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NASA NTRS2017

Static Electric Fields and Lightning Over Land and Ocean in Florida Thunderstorms

Natural cloud-to-ground (CG) lightning and the charge structure of the associated clouds behave differently over land and ocean. Existing literature has raised questions over the years on the behavior of thunderstorms and lightning over oceans, and there are still open scientific questions. We expand on the observational datasets by obtaining identical electric field observations over coastal land, near-shore, and deep ocean regions during both clear air and thunderstorm periods. Oceanic observations were obtained using two 3-meter NOAA buoys that were instrumented with Campbell Scientific electric field mills to measure the static electric fields. These data were compared to selected electric field records from the existing on-shore electric field mill suite of 31 sensors at Kennedy Space Center (KSC). CG lightning occurrence times, locations and peak current values for both on-shore and ocean were provided by the U.S. National Lightning Detection Network. The buoy instruments were first evaluated on-shore at the Florida coast, to calibrate field enhancements and to confirm proper behavior of the system in elevated-field environments. The buoys were then moored 20NM and 120NM off the coast of KSC in February (20NM) and August (120NM) 2014. Statistically larger CG peak currents were reported over the deep ocean for first strokes and for subsequent strokes with new contacts points. Storm-related static fields were significantly larger at both oceanic sites, likely due to decreased screening by nearby space charge. Time-evolution of the static field during storm development and propagation indicated weak or missing lower positive charge regions in most storms that initiated over the deep ocean, supporting one mechanism for the observed high peak currents in negative first strokes over the deep ocean. This project also demonstrated the practicality of off-shore electric field measurements for safety-related decision making at KSC.

Lightning↗

NASA NTRS2017

Static Electric Fields and Lightning Over Land and Ocean in Florida Thunderstorms

Electric Fields↗

NASA NTRS2014

Analysis of Space Station Centrifuge Rotor Bearing Systems: A Case Study

A team of NASA bearing and lubrication experts was assembled to assess the risk for the rolling-element bearings used in the International Space Station (ISS) centrifuge rotor (CR) to seize or otherwise fail to survive for the required 10-year life. The CR was designed by the Japan Aerospace Exploration Agency and their subcontractor, NEC Toshiba Space Systems, Ltd. (NTSpace). The NASA team performed a design audit for the most critical rolling-element bearing systems and reviewed the lubricant selected. There is uncertainty regarding the ability of the Braycote 601 grease (Castrol Limited) to reliably provide the 10-year continuous life required without relubrication of the system. The fatigue life of the Rotor Shaft Assembly (RSA) spring loaded face-to-face mount at a 99-percent probability of survival (L1 life) for the ball bearing set was estimated at 700 million hours and the single ball bearing (Row 3) at 58 million hours. These lives satisfy the mission requirements for fatigue. Rolling-element seizure tests on the RSA and fluid slip joint bearings were found unlikely to stop the centrifuge, which can cause damage to the ISS structure. The spin motor encoder duplex angular-contact ball bearings have a hard preload and a large number of small balls have the highest risk of failure. These bearings were not tested for seizure even though they are less tolerant to debris or internal clearance reductions.

