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NASA NTRSDate not supplied

Design and Analysis of Shape Memory Spring Tires for Martian and Lunar Rover Vehicles

Shape memory alloys (SMAs) have played an important role in various innovative engineering and medical applications, such as aerospace actuators, vibration damping devices, and coronary stents. In applications, shape memory alloys are commonly utilized in two fundamentally different ways: (i) making use of the superelasticity/ pseudoelasticity (SE/PE) phenomena, as in applications in biomedical engineering, and (ii) taking advantages of the shape memory effect (SME), as is used for actuators. Their ability to act in such vastly different capacities is mainly due to their unique capability to recover large amounts of deformation produced by either applied stresses or temperature changes. One recent emerging application in use of SMAs has been in the area of non-pneumatic tire designs for Martian or Lunar roving vehicles. These vehicles require tires that are capable of traversing rugged terrain while withstanding extreme temperatures and atmospheric conditions. Inspired by the flexible wire mesh tires used on three Lunar Roving Vehicle (LRV) missions to the Moon on Apollo 15, 16, and 17, a new compliant tire technology was developed by the NASA Glenn Research Center (GRC) and Goodyear Tire & Rubber, known as the Spring Tire. The Spring Tire consists of several hundred coiled springs woven into a flexible mesh and formed into the shape of a tire. Like the LRV wire mesh tires, the original Spring Tires were made from spring steel and were prone to permanent deformation when undergoing high localized loads. Later, a new iteration of this technology was invented, known as the ‘Superelastic Tire’. This new technology incorporated the use of superelastic SMA springs, which could effectively undergo approximately 30 times more reversible deformation than the steel spring. It also provided even greater durability and allowed for more flexibility in design, such as the use of other structural forms to reduce mass or increase load carrying capacity. Because of the unique nature of both the SMA material and the complex interactions between the springs, designing Spring Tires for a specific application requires extensive effort. Historically, design decisions have relied on full-scale empirical testing; however, this is very expensive and time consuming, especially when multiple iterations are needed. Therefore, developing a large-scale, robust, and predictive numerical model entailing complex spring interactions and the shape memory material behavior within a tire construct is the first essential step towards a successful design program. The current work focuses on implementation of the user-defined Shape Memory Alloy (SMA) model, otherwise known as SMA-GVIPs, in the Finite Element analysis (FEA) program ABAQUS for large-scale simulations of the GRC-developed Spring Tires made of SMA. The novelty of this work lies in the thorough, detail-oriented, and computationally efficient finite element analysis of full-scale SMA tires. A well-thought material characterization plan followed by model validation and a systemic sensitivity study on SMA tires has never been reported in the previous literature. The main objective of this study is to help the team improve and optimize the structural design of the SMA tires through in-depth numerical analysis and sensitivity studies. Various design variables (wire diameter, coil diameter, pitch, bead angle, and number of springs) were varied to study their influence on the global load-displacement response of the tire construct. A detailed investigation of the three-dimensional stress states was also carried out to enhance our understanding of the local changes as the tire goes through global deformation. It was concluded that a robust numerical model with a good predictive capability, together with a thoughtfully crafted sensitivity study can result in improved design iterations required to reach a desired tire performance while, significantly reducing manufacturing, labor and testing expenses. A summary of the Finite Element (FE) model construction will be presented together with a description of the user-defined SMA model, characterization process, experimental results, model validation, and numerical sensitivity study results.

shape memory alloys↗
NASA NTRS2020

A Flexible Lunar Architecture for Exploration (FLARE) Supporting NASA’s Artemis Program

