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Design and Field Test of a Mass Efficient Crane for Lunar Payload Handling and Inspection: The Lunar Surface Manipulation System
Devices for lifting, translating and precisely placing payloads are critical for efficient Earthbased construction operations. Both recent and past studies have demonstrated that devices with similar functionality will be needed to support lunar outpost operations. Lunar payloads include: a) prepackaged hardware and supplies which must be unloaded from landers and then accurately located at their operational site, b) sensor packages used for periodic inspection of landers, habitat surfaces, etc., and c) local materials such as regolith which require grading, excavation and placement. Although several designs have been developed for Earth based applications, these devices lack unique design characteristics necessary for transport to and use on the harsh lunar surface. These design characteristics include: a) composite components, b) compact packaging for launch, c) simple in-field reconfiguration and repair, and d) support for tele-operated or automated operations. Also, in contrast to Earth-based construction, where special purpose devices dominate a construction site, a lunar outpost will require versatile devices which provide operational benefit from initial construction through sustained operations. This paper will detail the design of a unique, high performance, versatile lifting device designed for operations on the lunar surface. The device is called the Lunar Surface Manipulation System to highlight the versatile nature of the device which supports conventional cable suspended crane operations as well as operations usually associated with a manipulator such as precise positioning where the payload is rigidly grappled by a tool attached to the tip of the device. A first generation test-bed to verify design methods and operational procedures is under development at the NASA Langley Research Center and recently completed field tests at Moses Lake Washington. The design relied on non-linear finite element analysis which is shown to correlate favorably with laboratory experiments. A key design objective, reviewed in this paper, is the device s simplicity, resulting from a focus on the minimum set of functions necessary to perform payload offload. Further development of the device has the potential for significant mass savings, with a high performance device incorporating composite elements estimated to have a mass less than 3% of the mass of the maximum lunar payload lifted at the tip. The paper will conclude with future plans for expanding the operational versatility of the device.
Generalized Software Architecture Applied to the Continuous Lunar Water Separation Process and the Lunar Greenhouse Amplifier
This innovation provides the user with autonomous on-screen monitoring, embedded computations, and tabulated output for two new processes. The software was originally written for the Continuous Lunar Water Separation Process (CLWSP), but was found to be general enough to be applicable to the Lunar Greenhouse Amplifier (LGA) as well, with minor alterations. The resultant program should have general applicability to many laboratory processes (see figure). The objective for these programs was to create a software application that would provide both autonomous monitoring and data storage, along with manual manipulation. The software also allows operators the ability to input experimental changes and comments in real time without modifying the code itself. Common process elements, such as thermocouples, pressure transducers, and relative humidity sensors, are easily incorporated into the program in various configurations, along with specialized devices such as photodiode sensors. The goal of the CLWSP research project is to design, build, and test a new method to continuously separate, capture, and quantify water from a gas stream. The application is any In-Situ Resource Utilization (ISRU) process that desires to extract or produce water from lunar or planetary regolith. The present work is aimed at circumventing current problems and ultimately producing a system capable of continuous operation at moderate temperatures that can be scaled over a large capacity range depending on the ISRU process. The goal of the LGA research project is to design, build, and test a new type of greenhouse that could be used on the moon or Mars. The LGA uses super greenhouse gases (SGGs) to absorb long-wavelength radiation, thus creating a highly efficient greenhouse at a future lunar or Mars outpost. Silica-based glass, although highly efficient at trapping heat, is heavy, fragile, and not suitable for space greenhouse applications. Plastics are much lighter and resilient, but are not efficient for absorbing longwavelength infrared radiation and therefore will lose more heat to the environment compared to glass. The LGA unit uses a transparent polymer antechamber that surrounds part of the greenhouse and encases the SGGs, thereby minimizing infrared losses through the plastic windows. With ambient temperatures at the lunar poles at 50 C, the LGA should provide a substantial enhancement to currently conceived lunar greenhouses. Positive results obtained from this project could lead to a future large-scale system capable of running autonomously on the Moon, Mars, and beyond. The software for both applications needs to run the entire units and all subprocesses; however, throughout testing, many variables and parameters need to be changed as more is learned about the system operation. The software provides the versatility to permit the software operation to change as the user requirements evolve.
