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NASA NTRS2006

Planetary Dust: Cross-Functional Considerations

Apollo astronauts learned first hand how problems with dust impact lunar surface missions. After three days, lunar dust contaminating on EVA suit bearings led to such great difficulty in movement that another EVA would not have been possible. Dust clinging to EVA suits was transported into the Lunar Module. During the return trip to Earth, when microgravity was reestablished, the dust became airborne and floated through the cabin. Crews inhaled the dust and it irritated their eyes. Some mechanical systems aboard the spacecraft were damaged due to dust contamination. Study results obtained by Robotic Martian missions indicate that Martian surface soil is oxidative and reactive. Exposures to the reactive Martian dust will pose an even greater concern to the crew health and the integrity of the mechanical systems. As NASA embarks on planetary surface missions to support its Exploration Vision, the effects of these extraterrestrial dusts must be well understood and systems must be designed to operate reliably and protect the crew in the dusty environments of the Moon and Mars. The AIM Dust Assessment Team was tasked to identify systems that will be affected by the respective dust, how they will be affected, associated risks of dust exposure, requirements that will need to be developed, identified knowledge gaps, and recommended scientific measurements to obtain information needed to develop requirements, and design and manufacture the surface systems that will support crew habitation in the lunar and Martian outposts.

Wagner, Sandra↗

NASA NTRS1993

New progress of ranging technology at Wuhan Satellite Laser Ranging Station

A satellite laser ranging system with an accuracy of the level of centimeter has been successfully developed at the Institute of Seismology, State Seismological Bureau with the cooperation of the Institute of Geodesy and Geophysics, Chinese Academy of Science. With significant improvements on the base of the second generation SLR system developed in 1985, ranging accuracy of the new system has been upgraded from 15 cm to 3-4 cm. Measuring range has also been expanded, so that the ETALON satellite with an orbit height of 20,000 km launched by the former U.S.S.R. can now be tracked. Compared with the 2nd generation SLR system, the newly developed system has the following improvements. A Q modulated laser is replaced by a mode-locked YAG laser. The new device has a pulse width of 150 ps and a repetition rate of 1-4 pps. A quick response photomultiplier has been adopted as the receiver for echo; for example, the adoption of the MCP tube has obviously reduced the jitter error of the transit time and has improved the ranging accuracy. The whole system is controlled by an IBM PC/XT Computer to guide automatic tracking and measurement. It can carry out these functions for satellite orbit calculation, real-time tracking and adjusting, data acquisition and the preprocessed of observing data, etc. The automatization level and reliability of the observation have obviously improved.

Xia, Zhiz-Hong↗

NASA NTRS2004

An Assessment of Dust Effects on Planetary Surface Systems to Support Exploration Requirements

Apollo astronauts learned first hand how problems with dust impact lunar surface missions. After three days, lunar dust contamination on EVA suit bearings led to such great difficulty in movement that another EVA would not have been possible. Dust clinging to EVA suits was transported into the Lunar Module. During the return trip to Earth, when micro gravity was reestablished, the dust became airborne and floated through the cabin. Crews inhaled the dust and it irritated their eyes. Some mechanical systems aboard the spacecraft were damaged due to dust contamination. Study results obtained by Robotic Martian missions indicate that Martian surface soil is oxidative and reactive. Exposures to the reactive Martian dust will pose an even greater concern to the crew health and the integrity of the mechanical systems. As NASA embarks on planetary surface missions to support its Exploration Vision, the effects of these extraterrestrial dusts must be well understood and systems must be designed to operate reliably and protect the crew in the dusty environments of the Moon and Mars. The AIM Dust Assessment Team was tasked to identify systems that will be affected by the respective dust, how they will be affected, associated risks of dust exposure, requirements that will need to be developed, identified knowledge gaps, and recommended scientific measurements to obtain information needed to develop requirements, and design and manufacture the surface systems that will support crew habitation in the lunar and Martian outposts.

