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At least 37 records · Page 2

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NASA NTRS2026

X-Hab 2026: LiDAR-Powered Autonomous Charging Service Capability for Surface Rovers and Systems

This document details the timeline of the LiDAR-Powered Autonomous Charging Service Capability for Surface Rovers and Systems project, initiated by the Fall 2025 semester class and completed by the Spring 2026 semester class. This project focuses on developing a fully autonomous system composed of a mobile surface rover and an induction charging station with a robotic arm, both controlled by their own NVIDIA Jetson Orin Nano. Structural improvements to the rover suspension system and body eliminated excessive camber, reduced stress and strain on the plexiglass body, and improved maneuverability and durability of the rover. The charging station robotic arm was fully redesigned to increase reach while minimizing weight and increasing misalignment tolerance during docking on uneven terrain. Electrical system improvements addressed previous torque and power limitations of both the rover and charging station arm. High-torque servo motors were selected based on updated calculations which incorporated terrain slope and Factor of Safety, enabling zero-point turning for the rover and increased payload capacity of the charging station arm. Significant progress was made in autonomy and perception. The rover now employs 3D LiDAR and SLAM mapping for localization, mapping, and path planning. The Battery Monitoring System (BMS) was created to coordinate battery management between the rover and charging station. The BMS provides continuous monitoring of battery state of charge, temperature, current, and will enable the autonomous initiation, execution, and termination of the charging cycle via Bluetooth communication. Testing of the WIBOTIC induction charging system demonstrated reliable power transfer under both aligned and misaligned conditions. This project demonstrated the ability of an autonomously navigating surface rover to independently plan a path to the charging station, dock, and the charging station to autonomously deploy a robotic charging arm and initiate charging of the rover. This work details the progress made to demonstrate the feasibility of autonomous surface rover navigation and recharging systems.

Megan Steele↗

DOE OSTI2022

Novel dual-reflection design applied for ITER core x-ray spectrometer

Here. a novel dual-reflection configuration is introduced for the International Tokamak Experimental Reactor (ITER) core x-ray spectrometer to fit the allocated space where it will be placed accompanied by moving the detectors backward to reduce the incident radiation dose. The highly oriented pyrolytic graphite, which has a mosaic structure of microscopic crystallites, is chosen for the front reflector motivated by higher x-ray throughput and stronger misalignment tolerance compared to the perfect crystal reflector. In the ITER core x-ray spectrometer, a combination of several reflector-deflected Lines of Sight (LOSs) and a direct LOS is proposed for the first time named X-Ray Crystal Spectroscopy Core (XRCS-Core). The system is optimized to observe lines from externally seeded xenon and the intrinsic tungsten impurity, meeting both port integration needs and measurement requirements. Its spectral performance is simulated using an analytical-raytracing mixed code——XRSA, showing good imaging quality with a spectral resolution higher than 8000. The XRCS-Core system is thought to be applicable in various ITER scenarios through the assessment taking into account the spectrometers’ specifications and the chosen lines’ emissivity in different plasma parameters.

47 OTHER INSTRUMENTATION↗

DOE OSTI2024

Fourier Analysis and Design of a Shielded 120kW Inductive Wireless System

High-power inductive wireless power transfer (WPT) systems for EVs are designed to meet specifications such as stray field, power level, efficiency, misalignment tolerance, and ground clearance. These metrics are all heavily influenced by the coil geometry. Herein this paper proposes a coil design method based on the Fourier Analysis Method (FAM) which is an analytical method for directly designing coil geometries to meet stray field and power level requirements through an optimization of Fourier basis function coefficients. In this work, two 120 kW WPT proof-of-concept demonstrators with low stray field and high efficiency are built from FAM optimization results to validate the models and show the impact of the FAM design process. Experimental validation of the Gen. 2 demonstrator at 120 kW output power resulted in a measured DC/DC efficiency of 97.2% at alignment with a 125 mm airgap. At the 120 kW test point, the stray fields 80 cm away from the center of the airgap between the coil assemblies were 3.4 µT(rms) on the X-axis and 3.5 µT(rms) on the Y-axis, much lower than the 27 µT(rms) ICNIRP limit.

