Results for “collaborative analysis” — Page 26

NASA NTRS2010

N+3 Aircraft Concept Designs and Trade Studies

MIT, Aerodyne Research, Aurora Flight Sciences, and Pratt & Whitney have collaborated to address NASA s desire to pursue revolutionary conceptual designs for a subsonic commercial transport that could enter service in the 2035 timeframe. The MIT team brings together multidisciplinary expertise and cutting-edge technologies to determine, in a rigorous and objective manner, the potential for improvements in noise, emissions, and performance for subsonic fixed wing transport aircraft. The collaboration incorporates assessment of the trade space in aerodynamics, propulsion, operations, and structures to ensure that the full spectrum of improvements is identified. Although the analysis focuses on these key areas, the team has taken a system-level approach to find the integrated solutions that offer the best balance in performance enhancements. Based on the trade space analyses and system-level assessment, two aircraft have been identified and carried through conceptual design to show both the in-depth engineering that underpins the benefits envisioned and also the technology paths that need to be followed to enable, within the next 25 years, the development of aircraft three generations ahead in capabilities from those flying today.

Greitzer, E. M.↗

NASA NTRS2019

Revision of Paschen's Law Relating to the ESD of Aerospace Vehicle Surfaces

The purpose of this work is to develop a form of Paschen's law that takes into account the flow of gas past electrode surfaces. This work was performed under a NASA Science Innovation Fund (SIF) project at the Kennedy Space Center in collaboration with the University of Central Florida. In 2010 the Electrostatics and Surface Physics Laboratory (ESPL) at the Kennedy Space Center performed an electrostatic safety analysis on the flight termination system (FTS) antenna for the Ares I rocket. Paschen's law, derived by Friedrich Paschen in 1889 to relate sparking voltage to gas pressure and electrode separation, does not take into account the effect of flowing gas between the electrodes. The safety of the FTS housing to triboelectric charging was shown only after extensive laboratory testing. Potential benefits are of a form of Paschen's law that considers gas velocity. This work is applicable to current and planned rockets and aerospace vehicles and could lead to possible relaxation of electrostatic launch criteria. Launch aborts can cost up to about a million US dollars depending on the vehicle. [ElectroStatic Discharge (ESD)]

Paschen↗

NASA NTRSDate not supplied

Dose, LET, time and strain dependence of radiation-induced 53BP1 foci in 15 mouse strains ex vivo and associations to in vivo radiation susceptibility

We present a comparative analysis on the repair of radiation-induced DNA damage ex vivo in 15 strains of mice, including 5 inbred reference strains and 10 collaborative-cross strains, of both sexes. Non-immortalized primary skin fibroblasts derived from 76 mice were subjected to both low- and high-LET radiation (0.1, 1 and 4 Gy of X rays; 1.1 and 3 particles/100μm2 of 350 MeV/n 40Ar and 600 MeV/n 56Fe). Automated image quantification of 53BP1 radiation-induced foci (RIF) during the first 4-48 h post-irradiation was performed as a function of dose and LET. Similarly to what we had previously reported for immortalized human cell lines [1], we observed a saturation of RIF number with dose at 4h post-irradiation, with more RIF/Gy for lower LET (X rays and 40Ar) compared to 56Fe. However at later time points (24h and above), the trend was inverted with more RIF/Gy for higher LET. Our data suggest that multiple DSBs cluster into RIF: as the linear density of DSBs increases with LET, so does the probability of having more DSBs per RIF, which makes it more difficult for cells to fully resolve high-LET-induced RIF, explaining the hypersensitivity to high-LET radiation despite a low number of RIF. Taking into account the amount of clustering at a given dose and LET, but also the kinetics of DNA damage repair, we introduced a novel mathematical formalism to evaluate the number of remaining RIF over time. We showed that the newly introduced kinetic metrics can be used as surrogate biomarkers for in vivo radiation toxicity, with potential applications in radiotherapy and human space exploration. In particular, we observed an association between the repairable fraction of RIF measured in vitro and survival levels of immune cells collected from irradiated mice. Moreover, the speed of DNA damage repair correlated with spontaneous cancer incidence data collected from the Mouse Tumor Biology database, suggesting a relationship between the efficiency of DSB repair after irradiation and cancer risk. In addition to the efficacy of repair and persistent RIF levels, even the amount of spontaneous foci without irradiation was shown to be strain dependent, indicating that these phenotypes are at least partially driven by genetics, and supporting their potential as indicators of individual radiation sensitivity. [1] Neumaier, T., et al., PNAS, 2012 (8) 109:443

