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NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators for Outfitting a Tall Lunar Tower and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C2M2) for outfitting and other servicing tasks. Mobile robotic systems traversing truss structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The C2M2 is designed to provide access to the structure through collaborative mobile robotics. A series of gaits are developed allowing the robot to reach any point on the structure and validate the capabilities of the joint configuration. Scaling the system during the design phase is a necessary process given the wide range of trusses in development and payloads which are required for outfitting. The variable features of the system are the actuators and the length of the links connecting the two-degrees of freedom (DOF) modules. A scaling method was developed for determining the range of usable link lengths for a selected actuator in a design environment. The focus of the design is on a six-DOF robot arranged with two-DOF at each end and at the center. Two grippers are mounted at each end for grappling on the truss and holding cargo.

Collaborative Robotics↗
NASA NTRS2023

Tall Lunar Tower (TLT) Powering Exploration at the Moon's South Pole

Animation of a conceptual Lunar mission for the Tall Lunar Tower (TLT) robotic in-space assembly system. The landing, deployment, and operation of the tower assembly system is shown. A successful tower assembly and solar power payload is depicted at the lunar south pole. The video is intended to convey how an engineering development unit (EDU) demonstrated at NASA Langley Research Center may look when operated on the Lunar surface. The EDU models are shown in place of flight hardware. The animation was produced by the Advanced Concepts Laboratory with models provided by the TLT team.

Tall Lunar Tower↗
NASA NTRSDate not supplied

Tall Lunar Towers: Systems Analysis of a Lunar-Surface-Assembled Power, Communication, and Navigation Infrastructure

The National Aeronautics and Space Administration (NASA) intends to develop and maintain a human-lunar presence, requiring infrastructure on the Lunar South Pole. To keep pace with the continued growth in cislunar activity, there is national interest in developing a global lunar infrastructure network for power and Communication, Position, Navigation, and Timing (CPNT). Demonstrating autonomous construction capabilities is an infrastructure-enabling objective. This study explores several architecture trade studies to assess the feasibility of alternative lunar infrastructure concepts. 50 m towers, for instance, enable solar power generation up to 99% of a lunar year in addition to acting as wide-range communication and navigation surface relays. The infrastructure network considered in this study consisted of tower platforms, utilities hosted on the towers, and both crewed and robotic end users. High-level trades were analyzed, such as tower height, location, and distributed vs centralized power grids. Results indicated that even with minimal permanent surface assets (darkness survival power loads on the order of 5 kW or greater), at any of the five locations considered, taller towers resulted in lower infrastructure mass than shorter towers; up to 24% system mass savings were realized by reducing battery mass. Simultaneously, taller towers increased the range of communication coverage; a 50 m tower on the Connecting Ridge had 5 kg more structure and 76% more line-of-sight coverage to a two-meter-tall end user than a 10 m tower with the same location and user height. Leveraging a grid of tall towers for nominal power and communication would not only save up to 2,800 kg in battery mass but would be more maintainable and allow users to take advantage of generational upgrades.

lunar infrastructure↗
NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators (C2M2) for Outfitting a Tall Lunar Tower (TLT) and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C-CMMs) for outfitting and other servicing tasks. Mobile robotic systems traversing these structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The robotic system described in the proposed paper is designed to provide access to the structure through collaborative mobile robotics. The paper will provide a method to constrain the design of such a robot via the geometry of the truss structure and the controlling joint torques across various gaits. The focus of the design is on a six-degree of freedom (DOF) robot arranged with two-DOF at each end and at the center. The variable features of this system are the actuators and the length of the links connecting the two-DOF modules. The result of the analysis is a link sizing range which the robot can be designed within to ensure functionality on the truss structure. A C-CMM will be designed using the scaling utility and several constructed to demonstrate operating both independently and collaboratively.

in-space assembly↗
NASA NTRS2003

Preliminary Design, Feasibility and Cost Evaluation of 1- to 15-Kilometer Height Steel Towers

Design and construction of tall towers is an on-going research program of NASA. The agency has already done preliminary review in this area and has determined that multi-kilometer height towers are technically and economically feasible. The proposed towers will provide high altitude launch platforms reaching above eighty percent of Earth's atmosphere and provide tremendous gains in the potential energy as well as substantial reduction in aerodynamic drag. NASA has also determined that a 15-KM tower will have many useful applications in: (i)Meteorology,(ii)Oceanography, (iii)Astronomy, (iv)High Altitude Launch, (v)Physics Drop Tower, (vi) Biosphere Research, (vii) Nanotechnology, (viii) Energy/Power, (ix)Broadband Wireless Technology, (x)Space Transportation and (xi)Space Tourism.

