Search NASA⌕ Search

SEARCH · Search NASA

Results for “sub meter”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

334 records · Page 19
All sourcesNASA NTRSDOE OSTI
NASA NTRS2011

Multi-Segment Radius Measurement Using an Absolute Distance Meter Through a Null Assembly

This system was one of the test methods considered for measuring the radius of curvature of one or more of the 18 segmented mirrors that form the 6.5 m diameter primary mirror (PM) of the James Webb Space Telescope (JWST). The assembled telescope will be tested at cryogenic temperatures in a 17-m diameter by 27-m high vacuum chamber at the Johnson Space Center. This system uses a Leica Absolute Distance Meter (ADM), at a wavelength of 780 nm, combined with beam-steering and beam-shaping optics to make a differential distance measurement between a ring mirror on the reflective null assembly and individual PM segments. The ADM is located inside the same Pressure-Tight Enclosure (PTE) that houses the test interferometer. The PTE maintains the ADM and interferometer at ambient temperature and pressure so that they are not directly exposed to the telescope s harsh cryogenic and vacuum environment. This system takes advantage of the existing achromatic objective and reflective null assembly used by the test interferometer to direct four ADM beamlets to four PM segments through an optical path that is coincident with the interferometer beam. A mask, positioned on a linear slide, contains an array of 1.25 mm diameter circular subapertures that map to each of the 18 PM segments as well as six positions around the ring mirror. A down-collimated 4 mm ADM beam simultaneously covers 4 adjacent PM segment beamlets and one ring mirror beamlet. The radius, or spacing, of all 18 segments can be measured with the addition of two orthogonally-oriented scanning pentaprisms used to steer the ADM beam to any one of six different sub-aperture configurations at the plane of the ring mirror. The interferometer beam, at a wavelength of 687 nm, and the ADM beamlets, at a wavelength of 780 nm, pass through the objective and null so that the rays are normally incident on the parabolic PM surface. After reflecting off the PM, both the ADM and interferometer beams return to their respective instruments on nearly the same path. A fifth beamlet, acting as a differential reference, reflects off a ring mirror attached to the objective and null and returns to the ADM. The spacings between the ring mirror, objective, and null are known through manufacturing tolerances as well as through an in situ null wavefront alignment of the interferometer test beam with a reflective hologram located near the caustic of the null. Since total path length between the ring mirror and PM segments is highly deterministic, any ADM-measured departures from the predicted path length can be attributed to either spacing error or radius error in the PM. It is estimated that the path length measurement between the ring mirror and a PM segment is accurate to better than 100 m. The unique features of this invention include the differential distance measuring capability and its integration into an existing cryogenic and vacuum compatible interferometric optical test.

Merle, Cormic↗
NASA NTRS2019

Overview of Heatshield for Extreme Entry Environment Technology (HEEET)

The objective of the Heatshield for Extreme Entry Environment Technology (HEEET) projects is to mature a 3-D Woven Thermal Protection System (TPS) to Technical Readiness Level (TRL) 6 to support future NASA missions to destinations such as Venus and Saturn. Destinations that have extreme entry environments with heat fluxes > 3500 W/cm2 and pressures up to 5 atmospheres, entry environments that NASA has not flown since Pioneer-Venus and Galileo. The scope of the project is broad and can be split into roughly four areas, Manufacturing/Integration, Structural Testing and Analysis, Thermal Testing and Analysis and Documentation. Manufacturing/Integration covers from raw materials, piece part fabrication to final integration on a 1-meter base diameter 45-degree sphere cone Engineering Test Unit (ETU). A key aspect of the project was to transfer as much of the manufacturing technology to industry in preparation to support future mission infusion. The forming, infusion and machining approaches were transferred to Fiber Materials Inc. and FMI then fabricated the piece parts from which the ETU was manufactured. The base 3D-woven material consists of a dual layer weave with a high-density outer layer to manage recession in the system and a lower density, lower thermal conductivity inner layer to manage the heat load. At the start of the project it was understood that due to weaving limitations the heat shield was going to be manufactured from a series of tiles. And it was recognized that the development of a seam solution that met the structural and thermal requirements of the system was going to be the most challenging aspect of the project. It was also recognized that the seam design would drive the final integration approach and therefore the integration of the ETU was kept in-house within NASA. A final seam concept has been successfully developed and implemented on the ETU. The structural testing and analysis covers from characterization of the different layers of the infused material as functions of weave direction and temperature to sub-component level testing such as 4pt bend testing at sub-ambient and elevated temperature and culminates in testing of the ETU results from which will validate the structural models developed using the element and sub-component level tests. Given the seam has to perform both structurally and aerothermally during entry a novel 4pt bend test fixture was developed allowing articles to be tested while the front surface is heated with a laser. These tests are being utilized to establish the systems structural capability during entry.A broad range of aerothermal tests (arcjet tests) were performed to develop material response models for predicting the required TPS thickness to meet a missions needs and to evaluate failure modes and establish the capability of the system. The final aspect of the project is to develop a comprehensive Design and Data Book such that a future mission will have the information necessary to adopt the technology. This presentation will provide an overview for each of these areas and argue that HEEET has successfully achieved TRL 6.

