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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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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

ATHLETE: A Limbed Vehicle for Solar System Exploration

As part of the Human-Robot Systems project funded by NASA, the Jet Propulsion Laboratory has developed a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb.

Space Robotics↗
NASA NTRS2010

Design and Testing of an Active Heat Rejection Radiator with Digital Turn-Down Capability

NASA's proposed lunar lander, Altair, will be exposed to vastly different external environment temperatures. The challenges to the active thermal control system (ATCS) are compounded by unfavorable transients in the internal waste heat dissipation profile: the lowest heat load occurs in the coldest environment while peak loads coincide with the warmest environment. The current baseline for this fluid is a 50/50 inhibited propylene glycol/water mixture with a freeze temperature around -35 C. While the overall size of the radiator's heat rejection area is dictated by the worst case hot scenario, a turn-down feature is necessary to tolerate the worst case cold scenario. A radiator with digital turn-down capability is being designed as a robust means to maintain cabin environment and equipment temperatures while minimizing mass and power consumption. It utilizes active valving to isolate and render ineffective any number of parallel flow tubes which span across the ATCS radiator. Several options were assessed in a trade-study to accommodate flow tube isolation and how to deal with the stagnant fluid that would otherwise remain in the tube. Bread-board environmental tests were conducted for options to drain the fluid from a turned-down leg as well an option to allow a leg to freeze/thaw. Each drain option involved a positive displacement gear pump with different methods of providing a pressure head to feed it. Test results showed that a start-up heater used to generate vapor at the tube inlet held the most promise for tube evacuation. Based on these test results and conclusions drawn from the trade-study, a full-scale radiator design is being worked for the Altair mission profile.

Sunada, Eric↗
NASA NTRS2010

ATHLETE: Lunar Cargo Handling for International Lunar Exploration

As part of the Human-Robot Systems Project within the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The basic idea of ATHLETE is to have six relatively small wheels on the ends of legs. The small wheels and associated drive actuators are much less massive than the larger wheels and gears needed for an "all terrain" vehicle that cannot "walk" out of extreme terrain. The mass savings for the wheels and wheel actuators is greater than the mass penalty of the legs, for a net mass savings. Starting in 2009, NASA became engaged in detailed architectural studies for international discussions with the European Space Agency (ESA), the Japanese Space Agency (JAXA), and the Canadian Space Agency (CSA) under the auspices of the International Architecture Working Group (IAWG). ATHLETE is considered in most of the campaign options considered, providing a way to offload cargo from large Altair-class landers (having a cargo deck 6+ meters above the surface) as well as offloading international landers launched on Ariane-5 or H-2 launch vehicles. These international landers would carry provisions as well as scientific instruments and/or small rovers that would be used by international astronauts as part of an international effort to explore the moon.Work described in this paper includes architectural studies in support of the international missions as well as field testing of a half-scale ATHLETE prototype performing cargo offloading from a lander mockup, along with multi-kilometer traverse, climbing over greater than 1 m rocks, tool use, etc.

International Collaboration in Space↗
NASA NTRS2009

ATHLETE: a Cargo and Habitat Transporter for the Moon

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. The vehicle concept is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through (or at least out of) extreme terrain, the wheels and wheel actuators can be sized only for nominal terrain. There are substantial mass savings in the wheels and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25 percent lighter than a conventional mobility chassis for planetary exploration. A side benefit of this approach is that each limb has sufficient degrees-of-freedom for use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A rotating power-take-off from the wheel actuates the tools, so that they can take advantage of the 1-plus-horsepower motor in each wheel to enable drilling, gripping or other power-tool functions.

mobile habitats↗
NASA NTRS2016

Development of a Protocol to Test Proprioceptive Utilization as a Predictor for Sensorimotor Adaptability