Shanker, Ajay↗
NASA NTRSDate not supplied

Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS): Robotically Assembled Sustainable Lunar Infrastructure

Introduction: The Automated Reconfigurable Mission Adaptive Digital Assembly Systems (ARMADAS) project at NASA Ames Research Center is developing autonomous infrastructure, instrumentation, and spacecraft assembly and manufacturing capabilities for next generation exploration and science missions, with a goal to change the cost scaling of these missions relative to mission size and duration. Using a building-block approach with a 'kit of parts' composed of ultra-light, high-performance mechanical metamaterials, simplified robots leverage the period environment to achieve high levels of autonomy and reliability for in-space and surface assembly of large-scale apertures, solar-arrays, towers, habitats, and other infrastructure. Robots and structure break down into a compact form factor for launch. By leveraging economies of scale and achieving high-packing ratios, ARMADAS technology can revolutionize possible space missions by breaking the tyranny of the launch shroud, decreasing development times, decreasing mission costs for transformative science capability, and providing a scalable and versatile space infrastructure strategy. Capabilities: To date, the ARMADAS project has demonstrated autonomous assembly of large numbers of structural modules into a meters-scale structure in an earth gravity environment. The mechanical performance is on par with conventional space structures, at a fraction of the cost. By using highly repeatable manufacturing processes (injection molding carbon fiber reinforced space-rated polymers), the structures are both cost effective and highly precise. The ARAMADAS system carefully designs parts for high-precision assembly–the simple and cost-effective robots build structures much larger and more precise than themselves. While maintaining structural efficiency, the ARMADAS system encompasses many functional module types, including for solar power, comm/power routing, etc., that will enable entire infrastructure systems to be engineered and autonomously assembled with modular parts. With well-defined interfaces, custom instrumentation modules can easily be added to fit many mission objectives. Lunar Infrastructure Vision: At the LSIC spring meeting, ARMADAS will present a vision for a general-purpose lunar construction kit capable of meeting a wide variety of lunar surface infrastructure needs (Figure 1). Investing in an ecosystem of reconfigurable, discretely repairable parts and robots enables systems than can expand their capability, reconfigure to meet emergency or unforeseen needs, self-repair and reduce spare-part needs. With a small set of parts (module types), a wide variety of infrastructure needs can be met. Footing modules will allow infrastructure construction at locations with no surface preparation. Footer, primary structure, and rail modules can create reconfigurable rail systems. These rail systems can be used to reduce cost-of-transport between frequently accessed sites, provide dust mitigation, and convey power and communications. High-performance structure modules combined with power-routing and solar modules can create tall towers for power and communication. Concepts for habitats and garages encompass a structure to support regolith cover for a pre-integrated module to an entirely ARMADAS system-based structure. This system can be leveraged by many in-situ resource utilization (ISRU) technologies to simplify processes and augment capabilities.

C. E. Gregg↗
NASA NTRS1980

Planetary boundary-layer wind model evaluation at a mid-Atlantic coastal site

Detailed measurements of the mean flow and turbulence were made with the use of a micrometeorological facility consisting of an instrumented 76-m tall tower located within a 100-m distance from the Atlantic Ocean at Wallops Island, Virginia. Under moderately strong wind conditions, the popular neutral boundary layer flow model fails to provide an adequate description of the actual flow. In addition to detailed flow information for all wind directions, averages of the important flow parameters used for design such as vertical distribution of mean velocity, turbulence intensities and turbulence integral scales were presented for wind direction sectors with near uniform upstream terrain. Power spectra of the three velocity components for the prevailing northwesterly and southerly winds are discussed.

