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NASA NTRS2014

Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

Tensegrity↗

NASA NTRS1988

Understanding of and applications for robot vision guidance at KSC

The primary thrust of robotics at KSC is for the servicing of Space Shuttle remote umbilical docking functions. In order for this to occur, robots performing servicing operations must be capable of tracking a swaying Orbiter in Six Degrees of Freedom (6-DOF). Currently, in NASA KSC's Robotic Applications Development Laboratory (RADL), an ASEA IRB-90 industrial robot is being equipped with a real-time computer vision (hardware and software) system to allow it to track a simulated Orbiter interface (target) in 6-DOF. The real-time computer vision system effectively becomes the eyes for the lab robot, guiding it through a closed loop visual feedback system to move with the simulated Orbiter interface. This paper will address an understanding of this vision guidance system and how it will be applied to remote umbilical servicing at KSC. In addition, other current and future applications will be addressed.

Shawaga, Lawrence M.↗

NASA NTRS2016

An Integral Field Spectrograph Utilizing Mirrorlet Arrays

An integral field spectrograph (IFS) has been developed that utilizes a new and novel optical design to observe two spatial dimensions simultaneously with one spectral dimension. This design employs an optical 2-D array of reflecting and focusing mirrorlets. This mirrorlet array is placed at the imaging plane of the front-end telescope to generate a 2-D array of tiny spots replacing what would be the slit in a traditional slit spectrometer design. After the mirrorlet in the optical path, a grating on a concave mirror surface will image the spot array and provide high-resolution spectrum for each spatial element at the same time; therefore, the IFS simultaneously obtains the 3-D data cube of two spatial and one spectral dimensions. The new mirrorlet technology is currently in-house and undergoing laboratory testing at NASA Goddard Space Flight Center. Section 1 describes traditional classes of instruments that are used in Heliophysics missions and a quick introduction to the new IFS design. Section 2 discusses the details of the most generic mirrorlet IFS, while section 3 presents test results of a lab-based instrument. An example application to a Heliophysics mission to study solar eruptive events in extreme ultraviolet wavelengths is presented in section 4 that has high spatial resolution (0.5 arc sec pixels) in the two spatial dimensions and high spectral resolution (66 m) across a 15 spectral window. Section 4 also concludes with some other optical variations that could be employed on the more basic IFS for further capabilities of this type of instrument.

Chamberlin, Phillip C.↗

NASA NTRS1993

On the performance of Trellis coded modulation with octal phase shift keying over the TDRSS channel

As the National Aeronautics and Space Administration moves into the 21st century with programs like Space Station Freedom, a manned mission to Mars, and the new Landsat mission, transmission demands on the Tracking and Data Relay Satellite System (TDRSS) will very likely exceed the available bandwidth. The Manual Lujan, Jr. Center for Space Telemetering and Telecommunications Systems (CSTTS) at New Mexico State University (NMSU) is studying techniques for increasing the data rate capabilities of TDRSS. These techniques include the use of advanced bandwidth efficient modulation formats to increase the data rate that can be sustained in a TDRSS transponder and the use of lossless bandwidth compression of the data to be transmitted to lower the data rate required from the user spacecraft. Based upon current technology the most promising bandwidth efficient modulation technique is Trellis Coded Modulation (TCM) operating with Octal Phase shift Keying (8PSK). Trellis Coded Modulation coding with 8PSK carrier modulation has the capability to increase the data rate which can be transmitted through the TDRSS spacecraft by a factor of 2 to 2.5 times that available with todays coded QPSK systems with only a small penalty in link performance relative to the existing systems. However, before NASA can safely employ TCM coding it is necessary to prove that this complex format can perform on the real TDRSS link as it does in labs and simulation studies. This proof-of-concept test over a live satellite channel was the objective of the construction and testing performed under this task of the NMSU NASA grant referenced above. In conjunction with NASA, NMSU's CSTTS has constructed a system to test a new candidate TDRSS modulation scheme, TCM 8PSK, that can enhance the information throughput of the TDRSS spacecraft. The test system for this project which was constructed over a period of 18 months by NMSU consisted of two racks of commercial and univeristy-designed and -built equipment. This project has included modifications of an existing White Sands Ground Terminal (WSGT) High Rate QPSK Demodulator to demodulate 8PSK as well as the construction of other support hardware. Also, two TCM codecs (coder/decoders) have been constructed to implement two levels of bandwidth efficiency. One was designed and built by the research team at NMSU while the other was created by the University of Notre Dame with the University of South Australia. The NMSU codec achieves a 2-to-1 increase in data rate per unit bandwidth with a coding gain relative to QPSK of about 3dB. The Notre Dame/South Australia codec achieves a 2.5-to-1 increase in data rate per unit of occupied bandwidth and a coding gain of about 2dB.