Poplawski, Joseph V.↗

NASA NTRS2018

Establishing and Monitoring an Aseptic Workspace

When are aseptic operations necessary? In order to meet certain bioburden requirements, some components must undergo dry heat microbial reduction (DHMR) or other sterilizing procedures. If sensitive surfaces must be re-exposed after DHMR, this could compromise the bioburden levels. Recontaminating sterilized surfaces could be costly both in time by requiring repeated DHMR and risk to the hardware, which may not be compatible with repeated high temperature bakes. In order to prevent recontamination of the sensitive surfaces, an aseptic environment and sterile technique must be employed. Aseptic environments mean working in a space with almost no detectable bioburden in the air or on surfaces. Ideally, DHMR happens as late as possible to avoid requiring aseptic operations, as it can be considered a high-risk operations. Preparing the cleanroom for aseptic operations Establishing an ISO (International Organization for Standardization) class 5 space to minimize airborne particles. Maintain low bioburden in the cleanroom by using biocidal cleaners. Using multiple biocidal techniques decreases the likelihood of selecting for resistant microorganisms. 70% Isopropyl Alcohol (IPA) denatures the proteins in a microorganism (note: 70% IPA is better at killing microorganisms than 100% IPA) 7% hydrogen peroxide: damages DNA and proteins through oxygen radical damage. Ultraviolet-C (UV-C) lamps: causes crosslinking in DNA which prevents replication. Monitor cleanroom regularly for bioburden trending: Standard bioassay: Swab or wipe samples of cleanroom surfaces processed for colony forming unity (viable or spore selected); Rapid bioassay: Adenosine triphosphate (ATP) or Limulus amebocyte lysate (LAL) for a bioburden snapshot. High levels can signal an immediate re-cleaning before standard bioassay samples are taken. Airborne monitoring: Active (pulling air through a filter) or passive (particle fallout) for bioburden. Verify bioburden levels just before aseptic operation. Test hardware and cleanroom surfaces and air 3 days before the planned aseptic operation. Rapid bioburden just before aseptic operation to ensure room was not re-contaminated. Preparing personnel and tools: Personnel training. Everyone in the cleanroom: Standard cleanroom certification Everyone on the team: 1 day Planetary Protection overview. Aseptic operators only: Half-day aseptic operations training. Covers sterile garmenting/gloves, Sterile handling with a focus on contact transfer risk, tool/GSE preparation, and two-operator system for opening sterilized tools/components. Tool sterilization: All tools to be used during an aseptic operation need to be identified. Compatible tools are sterilized by DHMR or Autoclave. Double wrapped so that the exterior bag can be handled by a non-sterile operator, and the sterile. Tools that are not compatible with high heat do not come in contact with sensitive surfaces: either substitutes are found, or tools are isolated by wrapping in sterile foil. During an aseptic operation. Pre-task to make sure everyone understands the operations, who is handling what, and when the most critical surfaces will be exposed. Monitoring during the operation. Bioburden: active and passive airborne bioburden sampling, glove-tip dabs onto a plate after completion of operation (3 days for results). Particles: real time particle counter constantly running, with alarm for exceeding ISO 5 conditions.

aseptic processing↗

NASA NTRS2015

Investigating the Effects of Temperature on the Signatures of Shocks Propagated Through Impacts into Minerals Found in Comets and Asteroids

Comets and asteroids are subjected to extremely cold conditions throughout their lifetimes. During their sojourns in the solar system, they are subjected to collisions at speeds that are easily capable of generating shock waves in their constituent materials. In addition to ices, more common silicate minerals such as olivines and pyroxenes are important components of these objects. The collision-induced shocks could affect the spectral signatures of those mineral components, which could in turn be detected telescopically. We have embarked on a project to determine how impact-generated shock might affect the reflectance spectra and structures of select silicates as both impact speed and target temperature are varied systematically. While the effects of impact speed (in the form of shock stress) on numerous materials have been and continue to be studied, the role of target temperature has received comparatively little attention, presumably because of the operational difficulties it can introduce to experimentation. Our experiments were performed with the vertical gun in the Experimental Impact Laboratory of the Johnson Space Center. A liquid-nitrogen system was plumbed to permit cooling of the target container and its contents under vacuum to temperatures as low as -100 C (173 K). Temperatures were monitored by thermocouples mounted on the outside of the target container. Because those sensors were not in contact with the target material at impact, the measured temperatures are treated as lower limits for the actual values. Peridot (Mg-rich olivine) and enstatite (Mg-rich orthopyroxene) were used as targets, which involved the impact of alumina (Al2O3) spheres at speeds of 2.0 - 2.7 km s(exp -1) and temperatures covering 25 C to -100 C (298 K to 173 K). We have begun collecting and analyzing data in the near to mid-IR with a Fourier-transform infrared spectrometer, and preliminary analyses show that notable differences in absorption-band strength and position occur as functions of both impact speed (peak shock stress) and initial temperature.

