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NASA NTRS2004

Robotic End Effectors for Hard-Rock Climbing

Special-purpose robot hands (end effectors) now under development are intended to enable robots to traverse cliffs much as human climbers do. Potential applications for robots having this capability include scientific exploration (both on Earth and other rocky bodies in space), military reconnaissance, and outdoor search and rescue operations. Until now, enabling robots to traverse cliffs has been considered too difficult a task because of the perceived need of prohibitively sophisticated planning algorithms as well as end effectors as dexterous as human hands. The present end effectors are being designed to enable robots to attach themselves to typical rock-face features with less planning and simpler end effectors. This advance is based on the emulation of the equipment used by human climbers rather than the emulation of the human hand. Climbing-aid equipment, specifically cams, aid hooks, and cam hooks, are used by sport climbers when a quick ascent of a cliff is desired (see Figure 1). Currently two different end-effector designs have been created. The first, denoted the simple hook emulator, consists of three "fingers" arranged around a central "palm." Each finger emulates the function of a particular type of climbing hook (aid hook, wide cam hook, and a narrow cam hook). These fingers are connected to the palm via a mechanical linkage actuated with a leadscrew/nut. This mechanism allows the fingers to be extended or retracted. The second design, denoted the advanced hook emulator (see Figure 2), shares these features, but it incorporates an aid hook and a cam hook into each finger. The spring-loading of the aid hook allows the passive selection of the type of hook used. The end effectors can be used in several different modes. In the aid-hook mode, the aid hook on one of the fingers locks onto a horizontal ledge while the other two fingers act to stabilize the end effector against the cliff face. In the cam-hook mode, the broad, flat tip of the cam hook is inserted into a non-horizontal crack in the cliff face. A subsequent transfer of weight onto the end effector causes the tip to rotate within the crack, creating a passive, self-locking action of the hook relative to the crack. In the advanced hook emulator, the aid hook is pushed into its retracted position by contact with the cliff face as the cam hook tip is inserted into the crack. When a cliff face contains relatively large pockets or cracks, another type of passive self-locking can be used. Emulating the function of the piece of climbing equipment called a "cam" (note: not the same as a "cam hook"; see Figure 1), the fingers can be fully retracted and the entire end effector inserted into the feature. The fingers are then extended as far as the feature allows. Any weight then transferred to the end effector will tend to extend the fingers further due to frictional force, passively increasing the grip on the feature. In addition to the climbing modes, these end effectors can be used to walk on (either on the palm or the fingertips) and to grasp objects by fully extending the fingers.

Kennedy, Brett↗

NASA NTRSDate not supplied

3D Construction of Biologically Derived Materials

System for the 3D Construction of Biologically Derived Materials, Structures, and Parts NASA has developed a novel approach for macroscale biomaterial production by combining synthetic biology with 3D printing. Cells are biologically engineered to deposit desired materials, such as proteins or metals, derived from locally available resources. The bioengineered cells build different materials in a specified 3D pattern to produce novel microstructures with precise molecular composition, thickness, print pattern, and shape. Scaffolds and reagents can be used for further control over material product. This innovation provides modern design and fabrication techniques for custom-designed organic or organic-inorganic composite biomaterials produced from limited resources. Benefits Conserves resources. Few raw or bulk starting materials needed Enables custom design of diverse materials Fast, portable, macroscale, on-demand manufacturing High-fidelity microstructures Uses commercially available parts Applications Biomaterials, biotechnology Organic-inorganic composite materials On-demand manufacturing In situ resource utilization Space stations Military Infrastructure materials The Technology Once genes for a desired material type, delivery mode, control method and affinity have been chosen, assembling the genetic components and creating the cell lines can be done with well-established synthetic biology techniques. A 3D microdeposition system is used to make a 3D array of these cells in a precise, microstructure pattern and shape. The engineered cells are suspended in a printable 'ink'. The 3D microdeposition system deposits minute droplets of the cells onto a substrates surface in a designed print pattern. Additional printer passes thicken the material. The cell array is fed nutrients and reagents to activate the engineered genes within the cells to create and deposit the desired molecules. These molecules form the designed new material. If desired, the cells may be removed by flushing. The end product is thus a 3D composite microstructure comprising the novel material. This innovation provides a fast, controlled production of natural, synthetic, and novel biomaterials with minimum resource overhead and reduced pre- and post-processing requirements.