Radiation, DNA damage, repair kinetics↗

NASA NTRSDate not supplied

Clinical Decision Support - Concepts of Operation

We are entering a new era in space exploration to return to the moon and explore Mars. Crew members operating independently during long duration space exploration missions will require a clinical decision support system (CDSS) to increase autonomy by augmenting their knowledge, skills and abilities in different scenarios. Significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities are needed to increase crew autonomy and self-reliance in decision making and task performance. The Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP) pushes the boundary of space medical systems to advance the care of astronauts on future exploration missions beyond low Earth orbit by identifying and testing next-generation medical care and crew health maintenance technologies. Clinical decision support (CDS) presents knowledge and data in a context aware manner to augment a crew members’ knowledge, skills and abilities during the process of observation, orientation, decisions and action. A comprehensive crew health and performance CDSS is required to augment crew capability and will be used in different scenarios for several reasons. In general, the CDSS’s role is to assist the crew in prevention, detection, diagnosis and treatment of crew health and performance related conditions that may arise in exploration spaceflight. For example, CDSS would assist a high acuity scenario such as a heart attack by supplying clear instructions, vital signs and treatment reminders. A lower severity scenario such as kidney stone risk could interface to vehicle systems and display more complex predictive data during a diagnosis. A CDSS needs to contribute to successful missions by maintaining a high performing crew who can potentially exhibit countless medical conditions related to derangements from the space environment (sleep, cognition, nutrition and exercise) as well as conditions intrinsic to humans anywhere. While supporting the crew’s ability to make sound clinical decisions is desirable in any mission, it is essential for exploration missions with significant communication delays, no evacuation capability, and extended exposure to the flight environment. Such missions correspond with medical Level of Care V (LOC V), the highest level specified in NASA-STD-3001. The project focuses on CDS implementation research to derive requirements for LOC V, where the need for increased autonomy results in new practices and the inclusion of non-clinical data, such as vehicle environmental measures and physical exercise results, from other human and vehicle domains and advanced analytics. The CDS project describes how the CDSS is intended to be used by defining concepts of operations (ConOps). The process to derive ConOps focuses on increased autonomy that reduces the likelihood and consequences of accepted medical conditions. These crew health and performance inputs are grouped by common datasets and analysis models. Use cases are derived to research new clinical scenarios, architectural development and workflows. Implementation research is conducted with protypes to inform assumptions and derive requirements. The project also establishes how externally developed analysis and approaches can be added to expand a clinical decision support system and thus highlight how a comprehensive system can be globally developed with collaborators. This presentation will cover example scenarios from the CDS ConOps and the method to derive them. One example scenario will be CDSS alerting an increased kidney stone risk during a mission, with diagnosis and treatment options provided during the intervention.

