Results for “irregular shape” — Page 13

NASA NTRS2016

Microspine Gripping Mechanism for Asteroid Capture

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or micro-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in micro-gravity.

Merriam, Ezekiel G.↗

NASA NTRS2015

Quantifying Mapping Orbit Performance in the Vicinity of Primitive Bodies

Predicting and quantifying the capability of mapping orbits in the vicinity of primitive bodies is challenging given the complex orbit geometries that exist and the irregular shape of the bodies themselves. This paper employs various quantitative metrics to characterize the performance and relative effectiveness of various types of mapping orbits including terminator, quasi-terminator, hovering, pingpong, and conic-like trajectories. Metrics of interest include surface area coverage, lighting conditions, and the variety of viewing angles achieved. The metrics discussed in this investigation are intended to enable mission designers and project stakeholders to better characterize candidate mapping orbits during preliminary mission formulation activities.The goal of this investigation is to understand the trade space associated with carrying out remotesensing campaigns at small primitive bodies in the context of a robotic space mission. Specifically,this study seeks to understand the surface viewing geometries, ranges, etc. that are available fromseveral commonly proposed mapping orbits architectures.

Pavlak, Thomas A.↗

NASA NTRS2016

Scattering and Diffraction of Electromagnetic Radiation: An Effective Probe to Material Structure

Scattered electromagnetic waves from material bodies of different forms contain, in an intricate way, precise information on the intrinsic, geometrical and physical properties of the objects. Scattering theories, ever deepening, aim to provide dependable interpretation and prediction to the complicated interaction of electromagnetic radiation with matter. There are well-established multiple-scattering formulations based on classical electromagnetic theories. An example is the Generalized Multi-particle Mie-solution (GMM), which has recently been extended to a special version ̶ the GMM-PA approach, applicable to finite periodic arrays consisting of a huge number (e.g., >>106) of identical scattering centers [1]. The framework of the GMM-PA is nearly complete. When the size of the constituent unit scatterers becomes considerably small in comparison with incident wavelength, an appropriate array of such small element volumes may well be a satisfactory representation of a material entity having an arbitrary structure. X-ray diffraction is a powerful characterization tool used in a variety of scientific and technical fields, including material science. A diffraction pattern is nothing more than the spatial distribution of scattered intensity, determined by the distribution of scattering matter by way of its Fourier transform [1]. Since all linear dimensions entered into Maxwell's equations are normalized by wavelength, an analogy exists between optical and X-ray diffraction patterns. A large set of optical diffraction patterns experimentally obtained can be found in the literature [e.g., 2,3]. Theoretical results from the GMM-PA have been scrutinized using a large collection of publically accessible, experimentally obtained Fraunhofer diffraction patterns. As far as characteristic structures of the patterns are concerned, theoretical and experimental results are in uniform agreement; no exception has been found so far. Closely connected with the spatial distribution of scattered intensities are cross sections, such as for extinction, scattering, absorption, and radiation pressure, as a critical type of key quantity addressed in most theoretical and experimental studies of radiative scattering. Cross sections predicted from different scattering theories are supposed to be in general agreement. For objects of irregular shape, the GMM-PA solutions can be compared with the highly flexible Discrete Dipole Approximation (DDA) [4,5] when dividing a target to no more than ~106 unit cells. Also, there are different ways to calculate the cross sections in the GMM-PA, providing an additional means to examine the accuracy of the numerical solutions and to unveil potential issues concerning the theoretical formulations and numerical aspects. To solve multiple scattering by an assembly of material volumes through classical theories such as the GMM-PA, the radiative properties of the component scatterers, the complex refractive index in particular, must be provided as input parameters. When using a PA to characterize a material body, this involves the use of an adequate theoretical tool, an effective medium theory, to connect Maxwell's phenomenogical theory with the atomistic theory of matter. In the atomic theory, one regards matter as composed of interacting particles (atoms and molecules) embedded in the vacuum [6]. However, the radiative properties of atomic-scaled particles are known to be substantially different from bulk materials. Intensive research efforts in the fields of cluster science and nanoscience attempt to bridge the gap between bulk and atom and to understand the transition from classical to quantum physics. The GMM-PA calculations, which place virtually no restriction on the component-particle size, might help to gain certain insight into the transition.

