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At least 865 records · Page 48

Process Model for Friction Stir Welding

Friction stir welding (FSW) is a relatively new process being applied for joining of metal alloys. The process was initially developed by The Welding Institute (TWI) in Cambridge, UK. The FSW process is being investigated at NASA/MSEC as a repair/initial weld procedure for fabrication of the super-light-weight aluminum-lithium shuttle external tank. The FSW investigations at MSFC were conducted on a horizontal mill to produce butt welds of flat plate material. The weldment plates are butted together and fixed to a backing plate on the mill bed. A pin tool is placed into the tool holder of the mill spindle and rotated at approximately 400 rpm. The pin tool is then plunged into the plates such that the center of the probe lies at, one end of the line of contact, between the plates and the shoulder of the pin tool penetrates the top surface of the weldment. The weld is produced by traversing the tool along the line of contact between the plates. A lead angle allows the leading edge of the shoulder to remain above the top surface of the plate. The work presented here is the first attempt at modeling a complex phenomenon. The mechanical aspects of conducting the weld process are easily defined and the process itself is controlled by relatively few input parameters. However, in the region of the weld, plasticizing and forging of the parent material occurs. These are difficult processes to model. The model presented here addresses only variations in the radial dimension outward from the pin tool axis. Examinations of the grain structure of the weld reveal that a considerable amount of material deformation also occurs in the direction parallel to the pin tool axis of rotation, through the material thickness. In addition, measurements of the axial load on the pin tool demonstrate that the forging affect of the pin tool shoulder is an important process phenomenon. Therefore, the model needs to be expanded to account for the deformations through the material thickness and the forging affect of the shoulder. The energy balance at the boundary of the plastic region with the environment required that energy flow away from the boundary in both radial directions. One resolution to this problem may be to introduce a time dependency into the process model, allowing the energy flow to oscillate across this boundary. Finally, experimental measurements are needed to verify the concepts used here and to aid in improving the model.

Adams, Glynn↗

HEALPix: A Framework for High-Resolution Discretization and Fast Analysis of Data Distributed on the Sphere

HEALPix the Hierarchical Equal Area isoLatitude Pixelization is a versatile structure for the pixelization of data on the sphere. An associated library of computational algorithms and visualization software supports fast scientific applications executable directly on discretized spherical maps generated from very large volumes of astronomical data. Originally developed to address the data processing and analysis needs of the present generation of cosmic microwave background experiments (e.g., BOOMERANG, WMAP), HEALPix can be expanded to meet many of the profound challenges that will arise in confrontation with the observational output of future missions and experiments, including, e.g., Planck, Herschel, SAFIR, and the Beyond Einstein inflation probe. In this paper we consider the requirements and implementation constraints on a framework that simultaneously enables an efficient discretization with associated hierarchical indexation and fast analysis/synthesis of functions defined on the sphere. We demonstrate how these are explicitly satisfied by HEALPix.

cosmic microwave background↗

A conceptual design for an integrated data base management system for remote sensing data

The requirements of potential users were considered in the design of an integrated data base management system, developed to be independent of any specific computer or operating system, and to be used to support investigations in weather and climate. Ultimately, the system would expand to include data from the agriculture, hydrology, and related Earth resources disciplines. An overview of the system and its capabilities is presented. Aspects discussed cover the proposed interactive command language; the application program command language; storage and tabular data maintained by the regional data base management system; the handling of data files and the use of system standard formats; various control structures required to support the internal architecture of the system; and the actual system architecture with the various modules needed to implement the system. The concepts on which the relational data model is based; data integrity, consistency, and quality; and provisions for supporting concurrent access to data within the system are covered in the appendices.

Maresca, P. A.↗

The impulsive phase of a solar limb flare

The limb flare of 1980 November 18 at 14:51 UT is studied with the X-ray instruments on board the Solar Maximum Mission (SMM). Evidence is found for release of a significant fraction, 10 percent or more, of the flare energy before the impulsive hard X-ray burst. In the impulsive phase the hard X-rays emitted during the rapidly varying part of the burst are observed on the limb, at a level consistent with the chromosphere. During the final stages of the hard X-ray burst, when the fast time structure has disappeared, the hard X-rays clearly come from the corona, at which time the spectrum is softer. Throughout the decay phase of the flare the X-rays also originate in the corona. It is concluded that initially the flare energy is deposited below the transition zone, from which point the chromospheric plasma is ablated. When this plasma has expanded into the corona to the energy release site, particle acceleration associated with such energy release is quenched. The altitude of this site is estimated at 6000 + or - 1500 km above the photosphere. The sequence of observations is consistent with the bulk of the energy being contained in suprathermal protons, in the energy region 100-1000 keV, during the impulsive phase.