Lederer, Susan M.↗

NASA NTRS2020

Design and Test of an Electromechanical Rover Tether for the Exploration of Vertical Lunar Pit

Moon Diver is a proposed mission to land and deploy an extreme-terrain, tethered rover for the exploration of Tranquillitatis Pit, a large vertical cave entrance into the subsurface of Earth’s Moon. By leveraging a supportive tether, the Axel rover, developed by NASA’s Jet Propulsion Laboratory, would perform a controlled descent into the pit and deploy instruments along the pit wall. The purpose of this mission concept is to study a volcanic secondary crust as a function of depth in order to determine formation processes and chemical makeup. The lifeline of the mission would be the tether, which provides power from, and communication to the top-side lander. Critically, the tether also serves as mechanical support between the suspended rover and the lander, which acts as an anchor. While space tethers have been deployed both in orbit and terrestrially, the use of the proposed tether is unlike any known in the literature; the tether must come into contact with the terrain while under load. With respect to the environment, the tether must also survive abrasion from glassy regolith and volcanic rocks, bending around sharp edges, thermal extremes, and exposure to full spectrum ultra-violet (UV) radiation, all while reliably transferring up to 100 W of power and 1 Mbps of data. Furthermore, since the Axel rover pays out tether from an internal spool, the tether’s diameter must be minimized to increase spool capacity, allowing for up to a 300-m traverse while also meeting static and dynamic strength requirements. This paper covers several phases of the tether’s initial development, including i) a trade study of structure and materials with consideration for space heritage, ii) selected design justification, and iii) results from tests on prototype tethers looking into mechanical, electrical, and environmental properties, including exposure to rock regolith abrasion, load profiles at temperature, and degradation due to UV exposure while exposed to vacuum. Finally, we provide insights and lessons learned from lab and field tests, which inform our continued effort to design a tether capable of surviving rugged, lunar conditions.

Nensas, Issa↗

NASA NTRS2011

NASA Tech Briefs, February 2011

Topics covered include: Multi-Segment Radius Measurement Using an Absolute Distance Meter Through a Null Assembly; Fiber-Optic Magnetic-Field-Strength Measurement System for Lightning Detection; Photocatalytic Active Radiation Measurements and Use; Computer Generated Hologram System for Wavefront Measurement System Calibration; Non-Contact Thermal Properties Measurement with Low-Power Laser and IR Camera System; SpaceCube 2.0: An Advanced Hybrid Onboard Data Processor; CMOS Imager Has Better Cross-Talk and Full-Well Performance; High-Performance Wireless Telemetry; Telemetry-Based Ranging; JWST Wavefront Control Toolbox; Java Image I/O for VICAR, PDS, and ISIS; X-Band Acquisition Aid Software; Antimicrobial-Coated Granules for Disinfecting Water; Range 7 Scanner Integration with PaR Robot Scanning System; Methods of Antimicrobial Coating of Diverse Materials; High-Operating-Temperature Barrier Infrared Detector with Tailorable Cutoff Wavelength; A Model of Reduced Kinetics for Alkane Oxidation Using Constituents and Species for N-Heptane; Thermally Conductive Tape Based on Carbon Nanotube Arrays; Two Catalysts for Selective Oxidation of Contaminant Gases; Nanoscale Metal Oxide Semiconductors for Gas Sensing; Lightweight, Ultra-High-Temperature, CMC-Lined Carbon/Carbon Structures; Sample Acquisition and Handling System from a Remote Platform; Improved Rare-Earth Emitter Hollow Cathode; High-Temperature Smart Structures for Engine Noise Reduction and Performance Enhancement; Cryogenic Scan Mechanism for Fourier Transform Spectrometer; Piezoelectric Rotary Tube Motor; Thermoelectric Energy Conversion Technology for High-Altitude Airships; Combustor Computations for CO2-Neutral Aviation; Use of Dynamic Distortion to Predict and Alleviate Loss of Control; Cycle Time Reduction in Trapped Mercury Ion Atomic Frequency Standards; and A (201)Hg+ Comagnetometer for (199)Hg+ Trapped Ion Space Atomic Clocks.

