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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS2024

THUNDER: A Titan orbiter mission concept for the New Frontiers program designed at the JPL Planetary Science Summer School

Saturn’s moon Titan is an enigmatic icy world whose surface is constantly modified by its active, Earthlike precipitation system. Here, we propose the THUNDER (Titan’s Hydrocarbons: Uncovering New Dimensions of Evolutionary pRocesses) mission concept to investigate how Titan’s surface reflects the nature of its interior and its active hydrocarbon cycle. This mission will change our understanding of Titan’s surface through three science objectives: characterizing the heat and material transport properties of Titan’s icy outer layer, tracing surface liquid storage through and across the crust, and assessing the total hydrocarbon budget through time. This New Frontiers-class mission, designed as part of the Jet Propulsion Laboratory (JPL) Planetary Science Summer School, responds directly to the call for a Titan orbiter in the NASA Planetary Science and Astrobiology Decadal Survey 2023-2032. THUNDER’s focused geology and geophysics mission could achieve full surface mapping to complement both the Cassini-Huygens and Dragonfly missions using gravity science, radar with three operational modes, and a visible-to-infrared spectrometer. These instruments together could give us the first look at Titan as a fully connected and geologically active world , revolutionizing our understanding of icy bodies, fluvial and atmospheric processes, and habitability across geologic time. Here, we summarize goals of the science mission and engineering approaches, as well as challenges and future directions to study before THUNDER can become a viable mission concept.

mission concept↗
NASA NTRS1983

Space station needs, attributes and architectural options study. Briefing material: Final review and executive summary

Advantages and disadvantages were assessed for configuration options for a modular 14' diameter space station, a modular aft cargo carrier and a shuttle derived vehicle. Early, intermediate, and mature configurations were defined as well as power requirements, heat rejection, hydrazine usage, and the external scavenging concept. Subsystems were analyzed for propulsion, attitude control, data processing, and communications. Areas of uncertainties, associated costs and benefits, and the cost by phase of the modular and shuttle derived vehicle configurations were identified. Technologies assessed included solar vs nuclear; gravity gradient vs active control; heat pipe radiators vs fluid loops; distributed processors vs centralized, and modular vs shuttle derived configuration. It was determined that the early space station architecture should include: (1) reusable OTV with aerobraking; (2) TMS with telepresence services; (3) OTV/TMS refueling and servicing capability; and (4) attached research laboratories for life sciences and materials processing.

Source record↗
NASA NTRS1996

Interface Configuration Experiments (ICE) Explore the Effects of Microgravity on Fluids

The Interface Configuration Experiment (ICE) is actually a series of experiments that explore the striking behavior of liquid-vapor interfaces (i.e., fluid surfaces) in a low gravity environment under which major shifts in liquid position can arise from small changes in container shape or contact angle. Although these experiments are designed to test current mathematical theory, there are numerous practical applications that could result from these studies. When designing fluid management systems for space-based operations, it is important to be able to predict the locations and configurations that fluids will assume in containers under low-gravity conditions. The increased ability to predict, and hence control, fluid interfaces is vital to systems and/or processes where capillary forces play a significant role both in space and on the Earth. Some of these applications are in general coating processes (paints, pesticides, printing, etc.), fluid transport in porous media (ground water flows, oil recovery, etc.), liquid propellant systems in space (liquid fuel and oxygen), capillary-pumped loops and heat pipes, and space-based life-support systems. In space, almost every fluid system is affected, if not dominated, by capillarity. Knowledge of the liquid-vapor interface behavior, and in particular the interface shape from which any analysis must begin, is required as a foundation to predict how these fluids will react in microgravity and on Earth. With such knowledge, system designs can be optimized, thereby decreasing costs and complexity, while increasing performance and reliability. ICE has increased, and will continue to increase this knowledge, as it probes the specific peculiarities of current theory upon which our current understanding of these effects is based. Several versions of ICE were conducted in NASA Lewis Research Center's drop towers and on the space shuttle during the first and second United States Microgravity Laboratory missions (USML-1 and USML-2). Additional tests are planned for the space shuttle and for the Russian Mir space station. These studies will focus on interfacial problems concerning surface existence, uniqueness, configuration, stability, and flow characteristics.