Xu, Yu-Lin↗

NASA NTRS2017

Investigating Evolved Compositions Around Wolf Crater

Wolf crater is an irregularly shaped, approximately 25 km crater in the south-central portion of Mare Nubium on the lunar nearside. While not previously identified as a lunar "red spot", Wolf crater was identified as a Th anomaly by Lawrence and coworkers. We have used data from the Lunar Reconnaissance Orbiter (LRO) to determine the area surrounding Wolf crater has composition more similar to highly evolved, non-mare volcanic structures than typical lunar crustal lithology. In this presentation, we will investigate the geomorphology and composition of the Wolf crater and discuss implications for the origin of the anomalous terrain.

Greenhagen, B. T.↗

NASA NTRS2017

Photographic Volume Estimation of CPAS Main Parachutes

Capsule Parachute Assembly System (CPAS) flight tests regularly stage a helicopter to observe inflation of 116 ft D o ringsail Main parachutes. These side views can be used to generate 3-D models of inflating canopies to estimate enclosed volume. Assuming a surface of revolution is inadequate because reefed canopies in a cluster are elongated due to mutual aerodynamic interference. A method was developed to combine the side views with upward looking HD video to account for non-circular cross sections. Approximating the cross sections as elliptical greatly improves accuracy. But since that correction requires manually tracing projected outlines, the actual irregular shapes can be used to generate high fidelity models. Compensation is also made for apparent tilt angle. Validation was accomplished by comparing perimeter and projected area with known line lengths and/or high quality photogrammetry.

Ray, Eric S.↗

NASA NTRS2015

Quantifying Mapping Orbit Performance in the Vicinity of Primitive Bodies

Predicting and quantifying the capability of mapping orbits in the vicinity of primitive bodies is challenging given the complex orbit geometries that exist and the irregular shape of the bodies themselves. This paper employs various quantitative metrics to characterize the performance and relative effectiveness of various types of mapping orbits including terminator, quasi-terminator, hovering, ping pong, and conic-like trajectories. Metrics of interest include surface area coverage, lighting conditions, and the variety of viewing angles achieved. The metrics discussed in this investigation are intended to enable mission designers and project stakeholders to better characterize candidate mapping orbits during preliminary mission formulation activities. The goal of this investigation is to understand the trade space associated with carrying out remote sensing campaigns at small primitive bodies in the context of a robotic space mission. Specifically, this study seeks to understand the surface viewing geometries, ranges, etc. that are available from several commonly proposed mapping orbits architectures

Pavlak, Thomas A.↗

NASA NTRS2018

Contributions of Spherical Harmonics to Gravitational Moment

A scalar gravitational potential function expressed as a series of spherical harmonics frequently serves as the basis for a model of an astronomical body's gravitational field. The contribution of a generic spherical harmonic to gravitational gradient is expressed as a dyadic, which is then used to obtain an analytical expression in vector-dyadic form for the contribution to the moment of gravitational forces about the mass center of a small body such as a spacecraft. The expression developed for a harmonic's contribution to gravitational gradient can be applied in areas beyond the scope of the paper; for example, gravitational gradient plays an important role in the state propagation matrix and the state transition matrix that are used in spacecraft trajectory targeting and Kalman filtering. Additionally, it can be employed in numerical simulations of orbit determination based on measurements obtained with a gradiometer in low-Earth orbit. Contributions of spherical harmonics to gravitational moment may be of interest in connection with attitude control of a spacecraft in the vicinity of a body with an irregular shape, such as an asteroid. Normalized spherical harmonic coefficients up to degree and order 10 are obtained for the asteroid 216 Kleopatra and used in numerical evaluations of contributions to gravitational moment.