Osborne, William P.↗

NASA NTRS1996

Validation of bonded composite doubler technology through application oriented structural testing

One of the major thrusts established under the FAA's National Aging Aircraft Research Program is to foster new technologies associated with civil aircraft maintenance. Recent DOD and other government developments in the use of bonded composite patches on metal structures has supported the need for research and validation of such doubler applications on U.S. certificated airplanes. Composite patching is a rapidly maturing technology which shows promise of cost savings on aging aircraft. Sandia Labs is conducting a proof-of-concept project with Delta Air Lines, Lockheed Martin, Textron, and the FAA which seeks to remove any remaining obstacles to the approved use of composite doublers. By focusing on a specific commercial aircraft application - reinforcement of the L-1011 door frame - and encompassing all 'cradle-to-grave' tasks such as design, analysis, installation, and inspection, this program is designed to prove the capabilities of composite doublers. This paper reports on a series of structural tests which have been conducted on coupons and subsize test articles. Tension-tension fatigue and residual strength tests attempted to grow engineered flaws in coupons with composite doublers bonded to aluminum skin. Also, structures which modeled key aspects of the door corner installation were subjected to extreme tension, shear, and bending loads. In this manner it was possible to study strain fields in and around the Lockheed-designed composite doubler using realistic aircraft load scenarios and to assess the potential for interply delaminations and disbonds between the aluminum and the laminate. The data acquired was also used to validate finite element models (FEM) and associated Damage Tolerance Analyses.

Roach, Dennis↗

NASA NTRS2015

An Internal Thermal Environment Model of an Aluminized Solid Rocket Motor with Experimental Validation

Due to the severity of the internal solid rocket motor (SRM) environment, very few direct measurements of that environment exist; therefore, the appearance of such data provides a unique opportunity to assess current thermal/fluid modeling capabilities. As part of a previous study of SRM internal insulation performance, the internal thermal environment of a laboratory-scale SRM featuring aluminized propellant was characterized with two types of custom heat-flux calorimeters: one that measured the total heat flux to a graphite slab within the SRM chamber and another that measured the thermal radiation flux. Therefore, in the current study, a thermal/fluid model of this lab-scale SRM was constructed using ANSYS Fluent to predict not only the flow field structure within the SRM and the convective heat transfer to the interior walls, but also the resulting dispersion of alumina droplets and the radiative heat transfer to the interior walls. The dispersion of alumina droplets within the SRM chamber was determined by employing the Lagrangian discrete phase model that was fully coupled to the Eulerian gas-phase flow. The P1-approximation was engaged to model the radiative heat transfer through the SRM chamber where the radiative contributions of the gas phase were ignored and the aggregate radiative properties of the alumina dispersion were computed from the radiative properties of its individual constituent droplets, which were sourced from literature. The convective and radiative heat fluxes computed from the thermal/fluid model were then compared with those measured in the lab-scale SRM test firings and the modeling approach evaluated.