3D↗

NASA NTRS1981

Development of a sub-miniature rubidium oscillator for SEEKTALK application

Warm-up and size challenges to oscillator construction are presented as well as the problems involved in these tasks. The performance of M-100 military rubidium oscillator is compared to that of a subminiture rubididum oscillator (M-1000). Methods of achieving 1.5 minute warm-up are discussed as well as improvements in performance under adverse environmental conditions, including temperature, vibration, and magnetics. An attempt is made to construct an oscillator error budget under a set of arbitrary mission conditions.

Fruehauf, H.↗

NASA NTRS2007

2004 Space Report: Environment and Strategy for Space Research at NATO's Research and Technology Organisation (RTO)

This report describes the motivation for and a strategy to enhance the NATO Research and Technology Organisation's (RTO) current space research effort to reflect NATO's growing military dependence on space systems. Such systems and services provided by these systems are critical elements of military operations. NATO uses space systems for operational planning and support, communication, radio navigation, multi-sensor and multi-domain demonstrations. Such systems are also used to promote regional stability. A quantitative analysis of work related to space in the NATO RTO showed that during the period of 1998 - 2004, 5% of the research pursued in the NATO RTO has been clearly focused on space applications. Challenging environmental and organizational barriers for increasing RTO space research were identified. In part, these include lack of sufficient space expertise representation on panels, the military sensitivity of space, current panel work loads and the need for specific technical recommendations from peers. A strategy for enhancing space research in the RTO is to create a limited-life Space Advisory Group (SAG) composed of Space Expert Consultants who are panel members with appropriate expertise and additional expertise from the nations. The SAG will recommend and find support in the nations for specific technical activities related to space in the areas of Space Science, Remote Sensing Data Analysis, Spacecraft Systems, Surveillance and Early Warning, Training and Simulation and Policy. An RTO Space Advisory Group will provide an organizational mechanism to gain recognition of RTO as a forum for trans-Atlantic defence space research and to enhance space research activities.

Woods-Vedeler, Jessica A.↗

NASA NTRS2007

Reliability Effects of Surge Current Testing of Solid Tantalum Capacitors

Solid tantalum capacitors are widely used in space applications to filter low-frequency ripple currents in power supply circuits and stabilize DC voltages in the system. Tantalum capacitors manufactured per military specifications (MIL-PRF-55365) are established reliability components and have less than 0.001% of failures per 1000 hours (the failure rate is less than 10 FIT) for grades D or S, thus positioning these parts among electronic components with the highest reliability characteristics. Still, failures of tantalum capacitors do happen and when it occurs it might have catastrophic consequences for the system. This is due to a short-circuit failure mode, which might be damaging to a power supply, and also to the capability of tantalum capacitors with manganese cathodes to self-ignite when a failure occurs in low-impedance applications. During such a failure, a substantial amount of energy is released by exothermic reaction of the tantalum pellet with oxygen generated by the overheated manganese oxide cathode, resulting not only in destruction of the part, but also in damage of the board and surrounding components. A specific feature of tantalum capacitors, compared to ceramic parts, is a relatively large value of capacitance, which in contemporary low-size chip capacitors reaches dozens and hundreds of microfarads. This might result in so-called surge current or turn-on failures in the parts when the board is first powered up. Such a failure, which is considered as the most prevalent type of failures in tantalum capacitors [I], is due to fast changes of the voltage in the circuit, dV/dt, producing high surge current spikes, I(sub sp) = Cx(dV/dt), when current in the circuit is unrestricted. These spikes can reach hundreds of amperes and cause catastrophic failures in the system. The mechanism of surge current failures has not been understood completely yet, and different hypotheses were discussed in relevant literature. These include a sustained scintillation breakdown model [1-3]; electrical oscillations in circuits with a relatively high inductance [4-6]; local overheating of the cathode [5,7, 8]; mechanical damage to tantalum pentoxide dielectric caused by the impact of MnO2 crystals [2,9, 10]; or stress-induced-generation of electron traps caused by electromagnetic forces developed during current spikes [11]. A commonly accepted explanation of the surge current failures is that at unlimited current supply during surge current conditions, the self-healing mechanism in tantalum capacitors does not work, and what would be a minor scintillation spike if the current were limited, becomes a catastrophic failure of the part [l, 12]. However, our data show that the scintillation breakdown voltages are significantly greater that the surge current breakdown voltages, so it is still not clear why the part, which has no scintillations, would fail at the same voltage during surge current testing (SCT).