clinical decision support↗

NASA NTRSDate not supplied

Clinical Decision Support - Concepts of Operation

We are entering a new era in space exploration to return to the moon and explore Mars. Crew members operating independently during long duration space exploration missions will require a clinical decision support system (CDSS) to increase autonomy by augmenting their knowledge, skills and abilities in different scenarios. Significant changes to in-flight and habitat medical care due to constraints on mass, volume, power, crew time and medical evacuation capabilities are needed to increase crew autonomy and self-reliance in decision making and task performance. The Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP) pushes the boundary of space medical systems to advance the care of astronauts on future exploration missions beyond low Earth orbit by identifying and testing next-generation medical care and crew health maintenance technologies. Clinical decision support (CDS) presents knowledge and data in a context aware manner to augment a crew members’ knowledge, skills and abilities during the process of observation, orientation, decisions and action. A comprehensive crew health and performance CDSS is required to augment crew capability and will be used in different scenarios for several reasons. In general, the CDSS’s role is to assist the crew in prevention, detection, diagnosis and treatment of crew health and performance related conditions that may arise in exploration spaceflight. For example, CDSS would assist a high acuity scenario such as a heart attack by supplying clear instructions, vital signs and treatment reminders. A lower severity scenario such as kidney stone risk could interface to vehicle systems and display more complex predictive data during a diagnosis. A CDSS needs to contribute to successful missions by maintaining a high performing crew who can potentially exhibit countless medical conditions related to derangements from the space environment (sleep, cognition, nutrition and exercise) as well as conditions intrinsic to humans anywhere. While supporting the crew’s ability to make sound clinical decisions is desirable in any mission, it is essential for exploration missions with significant communication delays, no evacuation capability, and extended exposure to the flight environment. Such missions correspond with medical Level of Care V (LOC V), the highest level specified in NASA-STD-3001. The project focuses on CDS implementation research to derive requirements for LOC V, where the need for increased autonomy results in new practices and the inclusion of non-clinical data, such as vehicle environmental measures and physical exercise results, from other human and vehicle domains and advanced analytics. The CDS project describes how the CDSS is intended to be used by defining concepts of operations (ConOps). The process to derive ConOps focuses on increased autonomy that reduces the likelihood and consequences of accepted medical conditions. These crew health and performance inputs are grouped by common datasets and analysis models. Use cases are derived to research new clinical scenarios, architectural development and workflows. Implementation research is conducted with protypes to inform assumptions and derive requirements. The project also establishes how externally developed analysis and approaches can be added to expand a clinical decision support system and thus highlight how a comprehensive system can be globally developed with collaborators. This presentation will cover example scenarios from the CDS ConOps and the method to derive them. One example scenario will be CDSS alerting an increased kidney stone risk during a mission, with diagnosis and treatment options provided during the intervention.

clinical decision support↗

NASA NTRS2007

Optical Properties of High Area-to-Mass Objects at GEO

There exists at GEO a significant population of faint debris (R > 15th magnitude) with high area-to-mass ratios (AMR) (1 to 30 sq m/kg). Their orbital elements (particularly eccentricity and inclination) are observed to change on the time-scale of a week. The consensus is that these objects may be fragments of multi-layer insulation (MLI) blankets. Their orbits are primarily perturbed by solar radiation pressure. In this paper we will report preliminary results from an international collaboration to investigate the unresolved optical properties of these objects. This population was originally discovered by the ESA Space Debris Telescope, and the bulk of the objects to be described here are based on discoveries made with this telescope. Additional objects were supplied by both Russia and the US Air Force. Follow-up optical observations were obtained for a sample of a dozen objects by MODEST (the Michigan Orbital DEbris Survey Telescope) located at Cerro Tololo Inter-American Observatory in Chile. Sequences of calibrated observations in filters B, V, Broad R, and I were obtained under photometric conditions. Multi-color photometric observations in B, V, R, and I band of the same objects were also acquired at the Zimmerwald 1-meter telescope, located near Bern, Switzerland. Light curves of selected high AMR objects will be shown with a temporal resolution of a few seconds and typically span about 10 minutes. Photometric observations of these objects were acquired at the Crimean Astrophysical Observatory (CrAO). This data set includes light curves of objects having high variability of brightness and observed with 2.6 m and 0.64 m class instruments. We will present an analysis of the observed magnitudes and colors, and their correlations (or lack of correlation) with orbital elements, and with predicted values for MLI fragments. This represents the first such collaborative observational program on faint debris at GEO.

Seitzer, Patrick↗

NASA NTRS1988

PI-in-a-box: Intelligent onboard assistance for spaceborne experiments in vestibular physiology

In construction is a knowledge-based system that will aid astronauts in the performance of vestibular experiments in two ways: it will provide real-time monitoring and control of signals and it will optimize the quality of the data obtained, by helping the mission specialists and payload specialists make decisions that are normally the province of a principal investigator, hence the name PI-in-a-box. An important and desirable side-effect of this tool will be to make the astronauts more productive and better integrated members of the scientific team. The vestibular experiments are planned by Prof. Larry Young of MIT, whose team has already performed similar experiments in Spacelab missions SL-1 and D-1, and has experiments planned for SLS-1 and SLS-2. The knowledge-based system development work, performed in collaboration with MIT, Stanford University, and the NASA-Ames Research Center, addresses six major related functions: (1) signal quality monitoring; (2) fault diagnosis; (3) signal analysis; (4) interesting-case detection; (5) experiment replanning; and (6) integration of all of these functions within a real-time data acquisition environment. Initial prototyping work has been done in functions (1) through (4).