Roithmayr, Carlos M.↗

NASA NTRS2019

Fine-Grained, Spinel-Rich Ca-Al-Rich Inclusions From The Reduced CV3 Chondrite Efremovka: A Genetic Link To Wark-Lovering Rims?

Fine-grained, spinel-rich Ca-Al-rich inclusions (FGIs) in carbonaceous chondrites, mostly CV3 chondrites, are interpreted as aggregates of nebular gas-solid condensates that escaped significant melting [1]. Multiple lines of evidence suggest a condensation origin for FGIs, including their layered structures and irregular shapes and the fine grain size of numerous spinel-cored nodules [e.g., 2,3], and the distinctive volatility-fractionated group II rare earth element patterns of bulk inclusions and their mineral constituents [e.g., 4,5]. The origin and nature of FGIs are poorly constrained because of their fine grain sizes and intimate intergrowths of refractory phases, combined with their susceptibility to secondary parent body alteration processes, making detailed mineralogical and petrologic characterizations difficult using scanning electron microscope (SEM) and electron microprobe techniques. In this study, we present preliminary transmission electron microscope (TEM) analyses of pristine FGIs from the reduced CV3 chondrite Efremovka in order to provide the detailed characterization of their micrometer- to nanometer-scale textures and chemical compositions. Our goals are to better understand the formation processes and conditions of FGIs in the early solar nebula and to explore their possible genetic relationship with other early-formed refractory inclusions and their rims.

Keller, L. P.↗

NASA NTRS2016

Microspine Gripping Mechanism for Asteroid Capture

This paper details the development and early testing of a compliant suspension for a microspine gripper device for asteroid capture or zero-gravity percussive drilling. The microspine gripper architecture is reviewed, and a proposed microspine suspension design is presented and discussed. Prototyping methods are discussed, as well as testing methods and results. A path forward is identified from the results of the testing completed thus far. Key findings include: the microspine concept has been established as a valid architecture and the compliant suspension exhibits the desired stiffness characteristics for good gripping behavior. These developments will aid in developing the capability to grasp irregularly shaped boulders in microgravity.

Merriam, Ezekiel G.↗

NASA NTRS2019

Following the Dust: Satellite Perspectives of Dust Sources, Transport, Deposition, and Impacts

Mineral dust is an integral component in the Earth system that interacts with the system's many other components involving the energy, water, and carbon cycles. Dust also degrades air quality and adversely affects human health. These interactions and impacts are not contained in regions nearby dust sources, but can reach very far because of the long-range transport on intercontinental and global scales. Satellite's routine sampling and extensive coverage in time and space makes it an ideal platform to follow the dust from sources to sinks and assess its impacts along the long journey. Dust particles are unique in their coarse size and irregular shape, which makes it feasible to distinguish them from other aerosol particles using remote sensing techniques. This talk will provide an overview of what we have learned from analyzing advanced satellite remote sensing measurements during the EOS-era supplemented by in situ observations and model simulations, including dust source characterization, seasonal and interannual variability, trans-Pacific and trans-Atlantic transport and deposition, and dust influences on the radiation budget, air quality, and ecosystems. The talk will also discuss challenges and opportunities to further improve the dust characterization and assessment of the impacts via remote sensing techniques.

Yu, Hongbin↗

NASA NTRS2019

Differences in the Vertical and Microphysical Evolution of Volcanic and Pyrocumulonimbus Stratospheric Aerosol Plumes as Observed by CALIOP and CATS Satellite Lidar