Source record↗
NASA NTRS2010

A Transportable Gravity Gradiometer Based on Atom Interferometry

A transportable atom interferometer-based gravity gradiometer has been developed at JPL to carry out measurements of Earth's gravity field at ever finer spatial resolutions, and to facilitate high-resolution monitoring of temporal variations in the gravity field from ground- and flight-based platforms. Existing satellite-based gravity missions such as CHAMP and GRACE measure the gravity field via precise monitoring of the motion of the satellites; i.e. the satellites themselves function as test masses. JPL's quantum gravity gradiometer employs a quantum phase measurement technique, similar to that employed in atomic clocks, made possible by recent advances in laser cooling and manipulation of atoms. This measurement technique is based on atomwave interferometry, and individual laser-cooled atoms are used as drag-free test masses. The quantum gravity gradiometer employs two identical atom interferometers as precision accelerometers to measure the difference in gravitational acceleration between two points (Figure 1). By using the same lasers for the manipulation of atoms in both interferometers, the accelerometers have a common reference frame and non-inertial accelerations are effectively rejected as common mode noise in the differential measurement of the gravity gradient. As a result, the dual atom interferometer-based gravity gradiometer allows gravity measurements on a moving platform, while achieving the same long-term stability of the best atomic clocks. In the laboratory-based prototype (Figure 2), the cesium atoms used in each atom interferometer are initially collected and cooled in two separate magneto-optic traps (MOTs). Each MOT, consisting of three orthogonal pairs of counter-propagating laser beams centered on a quadrupole magnetic field, collects up to 10(exp 9) atoms. These atoms are then launched vertically as in an atom fountain by switching off the magnetic field and introducing a slight frequency shift between pairs of lasers to create a moving rest frame for the trapped atoms. While still in this moving-frame molasses, the laser frequencies are further detuned from the atomic resonance (while maintaining this relative frequency shift) to cool the atom cloud's temperature to 2 K or below, corresponding to an rms velocity of less than 2 cm/s. After launch, the cold atoms undergo further state and velocity selection to prepare for atom interferometry. The atom interferometers are then realized using laser-induced stimulated Raman transitions to perform the necessary manipulations of each atom, and the resulting interferometer phase is measured using laser-induced fluorescence for state-normalized detection. More than 20 laser beams with independent controls of frequency, phase, and intensity are required for this measurement sequence. This instrument can facilitate the study of Earth's gravitational field from surface and air vehicles, as well as from space by allowing gravity mapping from a low-cost, single spacecraft mission. In addition, the operation of atom interferometer-based instruments in space offers greater sensitivity than is possible in terrestrial instruments due to the much longer interrogation times available in the microgravity environment. A space-based quantum gravity gradiometer has the potential to achieve sensitivities similar to the GRACE mission at long spatial wavelengths, and will also have resolution similar to GOCE for measurement at shorter length scales.

Yu, Nan↗
NASA NTRSDate not supplied

Comparison of Physical Workload Across Eva-Simulation Analog Environments: Hybrid Space Suit Simulator and Pressurized Suit Testing