Colombano, Silvano↗

NASA NTRS1997

The World Wide Web as a Medium of Instruction: What Works and What Doesn't

A conference was held on March 18-20, 1997 to investigate the lessons learned by the Aeronautics Cooperative Agreement Projects with regard to the most effective strategies for developing instruction for the World Wide Web. The conference was a collaboration among the NASA Aeronautics and Space Transportation Technology Centers (Ames, Dryden, Langley, and Lewis), NASA Headquarters, the University of Idaho and The Pennsylvania State University. The conference consisted of presentations by the Aeronautics Cooperative Agreement Teams, the University of Idaho, and working sessions in which the participants addressed teacher training and support, technology, evaluation and pedagogy. The conference was also undertaken as part of the Dryden Learning Technologies Project which is a collaboration between the Dryden Education Office and The Pennsylvania State University. The DFRC Learning Technology Project goals relevant to the conference are as follows: conducting an analysis of current teacher needs, classroom infrastructure and exemplary instructional World Wide Web sites, and developing models for Web-enhanced learning environments that optimize teaching practices and student learning.

McCarthy, Marianne↗

NASA NTRS2008

The Chesapeake Bay Impact Crater: An Educational Investigation for Students into the Planetary Impact Process and its Environmental Consequences

Planetary impact craters are a common surface feature of many planetary bodies, including the Earth, the Moon, Mars, Mercury, Venus, and Jupiter s moons, Ganymede and Callisto. The NASA Langley Research Center in Hampton, VA, is located about 5 km inside the outer rim of the Chesapeake Bay Impact Crater. The Chesapeake Bay Impact Crater, with a diameter of 85 km is the sixth largest impact crater on our planet. The U.S. Geological Survey (USGS), in collaboration with the NASA Langley Research Center, the Virginia Department of Environmental Quality (VDEQ), the Hampton Roads Planning District Commission (HRPDC), and the Department of Geology of the College of William and Mary (WM) drilled into and through the crater at the NASA Langley Research Center and obtained a continuous core to a depth of 2075.9 ft (632.73 meters) from the Chesapeake Bay Impact Crater. At the NASA Langley location, the granite basement depth was at 2046 ft (623.87 meters). This collaborative drilling activity provided a unique educational opportunity and ongoing educational partnership between USGS, NASA Langley and the other collaborators. NASA Langley has a decade-long, ongoing educational partnership with the Colonial Coast Council of the Girl Scouts. The core drilling and on site analysis and cataloguing of the core segments provided a unique opportunity for the Girl Scouts to learn how geologists work in the field, their tools for scientific investigation and evaluation, how they perform geological analyses of the cores in an on-site tent and learn about the formation of impact craters and the impact of impacting bodies on the sub-surface, the surface, the oceans and atmosphere of the target body. This was accomplished with a two-part activity. Girl Scout day camps and local Girl Scout troops were invited to Langley Research Center Conference Center, where more than 300 Girl Scouts, their leaders and adult personnel were given briefings by scientists and educators from the USGS, NASA, VDEQ, HRPDC and WM on the principles of geology, the formation of impact craters, the consequences of the impacting body on the atmosphere, ocean, surface and sub-surface, the geological, chemical and biological analyses of the core and the cataloguing and storage of the core segments, etc. After the briefings, the Girl Scouts visited the drilling site where they inspected the core drilling rig, examined the core samples and discussed the drilling procedures, cores and interpretation of the cores with scientists and educators from the organizations conducting the core drilling. Demonstrations at the drilling site included demonstrations of impacting objects hitting multi-colored layered mud targets at different angles of entry. The multi-colored layers of mud were instructive in mapping out the distribution of impact-ejected material around the impact crater. The presentation will include a series of photographs of the Girl Scout participating in activities at the Chesapeake Bay Impact Crater drill site, including retrieving cores from the drilling rig, inspecting the core samples and participating in the impact-crater formation demonstrations.