Source record↗

NASA NTRS2013

Microbial Monitoring of the International Space Station

Humans living and working in the harsh environment of space present many challenges for habitability engineers and microbiologists. Spacecraft must provide an internal environment in which physical (gas composition, pressure, temperature, and humidity), chemical, and biological environmental parameters are maintained at safe levels. Microorganisms are ubiquitous and will accompany all human-occupied spacecraft, but if biological contamination were to reach unacceptable levels, long-term human space flight would be impossible. Prevention of microbiological problems, therefore, must have a high priority. Historically, prevention of infectious disease in the crew has been the highest priority, but experience gained from the NASA-Mir program showed that microbial contamination of vehicle and life-support systems, such as biofouling of water and food, are of equal importance. The major sources of microbiological risk factors for astronauts include food, drinking water, air, surfaces, payloads, research animals, crew members, and personnel in close contact with the astronauts. In our efforts to eliminate or mitigate the negative effects of microorganisms in spacecraft, the National Aeronautics and Space Administration (NASA) implemented comprehensive microbial analyses of the major risk factors. This included the establishment of acceptability requirements for food, water, air, surfaces, and crew members. A robust monitoring program was then implemented to verify that the risks were within acceptable limits. Prevention of microbiological problems is preferred over mitigation of problems during flight, and preventive steps must begin very early in the design phase. Spacecraft development must include requirements to control free water from humidity, condensate, hygiene activities, and other releases. If water is available, microbes are likely to grow because sufficient nutrients are potentially available. Materials selected for the spacecraft must not promote or support microbial growth. Air filtration can dramatically reduce the number of airborne bacteria, fungi, and particulates in spacecraft breathing air. Waterborne bacteria can be reduced to acceptable levels by thermal inactivation of bacteria during water processing, along with a residual biocide, and filtration at the point of use can ensure safety. System design must include onboard capability to achieve recovery of the system from contamination. Robust housekeeping procedures that include periodic cleaning and disinfection will prevent high levels of microbial growth on surfaces. Food for consumption in space must be thoroughly tested for excessive microbial content and pathogens before launch. Thorough preflight examination of flight crews, consumables, payloads, and the environment can greatly reduce pathogens in spacecraft. Many of the lessons learned from the Space Shuttle and previous programs were applied in the early design phase of the International Space Station, resulting in the safest space habitat to date. This presentation describes the monitoring program for the International Space Station and will summarize results from preflight and on-orbit monitoring.

Pierson, Duane L.↗

NASA NTRS1973

Skylab Student Project: Summary Description

In 1971 the NASA conceived the Skylab student project in an effort to involve the general public in the Skylab program. The primary aim of this project was to stimulate national interest in science and technology. NASA decided to direct the Skylab student project to those young people who have indicated an interest in science and technology and to foster this interest through direct participation in an ongoing program emphasizing as wide a spectrum of science and technology as possible. Skylab, with the opportunity it gives to provide experiments in areas of science and technology provided the ideal opportunity for such participation. In implementing this project, the National Science Teachers Association (NSTA), having an existing, closely associated contact with students, grades 9 through 12, in United States schools, was asked to sponsor, organize, and administer a national competition for high school students. This competition called for individual students (or groups of students) to develop meaningful experiments to be flown on Skylab. To facilitate the organization and administration of this program, the NSTA divided the participating students into their 12 geographical regions with a regional chairmen appointed to receive all proposals for his region. The regional chairmen then appointed a committee of eminent scientists, engineers, and science educators to evaluate each proposal. Some 80,000 applications were requested by teachers and 3409 proposals were submitted. Moreover, because of team proposals, over 4000 students participated and approximately 300 regional winners selected. Each participant received a certification of merit. The 300 winning regional proposals were transmitted to the NSTA headquarters where they were further screened. In March of 1972 twenty-five national winners and 22 special mentions were announced. The 25 winning students were then assigned science advisers at the George C. Marshall Space Flight center (MSFC), the center selected by NASA to be responsible for development of the student project. The Johnson Space Center (JSC) also provided science advisors and valuable support.

