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NASA NTRSDate not supplied

Titan Turtle: NIAC Phase II Design for a Submersible Vehicle for Titan Exploration

Conceptual designs for a submersible vehicle for exploration of the hydrocarbon seas of Saturn’s moon Titan were done by the NASA Glenn COMPASS systems engineering team, as part of the NASA’s Innovative Advanced Concepts (NIAC) program. The efforts investigated what approaches and technologies would allow exploration below the surface of the low temperature (–180 °C) hydrocarbon seas of Titan. The Phase-II design refined the design concepts, looking at a smaller design supported by an orbital relay, the “Titan Turtle”. The phase-II project resulted in a smaller vehicle using an orbiter supported relay/navigation link to eliminate the requirement for a large phased-array antenna. Eliminating the DTE communications requirement also reduced the associated high power required by the communications system.

Lunar and Planetary Scientific Exploration↗
NASA NTRS2015

Underwater Multi-Node Radio Communication Solutions for Planetary Exploration

The exploration of the presumably life harboring subsurface ocean of Europa will provide scientists with extensive new knowledge in the search for extraterrestrial life. A highly miniaturized payload is required to penetrate a narrow passage through the thick ice crust covering Europa's surface. Underwater wireless communications may be the most viable means of communication for such exploratory missions, accounting for size and weight restrictions. This presents a challenge to achieve satisfactory data rates and a range that permits autonomous underwater vehicles (AUVs) to communicate within their region of operation, as well as with a surface lander or orbiter. This work presents thorough prototype experimentation on an underwater communication system established between several nodes using RF signals. During an eight-week internship experience at NASA's Ames Research Center in September-October 2014, our team developed a Europa exploration mission concept, built representative hardware, and carried out tests to assess the feasibility of key aspects of the concept. Experiments demonstrating the viability of RF communication underwater comprised inspecting the effect of depth and horizontal distance on signal strength as well as the optimum positioning of antennas. To test the system's performance, two submersibles were designed and built. A commercially available remotely operated vehicle (ROV) was also modified and used as a main communication node. The two submersibles were wirelessly connected and accommodated sensors capable of characterizing water properties and equipped with 2.4 GHz, 1 mW transceivers to communicate the measured data. The communication procedure is that the main communication node requests the collected data from the two submersibles when in range and receives it instantly through RF. This work models what may take place during an actual mission to Europa. The developed mission concept involved a hybrid communication system consisting of acoustic and RF signals to enhance the capability of the nodes to communicate over greater distances. The AUVs will need to avoid obstacles and maneuver around to collect data based on predefined algorithms. Thus, they will be provided with two positioning systems; the inertial navigation system, backed with an acoustic positioning system to mitigate drift. The AUVs divide the ocean into planes and explore along circular paths increasing in diameter with depth. Moreover, they make use of miniaturized sensors to map the surrounding environment. In this paper, the ROV and the submersibles are described, along with sections explaining the mechanism of communication and the testing procedures conducted to yield results.