Martin, Heath T.↗

NASA NTRSDate not supplied

Advanced eLectrical Bus (ALBus) CubeSat: From Build to Flight

Advanced eLectrical Bus (ALBus) CubeSat is a technology demonstration mission of a 3-U CubeSat with an advanced digitally controlled electrical power system and novel use of Shape Memory Alloy (SMA) technology for reliable deployable solar array mechanisms. The primary objective was to advance the power management and distribution (PMAD) capabilities to enable future missions requiring more flexible and reliable power systems with higher output power capabilities. Goals included demonstration of 100W distribution to a target electrical load, response to continuous and fast transient power requirements, and exhibition of reliable deployment of solar arrays and antennas utilizing re-settable SMA mechanisms. The power distribution function of the ALBus PMAD system is unique in the total power to target load capability, as power is distributed from batteries to provide 100W of power directly to a resistive load. The deployable solar arrays utilize NASA’s Nickel-Titanium-Palladium-Platinum (NiTiPdPt) high-temperature SMAs for the retention and release mechanism, and a superelastic binary NiTi alloy for the hinge component. The project launched as part of the CubeSat Launch Initiative (CLI) Educational Launch of Nanosatellites (ELaNa) XIX mission on Rocket Lab’s Electron in December 2018. This paper summarizes the final launched design and the lessons learned from build to flight.

Deboshri Sadhukhan↗

NASA NTRSDate not supplied

Goniometric and Polarized Imaging Spectroscopic Lab Measurements of Spacecraft Materials

To better characterize the spectral response of common spacecraft materials, the following laboratory measurements are presented to support the Space Situational Awareness community in the analysis of remotely sensed observational data. Of interest is classifying material reflective properties using directional reflectance spectroscopy and spatially resolved polarized imaging spectroscopy, allowing laboratory data to be applicable to ground-based optical telescope observations. The team acquired a typical CubeSat solar panel and a sample of multi-layer insulation (MLI) commonly used on spacecraft for initial measurements. The directional spectral data were collected at the Goniometer of the Rochester Institute of Technology (GRIT) laboratory with a lab and field goniometer incorporating two AnalyticalSpectral Device (ASD) spectrometers, a small Lab sphere integrating sphere also paired with an ASD spectrometer, and a Headwall micro-Hyperspec E-Series imaging spectrometer with an adjustable linear polarizer. The goniometer measures spectral bi-directional reflectance factor (BRF) data over a broad range from 350−2500 nm at 1 nm spacing with 3 nm spectral resolution in the visible and near infrared and 8 nm in the shortwave infrared. With the same spectral capabilities, the integrating sphere measures hemispherical-directional reflectance (HDR) in a 45◦-nadir configuration. The Headwall imager covers a spectral range from 400−1000 nm with 1.6 nm spectral resolution.Our initial BRF measurements show interference effects for both materials typically observed with thin films and high infrared reflectivity. In contrast, the interference effects are not present in the HDR measurements of the MLI likely due to the interference effects being averaged out over the reflecting hemisphere. Spatially resolved polarization ratio maps show variability across the materials due to the varying surface structure. We outline a plan for expanding our analysis to a broader range of materials to characterize their directional reflectance spectroscopy.

Chris H. Lee↗

NASA NTRS1997

Remote Sensing of Ocean Color in the High Arctic

With four years of NASA SeaWiFS funding I established a completely new capability and expertise for in-water optical measurements nearly from scratch and with very little optical background. My first-year budget included only capital for a profiling spectral radiometer. Over the next 30 months we conducted six cruises and collected almost 300 optical profiles in challenging environments; many were collected from 21' launches. I also changed institutions during this period: it is very disruptive to move, set up a new lab, and hire and train new people, etc. We also did not have access to NASA funds for almost a year during the move because of difficulties in subcontracting and/or transferring funds. Nevertheless, we delivered data sets from six bio-optical cruises from three high latitude regions, although only two or three cruises from two areas were promised for our SeaWiFS research. The three Canadian Arctic field programs comprise the most comprehensive high latitude bio-optical and biogeochemical data sets in existence. Optical and pigment data from all six cruises have been submitted to NASA and are being included in the algorithm development test set. Additional data are still being submitted.

