized approach, the decommissioning schedule will be advanced by approximately 10 years. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS2007

Launching Payloads Into Orbit at Relatively Low Cost

A report proposes the development of a system for launching payloads into orbit at about one-fifth the cost per unit payload weight of current systems. The PILOT system was a solid-fuel, aerodynamically spun and spin-stabilized, five-stage rocket with onboard controls including little more than an optoelectronic horizon sensor and a timer for triggering the second and fifth stages, respectively. The proposal calls for four improvements over the PILOT system to enable control of orbital parameters: (1) the aerodynamic tipover of the rocket at the top of the atmosphere could be modeled as a nonuniform gyroscopic precession and could be controlled by selection of the initial rocket configuration and launch conditions; (2) the attitude of the rocket at the top of the first-stage trajectory could be measured by use of radar tracking or differential Global Positioning System receivers to determine when to trigger the second stage; (3) the final-stage engines could be configured around the payload to enhance spin stabilization during a half-orbit coast up to apoapsis where the final stage would be triggered; and (4) the final payload stage could be equipped with a "beltline" of small thrusters for correcting small errors in the trajectory as measured by an off-board tracking subsystem.

Wilcox, Brian↗
NASA NTRS2007

Rover Wheel-Actuated Tool Interface

A report describes an interface for utilizing some of the mobility features of a mobile robot for general-purpose manipulation of tools and other objects. The robot in question, now undergoing conceptual development for use on the Moon, is the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) rover, which is designed to roll over gentle terrain or walk over rough or steep terrain. Each leg of the robot is a six-degree-of-freedom general purpose manipulator tipped by a wheel with a motor drive. The tool interface includes a square cross-section peg, equivalent to a conventional socket-wrench drive, that rotates with the wheel. The tool interface also includes a clamp that holds a tool on the peg, and a pair of fold-out cameras that provides close-up stereoscopic images of the tool and its vicinity. The field of view of the imagers is actuated by the clamp mechanism and is specific to each tool. The motor drive can power any of a variety of tools, including rotating tools for helical fasteners, drills, and such clamping tools as pliers. With the addition of a flexible coupling, it could also power another tool or remote manipulator at a short distance. The socket drive can provide very high torque and power because it is driven by the wheel motor.

Matthews, Janet↗
NASA NTRS2006

Low-Cost Propellant Launch From a Tethered Balloon

A document presents a concept for relatively inexpensive delivery of propellant to a large fuel depot in low orbit around the Earth, for use in rockets destined for higher orbits, the Moon, and for remote planets. The propellant is expected to be at least 85 percent of the mass needed in low Earth orbit to support the NASA Exploration Vision. The concept calls for the use of many small ( 10 ton) spin-stabilized, multistage, solid-fuel rockets to each deliver 250 kg of propellant. Each rocket would be winched up to a balloon tethered above most of the atmospheric mass (optimal altitude 26 2 km). There, the rocket would be aimed slightly above the horizon, spun, dropped, and fired at a time chosen so that the rocket would arrive in orbit near the depot. Small thrusters on the payload (powered, for example, by boil-off gases from cryogenic propellants that make up the payload) would precess the spinning rocket, using data from a low-cost inertial sensor to correct for small aerodynamic and solid rocket nozzle misalignment torques on the spinning rocket; would manage the angle of attack and the final orbit insertion burn; and would be fired on command from the depot in response to observations of the trajectory of the payload so as to make small corrections to bring the payload into a rendezvous orbit and despin it for capture by the depot. The system is low-cost because the small rockets can be mass-produced using the same techniques as those to produce automobiles and low-cost munitions, and one or more can be launched from a U.S. territory on the equator (Baker or Jarvis Islands in the mid-Pacific) to the fuel depot on each orbit (every 90 minutes, e.g., any multiple of 6,000 per year).

Wilcox, Brian↗
NASA NTRS2005

Rough and Steep Terrain Lunar Surface Mobility

In the summer of 2004, the NASA Exploration Systems Mission Directorate conducted an open call for projects relevant to human and robotic exploration of the Earth-Moon and Mars systems. A project entitled 'Rough and Steep Terrain Lunar Surface Mobility' was submitted by JPL and accepted by NASA. The principal investigator of this project describes the robotic vehicle being developed for this effort, which includes six 'wheels-on-legs' so that it can roll efficiently on relatively smooth terrain but walk (using locked wheels as footpads) when "the going gets rough".

rough↗
NASA NTRS2004

Gas pipe explorer robot

A gas pipe explorer formed of a plurality of connecting elements, and an articulation element between the connected elements. The connected elements include drive capabilities, and the articulation element allows the connected elements to traverse gas pipes of arbitrary shapes and sizes. A sensor may sends the characteristics of the gas pipe, and the communication element may send back those sends characteristics. The communication can be wired, over a tether connecting the device to a remote end. Alternatively, the connection can be wireless, driven by either a generator or a battery.

