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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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All sourcesNASA NTRSDOE OSTI
NASA NTRS2018

Human Mars Entry, Descent and Landing Architecture Study (EDLAS): Rigid Decelerators

Develop two evolutionary rigid vehicle concepts to deliver human-scale payloads (20 metric tons) to the surface of Mars: Capsule; Lifting body, mid-range lift-to-drag ratio (Mid L/D). Determine vehicle configurations for various mission flight phases. Determine vehicle performance: Integrated system mass; Ability to meet landing constraints; Payload packaging and surface access. Provide technology investment recommendations to NASA’s Space Technology Mission Directorate.

Polsgrove, Tara↗
NASA NTRS2013

Small Launch Vehicle Design Approaches: Clustered Cores Compared with Multi-Stage Inline Concepts

In an effort to better define small launch vehicle design options two approaches were investigated from the small launch vehicle trade space. The primary focus was to evaluate a clustered common core design against a purpose built inline vehicle. Both designs focused on liquid oxygen (LOX) and rocket propellant grade kerosene (RP-1) stages with the terminal stage later evaluated as a LOX/methane (CH4) stage. A series of performance optimization runs were done in order to minimize gross liftoff weight (GLOW) including alternative thrust levels, delivery altitude for payload, vehicle length to diameter ratio, alternative engine feed systems, re-evaluation of mass growth allowances, passive versus active guidance systems, and rail and tower launch methods. Additionally manufacturability, cost, and operations also play a large role in the benefits and detriments for each design. Presented here is the Advanced Concepts Office's Earth to Orbit Launch Team methodology and high level discussion of the performance trades and trends of both small launch vehicle solutions along with design philosophies that shaped both concepts. Without putting forth a decree stating one approach is better than the other; this discussion is meant to educate the community at large and let the reader determine which architecture is truly the most economical; since each path has such a unique set of limitations and potential payoffs.

Waters, Eric D.↗
NASA NTRS2015

Thermal Analysis of Iodine Satellite (iSAT)

This paper presents the progress of the thermal analysis and design of the Iodine Satellite (iSAT). The purpose of the iSAT spacecraft (SC) is to demonstrate the ability of the iodine Hall Thruster propulsion system throughout a one year mission in an effort to mature the system for use on future satellites. The benefit of this propulsion system is that it uses a propellant, iodine, that is easy to store and provides a high thrust-to-mass ratio. The spacecraft will also act as a bus for an earth observation payload, the Long Wave Infrared (LWIR) Camera. Four phases of the mission, determined to either be critical to achieving requirements or phases of thermal concern, are modeled. The phases are the Right Ascension of the Ascending Node (RAAN) Change, Altitude Reduction, De-Orbit, and Science Phases. Each phase was modeled in a worst case hot environment and the coldest phase, the Science Phase, was also modeled in a worst case cold environment. The thermal environments of the spacecraft are especially important to model because iSAT has a very high power density. The satellite is the size of a 12 unit cubesat, and dissipates slightly more than 75 Watts of power as heat at times. The maximum temperatures for several components are above their maximum operational limit for one or more cases. The analysis done for the first Design and Analysis Cycle (DAC1) showed that many components were above or within 5 degrees Centigrade of their maximum operation limit. The battery is a component of concern because although it is not over its operational temperature limit, efficiency greatly decreases if it operates at the currently predicted temperatures. In the second Design and Analysis Cycle (DAC2), many steps were taken to mitigate the overheating of components, including isolating several high temperature components, removal of components, and rearrangement of systems. These changes have greatly increased the thermal margin available.

