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The Wizard Staff is a rechargeable, battery powered mobile tool with multiple uses for lunar surface exploration. It supports human activity as a surface survey tool, provides external illumination to enhance safety, delivers networking, communications, and navigation functions to remote sites, and assists crew rescue with an emergency beacon and rigid splint structure.
Currently existing approaches for deployment of large, ultra-lightweight gossamer structures in space rely typically upon electromechanical mechanisms and mechanically expandable or inflatable booms for deployment and to maintain them in a fully deployed, operational configuration. These support structures, with the associated deployment mechanisms, launch restraints, inflation systems, and controls, can comprise more than 90 percent of the total mass budget. In addition, they significantly increase the stowage volume, cost, and complexity. A CHEM (cold hibernated elastic memory) membrane structure without any deployable mechanism and support booms/structure is deployed by using shape memory and elastic recovery. The use of CHEM micro-foams reinforced with carbon nanotubes is considered for thin-membrane structure applications. In this advanced structural concept, the CHEM membrane structure is warmed up to allow packaging and stowing prior to launch, and then cooled to induce hibernation of the internal restoring forces. In space, the membrane remembers its original shape and size when warmed up. After the internal restoring forces deploy the structure, it is then cooled to achieve rigidization. For this type of structure, the solar radiation could be utilized as the heat energy used for deployment and space ambient temperature for rigidization. The overall simplicity of the CHEM self-deployable membrane is one of its greatest assets. In present approaches to space-deployable structures, the stow age and deployment are difficult and challenging, and introduce a significant risk, heavy mass, and high cost. Simple procedures provided by CHEM membrane greatly simplify the overall end-to-end process for designing, fabricating, deploying, and rigidizing large structures. The CHEM membrane avoids the complexities associated with other methods for deploying and rigidizing structures by eliminating deployable booms, deployment mechanisms, and inflation and control systems that can use up the majority of the mass budget
LOADS determines rigid body vehicle shears, bending moments and axial loads on a space vehicle due to aerodynamic loads and propellant inertial loads. An example hand calculation is presented and was used to check LOADS. A brief description of the program and the equations used are presented. LOADS is operational on the Univac 1110, occupies 10505 core and typically takes less than one(1) second of CAU time to execute.
A simple method is presented to model large rigid-jointed lattice structures as continuous elastic media with couple stresses using energy equivalence. In the analysis, the transition from the discrete system to the continuous media is achieved by expanding the displacements and the rotations of the nodal points in a Taylor series about a suitable chosen origin. The strain energy of the continuous media with couple stresses is then specialized to obtain shear deformation plate continua. Equivalent continua for single layered grids, double layered grids, and three-dimensional lattices are then obtained.
The pneumatically erected rigid habitat concept consists of a structure based on an overexpanded metal bellows. The basic concept incorporates the advantages of both inflatable and rigid structures. The design and erection detail are presented with viewgraphs.
A significant amount of both qualitative and quantitative information about structures can be derived from the elastic-rigid structural coupling matrices, and from the effective modal inertias and masses. Typical finite-element analysis programs do not provide this information as part of the regular output. This report presents an easy way to develop the necessary information from ordinary program output, and shows how to deal with alternative origins for the reference coordinate system.