The Flexible Lunar Architecture for Exploration (FLARE) is a concept to deliver four crew to the lunar surface for a minimum of seven days and then return them safely to Earth. FLARE can be implemented whenever the component vehicles are operational. FLARE was developed as an alternative to NASA’s Human Landing System (HLS) reference architecture from the Design Analysis Cycle (DAC) #2 created in 2019. The DAC2 guidelines required utilization of the Gateway vehicle in a Near- Rectilinear Halo Orbit (NRHO). Instead, FLARE chooses a Low Lunar Frozen Polar Orbit (LLFPO) for lunar rendezvous of components, and an optional Gateway vehicle. The LLFPO provides a stable orbit that overflies the south pole every 2 h, ensuring easy access to the lunar surface for surface aborts with a much lower propellant requirement than NRHO. The minimum FLARE concept uses one Space Launch System (SLS) launch, one Orion, one European Service Module (ESM), and one human lander (launched on commercial vehicle(s)). FLARE adds the SpaceTug, based upon the mature and successful ULA “Common” Centaur Upper Stage vehicle, with modifications to create an Earth-Moon transfer vehicle. In the FLARE baseline mission, the SpaceTug provides propulsion needed to return the Orion + ESM from LLFPO to Earth. The SpaceTug also provides propulsion to deliver the separate human lander components – the Descent Element (DE) and the Ascent Element (AE) - from Low Earth Orbit (LEO) to LLFPO. The SLS Block 1 then launches the Orion + ESM and completes a rendezvous with the mated DE + AE components in LLFPO. FLARE offers optional phases beyond the baseline mission. The SpaceTug can deliver components of the planned Gateway, including the Power and Propulsion Element (PPE) and the Habitable and Logistics Outpost (HALO), to LLFPO. FLARE provides an option to deliver precursor equipment to the lunar surface to enhance and extend the human mission. With these components, including an inflatable habitation module and airlock, individual crew mobility vehicle(s), an In-Situ Resource Utilization (ISRU) demonstration, and science and technology experiments, the crew can explore and conduct science on the lunar surface for up to 14 days.

Moon 2024↗
NASA NTRS2010

Terrain Hazard Detection and Avoidance During the Descent and Landing Phase of the Altair Mission

This paper describes some of the environmental challenges associated with landing a crewed or robotic vehicle at any certified location on the lunar surface (i.e. not a mountain peak, permanently dark crater floor or overly steep terrain), with a specific focus on how hazard detection technology may be incorporated to mitigate these challenges. For this discussion, the vehicle of interest is the Altair Lunar Lander, being the vehicle element of the NASA Constellation Program aimed at returning humans to the moon. Lunar environmental challenges for such global lunar access primarily involve terrain and lighting. These would include sizable rocks and slopes, which are more concentrated in highland areas; small craters, which are essentially everywhere independent of terrain type; and for polar regions, low-angle sunlight, which leaves significant terrain in shadow. To address these issues, as well as to provide for precision landing, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was charted by NASA Headquarters, and has since been making significant progress. The ALHAT team considered several sensors for real-time hazard detection, settling on the use of a Flash Lidar mounted to a high-speed gimbal, with computationally intense image processing and elevation interpretation software. The Altair Project has been working with the ALHAT team to understand the capabilities and limitations of their concept, and has incorporated much of the ALHAT hazard detection system into the Altair baseline design. This integration, along with open issues relating to computational performance, the need for system redundancy, and potential pilot interaction, will be explored further in this paper.

Strhan, Alan L.↗
NASA NTRS2009

The Effects of Synthetic and Enhanced Vision Technologies for Lunar Landings

Eight pilots participated as test subjects in a fixed-based simulation experiment to evaluate advanced vision display technologies such as Enhanced Vision (EV) and Synthetic Vision (SV) for providing terrain imagery on flight displays in a Lunar Lander Vehicle. Subjects were asked to fly 20 approaches to the Apollo 15 lunar landing site with four different display concepts - Baseline (symbology only with no terrain imagery), EV only (terrain imagery from Forward Looking Infra Red, or FLIR, and LIght Detection and Ranging, or LIDAR, sensors), SV only (terrain imagery from onboard database), and Fused EV and SV concepts. As expected, manual landing performance was excellent (within a meter of landing site center) and not affected by the inclusion of EV or SV terrain imagery on the Lunar Lander flight displays. Subjective ratings revealed significant situation awareness improvements with the concepts employing EV and/or SV terrain imagery compared to the Baseline condition that had no terrain imagery. In addition, display concepts employing EV imagery (compared to the SV and Baseline concepts which had none) were significantly better for pilot detection of intentional but unannounced navigation failures since this imagery provided an intuitive and obvious visual methodology to monitor the validity of the navigation solution.

Kramer, Lynda J.↗
NASA NTRS1971

The Apollo Lunar Roving Vehicle.