Tieleman, H. W.↗
NASA NTRS1984

Evaluation of airborne lidar wind measurements

The verification of the Doppler lidar wind measurement is continued. The in situ measurements on a 500 meter tall tower are used to check the lidar determined winds (flight 4), followed by other tests applied to the extensive data sets of flights 19 and 21. After checking for possible software errors in the processing programs, the inconsistency was not solved. The source of the errors appears to be the uncertainty in the calculation of the contribution of the aircraft motion to the lidar measured line of sight speed. Possible techniques for estimating the aircraft motion errors from the aircraft data are investigated.

Carroll, J. J.↗
NASA NTRS1988

Very large Arecibo-type telescopes

The Arecibo-type radio telescope, based on a fixed spherical reflector, is a very effective design for a large radio telescope on the Moon. In such telescopes, major structural members are provided by the ground on which they are built, and thus are provided at no cost in materials or transportation. The strong compression members, the tall towers which support the suspended platform, are an expensive part of the Arecibo telescope. The need for such towers can be eliminated if a suitable valley or crater can be found wherein the rim of the depression can be used as the support point for the cables which support the suspended platform. With an Arecibo-type radio telescope on the Moon, there are no changing gravity loads because of the design and no changing wind loads because of the location; therefore, the only source of time variation in the telescope geometry is thermal changes. Calculations show that with conventional materials, such as steel, it should be possible to construct an Arecibo-type telescope with a reflector diameter of some 30 km on the Moon, and with a reflector diameter of some 60 to 90 km if materials of high specific strength are used.

Drake, Frank D.↗
NASA NTRS2008

Initial Results from the Variable Intensity Sonic Boom Propagation Database

An extensive sonic boom propagation database with low- to normal-intensity booms (overpressures of 0.08 lbf/sq ft to 2.20 lbf/sq ft) was collected for propagation code validation, and initial results and flight research techniques are presented. Several arrays of microphones were used, including a 10 m tall tower to measure shock wave directionality and the effect of height above ground on acoustic level. A sailplane was employed to measure sonic booms above and within the atmospheric turbulent boundary layer, and the sailplane was positioned to intercept the shock waves between the supersonic airplane and the ground sensors. Sailplane and ground-level sonic boom recordings were used to generate atmospheric turbulence filter functions showing excellent agreement with ground measurements. The sonic boom prediction software PCBoom4 was employed as a preflight planning tool using preflight weather data. The measured data of shock wave directionality, arrival time, and overpressure gave excellent agreement with the PCBoom4-calculated results using the measured aircraft and atmospheric data as inputs. C-weighted acoustic levels generally decreased with increasing height above the ground. A-weighted and perceived levels usually were at a minimum for a height where the elevated microphone pressure rise time history was the straightest, which is a result of incident and ground-reflected shock waves interacting.

Haering, Edward A., Jr.↗
NASA NTRS2008

A Preliminary Study of CO2 Flux Measurements by Lidar

A mechanistic understanding of the global carbon cycle requires quantification of terrestrial ecosystem CO2 fluxes at regional scales. In this paper, we analyze the potential of a Doppler DIAL system to make flux measurements of atmospheric CO2 using the eddy-covariance and boundary layer budget methods and present results from a ground based experiment. The goal of this study is to put CO2 flux point measurements in a mesoscale context. In June 2007, a field experiment combining a 2-m Doppler Heterodyne Differential Absorption Lidar (HDIAL) and in-situ sensors of a 447-m tall tower (WLEF) took place in Wisconsin. The HDIAL measures simultaneously: 1) CO2 mixing ratio, 2) atmosphere structure via aerosol backscatter and 3) radial velocity. We demonstrate how to synthesize these data into regional flux estimates. Lidar-inferred fluxes are compared with eddy-covariance fluxes obtained in-situ at 396m AGL from the tower. In cases where the lidar was not yet able to measure the fluxes with acceptable precision, we discuss possible modifications to improve system performance.