Cota, G. F.↗

NASA NTRS2011

Integrated Graphics Operations and Analysis Lab Development of Advanced Computer Graphics Algorithms

The focus of this project is to aid the IGOAL in researching and implementing algorithms for advanced computer graphics. First, this project focused on porting the current International Space Station (ISS) Xbox experience to the web. Previously, the ISS interior fly-around education and outreach experience only ran on an Xbox 360. One of the desires was to take this experience and make it into something that can be put on NASA s educational site for anyone to be able to access. The current code works in the Unity game engine which does have cross platform capability but is not 100% compatible. The tasks for an intern to complete this portion consisted of gaining familiarity with Unity and the current ISS Xbox code, porting the Xbox code to the web as is, and modifying the code to work well as a web application. In addition, a procedurally generated cloud algorithm will be developed. Currently, the clouds used in AGEA animations and the Xbox experiences are a texture map. The desire is to create a procedurally generated cloud algorithm to provide dynamically generated clouds for both AGEA animations and the Xbox experiences. This task consists of gaining familiarity with AGEA and the plug-in interface, developing the algorithm, creating an AGEA plug-in to implement the algorithm inside AGEA, and creating a Unity script to implement the algorithm for the Xbox. This portion of the project was unable to be completed in the time frame of the internship; however, the IGOAL will continue to work on it in the future.

Wheaton, Ira M.↗

NASA NTRS1993

Mirror fusion propulsion system - A performance comparison with alternate propulsion systems for the manned Mars mission

The performance characteristics of several propulsion technologies applied to piloted Mars missions are compared. The characteristics that are compared are Initial Mass in Low Earth Orbit (IMLEO), mission flexibility, and flight times. The propulsion systems being compared are both demonstrated and envisioned: Chemical (or Cryogenic), Nuclear Thermal Rocket (NTR) solid core, NTR gas core, Nuclear Electric Propulsion (NEP), and a mirror fusion space propulsion system. The proposed magnetic mirror fusion reactor, known as the Mirror Fusion Propulsion System (MFPS), is described. The description is an overview of a design study that was conducted to convert a mirror reactor experiment at Lawrence Livermore National Lab (LLNL) into a viable space propulsion system. Design principles geared towards minimizing mass and maximizing power available for thrust are identified and applied to the LLNL reactor design, resulting in the MFPS. The MFPS' design evolution, reactor and fuel choices, and system configuration are described. Results of the performance comparison shows that the MFPS minimizes flight time to 60 to 90 days for flights to Mars while allowing continuous return-home capability while at Mars. Total MFPS IMLEO including propellant and payloads is kept to about 1,000 metric tons.

Deveny, M.↗

NASA NTRS1993

Mirror fusion propulsion system: A performance comparison with alternate propulsion systems for the manned Mars Mission

Schulze, Norman R.↗

NASA NTRS2014

AztechSat-1, a First Collaborative CubeSat Between NASA and Mexico

An international collaboration program for capacity building in space technology is being established between NASA and the Mexican Space Agency (AEM). Its objective is to develop a series of CubeSats collaboratively in a way that benefits both agencies. For AEM, this experience will support the development of human capital required for its space program. This project provides an opportunity for NASA future missions to benefit from commercially available technologies demonstrated in space. AEM was recently created by the Mexican Government to use and develop space technology in Mexico. Current AEM plans call for having the capability of developing its own communication satellites by 2030, so the need for having a Mexican cadre of space experts is mandatory. The program will start with the development and launching of AztechSat-1, the first AEM CubeSat project to be deployed from the International Space Station (ISS). Several public Mexican universities will participate in this project to demonstrate GlobalStar, a satellite communications provider using a constellation of LEO satellites, as an option for small satellite missions. AztechSat-1 mission objectives are:(1) Develop a flight ready CubeSat for deployment from the ISS; (2) Demonstrate GlobalStar´s Network as a method to advance communications in CubeSat missions. AztechSat-1 is envisioned as a 1U CubeSat and will be designed and constructed by Mexican graduate students from two major universities in Mexico: UNAM and IPN. The students will be mentored and supervised by researchers from NASA Ames Research Center (NARC). Flight acceptance tests are going to be done both at Mexican university labs as well as at NARC. Funding for the project will be provided concurrently by AEM, the Mexican participating universities, and other Mexican entities. The development of AztechSat-1 will emphasize the transfer of knowledge in space mission analysis and design, flight acceptance testing and other areas of space technology which are not well developed in Mexico yet. Mexican students will benefit from their mentoring from NASA researchers and will provide a multiplier effect in the development of the next generation of Mexican aerospace engineers. AztechSat-1 will be developed in a period of twelve months and will be launched by late 2015. AztechSat´s success will define the future of collaboration between NASA and AEM in capacity building. A plan for developing a series of AztechSat’s in a one per year basis, with increasing capabilities and complexity is currently being negotiated between NASA an AEM.