HEEET↗
NASA NTRS2018

Overview of Heatshield for Extreme Entry Environment Technology (HEEET) Project

The objective of the Heatshield for Extreme Entry Environment Technology (HEEET) projects is to mature a 3-D Woven Thermal Protection System (TPS) to Technical Readiness Level (TRL) 6 to support future NASA missions to destinations such as Venus and Saturn. Destinations that have extreme entry environments with heat fluxes up to 5000 watts per square centimeter and pressures up to 5 atmospheres, entry environments that NASA has not flown since Pioneer-Venus and Galileo. The scope of the project is broad and can be split into roughly four areas, Manufacturing/Integration, Structural Testing and Analysis, Thermal Testing and Analysis and Documentation. Manufactruing/Integration covers from raw materials, piece part fabrication to final integration on a 1-meter base diameter 45-degree sphere cone Engineering Test Unit (ETU). A key aspect of the project was to transfer as much of the manufacturing technology to industry in preparation to support future mission infusion. The forming, infusion and machining approaches were transferred to Fiber Materials Inc. and FMI then fabricated the piece parts from which the ETU was manufactured. The base 3D-woven material consists of a dual layer weave with a high density outer layer to manage recession in the system and a lower density, lower thermal conductivity inner layer to manage the heat load. At the start of the project it was understood that due to weaving limitations the heat shield was going to be manufactured from a series of tiles. And it was recognized that the development of a seam solution that met the structural and thermal requirements of the system was going to be the most challenging aspect of the project. It was also recognized that the seam design would drive the final integration approach and therefore the integration of the ETU was kept in-house within NASA. A final seam concept has been successfully developed and implemented on the ETU and will be discussed. The structural testing and analysis covers from characterization of the different layers of the infused material as functions of weave direction and temperature, to sub-component level testing such as 4-pt bend testing at sub-ambient and elevated temperature. ETU test results are used to validate the structural models developed using the element and sub-component level tests. Given the seam has to perform both structurally and aerothermally during entry a novel 4-pt bend test fixture was developed allowing articles to be tested while the front surface is heated with a laser. These tests are intended to establish the system's structural capability during entry. A broad range of aerothermal tests (arcjet tests) are being performed to develop material response models for predicting the required TPS thickness to meet a mission's needs and to evaluate failure modes. These tests establish the capability of the system and assure robustness of the system during entry. The final aspect of the project is to develop a comprehensive Design and Data Book such that a future mission will have the information necessary to adopt the technology. This presentation will provide an overview and status of the project and describe the status of the tehnology maturation level for the inner and outer planet as well as earth entry sample return missions.

