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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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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1987

Design of a force reflecting hand controller for space telemanipulation studies

The potential importance of space telemanipulator systems is reviewed, along with past studies of master-slave manipulation using a generalized force reflecting master arm. Problems concerning their dynamic interaction with the human operator have been revealed in the use of these systems, with marked differences between 1-g and simulated weightless conditions. A study is outlined to investigate the optimization of the man machine dynamics of master-slave manipulation, and a set of specifications is determined for the apparatus necessary to perform this investigation. This apparatus is a one degree of freedom force reflecting hand controller with closed loop servo control which enables it to simulate arbitrary dynamic properties to high bandwidth. Design of the complete system and its performance is discussed. Finally, the experimental adjustment of the hand controller dynamics for smooth manual control performance with good operator force perception is described, resulting in low inertia, viscously damped hand controller dynamics.

Paines, J. D. B.↗
NASA NTRS1987

The design of a nine-string six-degree-of-freedom force-feedback joystick for telemanipulation

An overview is given of the design and controlling equations for a 6-degree-of-freedom force-feedback joystick for telemanipulation. The joystick has a parallel mechanical structure which allows all of its actuators to be fixed to a non-moving base. The low-inertia design is expected to provide an accurate force-feedback signal to the joystick operator without the need for closed-loop momentum compensation. The analysis describes the joystick's inputs and outputs in generalized Cartesian space, so the joystick can potentially be used as an interface for any 6-degree-of-freedom device.

Agronin, M. L.↗
NASA NTRS1991

Compact Force-Reflecting Hand Controller

Novel design keeps joints mechanically independent. Force-reflecting hand controller for remote manipulator offers two times work volume of any of its predecessors. Folded into volume half that of its immediate predecessor for storage. First six-degree-of-freedom, cable-driven controller designed with six revolute joints; contains no prismatic joints. Advantages of low friction, low inertia, and no backlash. Intended for use in telerobotic experiments during space flight, controller modified for such terrestrial applications as construction and handling of dangerous (e.g., hot, poisonous, radioactive, or infectious) materials.

Snow, Edward R.↗
NASA NTRS1993

Laser beam steering device

Agile beam steering is a critical requirement for airborne and space based LIDAR and optical communication systems. Design and test results are presented for a compact beam steering device with low inertia which functions by dithering two complementary (positive and negative) binary optic microlens arrays relative to each other in directions orthogonal to the direction of light propagation. The miniaturized system has been demonstrated at scan frequencies as high as 300 Hz, generating a 13 x 13 spot array with a total field of view of 2.4 degrees. The design is readily extendable to a 9.5 degree field of view and a 52 x 52 scan pattern. The system is compact - less than 2 in. on a side. Further size reductions are anticipated.

Motamedi, M. E.↗
NASA NTRS1996

40 HP Electro-Mechanical Actuator

This report summarizes the work performed on the 40 BP electro-mechanical actuator (EMA) system developed on NASA contract NAS3-25799 for the NASA National Launch System and Electrical Actuation (ELA) Technology Bridging Programs. The system was designed to demonstrate the capability of large, high power linear ELA's for applications such as Thrust Vector Control (TVC) on rocket engines. It consists of a motor controller, high frequency power source, drive electronics and a linear actuator. The power source is a 25kVA 20 kHz Mapham inverter. The drive electronics are based on the pulse population modulation concept and operate at a nominal frequency of 40 kHz. The induction motor is a specially designed high speed, low inertia motor capable of a 68 peak HP. The actuator was originally designed by MOOG Aerospace under an internal R & D program to meet Space Shuttle Main Engine (SSME) TVC requirements. The design was modified to meet this programs linear rate specification of 7.4 inches/second. The motor and driver were tested on a dynamometer at the Martin Marietta Space Systems facility. System frequency response and step response tests were conducted at the Marshall Space Flight Center facility. A complete description of the system and all test results can be found in the body of the report.