After listing the basic requirements such as operational demands and lunar environmental conditions, characteristic design data of the roving vehicle are given with special attention to the four wheel drive and its control system, the steering system, and the navigational instrumentation. The overall system is optimized in view of total mass, range, mobility, load carrying capability, safety, highest reliability through redundancy, and last but not least, cost and development time. Optimization of the drive and power system has first been evaluated by mathematical models and computational simulation of the vehicle hardware, the wheel/soil interaction, and the lunar terrain profile. The next step to refine optimization and evaluation of the drive, steering, and power system including man/machine interaction has been carried out by the use of a six-degree-of-freedom simulator subjecting the astronauts in their space suits to simulated vehicle motions while driving over a simulated terrain, observable on a cathode ray tube display.

Haeussermann, W.↗
NASA NTRS1973

Equations of motion of the lunar roving vehicle.

Equations of motion have been formulated for a four-wheel vehicle as it traverses a terrain characterized by slopes, craters, bumps, washboards, or a power spectrum. Independent suspension and electric motor propulsion are considered. These equations were programmed on the UNIVAC 1108 digital computer. Results are given for the steerability of the Lunar Roving Vehicle (LRV) which was found to be satisfactory for normal operating speeds and turning radii. The vehicle was also found to be satisfactory against overturning in both the pitch and roll mode, and results are presented for various speeds as the LRV engages a bump on meter in diameter and of varying heights. Speed, power consumption, and load characteristics are presented for the LRV traversing a simulated lunar soil at full throttle. Comparisons are given against data compiled from the Apollo 15 mission.

Kaufman, S.↗
NASA NTRS2016

Experimental Evaluation of the Scale Model Method to Simulate Lunar Vehicle Dynamics

As compared to driving on Earth, the presence of lower gravity and uneven terrain on planetary bodies makes high speed driving difficult. In order to maintain ground contact and control vehicles need to be designed with special attention to dynamic response. The challenge of maintaining control on the Moon was evident during high speed operations of the Lunar Roving Vehicle (LRV) on Apollo 16, as at one point all four tires were off the ground; this event has been referred to as the Lunar Grand Prix. Ultimately, computer simulation should be used to examine these phenomena during the vehicle design process; however, experimental techniques are required for the validation and elucidation of key issues. The objectives of this study were to evaluate the methodology for developing a scale model of a lunar vehicle using similitude relationships and to test how vehicle configuration, six or eight wheel pods, and local tire compliance, soft or stiff, affect the vehicles dynamic performance. A wheel pod consists of a drive and steering transmission and wheel. The Lunar Electric Rover (LER), a human driven vehicle with a pressurized cabin, was selected as an example for which a scale model was built. The scaled vehicle was driven over an obstacle and the dynamic response was observed and then scaled to represent the full-size vehicle in lunar gravity. Loss of ground contact, in terms of vehicle travel distance with tires off the ground, was examined. As expected, local tire compliance allowed ground contact to be maintained over a greater distance. However, switching from a six-tire configuration to an eight-tire configuration with reduced suspension stiffness had a negative effect on ground contact. It is hypothesized that this was due to the increased number or frequency of impacts. The development and testing of this scale model provided practical lessons for future low-gravity vehicle development.

Moon↗
NASA NTRSDate not supplied

Camera Exposure Time Determination for Artemis I Lunar Flyby

During Artemis I, a flight test was conducted using the Optical Navigation Camera to image Lunar terrain at low altitude prior to the Return Powered Flyby (RPF) burn. The vehicle descended rapidly toward the surface and transitioned over the Lunar Terminator during the time frame in which the images were to be gathered, creating challenging lighting conditions which required the development of a novel technique for exposure time determination to gather imagery of appropriate quality for post flight analysis. The resulting technique leveraged simple photometric models and simulations, as well as the spacecrafts altitude and pointing direction to determine the necessary change in exposure times over the course of the flyby, resulting in a successful flight test.

Terrain Relative Navigation↗
NASA NTRSDate not supplied

Camera Exposure Time Determination for Artemis I Lunar Flyby

During Artemis I, a flight test was conducted using the Optical Navigation Camera to image Lunar terrain at low altitude prior to the Return Powered Flyby (RPF) burn. The vehicle descended rapidly toward the surface and transitioned over the Lunar Terminator during the time frame in which the images were to be gathered, creating challenging lighting conditions which required the development of a novel technique for exposure time determination to gather imagery of appropriate quality for post flight analysis. The resulting technique leveraged simple photometric models and simulations, as well as the spacecrafts altitude and pointing direction to determine the necessary change in exposure times over the course of the flyby, resulting in a successful flight test.