Ellerby, Don↗
NASA NTRS1998

Planetesimal Formation in the Protoplanetary Nebula

In this talk we will address two distinct phases of planetesimal formation, each of which is fundamentally dependent upon the coupled interactions of particles and turbulent nebula gas. It has been shown both numerically and experimentally that 3-D (three dimensional) turbulence concentrates aerodynamically size-selected particles by orders of magnitude. In a previous review chapter we illustrated the initial predictions of Turbulent Concentration (TC) as applied to the solar nebula. We predicted the particle size which will be most effectively concentrated by turbulence; it is the particle which has a gas drag stopping time equal to the overturn time of the smallest (Kolmogorov scale) eddy. The primary uncertainty is the level of nebula turbulence, or Reynolds number Re, which can be expressed in terms of the standard nebula eddy viscosity parameter alpha = Rev(sub m)/cH, where v(sub m) is molecular viscosity, c is sound speed, and H is vertical scale height. Several studies, and observed lifetimes of circumstellar disks, have suggested that the level of nebula turbulence can be described by alpha = 10(exp -2) - 10(exp -4). There is some recent concern about how energy is provided to maintain this turbulence, but the issue remains open. We adopt a canonical minimum mass nebula with a range of alpha is greater than 0. We originally showed that chondrule-sized particles are selected for concentration in the terrestrial planet region if alpha = 10(exp -3) - 10(exp -4). In addition, Paque and Cuzzi found that the size distribution of chondrules is an excellent match for theoretical predictions. One then asks by what concentration factor C these particles can be concentrated; our early numerical results indicated an increase of C with alpha, and were supported by simple scaling arguments, but the extrapolation range was quite large and the predictions (C is approximately equal to 10(exp 5) - 10(exp 6) not unlikely) uncertain. The work presented here, which makes use of our recent demonstration that the particle density field is a multifractal with flow-independent properties provides a far more secure ground for such predictions. We also indicate how fine-grained dust rims on chondrules might enter into constraining the situation. Once large particles (meter-size mass equivalent) reach the midplane, perhaps in the form of dense aggregates of the sort formed in 3D turbulence, they remain stable against gravitational instability but might grow rapidly by accretion of their drifting neighbors, depending on the level of global turbulence.

Cuzzi, Jeffrey N.↗
NASA NTRS2012

Metrology of Large Parts

As discussed in the first chapter of this book, there are many different methods to measure a part using optical technology. Chapter 2 discussed the use of machine vision to measure macroscopic features such as length and position, which was extended to the use of interferometry as a linear measurement tool in chapter 3, and laser or other trackers to find the relation of key points on large parts in chapter 4. This chapter looks at measuring large parts to optical tolerances in the sub-micron range using interferometry, ranging, and optical tools discussed in the previous chapters. The purpose of this chapter is not to discuss specific metrology tools (such as interferometers or gauges), but to describe a systems engineering approach to testing large parts. Issues such as material warpage and temperature drifts that may be insignificant when measuring a part to micron levels under a microscope, as will be discussed in later chapters, can prove to be very important when making the same measurement over a larger part. In this chapter, we will define a set of guiding principles for successfully overcoming these challenges and illustrate the application of these principles with real world examples. While these examples are drawn from specific large optical testing applications, they inform the problems associated with testing any large part to optical tolerances. Manufacturing today relies on micrometer level part performance. Fields such as energy and transportation are demanding higher tolerances to provide increased efficiencies and fuel savings. By looking at how the optics industry approaches sub-micrometer metrology, one can gain a better understanding of the metrology challenges for any larger part specified to micrometer tolerances. Testing large parts, whether optical components or precision structures, to optical tolerances is just like testing small parts, only harder. Identical with what one does for small parts, a metrologist tests large parts and optics in particular to quantify their mechanical properties (such as dimensions, mass, etc); their optical prescription or design (i.e. radius of curvature, conic constant, vertex location, size); and their full part shape. And, just as with small parts, a metrologist accomplishes these tests using distance measuring instruments such as tape measures, inside micrometers, coordinate measuring machines, distance measuring interferometers; angle measuring instruments such as theodolites, autocollimators; and surface measuring instruments including interferometers, stylus profilers, interference microscopes, photogrammetric cameras, or other tools. However, while the methodology may be similar, it is more difficult to test a large object for the simple reason that most metrologists do not have the necessary intuition. The skills used to test small parts or optics in a laboratory do not extrapolate to testing large parts in an industrial setting any more than a backyard gardener might successfully operate a farm. But first, what is a large part? A simple definition might be the part's size or diameter. For optics and diffuse surface parts alike, the driving constraint is ability to illuminate the part's surface. For reflective convex mirrors, large is typically anything greater than 1 meter. But, for refractive optics, flats or convex mirrors, large is typically greater than 0.5 meter. While a size definition is simple, it may be less than universal. A more nuanced definition might be that a large part is any component which cannot be easily tested in a standard laboratory environment, on a standard vibration isolated table using standard laboratory infrastructure. A micro-switch or a precision lens might be easily measured to nanometer levels under a microscope in a lab, but a power turbine spline or a larger telescope mirror will not fit under that microscope and may not even fit on the table.

