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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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All sourcesNASA NTRSDOE OSTI
NASA NTRS1994

Biogenic nonmethane hydrocarbon emissions estimated from tethered balloon observations

A new technique for estimating surface fluxes of trace gases, the mixed-layer gradient technique, is used to calculate isoprene and terpene emissions from forests. The technique is applied to tethered balloon measurements made over the Amazon forest and a pine-oak forest in Alabama at altitudes up to 300 m. The observations were made during the dry season Amazon Boundary Layer Experiment (ABLE 2A) and the Rural Oxidants in the Southern Environment 1990 experiment (ROSE I). Results from large eddy simulations of scalar transport in the clear convective boundary layer are used to infer fluxes from the balloon profiles. Profiles from the Amazon give a mean daytime emission of 3630 +/- 1400 micrograms isoprene sq m/h, where the uncertainty represents the standard deviation of the mean of eight flux estimates. Twenty profiles from Alabama give emissions of 4470 +/- 3300 micrograms isoprene sq m/h, 1740 +/- 1060 micrograms alpha-pinene sq m/h, and 790 +/- 560 micrograms beta-pinene sq m/h, respectively. These results are in agreement with emissions derived from chemical budgets. The emissions may be overestimated because of uncertainty about how to incorporate the effects of the canopy on the mixed-layer gradients. The large variability in these emission estimates is probably due to the relatively short sampling times of the balloon profiles, though spatially heterogeneous emissions may also play a role. Fluxes derived using this technique are representative of an upwind footprint of several kilometers and are independent of hydrocarbon oxidation rate and mean advection.

Davis, K. J.↗
NASA NTRS2023

Results from InSight Robotic Arm Activities

The InSight lander carried an Instrument Deployment System (IDS) that included an Instrument Deployment Arm (IDA), scoop, five finger “claw” grapple, forearm-mounted Instrument Deployment Camera (IDC) requiring arm motion to image a target, and landermounted Instrument Context Camera (ICC), designed to image the workspace, and to place the instruments onto the surface. As originally proposed, the IDS included a previously built arm and flight spare black and white cameras and had no science objectives or requirements, or expectation to be used after instrument deployment (90 sols). During project development the detectors were upgraded to color, and it was recognized that the arm could be used to carry out a wide variety of activities that would enable both geology and physical properties investigations. During surface operations for two martian years, the IDA was used during major campaigns to image the surface around the lander, to deploy the instruments, to assist the mole in penetrating beneath the surface, to bury a portion of the seismometer tether, to clean dust from the solar arrays to increase power, and to conduct a surface geology investigation including soil mechanics and physical properties experiments. No other surface mission has engaged in such a sustained and varied campaign of arm and scoop activities directed at such a diverse suite of objectives. Images close to the surface and continuous meteorology measurements provided important constraints on the threshold friction wind speed needed to initiate aeolian saltation and surface creep. The IDA was used extensively for almost 22 months to assist the mole in penetrating into the subsurface. Soil was scraped into piles and dumped onto the seismometer tether six times in an attempt to bury the tether and ∼ 30% was entrained in the wind and dispersed downwind 1-2 m, darkening the surface. Seven solar array cleaning experiments were conducted by dumping scoops of soil from 35 cm above the lander deck during periods of high wind that dispersed the sand onto the panels that kicked dust off of the panels into suspension in the atmosphere, thereby increasing the power by ∼15% during this period. Final IDA activities included an indentation experiment that used the IDA scoop to push on the ground to measure the plastic deformation of the soil that complemented soil mechanics measurements from scoop interactions with the surface, and two experiments in which SEIS measured the tilt from the arm pressing on the ground to derive near surface elastic properties.

Mars↗
NASA NTRS1992

Downward-deployed tethered satellite systems, measurement techniques, and instrumentation - A review

This paper describes a number of scheduled and proposed Shuttle-based downward-deployed tethered satellite systems (TSSs) the purpose of which is to determine the structure of the lower thermosphere and to measure the atmospheric and aerodynamic effects in the vicinity of the satellite, the aerothermodynamic effects on the satellite's surface, and the dynamics of the tether and its endmass, the satellite. The instruments for the downward-deployed tethered missions will include mass spectrometers and other density sensors, plasma instrumentation, optical spectrophotometers, magnetometers, and instrumentation to measure the effects on satellite surface (such as the surface temperature, heat transfer, and pressure; gas adsorption on surfaces, chemistry with other gas molecules and surface material, and desorption from the surface; and surface charging).