Wagner, Sandy↗

NASA NTRS2017

Software Defined Radios - Architectures, Systems and Functions

Software Defined Radio (SDR) technology has been proven in the commercial sector since the early 90's. Today's rapid advancement in mobile telephone reliability and power management capabilities exemplifies the effectiveness of the SDR technology for the modern communications market. SDR technology offers potential to revolutionize satellite transponder technology by increasing science data through-put capability by at least an order of magnitude. While the SDR is adaptive in nature and is "One-size-fits-all" by design, conventional transponders are built to a specific platform and must be redesigned for every new bus. The SDR uses a minimum amount of analog/Radio Frequency (RF) components to up/down-convert the RF signal to/from a digital format. Once analog data is digitized, all processing is performed using hardware logic. Typical SDR processes include; filtering, modulation, up/down converting and demodulation. These innovations have reduced the cost of transceivers, a decrease in power requirements and a commensurate reduction in volume. An additional pay-off is the increased flexibility of the SDR: allowing the same hardware to implement multiple transponder types by altering hardware logic -no change of analog hardware is required -all of which can be ultimately accomplished in orbit.

Sims, Herb↗

NASA NTRS1990

QUEST/Ada (Query Utility Environment for Software Testing of Ada): The development of a prgram analysis environment for Ada, task 1, phase 2

The results of research and development efforts are described for Task one, Phase two of a general project entitled The Development of a Program Analysis Environment for Ada. The scope of this task includes the design and development of a prototype system for testing Ada software modules at the unit level. The system is called Query Utility Environment for Software Testing of Ada (QUEST/Ada). The prototype for condition coverage provides a platform that implements expert system interaction with program testing. The expert system can modify data in the instrument source code in order to achieve coverage goals. Given this initial prototype, it is possible to evaluate the rule base in order to develop improved rules for test case generation. The goals of Phase two are the following: (1) to continue to develop and improve the current user interface to support the other goals of this research effort (i.e., those related to improved testing efficiency and increased code reliable); (2) to develop and empirically evaluate a succession of alternative rule bases for the test case generator such that the expert system achieves coverage in a more efficient manner; and (3) to extend the concepts of the current test environment to address the issues of Ada concurrency.

Brown, David B.↗

NASA NTRS2004

Adaptive Bio-Inspired Wireless Network Routing for Planetary Surface Exploration

Wireless mobile networks suffer connectivity loss when used in a terrain that has hills, and valleys when line of sight is interrupted or range is exceeded. To resolve this problem and achieve acceptable network performance, we have designed an adaptive, configurable, hybrid system to automatically route network packets along the best path between multiple geographically dispersed modules. This is very useful in planetary surface exploration, especially for ad-hoc mobile networks, where computational devices take an active part in creating a network infrastructure, and can actually be used to route data dynamically and even store data for later transmission between networks. Using inspiration from biological systems, this research proposes to use ant trail algorithms with multi-layered information maps (topographic maps, RF coverage maps) to determine the best route through ad-hoc network at real time. The determination of best route is a complex one, and requires research into the appropriate metrics, best method to identify the best path, optimizing traffic capacity, network performance, reliability, processing capabilities and cost. Real ants are capable of finding the shortest path from their nest to a food source without visual sensing through the use of pheromones. They are also able to adapt to changes in the environment using subtle clues. To use ant trail algorithms, we need to define the probability function. The artificial ant is, in this case, a software agent that moves from node to node on a network graph. The function to calculate the fitness (evaluate the better path) includes: length of the network edge, the coverage index, topology graph index, and pheromone trail left behind by other ant agents. Each agent modifies the environment in two different ways: 1) Local trail updating: As the ant moves between nodes it updates the amount of pheromone on the edge; and 2) Global trail updating: When all ants have completed a tour the ant that found the shortest route updates the edges in its path.

Alena, Richard I.↗

NASA NTRS1992

Design considerations in clustering nuclear rocket engines

An initial investigation of the design considerations in clustering nuclear rocket engines for space transfer vehicles has been made. The clustering of both propulsion modules (which include start tanks) and nuclear rocket engines installed directly to a vehicle core tank appears to be feasible. Special provisions to shield opposite run tanks and the opposite side of a core tank - in the case of the boost pump concept - are required; the installation of a circumferential reactor side shield sector appears to provide an effective solution to this problem. While the time response to an engine-out event does not appear to be critical, the gimbal displacement required appears to be important. Since an installation of three engines offers a substantial reduction in gimbal requirements for engine-out and it may be possible to further enhance mission reliability with the greater number of engines, it is recommended that a cluster of four engines be considered.