Terrain Relative Navigation↗
NASA NTRSDate not supplied

Camera Exposure Time Determination for Artemis I Lunar Flyby

During Artemis I, a flight test was conducted using the Optical Navigation Camera to image Lunar terrain at low altitude prior to the Return Powered Flyby (RPF) burn. The vehicle descended rapidly toward the surface and transitioned over the Lunar Terminator during the time frame in which the images were to be gathered, creating challenging lighting conditions which required the development of a novel technique for exposure time determination to gather imagery of appropriate quality for post flight analysis. The resulting technique leveraged simple photometric models and simulations, as well as the spacecrafts altitude and pointing direction to determine the necessary change in exposure times over the course of the flyby, resulting in a successful flight test.

Terrain Relative Navigation↗
NASA NTRS2007

Interface for Physics Simulation Engines

DSS-Prototyper is an open-source, realtime 3D virtual environment software that supports design simulation for the new Vision for Space Exploration (VSE). This is a simulation of NASA's proposed Robotic Lunar Exploration Program, second mission (RLEP2). It simulates the Lunar Surface Access Module (LSAM), which is designed to carry up to four astronauts to the lunar surface for durations of a week or longer. This simulation shows the virtual vehicle making approaches and landings on a variety of lunar terrains. The physics of the descent engine thrust vector, production of dust, and the dynamics of the suspension are all modeled in this set of simulations. The RLEP2 simulations are drivable (by keyboard or joystick) virtual rovers with controls for speed and motor torque, and can be articulated into higher or lower centers of gravity (depending on driving hazards) to enable drill placement. Gravity also can be set to lunar, terrestrial, or zero-g. This software has been used to support NASA's Marshall Space Flight Center in simulations of proposed vehicles for robotically exploring the lunar surface for water ice, and could be used to model all other aspects of the VSE from the Ares launch vehicles and Crew Exploration Vehicle (CEV) to the International Space Station (ISS). This simulator may be installed and operated on any Windows PC with an installed 3D graphics card.

Damer, Bruce↗
NASA NTRS2017

Drawbar Pull (DP) Procedures for Off-Road Vehicle Testing

As NASA strives to explore the surface of the Moon and Mars, there is a continued need for improved tire and vehicle development. When tires or vehicles are being designed for off-road conditions where significant thrust generation is required, such as climbing out of craters on the Moon, it is important to use a standard test method for evaluating their tractive performance. The drawbar pull (DP) test is a way of measuring the net thrust generated by tires or a vehicle with respect to performance metrics such as travel reduction, sinkage, or power efficiency. DP testing may be done using a single tire on a traction rig, or with a set of tires on a vehicle; this report focuses on vehicle DP tests. Though vehicle DP tests have been used for decades, there are no standard procedures that apply to exploration vehicles. This report summarizes previous methods employed, shows the sensitivity of certain test parameters, and provides a body of knowledge for developing standard testing procedures. The focus of this work is on lunar applications, but these test methods can be applied to terrestrial and planetary conditions as well. Section 1.0 of this report discusses the utility of DP testing for off-road vehicle evaluation and the metrics used. Section 2.0 focuses on test-terrain preparation, using the example case of lunar terrain. There is a review of lunar terrain analogs implemented in the past and a discussion on the lunar terrain conditions created at the NASA Glenn Research Center, including methods of evaluating the terrain strength variation and consistency from test to test. Section 3.0 provides details of the vehicle test procedures. These consist of a review of past methods, a comprehensive study on the sensitivity of test parameters, and a summary of the procedures used for DP testing at Glenn.

