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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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NASA NTRS1972

Spectral characteristics of normal and nutrient-deficient maize leaves

Reflectance, transmittance and absorbance spectra of normal and six types of mineral-deficient (N,P,K,S,Mg and Ca) maize (Zea mays L.) leaves were analyzed at 30 selected wavelengths along the electromagnetic spectrum from 500 to 2600 nm. Chlorophyll content and percent leaf moisture were also determined. Leaf thermograms were obtained for normal, N- and S- deficient leaves. The results of the analysis of variance showed significant differences in reflectance, transmittance and absorbance in the visible wavelengths among leaf numbers 3, 4, and 5, among the seven nutrient treatments, and among the interactions of leaves and treatments. In the reflective infrared wavelengths only treatments produced significant differences. The chlorophyll content of leaves was reduced in all deficiencies in comparison to controls. Percent moisture was increased in S-, Mg- and N- deficiencies. Positive correlation (r = 0.707) between moisture content and percent absorption at both 1450 and 1930 nm were obtained. Polynomial regression analysis of leaf thickness and leaf moisture content showed that these two variables were significantly and directly related (r = 0.894).

Al-Abbas, A. H.↗
NASA NTRS1979

Magnetospheric plasma wave research 1975-1978

Research conducted from 1975 through 1978 on magnetospheric plasma waves generated in or passing through the magnetospheres of the earth and Jupiter is reviewed. Attention is given to bow shock whistlers and electrostatic waves, electromagnetic wave packets in the magnetosheath ('lion roars'), nonthermal continuum radiation apparently associated with energetic electrons in the outer radiation zone, electrostatic and magnetic noise and PI2 pulsations in the magnetotail and plasma sheet and polar cusp phenomena. Plasma waves in the auroral zone, including VLF hiss and saucers, electrostatic wave turbulence and kilometric radiation are treated, together with MHD waves and magnetic pulsations, ion cyclotron waves, VLF chorus and hiss and electrostatic electron cyclotron harmonic radiation in and beyond plasmapause, plasmaspheric hiss, whistlers, power line harmonic radiation and controlled wave generation experiments. Observations of plasmasphere and auroral zone phenomena in the ionosphere are discussed, and escaping and trapped plasma waves in the magnetospheres of Jupiter and other planets are considered. Planned future magnetospheric research for the next four years is outlined.

Shawhan, S. D.↗
NASA NTRS1996

Non-linear resonance of fluids in a crystal growth cavity

In the microgravity environment, the effect of gravity on fluid motion is much reduced. Hence, secondary effects such as vibrations, jitters, surface tension, capillary effects, and electromagnetic forces become the dominant mechanism of fluid convection. Numerous studies have been conducted to investigate fluid behavior in microgravity with the ultimate goal of developing processes with minimal influence from convection. Industrial applications such as crystal growth from solidification of melt and protein growth for pharmatheutical application are just a few examples of the vast potential benefit that can be reaped from material processing in space. However, a space laboratory is not immune from all undesirable disturbances and it is imperative that such disturbances be well understood, quantifiable, and controlled. Non-uniform and transient accelerations such as vibrations, jitters, and impulsive accelerations exist as a result of crew activities, space vehicle maneuvering, and the operations of on-board equipment. Measurements conducted on-board a U.S. Spacelab showed the existence of vibrations in the frequency range of 1 to 100 Hz with a dominant mode of 17 Hz and harmonics of 54 Hz. The observed vibration is not limited to any coordinate plane but exists in all directions. Similar situation exists on-board the Russian MIR space station. Due to the large structure of its design, the future International Space Station will have its own characteristic vibration spectrum. It is well known that vibration can exert substantial influence on heat and mass transfer processes, thus hindering any attempts to achieve a diffusion-limited process. Experiments on vibration convection for a liquid-filled enclosure under one-g environment showed the existence of different flow regimes as vibration frequency and intensity changes. Results showed the existence of a resonant frequency, near which the enhancement is the strongest, and the existence of a high frequency asymptote. Numerical simulations of vibration convection have been conducted by Yurkov, Fu and Shieh, and by Wang. These analyses considered a two-dimensional air-filled cell under weightlessness condition and showed results similar to those of the experiments. It is not yet known whether resonance convection can be triggered by jitter alone or whether it requires the interaction of jitter with other convective forces in low gravity. An order of magnitude analysis, however, can be used to show the dependence of the resonance frequency on the fluid Prandtl number. Even though the onset of resonance convection may depend on other factors, results indicates that fluids with low Prandtl numbers are more susceptible to resonance than those with high Prandtl numbers. The current study is aimed at gaining additional insights to this problem using germanium as working fluid. Germanium was chosen for this analysis because of its common usage in solidification process and its relatively low Prandtl number (Pr = 0.02).