For some time, volcanic eruptions have been thought to be the only significant direct injectors of aerosols in the stratosphere. However, recent fire seasons have featured fire events resulting in large volcanic-sized pyrocumulonimbus plumes of smoke aerosols reaching many kilometers into the lower stratosphere. To understand and model the effects of these pyrocumulonimbus events on stratospheric composition and climate, a natural analogy lies with better studied volcanic events; however, differences in plume composition may limit this comparison. Using satellite lidar from both CATS and CALIOP, we show that the stratospheric aerosol plumes from the record-setting Pacific Northwest pyrocumulonimbus event of 2017 and the Calbuco volcanic eruption of 2015 evolve differently both vertically and microphysically. Specifically, depolarization ratios indicate that this pyrocumulonimbus event’s aerosol particles became more irregularly shaped over time in contrast to volcanic aerosols which become more spherical over time. Accounting for these changes in aerosol properties may be significant in assessing the effects of pyrocumulonimbus events on the Earth’s radiative balance and aid in refining stratospheric aerosol typing algorithms to differentiate volcanic from pyrocumulonimbus plumes.

Christian, Kenneth↗

NASA NTRSDate not supplied

Development of a Comprehensive Physics-Based Model for Study of NASA Gateway Lunar Dust Contamination

NASA is committed to landing the first woman and first person of color on the Moon by 2025 to begin a sustaining presence. A major component of this mission is NASA’s orbiting lunar outpost, Gateway, that will be subjected to the harsh environment of space during its 7-day orbit around the Moon. One aspect of this environment that is not well quantified is microscopic lunar regolith particles, or simply, lunar dust. As Apollo 17 Mission Commander Eugene Cernan said, “I think dust is probably one of our greatest inhibitors to a nominal operation on the moon. I think we can overcome other physiological or physical or mechanical problems except dust” [1]. These dust particles, most of which are smaller than the width of two human hairs and of highly irregular shape, are composed mainly of dielectric materials. Such characteristics can allow the dust particles to collect electric charge from the surrounding environment, resulting in electrostatic interactions between the dust, electromagnetic fields, and electrically charged surfaces [2-3]. Due to the nature of these fields, dust can collect on and contaminate charged surfaces. Lunar dust introduced into the Gateway environment by a lunar ascent vehicle element returning from the surface of the Moon presents risks to Gateway hardware such as radiators, solar arrays, antennae, and docking mechanisms. To quantify this risk and inform NASA, International Partner, and Commercial Provider stakeholders, Booz Allen, in partnership with NASA, is developing a toolset to model the interaction of charged lunar dust particles with the cis-lunar and deep-space environments. This includes a comprehensive physics model of the space plasma and solar radiation environment and electromagnetic interaction of spacecraft and lunar dust. Spacecraft charging and plasma environment are solved using the open-source code from The French Aerospace Lab (ONERA) and the European Space Agency (ESA), known as Spacecraft Plasma Interaction Software (SPIS) [4]. The physics of particle charging and motion is handled by a time-dependent implementation of Orbital-Motion-Limited (OML) theory which accounts for plasma flows and positive potential grains [5-7], using Siemens STAR-CCM+ as the framework. Model validation includes lab experiments by NASA experts and academia, as well as future on-orbit dust detecting payloads on the exterior of Gateway and Commercial Lunar Payload Services (CLPS) missions to the lunar surface [7-9]. The results and analyses will inform Gateway Program system owners at risk for lunar dust contamination.

Complex Plasma↗

NASA NTRSDate not supplied

Tin-Essako 001: A Metal-Rich Ureilite?