wheel↗
NASA NTRS2011

Benefit of "Push-pull" Locomotion for Planetary Rover Mobility

As NASAs exploration missions on planetary terrains become more aggressive, a focus on alternative modes of locomotion for rovers is necessary. In addition to climbing steep slopes, the terrain in these extreme environments is often unknown and can be extremely hard to traverse, increasing the likelihood of a vehicle or robot becoming damaged or immobilized. The conventional driving mode in which all wheels are either driven or free-rolling is very efficient on flat hard ground, but does not always provide enough traction to propel the vehicle through soft or steep terrain. This paper presents an alternative mode of travel and investigates the fundamental differences between these locomotion modes. The methods of push-pull locomotion discussed can be used with articulated wheeled vehicles and are identified as walking or inchinginch-worming. In both cases, the braked non-rolling wheels provide increased thrust. An in-depth study of how soil reacts under a rolling wheel vs. a braked wheel was performed by visually observing the motion of particles beneath the surface. This novel technique consists of driving or dragging a wheel in a soil bin against a transparent wall while high resolution, high-rate photographs are taken. Optical flow software was then used to determine shearing patterns in the soil. Different failure modes were observed for the rolling and braked wheel cases. A quantitative comparison of inching vs. conventional driving was also performed on a full-scale vehicle through a series of drawbar pull tests in the Lunar terrain strength simulant, GRC-1. The effect of tire stiffness was also compared; typically compliant tires provide better traction when driving in soft soil, however its been observed that rigid wheels may provide better thrust when non-rolling. Initial tests indicate up to a possible 40 increase in pull force capability at high slip when inching vs. rolling.

robotics↗
NASA NTRSDate not supplied

Lunar Latitude and Terrain Radiator Sensitivity Study

The thermal environment on the moon is highly complex and diverse. The lunar surface near the equator develops extreme hot average temperatures during the lunar day due to solar flux vectors that are nearly orthogonal to the surface. The lunar poles have a cold and uniquely complex thermal environment with low solar elevation angles and permanently shadowed regions located just kilometers from some of the most highly illuminated regions of the moon. Likewise, the topography can range from very flat crater basins to dramatically tall features such as mountains and crater rims. Consequently, when sizing the radiators of a lunar surface vehicle, the specific thermal environment found in the targeted landing or deployment zone must be well understood to build robust, appropriately scaled thermal control systems. Here described are parametric studies that characterize the sensitivity of lunar radiator performance to lunar terrain and latitude. Heat rejection is calculated for different radiator tilt angles in a variety of terrain environments. Radiator performance as a function of underside thermal condition is also characterized at lunar latitudes ranging from equatorial to polar. Impacts of latitude and terrain on radiator performance are quantified, and regions are identified where the thermal environment is more or less favorable for specific radiator designs.

Lunar Vehicle Radiator↗
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 NTRS2008

A Self Contained Method for Safe and Precise Lunar Landing

The return of humans to the Moon will require increased capability beyond that of the previous Apollo missions. Longer stay times and a greater flexibility with regards to landing locations are among the many improvements planned. A descent and landing system that can land the vehicle more accurately than Apollo with a greater ability to detect and avoid hazards is essential to the development of a Lunar Outpost, and also for increasing the number of potentially reachable Lunar Sortie locations. This descent and landing system should allow landings in more challenging terrain and provide more flexibility with regards to mission timing and lighting considerations, while maintaining safety as the top priority. The lunar landing system under development by the ALHAT (Autonomous precision Landing and Hazard detection Avoidance Technology) project is addressing this by providing terrain-relative navigation measurements to enhance global-scale precision, an onboard hazard-detection system to select safe landing locations, and an Autonomous GNC (Guidance, Navigation, and Control) capability to process these measurements and safely direct the vehicle to this landing location. This ALHAT landing system will enable safe and precise lunar landings without requiring lunar infrastructure in the form of navigation aids or a priori identified hazard-free landing locations. The safe landing capability provided by ALHAT uses onboard active sensing to detect hazards that are large enough to be a danger to the vehicle but too small to be detected from orbit, given currently planned orbital terrain resolution limits. Algorithms to interpret raw active sensor terrain data and generate hazard maps as well as identify safe sites and recalculate new trajectories to those sites are included as part of the ALHAT System. These improvements to descent and landing will help contribute to repeated safe and precise landings for a wide variety of terrain on the Moon.

Paschall, Stephen C., II↗
NASA NTRS2003

Advantages of Brahms for Specifying and Implementing a Multiagent Human-Robotic Exploration System

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. Software processes ('agents') implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a runtime system Thus, Brahms provides a language, engine, and system builder's toolkit for specifying and implementing multiagent systems.

Clancey, William J.↗