Brown, Kenneth G.↗
NASA NTRS1975

Drogue parachute deployment dynamics of the space shuttle solid rocket booster

Theoretical analysis and experimental investigations are presented for two deployment concepts of the drogue parachute deployment for the space shuttle solid rocket booster. The analysis represents the motion of three coupled rigid bodies, with one of the bodies having variable mass and moment of inertia. The unfurling process of the parachute from the bag is idealized as the flow of a continuum out of a control surface. The pilot parachute or tethered nose cap is modeled as a flexible pendulum with a nonlinear spring and a moving support. Measured wind tunnel test data compare reasonably well with the theory.

Banerjee, A. K.↗
NASA NTRS2005

Elastic-Tether Suits for Artificial Gravity and Exercise

Body suits harnessed to systems of elastic tethers have been proposed as means of approximating the effects of normal Earth gravitation on crewmembers of spacecraft in flight to help preserve the crewmembers physical fitness. The suits could also be used on Earth to increase effective gravitational loads for purposes of athletic training. The suit according to the proposal would include numerous small tether-attachment fixtures distributed over its outer surface so as to distribute the artificial gravitational force as nearly evenly as possible over the wearer s body. Elastic tethers would be connected between these fixtures and a single attachment fixture on a main elastic tether that would be anchored to a fixture on or under a floor. This fixture might include multiple pulleys to make the effective length of the main tether great enough that normal motions of the wearer cause no more than acceptably small variations in the total artificial gravitational force. Among the problems in designing the suit would be equalizing the load in the shoulder area and keeping tethers out of the way below the knees to prevent tripping. The solution would likely include running tethers through rings on the sides. Body suits with a weight or water ballast system are also proposed for very slight spinning space-station scenarios, in which cases the proposed body suits will easily be able to provide the equivalency of a 1-G or even greater load.

Torrance, Paul↗
NASA NTRS1988

A two-dimensional theory of plasma contactor clouds used in the ionosphere with an electrodynamic tether

Plasma contactors have been proposed as a means of making good electrical contact between biased surfaces such as found at the ends of an electrodynamic tether and the space environment. A plasma contactor is a plasma source which emits a plasma cloud which facilitates the electrical connection. The physics of this plasma cloud is investigated for contactors used as electron collectors and it is shown that contactor clouds in space will consist of a spherical core possibly containing a shock wave. Outside of the core the cloud will expand anisotropically across the magnetic field leading to a turbulent cigar shape structure along the field. This outer region is itself divided into two regions by the ion response to the electric field. A two-dimensional theory of the motion of the cloud across the magnetic field is developed. The current voltage characteristic of an Argon plasma contactor cloud is estimated for several ion currents in the range of 1-100 Amperes. It is shown that small ion current contactors are more efficient than large ion current contactors. This suggests that if a plasma contactor is used on an electrodynamic tether then a miltiple tether array will be more efficient than a single tether.

Hastings, D. E.↗
NASA NTRS2000

A Subsurface Explorer for Deep Underground Exploration on Mars

A subsurface explorer (SSX) is being developed at the Jet Propulsion Laboratory which is suitable for exploration of the deep underground environments on Mars. The device is a self-contained piledriver which uses a novel 'spinning hammer' technology to convert a small continuous power feed from the surface over a two-wire tether into a large rotational energy of a spinning mass. The rotational energy is converted to translational energy by a novel mechanism described here. The hammer blows propagate as shock waves through a nosepiece, pulverizing the medium ahead of the SSX. A small portion of the pulverized medium is returned to the surface through a hole liner extending behind the SSX. This tube is 'cast in place' from two chemical feedstocks which come down from the surface through passages in the hole liner and which are reacted together to produce new material with which to produce the hole liner. The lined hole does not need to be the full diameter of the SSX: approximately 100 kilograms of liner material can create a tunnel liner with a three millimeter inside diameter and a six millimeter outside diameter with at total length of four kilometers. Thus it is expected that core samples representing an overlapping set of three-millimeter diameter cores extending the entire length of the SSX traverse could be returned to the surface. A pneumatic prototype has been built which penetrated easily to the bottom of an eight meter vertical test facility. An electric prototype is now under construction. It is expected that the SSX will be able to penetrate through sand or mixed regolith, ice, permafrost, or solid rock, such as basalt. For pure or nearly pure ice applications, the device may be augmented with hot water jets to melt the ice and stir any sediment which may build up ahead of the vehicle. It is expected that an SSX approximately one meter long, three to four centimeters in diameter, and with a power budget of approximately 200 Watts will be able to explore up to approximately five kilometers deep at the rate of about ten meters per day.