Fulmer, Chris↗
NASA NTRS1996

Electro-Mechanical Actuator. DC Resonant Link Controller

This report summarizes the work performed on the 68 HP electro-mechanical actuator (EMA) system developed on NASA contract for the Electrical Actuation (ELA) Technology Bridging Program. The system was designed to demonstrate the capability of large, high power linear ELAs for applications such as Thrust Vector Control (TVC) on rocket engines. It consists of a motor controller, drive electronics and a linear actuator capable of up to 32,00 lbs loading at 7.4 inches/second. The drive electronics are based on the Resonant DC link concept and operate at a nominal frequency of 55 kHz. The induction motor is a specially designed high speed, low inertia motor capable of a 68 peak HP. The actuator was originally designed by MOOG Aerospace under an internal R & D program to meet Space Shuttle Main Engine (SSME) TVC requirements. The design was modified to meet this programs linear rate specification of 7.4 inches/second. The motor and driver were tested on a dynamometer at the Martin Marietta Space Systems facility. System frequency response, step response and force-velocity tests were conducted at the MOOG Aerospace facility. A complete description of the system and all test results can be found in the body of the report.

Schreiner, Kenneth E.↗
NASA NTRS1998

Six axis force feedback input device

The present invention is a low friction, low inertia, six-axis force feedback input device comprising an arm with double-jointed, tendon-driven revolute joints, a decoupled tendon-driven wrist, and a base with encoders and motors. The input device functions as a master robot manipulator of a microsurgical teleoperated robot system including a slave robot manipulator coupled to an amplifier chassis, which is coupled to a control chassis, which is coupled to a workstation with a graphical user interface. The amplifier chassis is coupled to the motors of the master robot manipulator and the control chassis is coupled to the encoders of the master robot manipulator. A force feedback can be applied to the input device and can be generated from the slave robot to enable a user to operate the slave robot via the input device without physically viewing the slave robot. Also, the force feedback can be generated from the workstation to represent fictitious forces to constrain the input device's control of the slave robot to be within imaginary predetermined boundaries.

Ohm, Timothy↗
NASA NTRS2023

Phyllosilicate Decomposition on Bennu Due to Prolonged Surface Exposure

The Origins, Spectral Interpretation, Resource Identification, and Security–Regolith Explorer (OSIRIS-REx) mission to carbonaceous asteroid (101955) Bennu performed detailed mapping with a suite of instruments to characterize the composition and geology of its surface. Here we use data from the OSIRIS-REx Thermal Emission Spectrometer (OTES) instrument to investigate the relationship of OTES-derived spectral indices to other derived data products from OTES, the OSIRIS-REx Camera Suite (OCAMS), and the OSIRIS-REx Visible and InfraRed Spectrometer (OVIRS) at global and local scales. We quantitatively confirm that high values of the OTES silicate stretching slope (from ∼10 to ∼12 μm) in midday spectra that are indicative of thin and/or patchy dust cover are strongly associated with low thermal inertia (high porosity), low albedo boulders on Bennu. These high porosity boulders have brecciated textures with embedded clasts that likely originated on Bennu's parent body or during its disruption. The high porosity of these boulders is a key factor in the local production of the dust or its entrapment, as some large, brecciated boulders with a lower porosity have little evidence of dust. A second OTES spectral parameter, the silicate bending band depth near 22.7 μm applied to early evening spectra, is not correlated to thermal inertia, but is weakly to strongly correlated to albedo, OVIRS-derived 1.05 μm and 2.74 μm band depths, OVIRS-derived hydrogen abundance, and modeled nanophase troilite abundance. In several regions on Bennu there is a strong spatial relationship between these parameters, whereby areas with shallower silicate bending bands also have shallower 1.05 μm and 2.74 μm bands and lower albedo with higher nanophase troilite abundances. These correlations, combined with analysis of the silicate bending band in laboratory experiments of space weathered and mildly heated carbonaceous chondrites, suggests that decreased silicate bending band depths signify decomposition of phyllosilicates, likely Fe-bearing, due to space weathering or mild heating (<600 °C) via solar radiation during Bennu's time in near-Earth space. There is a strong association of larger silicate bending band depths in areas dominated by small rocks and unresolved material and in areas with small (≤ 25 m) craters identified as the spectrally reddest on Bennu, suggesting that this material has been more recently exposed due to impact and/or mass wasting processes. The shallowest silicate bending depths are associated with larger rocks and boulders that appear to have the longest surface exposure history, although there is band depth variation among them suggesting either initial composition variation that resulted in different responses to space weathering or heating, or varied exposure history of individual boulders themselves. We predict that any grains returned from Bennu with a significant surface exposure history will be characterized by shallower 22.7 μm, 1.05 μm and 2.7 μm band depths and increased sulfide (troilite) abundance, as well as textural and chemical evidence for phyllosilicate dehydration.