Sager, Paul H.↗

NASA NTRS2011

Liquid Oxygen/Liquid Methane Propulsion and Cryogenic Advanced Development

Exploration Systems Architecture Study conducted by NASA in 2005 identified the liquid oxygen (LOx)/liquid methane (LCH4) propellant combination as a prime candidate for the Crew Exploration Vehicle Service Module propulsion and for later use for ascent stage propulsion of the lunar lander. Both the Crew Exploration Vehicle and Lunar Lander were part the Constellation architecture, which had the objective to provide global sustained lunar human exploration capability. From late 2005 through the end of 2010, NASA and industry matured advanced development designs for many components that could be employed in relatively high thrust, high delta velocity, pressure fed propulsion systems for these two applications. The major investments were in main engines, reaction control engines, and the devices needed for cryogenic fluid management such as screens, propellant management devices, thermodynamic vents, and mass gauges. Engine and thruster developments also included advanced high reliability low mass igniters. Extensive tests were successfully conducted for all of these elements. For the thrusters and engines, testing included sea level and altitude conditions. This advanced development provides a mature technology base for future liquid oxygen/liquid methane pressure fed space propulsion systems. This paper documents the design and test efforts along with resulting hardware and test results.

Klem, Mark D.↗

NASA NTRS2013

Materials Science Research Rack Onboard the International Space Station

The Materials Science Research Rack (MSRR) is a research facility developed under a cooperative research agreement between NASA and ESA for materials science investigations on the International Space Station (ISS). MSRR was launched on STS-128 in August 2009 and currently resides in the U.S. Destiny Laboratory Module. Since that time, MSRR has logged more than 1000 hours of operating time. The MSRR accommodates advanced investigations in the microgravity environment on the ISS for basic materials science research in areas such as solidification of metals and alloys. The purpose is to advance the scientific understanding of materials processing as affected by microgravity and to gain insight into the physical behavior of materials processing. MSRR allows for the study of a variety of materials, including metals, ceramics, semiconductor crystals, and glasses. Materials science research benefits from the microgravity environment of space, where the researcher can better isolate chemical and thermal properties of materials from the effects of gravity. With this knowledge, reliable predictions can be made about the conditions required on Earth to achieve improved materials. MSRR is a highly automated facility with a modular design capable of supporting multiple types of investigations. The NASA-provided Rack Support Subsystem provides services (power, thermal control, vacuum access, and command and data handling) to the ESA-developed Materials Science Laboratory (MSL) that accommodates interchangeable Furnace Inserts (FI). Two ESA-developed FIs are presently available on the ISS: the Low Gradient Furnace (LGF) and the Solidification and Quenching Furnace (SQF). Sample Cartridge Assemblies (SCAs), each containing one or more material samples, are installed in the FI by the crew and can be processed at temperatures up to 1400C. ESA continues to develop samples with 14 planned for launch and processing in the near future. Additionally NASA has begun developing SCAs to support US PIs and their partners. The first of these Flight SCAs are being developed for investigations to support research in the areas of crystal growth and liquid phase sintering. Subsequent investigations are in various stages of development. US investigations will include a ground test program in order to distinguish the particular effects of the absence of gravity.

Reagan, Shawn↗

NASA NTRS2013

Materials Science Research Rack Onboard the International Space Station

Reagan, Shawn↗

NASA NTRS2014

High Speed, Low Cost Telemetry Access from Space Development Update on Programmable Ultra Lightweight System Adaptable Radio (PULSAR)