Wang, Francis C.↗
NASA NTRSDate not supplied

Hall Magnetohydrodynamic Power Generation and Drag Augmentation Using A Coaxial-Electrode Configuration During Hypersonic Entry

For interplanetary missions, a spacecraft must reduce its relative velocity from orbital speeds of multiple kilometers per second to zero in order to safely land on the surface of a planetary body. During this phase known as planetary reentry, the spacecraft undergoes high speed above Mach 5 up to Mach 30. This hyper-sonic flight regime imposes a strong bow shock in front of the vehicle that imparts extreme aerodynamic and thermal effects. In addition, during portions of this regime, a plasma is formed in the post-shock flow-field around the vehicle due to these high temperatures. Interaction between an applied magnetic field with this electrically conductive fluid, or magnetohydrodynamic (MHD) interaction, can be utilized to convert kinetic energy from the flow into storable electrical energy. Onboard MHD energy generation can benefit the spacecraft by increasing the power of active thermal control components and vehicle control systems during reentry. MHD interaction also exerts a Lorentz body force on the plasma flow that can be manipulated to act as an additional drag force through the vehicle body. MHD drag augmentation can benefit the spacecraft with an additional control mechanism that operates without moving parts. This can be utilized at higher altitudes and subsequently reduce convective heat transfer to the vehicle. MHD interaction with plasma flow suggests that both power generation and drag augmentation can be integrated together in one design. Modern numerical studies have only demonstrated the viability and potential of MHD energy generation and drag modulation separately for implementation into future spacecraft designs [1] [2] [3]. Steeves et. al. presented one possible generator design specifically for reentry vehicles that utilized a modular panel with two embedded electromagnets and two extruding electrodes for air plasma to flow between. Fujino et. al. presented results that indicated increased total drag with a permanent magnet embedded in the blunt body of the Orbital Reentry Experiment (OREX) trajectory. Furthermore, experimental investigations of these two MHD applications have been limited and separate due to the difficult technical nature of experimental de-sign and analysis. For MHD energy generation, there have been two designs which used a cylindrical fore-body with two embedded permanent magnets and two outward facing curved electrodes for tangency to an artificially ionized plasma that flowed along the body length [4] [5]. The first design was studied using an air microwave (MW) ionized supersonic plasma wind tunnel and the second design used radio frequency (RF) ionization of Argon, but both physically demonstrated the feasibility of MHD energy generation in reentry plasma conditions. For MHD drag modulation, one study involved a small-scale cylindrical blunt body embedded with permanent magnets immersed in plasma flow in an arcjet tunnel [6], and another utilized a spherical permanent magnet enclosed with a spherical forebody that was evaluated in a shock expansion tunnel [7]. Both experimental studies provided physical evidence of drag augmentation due to MHD interactions. Therefore, because of the multi-faceted effects of MHD along with both applications having been deemed feasible and beneficial during reentry, this indicates that a coupled power generation and drag modulation design could be achievable. The axi-symmetric nature of blunt bodies for reentry suggests that a spherical set of two ring electrodes near the nose along the body axis. Based on first principles, flow along the walls of the spherical body can then produce MHD interactions between the electrodes. As a result, two currents are generated: a Hall current that produces power and a primary inductive current that augments the drag force. The goal of this work is to provide a simulated design of a coaxial-electrode con-figuration for power generation and drag modulation for experimental testing.