Stahl, H. Philip↗
NASA NTRS1993

Composition and Maturity of Apollo 16 Regolith Core 60013/14

Samples from every half-centimeter dissection interval of double drive tube 60013/14 (sections 60013 and 60014) were analyzed by magnetic techniques for Fe concentration and surface maturity parameter I(sub s)/ Fe(O), and by neutron activation for concentrations of 25 lithophile and siderophile elements. Core 60013/14 is one of three regolith cores taken in a triangular array 40-50 m apart on the Cayley plains during Apollo 16 mission to the Moon. The core can be divided into three zones based both on I(sub s)/FeO and composition. Unit A (0-44 cm depth) is compositionally similar to other soils from the surface of the central region of the site and is mature throughout, although maturity decreases with depth. Unit B (44-59 cm) is submature and compositionally more feldspathic than Unit A. Regions of lowest maturity in Unit B are characterized by lower Sm/Sc ratios than any soil obtained from the Cayley plains as a result of some unidentified lithologic component with low surface maturity. The component is probably some type of mafic anorthosite that does not occur in such high abundance in any of the other returned soils. Unit C (59-62 cm) is more mature than Unit B and compositionally equivalent to an 87: 13 mixture of soil such as that from Unit A and plagioclase such as found in ferroan anorthosite. Similar soils, but containing greater abundances of anorthosite (plagioclase), are found at depth in the other two cores of the array. These units of immature to submature soil enriched to varying degrees (compared to the mature surface soil) in ferroan anorthosite consisting of approx. 99% plagioclase are the only compositionally distinct subsurface similarities among the three cores. Each of the cores contains other units that are compositionally dissimilar to any soil unit in the other two cores. These compositionally distinct units probably derive from local subsurface blocks deposited by the event(s) that formed the Cayley plains. The ferroan anorthosite with approx. 99% plagioclase, however, must represent some subsurface lithology that is significant on the scale of tens of meters. The compositional uniformity of the surface soil (0-10 cm depth) over distances of kilometers reflects the large-scale uniformity of the plains deposits; the fine- structure reflects small-scale nonuniformity and the inefficiency of the impact-mixing process at depths as shallow as even one meter.

Korotev, Randy T.↗
NASA NTRS2007

Photogrammetric Metrology for the James Webb Space Telescope Integrated Science Instrument Module