Asteroids, surfaces↗
NASA NTRS1989

Observations of low-frequency inertia-gravity waves in the lower stratosphere over Arecibo

Results are presented of a detailed analysis of the horizontal wind data in the subtropical upper troposphere and lower stratosphere, obtained with the 430-MHz radar at Arecibo (Puerto Rico) in May 1982 and April 1983. Both sets of observations displayed a slowly varying anticyclonically rotating persistent structure in the wind field just above the tropopause, of the type that would be expected if the oscillations were associated with quasi-inertial period waves. The quasi-inertial period structure in the Arecibo observations appears to be typical of the results of a number of other studies, indicating that quasi-inertial period waves are a ubiquitous feature in the lower stratosphere, similar to what is observed in the oceans.

Cornish, C. R.↗
NASA NTRS1990

A radar-echo model for Mars

Researchers developed a radar-echo model for Mars based on 12.6 cm continuous wave radio transmissions backscattered from the planet. The model broadly matches the variations in depolarized and polarized total radar cross sections with longitude observed by Goldstone in 1986 along 7 degrees S. and yields echo spectra that are generally similiar to the observed spectra. Radar map units in the model include an extensive cratered uplands unit with weak depolarized echo cross sections, average thermal inertias, moderate normal refelectivities, and moderate rms slopes; the volcanic units of Tharsis, Elysium, and Amazonis regions with strong depolarized echo cross sections, low thermal inertia, low normal reflectivities, and large rms slopes; and the northern planes units with moderate to strong depolarized echo cross sections, moderate to very high thermal inertias, moderate to large normal reflectivities, and moderate rms slopes. The relevance of the model to the interpretation of radar echoes from Mars is discussed.

Thompson, T. W.↗
NASA NTRS1990

Outliers of dust along the southern margin of the Tharsis region, Mars

This work documents the distinctive characteristics of two locations near the southeastern margin of the Tharsis low thermal inertia region on Mars that support the inferred south-to-north migration of dust deposits under present climatic conditions (Christensen, 1986, 1988). Low thermal inertia and high albedo indicate the presence of fine-grained surface materials on the highly fractured terrain of northern Claritas Fossae with a narrow zone of fine material connecting this location to the southern margin of the Tharsis low thermal inertia region. A similar deposit occurs in Sinai Planum on an isolated exposure of fractured terrain. In comparison to their surroundings, both locations have higher visual albedo, lower thermal inertia, and higher topographic relief coupled with lower reflectivity and higher roughness at radar wavelengths.

Zimbelman, J. R.↗
NASA NTRS1982

Surface properties of ancient cratered terrain in the northern hemisphere of Mars

Viking high resolution IR data is used in an examination of the hilly and cratered material of Scott and Carr (1978), supposed to be the oldest extensively exposed surface on Mars. Measured nighttime temperatures at 11 and 20 microns indicate inertia blocks, surrounded by lower thermal inertia soil. Geologic features crossed by the Viking data generally show no difference from the regional properties. Imaging data from within and around the Arabia low thermal inertia region indicate that subdued surface morphology is not always associated with low thermal inertias. The mantling of ancient northern hemisphere cratered terrain by fine grained material does not allow thermal measurements to be directly related to rock unit properties, but less mantling may be present in southern hemisphere locations of this material.