E. Leong↗
NASA NTRS2001

A Unique Power System For The ISS Fluids And Combustion Facility

Unique power control technology has been incorporated into an electrical power control unit (EPCU) for the Fluids and Combustion Facility (FCF). The objective is to maximize science throughput by providing a flexible power system that is easily reconfigured by the science payload. Electrical power is at a premium on the International Space Station (ISS). The EPCU utilizes advanced power management techniques to maximize the power available to the FCF experiments. The EPCU architecture enables dynamic allocation of power from two ISS power channels for experiments. Because of the unique flexible remote power controller (FRPC) design, power channels can be paralleled while maintaining balanced load sharing between the channels. With an integrated and redundant architecture, the EPCU can tolerate multiple faults and still maintain FCF operation. It is important to take full advantage of the EPCU functionality. The EPCU acts as a buffer between the experimenter and the ISS power system with all its complex requirements. However, FCF science payload developers will still need to follow guidelines when designing the FCF payload power system. This is necessary to ensure power system stability, fault coordination, electromagnetic compatibility, and maximum use of available power for gathering scientific data.

Fox, David A.↗
NASA NTRS1986

Electromagnetic braking for Mars spacecraft

Aerobraking concepts are being studied to improve performance and cost effectiveness of propulsion systems for Mars landers and Mars interplanetary spacecraft. Access to megawatt power levels (nuclear power coupled to high-storage inductive or capacitive devices) on a manned Mars interplanetary spacecraft may make feasible electromagnetic braking and lift modulation techniques which were previously impractical. Using pulsed microwave and magnetic field technology, potential plasmadynamic braking and hydromagnetic lift modulation techniques have been identified. Entry corridor modulation to reduce loads and heating, to reduce vertical descent rates, and to expand horizontal and lateral landing ranges are possible benefits. In-depth studies are needed to identify specific design concepts for feasibility assessments. Standing wave/plasma sheath interaction techniques appear to be promising. The techniques may require some tailoring of spacecraft external structures and materials. In addition, rapid response guidance and control systems may require the use of structurally embedded sensors coupled to expert systems or to artificial intelligence systems.

Holt, A. C.↗
NASA NTRS1991

Microwave absorption by a lossy dielectric sphere in a rectangular cavity

A new theory of absorption of microwave power by a lossy dielectric sphere in a resonant rectangular chamber is developed here. In this treatment, resonant modes of the cavity are resolved into traveling plane-wave fields, and Mie's theory of scattering and absorption of a plane electromagnetic wave by a sphere is utilized. The fields in the cavity containing the sphere are found by superposition of results for the individual scattering problem for each traveling plane wave. Absorbed power is then calculated by evaluating the time-averaged Poynting vector and integrating over the surface of the sphere. Applications of microwave power absorption are discussed, with particular emphasis on processing of materials. Numerical studies based on the newly derived formulas are presented. The results exhibit the manner in which microwave absorption is influenced by a number of different experimentally controllable parameters. The examples considered were chosen with a view toward designing experiments and apparatus for containerless processing of materials in the microgravity environment of space.

Jackson, H. W.↗
NASA NTRS1972

Spacecraft techniques for lunar research.

The most significant findings about the Moon obtained by spacecraft so far, have resulted from measurements of gravity, electromagnetic properties, seismicity, mechanical properties, geologic features, composition, ages, and the lunar environment. A number of major lunar questions remain to be answered. Other properties, measurable with spacecraft, which may provide data critical to answering these questions include geometrical shape, motions, and heat flow. In this paper specific measurements that should provide critical data for each of these questions are identified, with some candidate techniques. Among the suggested techniques that have not yet been used are very long baseline interferometry (Earth-Moon baseline), gravity gradiometry, elemental analysis by neutron interactions, and remotely-controlled on-moon microscopy.