Teverovsky, Alexander↗

NASA NTRS1982

Applications of high-temperature powder metal aluminum alloys to small gas turbines

A program aimed at the development of advanced powder-metallurgy (PM) aluminum alloys for high-temperature applications up to 650 F using the concepts of rapid solidification and mechanical alloying is discussed. In particular, application of rapidly solidified PM aluminum alloys to centrifugal compressor impellers, currently used in auxiliary power units for both military and commercial aircraft and potentially for advanced automotive gas turbine engines, is examined. It is shown that substitution of high-temperature aluminum for titanium alloy impellers operating in the 360-650 F range provides significant savings in material and machining costs and results in reduced component weight, and consequently, reduced rotating group inertia requirements.

Millan, P. P., Jr.↗

NASA NTRS1994

Use of magnetic compression to support turbine engine rotors

Ever since the advent of gas turbine engines, their rotating disks have been designed with sufficient size and weight to withstand the centrifugal forces generated when the engine is operating. Unfortunately, this requirement has always been a life and performance limiting feature of gas turbine engines and, as manufacturers strive to meet operator demands for more performance without increasing weight, the need for innovative technology has become more important. This has prompted engineers to consider a fundamental and radical breakaway from the traditional design of turbine and compressor disks which have been in use since the first jet engine was flown 50 years ago. Magnetic compression aims to counteract, by direct opposition rather than restraint, the centrifugal forces generated within the engine. A magnetic coupling is created between a rotating disk and a stationary superconducting coil to create a massive inwardly-directed magnetic force. With the centrifugal forces opposed by an equal and opposite magnetic force, the large heavy disks could be dispensed with and replaced with a torque tube to hold the blades. The proof of this concept has been demonstrated and the thermal management of such a system studied in detail; this aspect, especially in the hot end of a gas turbine engine, remains a stiff but not impossible challenge. The potential payoffs in both military and commercial aviation and in the power generation industry are sufficient to warrant further serious studies for its application and optimization.

Pomfret, Chris J.↗

NASA NTRS1994

On the design of flight-deck procedures

In complex human-machine systems, operations, training, and standardization depend on a elaborate set of procedures which are specified and mandated by the operational management of the organization. The intent is to provide guidance to the pilots, to ensure a logical, efficient, safe, and predictable means of carrying out the mission objectives. In this report the authors examine the issue of procedure use and design from a broad viewpoint. The authors recommend a process which we call 'The Four P's:' philosophy, policies, procedures, and practices. We believe that if an organization commits to this process, it can create a set of procedures that are more internally consistent, less confusing, better respected by the flight crews, and that will lead to greater conformity. The 'Four-P' model, and the guidelines for procedural development in appendix 1, resulted from cockpit observations, extensive interviews with airline management and pilots, interviews and discussion at one major airframe manufacturer, and an examination of accident and incident reports. Although this report is based on airline operations, we believe that the principles may be applicable to other complex, high-risk systems, such as nuclear power production, manufacturing process control, space flight, and military operations.