Astronauts returning from space flight show significant inter-subject variations in their abilities to readapt to a gravitational environment because of their innate sensory weighting. The ability to predict the manner and degree to which each individual astronaut will be affected would improve the effectiveness of countermeasure training programs designed to enhance sensorimotor adaptability. We hypothesize participant's ability to utilize individual sensory information (vision, proprioception and vestibular) influences adaptation in sensorimotor performance after space flight. The goal of this study is to develop a reliable protocol to test proprioceptive utilization in a functional postural control task. Subjects "stand" in a supine position while strapped to a backpack frame holding a friction-free device using air-bearings that allow the subject to move freely in the frontal plane, similar to when in upright standing. The frame is attached to a pneumatic cylinder, which can provide different levels of a gravity-like force that the subject must balance against to remain "upright". The supine posture with eyes closed ensures reduced vestibular and visual contribution to postural control suggesting somatosensory and/or non-otolith vestibular inputs will provide relevant information for maintaining balance control in this task. This setup is called the gravity bed. Fourteen healthy subjects carried out three trials each with eyes open alternated with eyes closed, "standing" on their dominant leg in the gravity bed environment while loaded with 60 percent of their body weight. Subjects were instructed to: "use your sense of sway about the ankle and pressure changes under the foot to maintain balance." Maximum length of a trial was 45 seconds. A force plate underneath the foot recorded forces and moments during the trial and an inertial measurement unit (IMU) attached on the backpack's frame near the center of mass of the subject recorded upper body postural responses. Series of linear and non-linear analyses were carried out on several force plate and IMU data including stabilogram diffusion analysis on the center of pressure (COP) to find a subset of parameters that were sensitive to detect differences in postural performance between eyes open and closed conditions. Results revealed that seven parameters (root mean square (RMS) of medio-lateral (ML) COP, range of ML COP, RMS of roll moment, range of trunk roll, minimum time-to-boundary (TTB), integrated TTB, and critical mean square planar displacement (delta r (sup 2) (sub c)) were significantly different between eyes open and closed conditions. We will present data to show the efficacy of using performance in single leg stance with eyes closed on the gravity bed to assess individuals' ability to utilize proprioceptive information in a functional postural control task to predict re-adaptation for sensorimotor and functional performance.

Goel, R.↗
NASA NTRS2016

High Performance Torso Cooling Garment

The concept proposed in this paper is to improve thermal efficiencies of the liquid cooling and ventilation garment (LCVG) in the torso area, which could facilitate removal of LCVG tubing from the arms and legs, thereby increasing suited crew member mobility. EVA space suit mobility in micro-gravity is challenging, and it becomes even more challenging in the gravity of Mars. By using shaped water tubes that greatly increase the contact area with the skin in the torso region of the body, the heat transfer efficiency can be increased. This increase in efficiency could provide the required liquid cooling via torso tubing only; no arm or leg LCVG tubing would be required. Benefits of this approach include increased crewmember mobility, reduced LCVG mass, enhanced evaporation cooling, increased comfort during Mars EVA tasks, and easing of the overly dry condition in the helmet associated with the Advanced Extravehicular Mobility Unit (EMU) ventilation loop currently under development. This report describes analysis and test activities performed to evaluate the potential improvements to the thermal performance of the LCVG. Analyses evaluated potential tube shapes for improving the thermal performance of the LCVG. The analysis results fed into the selection of flat flow strips to improve thermal contact with the skin of the suited test subject. Testing of small segments was performed to compare thermal performance of the tubing approach of the current LCVG to the flat flow strips proposed as the new concept. Results of the testing is presented along with recommendations for future development of this new concept.

Conger, Bruce↗
NASA NTRS2015

High Performance Mars Liquid Cooling and Ventilation Garment Project

EVA space suit mobility in micro-gravity is enough of a challenge and in the gravity of Mars, improvements in mobility will enable the suited crew member to efficiently complete EVA objectives. The idea proposed is to improve thermal efficiencies of the liquid cooling and ventilation garment (LCVG) in the torso area in order to free up the arms and legs by removing the liquid tubes currently used in the ISS EVA suit in the limbs. By using shaped water tubes that greatly increase the contact area with the skin in the torso region of the body, the heat transfer efficiency can be increased to provide the entire liquid cooling requirement and increase mobility by freeing up the arms and legs. Additional potential benefits of this approach include reduced LCVG mass, enhanced evaporation cooling, increased comfort during Mars EVA tasks, and easing of the overly dry condition in the helmet associated with the Advanced Extravehicular Mobility Unit (EMU) ventilation loop currently under development.