Martinez, Andres↗

NASA NTRS1976

The Viking mission search for life on Mars

The scientific payload on the Viking Mars landers is described. Shortly after landing, two facsimile cameras capable of stereoscopic imaging will scan the landing site area in black and white, color, and infrared to reveal gross evidence of past or present living systems. A wide range mass spectrometer will record a complete mass spectrum for soil samples from mass 12 to mass 200 every 10.3 sec. Three experiments based on different assumptions on the nature of life on Mars, if it exists, will be carried out by the bio-lab. A pyrolytic release experiment is designed to measure photosynthetic or dark fixation of carbon dioxide or carbon monoxide into organic compounds. A labelled release experiment will test for metabolic activity during incubation of a surface sample moistened with a solution of radioactively labelled simple organic compounds. A gas exchange experiment will detect changes in the gaseous medium surrounding a soil sample as the result of metabolic activity. The hardware, function, and terrestrial test results of the bio-lab experiments are discussed.

Klein, H. P.↗

NASA NTRS1990

High temperature materials characterization

A lab facility for measuring elastic moduli up to 1700 C was constructed and delivered. It was shown that the ultrasonic method can be used to determine elastic constants of materials from room temperature to their melting points. The ease in coupling high frequency acoustic energy is still a difficult task. Even now, new coupling materials and higher power ultrasonic pulsers are being suggested. The surface was only scratched in terms of showing the full capabilities of either technique used, especially since there is such a large learning curve in developing proper methodologies to take measurements into the high temperature region. The laser acoustic system does not seem to have sufficient precision at this time to replace the normal buffer rod methodology.

Workman, Gary L.↗

NASA NTRSDate not supplied

Artemis Crewed Surface Operations Training Dust Mitigation Test/Training Facility (DMTF)

Based on several Apollo mission(s) reports and lessons learned1 on lunar dust impacts, it is imperative for successful Artemis missions, to develop dust mitigation methods & train crew in dust cleaning techniques for efficient use of lunar surface time and for crew health. Longer durations and increased number of Extra Vehicular Activities (EVAs) for Artemis need better training. Apollo missions lacked training in a dust facility. Current facilities do not provide adequate fidelity to train crew in dust cleaning operations in suited, pressurized environments. Mimicking dust cleaning actions in existing facilities (eg- Neutral Buoyancy lab) does not provide in depth understanding of actions and time needed to clean suit or positions crew need to take to remove dust from suit. Available dust bins do not support suited/pressurized ops, personnel not trained in suited ops, more overhead/travel. A local facility at Johnson Space Center (JSC) w/ adequate fidelity supporting suited/pressurized ops, personnel in suited ops is a crucial need for rapid development/testing and training. This facility will provide NASA capabilities to: 1. Provide a dust containment bin to perform suited pressurized crewed training/testing activities for dust interaction/mitigation leveraging existing JSC facility infrastructure and 2. Perform end-to-end simulated lunar dust testing of fluid, mechanical, and electrical systems to provide “test like you fly” confidence for industry developed solutions.