Floyd, Henry B.↗

NASA NTRS2007

NASA CEV On-Orbit GN&C Analysis

The Orion spacecraft orbit GN&C system will be required to perform both ISS servicing missions and Lunar sortie and outpost crew transportation. While certain aspects of these two missions are complementary, the two missions are also distinct in many ways. Common between the missions is a Low Earth Orbit (LEO) rendezvous, one with the ISS And the other with the LSAM/EDS stack prior to trans-lunar insertion. The lunar missions will additionally require Orion to perform orbit maintenance in LLO, perform contingency lunar orbit operations including RPOD with the LSAM, perform the TEI maneuver sequence, and execute the trans-Earth cruise. The NASA-led team developed a reference configuration orbit GN&C system capable of executing all of these activities with the same navigation sensor suite and control effectors while fully meeting the requirements being developed for System Requirements Review in advance of prime contractor selection. This paper will present an overview of the analyses performed to support system trade studies, demonstrate the feasibility of the NASA reference configuration, and validate the Orion system requirements. These analyses include linear covariance techniques, 3-DOF Monte Carlo simulations, 6-DOF Monte Carlo simulations, and analytical evaluations of GN&C systems performed by the NASA-led Orion team to characterize the sensitivities of Orion s various missions and assess the unique challenges of each. The first part of this paper will describe the trade studies that were performed in order to characterize the RPOD system performance for both the ISS and the lunar missions including development of an RPOD operations concept, RPOD trajectories, contingency scenarios, docking mechanism and associated contact conditions, post-contact thrust issues, relative navigation sensors, relative navigation sensor target infrastructure. The paper will also discuss concepts for both manually-piloted and automatically executed scenarios, as well as the remotely-piloted contingency scenario in LLO. The second part of the paper will discuss the analyses performed for lunar and cislunar GN&C performance including the accuracy of the post-insertion lunar orbit, the ability of Orion to hit a particular Earth return entry corridor, attitude control solutions for long-duration surface operations, and autonomous navigation in support of TEI without ground tracking.