The James Webb Space Telescope (JWST) is a 6.6m diameter, segmented, deployable telescope for cryogenic IR space astronomy (approximately 40K). The JWST Observatory architecture includes the Optical Telescope Element and the Integrated Science Instrument Module (ISIM) element that contains four science instruments (SI) including a Guider. The ISM optical metering structure is a roughly 2.2x1.7x2.2m, asymmetric frame that is composed of carbon fiber and resin tubes bonded to invar end fittings and composite gussets and clips. The structure supports the SIs, isolates the SIs from the OTE, and supports thermal and electrical subsystems. The structure is attached to the OTE structure via strut-like kinematic mounts. The ISIM structure must meet its requirements at the approximately 40K cryogenic operating temperature. The SIs are aligned to the structure's coordinate system under ambient, clean room conditions using laser tracker and theodolite metrology. The ISIM structure is thermally cycled for stress relief and in order to measure temperature-induced mechanical, structural changes. These ambient-to-cryogenic changes in the alignment of SI and OTE-related interfaces are an important component in the JWST Observatory alignment plan and must be verified. We report on the planning for and preliminary testing of a cryogenic metrology system for ISIM based on photogrammetry. Photogrammetry is the measurement of the location of custom targets via triangulation using images obtained at a suite of digital camera locations and orientations. We describe metrology system requirements, plans, and ambient photogrammetric measurements of a mock-up of the ISIM structure to design targeting and obtain resolution estimates. We compare these measurements with those taken from a well known ambient metrology system, namely, the Leica laser tracker system. We also describe the data reduction algorithm planned to interpret cryogenic data from the Flight structure. Photogrammetry was selected from an informal trade study of cryogenic metrology systems because its resolution meets sub-allocations to ISIM alignment requirements and it is a non-contact method that can in principle measure six degrees of freedom changes in target location. In addition, photogrammetry targets can be readily related to targets used for ambient surveys of the structure. By thermally isolating the photogrammetry camera during testing, metrology can be performed in situ during thermal cycling. Photogrammetry also has a small but significant cryogenic heritage in astronomical instrumentation metrology. It was used to validate the displacement/deformation predictions of the reflectors and the feed horns during thermal/vacuum testing (90K) for the Microwave Anisotropy Probe (MAP). It also was used during thermal vacuum testing (100K) to verify shape and component alignment at operational temperature of the High Gain Antenna for New Horizons. With tighter alignment requirements and lower operating temperatures than the aforementioned observatories, ISIM presents new challenges in the development of this metrology system.

Nowak, Maria↗
NASA NTRS1993

Composition and maturity of the 60013/14 core

The 60013/14 double drive tube (62 cm deep) is one of three regolith cores taken 35-40 m apart in a triangular array on the Cayley plains at station 10' (LM/ALSEP), Apollo 16. This trio, which includes double drive tube 60009/10 (59 cm deep) and deep drill core 60001-7 (220 cm), is the only such array of cores returned from the Moon. The top 45 cm of 60013/14 is mature, as is surface reference soil 60601 taken nearby. Maturity generally decreases with depth, with soil below 45 cm being submature. The zone of lowest maturity (34 is less than or equal to I(sub s)/FeO is less than 50) extends from 46 to 58 cm depth, and corresponds to the distinct region of light-colored soil observed during core processing. In the other two cores, most of the compositional variation results from mixing between fine-grained, mature soil with 10-11 micro-g/g Sc and coarse-grained ferroan anorthosite consisting of greater than 99% plagioclase with less than 0.5 micro-g/g Sc. This is most evident in 60009/10 which contains a high abundance of plagioclase at about 54 cm depth (minimum Sc: 3-4 micro-g/g); a similar zone occurs in 60001-7 at 17-22 cm (MPU-C), although it is not as rich in plagioclase (minimum Sc: 6-7 micro-g/g). Compositional variations are less in 60013/14 than in the other two cores (range: 7.9-10.0 micro-g/g Sc), but are generally consistent with the 'plagioclase dilution' effect seen in 60009/10, i.e., most 60013/14 samples plot along the mixing line of 60009/10. However, a plagioclase component is not the cause of the lower maturity and lighter color of the unit at 46-58 cm depth in 60013/14. Many of the samples in this zone have distinctly lower Sm/Sc ratios than typical LM-area soils and plot off the mixing trend defined by 60009/10. This requires a component with moderately high Sc, but low-Sm/Sc, such as feldspathic fragmental breccia (FFB) or granulitic breccia. A component of Descartes regolith, such as occurs at North Ray Crater (NRC) and which is rich in FFB, could account for the composition of these soils (i.e., a 3:1 mixture of 60601 and NRC soil). It seems unlikely that NRC ejecta would occur half a meter deep at the LM station, thus this low-Sm/Sc component may result from an older, local crater that penetrated the Cayley surface layer and excavated underlying Descartes material, as did North Ray Crater. There is no evidence for such a unit or component in the other two cores. Soil below the light-colored unit (58-62) cm has 'typical' Sm/Sc ratios, but the lowest absolute Sc concentrations, i.e., it is compositionally equivalent to a mixture of surface soil and plagioclase such as that in ferroan anorthosite. This is the only soil that might be related to the plagioclase-rich units in the other two cores. Except for the mature soil at the top of each core and, perhaps, the plagioclase-rich layers, there is little compositional evidence for any common unit among the three cores. Soil corresponding to the mare-glass-bearing unit (MPU-B) and regolith-breccia-bearing unit (MPU-A) of 60001-7 do not occur in 60013/14 or 60009/10.