Iterative optical vector-matrix processors (survey of selected achievable operations)
An iterative optical vector-matrix multiplier with a microprocessor-controlled feedback loop capable of performing a wealth of diverse operations was described. A survey and description of many of its operations demonstrates the versatility and flexibility of this class of optical processor and its use in diverse applications. General operations described include: linear difference and differential equations, linear algebraic equations, matrix equations, matrix inversion, nonlinear matrix equations, deconvolution and eigenvalue and eigenvector computations. Engineering applications being addressed for these different operations and for the IOP are: adaptive phased-array radar, time-dependent system modeling, deconvolution and optimal control.
Design and operation of a Loran-C time reference station
Some of the practical questions that arise when one decides to use Loran-C in a time reference system are explored. An extensive effort is made to provide basic, practical information on establishing and operating a reference station. Four areas were covered: (1) the design, configuration and operational concepts which should be considered prior to establishing and operating a reference station using Loran-C, (2) the options and tradeoffs available regarding capabilities, cost, size, versatility, ease of operation, etc., that are available to the designer, (3) what measurements are made, how they are made and what they mean, and (4) the experience the U.S. Naval Observatory Time Service Division has had in the design and operation of such stations.
Space station operations enhancement using tethers
Space tethers represent a tool of unusual versatility for applications to operations involving space stations. The present investigation is concerned with a number of applications which exploit the dynamic, static, and electrodynamic properties of tethers. One of the simplest applications of a tethered system on the Space Station might be that of a remote docking port, allowing the Shuttle to dock with no contamination or disturbance effects. Attention is also given to tethered platforms, a tethered microgravity facility, a tethered space station propellant facility, electrodynamic tether principles, a tether power generator, a tether thrust generator (motor), and an electrodynamic tether for drag makeup and energy storage.
A simplified ductile-brittle transition temperature tester
The construction and operation of a versatile, simplified bend tester is described. The tester is usable at temperatures from - 192 to 650 C in air. Features of the tester include a single test chamber for cryogenic or elevated temperatures, specimen alining support rollers, and either manual or motorized operation.
Control of Excitonic Energy Transfer in RGB Quantum Dot:Polymer Composites for Tunable White Emission
Tint-controlled white light is crucial for both illumination systems and display applications. Here, in this study, we demonstrate solution-processed quantum-dot light-emitting diodes (QD-LEDs) featuring a red–green–blue (RGB) QD–poly(methyl methacrylate) (PMMA) composite emissive layer (EML) for tunable white electroluminescence (EL). In this composite EML, PMMA functions as a dispersion matrix that modulates the interdot spacing (d), thereby controlling Förster resonance energy transfer (FRET) between QDs. By adjustment of the PMMA content, the balance of R, G, and B emissions is controlled, enabling systematic and continuous tuning of the EL color from greenish to reddish white at a fixed RGB ratio and constant driving bias. Time-resolved photoluminescence measurements confirm that the variation in the exciton lifetime with the PMMA fraction is the primary factor for tuning the EL color. Notably, nearly pure white EL with CIE coordinates close to (0.33, 0.33) is achieved using a diluted PMMA matrix without significant degradation of the electrical properties. Our results demonstrate d as an independent design parameter for decoupling color tuning from RGB composition and electrical operation, providing a versatile design framework for high-quality white- or tint-controlled QD-LEDs toward advanced solid-state lighting and display technologies.
Nuclear rocketry - confidence substantiated.
