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NASA NTRS2011

Gripping Mechanisms for Microgravity and Extreme Terrain and Vertical Climbing Micro Ground Vehicle

Asteroids and comets may provide insight into the origins of our solar system and the precursors to life on our planet. Near Earth objects offer an accessible target of opportunity, but are small and lack the gravity necessary for conventional wheeled travel. Therefore, it is necessary to develop alternative methods for maneuvering in these environments. This project researched and developed a method for gripping rock surfaces. Work has been completed on the design and prototyping of several possible hooked gripping mechanisms. Future work includes quantitative testing, downselection to a final design, and attachment to the robotic platform, Lemur IIb. A second project focuses on the development of a 100g, crash-proof robot capable of climbing vertical surfaces using a novel silicone adhesive. Capable of carrying video/audio payloads the robot may serve as a surveillance tool for the Department of Defense or as a method of pre-flight spacecraft inspections. A specialized track was developed to provide the specific loading conditions necessary for proper engagement of the adhesive. Both of these projects rely heavily on the shape deposition manufacturing process, being researched at JPL, and 3D printing.

robotic locomotion↗

NASA NTRS2011

Category Learning Research in the Interactive Online Environment Second Life

The interactive online environment Second Life allows users to create novel three-dimensional stimuli that can be manipulated in a meaningful yet controlled environment. These features suggest Second Life's utility as a powerful tool for investigating how people learn concepts for unfamiliar objects. The first of two studies was designed to establish that cognitive processes elicited in this virtual world are comparable to those tapped in conventional settings by attempting to replicate the established finding that category learning systematically influences perceived similarity . From the perspective of an avatar, participants navigated a course of unfamiliar three-dimensional stimuli and were trained to classify them into two labeled categories based on two visual features. Participants then gave similarity ratings for pairs of stimuli and their responses were compared to those of control participants who did not learn the categories. Results indicated significant compression, whereby objects classified together were judged to be more similar by learning than control participants, thus supporting the validity of using Second Life as a laboratory for studying human cognition. A second study used Second Life to test the novel hypothesis that effects of learning on perceived similarity do not depend on the presence of verbal labels for categories. We presented the same stimuli but participants classified them by selecting between two complex visual patterns designed to be extremely difficult to label. While learning was more challenging in this condition , those who did learn without labels showed a compression effect identical to that found in the first study using verbal labels. Together these studies establish that at least some forms of human learning in Second Life parallel learning in the actual world and thus open the door to future studies that will make greater use of the enriched variety of objects and interactions possible in simulated environments compared to traditional experimental situations.

Andrews, Jan↗

NASA NTRS2000

Vibration Testing of an Operating Stirling Convertor

The NASA John H. Glenn Research Center and the U.S. Department of Energy are currently developing a Stirling convertor for use as an advanced spacecraft power system for future NASA deep-space missions. As part of this development, a Stirling Technology Demonstrator Convertor (TDC) was recently tested to verify its survivability and capability of withstanding its expected launch random vibration environment. The TDC was fully operational (producing power) during the random vibration testing. The output power of the convertor was measured during the testing, and these results are discussed in this paper. Numerous accelerometers and force gauges were also present which provided information on the dynamic characteristics of the TDC and an indication of any possible damage due to vibration. These measurements will also be discussed in this paper. The vibration testing of the Stirling TDC was extremely successful. The TDC survived all its vibration testing with no structural damage or functional performance degradation. As a result of this testing, the Stirling convertor's capability to withstand vibration has been demonstrated, enabling its usage in future spacecraft power systems.