Zimbelman, J. R.↗
NASA NTRS2014

Thermophysical Property Variations Across Dione and Rhea

Maps of the variation in bolometric Bond albedo and thermal inertia across Rhea and Dione have been produced using various day and nighttime observations, taken by Cassini's Composite Infrared Spectrometer (CIRS). The albedo maps show the same trend that has been previously observed on these satellites from reflected sunlight and thermal observations: a higher albedo on their leading hemispheres. The thermal inertia maps show two previously unknown anomalous high thermal inertia regions: low latitudes on Dione's leading hemisphere and the bright ejecta blanket of Rhea's Inktomi crater. The thermal inertia on Dione increases modestly from a background value of 8 J m(exp -2) K(exp -1) s(exp -1/2) to 11 J m(exp -)2 K(exp -1) s(exp -1/2) in a region preferentially bombarded by high-energy electrons. We believe that this region on Dione is probably analogous to the thermally anomalous regions recently discovered at equivalent locations on Mimas and Tethys, dubbed Pac-Man features. The smaller magnitude of Dione's thermal anomaly, compared to that of Mimas and Tethys, provides additional evidence that surface alteration by high-energy electrons produces these anomalies, as the high-energy electron flux decreases with increasing distance from Saturn. However, unlike on Mimas and Tethys, the thermally anomalous region on Dione does not display a spatially correlated decrease in the IR/UV (0.930 micrometers/0.338 micrometers) color ratio, implying that the minimum electron energy threshold of the IR/UV ice surface darkening mechanism is not met on Dione. The average of the mapped bolometric Bond albedos on the leading and trailing hemispheres of Dione are 0.49 +/- 0.11 and 0.44 +/- 0.13 respectively. On Rhea the thermal inertia increases from a background value of 10 J m(exp -2) K (exp -1) s(exp -1/2) to 19 J m(exp -2) K(exp -1) s(exp -1/2) on the ejecta blanket of Inktomi crater, probably due to a mixture of high and low thermal inertia material in this region, such as a fine- and large-grain ice mixture. This is the first time a thermal inertia anomaly has been associated with an impact crater on an icy saturnian satellite. On Rhea the average of the mapped bolometric Bond albedos on the leading and trailing hemispheres are 0.59 +/- 0.11 and 0.56 +/- 0.13 respectively.

Saturn↗
NASA NTRS2012

Comparison of Observed Surface Temperatures of 4 Vesta to the KRC Thermal Model

In this work, we will compare ob-served temperatures of the surface of Vesta using data acquired by the Dawn [1] Visible and Infrared Map-ping Spectrometer (VIR-MS) [2] during the approach phase to model results from the KRC thermal model. High thermal inertia materials, such as bedrock, resist changes in temperature while temperatures of low thermal inertia material, such as dust, respond quickly to changes in solar insolation. The surface of Vesta is expected to have low to medium thermal inertia values, with the most commonly used value being extremely low at 15 TIU [4]. There are several parameters which affect observed temperatures in addition to thermal inertia: bond albedo, slope, and surface roughness. In addition to these parameters, real surfaces are rarely uniform monoliths that can be described by a single thermal inertia value. Real surfaces are often vertically layered or are mixtures of dust and rock. For Vesta's surface, with temperature extremes ranging from 50 K to 275 K and no atmosphere, even a uniform monolithic surface may have non-uniform thermal inertia due to temperature dependent thermal conductivity.

