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At least 235 records · Page 13

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DOE OSTI2025

Uncertainty quantification and sensitivity analysis of a nuclear thermal propulsion reactor startup sequence

The research presented in this article describes progress in applying stochastic methods, uncertainty quantification, parametric studies, and variance-based sensitivity analysis (also known as Sobol sensitivity analysis) to a full-core model of a nuclear thermal propulsion (NTP) system simulated via the radiation transport code Griffin to simulate neutronics. Our goal is to develop a reduced-order (surrogate) model that can be rapidly sampled with perturbations to multiple input parameters. In this NTP system, reactivity and power feedback affect the rotation of control drums (CDs), which is itself controlled by a hybrid proportional-integral-derivative (PID) controller actuated by the power demand and reactivity feedback from the numerical model. This model uses reactor kinetic feedback (mean generation time [Λ] and effective delayed neutron fraction [ β eff ] from a transient Griffin simulation executed via Griffin’s improved quasi-static solver to provide the kinetic parameters) as inputs to functions that control the CD rotation angle. By investigating numerous stochastic approaches, we developed a dual-purpose surrogate model of the NTP system, using polynomial regression in the Multiphysics Object-Oriented Simulation Environment (MOOSE) Stochastic Tools Module (STM). The trained model can be rapidly sampled while simultaneously perturbing various input parameters, such as coefficients on the PID control or temperature (directly affecting the neutron cross section). The surrogate model delivers accurate (within 5%) results at speeds orders of magnitude faster (minutes, not days of computational time) than the base model. Once the surrogate model has been trained, distributions of the uncertain parameters can be changed at will to investigate the effects of perturbing multiple inputs as well as the effects of these inputs on the model output. For example, coefficients used in the PID control system may vary due to some type of physical interference, or uncertainty may exist in the temperature of the neutron cross sections in various regions of the reactor. A distribution can be placed on these parameters, and operational boundaries can be determined. The goal of this work is to support development of an advanced control system for operating CDs in a functioning NTP system. This work is a scoping study of the MOOSE STM.

21 - SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLAN↗

NASA NTRS1966

Compact actuator converts rotary to linear motion

Compact motor mounted on a stationary base converts rotary to linear motion. The motor rotates a gear train assembly so that the end of an arm attached to the assembly moves in a linear path.

Ford, A. G.↗

NASA NTRS1975

A new concept for actuating space mechanisms

A two position (0 and 180 deg) actuating mechanism driven by two alternately heated opposing flat NITINOL springs is proposed for rotating the low field triaxial fluxgate magnetometer experiment on the 1977 Mariner Jupiter-Saturn spacecraft to its 0 deg and 180 deg positions. The magnetic field, power requirements, weight, and volume of this device are very restrictive. The problems encountered in design and development are presented.

Stange, W. C.↗

NASA NTRS1993

Analytical and experimental investigation of flutter suppression by piezoelectric actuation

The objective of this research was to analytically and experimentally study the capabilities of piezoelectric plate actuators for suppressing flutter. Piezoelectric materials are characterized by their ability to produce voltage when subjected to a mechanical strain. The converse piezoelectric effect can be utilized to actuate a structure by applying a voltage. For this investigation, a two-degree-of-freedom wind tunnel model was designed, analyzed, and tested. The model consisted of a rigid wing and a flexible mount system that permitted a translational and a rotational degree of freedom. The model was designed such that flutter was encountered within the testing envelope of the wind tunnel. Actuators made of piezoelectric material were affixed to leaf springs of the mount system. Command signals, applied to the piezoelectric actuators, exerted control over the damping and stiffness properties. A mathematical aeroservoelastic model was constructed by using finite element methods, laminated plate theory, and aeroelastic analysis tools. Plant characteristics were determined from this model and verified by open loop experimental tests. A flutter suppression control law was designed and implemented on a digital control computer. Closed loop flutter testing was conducted. The experimental results represent the first time that adaptive materials have been used to actively suppress flutter. They demonstrate that small, carefully placed actuating plates can be used effectively to control aeroelastic response.