NASA conducts research, testing, and training across a variety of analog environments to support characterization of human performance during Extravehicular Activities (EVAs). Time utilizing pressurized suits in an offloaded environment is both limited and expensive, making it challenging to carry out extensive research with these suits. The Human Physiology, Performance, Protection, and Operations (H-3PO) Laboratory at NASA Johnson Space Center designed a Hybrid Space Suit Simulator (HS3) as a low-cost, workload approximator and easy access research tool to provide relevant physical and cognitive workloads during simulated EVAs. A pilot study was conducted in a 1g analog environment where six healthy subjects (3 male, 3 female) underwent simulated 5-hour EVAs in the HS3. This study used a COSMED K5 portable metabolic analyzer and a Polar H10 heart rate monitor to evaluate physical workload during the EVAs. For direct comparison, EVA tasks and timelines were modeled after a similar study conducted in pressurized suits (Mark-III spacesuit, n=3 male; small xPGS spacesuit, n=3 female) at NASA’s Active Response Gravity Offload System (ARGOS) offloaded to Lunar gravity (1/6 g). The 1g HS3 data demonstrated increased metabolic rate when compared to pressurized, Lunar-offloaded suited simulated EVAs for certain tasks including the kneeling scoop (HS3: 1194±199 BTU/hr, ARGOS: 860±170 BTU/hr, p < 0.05) and 20 lb object relocation (HS3: 1651±136 BTU/hr, ARGOS: 1048±252.8 BTU/hr, p < 0.05), but it did not demonstrate any significant differences in heart rate (p > 0.05). Other simulated EVA tasks, such as a 500 m traverse (HS3: 1431±177 BTU/hr, ARGOS: 1212±294 BTU/hr, p > 0.05), showed similar workload profiles with no significant workload differences between HS3 and ARGOS. The HS3 is a useful research tool for increasing workloads in EVA research without pressurized suits, though it may overestimate workload during certain EVA tasks when used in 1g environments.

Zachary Wusk↗
NASA NTRS1982

Containerless processing technologies at the Jet Propulsion Laboratory

Acoustic and electrostatic levitation (EL) techniques for maintaining sample-wall distance in order to ensure contamination-free conditions during microgravity materials science experiments on board the Shuttle are examined. A laboratory model for acoustic containerless (AC) processing is described, noting the use of three commercially available drivers for sample levitation. The arrangement of the speakers results in a point node to which a liquid drop sample migrates. Varying the field through manipulation of the dB levels and phase of the drivers' outputs permits control of sample position and movement. Rotation of a styrofoam ball at 2000 rpm has been achieved. Oscillations can also be induced. An advanced version of the AC system is analytically defined, with further studies mentioned for stable levitation modes using a cylindrical chamber and optimizing acoustic power transfer between hot and cold regions. A tetrahedral EL system has proven to work in a reduced gravity environment. El involves imparting an electrical charge to an object and then positioning and maintaining it through use of EM fields. The presence of human operators to perform the processing on the Shuttle is mentioned as offering real-time capability of altering the experimental conditions.

Wang, T. G.↗
NASA NTRS1993

The electrospray: Fundamentals and combustion applications

Liquid fuel dispersion in practical systems is typically achieved by spraying the fuel into a polydisperse distribution of droplets evaporating and burning in a turbulent gaseous environment. In view of the nearly unsurmountable difficulties of this two-phase flow, it would be useful to use an experimental arrangement that allow a systematic study of spray evolution and burning in configurations of gradually increasing levels of complexity, starting from laminar sprays to fully turbulent ones. An Electrostatic Spray (ES) of charged droplets lends itself to this type of combustion experiments under well-defined conditions and can be used to synthesize gradually more complex spray environments. In its simplest configuration, a liquid is fed into a small metal tube maintained at several kilovolts relative to a ground electrode few centimeters away. Under the action of the electric field, the liquid meniscus at the outlet of the capillary takes a conical shape, with a thin jet emerging from the cone tip. This jet breaks up farther downstream into a fine spray of charged droplets. Several advantages distinguish the electrospray from alternative atomization techniques: the self-dispersion property of the spray due to coulombic repulsion; the absence of droplet coalescence; the potential control of the trajectories of charged droplets by suitable disposition of electrostatic fields; and the decoupling of atomization, which is strictly electrostatic, from gas flow processes. Furthermore, as recently shown in our laboratory, the electrospray can produce quasi-monodisperse droplets over a very broad size range (1-100 microns). The ultimate objective of this research project is to study the formation and burning of electrosprays of liquid fuels first in laminar regimes and then in turbulent ones. Combustion will eventually be investigated in conditions of three-dimensional droplet-droplet interaction, for which experimental studies have been limited to either qualitative observations in sprays or more quantitative observations on simplified systems consisting of a small number of droplets or droplet arrays. The compactness and potential controllability of this spray generaiton system makes it appealing for studies to be undertaken in the next two years on electrospray combustion in reduced-gravity environments such as those achievable at NASA microgravity test facilities.