Software Defined Radio (SDR) technology has been proven in the commercial sector since the early 1990's. Today's rapid advancement in mobile telephone reliability and power management capabilities exemplifies the effectiveness of the SDR technology for the modern communications market. In contrast, the foundations of transponder technology presently qualified for satellite applications were developed during the early space program of the 1960's. Conventional transponders are built to a specific platform and must be redesigned for every new bus while the SDR is adaptive in nature and can fit numerous applications with no hardware modifications. A SDR uses a minimum amount of analog / Radio Frequency (RF) components to up/down-convert the RF signal to/from a digital format. Once the signal is digitized, all processing is performed using hardware or software logic. Typical SDR digital processes include; filtering, modulation, up/down converting and demodulation. NASA Marshall Space Flight Center (MSFC) Programmable Ultra Lightweight System Adaptable Radio (PULSAR) leverages existing MSFC SDR designs and commercial sector enhanced capabilities to provide a path to a radiation tolerant SDR transponder. These innovations (1) reduce the cost of NASA Low Earth Orbit (LEO) and Deep Space standard transponders, (2) decrease power requirements, and (3) commensurately reduce volume. A second pay-off is the increased SDR flexibility by allowing the same hardware to implement multiple transponder types simply by altering hardware logic - no change of hardware is required - all of which will ultimately be accomplished in orbit. Development of SDR technology for space applications will provide a highly capable, low cost transponder to programs of all sizes. The MSFC PULSAR Project results in a Technology Readiness Level (TRL) 7 low-cost telemetry system available to Smallsat and CubeSat missions, as well as other platforms. This paper documents the continued development and verification/validation of the MSFC SDR, called PULSAR, which contributes to advancing the state-of-the-art in transponder design - directly applicable to the SmallSat and CubeSat communities. This paper focuses on lessons learned on the first sub-orbital flight (high altitude balloon) and the follow-on steps taken to validate PULSAR. A sounding rocket launch, currently planned for 03/2015, will further expose PULSAR to the high dynamics of sub-orbital flights. Future opportunities for orbiting satellite incorporation reside in the small satellite missions (FASTSat, CubeSat. etc.).

Simms, William Herbert, III↗

NASA NTRS2016

Materials Science Research Rack Onboard the International Space Station

The Materials Science Research Rack (MSRR) is a research facility developed under a cooperative research agreement between NASA and ESA for materials science investigations on the International Space Station (ISS). MSRR was launched on STS-128 in August 2009 and currently resides in the U.S. Destiny Laboratory Module. Since that time, MSRR has logged more than 1400 hours of operating time. The MSRR accommodates advanced investigations in the microgravity environment on the ISS for basic materials science research in areas such as solidification of metals and alloys. The purpose is to advance the scientific understanding of materials processing as affected by microgravity and to gain insight into the physical behavior of materials processing. MSRR allows for the study of a variety of materials, including metals, ceramics, semiconductor crystals, and glasses. Materials science research benefits from the microgravity environment of space, where the researcher can better isolate chemical and thermal properties of materials from the effects of gravity. With this knowledge, reliable predictions can be made about the conditions required on Earth to achieve improved materials. MSRR is a highly automated facility with a modular design capable of supporting multiple types of investigations. The NASA-provided Rack Support Subsystem provides services (power, thermal control, vacuum access, and command and data handling) to the ESA-developed Materials Science Laboratory (MSL) that accommodates interchangeable Furnace Inserts (FI). Two ESA-developed FIs are presently available on the ISS: the Low Gradient Furnace (LGF) and the Solidification and Quenching Furnace (SQF). Sample Cartridge Assemblies (SCAs), each containing one or more material samples, are installed in the FI by the crew and can be processed at temperatures up to 1400C. ESA continues to develop samples with 14 planned for launch and processing in the near future. Additionally NASA has begun developing SCAs to support US PIs and their partners. The first of these Flight SCAs are being developed for investigations to support research in the areas of crystal growth and liquid phase sintering. Subsequent investigations are in various stages of development. US investigations will include a ground test program in order to distinguish the particular effects of the absence of gravity.