Terrier, Douglas↗
NASA NTRS2016

High Performance Torso Cooling Garment

The concept proposed in this paper is to improve thermal efficiencies of the liquid cooling and ventilation garment (LCVG) in the torso area, which could facilitate removal of LCVG tubing from the arms and legs, thereby increasing suited crew member mobility. EVA space suit mobility in micro-gravity is challenging, and it becomes even more challenging in the gravity of Mars. By using shaped water tubes that greatly increase the contact area with the skin in the torso region of the body, the heat transfer efficiency can be increased. This increase in efficiency could provide the required liquid cooling via torso tubing only; no arm or leg LCVG tubing would be required. Benefits of this approach include increased crewmember mobility, enhanced evaporation cooling, increased comfort during Mars EVA tasks, and easing of the overly dry condition in the helmet associated with the Advanced Extravehicular Mobility Unit (EMU) ventilation loop currently under development. This report describes analysis and test activities performed to evaluate the potential improvements to the thermal performance of the LCVG. Analyses evaluated potential tube shapes for improving the thermal performance of the LCVG. The analysis results fed into the selection of flat flow strips to improve thermal contact with the skin of the suited test subject. Testing of small segments was performed to compare thermal performance of the tubing approach of the current LCVG to the flat flow strips proposed as the new concept. Results of the testing is presented along with recommendations for future development of this new concept.

Conger, Bruce↗
NASA NTRS2015

Modeling and Simulation of Vehicle Dynamics on the Surface of Phobos

In this paper we analyze the dynamics of a spacecraft in proximity of Phobos by developing the equations of motion of a test mass in the Phobos rotating frame using a model based on circularly-restricted three body problem, and by analyzing the dynamics of a ATHLETE hopper vehicle interacting with the soil under different soil-interaction conditions. The main conclusion of the numerical studies is that the system response is dominated by the stiffness and damping parameters of the leg springs, with the soil characteristics having a much smaller effect. The system simulations identify ranges of parameters for which the vehicle emerges stably (relying only on the passive viscoelastic damper at each leg) or unstably (needing active attitude control) from the hop. The implication is that further experimental and possibly computational modeling work, as well as site characterization (from precursor missions) will be necessary to obtain validated performance models.

soil-structure interaction↗
NASA NTRS2017

Non-Intrusive Velocity Measurements with MTV During DCC Event in the HTTF

Velocity profiles are measured using molecular tagging velocimetry (MTV) in the high temperature test facility (HTTF) at Oregon State University during a depressurized conduction cooldown (DCC) event. The HTTF is a quarter scale electrically heated nuclear reactor simulator designed to replicate various accident scenarios. During a DCC, a double ended guillotine break results in the reactor pressure vessel (RPV) depressurizing into the reactor cavity and ultimately leading to air ingress in the reactor core (lock-exchange and gas diffusion). It is critical to understand the resulting buoyancy-driven flow to characterize the reactor self-cooling capacity through natural circulation. During tests conducted at ambient pressure and temperature, the RPV containing helium is opened (via the hot and cold legs) to a large vessel filled with nitrogen to simulate the atmosphere. The velocity profile on the hot leg pipe centerline is recorded at 10 Hz with MTV based on NO tracers. The precision of the velocimetry was measured to be 0.02 m/s in quiescent flow prior to the tests. A helium flow from the RPV is initially observed in the top quarter of the pipe. During the first 20 seconds of the event, helium flows out of the RPV with a maximum velocity below 2 m/s. The velocity profile transitions from parabolic to linear in character and decays slowly over the rest of the recording; peak velocities of 0.2 m/s are observed after 30 min. A counter-flow of nitrogen is also observed intermittently, which occurs at lower velocities (>0.1 m/s).

Andre, M. A.↗
NASA NTRS2017

Low Excess Speed Triple Cyclers of Venus, Earth, and Mars

Ballistic cycler trajectories which repeatedly encounter Earth and Mars may be invaluable to a future transportation architecture ferrying humans to and from Mars. Such trajectories which also involve at least one flyby of Venus are computed here for the first time. The so-called triple cyclers are constructed to exhibit low excess speed on Earth-Mars transit legs, and thereby reduce the cost of hyperbolic rendezvous. Numerous solutions are identified with average transit leg excess speed below 5 kilometers per second, independent of encounter epoch. The energy characteristics are lower than previously documented cyclers not involving Venus, but the repeat periods are generally longer.