Gomez, Alessandro↗
NASA NTRS1997

Soot Formation in Freely-Propagating Laminar Premixed Flames

Soot formation within hydrocarbon-fueled flames is an important unresolved problem of combustion science. Thus, the present study is considering soot formation in freely-propagating laminar premixed flames, exploiting the microgravity environment to simplify measurements at the high-pressure conditions of interest for many practical applications. The findings of the investigation are relevant to reducing emissions of soot and continuum radiation from combustion processes, to improving terrestrial and spacecraft fire safety, and to developing methods of computational combustion, among others. Laminar premixed flames are attractive for studying soot formation because they are simple one-dimensional flows that are computationally tractable for detailed numerical simulations. Nevertheless, studying soot-containing burner-stabilized laminar premixed flames is problematical: spatial resolution and residence times are limited at the pressures of interest for practical applications, flame structure is sensitive to minor burner construction details so that experimental reproducibility is not very good, consistent burner behavior over the lengthy test programs needed to measure soot formation properties is hard to achieve, and burners have poor durability. Fortunately, many of these problems are mitigated for soot-containing, freely-propagating laminar premixed flames. The present investigation seeks to extend work in this laboratory for various soot processes in flames by observing soot formation in freely-propagating laminar premixed flames. Measurements are being made at both Normal Gravity (NG) and MicroGravity (MG), using a short-drop free-fall facility to provide MG conditions.

Lin, K.-C.↗
NASA NTRS2010

Space Weathering in the Inner Solar System

"Space weathering" is the term given to the cumulative effects incurred by surfaces which are exposed to the harsh environment of space. Lunar sample studies over the last decade or so have produced a clear picture of space weathering processes in the lunar environment. By combining laboratory and remote spectra with microanalytical methods (scanning and transmission electron microscopy), we have begun to unravel the various processes (irradiation, micrometeorite bombardment, etc) that contribute to space weathering and the physical and optical consequences of those processes on the Moon. Using the understanding gleaned from lunar samples, it is possible to extrapolate weathering processes to other airless bodies from which we have not yet returned samples (i.e. Mercury, asteroids). Through experiments which simulate various components of weathering, the expected differences in environment (impact rate, distance from Sun, presence of a magnetic field, reduced or enhanced gravity, etc) and composition (particularly iron content) can be explored to understand how space weathering will manifest on a given body.

Noble, Sarah K.↗
NASA NTRS2018

Electrostatic Levitation of ZBLAN and Chalcogenide Glasses

Heavy Metal Fluoride Glasses have been studied for approximately 35 years. ZrF4-BaF BaF2-LaF3-AlF3-NaF (ZBLAN) showed the most promise as an optical fiber. It transmits IR out to approximately 5 microns. Applications: fiber amplifiers, lasers and nuclear radiation resistant links. Intrinsic and Extrinsic processes limit light propagation; Intrinsic: band gap absorption, Rayleigh scatter and multiphonon absorption; Extrinsic: impurities such as rare-earth ions and crystallite formation. Theoretical loss coefficient is 0.001 dB/km. This loss has not been achieved to date due to intrinsic and extrinsic processes. ZBLAN fibers obtained from Infrared Focal Systems, Inc. and Bell Laboratories. Fibers were stripped of coating and placed in evacuated quartz ampoules. These fibers were first flown on NASA’s KC135 Reduced Gravity Aircraft. KC135 produces approximately 25 sec. of reduced gravity per parabola. One week of flights led to approximately 200 total parabolas. Fibers were heated to the crystallization temperature during reduced gravity and compared to unit gravity for the same amount of time. Fibers were also flown on board the Conquest sub-orbital rocket. This flight gave approximately 6.5 minutes of reduced gravity.