Reagan, Shawn↗

NASA NTRS2016

Materials Science Research Rack Onboard the International Space Station

The Materials Science Research Rack (MSRR) is a research facility developed under a cooperative research agreement between NASA and ESA for materials science investigations on the International Space Station (ISS). MSRR was launched on STS-128 in August 2009 and currently resides in the U.S. Destiny Laboratory Module. Since that time, MSRR has logged more than 1400 hours of operating time. The MSRR accommodates advanced investigations in the microgravity environment on the ISS for basic materials science research in areas such as solidification of metals and alloys. The purpose is to advance the scientific understanding of materials processing as affected by microgravity and to gain insight into the physical behavior of materials processing. MSRR allows for the study of a variety of materials, including metals, ceramics, semiconductor crystals, and glasses. Materials science research benefits from the microgravity environment of space, where the researcher can better isolate chemical and thermal properties of materials from the effects of gravity. With this knowledge, reliable predictions can be made about the conditions required on Earth to achieve improved materials. MSRR is a highly automated facility with a modular design capable of supporting multiple types of investigations. The NASA-provided Rack Support Subsystem provides services (power, thermal control, vacuum access, and command and data handling) to the ESA-developed Materials Science Laboratory (MSL) that accommodates interchangeable Furnace Inserts (FI). Two ESA-developed FIs are presently available on the ISS: the Low Gradient Furnace (LGF) and the Solidification and Quenching Furnace (SQF). Sample Cartridge Assemblies (SCAs), each containing one or more material samples, are installed in the FI by the crew and can be processed at temperatures up to 1400degC. ESA continues to develop samples with 14 planned for launch and processing in the near future. Additionally NASA has begun developing SCAs to support US PIs and their partners. The first of these Flight SCAs are being developed for investigations to support research in the areas of crystal growth and liquid phase sintering. Subsequent investigations are in various stages of development. US investigations will include a ground test program in order to distinguish the particular effects of the absence of gravity.

Reagan, S. E.↗

NASA NTRS1990

How much redundancy: Some cost considerations, including examples for spacecraft systems

How much redundancy should be built into a subsystem such as a space power subsystem. How does a reliability or design engineer choose between a power subsystem with 0.990 reliability and a more costly subsystem with 0.995 reliability. How does the engineer designing a power subsystem for a satellite decide between one power subsystem and a more reliable but heavier power subsystem. High reliability is not necessarily an end in itself. High reliability may be desirable in order to reduce the statistically expected loss due to a subsystem failure. However, this may not be the wisest use of funds since the expected loss due to subsystem failure is not the only cost involved. The subsystem itself may be very costly. The cost of the subsystem or the expected loss due to subsystem failure may not be considered separately. Therefore, the total of the two costs is minimized, i.e., the total of the cost of the subsystem plus the expected loss due to subsystem failure. A specific type of redundant system is considered, called a k-out-of-n: G subsystem. Such a subsystem has n modules, of which k are required to be good for the subsystem to be good. Five models are discussed which can be applied in the design of a power subsystem to select the unique redundancy method which will minimize the total of the cost of the power subsystem plus the expected loss due to the power subsystem failure. A BASIC computer program is available.

Suich, Ronald C.↗

NASA NTRS1994

Temperature prediction of space flight experiments by computer thermal analysis

Life sciences experiments are especially sensitive to temperature. A small temperature difference between otherwise identical samples can cause various differences in biological reaction rates. Knowledge of experimental temperatures and temperature histories help to distinguish the effects of microgravity and temperature on spaceflight experiments compared to ground based studies, and allow appropriate controls and sensitivity tests. Up to the present time, the Orbiter (Space Shuttle) has not generally provided temperature measurement instrumentation inside ambient lockers located in the Mid-deck of the Orbiter, or inside similar facilities such as Spacehab and Spacelab, but many pieces of hardware do have temperature recording capability. Most of these temperatures, however, have only been roughly measured or estimated. Such reported experimental temperatures, while accurate within a range of several degrees Celsius, are of limited utility to biological researchers. The temperature controlled lockers used in spaceflight, such as Commerical-Refrigeration Incubation Modules (C-R/IMs), severely reduce the mass and volume available for test samples and do not necessarily provide uniform thermal environments. While these test carriers avoid some of the experimental temperature variations of the ambient lockers, the number of samples which can be accommodated in these temperature controlled units is limited. In the present work, improved models of thermal prediction and control were sought. Temperatures are predicted by thermal analysis software using empirical temperatures recorded during STS-57. These temperatures are compared to data recorded throughout the mission using Ambient Temperature Recorders (ATRs) located within several payload lockers. Additional test cases are undertaken using controlled ground experiments to more precisely determine the reliability of the thermal model. The approach presented should increase the utility of various spaceflight carriers in the support of biological and material science research and ground control studies done in preparation for flight.