Mauro, Stephanie↗
NASA NTRSDate not supplied

Analysis of Integrated Spacecraft Performance Using A Rotating Detonation Rocket Engine

For spacecraft with especially stringent mass fraction constraints, the use of a rotating detonation rocket engine (RDRE) may yield potentially significant system mass savings. The pressure gain combustion inherent to RDREs provides higher thrust than traditional rocket engines for a given supply pressure and throat area. This opens multiple avenues for reducing system mass via higher specific impulse, reduced gravity losses, and reduced feed pressures. To highlight the potentially weight-saving characteristics of RDRE systems, the integrated performance of representative spacecraft designs using either a conventional rocket engine or an RDRE was assessed. This paper details the assumptions, methods, and results of this trade study. Two representative spacecraft were assessed. The first is a Liquid Mars Ascent Vehicle (MAV). This spacecraft was designed by NASA in 2011 for the Mars Sample Return Campaign but was not selected for flight due in part to it exceeding the mass requirements by 119 lbm. The second is MIURA-1, a kerolox sounding rocket developed by Payload Aerospace S.L.. The Liquid MAV assessment showed that an RDRE powered design met the mass requirements with a total vehicle mass 46 lbm below the limit. The MIURA-1 assessment showed that wall heat transfer and regenerative cooling are significant challenges for kerolox RDREs, but these challenges may be mitigated by reducing mixture ratio and using both propellants to cool the chamber. The assessment showed that an RDRE powered sounding rocket could achieve 12% more microgravity time than a conventional sounding rocket with the same payload and total vehicle mass. Alternately, if the payload mass and target apogee are held constant, then an RDRE powered sounding rocket can be 8% shorter and 11% lighter than a conventional sounding rocket. These results suggest that the advent of RDREs for in-space propulsion may unlock new missions for which conventional propulsion is not feasible.

Rotating Detonation Rocket Engine↗
NASA NTRSDate not supplied

Analysis of Integrated Spacecraft Performance Using Rotating Detonation Rocket Engine

For spacecraft with especially stringent mass fraction constraints, the use of a rotating detonation rocket engine (RDRE) may yield potentially significant system mass savings. The pressure gain combustion inherent to RDREs provides higher thrust than traditional rocket engines for a given supply pressure and throat area. This opens multiple avenues for reducing system mass via higher specific impulse, reduced gravity losses, and reduced feed pressures. To highlight the potentially weight-saving characteristics of RDRE systems, the integrated performance of representative spacecraft designs using either a conventional rocket engine or an RDRE was assessed. This paper details the assumptions, methods, and results of this trade study. Two representative spacecraft were assessed. The first is a Liquid Mars Ascent Vehicle (MAV). This spacecraft was designed by NASA in 2011 for the Mars Sample Return Campaign but was not selected for flight due in part to it exceeding the mass requirements by 119 lbm. The second is MIURA-1, a kerolox sounding rocket developed by Payload Aerospace S.L.. The Liquid MAV assessment showed that an RDRE powered design met the mass requirements with a total vehicle mass 46 lbm below the limit. The MIURA-1 assessment showed that wall heat transfer and regenerative cooling are significant challenges for kerolox RDREs, but these challenges may be mitigated by reducing mixture ratio and using both propellants to cool the chamber. The assessment showed that an RDRE powered sounding rocket could achieve 12% more microgravity time than a conventional sounding rocket with the same payload and total vehicle mass. Alternately, if the payload mass and target apogee are held constant, then an RDRE powered sounding rocket can be 8% short and 11% lighter than a conventional sounding rocket. These results suggest that the advent of RDREs for in-space propulsion may unlock new missions for which conventional propulsion is not feasible.

Rotating Detonation Rocket Engine↗
NASA NTRS2019

Pterodactyl: An Uncoupled Range Control Approach to Fully Numerical Predictor-Corrector Entry Guidance