Introduction: Metal-rich achondrites include a variety of types, and likely have a variety of origins. Models range from gravitational mixing at the core-mantle boundaries of differentatiated asteroids, to complex impact mixing scenarios. We describe a new type of metal-rich achondrite that might be the first metal-rich ureilite. Sample: Tin-Essako (TE) 001 (~4.3 g) was found in Mali in 2020 and purchased by Jay Piatek in 2021. It was classified as a metal-rich ungrouped achondrite, with olivine and oxygen isotope (d18O=8.2810‰, d17O=3.718‰, avg. 3) compositions suggesting affinity to ureilites [1]. We studied one polished section (~187.7 mm2) of TE 001. Petrography: TE 001 consists of ~60% metal and 40% silicates, heterogeneously distributed. The metal is largely fresh, but iron oxides (presumably terrestrial) occur along one edge and in some patches and veins in the interior. The silicates are dominantly olivine (≥90%), with melt-textured areas of plagioclase + Si-rich glass. Minor phases include chromite and carbon. Olivine occurs as rounded grains (up to ~2.5 mm) in metal, commonly with rims of melt-textured plagioclase + glass. Olivine also occurs in more massive areas having a “honeycomb” texture, with rounded olivine “cells” surrounded by an interstitial network of reduced olivine riddled with tiny metal grains, plus melt-textured plagioclase + Si-rich glass. Chromite occurs as subhedral to rounded grains; smaller grains (30-250 mm) are included in olivine and a few larger grains (400-500 mm) are isolated within metal. A carbon phase occurs as lacy-textured rims around olivine grains in metal, or small patches within metal. Mineral Compositions: The olivine (excluding interstitial areas) is Fo 73.9±0.5, with 0.25±0.02 wt.% CaO, 0.31±0.01 wt% Cr2O3, 0.01 wt.% NiO, and molar Fe/Mn=49.8±2.2 (53 analyses). Olivine in interstitial areas has Fo up to at least 91. Smaller chromite grains have Fe# (molar Fe/[Fe+Mg]) = 0.54±0.01, Cr# (molar Cr/[Cr+Al]) = 0.52±0.01, 0.52±0.02 wt.% V2O3 and 0.21±0.04 wt% ZnO (28 analyses). One larger grain is zoned from Fe# = 0.45, Cr# =0.52 to Fe# = 0.40, Cr# =0.57, and contains thin Al-rich lamellae not resolved by EMPA. One irregularly shaped patch of chromite included in olivine has Fe# =0.26 and contains no ZnO. Plagioclase laths are An ~53-60, with ≤0.01 wt.% K2O. Glass contains 75-76 wt% SiO2 and ~16 wt% Al2O3. The metal contains 5.2±0.2 wt% Ni, 0.46±0.02 wt.% Co, and 0.01±0.01 wt.% Cr, with Si and P below detection (168 analyses). Discussion: The olivine + chromite assemblage in TE 001 is similar to the most ferroan ureilites (Fo ~75-79 [2]), as are the oxygen isotopes [1]. The presence of a carbon phase supports this, although the identity of this phase (graphite as in ureilites?) remains to be determined. The “honeycomb” textured areas, in particular, the presence of olivine “reduction rims,” resemble shock-smelted olivine areas in ureilites [3], but interstitial melt-textured plagioclase laths + glass like those in TE 001 have not been reported in such (or any) ureilites. Olivine in TE 001 is marginally more ferroan than in the most FeO-rich ureilite, with Fe-Mg-Mn composition offset from the trend of olivine + low-Ca pyroxene ureilites similar to augite-bearing ureilites [4]. CaO and Cr2O3 contents are in the range of those in ureilite olivine [ ] , though Cr2O3 is at the extreme low end of the range [5]. Chromites (except the unusual one) have similar Fe# to the most ferroan primary chromites in ureilites [2], but distinctly lower Cr# (0.52 vs. 0.71). Metal compositions are with the range for metal in ureilites [7]. The absence of pyroxene and sulfide, and the high abundance of metal in TE 001, are unlike ureilites. One possibility is that a ferroan, chromite-bearing, pyroxene-poor ureilite was invaded (possibly due to impact) by a metallic liquid (low S content suggests very high temperature), resulting in complete melting of pyroxene and smelting of olivine, with rapid recrystallization of melted silicate as plagioclase + glass. Alternatively, a pre-existing metal-rich ureilite assemblage may have been impact melted. Additional types of data will be obtained to evaluate these hypotheses (i.e., is the metal indigenous?) and assess affinity to ureilites.