Simnett, G. M.↗

CSCM methodology for slot injection cooled cavity flow design in a high enthalpic stream

The CSCM method for the compressible Navier-Stokes equations is applied to study design factors in a slot injection cooled cavity flow in the side of a 2-D wedge body in a high enthalpy free stream. The flow geometry is being designed and will be tested in an arc jet tunnel at NASA-Ames Research Center. Objectives of the design are to provide adequate thermal protection for and minimize aero-optical distortion in the path above a window located in the bottom of the cavity. Among design issues, are the geometry of and flow conditions in the expanding section of the supersonic slot injection nozzle. Here, for straight walled nozzles, two geometries are considered for the upper nozzle lip between the hot, high speed outer flow and the colder, denser cooling flow. The two lip geometries - thick, square and thin, wedge - as the result of associated widely differing base/wake flows also exhibit different and interesting viscous-inviscid flow structures near the ramp termination to the cavity. For the thin lip case, the consequences on flow quality of off design nozzle conditions relative to matching pressure with the outer flow are explored.

Bardina, Jorge↗

Supersonic Coaxial Jets: Noise Predictions and Measurements

The noise from perfectly expanded coaxial jets was measured in an anechoic chamber for different operating conditions with the same total thrust, mass flow, and exit area. The shape of the measured noise spectrum at different angles to the jet axis was found to agree with spectral shapes for single, axisymmetric jets. Based on these spectra, the sound was characterized as being generated by large turbulent structures or fine-scale turbulence. Modeling the large scale structures as instability waves, a stability analysis was conducted for the coaxial jets to identify the growing and decaying instability waves in each shear layer and predict their noise radiation pattern outside the jet. When compared to measured directivity, the analysis identified the region downstream of the outer potential core, where the two shear layers were merging, as the source of the peak radiated noise where instability waves, with their origin in the inner shear layer, reach their maximum amplitude. Numerical computations were also performed using a linearized Euler equation solver. Those results were compared to both the results from the instability wave analysis and to measured data.

Dahl, Milo D.↗

The high-latitude cloud MBM 7. I. H I and CO observations

The high-latitude cloud (HLC) MBM 7 has been observed in the 21 cm H I line and the 12CO(1-0) and 13CO(1-0) lines with similar spatial resolutions. The data reveal a total mass approximately 30 M solar for MBM 7 and a complex morphology. The cloud consists of a cold dense core of 5 M solar surrounded by atomic and molecular gas with about 25 M solar, which is embedded in hotter and more diffuse H I gas. We derive a total column density N(H I + 2H2) of 1 x 10(21) cm-2 toward the center and 1 x 10(20) cm-3 toward the envelope of MBM 7. The CO line indicates the existence of dense cores [n(H2) > or = 2000 cm-3] of size (FWHM) approximately 0.5 pc. The morphology suggests shock compression from the southwest direction, which can form molecular cores along the direction perpendicular to the H I distribution. The H I cloud extends to the northeast, and the velocity gradient appears to be about 2.8 km s-1 pc-1 in this direction, which indicates a systematic outward motion which will disrupt the cloud in approximately 10(6) yr. The observed large line widths of approximately 2 km s-1 for CO suggest that turbulent motions exist in the cloud, and hydrodynamical turbulence may dominate the line broadening. Considering the energy and pressure of MBM 7, the dense cores appear not to be bound by gravity, and the whole cloud including the dense cores seem to be expanding. The distance to HLCs suggest that they belong to the galactic plane, since the scale height of the cloud is < or approximately equal to 100 pc. Compared to the more familiar dense dark clouds, HLCs may differ only in their small mass and low density, with their proximity reducing the filling factor and enhancing the contrast of the core and envelope structure.

Non-NASA Center↗

A Statistical Analysis of Loop-Top Motion in Solar Limb Flares

Previous studies of hot, thermal solar flare loops imaged with the Ramaty High Energy Solar Spectroscopic Imager (RHESSI) have identified several flares for which the loop top shrinks downward early in the impulsive phase and then expands upward later in the impulsive phase (Sui & Holman 2003; Sui, Holman & Dennis 2004; Veronig et al. 2005). This early downward motion is not predicted by flare models. We study a statistical sample of RHESSI flares to assess how common this evolution is and to better characterize it. In a sample of 88 flares near the solar lin$ that show identifiable loop structure in RHESSI images, 66% (58 flares) showed downward loop-top motion followed by upward motion. We therefore conclude that the early downward motion is a frequent characteristic of flare loops. We obtain the distribution of the timing of the change from downward to upward motion relative to flare start and peak times. We also obtain the distributions of downward and upward speeds.