Entry, descent, and landing (EDL) has been identified as a core area of investment in NASA's Strategic Technology Investment Plan (NASA STIP). STIP lists the space technologies needed to help achieve NASA's science, technology, and exploration goals across the agency. Within the EDL core area, deployable hypersonic decelerators, also known as deployable entry vehicles (DEVs), have been identified as an area of investment, due to its potential to revolutionize payload delivery methods to Earth and other planets. These vehicles, which can deploy their heat shields or alter their shape before entry, exploit an increased and more effective drag ratio by using less mass than traditional blunt body vehicles with rigid aeroshells. DEVs like Adaptive Deployable Entry and Placement Technology (ADEPT) and Hypersonic Inflatable Aerodynamic Decelerator (HIAD) have demonstrated the capability of transporting the equivalent science payloads of blunt body rigid aeroshells, while using a significantly smaller diameter when stowed within a launch vehicle. While DEVs' increased energy dissipation for less mass is an attractive feature, their ability to contract and expand would require advancements in the current state-of-the-art guidance and control (G&C) architectures used by traditional rigid vehicles. Pterodactyl, a project funded by NASA's Space Technology Mission Directorate (STMD), aims to provide feasible integrated G&C solutions for DEVs, complete with optimized vehicle designs and packaging analyses. Structural and aerodynamic analyses for the explored control systems suggested a need for a bank angle guidance algorithm, a heritage guidance approach that has been used in many entry precision targeting vehicles, as well as an additional need for the development of a non-bank angle guidance. For this reason, Pterodactyl will consider four different G&C configurations during its design phase: i) a reaction control system for bank (sigma) control, ii) a mass movement system for angle of attack (alpha) sideslip (beta) control, iii) flaps for alpha - beta control, and iv) flaps for sigma control. To increase the applicability of each proposed integrated G&C architecture, an 11 km/s lunar return demonstration mission is selected to stress the developed technology capability. The Lifting Nano-ADEPT (LNA) vehicle is chosen as the DEV to demonstrate the integrated solutions. This paper will detail the trajectory design for a lunar return mission, using the validated bank control guidance algorithm Fully Numerical Predictor-Corrector Entry Guidance (FNPEG) and a newly developed guidance algorithm: FNPEG Uncoupled Range Control (URC). FNPEG-URC diverges from traditional bank angle guidances by producing alpha and beta commands to thereby decouple downrange and crossrange control. This presentation will discuss the development and overall performance of FNPEG and FNPEG-URC for each of the four G&C configurations. Successful G&C configurations are defined as those that can deliver payloads to the intended descent and landing site while abiding by trajectory constraints in the face of dispersions.

Johnson, Breanna↗
NASA NTRS2016

Human Exploration Spacecraft Testbed for Integration and Advancement (HESTIA)

The proposed paper will cover ongoing effort named HESTIA (Human Exploration Spacecraft Testbed for Integration and Advancement), led at the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) to promote a cross-subsystem approach to developing Mars-enabling technologies with the ultimate goal of integrated system optimization. HESTIA also aims to develop the infrastructure required to rapidly test these highly integrated systems at a low cost. The initial focus is on the common fluids architecture required to enable human exploration of mars, specifically between life support and in-situ resource utilization (ISRU) subsystems. An overview of the advancements in both integrated technologies, in infrastructure, in simulation, and in modeling capabilities will be presented, as well as the results and findings of integrated testing,. Due to the enormous mass gear-ratio required for human exploration beyond low-earth orbit, (for every 1 kg of payload landed on Mars, 226 kg will be required on Earth), minimization of surface hardware and commodities is paramount. Hardware requirements can be minimized by reduction of equipment performing similar functions though for different subsystems. If hardware could be developed which meets the requirements of both life support and ISRU it could result in the reduction of primary hardware and/or reduction in spares. Minimization of commodities to the surface of mars can be achieved through the creation of higher efficiency systems producing little to no undesired waste, such as a closed-loop life support subsystem. Where complete efficiency is impossible or impractical, makeup commodities could be manufactured via ISRU. Although, utilization of ISRU products (oxygen and water) for crew consumption holds great promise of reducing demands on life support hardware, there exist concerns as to the purity and transportation of commodities. To date, ISRU has been focused on production rates and purities for propulsion needs. The meshing of requirements between all potential users, producers, and cleaners of oxygen and water is crucial to guiding the development of technologies which will be used to perform these functions. Various new capabilities are being developed as part of HESTIA, which will enable the integrated testing of these technologies. This includes the upgrading of a 20' diameter habitat chamber to eventually support long duration (90+ day) human-in-the-loop testing of advanced life support systems. Additionally, a 20' diameter vacuum chamber is being modified to create Mars atmospheric pressures and compositions. This chamber, designated the Mars Environment Chamber (MEC), will eventually be upgraded to include a dusty environment and thermal shroud to simulate conditions on the surface of Mars. In view that individual technologies will be in geographically diverse locations across NASA facilities and elsewhere in the world, schedule and funding constraints will likely limit the frequency of physical integration. When this is the case, absent subsystems can be either digitally or physically simulated. Using the Integrated Power Avionics and Software (iPAS) environment, HESTIA is able to bring together data from various subsystems in simulated surroundings, insert faults, errors, time delays, etc., and feed data into computer models or physical systems capable of reproducing the output of the absent subsystems for the consumption of a local subsystems. Although imperfect, this capability provides opportunities to test subsystem integration and interactions at a fraction of the cost. When a subsystem technology is too immature for integrated testing, models can be produced using the General-Use Nodal Network Solver (GUNNS) capability to simulate the overall system performance. In doing so, even technologies not yet on the drawing board can be integrated and overall system performance estimated. Through the integrated development of technologies, as well as of the infrastructure to rapidly and at a low cost, model, simulate, and test subsystem technologies early in their development, HESTIA is pioneering a new way of developing the future of human space exploration.