olivine↗

NASA NTRSDate not supplied

The Tables of Aerosol Optics (TAO) Project

The Table of Aerosol Optics (TAO) project is a community repository of optics computations (extinction, absorption, single-scatter albedo, lidar ratio, etc) that are useful for global models and remote sensing applications. TAO expands upon historical efforts (e.g., Hess et al., 1998) by building an open database that uses recent measurements and new computational techniques for non-spherical particles. The ‘open’ aspect of TAO is important, since the size distributions, hygroscopicities, refractive indices, and morphological recommendations of today will undoubtedly yield to different values in the future; the open framework of TAO allows scientists to keep adding new computations to the database as the science evolves. TAO is meant to be a community repository where specialists can put their computations for other scientists to use. So for instance, some groups are advancing new techniques that can accommodate complex fractal aggregates of black carbon, other groups are working on realistic irregular shapes for mineral dust, and different groups are updating the hygroscopicity of various aerosol types using new techniques. The TAO database gives these scientists a place to distribute their products. As TAO grows, modelers and remote sensing specialists will look to TAO as a place to find a wide variety of choices for testing. Meanwhile, global modelers can also use TAO to lobby for new tables that accommodate their needs. Eventually, TAO will provide mass extinction coefficients, mass absorption coefficients, lidar ratios, etc., at popular remote sensing and global modeling wavelengths (0.25-40 µm) for all pertinent species (sulfate, sea salt, BC, OC, BrC, dust, etc.). TAO will also accept computations for aerosol ‘type’ (e.g., biomass burning, urban, background, etc.) that may include regional and seasonal variability. Multiple tables may be created for each species or type to account for the multiple valid size distributions, hygroscopicities, complex refractive indices, and shapes that can be found in the literature.

Greg Schuster↗

NASA NTRSDate not supplied

The Tables of Aerosol Optics (TAO) Project

The Table of Aerosol Optics (TAO) project is a community repository of optics computations (extinction, absorption, single-scatter albedo, lidar ratio, etc) that are useful for global models and remote sensing applications. TAO expands upon historical efforts (e.g., Hess et al., 1998) by building an open database that uses recent measurements and new computational techniques for non-spherical particles. The ‘open’ aspect of TAO is important, since the size distributions, hygroscopicities, refractive indices, and morphological recommendations of today will undoubtedly yield to different values in the future; the open framework of TAO allows scientists to keep adding new computations to the database as the science evolves. TAO is meant to be a community repository where specialists can put their computations for other scientists to use. So for instance, some groups are advancing new techniques that can accommodate complex fractal aggregates of black carbon, other groups are working on realistic irregular shapes for mineral dust, and different groups are updating the hygroscopicity of various aerosol types using new techniques. The TAO database gives these scientists a place to distribute their products. As TAO grows, modelers and remote sensing specialists will look to TAO as a place to find a wide variety of choices for testing. Meanwhile, global modelers can also use TAO to lobby for new tables that accommodate their needs. Eventually, TAO will provide mass extinction coefficients, mass absorption coefficients, lidar ratios, etc., at popular remote sensing and global modeling wavelengths (0.25-40 µm) for all pertinent species (sulfate, sea salt, BC, OC, BrC, dust, etc.). TAO will also accept computations for aerosol ‘type’ (e.g., biomass burning, urban, background, etc.) that may include regional and seasonal variability. Multiple tables may be created for each species or type to account for the multiple valid size distributions, hygroscopicities, complex refractive indices, and shapes that can be found in the literature.