Reactor tests show that nuclear rockets can be made available for post-Apollo missions, noting operational and mission versatility
A method for precision measurement of synchronization errors in tracking-station clocks
Tracking station clock synchronization error measurement using Deep Space Network Mark I ranging system, discussing system theory, design, operation, economy and versatility
Superfluid Helium Experiment for Spacelab 2
The Superfluid Helium Experiment is designed to study the properties of superfluid helium in zero gravity and demonstrate the operation of a versatile reusable superfluid helium experiment facility. The superfluid experiment will consist of three subexperiments. The quantized surface wave experiment is intended to contribute to an understanding of the quantum nature of He-2 and the interactions between the normal and superfluid components. The bulk fluid dynamics experiment will determine the response of the bulk helium to known accelerations. The thermal dynamics experiment will attempt to obtain a detailed understanding of the spatial distribution of temperatures and the thermal frequency spectrum in the bulk liquid. In addition, the superfluid helium cryostat will be instrumented to measure its performance in several critical areas.
Cordless Instruments
Black & Decker's new cordless lightweight battery powered precision instruments, adapted from NASA's Apollo Lunar Landing program, have been designed to give surgeons optimum freedom and versatility in the operating room. Orthopedic instrument line includes a drill, a driver/reamer and a sagittal saw. All provide up to 20 minutes on a single charge. Power pack is the instrument's handle which is removable for recharging. Microprocessor controlled recharging unit can recharge two power packs together in 30 minutes. Instruments can be gas sterilized, steam-sterilized in an autoclave or immersed for easy cleaning.
The VAX/VMS device driver and user operation program for the Midwestern Astronomical Data Reduction and Analysis Facility PDS microdensitometer
The Midwestern astronomical data reduction and analysis facility (MADRAF) PDS microdensitometer which was the first astronomical PDS which was provided with a Motorola 6800 microprocessor control/interface and will be interfaced to a 32-bit instruction computer operating in a multiuser environment is outlined. Command and response handshaking are handled on an RS 232 serial line while data transfer occurs on a dedicated Direct Memory Access line. This set of conditions necessitated the creation of a specialized device for the system. The general outline of this software is discussed. The availability of an extraordinarily powerful computer opened the possibility of a user operating program of great versatility with diverse data destinations and formats, automatic documentation, and an extensive set of utilities which facilitate operations.
Temperature Oscillations in Loop Heat Pipe Operation
Loop heat pipes (LHPs) are versatile two-phase heat transfer devices that have gained increasing acceptance for space and terrestrial applications. The operating temperature of an LHP is a function of its operating conditions. The LHP usually reaches a steady operating temperature for a given heat load and sink temperature. The operating temperature will change when the heat load and/or the sink temperature changes, but eventually reaches another steady state in most cases. Under certain conditions, however, the loop operating temperature never really reaches a true steady state, but instead becomes oscillatory. This paper discusses the temperature oscillation phenomenon using test data from a miniature LHP.
Recent Developments in the Design, Capabilities and Autonomous Operations of a Lightweight Surface Manipulation System and Test-bed
The first generation of a versatile high performance device for performing payload handling and assembly operations on planetary surfaces, the Lightweight Surface Manipulation System (LSMS), has been designed and built. Over the course of its development, conventional crane type payload handling configurations and operations have been successfully demonstrated and the range of motion, types of operations and the versatility greatly expanded. This enhanced set of 1st generation LSMS hardware is now serving as a laboratory test-bed allowing the continuing development of end effectors, operational techniques and remotely controlled and automated operations. This paper describes the most recent LSMS and test-bed development activities, that have focused on two major efforts. The first effort was to complete a preliminary design of the 2nd generation LSMS that has the capability for limited mobility and can reposition itself between lander decks, mobility chassis, and fixed base locations. A major portion of this effort involved conducting a study to establish the feasibility of, and define, the specifications for a lightweight cable-drive waist joint. The second effort was to continue expanding the versatility and autonomy of large planetary surface manipulators using the 1st generation LSMS as a test-bed. This has been accomplished by increasing manipulator capabilities and efficiencies through both design changes and tool and end effector development. A software development effort has expanded the operational capabilities of the LSMS test-bed to include; autonomous operations based on stored paths, use of a vision system for target acquisition and tracking, and remote command and control over a communications bridge.