Korotev, Randy L.↗
NASA NTRS2015

Turbulent Concentration of mm-Size Particles in the Protoplanetary Nebula: Scale-Dependent Cascades

The initial accretion of primitive bodies (here, asteroids in particular) from freely-floating nebula particles remains problematic. Traditional growth-by-sticking models encounter a formidable "meter-size barrier" (or even a mm-to-cm-size barrier) in turbulent nebulae, making the preconditions for so-called "streaming instabilities" difficult to achieve even for so-called "lucky" particles. Even if growth by sticking could somehow breach the meter size barrier, turbulent nebulae present further obstacles through the 1-10km size range. On the other hand, nonturbulent nebulae form large asteroids too quickly to explain long spreads in formation times, or the dearth of melted asteroids. Theoretical understanding of nebula turbulence is itself in flux; recent models of MRI (magnetically-driven) turbulence favor low-or- no-turbulence environments, but purely hydrodynamic turbulence is making a comeback, with two recently discovered mechanisms generating robust turbulence which do not rely on magnetic fields at all. An important clue regarding planetesimal formation is an apparent 100km diameter peak in the pre-depletion, pre-erosion mass distribution of asteroids; scenarios leading directly from independent nebula particulates to large objects of this size, which avoid the problematic m-km size range, could be called "leapfrog" scenarios. The leapfrog scenario we have studied in detail involves formation of dense clumps of aerodynamically selected, typically mm-size particles in turbulence, which can under certain conditions shrink inexorably on 100-1000 orbit timescales and form 10-100km diameter sandpile planetesimals. There is evidence that at least the ordinary chondrite parent bodies were initially composed entirely of a homogeneous mix of such particles. Thus, while they are arcane, turbulent concentration models acting directly on chondrule size particles are worthy of deeper study. The typical sizes of planetesimals and the rate of their formation can be estimated using a statistical model with properties inferred from large numerical simulations of turbulence. Nebula turbulence is described by its Reynolds number Re = (L/eta)(exp 4/3), where L = H alpha(exp 1/2) is the largest eddy scale, H is the nebula gas vertical scale height, alpha the turbulent viscosity parameter, and eta is the Kolmogorov or smallest scale in turbulence (typically about 1km), with eddy turnover time t(sub eta). In the nebula, Re is far larger than any numerical simulation can handle, so some physical arguments are needed to extend the results of numerical simulations to nebula conditions. In this paper, we report new physics to be incorporated into our statistical models.

mm-size particles↗
NASA NTRS2011

Lunar Wormbot: Design and Development of a Ground Base Robotic Tunneling Worm for Operation in Harsh Environments

From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the project to ensure a high quality product that met requirements within the academic year timeframe. When the transition from the NASA NSSTC team to the UAH team occurred in August 2010, the scope and requirements were provided to the UAH team. The main objective for the UAH team was to design and fabricate a robotic burrowing prototype using peristaltic or earthworm-like motion with the purpose of collecting soil samples. The team was tasked with the design of a sub-system of the LW called the locomotive, or active, segment. Through the design process, the team extensively reviewed the requirements and functions to be performed of the LW, which led to the proposal of a final design. The present paper provides the details of the development of the design up to and including the Critical Design Review (CDR) of the Lunar Wormbot. This document briefly describes thc overall system and its function but primarily focuses on the design and implementation of the locomotive segment. Content presented includes: general design and system functionality, technical drawings, system analysis, manufacturing methods, and general project costs.

Boyles, Charles↗