Engineering topics
Zimmerman, W. F.
Publications and source records attributed to Zimmerman, W. F..
Icy Satellites Impactor Probes for the Jovian Icy Moons Orbiter
We present a preliminary design and mission description for Icy Satellites Impactor Probes (IPS). This design addresses two of the scientific themes of this Icy Galilean Satellites Forum: Surface Chemistry and Geophysics, and Interior Structures. Impactor probes may also make significant contributions in the areas of surface geology and mineralogy.
Cryobot: an ice penetrating robotic vehicle for Mars and Europa
This paper describes the science driven requirements for a robotic vehicle, which utilizes gravity, and both passive and active heating systems to drive ice to a liquid phase change state, in order to facilitate mobility.
Technologies for icy bodies' access, operations and science
We argue that technologies for acess, operations, and science in icy solar system sites must be examined and their prioritized development initiated in order to successfully plan missions to these compelling sites over the next two decades.
A radioisotope powered cryobot for penetrating the Europan ice shell
This paper concentrates on a Europa deep ice application of the Cryo-Hydro Integrated Robotic Penetrator System, and introduces the reader to the vehicle design with focus on the use of radioisotope thermoeletric generator (RTG) technology as the primary heat and power source for the robotic vehicle.
Technologies for Icy Bodies Access
Recent events in planetary exploration have profoundly changed the way both space scientists and the public regard the solar system and our place in it. These events include the Galileo data suggesting subsurface oceans in the Jovian system, ever stronger suggestions of near-surface water on Mars, as well as the complex structure observed for the Mars polar caps. And, of course, interest in icy cometary bodies is as old as humankind. Finally, the Mars north polar cap may conceivably cover and protect an ancient ocean floor, an obvious candidate ancient or extant habitat. In short, our interest in searching for life embraced early on the search for liquid water, and that has led us to an additional appreciation for water ice as both a commonplace partner with liquid water and as an issue to be addressed in the exploration of a host of interesting sites. In general, the spectrum of specialized technology for space exploration has not yet been broadened to include the requirements brought about by exploration of icy sites. We argue that technologies for access, operations, and science in icy solar system sites must be examined and their prioritized development initiated in order to successfully plan missions to these compelling sites over the next two decades. Additional information is contained in the original extended abstract.
Subsurface Exploration Technologies and Strategies for Europa
The Galileo data from Europa has resulted in the strong suggestion of a large, cold, salty, old subglacial ocean and is of great importance. We have examined technology requirements for subsurface exploration of Europa and determined that scientific access to the hypothesized Europa ocean is a key requirement. By 'scientific access' we intend to direct attention to the fact that several aspects of exploration of a site such as Europa must be addressed at the system level. Specifically needed are a robotic vehicle that can descend through ice, scientific instrumentation that can interrogate the ice near the vehicle (but largely unaffected by its presence), scientific instrumentation for the subglacial ocean, communication for data and control, chemical analysis of the environment of the vehicle in the ice as well as the ocean, and methods for conducting the mission without contamination. We have embarked on a part of this extremely ambitious development sequence by developing the Active Thermal Probe, or Cryobot. Additional information is contained in the original extended abstract.
Economics of Automation in Space: Implications of Automated Versus Manned Operations on the High Cost of On-Orbit Assembly, Control and Servicing of Spacecraft
The continued high cost and risk of placing astronauts in space has placed considerable burden on NASA to cut costs and consider other means of achieving mission goals both effectively and safely. Additionally, future science missions which might place a tremendous burden on Shuttle availability, or require extended vehicle duty cycles on the Lunar surface and Mars surface, might preclude the presence of astronauts altogether.
The NASA/OAST telerobot testbed architecture
Through a phased development such as a laboratory-based research testbed, the NASA/OAST Telerobot Testbed provides an environment for system test and demonstration of the technology which will usefully complement, significantly enhance, or even replace manned space activities. By integrating advanced sensing, robotic manipulation and intelligent control under human-interactive supervision, the Testbed will ultimately demonstrate execution of a variety of generic tasks suggestive of space assembly, maintenance, repair, and telescience. The Testbed system features a hierarchical layered control structure compatible with the incorporation of evolving technologies as they become available. The Testbed system is physically implemented in a computing architecture which allows for ease of integration of these technologies while preserving the flexibility for test of a variety of man-machine modes. The development currently in progress on the functional and implementation architectures of the NASA/OAST Testbed and capabilities planned for the coming years are presented.
System engineering techniques for establishing balanced design and performance guidelines for the advanced telerobotic testbed
Novel system engineering techniques have been developed and applied to establishing structured design and performance objectives for the Telerobotics Testbed that reduce technical risk while still allowing the testbed to demonstrate an advancement in state-of-the-art robotic technologies. To estblish the appropriate tradeoff structure and balance of technology performance against technical risk, an analytical data base was developed which drew on: (1) automation/robot-technology availability projections, (2) typical or potential application mission task sets, (3) performance simulations, (4) project schedule constraints, and (5) project funding constraints. Design tradeoffs and configuration/performance iterations were conducted by comparing feasible technology/task set configurations against schedule/budget constraints as well as original program target technology objectives. The final system configuration, task set, and technology set reflected a balanced advancement in state-of-the-art robotic technologies, while meeting programmatic objectives and schedule/cost constraints.