Wilcox, B. H.↗
NASA NTRS2014

Modeling and Simulation of a Tethered Harpoon for Comet Sampling

This paper describes the development of a dynamic model and simulation results of a tethered harpoon for comet sampling. This model and simulation was done in order to carry out an initial sensitivity analysis for key design parameters of the tethered system. The harpoon would contain a canister which would collect a sample of soil from a cometary surface. Both a spring ejected canister and a tethered canister are considered. To arrive in close proximity of the spacecraft at the end of its trajectory so it could be captured, the free-flying canister would need to be ejected at the right time and with the proper impulse, while the tethered canister must be recovered by properly retrieving the tether at a rate that would avoid an excessive amplitude of oscillatory behavior during the retrieval. The paper describes the model of the tether dynamics and harpoon penetration physics. The simulations indicate that, without the tether, the canister would still reach the spacecraft for collection, that the tether retrieval of the canister would be achievable with reasonable fuel consumption, and that the canister amplitude upon retrieval would be insensitive to variations in vertical velocity dispersion.

small body↗
NASA NTRS1988

Plasma contactors for use with electodynamic tethers for power generation

Plasma contactors are proposed as a means of making good electrical contact between biased surfaces such as found at the ends of an electrodynamic tether and the space environment. The plasma contactor emits a plasma cloud which facilitates the electrical connection. The physics of this plasma cloud is investigated for contactors used as electron collectors. The central question addressed is whether the electrons collected by a plasma contactor come from the far field or by ionization of local neutral gas. This question is important because the system implications are different for the two mechanisms. It is shown that contactor clouds in space will consist of a spherical core possibly containing a shock wave. Outside of the core the cloud will expand anisotropically across the magnetic field leading to a turbulent cigar shape structure along the field. This outer region is itself divided into two regions by the ion response to the electric field. A two-dimensional theory for the outer regions of the cloud is developed. The current voltage characteristic of an Argon plasma contactor cloud is estimated for several ion currents in the range of 1 to 100 Amperes. It is suggested that the major source of collected electrons comes by ionization of neutral gas while collection of electrons from the far field is relatively small.

Hastings, D. E.↗
NASA NTRS2005

Three-dimensional characterization of tethered microspheres by total internal reflection fluorescence microscopy

Tethered particle microscopy is a powerful tool to study the dynamics of DNA molecules and DNA-protein complexes in single-molecule experiments. We demonstrate that stroboscopic total internal reflection microscopy can be used to characterize the three-dimensional spatiotemporal motion of DNA-tethered particles. By calculating characteristic measures such as symmetry and time constants of the motion, well-formed tethers can be distinguished from defective ones for which the motion is dominated by aberrant surface effects. This improves the reliability of measurements on tether dynamics. For instance, in observations of protein-mediated DNA looping, loop formation is distinguished from adsorption and other nonspecific events.

Non-NASA Center↗
NASA NTRS1990

Turbulence measurements using tethered balloon instrumentation during FIRE 1987

As part of the surface-based observations conducted on San Nicolas Island, the U.K. Meteorological Office operated a set of turbulence probes attached to a balloon tether cable. Typically six probes were used, each capable of measuring momentum, heat, and humidity fluxes. Two probes were fitted with net radiometers, one positioned above cloud and the other below; a third probe carried a Lyman-alpha hygrometer fitted with a pre-heater for the measurement of total water content. Some preliminary results are presented from the 14th July describing the variation in structure of the cloudy boundary layer during the daytime. This day was characterized by a complete cloud cover, an inversion height of approximately 600 m. and north-westerly winds of approximately 6 m.s(-1). As an illustration the equivalent potential temperature derived from a profile ascent made between approximately 0830 and 0930 (PDT) is shown. The data has been smoothed to a height resolution of about 4 metres. At this time the cloud base was approximately 200 m. and very light drizzle was reaching the surface. The vertical velocity variance and potential temperature flux for two periods are shown; the first (shown by full lines) immediately follows the profile and the second (shown by dashed lines) is central around 1400 (PDT). The data have been normalized by their maximum values in the first period. Cloud base has now risen to approximately 300 m. There is a marked variation during the morning, particularly in sigma w. The net radiative flux above cloud top has by now reached its maximum value.