EVA training↗

NASA NTRS2007

The International Space Station as a Research Laboratory: A View to 2010 and Beyond

Assembly of International Space Station (ISS) is expected to be complete in 2010, with operations planned to continue through at least 2016. As we move nearer to assembly complete, replanning activities by NASA and ISS International Partners have been completed and the final complement of research facilities on ISS is becoming more certain. This paper will review pans for facilities in the US On-orbit Segment of ISS, including contributions from International Partners, to provide a vision of the research capabilities that will be available starting in 2010. At present, in addition to research capabilities in the Russian segment, the United States Destiny research module houses nine research facilities or racks. These facilities include five multi-purpose EXPRESS racks, two Human Research Facility (HRF) racks, the Microgravity Science Glovebox (MSG), and the Minus Eighty-degree Laboratory Freezer for ISS (MELFI), enabling a wide range of exploration-related applied as well as basic research. In the coming years, additional racks will be launched to augment this robust capability: Combustion Integrated Rack (CIR), Fluids Integrated Rack (FIR), Window Observation Rack Facility (WORF), Microgravity Science Research Rack (MSRR), Muscle Atrophy Research Exercise System (MARES), additional EXPRESS racks and possibly a second MELFI. In addition, EXPRESS Logistics Carriers (ELC) will provide attach points for external payloads. The European Space Agency s Columbus module will contain five research racks and provide four external attach sites. The research racks are Biolab, European Physiology Module (EPM), Fluid Science Lab (FSL), European Drawer System (EDS) and European Transport Carrier (ETC). The Japanese Kibo elements will initially support three research racks, Ryutai for fluid science, Saibo for cell science, and Kobairo for materials research, as well as 10 attachment sites for external payloads. As we look ahead to assembly complete, these new facilities represent a threefold increase from the current research laboratory infrastructure on ISS. In addition, the increase in resident crew size will increase from three to six in 2009, will provide the long-term capacity for completing research on board ISS. Transportation to and from ISS for crew and cargo will be provided by a fleet of vehicles from the United States, Russia, ESA and Japan, including accommodations for thermally-conditioned cargo. The completed ISS will have robust research accommodations to support the multidisciplinary research objective of scientists worldwide.

Uri, John J.↗

NASA NTRS2011

Carbon Nanotube Based Nanotechnology for NASA Mission Needs and Societal Applications

Carbon nanotubes (CNT) exhibit extraordinary mechanical properties and unique electronic properties and therefore, have received much attention for more than a decade now for a variety of applications ranging from nanoelectronics, composites to meeting needs in energy, environmental and other sectors. In this talk, we focus on some near term potential of CNT applications for both NASA and other Agency/societal needs. The most promising and successful application to date is a nano chem sensor at TRL 6 that uses a 16-256 sensor array in the construction of an electronic nose. Pristine, doped, functionalized and metal-loaded SWCNTs are used as conducting materials to provide chemical variation across the individual elements of the sensor array. This miniaturized sensor has been incorporated in an iPhone for homeland security applications. Gases and vapors relevant to leak detection in crew vehicles, biomedical, mining, chemical threats, industrial spills and others have been demonstrated. SWCNTs also respond to radiation exposure via a change in conductivity and therefore, a similar strategy is being pursued to construct a radiation nose to identify radiation sources (gamma, protons, neutrons, X-ray, etc.) with their energy levels. Carbon nanofibers (CNFs) grown using plasma enhanced CVD typically are vertical, individual, freestanding structures and therefore, are ideal for construction of nanoelectrodes. A nanoelectrode array (NEA) can be the basis for an affinity-based biosensor to meet the needs in applications such as lab-on-a-chip, environmental monitoring, cancer diagnostics, biothreat monitoring, water and food safety and others. A couple of demonstrations including detection of e-coli and ricin will be discussed. The NEA is also useful for implantation in the brain for deep brain stimulation and neuroengineering applications. Miniaturization of payload such as science instrumentation and power sources is critical to reduce launch costs. High current density (greater than 100 mA/per square centimeters) field emission capabilities of CNTs can be exploited for construction of electron gun for electron microscopy and X-ray tubes for spectrometers and baggage screening. A CNT pillar array configuration has been demonstrated, not only meeting the high current density needs but more importantly providing long term emitter stability. Finally, supercapacitors hold the promise to combine the high energy density of a battery with the high power density of capacitors. Traditional graphite electrodes have not delivered this promise yet. A novel design and processing approach using MWCNTs has shown a record 550 F/g capacitance along with significant device endurance. This supercapacitor is suitable for railgun launch application for NASA, powering rovers and robots, consumer electronics and future hybrid vehicles.

Li, Jing↗