Degani, Asaf↗

NASA NTRS1997

Quasi-Static and Dynamic Response Characteristics of F-4 Bias-Ply and Radial-Belted Main Gear Tires

An investigation was conducted at Langley Research Center to determine the quasi-static and dynamic response characteristics of F-4 military fighter 30x11.5-14.5/26PR bias-ply and radial-belted main gear tires. Tire properties were measured by the application of vertical, lateral, and fore-and-aft loads. Mass moment-of-inertia data were also obtained. The results of the study include quasi-static load-deflection curves, free-vibration time-history plots, energy loss associated with hysteresis, stiffness and damping characteristics, footprint geometry, and inertia properties of each type of tire. The difference between bias-ply and radial-belted tire construction is given, as well as the advantages and disadvantages of each tire design. Three simple damping models representing viscous, structural, and Coulomb friction are presented and compared with the experimental data. The conclusions discussed contain a summary of test observations.

Davis, Pamela A.↗

NASA NTRS2007

Testing of Full Scale Flight Qualified Kevlar Composite Overwrapped Pressure Vessels

Many decades ago NASA identified a need for low-mass pressure vessels for carrying various fluids aboard rockets, spacecraft, and satellites. A pressure vessel design known as the composite overwrapped pressure vessel (COPV) was identified to provide a weight savings over traditional single-material pressure vessels typically made of metal and this technology has been in use for space flight applications since the 1970's. A typical vessel design consisted of a thin liner material, typically a metal, overwrapped with a continuous fiber yarn impregnated with epoxy. Most designs were such that the overwrapped fiber would carry a majority of load at normal operating pressures. The weight advantage for a COPV versus a traditional singlematerial pressure vessel contributed to widespread use of COPVs by NASA, the military, and industry. This technology is currently used for personal breathing supply storage, fuel storage for auto and mass transport vehicles and for various space flight and aircraft applications. The NASA Engineering and Safety Center (NESC) was recently asked to review the operation of Kevlar 2 and carbon COPVs to ensure they are safely operated on NASA space flight vehicles. A request was made to evaluate the life remaining on the Kevlar COPVs used on the Space Shuttle for helium and nitrogen storage. This paper provides a review of Kevlar COPV testing relevant to the NESC assessment. Also discussed are some key findings, observations, and recommendations that may be applicable to the COPV user community. Questions raised during the investigations have revealed the need for testing to better understand the stress rupture life and age life of COPVs. The focus of this paper is to describe burst testing of Kevlar COPVs that has been completed as a part of an the effort to evaluate the effects of ageing and shelf life on full scale COPVs. The test articles evaluated in this discussion had a diameter of 22 inches for S/N 014 and 40 inches for S/N 011. The time between manufacture and burst was 28 and 22 years. Visual inspection, shearography, heat soak thermography and borescope inspection were performed on vessel S/N 011 and all but shearography was performed on S/N 014 before they were tested and details of this work can be found in a companion paper titled, "Nondestructive Methods and Special Test Instrumentation Supporting NASA Composite Overwrapped Pressure Vessel Assessments." The vessels were instrumented so that measurements could be made to aid in the understanding of vessel response. Measurements made on the test articles included girth, boss displacement, internal volume, multiple point strain, full field strain, eddy current, acoustic emission (AE) pressure and temperature. The test article before and during burst is shown with the pattern used for digital image correlation full field strain measurement blurring as the vessel fails.

Greene, Nathanael↗

DOE OSTI2025

Mil-Std-464C and Mil-Std-464D Electromagnetic Radiation Environment Evaluation

Many systems derive their electromagnetic radiation (EMR) environments from Mil-Std-464C or Mil-Std-464D, Electromagnetic Environmental Effects Requirements for Systems. This standard defines several EMR environments based on the type of system and expected application. Many nuclear weapon (NW) systems reference the ordnance environments as the starting point for their functional EMR requirements, since any item intended to go into Department of Defense (DOD) custody is expected to be certified hazards of electromagnetic radiation to ordnance (HERO) safe when exposed to the environments listed in Mil-Std-464 Table 9. This environment is defined as the envelope of all sources any system in DOD custody may ever encounter, however, and may include sources that are not relevant for a particular system. This document is intended to provide additional clarity on the Mil-Std-464C and Mil-Std-464D EMR environments, specifically the driving sources for the maximum ordnance levels. This supplementary information may be used to guide tailoring of relevant environments or application to different systems with the additional consideration of any shielding that may reduce the external environments defined in the military standard.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