Inflatable structures technology utilizes high-strength fabric materials and internal pressure to create a stiffened pressure vessel that can replace traditional metallic primary structure in a habitable spacecraft. The flexibility of fabric structures allows them to be compactly stowed for launch and expanded in space, providing significant launch volume savings. The unique construction and design flexibility of these structures can be customized for a variety of uses in space including landing bags, decelerators, long duration in-space and planetary surface habitats, and even airlocks. An airlock is often a required component of a crewed spacecraft to allow for maintenance and human exploration outside of the vehicle. Airlock designs in use today rely on complex hatches and seals connected by metallic walls. Recent developments towards the design of an inflatable airlock structure show feasibility and a significant launch volume savings over a traditional metallic design. This paper will provide a high-level summary of these projects and the current state-of-the-art in inflatable airlock development with additional references and detail about previous and on-going research, providing guidance for the design of a softgoods airlock system. The use of inflatables in space has been in development since the 1960’s for both habitats and airlocks. The first ever EVA was conducted by the USSR in 1965 using an inflatable airlock known as the Volga. This airlock was attached to the Voskhod 2 spacecraft and turned the vehicle into a dual chamber airlock. The airlock was successfully deployed, used and jettisoned after Alexey Leonov’s historic spacewalk. Additional work on human-rated inflatable structures was not continued until the late 1990’s when NASA-JSC led an effort to demonstrate these structures as feasible long-term pressurized elements with the TransHab project. The technology developed and pioneered during this project led to multiple patents and proven feasibility that inflatables could be used for large habitable structures. Following TransHab, Bigelow Aerospace continued the development of inflatable structures with technical support from NASA. This partnership eventually led to the successful flight certification, launch, attachment and deployment of the Bigelow Expandable Activities Module (BEAM) on the ISS in 2016. Inflatable and expandable airlock structures have undergone various detailed feasibility studies and testing for over 15 years, most notably with the Advanced Inflatable Airlock (AIA), Dual-Chamber Hybrid Inflatable Suitlock (DCIS), Minimalistic Advanced Soft Hatch (MASH), and Lightweight External Inflatable Airlock (LEIA). During this time, full-scale articles have been built and pressure-tested, and mock-ups and demonstrators have been constructed and evaluated. During the 2001-2003 timeframe, the AIA concept was matured through requirements development, conceptual design, subscale and full-scale engineering breadboards subjecting various test articles to deployment and pressure testing up to four times operating pressure. These tests proved the feasibility of successful deployment and structural integrity of an inflatable crewlock. Additional testing was performed in the ensuing years, as funding permitted, to further refine additional structural and deployment concepts and to understand the EVA crewmember interfaces, hatches and EVA support equipment interfaces that would be required for a fully functioning airlock. This work resulted in a refinement of the structural requirements and an accounting of the systems needed in an inflatable airlock. In 2014, the MASH project developed an ultra-lightweight airlock concept with a fabric hatch that utilized a unique pressure vessel shape to minimize structural loads around a linear seal. The concept uses an automated zipper-like seal that allows for crew egress/ingress. Most of the development work on the project thus far has focused on the design, analysis and testing of the primary structure and the zipper-like seal system is in the preliminary stages of development with a successful proof-of-concept test. As part of the 2017 LEIA effort, studies were conducted on EVA crewmember interfaces on the inside of an inflatable airlock. These efforts included the design of an internal secondary structure and placement of handholds and foot restraints to enable hatch opening, closing and translation through the airlock. Structural design, analysis and testing was completed on several secondary structure candidates. Crew interface testing was also completed using an inflatable crewlock mockup and the JSC Active Response Gravity Offload System (ARGOS) to simulate the movement of an EVA crewmember through an inflatable crewlock in microgravity. The results of these tests helped demonstrate the feasibility of utilizing an inflatable structure as an airlock and informed the required volume, hatch size, and configuration and location of translation aids for crewmembers in a microgravity crewlock. The ISS Quest airlock uses a dual-chamber design with isolated compartments known as the equipment-lock and the crewlock. The equipment-lock houses the Servicing, Performance and Checkout Equipment (SPCE) items (suit batteries, consumables, etc.) while the crewlock has limited internal hardware and is the nominally depressurized compartment during US EVAs. While inflatable dual chamber airlocks have been studied, the current state of the art emphasizes an inflatable crewlock-type structure attached to a rigid equipment-lock type or habitat structure. Since a large portion of the hardware in the equipment-lock are rigid components and connectors that are installed on the ground - and an inflatable structure does not achieve full structural capabilities until pressurized in space - a depressurized fabric structure cannot provide the capabilities of a full equipment-lock. The use of an inflatable as a crewlock, however, provides all the required capabilities for EVA operations in a small launch package that offers significant volume savings over a metallic crewlock. The functions of a traditional equipment lock, including the SPCE, could be provided by a spacecraft’s habitat module or node and not necessarily in a separate equipment lock. An inflatable crewlock would be attached to the vehicle and launched in a packed and compressed state, saving volume under the launch shroud and mass for the overall airlock element compared to a rigid crewlock. Work is currently underway to continue development of an inflatable airlock with a variety of focus areas including the consideration of crew-induced loads and interfaces, the design and development of an internal sub-structure to provide translation aids and restraints, the thermal considerations of a fabric shell depressurized during an EVA, the micrometeorite environment in deep space, and the packaging and deployment of an inflatable airlock.