Jones, Drew Ryan↗
NASA NTRS2020

Current State of the Electrodynamic Dust Shield for Mitigation

The Electrodynamic Dust Shield (EDS) has been developed as a means to lift, transport and remove dust from surfaces for over 18 years in the Electrostatics and Surface Physics Laboratory at NASA Kennedy Space Center. Resent advances in the technology have allowed large-scale EDSs to be fabricated using roll-to-roll techniques for quick efficient processing. The aim of the current research is to demonstrate the 3-dimensional (3-D) version of the EDS and its applicability to various surfaces of interest throughout the Artemis program that require dust mitigation. The conventional two dimensional (2-D) EDS has been comprised of interdigitated electrodes across a surface of alternating polarity to setup non-uniform electric fields in the location of interest for which the particles need to be removed. The 2-D system can be designed to accommodate various phases. For example, the two phase EDS is comprised of two electrodes 180˚ out of phase, while the 3-phase EDS is 120˚ out of phase with the adjacent leg. 4-phase EDS configurations are also possible but for each square wave a high voltage signal is applied to each leg.

Buhler, C. R.↗
NASA NTRSDate not supplied

TPSAS-NF1676L-32084-DND

We present aerosol and cloud observations obtained from the satellite-, aircraft- and ship-based measurements of the North Atlantic Aerosols and Marine Ecosystems Study (NAAMES). The data span three seasons (November 2015, May 2016, and September 2017), which correspond to substantial variation in ocean ecosystem characteristics, continental long-range transport, and local aerosol-cloud microphysics and meteorology. For example, below-cloud aerosol number concentrations in November 2015 were of order 10-50 cm-3, while concentrations observed in May and September were of order 100-500 cm-3. Here, we focus on 20 cloud sampling flight modules carried out during NAAMES, which encompass approximately 27 flight hours of the more than 220 NAAMES project flight hours. The nominal cloud module pattern consists of a series of 5-6 vertically-stacked, horizontal flight legs of 10-15 minute duration (~50-90 km in length) that profile the near-surface (300 ft. altitude) and below-cloud aerosol characteristics, the cloud properties near cloud base and top, the aerosol properties above cloud, and finally a high-altitude remote sensing leg that characterizes the cloud top and above-cloud atmosphere. Ship-based aerosol and ceilometer measurements provide the below-cloud context over time, while GOES satellite imagery and cloud retrieval products fill in the above-cloud story.

Richard H Moore↗
NASA NTRS2020

Material Remodelling and Unconventional Gaits Facilitate Locomotion of a Robophysical Rover Over Granular Terrain

Autonomous robots and vehicles must occasionally recover from locomotion failure in loosely consolidated granular terrain. Recent mobility challenges led NASA Johnson Space Center to develop a prototype robotic lunar rover Resource Prospector 15 (RP15) capable of wheeled, legged, and crawling behavior. To systematically understand performance of such a device, we developed a scaled-down rover robot and studied its locomotion on slopes of dry and wet granular media. Addition of a cyclic legged gait to the robot’s wheel spinning action changes the robot dynamics from that of a wheeled vehicle to a locomotor paddling through frictional fluid. Granular drag force measurements and modified Resistive Force Theory facilitate modeling of such dynamics. A peculiar gait strategy that agitates and cyclically reflows grains under the robot allows it to ‘swim’ up loosely consolidated hills. Whereas substrate disturbance typically hinders locomotion in granular media, the multi-mode design of RP15 and a diversity of possible gaits facilitate formation of self-organized localized frictional fluids that enable effective robust transport.