42 ENGINEERING↗

NASA NTRS1995

Improved Spline Coupling For Robotic Docking

Robotic docking mechanism like one described in "Self-Aligning Mechanical and Electrical Coupling" (GSC-13430) improved. Spline coupling redesigned to reduce stresses, enchancing performance and safety of mechanism. Does not involve significant increase in size. Convex spherical surfaces on spline driver mate with concave spherical surfaces on undersides on splines in receptacle. Spherical surfaces distribute load stresses better and tolerate misalignments better than flat and otherwise shaped surfaces.

Vranish, John M.↗

NASA NTRS2018

Bit Error Rate Performance on Passive Alignment in Free Space Optical Links Using Large Core Fibers

A 20-meter free-space optical link (FSOL) is proposed for data transmission between external ISS payload sites and the main cabin at a target rate of 10 Gbps (gigabits per second). Motion between a payload site and the main cabin is predicted to cause up to 5 cm in lateral misalignment and 0.2 degrees of angular misalignment. Due to the harsh environment of space it is advantageous to locate the optical transceivers inside the spacecraft or in a controlled environment. With the optical components and transceivers in separate locations, a fiber optic cable will be required to carry light between the two. In our past work we found that the use of large-core fibers provide an increased misalignment tolerance for such systems and could eliminate the need for active control of the optics. In that work, it was shown that a 105 ïm core diameter fiber optic cable offered a viable low SWaP (size, weight, and power) solution for the ISS application; however, the effects of modal dispersion were not investigated. This paper will present bit error rate performance of the FSOL using these large-core fibers.

Free Space Optical Link↗

NASA NTRS2018

Bit Error Rate Performance on Passive Alignment in Free Space Optical Links Using Large Core Fibers

Optical Bit Error Rate Testing↗

DOE OSTI2026

Degradation of Magnetic Materials for High-Temperature Active Magnetic Bearing Applications in CO₂-Based Environments

High-temperature Active Magnetic Bearings (AMBs) are a promising alternative to conventional bearings in hermetically sealed turbomachinery for supercritical CO₂ (sCO₂) systems. They offer reduced CO₂ leakage, lower windage losses, enhanced misalignment tolerance, reduced wear, and built-in diagnostic capabilities. A critical challenge, however, is ensuring long-term material stability in harsh CO₂-rich environments. This study investigated the degradation behavior of permanent and soft magnetic materials (Alnico 9C, Alnico 5-7C, SmCo 18-T550, Hiperco-50, and coated variants) after up to 6,000 hours of exposure in gaseous CO₂, sCO₂, or air at 450 °C and 550 °C. The evaluation included post-exposure mass change measurements, scanning electron microscopy (SEM) analysis, and magnetic property assessments. The results demonstrate oxidation rates, microstructural evolution, and retention of magnetic performance across conditions. The findings offer essential insights into the thermal corrosion behavior of magnetic materials under CO₂ rich environments and serve as a reference for material selection in AMB system designs.

36 MATERIALS SCIENCE↗

NASA NTRS2008

Tool for Inspecting Alignment of Twinaxial Connectors

A proposed tool would be used to inspect alignments of mating twinaxial-connector assemblies on interconnecting wiring harnesses. More specifically, the tool would be used to inspect the alignment of each contact pin of each connector on one assembly with the corresponding socket in the corresponding connector on the other assembly. It is necessary to inspect the alignment because if mating of the assemblies is attempted when any pin/socket pair is misaligned beyond tolerance, the connection will not be completed and the dielectric material in the socket will be damaged (see Figure 1). Although the basic principle of the tool is applicable to almost any type of mating connector assemblies, the specific geometry of the tool must match the pin-and-socket geometry of the specific mating assemblies to be inspected. In the original application for which the tool was conceived, each of the mating assemblies contains eight twinaxial connectors; the pin diameter is 0.014 in. (.0.35 mm), and the maximum allowable pin/socket misalignment is 0.007 in. (.0.18 mm). Incomplete connections can result in loss of flight data within the functional path to the space shuttle crew cockpit displays. The tool (see Figure 2) would consist mainly of a transparent disk with alignment clocking tabs that can be fitted onto either connector assembly. Sets of circles or equivalent reference markings are affixed to the face of the tool, located at the desired positions of the mating contact pairs. An inspector would simply fit the tool onto a connector assembly, engaging the clocking tabs until the tool fits tightly. The inspector would then align one set of circles positioning a line of sight perpendicular to one contact within the connector assembly. Mis alignments would be evidenced by the tip of a pin contact straying past the inner edge of the circle. Socket contact misalignments would be evidenced by a crescent-shaped portion of the white dielectric appearing within the circle. The tool could include a variable magnifier plus an illuminator that could be configured so as not to cast shadows.