Space Systems/Loral (formerly Ford Aerospace, Space Systems Division) has implemented a rigid-body Mirror Motion Compensation (MMC) scheme for the GOES-I/M spacecraft currently being built for NASA and NOAA. This has resulted in a factor of 15 reduction in pointing error due to rigid-body spacecraft motion induced by the periodic black-body calibration maneuvers required for the instruments. For GOES the spacecraft and the payload mirrors are considered as rigid bodies. The structural flexibility effects are small and are included in the total pointing budget as a separate item. This paper extends the MMC technique to include structural flexibility. For large multi-payload platforms, the structural flexibility effects can be more important in sensor pointing jitter as the result of payload motion. Sensitivity results are included to show the importance of the dynamic model fidelity.
The state of the art for nonmetallic materials and fabrication techniques suitable for future space structures are summarized. Typical subsystems and systems of interest to the space community that are reviewed include: (1) inflatable/rigidized space hangar; (2) flexible/storable acoustic barrier; (3) deployable fabric bulkhead in a space habitat; (4) extendible tunnel for soft docking; (5) deployable space recovery/re-entry systems for personnel or materials; (6) a manned habitat for a space station; (7) storage enclosures external to the space station habitat; (8) attachable work stations; and (9) safe haven structures. Performance parameters examined include micrometeoroid protection; leakage rate prediction and control; rigidization of flexible structures in the space environment; flammability and offgassing; lifetime for nonmetallic materials; crack propagation prevention; and the effects of atomic oxygen and space debris. An expandable airlock for shuttle flight experiments and potential tethered experiments from shuttle are discussed.
Structure assemblies of fragile and flexible components are rigidly supported from aggregate exterior during bonding operation. Support assures conformance to desired profiles and duplication of assembly results. It minimizes exterior surface identification with core character, improving structure rigidity while adding desirable aerodynamic qualities and finished appearance.
The X-56A Multi-Utility Technology Testbed (MUTT) is a subscale, fixed-wing aircraft designed for high-risk aeroelastic flight demonstration and research. Structural dynamics ground testing for model validation was especially important for this vehicle because the structural model was directly used in the development of a flight control system with active flutter suppression capabilities. Structural dynamics ground tests of the X-56A MUTT with coupled rigid-body and structural modes provided a unique set of challenges. An overview of the ground vibration test (GVT) and moment of inertia (MOI) test setup and execution is presented. The series of GVTs included the wing by itself attached to a strongback and complete vehicle at two mass conditions: empty and full fuel. Two boundary conditions for the complete-vehicle test were studied: on landing gear and suspended free-free. Pitch MOI tests were performed using a compound pendulum method and repeated with two different pendulum lengths for independent verification. The original soft-support test configuration for the GVT used multiple bungees, resulting in unforeseen coupling interactions between the soft-support bungees and the vehicle structural modes. To resolve this problem, the soft-support test setup underwent multiple iterations. The various GVT configurations and boundary-condition modifications are highlighted and explained. Lessons learned are captured for future consideration when performing structural dynamics testing with similar vehicles.