Siddharth Shrivastava↗
NASA NTRS2017

Semi-analytic preliminary design of low-thrust missions

Using generalized logarithmic spirals to approximate low-thrust trajectories, a new strategy for the design of low-thrust gravity-assist transfers has been developed. Each transfer leg is defined by a semi-analytic model, and its solution is equivalent to a hybrid Lambert’s problem. The method is suitable for approximating both flyby and rendezvous transfer legs. A branch and prune algorithm is used to generate a collection of initial guesses for further optimization. The analytic nature of the low-thrust model simplifies the pruning step, since dynamical and operational constraints (like maximum thrust or total v) can be imposed easily. The solutions obtained with the global search algorithm can be post-processed, filtered, and ranked according to various criteria. This is where the versatility of the method resides, because changing the selection criteria does not require a new search. Selected candidates are then optimized further, in order to generate actual low-thrust orbits. Two mission design examples are presented: an asteroid deflection mission using a kinetic impactor, and a rendezvous mission to Jupiter. These examples are used to analyze the convergence of the optimization stage, in particular how far from the optimal solution the initial guesses are.

Park, Ryan S.↗
NASA NTRS2021

Pneumatic Sampler (P-Sampler) for the Martian Moons Exploration (MMX)

A Pneumatic Sampler (P-SMP)is being provided by Honeybee Robotics with support from NASA Planetary Missions Program Office (PMPO)for JAXA’s Martian Moons eXploration (MMX) mission. The goal of this mission is to closely survey the Martian moons Deimos and Phobos, and then to collect regolith from Phobos and return it to Earth. The P-SMP will be mounted to a leg of the lander and will be responsible for collecting surface regolith alongside the JAXA provide Core Sampler (C-SMP). The Sampling Funnel of the P-SMP utilizes two sets of sampling nozzles: one set of nozzles pointed directly at the surface to kick-up and loft material into the sampling head, and a second set of nozzles to direct the oncoming material into the sample return canister further up the lander leg. A robotic arm mounted underneath the lander will then remove the sample canister and place it inside the sample return capsule for Earth return. Several iterations of the P-Sampler have been designed and tested inside a vacuum chamber with Phobos regolith simulant. In all tests, the P-Sampler successfully acquired the sample, even in an extreme scenario where the sampling head was mounted 10 cm above a surface covered with gravel.

Dylan Van Dyne↗
NASA NTRSDate not supplied

Free-Flight Dynamics of an Aeroshell/Drogue Parachute System

A free-flight test of a subscale aeroshell/drogue parachute model was conducted at the NASA Langley Research Center Vertical Spin Tunnel. Mass properties for the aeroshell model were dynamically scaled. This test simulated the flight of the Dragonfly mission spacecraft at an altitude of 18.4 km above the surface of Titan (Saturn’s largest moon). The aeroshell/drogue parachute model exhibited bimodal oscillatory behavior with sustained small- and large-amplitude modes depending on initial conditions. The effects of drogue parachute size, bridle geometry, and bridle rigidity on the aeroshell/drogue parachute dynamics were investigated. The large-amplitude oscillations seemed to be driven by the aeroshell aerodynamics, with bridle leg collapse being an enabling factor. If the bridle legs were rigid, large-amplitude oscillations were not sustainable.

Parachute↗
NASA NTRS2022

Kink Oscillation of a Flux Rope During a Failed Solar Eruption

We report a decaying kink oscillation of a flux rope during a confined eruptive flare, observed off the solar limb by SDO/AIA, that lacked a detectable white-light coronal mass ejection. The erupting flux rope underwent kinking, rotation, and apparent leg–leg interaction during the event. The oscillations were observed simultaneously in multiple AIA channels at 304, 171, and 193 Å, indicating that multithermal plasma was entrained in the rope. After reaching the overlying loops in the active region, the flux rope exhibited large-amplitude, decaying kink oscillations with an apparent initial amplitude of 30 Mm, period of about 16 min, and decay time of about 17 min. We interpret these oscillations as a fundamental standing kink mode of the flux rope. The oscillation polarization has a clear vertical component, while the departure of the detected waveform from a sinusoidal signal suggests that the oscillation could be circularly or elliptically polarized. The estimated kink speed is 1080 km s−1, corresponding to an Alfv'en speed of about 760 km s−1. This speed, together with the estimated electron density in the rope from our DEM analysis, ne ≈ (1.5–2.0) ×109 cm−3, yields a magnetic field strength of about 15 G. To the best of our knowledge, decaying kink oscillations of a flux rope with non-horizontal polarization during a confined eruptive flare have not been reported before. These oscillations provide unique opportunities for indirect measurements of the magnetic-field strength in low-coronal flux ropes during failed eruptions.

Pankaj Kumar↗