DSouza, Chris↗

NASA NTRS2012

Pulmonary Toxicity Studies of Lunar Dust in Rodents

NASA has been contemplating returning astronauts to the moon for long-duration habitation and research and using it as a stepping-stone to Mars. Other spacefaring nations are planning to send humans to the moon for the first time. The surface of the moon is covered by a layer of fine dust. Fine terrestrial dusts, if inhaled, are known to pose a health risk to humans. Some Apollo crews briefly exposed to moon dust that adhered to spacesuits and became airborne in the Lunar Module reported eye and throat irritation. The habitable area of any lunar landing vehicle or outpost would inevitably become contaminated with lunar dust. To assess the health risks of exposure of humans to airborne lunar dust, we evaluated the toxicity of Apollo 14 moon dust in animal lungs. Studies of the pulmonary toxicity of a dust are generally first done by intratracheal instillation (ITI) of aqueous suspensions of the test dust into the lungs of rodents. If a test dust is irritating or cytotoxic to the lungs, the alveolar macrophages, after phagocytizing the dust particles, will release cellular messengers to recruit white blood cells (WBCs) and to induce dilation of blood capillary walls to make them porous, allowing the WBCs to gain access to the alveolar space. The dilation of capillary walls also allows serum proteins and water entering the lung. Besides altering capillary integrity, a toxic dust can also directly kill the cells that come into contact with it or ingest it, after which the dead cells would release their contents, including lactate dehydrogenase (a common enzyme marker of cell death or tissue damage). In the treated animals, we lavaged the lungs 1 and 4 weeks after the dust instillation and measured the concentrations of these biomarkers of toxicity in the bronchioalveolar lavage fluids to determine the toxicity of the dust. To assess whether the inflammation and cellular injury observed in the biomarker study would lead to persistent or progressive histopathological changes, a similar study was conducted to microscopically examine rat lung tissue and the associated lymph nodes for lesions, including fibrosis, 1 or 3 months after the instillation. The results from this ITI study led us to select two concentrations (20 and 60 mg/cu m) for an inhalation study, in which rats were exposed to lunar dust 6 h daily for 4 weeks (5d/wk). Similar biochemical and histopathological assessments were carried out in these rats 1 day or 1, 4, or 13 weeks after the dust exposure. Rats exposed to lunar dust by ITI or inhalation showed effects indicating that the dust is moderately toxic. The data will be useful to establish safe exposure limits for astronauts working in a lunar habitat and also help engineers designing dust mitigation systems for lunar vehicles and habitats.

Lam, Chiu-Wing↗

NASA NTRS2016

Mapping in the Northern Martian Plains: A Renewed Survey of the Acidalia Mensae and Colles Regions

Acidalia Mensae is an oblong field of tilted mesas roughly trending east-west, with Acidalia Colles encompassing a regime of knobby terrain trending northeast from the center of the mesa region. Each province extends for approximately 300km in their respective directions in the heart of the vast plains of Acidalia Planitia. As part of efforts in the 1980s targeting evidences for a putative northern Martian paleo-ocean – manifesting itself most notably in geologic maps of quadrangles in East Acidalia – the Acidalia Mensae region was selected and divided into three quadrangles ranging across 26.8 deg W to 36 deg W and 47.5 deg N to 52.5 deg N. The region was then mapped at a 1:1,000,000 scale using Canvas on a Viking base map. We present an updated draft of this document converted into ArcMap, including a completed fourth quadrangle that covers the bulk of the Acidalia Colles region. Previously mapped units have been updated according to the availability of new higher-resolution data – particularly, Thermal Emission Imaging System (THEMIS) Day Infrared (IR) data as a base map, paired with supporting Context Camera (CTX) and High Resolution Stereo Camera (HRSC) HRSC stamps extracted from the Mars Orbital Data Explorer repository. Geologic units and contacts for the mesa and knob regimes, interstitial alluvial units and the surrounding plains are comprehensively presented alongside lower-level features such as levels (hypothesized to be shorelines) and pitted cones (putative pingos). The project was mapped in a transverse Mercator projection. Upon minor revision, the map is to be submitted to the USGS for publication.

Siwabessy, Andrew G.↗

DOE OSTI2024

Low-Flow Marine Hydrokinetic Turbine for Small Autonomous Unmanned Mobile Recharge Stations