Heeg, Jennifer↗

NASA NTRS2008

Vortex control for rotor blade devices

To control vortices originating at the tips of a rotor's blades rotating through the air at a revolution frequency f, separation control device(s) are actuated to periodically introduce perturbations into the airflow moving over the blades. The periodic introduction of perturbations is controlled in accordance with a periodic modulating frequency of introduction f.sub.0 while the frequency of the perturbations so-introduced is designated as f.sub.e. Vortex control is achieved when the periodic modulating frequency of introduction f.sub.0 satisfies the relationship nf.ltoreq.f.sub.0.ltoreq.f.sub.e where n is the number of blades.

Greenblatt, David↗

NASA NTRS2005

Two SMA-Actuated Miniature Mechanisms

The figures depict two miniature mechanisms actuated by strips made of shape-memory alloy (SMA). A typical SMA is a nickel-titanium alloy known by the trade name "Flexinol" or "Nitinol." In preparation for a typical application, a suitably sized and shaped piece of an SMA is deformed by a predetermined amount at the lower of two operating temperatures, then mounted in a mechanism. When stroking of the mechanism in one direction is desired, the piece of SMA is heated above a transition temperature to make it return to the "remembered" undeformed state. When stroking of the mechanism in the opposite direction is desired, the SMA is cooled below the transition temperature to make it return to the deformed state. Also, the SMA alloy chosen for a specific application is one that has a transition temperature somewhat above the ambient temperature, so that stroking in one direction or the opposite direction can be achieved by heating the SMA, or refraining from heating the SMA, respectively, above the transition temperature. In the present mechanisms as in typical other SMA mechanisms, the heating is effected by electric currents applied via electrical contacts at the ends of the SMA strips. The purpose served by the mechanism of Figure 1 is to lock or release a flexible latch attachment. In preparation for use in this mechanism, two initially straight SMA strips are deformed into curved springs that, when mounted in the mechanism at ambient temperature, clamp the knob at the lower end of the flexible latch attachment. When heated above their transition temperature by an electric current, the SMA strips return to their original straight configuration, thereby releasing the knob. This mechanism is redundant in the sense that as long as at least one of the two SMA strips straightens when commanded to do so, the knob is released. The mechanism of Figure 2 is suited to any of a variety of applications in which there are requirements for a small mechanism that affords lowtorque rotary actuation through a finite angular range. As shown here, the mechanism is used to rotate a coverlatch pin to a release position. In this case, a straight and flat SMA strip is torsionally deformed to a twist angle of about 90deg by use of a torsion bias spring. When the SMA strip is heated, it rotates to its original straight and flat condition.

Willey, Cliff E.↗

NASA NTRS2016

Auto-Gopher-2 - Wireline Deep Sampler Driven by Percussive Piezoelectric Actuator and Rotary EM Motors

Two of the key purposes of future NASA’s solar system exploration of planetary bodies are the search for potentially preserved bio-signatures and for habitable regions. To address these objectives, a biologically inspired wireline deep rotary-percussive drill, called Auto-Gopher, has been developed. This drill employs a piezoelectric-actuated percussive mechanism for generating impulsive stresses and breaking formations, and an electric motor to rotate the bit to break material and remove the cuttings. Initially, the drill was designed as percussive mechanism for sampling ice and was demonstrated in 2005 at Lake Vida, Antarctica, reaching about 2 meters depth. The lessons learned suggested there is a need to augment the percussive action with bit rotation in order to maximize the penetration rate. The first generation implementation of the rotary augmentation was focused on the demonstration of this capability. In 2012, during the 3-day field test, the drill reached a 3-meter deep in gypsum. A separate mechanism was used to break and remove the cores. The average drilling power consumption was in the range of 100-150 Watts, while the rate of penetration was approximately 2.4 meters per hour. Currently under development is the second-generation drill, called Auto-Gopher-2. The drill will be fully autonomous. In this paper, the capabilities that are being integrated into the Auto-Gopher-2 are described and discussed.

Auto-Gopher Drill↗

NASA NTRS1982

The dynamics and control of large flexible space structures-V

A general survey of the progress made in the areas of mathematical modelling of the system dynamics, structural analysis, development of control algorithms, and simulation of environmental disturbances is presented. The use of graph theory techniques is employed to examine the effects of inherent damping associated with LSST systems on the number and locations of the required control actuators. A mathematical model of the forces and moments induced on a flexible orbiting beam due to solar radiation pressure is developed and typical steady state open loop responses obtained for the case when rotations and vibrations are limited to occur within the orbit plane. A preliminary controls analysis based on a truncated (13 mode) finite element model of the 122m. Hoop/Column antenna indicates that a minimum of six appropriately placed actuators is required for controllability. An algorithm to evaluate the coefficients which describe coupling between the rigid rotational and flexible modes and also intramodal coupling was developed and numerical evaluation based on the finite element model of Hoop/Column system is currently in progress.