Hughes, William O.↗

NASA NTRS2010

Performance of Waterless Concrete

The development of permanent lunar bases is constrained by performance of construction materials and availability of in-situ resources. Concrete seems a suitable construction material for the lunar environment, but water, one of its major components, is an extremely scarce resource on the Moon. This study explores an alternative to hydraulic concrete by replacing the binding mix of concrete (cement and water) with sulfur. Sulfur is a volatile element on the lunar surface that can be extracted from lunar soils by heating. Sulfur concrete mixes were prepared to investigate the effect of extreme environmental conditions on the properties of sulfur concrete. A hypervelocity impact test was conducted, having as its target a 5-cm cubic sample of sulfur concrete. This item consisted of JSC-1 lunar regolith simulant (65%) and sulfur (35%). The sample was placed in the MSFC Impact Test Facility s Micro Light Gas Gun target chamber, and was struck by a 1-mm diameter (~1.4e-03 g) aluminum projectile at 5.85 km/s. In addition, HZTERN code, provided by NASA was used to study the effectiveness of sulfur concrete when subjected to space radiation.

Toutanji, Houssam↗

NASA NTRS2011

NEEMO 14: Evaluation of Human Performance for Rover, Cargo Lander, Crew Lander, and Exploration Tasks in Simulated Partial Gravity

The ultimate success of future human space exploration missions is dependent on the ability to perform extravehicular activity (EVA) tasks effectively, efficiently, and safely, whether those tasks represent a nominal mode of operation or a contingency capability. To optimize EVA systems for the best human performance, it is critical to study the effects of varying key factors such as suit center of gravity (CG), suit mass, and gravity level. During the 2-week NASA Extreme Environment Mission Operations (NEEMO) 14 mission, four crewmembers performed a series of EVA tasks under different simulated EVA suit configurations and used full-scale mockups of a Space Exploration Vehicle (SEV) rover and lander. NEEMO is an underwater spaceflight analog that allows a true mission-like operational environment and uses buoyancy effects and added weight to simulate different gravity levels. Quantitative and qualitative data collected during NEEMO 14, as well as from spacesuit tests in parabolic flight and with overhead suspension, are being used to directly inform ongoing hardware and operations concept development of the SEV, exploration EVA systems, and future EVA suits. OBJECTIVE: To compare human performance across different weight and CG configurations. METHODS: Four subjects were weighed out to simulate reduced gravity and wore either a specially designed rig to allow adjustment of CG or a PLSS mockup. Subjects completed tasks including level ambulation, incline/decline ambulation, standing from the kneeling and prone position, picking up objects, shoveling, ladder climbing, incapacitated crewmember handling, and small and large payload transfer. Subjective compensation, exertion, task acceptability, and duration data as well as photo and video were collected. RESULTS: There appear to be interactions between CG, weight, and task. CGs nearest the subject s natural CG are the most predictable in terms of acceptable performance across tasks. Future research should focus on understanding the interactions between CG, mass, and subject differences.