Elisabeth Andrews↗

NASA NTRSDate not supplied

The Tables of Aerosol Optics (TAO) Project

The Table of Aerosol Optics (TAO) project is a community repository of optics computations (extinction, absorption, single-scatter albedo, lidar ratio, etc) that are useful for global models and remote sensing applications. TAO expands upon historical efforts (e.g., Hess et al., 1998) by building an open database that uses recent measurements and new computational techniques for non-spherical particles. The ‘open’ aspect of TAO is important, since the size distributions, hygroscopicities, refractive indices, and morphological recommendations of today will undoubtedly yield to different values in the future; the open framework of TAO allows scientists to keep adding new computations to the database as the science evolves. TAO is meant to be a community repository where specialists can put their computations for other scientists to use. So for instance, some groups are advancing new techniques that can accommodate complex fractal aggregates of black carbon, other groups are working on realistic irregular shapes for mineral dust, and different groups are updating the hygroscopicity of various aerosol types using new techniques. The TAO database gives these scientists a place to distribute their products. As TAO grows, modelers and remote sensing specialists will look to TAO as a place to find a wide variety of choices for testing. Meanwhile, global modelers can also use TAO to lobby for new tables that accommodate their needs. Eventually, TAO will provide mass extinction coefficients, mass absorption coefficients, lidar ratios, etc., at popular remote sensing and global modeling wavelengths (0.25-40 µm) for all pertinent species (sulfate, sea salt, BC, OC, BrC, dust, etc.). TAO will also accept computations for aerosol ‘type’ (e.g., biomass burning, urban, background, etc.) that may include regional and seasonal variability. Multiple tables may be created for each species or type to account for the multiple valid size distributions, hygroscopicities, complex refractive indices, and shapes that can be found in the literature.

Greg Schuster↗

NASA NTRS2023

Transformable Linkage-Based Gripper for Multi-Mode Grasping and Manipulation

Gripper hardware design often involves a trade-off between distinct and sometimes opposing goals (e.g., high grasping force vs. gentleness). To address this trade-off within a single device, we present a multi-mode gripper with fingers that are scissor linkages, that can actively transform between three distinct modes by varying the number and locations of mechanical singularities. Each of these modes has properties that are suitable for specific needs. Mode 1 provides high grip strength, using a short lever arm and rigid structure. Mode 2 allows precise finger positioning and in-hand manipulation, using two independently controlled DOFs per finger. Mode 3 provides underactuated grasping that can passively adapt to delicate or irregularly shaped objects, with four DOFs per finger. The kinematic relationships, joint torques, and fingertip forces are derived analytically for each of the three modes. Gripper performance and the kinematic model are verified experimentally.

Junghan Kwon↗

NASA NTRSDate not supplied

Monodisperse Single-Material Granular Tribocharging Modeling and Experimental Validation

Charge transfer between insulating grains has been a topic of interest for many years as this phenomenon is extremely important to many areas in industry. Of particular interest to NASA is the behavior of electrically insulative dust grains such as those found on the lunar surface. Whether poured from a scoop during sample collection activities, agitated inside a drum via mining robots, or fluidized by a gas plume, particle-particle interactions between similar granular materials will be widespread on the Moon. Designers hope to have a predictive model for how dust grains are charged, transported, and deposited on flight systems to better understand issues electrostatics may cause in future missions. While difference in work function is often seen as a driver for charge transfer between two materials, this is an incomplete representation for insulative particles. Other asymmetries in the system can also lead to charge being transferred: one such being the difference between static vs dynamic particles. Experiments performed under vacuum in the Electrostatics and Surface Physics Laboratory (ESPL) clearly show that particles having more contacts with other particles tend to charge positively and particles having fewer contacts tend to charge negatively, despite being made from the same material. During these experiments, monodisperse (population of single diameter) spherical particles were held in a reservoir which was then elevated at one end to slope into a Faraday cup used to measure bulk charge of the grains. Care was taken to limit the number of spheres bouncing out of the cup, to isolate the beads from the container itself so that only grain-to-grain interactions occurred, and to assure neutrality of the beads before the experiment began. A discrete element method (DEM) modeling package already incorporating many granular mechanics interactions was augmented to include the electrostatic behaviors seen in experiments. The model can reproduce the experimental results above by tracking the number of contacts between pairs of individual grains and applying a charge transfer condition related to this contact parameter. The experimental results as well as their incorporation into the improved modeling suite will be discussed. Future work includes adding additional asymmetries into the experiments/model such as polydisperse populations of spherical particles and irregularly shaped grains.

granular↗