Wilcox, Brian↗
NASA NTRS2003

Small, Untethered, Mobile Robots for Inspecting Gas Pipes

Small, untethered mobile robots denoted gas-pipe explorers (GPEXs) have been proposed for inspecting the interiors of pipes used in the local distribution natural gas. The United States has network of gas-distribution pipes with a total length of approximately 109 m. These pipes are often made of iron and steel and some are more than 100 years old. As this network ages, there is a need to locate weaknesses that necessitate repair and/or preventive maintenance. The most common weaknesses are leaks and reductions in thickness, which are caused mostly by chemical reactions between the iron in the pipes and various substances in soil and groundwater. At present, mobile robots called pigs are used to inspect and clean the interiors of gas-transmission pipelines. Some carry magnetic-flux-leakage (MFL) sensors for measuring average wall thicknesses, some capture images, and some measure sizes and physical conditions. The operating ranges of pigs are limited to fairly straight sections of wide transmission- type (as distinguished from distribution- type) pipes: pigs are too large to negotiate such obstacles as bends with radii comparable to or smaller than pipe diameters, intrusions of other pipes at branch connections, and reductions in diameter at valves and meters. The GPEXs would be smaller and would be able to negotiate sharp bends and other obstacles that typically occur in gas-distribution pipes.

Wilcox, Brian↗
NASA NTRS2002

Method and apparatus for subsurface exploration

A subsurface explorer (SSX) for exploring beneath the terrestrial surface of planetary bodies such as the Earth, Mars, or comets. This exploration activity utilizes appropriate sensors and instrument to evaluate the composition, structure, mineralogy and possibly biology of the subsurface medium, as well as perhaps the ability to return samples of that medium back to the surface. The vehicle comprises an elongated skin or body having a front end and a rear end, with a nose piece at the front end for imparting force to composition material of the planetary body. Force is provided by a hammer mechanism to the back side of a nose piece from within the body of the vehicle. In the preferred embodiment, a motor spins an intermediate shaft having two non-uniform threads along with a hammer which engages these threads with two conical rollers. A brake assembly halts the rotation of the intermediate shaft, causing the conical roller to spin down the non-uniform thread to rapidly and efficiently convert the rotational kinetic energy of the hammer into translational energy.

Wilcox, Brian↗
NASA NTRS2000

Development of a Miniature, Two-Axis, Triple-Helmholtz-Driven Gimbal

This paper details the development of a Helmholtz-driven, 2-axis gimbal to position a flat mirror within 50 microradian (fine positioning) in a space environment. The gimbal is intended to travel on a deep space mission mounted on a miniature "rover" vehicle. The gimbal will perform both pointing and scanning functions. The goal for total mass of the gimbal was 25 grams. The primary challenge was to design and build a bearing system that would achieve the required accuracy in addition to supporting the relatively large mass of the mirror and the outer gimbal. The mechanism is subjected to 100-G loading without the aid of any additional caging mechanism. Additionally, it was desired to have the same level of accuracy during Earth-bound, 1-G testing. Due to the inherent lack of damping in a zero-G, vacuum environment; the ability of the gimbal to respond to very small amounts of input energy is paramount. Initial testing of the first prototype revealed exceedingly long damping times required even while exposed to the damping effects of air and 1-G friction. It is envisioned that fine positioning of the gimbal will be accomplished in very small steps to avoid large disturbances to the mirror. Various bearing designs, including materials, lubrication options and bearing geometry will be discussed. In addition various options for the Helmholtz coil design will be explored with specific test data given. Ground testing in the presence of 1-G was compounded by the local magnetic fields due to the "compass" effect on the gimbal. The test data will be presented and discussed. Additionally, rationale for estimating gimbal performance in a zero-G environment will be presented and discussed.

Sharif, Boz↗
NASA NTRS1997

Nanorover Technology and the MUSES-CN Mission

The National Aeronautics and Space Administration has been sponsoring efforts to develop very small planetary rovers for Mars and other planetary bodies. Recent advances in microtechnology and mobile robotics have made it feasible to create extremely small automated or remote-controlled vehicles which open new application frontiers.

nanorover MUSES-C asteriod Nereus.↗
NASA NTRS1994

Microrover research at JPL

Planetary exploration with microrovers can be extended beyond the baseline short-range capability proposed for the Mars Environmental Survey (MESUR) microrover mission. The useful range of the microrover can be increased by using local landmarks to accurately reach desired science sites with a minimal number of Earth commands. Furthermore, onboard processing can give indications of excessive sinkage or slippage, which comprise hazards which may not be detectable from imaging, as well as to improve dead reckoning performance. Lastly, it is important to estimate the mean and variance of mission parameters such as time-to-reach-goal, energy-to-reach-goal, and likelihood-of-finding landmark. The author of the paper discusses research focused on accomplishing these objectives.

Wilcox, Brian↗