Europa↗
NASA NTRS2016

CubeSub

This presentation introduces and discusses the development of the CubeSub submersible concept, an Autonomous Underwater Vehicle (AUV) designed around the CubeSat satellite form factor. The presented work is part of the author's MSc thesis in Aerospace Engineering at the Royal Institute of Technology, Stockholm, Sweden, and was performed during an internship at the Mission Design Division of the NASA Ames Research Center, Moffett Field, CA. Still in the early stages of its development, the CubeSub is to become a submersible test-bed for technology qualified for underwater and space environments. With the long-term goal of exploring the underwater environments in outer space, such as the alleged subsurface ocean of Jupiter's moon Europa, a number of technology and operational procedures must be developed and matured. To assist in this, the CubeSub platform is introduced as a tool to allow engineers and scientists to easily test qualified technology underwater. A CubeSat is a class of miniaturized satellite built to a standardized size. The base size is 1U (U for unit), corresponding to a 100 x 100 x 113.5 cu mm cube. A 1U CubeSat can in other words easily be held in one hand. Stacking units give larger satellite sizes such as the also commonly used 1.5U, 2U and 3U. The CubeSat standard is in itself already well established and hundreds of CubeSats have to date been launched into space. Compatible technology is readily available and the know-how exists in the space industry, all of which makes it a firm ground to stand on for the CubeSub. The rationale behind using the CubeSat form factor is to make use of this pre-existing foundation, making the CubeSub easy to develop, modular and readily available. It will thereby aid in the process of maturing the concept of a fully space qualified submersible headed for outer space. As a further clarification, the CubeSub is itself not meant for outer space, but to facilitate development of such a vessel. Along with its uses as a testbed, the CubeSub also holds the potential to become a useful tool for exploration and experimentation here on Earth. A highly standardized system utilizing well-known hardware can reduce the cost and required work load for researchers wishing to perform experiments and exploration. Users could design sensors and experiments to comply with the already well established CubeSat standard, which are then carried by the CubeSub to the region of interest. This in turn means that the end users can focus more on formulating the experiment itself and less about how to get it where they want it. The CubeSub is designed to be built up by modules, which can be assembled in different configurations to fulfill different needs. Each module will be powered individually and intermodular communication will be wireless, removing the need for wiring. The inside of the cylindrical hull will be flooded with ambient water to enhance the interaction between payloads and surrounding environment. The overall torpedo-like shape is similar to that of a conventional AUV, slender and smooth. This is to make for a low drag, reduce the risk of snagging on surrounding objects and make it possible to deploy through an ice sheet via a narrow borehole or navigate in tight areas. To keep costs low and further accelerate development, rapid prototyping is utilized wherever possible. Full-scale prototypes are being constructed through 3D-printing and using COTS (Commercial Off-The-Shelf) components. 3D-printing is used both for the largest hull components and the relatively small and delicate propellers. Arduino boards are used for control and internal communication

AUV↗
NASA NTRS1975

An underwater work systems package

A modular unit which is adaptable to several existing deep sea submersibles was developed to extend their working abilities and acquire knowledge of components and techniques for working in the deep sea environment. This work systems package is composed of an aluminum pipe structure on which are mounted two six-function grabber arms, a seven function manipulator, tool suit, 1,000/lb. capacity winch, electrohydraulic power supply, electronics housing, lights, and television. The unit is designed to be operated by itself either remotely or with divers, attached to manned submersibles, or mounted on unmanned cable-controlled submersibles.

Estabrook, N. B.↗
NASA NTRS1997

The Effects of Acid Passivation, Tricresyl Phosphate Pre-Soak, and UV/Ozone Treatment on the Tribology of Perfluoropolyether-Lubricated 440C Stainless Steel Couples

The boundary-lubrication performance of perfluoropolyether (PFPE) thin films in the presence of passivated 440 C stainless steel is presented. The study utilized a standard ball-on-disc tribometer. Stainless steel surfaces were passivated with one of four techniques: 1) submersion in a chromic acid bath for 30 minutes at 46 C, 2) submersion in a chromic acid bath for 60 minutes at 56 C, 3) submersion in a tricresyl phosphate (TCP) bath for 2 days at 107 C, or 4) UV/Ozone treated for 15 minutes. After passivation, each disc had a 400 A film of PFPE (hexafluoropropene oxide) applied to it reproducibly (+/- 20%) and uniformly (+/- 15%) using a film deposition device. The lifetimes of these films were quantified by measuring the number of sliding wear cycles required to induce an increase in the friction coefficient from an initial value characteristic of the lubricated wear couple to a final, or failure value, characteristic of an unlubricated, unpassivated wear couple. The lubricated lifetime of the 440 C couple was not altered as a result of the various passivation techniques. The resulting surface chemistry of each passivation technique was examined using X-ray Photoelectron Spectroscopy (XPS). It was found that chromic acid passivation altered the Cr to Fe ratio of the surface. TCP passivation resulted in a FePO4 layer on the surface, while UV/Ozone passivation only removed the carbonaceous contamination layer. None of the passivation techniques were found to dramatically increase the oxide film thickness.