A prototype low-flow marine current turbine for deployment from a small unmanned mobile floating platform has been developed for autonomously seeking and harnessing tidal/coastal currents. The support platform is an unmanned surface vehicle (USV), in the form of a catamaran with two electric outboard motors and with capabilities for autonomous navigation. The USV utilized is a WAM-V 16 vehicle that has been developed separately with support from the Office of Naval Research (ONR) [1]. The marine current turbine is based on a freestream waterwheel (FSWW), also known as an undershot waterwheel (FSWW), mounted on the stern of the USV. The concept of operation involves the USV autonomously navigating to a designated marine current resource. Upon arrival, the USV anchors itself, aligns with the current, and deploys the FSWW turbine using a custom cable-lift mechanism. The turbine harnesses the local current, and an onboard power-take-off (PTO) device converts the mechanical energy into electricity, which is stored in an onboard battery bank. When energy harvesting is completed, the turbine and the anchor are retrieved and the USV navigates to a selected location. These unmanned at-sea platforms can provide power to other unmanned maritime systems. Specifically, in this project, the power generated onboard can be used to charge aerial drones via a custom flight deck that has been developed for the USV. The recharging capabilities offered by a fleet of such strategically placed recharging stations can significantly benefit aerial drones operating in the maritime domain by eliminating the need to travel back and forth to land or ship based charging stations. The project has resulted in the development of subcomponents, including the FSWW turbine, a novel PTO, an automated anchoring system for the USV, an automated turbine deployment system, and a flight deck with capabilities onboard the USV for landing, direct-contact charging and takeoff of aerial drones. The design and development of these subsystems have culminated in the overall prototype marine hydrokinetic platform (MHK Platform, Fig. 1). Comprehensive lab and field testing have been conducted to validate the functionality and performance of the platform and its components. The project demonstrates the potential for autonomous, unmanned systems to harness renewable energy from marine currents, and provide sustainable power solutions for maritime applications such as coastal surveillance and environmental monitoring; shoreline mapping; search and rescue; oceanographic research; inspection and maintenance of offshore energy installations like wind turbines and oil rigs; oil spill response; maritime disaster response; and aerial surveys, as well as facilitation of data transfer drones and shore stations.

16 TIDAL AND WAVE POWER↗

NASA NTRS1976

Surface tension propellant control for Viking 75 Orbiter

The paper describes the selection, development and qualification of the surface tension system and includes results of low-g drop tower tests of scale models, 1-g simulation tests of low-g large ullage settling and liquid withdrawal, structural qualification tests, and propellant surface tension/contact angle studies. Subscale testing and analyses were used to evaluate the ability of the system to maintain or recover the desired propellant orientation following possible disturbances during the Viking mission. This effort included drop tower tests to demonstrate that valid wick paths exist for moving any displaced propellant back over the tank outlet. Variations in surface tension resulting from aging, temperature, and lubricant contamination were studied and the effects of surface finish, referee fluid exposure, aging, and lubricant contamination on contact angle were assessed. Results of movies of typical subscale drop tower tests and full scale slosh tests are discussed.

Dowdy, M. W.↗

NASA NTRS2004

Robotic End Effectors for Hard-Rock Climbing

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

Kennedy, Brett↗

NASA NTRS2012

Electrostatic Levitation: A Tool to Support Materials Research in Microgravity

Containerless processing represents an important topic for materials research in microgravity. Levitated specimens are free from contact with a container, which permits studies of deeply undercooled melts, and high-temperature, highly reactive materials. Containerless processing provides data for studies of thermophysical properties, phase equilibria, metastable state formation, microstructure formation, undercooling, and nucleation. The European Space Agency (ESA) and the German Aerospace Center (DLR) jointly developed an electromagnetic levitator facility (MSL-EML) for containerless materials processing in space. The electrostatic levitator (ESL) facility at the Marshall Space Flight Center provides support for the development of containerless processing studies for the ISS. Apparatus and techniques have been developed to use the ESL to provide data for phase diagram determination, creep resistance, emissivity, specific heat, density/thermal expansion, viscosity, surface tension and triggered nucleation of melts. The capabilities and results from selected ESL-based characterization studies performed at NASA's Marshall Space Flight Center will be presented.