Bainum, P. M.↗

DOE OSTI2023

Pressure shifted valve timing

A hydraulic pump-motor includes a cylinder block including a plurality of fluid chambers, a piston in each of the fluid chambers, a cam, a fixed valve area profile, and a timing adjustment actuator. The cam includes a cam surface that engages the pistons and drives movement of the pistons relative to the fluid chambers in response to relative rotation between the cam and the fluid chambers. The fixed valve area profile is configured to control fluid flows between the fluid chambers and first and second ports. The timing adjustment actuator is configured to adjust an angular orientation of the fixed valve area profile relative to an angular orientation of the cam based on a pressure differential between a pressure at the first port and a pressure at the second port.

Boyce-Erickson, Grey C.↗

NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30k-class robotic excavator. ISRU Pilot Excavator will be the next generation of robotic excavator to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops. The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1”(358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of the ISRU Pilot Excavator and can inform the design of future bucket drum excavators.

Jason Michael Schuler↗

NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” (IPEx) which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30kg-class robotic excavator. IPEx will be the next generation of robotic excavators to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center (KSC). Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops (see Figure 1). The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However, the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore, this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1” (358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of IPEx and can inform the design of future bucket drum excavators.

RASSOR↗

DOE OSTI2020

Variable stroke constant compression ratio engine

A continuously variable displacement engine has a plurality of pistons received in a cylinder block and connected to a nutator. A crankshaft with an axis of rotation is carried in a crankcase and incorporates an upper journal with a first angle relative to the axis and a lower journal with a second angle with respect to the axis. A first slider ball is engaged on the upper journal and a second slider ball engaged on the lower journal. A carrier assembly captures the first and second slider balls and incorporates an actuating cylinder. An actuation piston assembly is translatably carried in the actuating cylinder and connected to the crankshaft intermediate the upper journal and lower journal. The actuating piston is controllably translated between a first high eccentricity position and second low eccentricity position. An anti-rotational assembly connects the nutator to a piston case. A balance mechanism is adapted to change the amount of counterbalance for the nutator and the axial location of the counterbalance consistent with eccentricity of the nutator.

42 ENGINEERING↗

NASA NTRS1977

Magnetic bearing momentum wheels with magnetic gimballing capability for 3-axis active attitude control and energy storage

A 3-axis active attitude control system with only one rotating part was developed using a momentum wheel with magnetic gimballing capability as a torque actuator for all three body axes. A brief description of magnetic bearing technology is given. It is concluded that based on this technology an integrated energy storage/attitude control system with one air of counterrotating rings could reduce the complexity and weight of conventional systems.

Sindlinger, R. S.↗

NASA NTRS1977

The MJS-77 magnetometer actuator

A two-position (0 deg and 180 deg) actuating mechanism (flipper) driven by alternately-heated wax motors (pellets) will be used to rotate the low field triaxial fluxgate magnetometer experiment on the 1977 Mariner Jupiter-Saturn spacecraft to its 0 deg and 180 deg positions. The magnetic field, power requirements, weight and volume of this device are very restrictive. The problems encountered in design and development of this mechanism are presented.

Stange, W. C.↗

NASA NTRS2000

Retraction Assembly for Space Shuttle Extended Nose Landing Gear

As part of a project to encourage the use of shape memory alloy actuators for space actuators, this mechanism uses a nitinol ribbon to provide the necessary motion to help retract the proposed extended nose landing gear (ENLG) for the space shuttle. Initial proof-of-concept design of the ENLG did not include the ability to retract the gear automatically. One proposed actuator for this purpose was designed at Johnson Space Center and uses resistive heating to rotate the ribbon around a cylinder. This rotation then allows the assembly to pull down a wedge that is used to hold the landing gear strut in place, thus returning the landing gear to its previous height before extension. The presentation will follow the design of this assembly from working with the nitinol ribbon to providing mechanical connections and allowing minimal friction for motion of three wraps around a cylinder. Also to be presented is preliminary work on design of a shape memory alloy gripper, a design project to demonstrate uses of NiTi.