Smith, Christopher R.↗

NASA NTRS2010

Quick Attach Docking Interface for Lunar Electric Rover

The NASA Lunar Electric Rover (LER) has been developed at Johnson Space Center as a next generation mobility platform. Based upon a twelve wheel omni-directional chassis with active suspension the LER introduces a number of novel capabilities for lunar exploration in both manned and unmanned scenarios. Besides being the primary vehicle for astronauts on the lunar surface, LER will perform tasks such as lunar regolith handling (to include dozing, grading, and excavation), equipment transport, and science operations. In an effort to support these additional tasks a team at the Kennedy Space Center has produced a universal attachment interface for LER known as the Quick Attach. The Quick Attach is a compact system that has been retro-fitted to the rear of the LER giving it the ability to dock and undock on the fly with various implements. The Quick Attach utilizes a two stage docking approach; the first is a mechanical mate which aligns and latches a passive set of hooks on an implement with an actuated cam surface on LER. The mechanical stage is tolerant to misalignment between the implement and the LER during docking and once the implement is captured a preload is applied to ensure a positive lock. The second stage is an umbilical connection which consists of a dust resistant enclosure housing a compliant mechanism that is optionally actuated to mate electrical and fluid connections for suitable implements. The Quick Attach system was designed with the largest foreseen input loads considered including excavation operations and large mass utility attachments. The Quick Attach system was demonstrated at the Desert Research And Technology Studies (D-RA TS) field test in Flagstaff, AZ along with the lightweight dozer blade LANCE. The LANCE blade is the first implement to utilize the Quick Attach interface and demonstrated the tolerance, speed, and strength of the system in a lunar analog environment.

Schuler, Jason M.↗

DOE OSTI2024

Ducted Fuel Injection And Cooled Spray Technologies For Particulate Control In Heavy-duty Diesel Engines (Final Report)

Cooled Spray (CS) and Ducted Fuel Injection (DFI) are in-cylinder technologies for diesel engines that can reduce particulate matter and soot emissions and data has been published showing that these technologies can reduce soot emissions by 75-100% for some engines at some operating conditions. However, little is known about scaling the devices for engine size. Additionally, the performance of either technology over the engine duty cycle has not been explored. This project addresses both of these points through single-cylinder engine investigations. The objectives of this project are to provide details about dimensional scaling of these devices and to demonstrate 75% PM reduction over a range of operating conditions on a single-cylinder engine. Two engines were used for this project: a 125mm bore optically accessible engine at Sandia National Laboratories and a 168mm bore metal engine at Southwest Research Institute. The optical engine was used to study the performance of DFI and CS inserts for a large injector orifice diameter injector that is characteristic of a locomotive engine and to perform scaling studies for DFI. The metal engine was used to perform scaling and alignment studies for CS and to evaluate the technology for both EGR and non-EGR engines over the engine operating map. Modifications were required for both engines to accept the prototype inserts being tested. The optical engine required a new fuel injector, cylinder head and piston so that tests could be run at the pressures and engine speeds required. Additionally, a novel rotating stage was designed for the optical engine to simplify alignment of the modules. The metal engine required a modified cylinder head to accept CS inserts and a modified piston to provide additional space around the fuel injector for the CS inserts. Tests on the optical engine showed that DFI reduces PM emissions for both small injector orifices (0.170mm diameter) and large injector orifices (0.290mm). For high load testing, the DFI modules were not as effective as at low load testing, but it was acknowledged that minimal geometric optimization was performed and more improvements may be possible. Comparing DFI to CS and conventional diesel combustion (CDC), DFI performed better than CS or CDC. The CS geometries used in these studies may not be ideal for that engine and additional modifications likely would improve performance. Tests on the metal engine showed PM reductions as high has 80% at some operating conditions with duty-cycle PM reductions of ~50% for EGR and non-EGR configurations. The CS testing on the metal engine showed that chamfering of the fuel passage inlet either through hydro-erosion or mechanical grinding provided significant improvements in the PM reduction capabilities of the insert. Additionally, alignment sensitivities were explored and the data show that the tolerance to misalignment is approximately 0.05 to 0.1mm for the inserts that were studied here. Air-fuel ratio was shown to be important in the effectiveness of the CS inserts. In several tests, it was shown that the CS inserts are more effective at reducing the PM for high-AFR operating conditions compared to low AFR conditions. In summary, multiple designs were evaluated on both engines. It was found that for the conditions and configurations studied here, a fuel passage diameter of ~2.5mm performed best overall. Significant duty-cycle PM reductions are possible using these technologies and sensitivities to AFR, alignment fuel passage diameter and inlet fuel passage shaping were explored and are reported here. More PM reduction may be possible with improved geometric design and attention to alignment practices.