Rogers, Jan↗

DOE OSTI2022

Structural, Criticality, and Radiation Dose Calculations to Support SNF Loading into a DOE Standard Canister

The DOE Standard Canister Demonstration Project includes the development of an internal support structure (ISS) for the 4.6-m-long and 45.7-cm-diameter canister. This study presents structural evaluations, criticality safety assessments, and dose rate calculations conducted within the scope of the ISS design process to support smooth canister loading operations and to ensure safe storage, transportation, and disposal of Peach Bottom 1 Core II (PB2) and Fort St. Vrain (FSV) SNF, currently stored at INL’s CPP-603 facility. The ISS includes a 316L stainless-steel basket that holds 12 PB2 SNF rods. The PB2 basket rests on top of six individual, 78.7-cm-long, 316L stainless-steel columns that are equally spaced and welded to the inner canister wall at the lower end of the shell. These columns represent the FSV basket and can hold one FSV SNF element. An A92014 T6 aluminum spacer disc is bolted to the bottom plate of the PB2 basket to vertically restrain the FSV SNF element after the PB2 basket is placed inside the canister above the FSV basket. The structural evaluations of the ISS followed applicable ASME BPVC.III.3 guidelines and included finite element (FE) analyses of the PB2 basket structure; analyses of welds and bolds; buckling analyses of selected components, and acceptability assessments of the expected basket deformations under loading operations. The criticality safety assessments used the Monte Carlo N-Particle (MCNP) software architecture Version 6.2, including ENDF/B-V continuous-energy cross-section libraries, considering intact SNF in a single storage overpack or two multistorage overpack configurations and intact or failed SNF configured for disposal. The dose rate computations are based on source terms taken from the DOE Spent Fuel Database. The isotopic composition was decay corrected for the year 2022 using the ORIGEN module in the SCALE suite. A 19-group photon spectrum and a 27-group neutron-source spectrum were generated and used in MCNP to calculate estimated dose-equivalent rates, both on DOE Standard Canister contact and at a radial distance of 1 m from the canister surface. The results of this study indicate a structurally sound system that can uphold its criticality safety functions throughout its intended operational phases. Furthermore, this study provides confidence that sufficient radiological protection is technically achievable.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

DOE OSTI2020

Structural, Criticality, and Radiation Dose Calculations to support SNF Loading into a DOE Standard Canister

The DOE Standard Canister Demonstration Project includes the development of an internal support structure (ISS) for the 4.6-m long and 45.7-cm diameter canister. This study presents structural evaluations, criticality safety assessments, and dose rate calculations conducted within the scope of the ISS design process to support smooth canister loading operations and to ensure safe storage, transportation, and disposal of Peach Bottom 1 Core II (PB2) and Fort St. Vrain (FSV) SNF, currently stored at the CPP-603 facility of the INL. The ISS includes a 316L stainless steel basket that holds twelve PB2 SNF rods. Further, six individual, 78.7-cm long, 316L stainless steel columns are equally spaced and welded to the inner canister wall at the lower end of the shell. These columns represent the FSV basket and can hold one FSV SNF element. An A92014 T6 aluminum spacer disc is bolted to the bottom plate of the PB2 basket to vertically restrain the FSV SNF element after the PB2 basket is placed inside the canister on top of the FSV basket. The structural evaluations of the ISS followed applicable ASME BPVC.III.3 guidelines and included finite element (FE) analyses of the PB2 basket structure; analyses of welds and bolds; buckling analyses of selected components, and acceptability assessments of the expected basket deformations under loading operations. The criticality safety assessments used the Monte Carlo N-Particle (MCNP) software architecture version 6.2 including ENDF/B-V continuous energy cross-section libraries, considering intact SNF in a single storage overpack or two multi-storage overpack configurations, and intact or failed SNF configured for disposal. The dose rate computations are based on source terms taken from the DOE Spent Fuel Database. The isotopic composition was decay corrected for the year 2022 using the ORIGEN module in the SCALE suite. A 19-group photon spectrum and 27-group neutron-source spectra were generated and used in MCNP to calculate estimated dose-equivalent rates, both on DOE Standard Canister contact and at a radial distance of from the canister surface. The results of this study indicate a structurally sound system that can uphold its criticality safety functions throughout its intended operational phases. Further, they increase confidence that sufficient radiological protection is technically achievable.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