DOE OSTI2025

WRS Capabilities Booklet [Slides]

WRS is the digital backbone of the Weapons Program—delivering trusted data assets, cyber-assured software and systems, and AI-enabling software—that transform insights into decisive action. We empower physicists, engineers, researchers, and scientists to think faster, act strategically, and stay ahead in an ever-evolving threat landscape. Our efforts ensure critical nuclear weapons data remains secure, accessible, and usable—supporting mission-critical work, informed decision making, and scientific advancement at LANL and across the Nuclear Security Enterprise (NSE).

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

DOE OSTI2022

Training Ultrasound Image Classification Deep-Learning Algorithms for Pneumothorax Detection Using a Synthetic Tissue Phantom Apparatus

Ultrasound (US) imaging is a critical tool in emergency and military medicine because of its portability and immediate nature. However, proper image interpretation requires skill, limiting its utility in remote applications for conditions such as pneumothorax (PTX) which requires rapid intervention. Artificial intelligence has the potential to automate ultrasound image analysis for various pathophysiological conditions. Training models require large data sets and a means of troubleshooting in real-time for ultrasound integration deployment, and they also require large animal models or clinical testing. Here, we detail the development of a dynamic synthetic tissue phantom model for PTX and its use in training image classification algorithms. The model comprises a synthetic gelatin phantom cast in a custom 3D-printed rib mold and a lung mimicking phantom. When compared to PTX images acquired in swine, images from the phantom were similar in both PTX negative and positive mimicking scenarios. We then used a deep learning image classification algorithm, which we previously developed for shrapnel detection, to accurately predict the presence of PTX in swine images by only training on phantom image sets, highlighting the utility for a tissue phantom for AI applications.

Boice, Emily N. (ORCID:0000000171802842)↗

NASA NTRS1972

Satellite communication and navigation for mobile users

Efforts made to utilize space technology for solving communication and navigation problems faced by mobile users in earth orientated situations are outlined. Applications include transoceanic airline communications, reliable long range ship-shore communications, emergency communications in regions with rough terrain, and military operations.

Bernstein, S. L.↗

NASA NTRS1976

Advanced space program studies, overall executive summary

Multidisciplined advanced planning studies were conducted that involve space operations and the associated system elements, identification of potential low cost system techniques, vehicle design, cost synthesis techniques, DoD technology forecasting, and the development of near and far term space initiatives with emphasis on domestic and military use commonality. Specific areas studied include: (1) manned systems utilization; (2) STS users; (3) vehicle cost/performance; (4) space vehicle applications to future national needs; (5) STS spin stabilized upper stage; and (6) technology assessment and forecast.

Source record↗

NASA NTRS1993

RighTime: A real time clock correcting program for MS-DOS-based computer systems

A computer program is described which effectively eliminates the misgivings of the DOS system clock in PC/AT-class computers. RighTime is a small, sophisticated memory-resident program that automatically corrects both the DOS system clock and the hardware 'CMOS' real time clock (RTC) in real time. RighTime learns what corrections are required without operator interaction beyond the occasional accurate time set. Both warm (power on) and cool (power off) errors are corrected, usually yielding better than one part per million accuracy in the typical desktop computer with no additional hardware, and RighTime increases the system clock resolution from approximately 0.0549 second to 0.01 second. Program tools are also available which allow visualization of RighTime's actions, verification of its performance, display of its history log, and which provide data for graphing of the system clock behavior. The program has found application in a wide variety of industries, including astronomy, satellite tracking, communications, broadcasting, transportation, public utilities, manufacturing, medicine, and the military.