Files, Bradley S.↗

NASA NTRS2007

Shaft seal assembly and method

A pressure-actuated shaft seal assembly and associated method for controlling the flow of fluid adjacent a rotatable shaft are provided. The seal assembly includes one or more seal members that can be adjusted between open and closed positions, for example, according to the rotational speed of the shaft. For example, the seal member can be configured to be adjusted according to a radial pressure differential in a fluid that varies with the rotational speed of the shaft. In addition, in the closed position, each seal member can contact a rotatable member connected to the shaft to form a seal with the rotatable member and prevent fluid from flowing through the assembly. Thus, the seal can be closed at low speeds of operation and opened at high speeds of operation, thereby reducing the heat and wear in the seal assembly while maintaining a sufficient seal during all speeds of operation.

Keba, John E.↗

NASA NTRS2013

Robotic Ankle for Omnidirectional Rock Anchors

Future robotic exploration of near-Earth asteroids and the vertical and inverted rock walls of lava caves and cliff faces on Mars and other planetary bodies would require a method of gripping their rocky surfaces to allow mobility without gravitational assistance. In order to successfully navigate this terrain and drill for samples, the grippers must be able to produce anchoring forces in excess of 100 N. Additionally, the grippers must be able to support the inertial forces of a moving robot, as well gravitational forces for demonstrations on Earth. One possible solution would be to use microspine arrays to anchor to rock surfaces and provide the necessary load-bearing abilities for robotic exploration of asteroids. Microspine arrays comprise dozens of small steel hooks supported on individual suspensions. When these arrays are dragged along a rock surface, the steel hooks engage with asperities and holes on the surface. The suspensions allow for individual hooks to engage with asperities while the remaining hooks continue to drag along the surface. This ensures that the maximum possible number of hooks engage with the surface, thereby increasing the load-bearing abilities of the gripper. Using the microspine array grippers described above as the end-effectors of a robot would allow it to traverse terrain previously unreachable by traditional wheeled robots. Furthermore, microspine-gripping robots that can perch on cliffs or rocky walls could enable a new class of persistent surveillance devices for military applications. In order to interface these microspine grippers with a legged robot, an ankle is needed that can robotically actuate the gripper, as well as allow it to conform to the large-scale irregularities in the rock. The anchor serves three main purposes: deploy and release the anchor, conform to roughness or misalignment with the surface, and cancel out any moments about the anchor that could cause unintentional detachment. The ankle design contains a rotary DC motor that can drag the microspine arrays across the surface to engage them with asperities, as well as a linear actuator to disengage the hooks from the surface. Additionally, the ankle allows the gripper to rotate freely about all three axes so that when the robot takes a step, the gripper may optimally orient itself with respect to the wall or ground. Finally, the ankle contains some minimal elasticity, so that between steps, the gripper returns to a default position that is roughly parallel to the wall.

Parness, Aaron↗

NASA NTRS1994

Planar rotational magnetic micromotors with integrated shaft encoder and magnetic rotor levitation

Deep x-ray lithography and electroplating may be combined to form a fabrication tool for micromechanical devices with large structural heights, to 500 micron, and extreme edge acuities, less than 0.1 micron-run-out per 100 micron of height. This process concept which originated in Germany as LIGA may be further extended by adding surface micromachining. This extension permits the fabrication of precision metal and plastic parts which may be assembled into three-dimensional micromechanical components and systems. The processing tool may be used to fabricate devices from ferromagnetic material such as nickel and nickel-iron alloys. These materials when properly heat treated exhibit acceptable magnetic behavior for current to flux conversion and marginal behavior for permanent magnet applications. The tool and materials have been tested via planar, magnetic, rotational micromotor fabrication. Three phase reluctance machines of the 6:4 configuration with 280 micron diameter rotors have been tested and analyzed. Stable rotational speeds to 34,000 rpm with output torques above 10 x 10(exp -9) N-m have been obtained. The behavior is monitored with integrated shaft encoders which are photodiodes which measure the rotor response. Magnetic levitation of the rotor via reluctance forces has been achieved and has reduced frictional torque losses to less than 1 percent of the available torque. The results indicate that high speed limits of these actuators are related to torque ripple. Hysteresis motors with magnetic bearings are under consideration and will produce high speed rotational machines with excellent sensor application potential.

Guckel, Henry↗