Tucker, Dennis S.↗
NASA NTRS1985

Advanced Optical Measurement Techniques

This research analyzes four areas: (1) Improved Techniques for Optical Measurement; (2) KC-135 Low Gravity Simulation Flight Preparation; (3) In-Line Holographic Microscopy; and (4) Holographic Optical Schlieren System (HOSS). The first task provides for laboratory breadboarding of advanced optical measurement techniques which appear promising for use in Material Processing System (MPS) flight experiments. A laboratory schlieren system has been constructed which simulates a similar optical system on the Fluids Experiment System (FES) which is to be flown on Spacelab 3. The second task allows improved optical systems and breadboards to be built for experiments and hardware tests on the KC-135 aircraft. A new, more stable Mach-Zehnder interferometer has been developed and components have been ordered. The third task is concerned with improvements on the optical system being used to study immiscible fluids. Experiments studying the dynamics of nucleation and the separation of immiscible fluids have been conducted. The four task involves building breadboard reconstruction systems for holograms taken in the HOSS. The HOSS is an early prototype of the Fluids Experiments System (FES) which is scheduled to fly on Spacelab 3.

Owen, R. B.↗
NASA NTRS1987

Science and technology issues in spacecraft fire safety

The space station, a permanently-inhabited orbiting laboratory, places new demands on spacecraft fire safety. Long-duration missions may call for more-constrained fire controls, but the accessibility of the space station to a variety of users may call for less-restrictive measures. This paper discusses fire safety issues through a review of the state of the art and a presentation of key findings from a recent NASA Lewis Research Center Workshop. The subjects covered are the fundamental science of low-gravity combustion and the technology advances in fire detection, extinguishment, materials assessment, and atmosphere selection. Key concerns are for the adoption of a fire-safe atmosphere and the substitution for the effective but toxic extinguishant, halon 1301. The fire safety studies and reviews provide several recommendations for further action. One is the expanded research in combustion, sensors, and materials in the low-gravity environment of space. Another is the development of generalized fire-safety standards for spacecraft through cooperative endeavors with aerospace and outside Government and industry sources.

Friedman, Robert↗
NASA NTRS1987

Science and technology issues in spacecraft fire safety

The space station, a permanently-inhabited orbiting laboratory, places new demands on spacecraft fire safety. Long-duration missions may call for more-constrained fire controls, but the accessibility of the space station to a variety of users may call for less-restrictive measures. This paper discusses fire safety issues through a review of the state of the art and a presentation of key findings from a recent NASA Lewis Research Center Workshop. The subjects covered are the fundamental science of low-gravity combustion and the technology advances in fire detection, extinguishment, materials assessment, and atmosphere selection. Key concerns are for the adoption of a fire-safe atmosphere and the substitution for the effective but toxic extinguishant, halon 1301. The fire safety studies and reviews provide several recommendations for further action. One is the expanded research in combustion, sensors, and materials in the low-gravity environment of space. Another is the development of generalized fire-safety standards for spacecraft through cooperative endeavors with aerospace and outside Government and industry sources.