Banker, Brian F.↗
NASA NTRS2017

Survey of Constellation-Era LOX/Methane Development Activities and Future Development Needs

NASA formed the Constellation Program in 2005 to achieve the objectives of maintaining American presence in low-Earth orbit, returning to the moon for purposes of establishing an outpost, and laying the foundation to explore Mars and beyond in the first half of the 21st century. The Exploration Technology Development Program (ETDP) was formulated to address the technology needs to address Constellation architecture decisions. The Propellants and Cryogenic Advanced Development (PCAD) project was tasked with risk mitigation of specific propulsion related technologies to support ETDP. Propulsion systems were identified as critical technologies owing to the high gear-ratio of lunar Mars landers Cryogenic propellants offer performance advantage over storables (NTOMMH) Mass savings translate to greater payload capacity In-situ production of propellant an attractive feature; methane and oxygen identified as possible Martian in-situ propellants New technologies were required to meet more difficult missions High performance LOX/LH2 deep throttle descent engines High performance LOX/LCH4 ascent main and reaction control system (RCS) engines The PCAD project sought to provide those technologies through Reliable ignition pulse RCS Fast start High efficiency engines Stable deep throttling.

Propulsion system components↗
NASA NTRS2006

Analytical Assessment of the Reciprocating Feed System

A preliminary analysis tool has been created in Microsoft Excel to determine deliverable payload mass, total system mass, and performance of spacecraft systems using various types of propellant feed systems. These mass estimates are conducted by inserting into the user interface the basic mission parameters (e.g., thrust, burn time, specific impulse, mixture ratio, etc.), system architecture (e.g., propulsion system type and characteristics, propellants, pressurization system type, etc.), and design properties (e.g., material properties, safety factors, etc.). Different propellant feed and pressurization systems are available for comparison in the program. This gives the user the ability to compare conventional pressure fed, reciprocating feed system (RFS), autogenous pressurization thrust augmentation (APTA RFS), and turbopump systems with the deliverable payload, inert mass, and total system mass being the primary comparison metrics. Analyses of several types of missions and spacecraft were conducted and it was found that the RFS offers a performance improvement, especially in terms of delivered payload, over conventional pressure fed systems. Furthermore, it is competitive with a turbopump system at low to moderate chamber pressures, up to approximately 1,500 psi. Various example cases estimating the system mass and deliverable payload of several types of spacecraft are presented that illustrate the potential system performance advantages of the RFS. In addition, a reliability assessment of the RFS was conducted, comparing it to simplified conventional pressure fed and turbopump systems, based on MIL-STD 756B; these results showed that the RFS offers higher reliability, and thus substantially longer periods between system refurbishment, than turbopump systems, and is competitive with conventional pressure fed systems. This is primarily the result of the intrinsic RFS fail-operational capability with three run tanks, since the system can operate with just two run tanks.