Space structures, such as the Space Station solar arrays, must be extremely light-weight, flexible structures. Accurate prediction of the natural frequencies and mode shapes is essential for determining the structural adequacy of components, and designing a controls system. The tension pre-load in the 'blanket' of photovoltaic solar collectors, and the free/free boundary conditions of a structure in space, causes serious reservations on the use of standard finite element techniques of solution. In particular, a phenomenon known as 'grounding', or false stiffening, of the stiffness matrix occurs during rigid body rotation. The authors have previously shown that the grounding phenomenon is caused by a lack of rigid body rotational capability, and is typical in beam geometric stiffness matrices formulated by others, including those which contain higher order effects. The cause of the problem was identified as the force imbalance inherent in the formulations. In this paper, the authors develop a beam geometric stiffness matrix for a directed force problem, and show that the resultant global stiffness matrix contains complete rigid body mode capabilities, and performs very well in the diagonalization methodology customarily used in dynamic analysis.
A new method of design decomposition for structural analysis and optimization is described. For this method, the structure is divided into substructures where each substructure has its structural response described by a structural-response subproblem, and its structural sizing determined from a structural-sizing subproblem. The structural responses of substructures that have rigid body modes when separated from the remainder of the structure are further decomposed into displacements that have no rigid body components, and a set of rigid body modes. The structural-response subproblems are linked together through forces determined within a structural-sizing coordination subproblem which also determines the magnitude of any rigid body displacements. Structural-sizing subproblems having constraints local to the substructures are linked together through penalty terms that are determined by a structural-sizing coordination subproblem. All the substructure structural-response subproblems are totally decoupled from each other, as are all the substructure structural-sizing subproblems, thus there is significant potential for use of parallel solution methods for these subproblems.
An overview of space oriented control technology programs which are applicable to flexible large space structures is presented. The spacecraft control activity is interdisciplinary with activities in structures, structural dynamics and control brought together. The large flexible structures to be controlled have many physical factors that influence the final controllability of the vehicle. Factors are studied such as rigidity of both structural elements and joints, damping inherent in both material as well as discrete dampers located throughout the structure, and the bandwidth of both sensors and actuators used to sense motion and control it. Descriptions of programs both in-house and contracted are given.
An overview of space oriented control technology programs which are applicable to flexible large space structures is presented. The spacecraft control activity is interdisciplinary with activities in structures, structural dynamics and control brought together. The large flexible structures to be controlled have many physical factors that influence the final controllability of the vehicle. Factors are studied such as rigidity of both structural elements and joints, damping inherent in both material and discrete dampers located throughout the structure, and the bandwidth of both sensors and actuators used to sense motion and control are the physical factors that are interdisciplinary and influence control.
Concept for foldable and deployable truss offers advantages of strength, rigidity, and mechanical simplicity. Structure consists of series of boxlike bays with 9-ft sides. Each box has panels on top and bottom and two sides. Two remaining sides open. Panels hinged at connecting edges. Adapted to terrestrial transportable structures, scaffolds, cranes, and rows of cubicles.
The use of linear rigid formats in COSMIC NASTRAN without DMAP procedures for the analysis of nonlinear propeller structures is described. Approaches for updating geometry and applying follower forces for incremental loading are demonstrated. The COSMIC NASTRAN rigid formats and other independent finite element programs are compared. The comparisons include results from the four approaches for updating the geometry using RIGID FORMAT 1, RIGID FORMATS 4 and 13, MARC and MSC/NASTRAN. It is shown that user friendly updating approaches can be used to predict the large displacements and instability of these nonlinear structures. The approaches are easily implemented by the user and predict conservative results.
The Dryden Flight Research Facility of NASA Ames Research Center conducted a ground vibration test on a modified U.S. Army U-8F airplane. Modifications included new engines, propellers, and engine-mounted truss assemblies. The ground vibration test was conducted using sine dwell, single-point random, and impact excitations. The test was performed to determine modal frequencies, mode shapes, and structural damping coefficients of the airframe and propeller with full and empty fuel tanks. The data presented include frequency response plots, rigid-body and structural modal frequencies, and mode shapes.