Friedman, Robert↗
NASA NTRS2012

NASA Tech Briefs, November 2012

The topics include: Visual System for Browsing, Analysis, and Retrieval of Data (ViSBARD); Time-Domain Terahertz Computed Axial Tomography NDE System; Adaptive Sampling of Time Series During Remote Exploration; A Tracking Sun Photometer Without Moving Parts; Surface Temperature Data Analysis; Modular, Autonomous Command and Data Handling Software with Built-In Simulation and Test; In-Situ Wire Damage Detection System; Amplifier Module for 260-GHz Band Using Quartz Waveguide Transitions; Wideband Agile Digital Microwave Radiometer; Buckyball Nucleation of HiPco Tubes; FACT, Mega-ROSA, SOLAROSA; An Integrated, Layered-Spinel Composite Cathode for Energy Storage Applications; Engineered Multifunctional Surfaces for Fluid Handling; Polyolefin-Based Aerogels; Adjusting Permittivity by Blending Varying Ratios of SWNTs; Gravity-Assist Mechanical Simulator for Outreach; Concept for Hydrogen-Impregnated Nanofiber/Photovoltaic Cargo Stowage System; DROP: Durable Reconnaissance and Observation Platform; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; Spectroscopic Chemical Analysis Methods and Apparatus; Low Average Sidelobe Slot Array Antennas for Radiometer Applications; Motion-Corrected 3D Sonic Anemometer for Tethersondes and Other Moving Platforms; Water Treatment Systems for Long Spaceflights; Microchip Non-Aqueous Capillary Electrophoresis (MicronNACE) Method to Analyze Long-Chain Primary Amines; Low-Cost Phased Array Antenna for Sounding Rockets, Missiles, and Expendable Launch Vehicles; Mars Science Laboratory Engineering Cameras; Seismic Imager Space Telescope; Estimating Sea Surface Salinity and Wind Using Combined Passive and Active L-Band Microwave Observations; A Posteriori Study of a DNS Database Describing Super critical Binary-Species Mixing; Scalable SCPPM Decoder; QuakeSim 2.0; HURON (HUman and Robotic Optimization Network) Multi-Agent Temporal Activity Planner/Scheduler; MPST Software: MoonKommand

Source record↗
NASA NTRSDate not supplied

Shoulder Postures in EVA Training in Reduced Gravity Analogues

Shoulder Postures in EVA Training in Reduced Gravity Analogues K. Guhl1, L. Vu2, H. Kim3, S. Rajulu4 1KBR Inc., Houston, TX, 2Aegis Aerospace Inc., Houston, TX, 3Leidos Innovations, Houston, TX, 4NASA Johnson Space Center, Houston, TX. During extravehicular activities (EVAs) and EVA training in both the Neutral Buoyancy Laboratory (NBL) and at the Active Response Gravity Offload System (ARGOS), crewmembers perform a variety of hand-intensive tasks with frequent arm/shoulder repositioning while wearing a pressurized spacesuit. As a result, crewmembers may experience ergonomic stressors such as awkward shoulder postures. The ergonomic shoulder risk is also compounded by limited or restricted shoulder mobility of the spacesuit, extreme work positions such as overhead tasks, and tasks with heavy tools and repetitive motions. Prolonged or frequent shoulder elevation and overhead work, in particular, can lead to excessive stresses and musculoskeletal injuries of the shoulder joints. Future EVA missions, specifically lunar surface EVAs, will also be longer in duration and thus increase the exposure to awkward shoulder postures. In this study, we aimed to assess the ergonomic risk of awkward shoulder postures in simulated lunar surface EVAs by quantifying when and how long the arms are raised above the chest level. We assessed video recordings of pilot lunar EVA simulations (3 lunar trials each in the NBL and at ARGOS and 2 microgravity EVA trials in the NBL). These runs consisted of both training and engineering test objectives. Actual demands for shoulder use varied for different EVA types and analogues, but many EVA runs have common tasks and require similar motion components. A video observation and event logging software was used to document the duration and occurrence of the subject’s arms being raised throughout the video recordings of each EVA run. An arm raised instance was classified as the arm being at 90 degrees or above with relation to gravity for lunar EVA training events and with relation to the body for microgravity EVA training events. Such events included EVA hardware maintenance or heavy geology sampling tool operations. Events where the arm load was partially supported by external objects, like climbing a ladder or leaning against a surface were separately identified and excluded. Statistical analysis was performed to summarize the timing, frequency, and durations of the arm raise events and compared across the different EVA tasks and analogue types. Preliminary observations indicated that the total duration and number of arm raised instances were surprisingly smaller for lunar surface EVA training as compared to microgravity EVA training. The observed difference may be attributed to differing task demands and unique environmental characteristics found in lunar EVAs in comparison to microgravity EVAs. A detailed statistical analysis will be performed between lunar surface EVA training events and microgravity EVA training events in the final submission. Overall, this analysis is expected to provide insight into how ergonomic recommendations can be refined for lunar EVA training with pressurized suits. It may also inform task design and influence suit padding design to better protect crewmembers during future lunar training.