Real-time hierarchically distributed processing network interaction simulation
The Telerobot Testbed is a hierarchically distributed processing system which is linked together through a standard, commercial Ethernet. Standard Ethernet systems are primarily designed to manage non-real-time information transfer. Therefore, collisions on the net (i.e., two or more sources attempting to send data at the same time) are managed by randomly rescheduling one of the sources to retransmit at a later time interval. Although acceptable for transmitting noncritical data such as mail, this particular feature is unacceptable for real-time hierarchical command and control systems such as the Telerobot. Data transfer and scheduling simulations, such as token ring, offer solutions to collision management, but do not appropriately characterize real-time data transfer/interactions for robotic systems. Therefore, models like these do not provide a viable simulation environment for understanding real-time network loading. A real-time network loading model is being developed which allows processor-to-processor interactions to be simulated, collisions (and respective probabilities) to be logged, collision-prone areas to be identified, and network control variable adjustments to be reentered as a means of examining and reducing collision-prone regimes that occur in the process of simulating a complete task sequence.
Safety Evaluation Methodology for Mining Systems
Methodolgy evaluates design of proposed mining systems. Analysis tests proposed mining systems against specifications and hazards of existing similar systems, examines soundness of new design in terms of reducing or eliminating major health and safety hazards, and identifies major design weaknesses.
Man-machine tradeoff study
An automation assessment was conducted to determine which components of the space station should be selected for automation. The exercise took the form of a man-machine tradeoff study.
Space Station man-machine automation trade-off analysis
The man machine automation tradeoff methodology presented is of four research tasks comprising the autonomous spacecraft system technology (ASST) project. ASST was established to identify and study system level design problems for autonomous spacecraft. Using the Space Station as an example spacecraft system requiring a certain level of autonomous control, a system level, man machine automation tradeoff methodology is presented that: (1) optimizes man machine mixes for different ground and on orbit crew functions subject to cost, safety, weight, power, and reliability constraints, and (2) plots the best incorporation plan for new, emerging technologies by weighing cost, relative availability, reliability, safety, importance to out year missions, and ease of retrofit. A fairly straightforward approach is taken by the methodology to valuing human productivity, it is still sensitive to the important subtleties associated with designing a well integrated, man machine system. These subtleties include considerations such as crew preference to retain certain spacecraft control functions; or valuing human integration/decision capabilities over equivalent hardware/software where appropriate.
Escalator design features evaluation
Escalators are available with design features such as dual speed (90 and 120 fpm), mat operation and flat steps. These design features were evaluated based on the impact of each on capital and operating costs, traffic flow, and safety. A human factors engineering model was developed to analyze the need for flat steps at various speeds. Mat operation of escalators was found to be cost effective in terms of energy savings. Dual speed operation of escalators with the higher speed used during peak hours allows for efficient operation. A minimum number of flat steps required as a function of escalator speed was developed to ensure safety for the elderly.
Health and safety evaluation of a modified tunnel borer design for application to single entry coal mine development
A health and safety analysis of a single entry coal tunnel borer system is given. The results of the health analysis indicated that while the tunnel borer design offered improvements in dust control through the use of water sprays, a higher face ventilation rule, and the application of spalling rather than the conventional grinding process, it interjected an additional mutagen and toxic compound into the environment through the use of shotcrete. The tunnel borer system easily conformed with the prescribed fatality limit, but exceeded the required limits for disabling and overall injuries. It also exhibited projected disabling and overall injury rates considerably higher than existing continuous mining injury rates. Consequently, the tunnel borer system was not considered an advanced system.
Experimental simulation of latent heat thermal energy storage and heat pipe thermal transport for dish concentrator solar receiver
Test results on a modular simulation of the thermal transport and heat storage characteristics of a heat pipe solar receiver (HPSR) with thermal energy storage (TES) are presented. The HPSR features a 15-25 kWe Stirling engine power conversion system at the focal point of a parabolic dish concentrator operating at 827 C. The system collects and retrieves solar heat with sodium pipes and stores the heat in NaF-MgF2 latent heat storage material. The trials were run with a single full scale heat pipe, three full scale TES containers, and an air-cooled heat extraction coil to replace the Stirling engine heat exchanger. Charging and discharging, constant temperature operation, mixed mode operation, thermal inertial, etc. were studied. The heat pipe performance was verified, as were the thermal energy storage and discharge rates and isothermal discharges.
Safety evaluation methodology for advanced coal extraction systems
Qualitative and quantitative evaluation methods for coal extraction systems were developed. The analysis examines the soundness of the design, whether or not the major hazards have been eliminated or reduced, and how the reduction would be accomplished. The quantitative methodology establishes the approximate impact of hazards on injury levels. The results are weighted by peculiar geological elements, specialized safety training, peculiar mine environmental aspects, and reductions in labor force. The outcome is compared with injury level requirements based on similar, safer industries to get a measure of the new system's success in reducing injuries. This approach provides a more detailed and comprehensive analysis of hazards and their effects than existing safety analyses.