Chappell, Steven P.↗

NASA NTRS2013

Olivine Weathering aud Sulfate Formation Under Cryogenic Conditions

High resolution photography and spectroscopy of the martian surface (MOC, HiRISE) from orbit has revolutionized our view of Mars with one of the most important discoveries being wide‐spread layered sedimentary deposits associated with sulfate minerals across the low to mid latitude regions of Mars. The mechanism for sulfate formation on Mars has been frequently attributed to playa‐like evaporative environments under prolonged warm conditions. An alternate view of the ancient martian climate contends that prolonged warm temperatures were never present and that the atmosphere and climate has been similar to modern conditions throughout most of its history. This view has had a difficult time explaining the sedimentary history of Mars and in particular the presence of sulfate minerals which seemingly need more water. We suggest here that mixtures of atmospheric aerosols, ice, and dust have the potential for creating small films of cryo‐concentrated acidic solutions that may represent an important unexamined environment for understanding weathering processes on Mars. This study seeks to test whether sulfate formation may be possible at temperatures well below 0degC in water limited environments removing the need for prolonged warm periods to form sulfates on early Mars. To test this idea we performed laboratory experiments to simulate weathering of mafic minerals under Mars‐like conditions. The weathering rates measured in this study suggest that fine grained olivine on Mars would weather into sulfate minerals in short time periods if they are exposed to H2SO4 aerosols at temperatures at or above ‐40degC. In this system, the strength of the acidic solution is maximized through eutectic freezing in an environment where the silicate minerals are extremely fine grained and have high surface areas. This provides an ideal environment despite the very low temperatures. On Mars the presence of large deposits of mixed ice and dust is undisputed. The presence of substantial sulfur‐rich volcanism, and sulfur‐rich surface deposits also makes it very likely that sulfate aerosols have also been an important component of the martian atmosphere. Thus mixtures of ice, dust, and sulfate aerosols are likely to have been common on the martian surface. Given the fact that it is not difficult to achieve surface temperatures above ‐40degC on Mars throughout its history, it seems likely that sulfate formation on Mars is controlled by the availability of sulfate aerosols and not by the martian climate. The current polar regions of Mars and Earth provide interesting analogs. Large regions of sulfaterich material have been detected on and around the modern north polar region of Mars. The prevalence of ice‐dust mixtures in this region and the existence of sulfates within the ice cap itself are strong evidence for the origin of the sulfates from inside the ice deposits. In addition sulfates have been found in ice deposits in Greenland and Mount Fuji on Earth that have been attributed to forming within the ice deposit. These sulfates can form either through interaction with dust particles in the atmosphere or through weathering inside the ice itself.

Niles, Paul B.↗

NASA NTRS1983

Application of fluidics to instrumentation in hostile environments

This paper discusses the use of fluidic devices for measurement and control in the presence of hostile environments. Various applications are presented together with possible solutions by the use of fluidics. Several fluidic devices, components and circuits are described which may be adapted to fluidic measurement and control of processes where other methods fail or become extremely difficult or damaging to the instrumentation. Devices and techniques described include a description of a capillary temperature probe including both probe and circuit designs, and several possible techniques which may be used in the design and testing of fluidic devices.

Walsh, J.↗

NASA NTRS2001

Thermal Analysis Of The NASA Integrated Vehicle Health Monitoring Experiment Technology For X-Vehicles (NITEX)

The purpose of this project was to perform a thermal analysis for the NASA Integrated Vehicle Health Monitoring (IVHM) Technology Experiment for X-vehicles (NITEX). This electronics package monitors vehicle sensor information in flight and downlinks vehicle health summary information via telemetry. The experiment will be tested on the X-34 in an unpressurized compartment, in the vicinity of one of the vehicle's liquid oxygen tanks. The transient temperature profile for the electronics package has been determined using finite element analysis for possible mission profiles that will most likely expose the package to the most extreme hot and cold environmental conditions. From the analyses, it was determined that temperature limits for the electronics would be exceeded for the worst case cold environment mission profile. The finite element model used for the analyses was modified to examine the use of insulation to address this problem. Recommendations for insulating the experiment for the cold environment are presented, and were analyzed to determine their effect on a nominal mission profile.

Hegab, Hisham E.↗

NASA NTRS2002

Thermal Analysis of the NASA Integrated Vehicle Health Monitoring Experiment Technology for X-Vehicles (NITEX)

Hegab, Hisham E.↗

NASA NTRS2017

Cryogenic Thermal Conductivity Measurements on Candidate Materials for Space Missions

Spacecraft and instruments on space missions are built using a wide variety of carefully-chosen materials. In addition to having mechanical properties appropriate for surviving the launch environment, these materials generally must have thermal conductivity values which meet specific requirements in their operating temperature ranges. Space missions commonly propose to include materials for which the thermal conductivity is not well known at cryogenic temperatures. We developed a test facility in 2004 at NASAs Goddard Space Flight Center to measure material thermal conductivity at temperatures between 4 and 300 Kelvin, and we have characterized many candidate materials since then. The measurement technique is not extremely complex, but proper care to details of the setup, data acquisition and data reduction is necessary for high precision and accuracy. We describe the thermal conductivity measurement process and present results for several materials.