Jaffe, L. D.↗
NASA NTRS2011

Fission Surface Power Systems (FSPS) Project Final Report for the Exploration Technology Development Program (ETDP): Fission Surface Power, Transition Face to Face

The Fission Surface Power Systems Project became part of the ETDP on October 1, 2008. Its goal was to demonstrate fission power system technology readiness in an operationally relevant environment, while providing data on fission system characteristics pertinent to the use of a fission power system on planetary surfaces. During fiscal years 08 to 10, the FSPS project activities were dominated by hardware demonstrations of component technologies, to verify their readiness for inclusion in the fission surface power system. These Pathfinders demonstrated multi-kWe Stirling power conversion operating with heat delivered via liquid metal NaK, composite Ti/H2O heat pipe radiator panel operations at 400 K input water temperature, no-moving-part electromagnetic liquid metal pump operation with NaK at flight-like temperatures, and subscale performance of an electric resistance reactor simulator capable of reproducing characteristics of a nuclear reactor for the purpose of system-level testing, and a longer list of component technologies included in the attached report. Based on the successful conclusion of Pathfinder testing, work began in 2010 on design and development of the Technology Demonstration Unit (TDU), a full-scale 1/4 power system-level non-nuclear assembly of a reactor simulator, power conversion, heat rejection, instrumentation and controls, and power management and distribution. The TDU will be developed and fabricated during fiscal years 11 and 12, culminating in initial testing with water cooling replacing the heat rejection system in 2012, and complete testing of the full TDU by the end of 2014. Due to its importance for Mars exploration, potential applicability to missions preceding Mars missions, and readiness for an early system-level demonstration, the Enabling Technology Development and Demonstration program is currently planning to continue the project as the Fission Power Systems project, including emphasis on the TDU completion and testing.

Palac, Donald T.↗
NASA NTRS1975

Aerospace technology development of three types of solid state remote power controllers for 120VDC with current ratings of five, and thirty amperes, one type having current limiting

The first generation of remote power controllers (RPC) developed included: a 5-ampere design (Type 1), capable of limiting maximum overload current to 15 amperes for .1 sec; and 5-ampere noncurrent (Type 2) and 30-ampere noncurrent (Type 3) limiting designs, both with selectable instant trip levels for high-current overload. Each design provides overcurrent protection through an inverse I squared T trip-out function with an automatic reset option and demonstrates step-applied fault capability with a 4000-ampere surge, fast-risetime (low-inductance) power source. They also meet MIL - STD - 461A specification for electromagnetic interference. The second generation RPCs traded off specification compliance for reduction in cost and complexity for the Type 1 and 2 designs and give comparable or improved performance in most areas. The noncurrent limiting RPC proved to be a more economical and feasible method of overload protection for certain load types.

Baker, D. E.↗
NASA NTRSDate not supplied

Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility

Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace (NAS). Since there are numerous more AAM and UAM aircraft than commercial aircraft, it will be challenging to utilize the same ATC/ATM architectures. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.

distributed sensing↗
NASA NTRS1975

Spacecraft charging at high altitudes - The SCATHA satellite program

Satellites at synchronous altitude exhibit unexplained behavior in the operation of electronic circuits and in the performance of thermal controls. A possible explanation for this behavior is the fact that satellites can be charged to large negative voltages by energetic electrons in the space environment. A space measurements program entitled SCATHA has been formulated to determine the characteristics of the charging process, to measure the response of the satellite when charging occurs, and to evaluate the utility of various corrective techniques which can minimize differential charging on the satellite. The instrumentation will measure charging levels and rates of twenty samples of satellite materials, some of which will be modified to prevent buildup of electrostatic charge. The electromagnetic interference background on the satellite will be measured for comparison with MIL STD 461, Electromagnetic Interference Characteristics Requirements for Equipment.

Mcpherson, D. A.↗
NASA NTRS2003

Dynamic Spin Rig Upgraded With a Five- Axis-Controlled Three-Magnetic-Bearing Support System With Forward Excitation

The NASA Glenn Research Center Dynamic Spin Rig is used for experimental evaluation of vibration analysis methods and dynamic characteristics for rotating systems. Measurements are made while rotors are spun and vibrated in a vacuum chamber. The rig has been upgraded with a new active magnetic bearing rotor support and excitation system. This design is expected to provide operational improvements over the existing rig. The rig will be able to be operated in either the old or new configuration. In the old configuration, two ball bearings support the vertical shaft of the rig, with the test article located between the bearings. Because the bearings operate in a vacuum, lubrication is limited to grease. This limits bearing life and speed. In addition, the old configuration employs two voice-coil electromagnetic shakers to apply oscillatory axial forces or transverse moments to the rotor shaft through a thrust bearing. The excitation amplitudes that can be imparted to the test article with this system are not adequate for components that are highly damped. It is expected that the new design will overcome these limitations.