Hignett, Phillip↗
NASA NTRS1987

Plasma contactors for use with electrodynamic tethers for power generation

Plasma contactors have been proposed as a means of making good electrical contact between biased surfaces such as found at the ends of an electrodynamic tether and the space environment. A plasma contactor is a plasma source which emits a plasma cloud which facilitates the electrical connection. The physics of this plasma cloud is investigated for contactors used as electron collectors and it is shown that contactor clouds in space will consist of a spherical core possibly containing a shock wave. Outside of the core the cloud will expand anisotropically across the magnetic field leading to a turbulent cigar shape structure along the field. This outer region is itself divided into two regions by the ion response to the electric field. A two dimensional theory of the motion of the cloud across the magnetic field is developed. The current voltage characteristic of an Argon plasma contactor cloud is estimated for several ion currents in the range of 1-100 Amperes. It is shown that small ion current contactors are more efficient than large ion current contactors. This suggests that if a plasma contactor is used on an electrodynamic tether, then a multiple tether array will be more efficient than a single tether.

Hastings, D. E.↗
NASA NTRS2015

Towing Asteroids with Gravity Tractors Enhanced by Tethers and Solar Sails

Material collected from an asteroid's surface can be used to increase gravitational attraction between the asteroid and a Gravity Tractor (GT); the spacecraft therefore operates more effectively and is referred to as an Enhanced Gravity Tractor (EGT). The use of tethers and solar sails to further improve effectiveness and simplify operations is investigated. By employing a tether, the asteroidal material can be placed close to the asteroid while the spacecraft is stationed farther away, resulting in a better safety margin and improved thruster efficiency. A solar sail on a spacecraft can naturally provide radial offset and inter-spacecraft separation required for multiple EGTs.

Shen, Haijun↗
NASA NTRS2004

Subsurface Sampling and Sensing Using Burrowing Moles

Finding evidence for life on Mars will likely require accessing the subsurface since the Martian surface is both hostile to life and to preservation of biosignatures due to the cold dry conditions, the strong W environment, and the presence of strong oxidants. Systems are needed to probe beneath the sun and oxidant baked surface of Mars and return samples to the surface for analysis or to bring the instrument sensing underground. Recognizing this need, the European Space Agency incorporated a small subsurface penetrometer or Mole onto the Beagle 2 Mars lander. Had the 2003 landing been successful, the Mole would have collected samples from 1-1.5 m depth and delivered them to an organic analysis instrument on the surface. The de- vice called the Planetary Underground Tool (PLUTO), also measured soil mechanical and thermophysical properties. Constrained by the small mass and volume allowance of the Beagle lander, the PLUTO mole was a slender cylinder only 2 cm diameter and 28 cm long equipped with a small sampling device designed to collect samples and bring them to the surface for analysis by other instrument. The mass of the entire system including deployment mechanism and tether was 1/2 kg. sensor package underground to make in situ measurements. The Mars Underground Mole (MUM) is a larger Mole based on the PLUTO design but incorporating light collection optics that interface to a fiber optic cable in the tether that transmits light to a combined stimulated emission Raman Spectrometer and Short Wave Infrared (SWIR) reflectance Spectrometer with sensitivity from 0.7 to 2.5 micrometers. This instrument is called the Dual Spectral Sensor and uses a Digital Array Scanning Interferometer as the sensor technology, a type of fourier transform interferometer that uses fixed element prisms and thus is highly rugged compared to a Michaelson interferometer. Due to the size limitations of an on-Mole instrument compartment, and the availability of a tether, the sensor head, light sources, and control electronics for the instrument are on the surface. The DSS sensor is capable of sensing a wide range of minerals relevant to Mars Astrobiology objectives including hydrated minerals, clays, carbonates, sulfates, and ice. Additionally, Raman spectroscopy is effective for detecting organics. The MUM is designed to achieve a maximum depth of penetration of 5 m in Mars regolith and can be repeatedly deployed and retrieved. The ability to perform repeated sampling, combined with the low mass and power requirements, means that Moles could be incorporated into a rover mission as well as used on a stationary platform. The Mole mechanism is a pointed slender cylinder that advances into soil by way of an internal sliding hammer mechanism. Part of the energy released by the spring-loaded hammer with each shock is transferred to the Mole casing and from there to the soil, resulting in penetration by displacing and compressing the surrounding soil. A backwards-directed impulse as a re- action to each forward shock is transferred via a suppressor mass against a second weaker spring allowing forward motion without requiring reactive forces provided by the lander. The Mole tip can be opened to collect soil samples. The Mole casing is tethered to a supporting mechanism that supplies power. Components supporting the Mole on the surface include a launch tube, tether reel and winch for pulling in tether, in addition to the tether itself.