thermal conductivity↗

NASA NTRS2024

Exploration Extravehicular Mobility Unit (xEMU) Lunar Boot Chamber B Thermal Vacuum Testing Results

NASA’s Exploration Extravehicular Mobility Unit (xEMU) is the government reference next-generation spacesuit design and is engineered to protect astronauts from extreme lunar environmental temperatures. To evaluate the xEMU hardware thermal requirements, the xEMU Testing Team invented, designed, and executed a dual-suit, uncrewed thermal vacuum (TVAC) test at Johnson Space Center’s (JSC) Chamber B. This paper details the test methodology, hardware setup, and results from the xEMU lunar boots. Eleven unique thermal profiles were tested including both cold and hot environmental cases over the course of five continuous days of testing. This paper will address only the cold environment testing results. The radiative thermal environment was controlled through exposure to liquid-nitrogen shrouds on the chamber walls and through a heater cage surrounding the boots. Notably, the xEMU boots also contacted the liquid-nitrogen chilled floor inside of Chamber B, which provided a conduction pathway to simulate the thermal effects of the lunar surface. Test hardware was developed to extend the water tubing from the Liquid Cooling Ventilation Garment (LCVG) into the boots to set the internal thermal boundary nominally provided by the astronaut’s foot. Thirty-three temperature sensors were used to collect data in critical locations in the xEMU boot assembly as well as for calorimetry to determine heat flux to and from the boots. This paper will document the testing results and provide a high-level interpretation of the testing results. To conclude, this paper will address possible forward work and knowledge gaps present in lunar boot thermal performance and testing.

xEMU↗

NASA NTRS2022

Repeatable Method for Conducting Chamber Studies of Aerosolized Lunar Simulant

The Artemis Mission goal of returning humans to the Moon requires new solutions to engineering problems posed by the extremely harsh environment of the lunar surface. Using the Apollo missions as historical evidence, dust will be a significant obstacle in the success of a sustained human and robotic presence. Hardware such as tools, machinery, extra-vehicular activity (EVA) suits, and components of landers and habitats will all be subject to various degrees of contamination by lunar dust, and each piece of hardware has its own considerations for performance under dusty conditions. Such hardware must be tested and verified for use during lunar missions under guidance from NASA technical standards. Aerosolized dust can be used to test and verify hardware in two ways: volumetric and surface area loading. Volumetric loading (measured in mass of airborne dust per volume of air) may cause hardware to malfunction via dust ingestion or other mechanisms. Surface area loading (measured in mass of settled dust per surface area) may cause hardware to malfunction by altering its thermal properties or by fouling optical surfaces such as camera lenses. This publication describes a method to achieve a stable, user-determined volumetric loading in an arbitrary chamber along with recommendations for how to use such chambers for customized hardware testing.

Benjamin J Sumlin↗

NASA NTRS1990

Electronic assembly thermal testing - Dwell/duration/cycling

Testing of electronic assemblies varies throughout industry, NASA, and the military. Differences include test levels, atmospheric versus vacuum testing of assemblies, dwell durations at temperature extremes (especially high temperature), and thermal cycling versus dwell testing. Of particular interest are the different philosophies of thermal cycling versus single-cycle thermal dwell. An examination of the various failure physics for electronic assemblies has been initiated at JPL. The intent is to determine which failure modes are best revealed by thermal cycling testing and which are susceptible to high-temperature dwell physics. Preliminary results of this study are presented, along with discussions of testing goals, flight environments, reliability models, and the differences between industry and JPL design/test approaches.

Gibbel, Mark↗

NASA NTRS2012

Mass Spectrometers in Space!