Eddleman, David E.↗
NASA NTRS1994

Effect of power system technology and mission requirements on high altitude long endurance aircraft

An analysis was performed to determine how various power system components and mission requirements affect the sizing of a solar powered long endurance aircraft. The aircraft power system consists of photovoltaic cells and a regenerative fuel cell. Various characteristics of these components, such as PV cell type, PV cell mass, PV cell efficiency, fuel cell efficiency, and fuel cell specific mass, were varied to determine what effect they had on the aircraft sizing for a given mission. Mission parameters, such as time of year, flight altitude, flight latitude, and payload mass and power, were also altered to determine how mission constraints affect the aircraft sizing. An aircraft analysis method which determines the aircraft configuration, aspect ratio, wing area, and total mass, for maximum endurance or minimum required power based on the stated power system and mission parameters is presented. The results indicate that, for the power system, the greatest benefit can be gained by increasing the fuel cell specific energy. Mission requirements also substantially affect the aircraft size. By limiting the time of year the aircraft is required to fly at high northern or southern latitudes, a significant reduction in aircraft size or increase in payload capacity can be achieved.

Colozza, Anthony J.↗
NASA NTRS2014

LOx/LCH4: A Unifying Technology for Future Exploration

OVERVIEW For every pound of payload landed on Mars, 226 pounds are required on Earth to get it there. Due to this enormous mass gear‐ratio, increasing commonality between lander subsystems, such as power, propulsion, and life support, results in tremendous launch mass and cost savings. Human‐Mars architectures point to an oxygen‐methane economy, utilizing common commodities scavenged from the planetary atmosphere and soil via In‐Situ Resource Utilization (ISRU) and common commodity tankage across sub‐systems.

Banker, Brian↗
NASA NTRS1998

A Spherical Torus Nuclear Fusion Reactor Space Propulsion Vehicle Concept for Fast Interplanetary Travel

A conceptual vehicle design enabling fast outer solar system travel was produced predicated on a small aspect ratio spherical torus nuclear fusion reactor. Initial requirements were for a human mission to Saturn with a greater than 5% payload mass fraction and a one way trip time of less than one year. Analysis revealed that the vehicle could deliver a 108 mt crew habitat payload to Saturn rendezvous in 235 days, with an initial mass in low Earth orbit of 2,941 mt. Engineering conceptual design, analysis, and assessment was performed on all ma or systems including payload, central truss, nuclear reactor (including divertor and fuel injector), power conversion (including turbine, compressor, alternator, radiator, recuperator, and conditioning), magnetic nozzle, neutral beam injector, tankage, start/re-start reactor and battery, refrigeration, communications, reaction control, and in-space operations. Detailed assessment was done on reactor operations, including plasma characteristics, power balance, power utilization, and component design.

Williams, Craig H.↗
NASA NTRS1971

Development of the Algol III solid rocket motor for SCOUT.

The design and performance of a motor developed for the first stage of the NASA SCOUT-D and E launch vehicles are discussed. The motor delivers a 30% higher total impulse and a 35 to 45% higher payload mass capability than its predecessor, the Algol IIB. The motor is 45 in. in diameter, has a length-to-diameter ratio of 8:1 and delivers an average 100,000-lb thrust for an action time of 72 sec. The motor design features a very high volumetrically loaded internal-burning charge of 17% aluminized polybutadiene propellant, a plasma-welded and heat-treated steel alloy case, and an all-ablative plastic nose liner enclosed in a steel shell. The only significant development problem was the grain design tailoring to account for erosive burning effects which occurred in the high-subsonic-Mach-number port. The tests performed on the motor are described.