Levine, Arlene S.↗

NASA NTRSDate not supplied

Additive Manufacturing (AM) for Propulsion Component and System Applications

NASA MSFC is developing several areas of additive manufacturing (AM) for propulsion component and system applications. These developments include new AM process and material development, large-scale AM pathfinder component fabrication and hot-fire testing, AM-centric design methodology, modeling and simulation, post-processing advancements, and new design applications of AM in aerospace. Some specific areas NASA has focused is the development and commercial infusion of AM supply chain for materials such as copper-alloy GRCop (Cu-Cr-Nb), Hydrogen-resistant alloys (NASA HR-1, JBK-75), refractory-based alloys (C-103, W, Mo, new formulations), and bimetallic and multi-metallic AM processes. Additional efforts have been focused on large scale AM demonstrating complex thin-wall structures up to 60” diameter using directed energy deposition. Material characterization, properties and component hot-fire testing has been completed using many of these newly developed AM alloys/processes. NASA has also focused on improvements to post-processing including powder removal, surface enhancements, and support removal to further realize cost and schedule benefits to the overall supply chain. These developments are part of the NASA Rapid Analysis and Manufacturing Propulsion Technology (RAMPT), Low Cost Upper Stage Propulsion (LCUSP) and Long Life Additive Manufacturing (LLAMA) projects, in addition to internal IRAD, and external collaborations.

Additive Manufacturing↗

NASA NTRS1993

Dynamic tests on the NASA Langley CSI evolutionary model

A modal analysis study, representing one of the anticipated 'Cooperative Spacecraft Structural Dynamics Experiments on the NASA Langley CSI Evolutionary Model', was carried out as a sub-task under the NASA/DLR collaboration in dynamics and control of large space systems. The CSI evolutionary testbed (CEM) is designed for the development of Controls-Structures Interaction (CSI) technology to improve space science platform pointing. For orbiting space structures like large flexible trusses, new identification challenges arise due to their specific dynamic characteristics (low frequencies and high modal density) on the one hand, and the limited possibilities of exciting such structures and measuring their responses on orbit on the other. The main objective was to investigate the modal identification potential of several different types of forcing functions that could possibly be realized with on-board excitation equipment using a minimum number of exciter locations as well as response locations. These locations were defined in an analytical test prediction process used to study the implications of measuring and analyzing the responses thus produced. It turned out that broadband excitation is needed for a general modal survey, but if only certain modes are of particular interest, combinations of exponentially decaying sine functions provide favorable excitation conditions as they allow to concentrate the available energy on the modes being of special interest. From a practical point-of-view structural nonlinearities as well as noisy measurements make the analysis more difficult, especially in the low frequency range and when the modes are closely spaced.

Troidl, H.↗

NASA NTRS2023

Geometric Analysis and Visualization of Maxillofacial Anthropometry

As part of head borne systems, the maxillofacial and mandibular components are critical for Soldier protection in extreme and dynamic conditions. Often this equipment must not only cover the lower face of the wearer, but also accommodate motion of the lower jaw and resultant deformation of the face shape. Although the application is different, head borne equipmentdesigned for astronauts has similarly critical design requirements including comfort and protection from other environmental hazards while allowing for maximum performance. To improve the design of such systems and to ensure adequate accommodation of the user population, NASA Johnson Space Center is collaborating with the U.S. Army’s Development Command Soldier Center (DEVCOM SC) to statistically analyze facial landmark and measurement data from large Soldier anthropometric databases ( ANSUR 1988 and ANSUR II). Anthropometric measurements were incorporated from 5383 males and 3594 females for analysis, including individuals aged 17-58 across a range of races. Facial landmarks were analyzed, specifically the 3D coordinates of the Menton, Prementon, Gonion, Tragion, Stomion, Zygion, Pronasale, and Subnasale. These data were statistically correlated with demographiccharacteristics, such as sex and population origin. A statistical model of the lower head-face surface geometry is currently in development to describe the variance of head and face shape across the population. The model will be able to visually show the statistical trends of the different shapes and sizes of the head, along with the synthetically represented boundary cases. The specific analytical methods and outcomes will be detailed in the final proceeding. This study will provide a more comprehensive assessment of how face shape varies across the military population compared to traditional linear measurements. The outcome of this study is expected to provide critical insight and recommendations for improved protective equipment design and development, not only with Soldiers but also astronauts in future exploration missions, as well as first responders and others that require critical equipment fitted to the maxillofacial and or mandibular region.