Exploration of our solar system over several decades has benefitted greatly from the sensitive chemical analyses offered by spaceflight mass spectrometers. When dealing with an unknown environment, the broadband detection capabilities of mass analyzers have proven extremely valuable in determining the composition and thereby the basic nature of space environments, including the outer reaches of Earth s atmosphere, interplanetary space, the Moon, and the planets and their satellites. Numerous mass analyzer types, including quadrupole, monopole, sector, ion trap, and time-of-flight have been incorporated in flight instruments and delivered robotically to a variety of planetary environments. All such instruments went through a rigorous process of application-specific development, often including significant miniaturization, testing, and qualification for the space environment. Upcoming missions to Mars and opportunities for missions to Venus, Europa, Saturn, Titan, asteroids, and comets provide new challenges for flight mass spectrometers that push to state of the art in fundamental analytical technique. The Sample Analysis at Mars (SAM) investigation on the recently-launch Mars Science Laboratory (MSL) rover mission incorporates a quadrupole analyzer to support direct evolved gas as well as gas chromatograph-based analysis of martian rocks and atmosphere, seeking signs of a past or present habitable environment. A next-generation linear ion trap mass spectrometer, using both electron impact and laser ionization, is being incorporated into the Mars Organic Molecule Analyzer (MOMA) instrument, which will be flown to Mars in 2018. These and other mass spectrometers and mission concepts at various stages of development will be described.

Brinckerhoff, William B.↗

NASA NTRS2018

Ni-Ti Next Generation Bearings for Space Applications

NASA applications challenge traditional bearing materials. The rigors of launch often include heavy shock loads and exposure to corrosive environments (e.g., salt spray). Unfortunately, ball and roller bearings made from hardened steels are vulnerable to Brinell denting and rust which can limit performance and life. Ceramic materials can eliminate corrosion concerns but their high stiffness and extreme hardness actually makes denting problems worse. In this presentation, an emerging superelastic alloy, NiTi, is introduced for rolling element bearing applications. Through a decade of RD, NiTi alloy bearings have been put through a comprehensive series of life and performance tests. Hardness, corrosion, strength, stiffness, and rolling contact fatigue tests have been conducted and reported. Ball bearings ranging in size from 12 to 50mm bore have been successfully engineered and operated over a wide range of speeds and test conditions including being submerged in water. The combination of high hardness, moderate elastic modulus, low density, and intrinsic corrosion immunity provide new possibilities for mechanisms that operate under extreme conditions. Recent preliminary tests indicate that bearings can be made from NiTi alloys that are easily lubricated by conventional oils and greases and exhibit acceptable rolling contact fatigue resistance. This presentation introduces the NiTi materials systems and shows how NASA is using it to alleviate several specific problems encountered in advanced space applications.

bearings↗

NASA NTRS2022

Environmental Testing of the OVEN System for Lunar Water Extraction and Prospecting

Introduction: The presence of water ice in permanently shadowed regions on the lunar surface [1] may enable a sustained human presence on the Moon with minimal need for consumables. However, in order to develop a long term utilization plan that includes the usage of in-situ water we must first understand the abundance, stratigraphy and distribution of this re-source. Multiple space agencies currently have plans for lunar water prospecting missions. The Optimized Volatile Extraction Node (OVEN) was designed for water prospecting missions that require samples to be weighed, sealed, and heated as the means of determining water concentration. This method of water quantification necessitates a fair amount of automation, so a rigorous environmental test program was performed in order to build confidence in the performance of the OVEN design. The work presented here describes the OVEN environmental test program as well as ongoing efforts to improve on the design. Vibration: The OVEN participated in two rounds of random vibration tests. The first test was a stand-alone test performed at the Energy Systems Test Area of the Johnson Space Center. The second test was an integrated test with the mobile platform developed for the Resource Prospector project. The OVEN survived both tests without damage, but the tests did provide valuable lessons learned with regards to specific operations. Thermal Vacuum: The OVEN was successfully demonstrated at a temperature range of -50 to 75 C in a thermal vacuum chamber. The need to heat motor gearboxes at lower temperatures was predetermined so this test program was completed by implementing a method of gearbox heating that used the existing circuitry within the motors. Dust: A custom dynamometer was built in order to determine the torque required to move the various mechanisms within the OVEN at a range of temperatures. The OVEN system was coated with lunar dust simulant in order to determine mechanism torques under a worst-case operating condition. Sublimation: Sublimation losses within the OVEN were quantified through a series of test configurations, including an integrated test in a thermal vacuum chamber at Glenn Research Center [2]. Current Work: The OVEN subsystem is currently not a component of any existing prospecting missions, but work continues that will take the lessons learned from previous environmental tests and improve on the design in order to be considered for future prospecting opportunities. References: [1] Colaprete, A., Schultz, P., Heldmann, J., Wooden, D., Shirley, M., Ennico, K., ... & Sollitt, L. (2010). Detection of water in the LCROSS ejecta plume. science, 330(6003), 463-468. [2] Kleinhenz, J., Smith, J., Roush, T., Colaprete, A., Zacny, K., Paulsen, G., ... & Paz, A. (2018). Volatiles Loss from water bearing regolith simulant at Lunar Environments. In Earth and Space 2018: Engineering for Extreme Environments (pp. 454-466). Reston, VA: American Society of Civil Engineers.