Felix, B. R.↗
NASA NTRSDate not supplied

Integration of Advanced Structures and Materials Technologies for a Robust Lunar Habitat

NASA’s Artemis program plans to have a sustainable lunar base deployed on the Moon by 2028. The base calls for a foundation surface habitat that can support a crew of four members for a minimum mission duration of 28-days. The lack of a magnetic field and significant lunar atmosphere extends the lifetime of secondary radiation emitted from metallic structures, which is a health hazard for exposed astronauts. Integration of non-metallic structural materials into surface habitat design may alleviate some of these concerns. Additionally, it is favorable for the structure to be collapsible for transportation to optimize payload volume, mass efficiency, and monetary constraints. As a result, inflatable structures are being investigated due to their improved packing efficiency at launch, optimal mass-to-volume ratio, and large surface area that can efficiently disperse structural loads and heat. Currently, only two inflatable airlocks have been deployed in space. Thus, there is a significant need to advance technologies associated with inflatable structures to provide greater options for future missions, i.e., Artemis and beyond. This study focused on the inflatable lunar habitat applications of emerging NASA Langley Research Center (LaRC) technologies and their required development steps to become space qualified. The Bowling Habitat architecture was generated from 13 of these NASA LaRC technologies, five of which were deemed critical, five determined as enhancing technologies, and three were classified as transformational technologies for the Artemis program. To address the payload constraints, the study also considered a tentative timeline that aligned with the current Artemis schedule for transporting the Bowling Habitat to the Moon. Ultimately, the Bowling Habitat mainly addressed the structural needs of an inflatable lunar habitat, meaning that major areas pertaining to the life-style aspects of the habitat must be improved. Areas include, but are not limited to, hard connection points, the monitoring of human health, and extra radiation protection for solar proton events.

Inflatable Habitat↗
NASA NTRS2014

A Modular Aerospike Engine Design Using Additive Manufacturing

A modular aerospike engine concept has been developed with the objective of demonstrating the viability of the aerospike design using additive manufacturing techniques. The aerospike system is a self-compensating design that allows for optimal performance over the entire flight regime and allows for the lowest possible mass vehicle designs. At low altitudes, improvements in Isp can be traded against chamber pressure, staging, and payload. In upper stage applications, expansion ratio and engine envelope can be traded against nozzle efficiency. These features provide flexibility to the System Designer optimizing a complete vehicle stage. The aerospike concept is a good example of a component that has demonstrated improved performance capability, but traditionally has manufacturing requirements that are too expensive and complex to use in a production vehicle. In recent years, additive manufacturing has emerged as a potential method for improving the speed and cost of building geometrically complex components in rocket engines. It offers a reduction in tooling overhead and significant improvements in the integration of the designer and manufacturing method. In addition, the modularity of the engine design provides the ability to perform full scale testing on the combustion devices outside of the full engine configuration. The proposed design uses a hydrocarbon based gas-generator cycle, with plans to take advantage of existing powerhead hardware while focusing DDT&E resources on manufacturing and sub-system testing of the combustion devices. The major risks for the modular aerospike concept lie in the performance of the propellant feed system, the structural integrity of the additive manufactured components, and the aerodynamic efficiency of the exhaust flow.