02 PETROLEUM↗

NASA NTRS1980

Foam-filled cushions for sliding trays

Polytetrafluoroethylene tube filled with polyurethane foam forms low friction sliding surface that cushions vibrations and absorbs manufacturing tolerances and misalignment. Possible uses include packaging of components for shipping and seals for doors in lockers, cars, and refrigerators.

Nahin, S. B.↗

NASA NTRS1993

Helical Gears Modified To Decrease Transmission Errors

Tooth surfaces of helical gears modified, according to proposed design concept, to make gears more tolerant of misalignments and to improve distribution of contact stresses. Results in smaller transmission errors, with concomitant decreases in vibrations and noise and, possibly, increases in service lives.

Handschuh, R. F.↗

NASA NTRS2006

Phase Sensor for Aligning a Segmented Telescope Mirror

A phase sensor has been developed for use in aligning a segmented telescope mirror to within a fraction of a wavelength in piston. (As used here, piston signifies displacement of a mirror segment along the optical axis of the telescope.) Such precise alignment is necessary in order to realize the full benefit of the large aperture achievable through segmentation. This phase sensor is achromatic. It is based on two-wavelength shearing interferometry, and can be modified to utilize an extended or broad-band (e.g., white) light source. The sensor optics include a ruled diffraction grating and an imaging lens. The sensor can measure the piston shift between segments as well as aberrations of the segments. It can measure the surface error of an individual segment, making it possible to compensate for the error with optimal amount(s) of piston and/or tilt. The precise capture range of the sensor depends partly on the telescope design; the largest relative piston shifts measurable by use of this sensor are of the order of 100 m. The accuracy of the sensor also depends partly on the telescope design; in general, the accuracy is sufficient to enable alignment to within approximately half a wavelength. The interferometric image is digitized and processed by a simple algorithm in real time, and the output of the algorithm can be used to maintain alignment in real time, even in the presence of atmospheric turbulence. The sensor is robust. Through calibration, it can be made insensitive to (and, hence, tolerant of) misalignments and aberrations of its own optics, most aberrations of the telescope as a whole (in contradistinction to aberrations of individual segments), and most aberrations introduced by atmospheric turbulence

Stahl, Philip↗

NASA NTRS2017

Hemispherical Optical Dome for Underwater Communication

For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through the water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with using this approach is that there is generally a large loss of the light signal due to scattering and absorption in water even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple system consisting only of a highly directional source transmitter and small optical detector receiver has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter.Two versions of the optical dome (with 6 and 8 diameters) were designed using the CREO CAD software and modeled using the CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with the experimental test results, a geometric optimization model was derived providing insights to the design performance limits.