Kaitlyn Lea Guhl↗
NASA NTRS1983

A case study of the energy dissipation of the gravity wave field based on satellite altimeter measurements

Wave breaking is proposed as the primary energy dissipation mechanism for the gravity wave field. The energy dissipation rate is calculated based on the statistical model proposed by Longuet-Higgins (1969) with a modification of the breaking criterion incorporating the surface stress according to Phillips and Banner (1974). From this modified model, an analytic expression is found for the wave attenuation rate and the half-life time of the wave field which depend only on the significant slope of the wave field and the ratio of friction velocity to initial wave phase velocity. These expressions explain why the freshly generated wave field does not last long, but why swells are capable of propagating long distances without substantial change in energy density. It is shown that breaking is many orders of magnitude more effective in dissipating wave energy than the molecular viscosity, if the significant slope is higher than 0.01. Limited observational data from satellite and laboratory are used to compare with the analytic results, and show good agreement.

Huang, N. E.↗
NASA NTRS2011

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

SunSpiral, Vytas↗
NASA NTRS1994

Scaling craters in carbonates: Electron paramagnetic resonance analysis of shock damage

Carbonate samples from the 8.9-Mt nuclear (near-surface explosion) crater, OAK, and a terrestrial impact crater, Meteor Crater, were analyzed for shock damage using electron paramagnetic resonance (EPR). Samples from below the OAK apparent crater floor were obtained from six boreholes, as well as ejecta recovered from the crater floor. The degree of shock damage in the carbonate material was assessed by comparing the sample spectra to the spectra of Solenhofen and Kaibab limestone, which had been skocked to known pressures. Analysis of the OAK Crater borehole samples has identified a thin zone of allocthonous highly shocked (10-13 GPa) carbonate material underneath the apparent crater floor. This approx. 5- to 15-m-thick zone occurs at a maximum depth of approx. 125 m below current seafloor at the borehole, sited at the initial position of the OAK explosive, and decreases in depth towards the apparent crater edge. Because this zone of allocthonous shocked rock delineates deformed rock below, and a breccia of mobilized sand and collapse debris above, it appears to outline the transient crater. The transient crater volume inferred in this way is found to by 3.2 +/- 0.2 times 10(exp 6)cu m, which is in good agreement with a volume of 5.3 times 10(exp 6)cu m inferred from gravity scaling of laboratory experiments. A layer of highly shocked material is also found near the surface outside the crater. The latter material could represent a fallout ejecta layer. The ejecta boulders recovered from the present crater floor experienced a range of shock pressures from approx. 0 to 15 GPa with the more heavily shocked samples all occurring between radii of 360 and approx. 600 m. Moreover, the fossil content, lithology and Sr isotopic composition all demonstrate that the initial position of the bulk of the heavily shocked rock ejecta sampled was originally near surface rock at initial depths in the 32 to 45-m depth (below sea level) range. The EPR technique is also sensitive to prehistoric shock damage. This is demonstrated by our study of shocked Kaibab limestone from the 49,000-year-old Meteor (Barringer) Crater Arizona.

Polanskey, Carol A.↗