Titus, T. N.↗
NASA NTRS1992

Physical properties of Oxia/Lunae Planum and Arabia-type units in the central equatorial region of Mars

Classification and mapping of surficial units in the central equatorial region of Mars Consortium data identified the relatively dark but 'red' materials that cover Lunae Planum and surround the Meridiani materials of Oxia Palus inertia region of Arabia. Oxia Province consists of the regions dominated by the characteristically dark 'red' Oxia materials, but it includes darker streaks and splotches of relatively 'blue' Meridiani materials and brighter 'red' deposits of dust belonging to Eos Province (the bright 'red' border between Oxia and regional Meridiani deposits to the south) and Xanthe Province (the moderately bright 'red' dust deposits in western Chryse Planitia and its vicinity, including the VL-1 landing site). Two Oxia units were recognized: a darker unit present on Lunae Planum and east of Oxia Palus that have intermediate to high inertias. Oxia Province surrounds the extremely low thermal inertia Arabia Province in the east part of the study area, and occurs as isolated patches within Arabia (often including splotches of Meridiani materials within the Oxia patches). Arabia Province's materials have been widely interpreted as unconsolidated dust deposits which are currently forming at this stage of Mars' precessional climate cycle, although the persistence of stable, moderately strong albedo contracts among Arabia materials has not been addressed in those models. A systematic interpretation of Oxia and Arabia Province materials based on currently available remote sensing data is given.

Strickland, Edwin L., III↗
NASA NTRS2017

Improving Slip Prediction on Mars Using Thermal Inertia Measurements

Rovers operating on Mars have been delayed, diverted, and trapped by loose granular materials. Vision-based mobility prediction approaches often fail because hazardous sand is difficult to distinguish from safe sand based on surface appearance alone. Unlike surface appearance, the thermal inertia of terrain is directly correlated to the same geophysical properties that control slip. This paper presents a quantitative analysis showing that considering thermal inertia improves rover slip prediction on Mars using in-situ data from the Curiosity rover. Thermal inertia is estimated for each slip measurement in sand using both on-board and orbital instruments. Slip models are learned using a mixture of experts approach where the experts are identified using thermal inertia. Two-expert models are compared to a single-expert, vision-only model to show that slip predictions are improved by separating high-slip, low thermal inertia sand from low-slip, high thermal inertia sand. These results support the hypothesis that the consideration of thermal inertia improves mobility estimates for rovers on Mars.

Nesnas, Issa A.↗
NASA NTRS1985

The Origin of Regional Dust Deposits on Mars

Recently, additional evidence was derived from the Viking Infrared Thermal Mapper observations that allows a more complete model for the formation of Low Thermal inertia-high Albedo regions to be proposed. The first observation is that dust appears to be currently accumulating in the low thermal inertia regions. Following each global dust storm a thin layer of dust is deposited globally, as evidenced by an increase in surface albedo seen from orbit and from the Viking Lander sites. During the period following the storm, the bright dust fallout is subsequently removed from low albedo regions, as indicated by the post-storm darkening of these surfaces and by an increase in the atmospheric dust content over dark regions relative to the bright, low thermal inertia regions. Thus, the fine dust storm material is removed from dark regions but not from the bright regions, resulting in a net accumulation within the bright, low thermal inertia regions. Once deposition has begun, the covering of exposed rocks and sand and the accumulation of fine material on the surface make removal of material increasingly difficult, thereby enhancing the likelihood that material will accumulate within the low thermal inertia regions.

Christensen, P. R.↗
NASA NTRS1992

The Martian surface layer

The global characteristics of the Martian surface layer are discussed on the basis of thermal, albedo, color, and radar data for the region between approximately 60 deg S and 60 deg N. Thermal data reveal the presence of large low- and high-inertia regions of the northern hemisphere, with much of the south covered by material of moderate inertia. There is a strong anticorrelation between inertia and albedo, a correlation between inertia and rock abundance, and, over much of the planet, a correlation of radar-derived density with inertia. Viking Orbiter color data indicate the presence of three major surface materials: low-inertia, bright-red material that is presumably dust; high-inertia, dark-grey material interpreted to be lithic material mixed with palagonitelike dust; and moderate-inertia, dark-red material that is rough at subpixel scales and interpreted to be indurated. Observations from the Viking landing sites show rocks, fines of varying cohesion and crusts. These sites have indications of aeolian erosion and deposition in the recent past.

Christensen, Philip R.↗