Shogrin, Bradley A.↗
NASA NTRS1996

Characterization of Anopheles darlingi (Diptera: Culicidae) larval habitats in Belize, Central America

Surveys for larvae of Anopheles darlingi Root were conducted in April, May, and August 1994 in riverine habitats of central Belize (Cayo and Belize districts). An. darlingi was present during both the dry and wet seasons. Larvae were encountered most frequently in patches of floating debris along river margins. The floating mats were often formed by bamboo hanging over the banks and dense submersed bamboo roots. Larvae were found less frequently in lake margins, small lagoons, and ground pools with submersed roots and patches of floating leaves or vegetation. In addition to their association with floating debris, larvae of An. darlingi were associated positively with shade and submersed plants in riverine environments. Samples from river habitats showed the larvae of Anopheles albimanus Wiedemann to be strongly associated with sun-exposed sites containing green or blue-green algae. Unlike An. darlingi, An. albimanus was an ubiquitous mosquito, the immatures of which occurred in a wide variety of riverine and nonriverine aquatic habitats. Based on published reports and our experience, the association of An. darlingi with river systems was verified, and its distribution in Central America and Mexico was mapped.

NASA Discipline General Space Life Sciences↗
NASA NTRS2011

Assessment of an Automated Touchdown Detection Algorithm for the Orion Crew Module

Orion Crew Module (CM) touchdown detection is critical to activating the post-landing sequence that safe?s the Reaction Control Jets (RCS), ensures that the vehicle remains upright, and establishes communication with recovery forces. In order to accommodate safe landing of an unmanned vehicle or incapacitated crew, an onboard automated detection system is required. An Orion-specific touchdown detection algorithm was developed and evaluated to differentiate landing events from in-flight events. The proposed method will be used to initiate post-landing cutting of the parachute riser lines, to prevent CM rollover, and to terminate RCS jet firing prior to submersion. The RCS jets continue to fire until touchdown to maintain proper CM orientation with respect to the flight path and to limit impact loads, but have potentially hazardous consequences if submerged while firing. The time available after impact to cut risers and initiate the CM Up-righting System (CMUS) is measured in minutes, whereas the time from touchdown to RCS jet submersion is a function of descent velocity, sea state conditions, and is often less than one second. Evaluation of the detection algorithms was performed for in-flight events (e.g. descent under chutes) using hi-fidelity rigid body analyses in the Decelerator Systems Simulation (DSS), whereas water impacts were simulated using a rigid finite element model of the Orion CM in LS-DYNA. Two touchdown detection algorithms were evaluated with various thresholds: Acceleration magnitude spike detection, and Accumulated velocity changed (over a given time window) spike detection. Data for both detection methods is acquired from an onboard Inertial Measurement Unit (IMU) sensor. The detection algorithms were tested with analytically generated in-flight and landing IMU data simulations. The acceleration spike detection proved to be faster while maintaining desired safety margin. Time to RCS jet submersion was predicted analytically across a series of simulated Orion landing conditions. This paper details the touchdown detection method chosen and the analysis used to support the decision.

Gay, Robert S.↗
NASA NTRS1977

Airphoto assessment of changes in aquatic vegetation

Large scale, multiyear, color and color infrared aerial photographs were used to evaluate changes in aquatic vegetation that have accompanied a reduction in phosphorus inputs to a phosphorus-limited, eutrophic lake in New York State. The study showed that the distribution of emergent, floating and submersed vegetation could be determined with little or no concurrent ground data; that various emergent and floating types could be separated and, with limited field checks, identified; and that different submersed types are generally not separable. Major vegetative types are characterized by spectral and nonspectral features, and a classification is developed for compiling time-sequential vegetation maps.

Markham, B. L.↗
NASA NTRS1982

LIDAR and acoustics applications to ocean productivity

The requirements for the submersible, the instrumentation necessary to perform these measurements, and the optical and acoustical technology required to develop the ocean color scanner instrumentation are described. The development of a second generation ocean color scanner produced the need for coincident in situ scientific measurements which examine the primary productivity of the upper ocean on time and space scales which are large compared to the environmental scales. The vertical and horizontal variability of the biota, including the relationship between chlorophyll and primary productivity, the productivity of zooplankton, and the dynamic interaction between phytoplankton and zooplankton, and between these populations and the physical environment are investigated. A towed submersible will be constructed which accommodates both an underwater LIDAR instrument and a multifrequency sonar.