Stoker, C. R.↗
NASA NTRS2013

Autonomous Vision-Based Tethered-Assisted Rover Docking

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Axel docking↗
NASA NTRS2021

Fit to be Tied: Embracing Tethered Robots for Exploring Extreme Planetary Environments

Tethers are supportive wires that could provide power, communication, and even science instrument capabilities to planetary rovers, landers, and future human settlements. Whether it be power distribution and optical communication connecting robots exploring extreme, undersea and deep subsurface environments, to your home office on Earth, we live, and will continue to live, in a predominantly ‘wired’ world. Accordingly, as humanity continues to push beyond Earth to exploring extreme planetary terrains like caves, cliffs, craters, and crevasses, and moves towards establishing human settlements on the Moon and Mars, we can expect tethers to play a major role. For exploration purposes, tethers are critical to enabling next-generation, science-focused missions to access high-value, resource-limited targets, where exploring rovers or astronauts lack direct communication or access to viable sunlight for solar power. NASA’s Jet Propulsion Laboratory (JPL) is formulating new mission concepts that could deploy robotic assets into some of the Solar System’s harshest and steepest terrain and, in many cases, tethers are the enabling technology. Examples include i) a rappelling rover to explore vertically along lunar pit walls to determine how the Moon formed, ii) tethered rovers to reach ice deposits on Mars and the Moon, iii) large, tether-deployed antenna structures to probe into the subsurface of a planet and/or look skyward to image the highly red-shifted, early universe, iv) probes that descend into the icy layers of Europa and Enceladus in search of subsurface oceans and, potentially, extant life, and v) science instruments that could be suspended on supportive tethers from balloons on Venus to directly image the surface and sample its clouds. This paper will present a survey of the state-of-the-art for tether related exploration of the solar system and chronicle ongoing work at JPL, which is leading to robust tether designs, high-power and communication transmission over multi-km distances, and highly capable, tether-based rover systems.

McGarey, Patrick↗
NASA NTRS1991

Conceptual design of a multiple cable crane for planetary surface operations

A preliminary design study is presented of a mobile crane suitable for conducting remote, automated construction operations on planetary surfaces. A cursory study was made of earth based mobile cranes and the needs for major improvements were identified. Current earth based cranes have a single cable supporting the payload, and precision positioning is accomplished by the use of construction workers controlling the payload by the use of tethers. For remote, autonomous operations on planetary surfaces it will be necessary to perform the precision operations without the use of humans. To accomplish this the payload must be stabilized relative to the crane. One approach for accomplishing this is to suspend the payload on multiple cable. A 3-cable suspension system crane concept is discussed. An analysis of the natural frequency of the system is presented which verifies the legitimacy of the concept.

Mikulas, Martin M., Jr.↗
NASA NTRS1985

Buoyant station mission comcepts for titan exploration

An advanced mission to this unique satellite of Saturn appropriate to the turn-of-the-century time period is described. The mission concept evolves about one or more buoyant stations (balloons and/or airship) operating at varying altitudes in Titan's atmosphere. An orbiter of Titan provides communications link support and accomplishes remote sensing science objectives. Use of buoyant stations are favored over a fixed site lander for two reasons: (1) adaptable to several possible surface physical states and topographies; and (2) capable of exploring both the atmosphere and surface with regional and possibly global mobility. Auxiliary payload concepts investigated include tethered packages and sounding rockets deployed from the buoyant station, and haze probes and surface penetrators deployed from the orbiter. The paper describes science objectives and payloads, propulsion system/mass delivery trades, balloon design requirements and deployment/motion characteristics, and communications link geometry and data characteristics.

Friedlander, A. L.↗