Becker, G. Thomas↗

NASA NTRS1994

Small satellite space operations

CTA Space Systems has played a premier role in the development of the 'lightsat' programs of the 80's and 90's. The high costs and development times associated with conventional LEO satellite design, fabrication, launch, and operations continue to motivate the development of new methodologies, techniques, and generally low cost and less stringently regulated satellites. These spacecraft employ low power 'lightsat' communications (versus TDRSS for NASA's LEO's) and typically fly missions with payload/experiment suites that can succeed, for example, without heavily redundant backup systems and large infrastructures of personnel and ground support systems. Such small yet adaptable satellites are also typified by their very short contract-to-launch times (often one to two years). This paper reflects several of the methodologies and perspectives of our successful involvement in these innovative programs and suggests how they might relieve NASA's mounting pressures to reduce the cost of both the spacecraft and their companion mission operations. It focuses on the use of adaptable, sufficiently powerful yet inexpensive PC-based ground systems for wide ranging user terminal (UT) applications and master control facilities for mission operations. These systems proved themselves in successfully controlling more than two dozen USAF, USN, and ARPA satellites at CTA/SS. UT versions have linked with both GEO and LEO satellites and functioned autonomously in relay roles often in remote parts of the world. LEO applications particularly illustrate the efficacy of these concepts since a user can easily mount a lightweight antenna, usually an omni or helix with light duty rotors and PC-based drivers. A few feet of coax connected to a small transceiver module (the size of a small PC) and a serial line to an associated PC establishes a communications link and together with the PC constitute a viable ground station. Applications included geomagnetic mapping; spaceborne solid state recorder validation; global store-and-forward data communications for both scientific and military purposes such as Desert Storm; UHF transponder services for both digital data and voice using a constellation; remote sensor monitoring of weather and oceanographic conditions; classified payloads; and UHF spectrum surveillance. Ground processing has been accomplished by automatic unattended or manual operation. Management of multiple assets highlights the relative ease with which two constellations totaling nine satellites were controlled from one system including constellation station keeping. Our experience in small end-to-end systems including concurrent design, development, and testing of the flight and operational ground systems offers low cost approaches to NASA scientific satellite operations of the 1990's.

Reiss, Keith↗

NASA NTRS2005

High Power Laser Diode Array Qualification and Guidelines for Space Flight Environments

Semiconductor laser diodes emit coherent light by simulated emission generated inside the cavity formed by the cleaved end facets of a slab of semiconductor that is typically less than a millimeter in any dimension for single emitters. The diode is pumped by current injection in the p-n junction through the metallic contacts. Laser diodes emitting in the range of 0.8 micron to 1.06 micron have a wide variety of applications from pumping erbium doped fiber amplifiers, dual-clad fiber lasers, solid-state lasers used in telecom, aerospace, military, medical purposes and all the way to CD players, laser printers and other consumer and industrial products. Laser diode bars have many single emitters side by side and spaced approximately .5 mm on a single slab of semiconductor material approximately .5 mm x 10 mm. The individual emitters are connected in parallel maintaining the voltage at -2V but increasing the current to ~50-100A/bar. Stacking these laser diode bars in multiple layers, 2 to 20+ high, yields high power laser diode arrays capable of emitting several hundreds of Watts. Electrically the bars are wired in series increasing the voltage by 2V/bar but maintaining the total current at ~50-100A. These arrays are one of the enabling technologies for efficient, high power solid-state lasers. Traditionally these arrays are operated in QCW (Quasi CW) mode with pulse widths ~10-200 (mu)s and with repetition rates of ~10-200Hz. In QCW mode the wavelength and the output power of the laser reaches steady-state but the temperature does not. The advantage is a substantially higher output power than in CW mode, where the output power would be limited by the internal heating and hence the thermal and heat sinking properties of the device. The down side is a much higher thermal induced mechanical stress caused by the constant heating and cooling cycle inherent to the QCW mode.

Eegholm, Niels↗