Collins, D. J.↗
NASA NTRS1959

Hydrodynamic Characteristics of Two Low-Drag Supercavitating Hydrofoils

An experimental investigation has been conducted in Langley tank no. 2 to determine the hydrodynamic characteristics of two low-drag supercavitating hydrofoils operating in a range of cavitation numbers from 0 to approximately 6. The hydrofoils had aspect ratios of 1 and 3, and the sections were derived by assuming five terms in the vorticity-distribution expansion of the equivalent airfoil. The aspect-ratio-1 hydrofoil was also tested at zero cavitation number with two sets of end plates having depths of 3/8 and 1/4 chords. Zero cavitation number was established by operating the hydrofoils near the water surface so that complete ventilation of the upper surfaces could be obtained. For those depths of submersion where complete ventilation was not obtained through vortex ventilation, two probes were used to introduce air to the upper surfaces of the hydrofoils and to induce complete ventilation. Data were obtained for a range of speeds from 20 to 80 fps, angles of attack from 2 to 20 deg, and ratios of depth of submersion to chord from 0 to 0.85. The experimental results obtained from the aspect-ratio-1 and aspect-ratio-3, five-term hydrofoils were compared with a three-dimensional zero-cavitation-number theory. The theoretical and experimental values of lift and center of pressure for the aspect-ratio-1 hydrofoil were in agreement, within engineering accuracy, for the range of lift coefficients investigated. The theoretical drag coefficients were lower, by a constant amount, than the experimental drag coefficients. The theoretical expressions derived for the lift, drag, and center of pressure of the aspect-ratio-3 hydrofoil were in agreement, within engineering accuracy, with the experimental values. The theoretical and experimental drag coefficients of the aspect-ratio-3 five-term hydrofoil were lower than the theoretical drag coefficients computed for a comparable Tulin-Burkart hydrofoil.

McGehee, John R.↗
NASA NTRS2018

Cryogenic Parametric Characterization of Gallium Nitride Switches

This report presents the parametric characterization results of four GaN field-effect transistor (FET) devices from three manufacturers, one of which is a cascode device, and compares those results to a Si power metal-oxide-semiconductor fieldeffect transistor (MOSFET) and a SiC power MOSFET. The devices were first characterized at ambient temperature, then at cryogenic temperatures down to -196 C (LN2 temperature), and finally at ambient temperature again in the event that the device parameters were permanently affected by the cryogenic temperatures. In general, the results indicate that the GaN devices show significant improvement overall at cryogenic temperatures in the parameters characterized, such as onresistance and leakage currents, compared to the Si and SiC devices. The results show that the SiC device tested should not be used at cryogenic temperatures due to the significant increase in on-resistance. The results also show that the GaN and Si parameters characterized were either not affected by the cryogenic temperatures or changed by no more than +/-20 percent post LN2 submersion. The device that exhibited the most parametric change post LN2 submersion was the SiC power MOSFET in its leakage currents.

Gonzalez, Marcelo C.↗
NASA NTRS2020

Golden Section Search for Single Beacon Homing

Exploration of Ocean Worlds requires a new type of mission to be developed, an ice penetrating submersible vehicle. Such a mission would present a number of new challenges, including long range autonomous under ice navigation. We have developed a method based on Golden Section Search for an AUV to home to a base station with a single range-only acoustic beacon and no absolute heading measurement capabilities. We demonstrate this method in simulation to home from 10km away to within 1km. Such capabilities would be required for a submersible to explore any substantial portion of the oceans on these Ocean Worlds.

Chien, Steve↗
NASA NTRS2006

Novel Thermal Powered Technology for UUV Persistent Surveillance

Buoyancy Generation: Various technology attempts include melting a wax, which pushes directly against a piston (U.S. Patent 5,291,847) or against a bladder (Webb Research), using ammonia or Freon 21 (U.S. Patent 5,303,552), and using solar heat to expand an oil (www.space.com, April, 10, 2002). All these heat-activated buoyancy control designs have thus far proved impractical and have ultimately failed during repeated cycling in ocean testing. JPL has demonstrated fully reversible 10 C encapsulated wax phase change, which can be used to change buoyancy without electrical hydraulic pumps. This technique has greatly improved heat transfer and much better reversibility than previous designs. Power Generation: Ocean Thermal Energy Conversion (OTEC) systems have been designed that transfer deep, cold sea water to the surface to generate electricity using turbine cycles with ammonia or water as the working fluid. JPL has designed several UUV systems: 1) Using a propeller water turbine to generate power on a gliding submersible; 2) Employing a compact CO2 turbine cycle powered by moving through thermoclines; and 3) Using melted wax to directly produce power through a piston-geared generator.

submersible↗