W Green↗

NASA NTRS2016

A Model Based Systems Engineering Approach Towards Developing a Rapid Analysis and Trades Environment

In this work, an integrated and end-to-end modeling environment was developed to assess the system-level impacts of evolving requirements and design parameters. Researchers at the Georgia Institute of Technology's Aerospace Systems Design Laboratory (ASDL) collaborated with JPL engineers to develop, implement, and test a modeling environment to assess design changes to a notional Europa Mission called the Jupiter Europa Buzzer (JEB). This environment was developed using a Model-Based Systems Engineering (MBSE) approach and consists of three major components: the Systems Model, the Mission Simulator, and the Web Based Interactive Dashboard. In summary, utilizing this environment in a representative notional end-to-end scenario, performance margins were calculated in hours while maintaining consistent analytical, hardware, and operational assumptions.

Model Based System Engineering↗

NASA NTRS2003

Analysis of ISO Data

A block grant supported several astronomers who executed observing programs using the Infrared Space Observatory (ISO). The ISO project in which Harriet Dinerstein participated was a study of sulfur and neon abundances in extragalactic H II regions using the ISO Short Wavelength Spectrometer (SWS). Evans and Jaffe, along with collaborators Ewine van Dishoeck and Wing-Fai Thi, and then graduate student Wenbin Li, carried out an in-depth study of the peripheral region of the molecular cloud L1204/S140, where the far ultraviolet radiation and the density are relatively low. Their observations test theories of photon-dominated regions (PDRs) in a regime that has been little explored. One ISO program was involved with PHT-32 observations of about a dozen young stars to search for extended emission that could be modeled with our dust-modeling-code at UT. The document reports on preliminary analysis of PHT 32 scanning of 10 pre-main-sequence stars at 50 and 100 microns. A small sample of R Coronae Borealis stars was observed with the SWS.

David L. Lambert↗

NASA NTRS1994

Neural networks: Application to medical imaging

The research mission is the development of computer assisted diagnostic (CAD) methods for improved diagnosis of medical images including digital x-ray sensors and tomographic imaging modalities. The CAD algorithms include advanced methods for adaptive nonlinear filters for image noise suppression, hybrid wavelet methods for feature segmentation and enhancement, and high convergence neural networks for feature detection and VLSI implementation of neural networks for real time analysis. Other missions include (1) implementation of CAD methods on hospital based picture archiving computer systems (PACS) and information networks for central and remote diagnosis and (2) collaboration with defense and medical industry, NASA, and federal laboratories in the area of dual use technology conversion from defense or aerospace to medicine.

Clarke, Laurence P.↗

NASA NTRS2008

Triple F - A Comet Nucleus Sample Return Mission

The Triple F (Fresh From the Fridge) mission, a Comet Nucleus Sample Return, has been proposed to ESA's Cosmic Vision program. A sample return from a comet enables us to reach the ultimate goal of cometary research. Since comets are the least processed bodies in the solar system, the proposal goes far beyond cometary science topics (like the explanation of cometary activity) and delivers invaluable information about the formation of the solar system and the interstellar molecular cloud from which it formed. The proposed mission would extract three sample cores of the upper 50 cm from three locations on a cometary nucleus and return them cooled to Earth for analysis in the laboratory. The simple mission concept with a touch-andgo sampling by a single spacecraft was proposed as an M-class mission in collaboration with the Russian space agency ROSCOSMOS.

Kueppers, Michael↗

NASA NTRS2023

Full Lunar Surface Visualization and Simulation Platform

This project created a visualization and simulation software platform for the entire lunar surface. Given the polar Artemis landing targets, the challenging terrain, lighting, and associated integrated crew / vehicle risk assessment, a more integrated approach to mission safety certification, potentially impacting equipment design and crew activity is required. This integrated capability will enable Safety and Mission Assurance (SMA), Flight Operations (FOD), and EVA to effectively collaborate to reduce human lunar exploration operational risk utilizing the identical tools to perform mission planning, rehearsal simulations, and providing the Safety Review Panel with integrated risk analysis capability.

information fusion↗

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↗