Morrison, Carlos R.↗
NASA NTRS2011

Thermal Ion Transport on the Moon and the Formation of the Lunar Swirls

The bright "swirl" features observed on the lunar surface are generally associated with crustal magnetic anomalies. Prominent explanations that invoke these fields include: magnetic shielding in the form of a mini-magnetosphere, which impedes space weathering by the solar wind; magnetically controlled dust transport; and cometary or asteroidal impacts, that could result in shock magnetization with concomitant formation of the swirls. Here we consider another possibility in which the ambient magnetic and electric fields can transport and channel secondary ions produced by micrometeorite or solar wind ion impacts. We use a simplified model of the fields, which incorporates a two-dipole magnetic field model for Reiner Gamma, and typical solar wind conditions. We will present preliminarily results suggesting that ions created over significant regions of the lunar surface can be transported under the influence of local and interplanetary electromagnetic fields to narrow areas ncar arcas of high crustal magnetic field strength. The flux of these focused ions may be of sufficient intensity to chemically process (or otherwise bleach) the surface leading to the formation of the high albedo component of the lunar swirls. The theory is appealing since through a lensing effect, it is possible that this flux is sufficient to overcome other space weathering processes which would otherwise tend to erase the features. Also, with relatively low energy ions, and consistent with the observed focusing, the ion gyro radii in the local magnetic fields is small enough to resolve the swirls.

Keller, John W.↗
NASA NTRS2003

Models And Experiments Of Laminar Diffusion Flames In Non-Uniform Magnetic Fields

Non-uniform magnetic fields affect laminar diffusion flames as a result of the paramagnetic and diamagnetic properties of the products and reactants. Paramagnetism is the weak attraction to a magnetic field a material exhibits as a result of permanent magnetic dipole moments in the atoms of the material. Diamagnetism is the weak repulsion to a magnetic field exhibited by a material due to the lack of permanent magnetic dipole moments in the atoms of a material. The forces associated with paramagnetic and diamagnetism are several orders of magnitude less than the forces associated with the more familiar ferromagnetism. A typical example of a paramagnetic gas is oxygen while hydrocarbon fuels and products of combustion are almost always diamagnetic. The fact that magnets can affect flame behavior has been recognized for more than one hundred years. Early speculation was that such behavior was due to the magnetic interaction with the ionized gases associated with a flame. Using a scaling analysis, it was later shown that for laminar diffusion flames the magnetic field/ionized gas interaction was insignificant to the paramagnetic and diamagnetic influences. In this effort, the focus has been on examining laminar diffusion slot flames in the presence of non-uniform upward decreasing magnetic fields produced using permanent magnets. The principal reason for choosing slot flames was mathematical models of such flames show an explicit dependence on gravitational body forces, in the buoyancy-controlled regime, and an applied magnetic field would also impose a body force. In addition, the behavior of such flames was more easily visualized while maintaining the symmetry of the two-dimensional problem whereas it would have been impossible to obtain a symmetric magnetic field around a circular flame and still visually record the flame height and shape along the burner axis. The motivation for choosing permanent magnets to produce the magnetic fields was the assumption that space-related technologies based on the knowledge gained during this investigation would more likely involve permanent magnets as opposed to electromagnets. While no analysis has been done here to quantify the impact that an electric field, associated with an electromagnetic, would have relative to the paramagnetic and diamagnetic interactions, by using permanent magnets this potential effect was completely eliminated and thus paramagnetic and diamagnetic effects were isolated.