Design↗

NASA NTRS2017

Hemispherical Optical Dome for Underwater Communication

For many years, acoustic systems have been used as the primary method for underwater communication; however, the data transfer rate of such systems is low because sound propagates slowly through the water. A higher throughput can be achieved using visible light to transmit data underwater. The first issue with using this approach is that there is generally a large loss of the light signal due to scattering and absorption in water even though there is an optimal wavelength for transmission in the blue or green wavelengths of the visible spectrum. The second issue is that a simple system consisting only of a highly directional source/transmitter and small optical detector/receiver has a very narrow field of view. The goal of this project is to improve an optical, underwater communication system by increasing the effective field of view of the receiving optics. To this end, we make two changes to the simple system: (1) An optical dome was added near the receiver. An array of lenses is placed radially on the surface of the dome, reminiscent of the compound eye of an insect. The lenses make the source and detector planes conjugate, and each lens adds a new region of the source plane to the instrument's total field of view. (2) The receiver was expanded to include multiple photodiodes. With these two changes, the receiver has much more tolerance to misalignments (in position and angle) of the transmitter.Two versions of the optical dome (with 6 and 8 diameters) were designed using the CREO CAD software and modeled using the CODE V optical design software. A series of these transparent hemispherical domes, with both design diameters, were manufactured using a 5-axis mill. The prototype was then retrofitted with lenses and compared with the computer-generated model to demonstrate the effectiveness of this solution. This work shows the dome design improves the optical field of view of the underwater communication system considerably. Furthermore, with the experimental test results, a geometric optimization model was derived providing insights to the design performance limits.

Underwater↗

NASA NTRS1992

High-Precision Coupling Mechanism Operable By Robots

Coupling mechanism has features making it easily operable by hand and suitable for operation by robots: tolerates some initial misalignment, imposes precise final alignment, and protects itself against overtightening. Typically used to mount equipment module on structure. Mechanism includes kinematic mounts, which tolerate small initial misalignment and enforce precise final alignment as two assemblies brought together. Clamping force applied to kinematic mounts via two flexible plates. Bolt and nut tightened on flexible plates to impose spring clamping load. Repeatability of interface tested and found to be better than forty-millionths of inch.

Voellmer, George↗

NASA NTRS2012

Adhesive Wear of Rollers in Vacuum

This work was done to support NASA's James Webb Space Telescope that is equipped with a Near Infrared Camera and Spectrograph and Micro Shutter Assembly (MSA). A MSA mechanism's qualification test in cryogenic vacuum at 30deg K for 96K cycles resulted in roller wear and formation of some debris. Lab tests in vacuum were conducted at NASA Glenn Research Center (GRC) to understand the wear of Ti6Al4V mated with 440F steel rollers. Misalignment angle was found to have the most significant effect on debris formation. At misalignment angle of 1.4deg, significant amount of wear debris were formed within 50,000 cycles. Very few wear particles were found for a zero misalignment angle, and the total wear was small even after 367,000 cycles. The mode of wear in all the tests was attributed to adhesion, which was clearly evident from video records as well as the plate-like amalgamated debris material from both rollers. The adhesive wear rate was found to be approximately proportional to the misalignment angle. The wear is a two-way phenomenon, and the mixing of both roller materials in wear debris was confirmed by x-ray fluorescence (XRF) and EDX spectra. While there was a net loss of mass from the steel rollers, XRF and energy dispersive x-ray (EDX) spectra showed peaks of Ti on steel rollers, and peaks of Fe on Ti rollers. These results are useful for designers in terms of maintaining appropriate tolerances to avoid misalignment of rolling elements and the resulting severe wear

Shaeef, Iqbal↗

NASA NTRS1992

Robotic Gripper Resists Torsion And Lateral Forces

Gripper for end effector of robot shaped to tolerate large initial misalignments with object gripped. Gripping surfaces contoured to prevent lateral forces from prying them apart. Ridges on handle mate with grooves in finger. Same ridge-end-slope pattern appears on opposite face of handle so two opposed fingers grip it.

Voellmar, George M.↗