Gibert, Fabien↗
NASA NTRS2009

Turbulent CO2 Flux Measurements by Lidar: Length Scales, Results and Comparison with In-Situ Sensors

The vertical CO2 flux in the atmospheric boundary layer (ABL) is investigated with a Doppler differential absorption lidar (DIAL). The instrument was operated next to the WLEF instrumented tall tower in Park Falls, Wisconsin during three days and nights in June 2007. Profiles of turbulent CO2 mixing ratio and vertical velocity fluctuations are measured by in-situ sensors and Doppler DIAL. Time and space scales of turbulence are precisely defined in the ABL. The eddy-covariance method is applied to calculate turbulent CO2 flux both by lidar and in-situ sensors. We show preliminary mean lidar CO2 flux measurements in the ABL with a time and space resolution of 6 h and 1500 m respectively. The flux instrumental errors decrease linearly with the standard deviation of the CO2 data, as expected. Although turbulent fluctuations of CO2 are negligible with respect to the mean (0.1 %), we show that the eddy-covariance method can provide 2-h, 150-m range resolved CO2 flux estimates as long as the CO2 mixing ratio instrumental error is no greater than 10 ppm and the vertical velocity error is lower than the natural fluctuations over a time resolution of 10 s.

Gilbert, Fabien↗
NASA NTRS2010

Operational Lessons Learned from the Ares I-X Flight Test

The Ares I-X flight test, launched in 2009, is the first test of the Ares I crew launch vehicle. This development flight test evaluated the flight dynamics, roll control, and separation events, but also provided early insights into logistical, stacking, launch, and recovery operations for Ares I. Operational lessons will be especially important for NASA as the agency makes the transition from the Space Shuttle to the Constellation Program, which is designed to be less labor-intensive. The mission team itself comprised only 700 individuals over the life of the project compared to the thousands involved in Shuttle and Apollo missions; while missions to and beyond low-Earth orbit obviously will require additional personnel, this lean approach will serve as a model for future Constellation missions. To prepare for Ares I-X, vehicle stacking and launch infrastructure had to be modified at Kennedy Space Center's Vehicle Assembly Building (VAB) as well as Launch Complex (LC) 39B. In the VAB, several platforms and other structures designed for the Shuttle s configuration had to be removed to accommodate the in-line, much taller Ares I-X. Vehicle preparation activities resulted in delays, but also in lessons learned for ground operations personnel, including hardware deliveries, cable routing, transferred work and custodial paperwork. Ares I-X also proved to be a resource challenge, as individuals and ground service equipment (GSE) supporting the mission also were required for Shuttle or Atlas V operations at LC 40/41 at Cape Canaveral Air Force Station. At LC 39B, several Shuttle-specific access arms were removed and others were added to accommodate the in-line Ares vehicle. Ground command, control, and communication (GC3) hardware was incorporated into the Mobile Launcher Platform (MLP). The lightning protection system at LC 39B was replaced by a trio of 600-foot-tall towers connected by a catenary wire to account for the much greater height of the vehicle. Like Shuttle, Ares I-X will be stacked on a MLP and rolled out to the pad on a Saturn-era crawler-transporter. While Ares I-X was only held in place by the four hold-down posts on its aft skirt during rollout, a new vehicle stabilization system (VSS) attached to the vertical service structure kept the vehicle from undue swaying prior to launch at the pad, LC 39B. Following the launch, the flight test vehicle first stage was recovered with the aid of new parachutes resized to accommodate the five-segment-long first stage, which had a much greater length and mass than the Shuttle s reusable solid rocket boosters. After splashdown, recovery divers exercised extra care when handling the first stage to ensure that the flight data recorders in the fifth segment simulator were not damaged by exposure to sea water. The data recovered from the Ares I-X flight test will be very valuable in verifying the predicted environments and models used to design the vehicle. Lessons learned from Ares I-X will be shared with the Ares Projects through written and verbal reports and through integration of mission team members into the Project workforce.