Peugeot, John↗
NASA NTRS1990

Project SPARC: Space-Based Aeroassisted Reusable Craft

Future United States' space facilities include a Space Station in low Earth orbit (LEO) and a Geosynchronous Operations Support Center, or GeoShack, in geosynchronous orbit (GEO). One possible mode of transfer between the two orbits is an aerobraking vehicle. When traveling from GEO to LEO, the Earth's atmosphere can be used to aerodynamically reduce the velocity of the vehicle, which reduces the amount of propulsive change in velocity required for the mission. An aerobrake is added to the vehicle for this purpose, but the additional mass increases propellant requirements. This increase must not exceed the amount of propellant saved during the aeropass. The design and development of an aerobraking vehicle that will transfer crew and cargo between the Space Station and GeoShack is examined. The vehicle is referred to as Project SPARC, a SPace-based Aeroassisted Reusable Craft. SPARC consists of a removable 45 ft diameter aerobrake, two modified Pratt and Whitney Advanced Expander Engines with a liquid oxygen/liquid hydrogen propellant, a removable crew module with a maximum capacity of five, and standard sized payload bays providing a maximum payload capacity of 28,000 lbm. The aerobrake, a rigid, ellipsoidally blunted elliptical cone, provides lift at zero angle-of-attack due to a 73 deg rake angle, and is covered with a flexible multi-layer thermal protection system. Maximum dry mass of the vehicle without payload is 20,535 lbm, and the maximum propellant requirement is 79,753 lbm at an oxidizer to fuel ratio of 6/1. Key advantages of SPARC include its capability to meet mission changes, and its removable aerobrake and crew module.

Source record↗
NASA NTRSDate not supplied

Towards Erecting Straighter Lightweight Towers on the Moon Using Deployable Guy Wires

This paper reports our static stability test findings for a simple guy wire system to correct the natural lateral deflections of an 8.5m tall, compact deployable composite tower intended to support exploration of lunar permanently shadowed regions by nearby robotic assets. Deployable composite booms with microgravity flight heritage are currently being investigated at NASA Langley Research Center (LaRC) and Massachusetts Institute of Technology(MIT)’s Space Resources Workshop for their potential to be vertically deployed in the lunar gravity field, in support of NASA’s Artemis campaign. These applications include vertical solar arrays and the provision of elevated lines-of-sight to science or engineering payloads on landers and rovers, in support of nearby or distant crewed or robotic assets exploring scientifically interesting and hard to reach areas. Useful elevated payloads include radio repeaters, remote sensing and imaging, navigation and power beaming systems. However, while these lightweight booms have an excellent height to mass ratio, they typically exhibit slight axial curvature upon deployment resulting in appreciable lateral dead-load deflection of the tip mass relative to the tower base. This static deflection increases with tower height and tip mass, not only constraining the value delivered by the tower but also endangering its integrity. To develop a competitive, lightweight deployable composite boom tower, a capability to correct static deflections during and after deployment may be required. This paper presents a pathfinder deployable guy wire stability system for the MIT / LaRC self-erecting composite boom lunar tower that provides real time measurements, maintains tension passively, and can serve as a reconfigurable platform to test new guy wire components, configurations and control algorithms. Using a validated, calibrated photogrammetry system, the natural lateral deflection of the boom tip relative to the boom base at different deployed heights in Earth’s gravity field was recorded. With real-time tension measurements it was found that guy wires can significantly reduce the tip deflection of a deployable composite boom under dead load. Specifically, we found that (1) control capability is greatest where it is needed most, i.e. for the lever arm closest to being opposite the direction of deflection, and (2) for a tower height of at least 8.5 m and arm length of at least 60 cm, a solution of differential tension in all three arms exists and, in principle, provides sufficient control capability to correct or significantly reduce boom deflections. We also found that natural deflections occur almost entirely out-of-plane of the seams of the boom cross-section, which was expected, and that the natural boom tip lateral deflection under dead load upon deployment was ~5% of boom deployed length, unexpectedly exceeding the manufacturing acceptance specification of 1%.Ongoing and future collaborative work between LaRC and MIT includes the further investigation of the unexpected lateral deflection, testing of alternative guy wire system designs at higher tensions and higher deployed heights, as well as trade studies of costs and benefits of an optimized integrated guywire system compared to other types of static stability solutions.

lunar towers↗
NASA NTRS1992

Task-based configuration control of redundant manipulators

This article establishes new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals can be accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical advantages and velocity ratio are also used as performance measurements to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy-resolution criteria. The new goals for redundancy resolution presented in this article allow a more efficient utilization of the redundant joints based on the desired task requirements. Simple case studies using computer simulations are described for illustration.

Seraji, Homayoun↗