LANDO: Developing Autonomous Payload Offloading Capabilities for Lunar Surface Operations
Introduction: The Lightweight Surface Manipulation System (LSMS) AutoNomy capabilities Development for surface Operations and construction (LANDO) project is an Early Career Initiative selected for funding by NASA Space Technology Mission Directorate. LANDO is developing a general-purpose autonomy framework applicable to serial and tension-actuated manipulation agents, that will be validated using an existing prototype of the LSMS-L35 (35-kg wrist lift capacity on the lunar surface [Fig. 1], sized for a Commercial Lunar Pay-load Services (CLPS) mission). The autonomous LSMS-L35 will be used to demonstrate autonomous payload handling capabilities for Lunar and other planetary surfaces, directly addressing STMD capability gaps in autonomous excavation and construction operations, advanced robotics and spacecraft autonomy technologies, and technologies supporting emerging space industries including the In-Space Servicing, Assembly and Manufacturing national strategy. LSMS: The LSMS is a tension actuated robotic agent that is scalable (reach and lifting capacity in different gravity environments), versatile (types of surface operations), and reusable. Compared to serial arms, the LSMS provides significantly higher structural efficiency and mechanical advantage, enabling a greater payload lift capacity at a lower system mass. The LSMS is envisioned to be a crucial part of the excavation and construction portfolio, capable of supporting a variety of activities on the lunar surface. Autonomous payload handling is one of the first activities the LSMS can support that develops capabilities that are extensible to other surface operations. Payload handling is required to: remove payloads from a lander; place payloads on mobile agents for transport from a lander to construction site/assembly point; emplace payloads in their operational configuration, and aggregate components to create an asset. As an example of this critical gap, manifested CLPS missions do not currently have a ubiquitous payload offloading capability; payloads (excluding rovers) are designed to remain on the lander. Why Autonomy? Autonomous robotic systems capable of carrying out excavation and construction operations are a fundamental and critical capability required for realizing the NASA Artemis program vision to “emplace and build the infrastructure, systems, and robotic missions that can enable a sustained lunar surface presence.” While teleoperation is still feasible for lunar surface operations, increased latency at Mars will require validated supervised autonomous technologies capable of operating with minimal human involvement (human-on-the-loop) unless an unexpected event occurs requiring human intervention. Autonomy reduces operator burden, allows operations to continue during uncrewed periods, in-creases the safety of operations by automatically detecting and handling faults, and allows operating in high latency environments. Development Activities: LANDO is extending critical autonomous operations to the manipulation domain and creating an integrated system, based on reusable software modules, that is capable of planning and executing payload handling and autonomous surface operations without requiring hu-man intervention beyond a supervisory role. The priority features under development are 1) autonomously offload payloads from a tilted lander deck without buckling the LSMS; 2) sensing whether a payload is safe to lift and handle; and 3) integrate with Astrobotic’s CLPS lander. The poster presentation will highlight current development activities over the past year on LSMS-L35 prototype hard-ware design, and autonomy software.
Acousto-optic tunable filter multispectral imaging system
This paper discusses recent activities of Jet Propulsion Laboratory in the development of a new type of remote sensing multispectral imaging instruments using acousto-optic tunable filter (AOTF) as programmable bandpass filter. This remote sensor provides real-time operation; observational flexibility; measurements of spectral, spatial, and polarization information using a single instrument; and compact, solid state structure without moving parts. Two microcomputer-controlled AOTF imaging spectrometer breadboard systems were designed and built. One operates in the wavelength range of 0.48-0.76 micron and the other in the range of 1.2-2.5 micron. Experiments were performed using these two systems to observe geological and botanical objects in laboratory and outdoor environment. Results have demonstrated the feasibility of using the AOTF multispectral imaging system as a real-time versatile remote sensor with operational flexibility for future Army tactical applications.
Versatile analog pulse height computer performs real-time arithmetic operations
Multipurpose analog pulse height computer performs real-time arithmetic operations on relatively fast pulses. This computer can be used for identification of charged particles, pulse shape discrimination, division of signals from position sensitive detectors, and other on-line data reduction techniques.