Davis, Stephan R.↗
NASA NTRS2011

Can CO2 Turbulent Flux Be Measured by Lidar? A Preliminary Study

The vertical profiling ofCO2 turbulent fluxes in the atmospheric boundary layer (ABL) is investigated using a coherent differential absorption lidar (CDIAL) operated nearby a tall tower in Wisconsin during June 2007. A CDIAL can perform simultaneous range-resolved CO2 DIAL and velocity measurements. The lidar eddy covariance technique is presented. The aims of the study are (i) an assessment of performance and current limitation of available CDIAL for CO2 turbulent fluxes and (ii) the derivation of instrument specifications to build a future CDIAL to perform accurate range-resolved CO2 fluxes. Experimental lidar CO2 mixing ratio and vertical velocity profiles are successfully compared with in situ sensors measurements. Time and space integral scales of turbulence in the ABL are addressed that result in limitation for time averaging and range accumulation. A first attempt to infer CO2 fluxes using an eddy covariance technique with currently available 2-mm CDIAL dataset is reported.

Gilbert, Fabien↗
NASA NTRS2018

Spatially-Explicit Monitoring of Crop Photosynthetic Capacity Through the Use of Space-Based Chlorophyll Fluorescence Data

Plant functional traits such as photosynthetic capacity are critical parameters for terrestrial biosphere models. However, their spatial and temporal characteristics are still poorly represented. In this study, we used satellite observations of sun-induced fluorescence (SIF) to estimate top-of-canopy photosynthetic capacity (maximum carboxylation rate, V(sub cmax) at a reference temperature of 25 deg C) for crops, which was in turn utilized to simulate regional gross primary production (GPP). We first estimate the key parameter, V(sub cmax), in the widely-used FvCB photosynthesis model using field measurements of CO2 and water fluxes during 2007-2012 at seven crop eddy covariance flux sites over the US Corn Belt. The results showed that satellite far-red SIF retrievals have a stronger link to V(sub cmax) at the seasonal scale (R(squared)=0.70 for C4 and R(squared)=0.63 for C3 crop) as compared with widely-used vegetation indices. We calibrate an empirical model linking V(sub cmax) with SIF that was used to estimate spatially and temporally varying crop V(sub cmax) for the US Corn Belt region. The resulting V(sub cmax) maps are used together with meteorological data from MERRA reanalysis data and vegetation structural parameters derived from the satellite- based spectral reflectance data to constrain the Soil-Canopy Observation of Photosynthesis and Energy (SCOPE) balance model in order to estimate regional crop GPP. Our results show a substantial improvement in the seasonal and spatial patterns of cropland GPP when compared with crop yield inventory data. The evaluation with tall tower atmospheric CO2 measurements further supports our estimation of spatiotemporal V(sub cmax) from space-borne SIF. Considering that SIF has a direct link to photosynthetic activity, our findings highlight the potential to infer regional V(sub cmax) using remotely sensed SIF data and to use this information for a better quantification of regional cropland carbon cycles.

Drought↗
NASA NTRS2020

Modal Test of the NASA Mobile Launcher at Kennedy Space Center

The NASA Mobile Launcher (ML), located at Kennedy Space Center (KSC), has recently been modified to support the launch of the new NASA Space Launch System (SLS). The ML is a massive structure—consisting of a 345-foot tall tower attached to a two-story base, weighing approximately 10.5 million pounds—that will secure the SLS vehicle as it rolls to the launch pad on a Crawler Transporter, as well as provide a launch platform at the pad. The ML will also provide the boundary condition for an upcoming SLS Integrated Modal Test (IMT). To help correlate the ML math models prior to this modal test, and allow focus to remain on updating SLS vehicle models during the IMT, a ML-only experimental modal test was performed in June 2019. Excitation of the tower and platform was provided by five uniquely-designed test fixtures, each enclosing a hydraulic shaker, capable of exerting thousands of pounds of force into the structure. For modes not that were not sufficiently excited by the test fixture shakers, a specially-designed mobile drop tower provided impact excitation at additional locations of interest. The response of the ML was measured with a total of 361 accelerometers. Following the random vibration, sine sweep vibration, and modal impact testing, frequency response functions were calculated and modes were extracted for three different configurations of the ML in 0 Hz to 12 Hz frequency range. This paper will provide a case study in performing modal tests on large structures by discussing the Mobile Launcher, the test strategy, an overview of the test results, and recommendations for meeting a tight test schedule for a large-scale modal test.

Hydraulic shakers↗