Birdsong, M. B.↗

NASA NTRS2002

Space and Terrestrial Photovoltaics: Synergy and Diversity

A historical view of the research and development in photovoltaics from the perspective of both the terrestrial and the space communities is presented from the early days through the '70s and '80s and the '90s and beyond. The synergy of both communities in the beginning and once again in the present and hopefully future are highlighted, with examples of the important features in each program. The space community which was impressed by the light-weight and reliability of photovoltaics drove much of the early development. Even up to today, nearly every satellites and other scientific space probe that has been launched has included some solar power. However, since the cost of these power systems were only a small fraction of the satellite and launch cost, the use of much of this technology for the terrestrial marketplace was not feasible. It was clear that the focus of the terrestrial community would be best served by reducing costs. This would include addressing a variety of manufacturing issues and raising the rate of production. Success in these programs and a resulting globalization of effort resulted in major strides in the reduction of PV module costs and increased production. Although, the space community derived benefit from some of these advancements, its focus was on pushing the envelope with regard to cell efficiency. The gap between theoretical efficiencies and experimental efficiencies for silicon, gallium arsenide and indium phosphide became almost non-existent. Recent work by both communities have focused on the development thin film cells of amorphous silicon, CuInSe2 and CdTe. These cells hold the promise of lower costs for the terrestrial community as well as possible flexible substrates, better radiation resistance, and higher specific power for the space community. It is predicted that future trends in both communities will be directed toward advances through the application of nanotechnology. A picture is emerging in which the space and terrestrial solar cell communities shall once again share many common goals and, in fact, companies may manufacture both space and terrestrial solar cells in III-V materials and thin film materials. Basic photovoltaics research including these current trends in nanotechnology provides a valuable service for both worlds in that fundamental understanding of cell processes is still vitally important, particularly with new materials or new cell structures. It is entirely possible that one day we might have one solar array design that will meet the criteria for success in both space and on the Earth or perhaps the Moon or Mars.

Bailey, Sheila↗

NASA NTRS2005

Development of a Coherent Lidar for Aiding Precision Soft Landing on Planetary Bodies

Coherent lidar can play a critical role in future planetary exploration missions by providing key guidance, navigation, and control (GNC) data necessary for navigating planetary landers to the pre-selected site and achieving autonomous safe soft-landing. Although the landing accuracy has steadily improved over time to approximately 35 km for the recent Mars Exploration Rovers due to better approach navigation, a drastically different guidance, navigation and control concept is required to meet future mission requirements. For example, future rovers will require better than 6 km landing accuracy for Mars and better than 1 km for the Moon plus maneuvering capability to avoid hazardous terrain features. For this purpose, an all-fiber coherent lidar is being developed to address the call for advancement of entry, descent, and landing technologies. This lidar will be capable of providing precision range to the ground and approach velocity data, and in the case of landing on Mars, it will also measure the atmospheric wind and density. The lidar obtains high resolution range information from a frequency modulated-continuous wave (FM-CW) laser beam whose instantaneous frequency varies linearly with time, and the ground vector velocity is directly extracted from the Doppler frequency shift. Utilizing the high concentration of aerosols in the Mars atmosphere (approx. two order of magnitude higher than the Earth), the lidar can measure wind velocity with a few watts of optical power. Operating in 1.57 micron wavelength regime, the lidar can use the differential absorption (DIAL) technique to measure the average CO2 concentration along the laser beam using, that is directly proportional to the Martian atmospheric density. Employing fiber optics components allows for the lidar multi-functional operation while facilitating a highly efficient, compact and reliable design suitable for integration into a spacecraft with limited mass, size, and power resources.

Amzajerdian, Farzin↗

NASA NTRS2010

Progress in Development of the Axel Rovers

Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.

Nesnas, Issa A.↗