Baker, J.↗
NASA NTRS2003

Three-Dimensional Magnetic Analysis Technique Developed for Evaluating Stirling Convertor Linear Alternators

The Department of Energy, the Stirling Technology Company (STC), and the NASA Glenn Research Center are developing Stirling convertors for Stirling radioisotope generators to provide electrical power for future NASA deep space missions. STC is developing the 55-We technology demonstration convertor (TDC) under contract to the Department of Energy. The Department of Energy recently named Lockheed Martin as the system integration contractor for the Stirling radioisotope generator development project. Lockheed Martin will develop the Stirling radioisotope generator engineering unit and has contract options to develop the qualification unit and the first flight unit. Glenn s role includes an in-house project to provide convertor, component, and materials testing and evaluation in support of the overall power system development. As a part of this work, Glenn has established an in-house Stirling research laboratory for testing, analyzing, and evaluating Stirling machines. STC has built four 55-We convertors for NASA, and these are being tested at Glenn. A cross-sectional view of the 55-We TDC is shown in the figure. Of critical importance to the successful development of the Stirling convertor for space power applications is the development of a lightweight and highly efficient linear alternator. In support, Glenn has been developing finite element analysis and finite element method tools for performing various linear alternator thermal and electromagnetic analyses and evaluating design configurations. A three-dimensional magnetostatic finite element model of STC's 55-We TDC linear alternator was developed to evaluate the demagnetization fields affecting the alternator magnets. Since the actual linear alternator hardware is symmetric to the quarter section about the axis of motion, only a quarter section of the alternator was modeled. The components modeled included the mover laminations, the neodymium-iron-boron magnets, the stator laminations, and the copper coils. The three-dimensional magnetostatic model was then coupled with a circuit simulator model of the alternator load and convertor controller. The coupled model was then used to generate alternator terminal voltage and current predictions. The predicted voltage and current waveforms agreed well with the experimental data, which tended to validate the accuracy of the coupled model. The model was then used to generate predictions of the demagnetization fields acting on the alternator magnets for the alternator under load. The preliminary model predictions indicate that the highest potential for demagnetization is along the inside surface of the uncovered magnets. The demagnetization field for the uncovered magnets when the mover is positioned at the end of a stroke is higher than it is when the mover is at the position of maximum induced voltage or maximum alternator current. Assuming normal load conditions, the model predicted that the onset of demagnetization is most likely to occur for magnet temperatures above 101 C.

Geng, Steven M.↗
NASA NTRS2007

Self-consistent Model of Magnetospheric Electric Field, RC and EMIC Waves

Electromagnetic ion cyclotron (EMIC) waves are an important magnetospheric emission, which is excited near the magnetic equator with frequencies below the proton gyro-frequency. The source of bee energy for wave growth is provided by temperature anisotropy of ring current (RC) ions, which develops naturally during inward convection from the plasma sheet These waves strongly affect the dynamic s of resonant RC ions, thermal electrons and ions, and the outer radiation belt relativistic electrons, leading to non-adiabatic particle heating and/or pitch-angle scattering and loss to the atmosphere. The rate of ion and electron scattering/heating is strongly controlled by the Wave power spectral and spatial distributions, but unfortunately, the currently available observational information regarding EMIC wave power spectral density is poor. So combinations of reliable data and theoretical models should be utilized in order to obtain the power spectral density of EMIC waves over the entire magnetosphere throughout the different storm phases. In this study, we present the simulation results, which are based on two coupled RC models that our group has developed. The first model deals with the large-scale magnetosphere-ionosphere electrodynamic coupling, and provides a self-consistent description of RC ions/electrons and the magnetospheric electric field. The second model is based on a coupled system of two kinetic equations, one equation describes the RC ion dynamics and another equation describes the power spectral density evolution of EMIC waves, and self-consistently treats a micro-scale electrodynamic coupling of RC and EMIC waves. So far, these two models have been applied independently. However, the large-scale magnetosphere-ionosphere electrodynamics controls the convective patterns of both the RC ions and plasmasphere altering conditions for EMIC wave-particle interaction. In turn, the wave induced RC precipitation Changes the local field-aligned current distributions and the ionospheric conductances, which are crucial for a large-scale electrodynamics. The initial results from this new self-consistent model of the magnetospheric electric field, RC and EMIC waves will be shown in this presentation.

Gamayunov, K. V.↗
NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