A Paz↗

NASA NTRS2023

Investigating Abrasion Effects of Lunar Simulant Grain Sizes on Candidate Spacesuit Fabric

Lunar dust is identified as one of the most significant challenges during the Apollo exploration missions due to its extremely abrasive and electrostatic characteristics. As NASA and the space industry prepare for the upcoming Artemis missions, researching and testing with lunar simulant is quintessential to understanding the effects of lunar dust on the systems and equipment that will be deployed on the lunar surface. Testing will also provide paths that lead to developing technologies and cleaning tools that could be used for dust mitigation. Additionally, it is expected that any hardware that will be exposed to the dusty environment should undergo rigorous testing to ensure it will maintain long-term performance and operate on the lunar surface. For this study, exterior spacesuit fabric was observed. Abrasion is one of the main concerns of lunar dust exposure for spacesuit fabric. Three different abrasion methods were chosen: a rotary tumbler, the Martindale method, and Accelerotor. These abrasion methods were tested on coated and uncoated spacesuit material, Orthofabric, to understand the abrasion rates of sieved lunar simulant and investigate if the addition of ceramic coating mitigated dust abrasion. To summarize, the testing results provided that larger grains are more abrasive than smaller grains, and the selected ceramic coatings did not minimize abrasion during the controlled abrasion tests. It is important to note that the selected ceramic coatings were not designed or intended to provide protection from the abrasive lunar environment. It is recommended to select additional ceramic coatings with an elevated TRL of 5 or greater for testing with Orthofabric and lunar simulant. As an additional note, contact angle measurements were not accounted for in coating selection and should be a factor when selecting adhesion resistant coatings for lunar dust.

grain size↗

NASA NTRS1981

Response of selected microorganisms to experimental planetary environments

Anaerobic and aerobic sporeformers and non-sporeformers were cultivated anaerobically in nutrient media under various pressures (up to 1800 psi) of pure H2, CH4, NH3, and H2S. Viability assays were performed periodically to determine growth, survival, or spore survival. Hydrogen up to 1800 psi demonstrated little or no suppression of growth with the possible exception of Bacillus coagulans at 1800 psi. The obligate anaerobes grew very well. Under CH4 the obligate anaerobes again exhibited the most prolific growth, whereas the facultative anaerobes grew well except under higher pressures. Ammonia at low pressure was extremely toxic to all test organisms. At 100 psi all populations were killed within 24 hours except Staphylococcus aureus which survived for 72 hours and the Bacillus spp. which produced a surviving population of approximately 10,000 spores/ml. All populations in H2S were killed within 24 to 48 hours except Proteus mirabilis which decreased to 100 cells/ml and the Bacillus spp. Spore survival studies of two months duration demonstrated that B. coagulans and B. pumilus survived under all experimental conditions. Clostridium novyi type B and C. sporogenes were killed rapidly in NH3 and H2S and demonstrated no sporulation.

Foster, T. L.↗