Holman, Gordon D.↗

Spinoff 2010

Topics covered include: Burnishing Techniques Strengthen Hip Implants; Signal Processing Methods Monitor Cranial Pressure; Ultraviolet-Blocking Lenses Protect, Enhance Vision; Hyperspectral Systems Increase Imaging Capabilities; Programs Model the Future of Air Traffic Management; Tail Rotor Airfoils Stabilize Helicopters, Reduce Noise; Personal Aircraft Point to the Future of Transportation; Ducted Fan Designs Lead to Potential New Vehicles; Winglets Save Billions of Dollars in Fuel Costs; Sensor Systems Collect Critical Aerodynamics Data; Coatings Extend Life of Engines and Infrastructure; Radiometers Optimize Local Weather Prediction; Energy-Efficient Systems Eliminate Icing Danger for UAVs; Rocket-Powered Parachutes Rescue Entire Planes; Technologies Advance UAVs for Science, Military; Inflatable Antennas Support Emergency Communication; Smart Sensors Assess Structural Health; Hand-Held Devices Detect Explosives and Chemical Agents; Terahertz Tools Advance Imaging for Security, Industry; LED Systems Target Plant Growth; Aerogels Insulate Against Extreme Temperatures; Image Sensors Enhance Camera Technologies; Lightweight Material Patches Allow for Quick Repairs; Nanomaterials Transform Hairstyling Tools; Do-It-Yourself Additives Recharge Auto Air Conditioning; Systems Analyze Water Quality in Real Time; Compact Radiometers Expand Climate Knowledge; Energy Servers Deliver Clean, Affordable Power; Solutions Remediate Contaminated Groundwater; Bacteria Provide Cleanup of Oil Spills, Wastewater; Reflective Coatings Protect People and Animals; Innovative Techniques Simplify Vibration Analysis; Modeling Tools Predict Flow in Fluid Dynamics; Verification Tools Secure Online Shopping, Banking; Toolsets Maintain Health of Complex Systems; Framework Resources Multiply Computing Power; Tools Automate Spacecraft Testing, Operation; GPS Software Packages Deliver Positioning Solutions; Solid-State Recorders Enhance Scientific Data Collection; Computer Models Simulate Fine Particle Dispersion; Composite Sandwich Technologies Lighten Components; Cameras Reveal Elements in the Short Wave Infrared; Deformable Mirrors Correct Optical Distortions; Stitching Techniques Advance Optics Manufacturing; Compact, Robust Chips Integrate Optical Functions; Fuel Cell Stations Automate Processes, Catalyst Testing; Onboard Systems Record Unique Videos of Space Missions; Space Research Results Purify Semiconductor Materials; and Toolkits Control Motion of Complex Robotics.

Source record↗

Martian B Storm Genesis and Evolution: Initial Analysis of Thermal Datasets.

Introduction: Dust lifting on Mars likely occurs primarily as a result of the exchange of momentum between the atmosphere and the surface via saltation. During saltation, sand-sized particles are mobilized but do not enter into suspension. When these larger particles fall back to the surface, kinetic energy is transferred to smaller dust particles which are then lofted into suspension in the atmosphere. Depending on the altitude to which dust is lofted, it can have a significant effect on atmospheric temperatures. As a strong absorber and emitter in the infrared, dust can influence atmospheric heating and modify the global circulation and weather on Mars [1,2]. Although dust is present in Mars’ atmosphere throughout the year, the atmosphere is generally dustier during the second half of the year when Mars is near perihelion. Observations reveal that episodic global-scale dust storms and fairly regular regional-scale dust storms are superimposed on a well-defined and highly repeatable seasonal cycle of dust opacity and associated mid-level atmospheric temperature responses. Kass et al. (2016) used 50 Pa temperature observations from MRO/MCS to identify three highly repeatable time periods during which regional dust storms occur, and designated them the “A”, “B” and “C” storms. While “A” and “C” storms have been studied a fair amount to-date, “B” storms have not yet been investigated in detail. This study explores the generation and evolution of the annually recurring regional dust storm known as the “B” storm, which was identified and categorized by Kass et al. (2016) based on 25 km (50 Pa) temperature observations. The B storm is a southern-hemisphere (SH) phenomenon that originates at the cap edge just after perihelion and which reaches peak intensity during the SH summer solstice, Ls 270. It may originate from the cap edge storms that spawn near the edge of the seasonal CO2 cap during retreat, but the mechanisms for B storm genesis have yet to be determined definitively [1]. Methods: We will use observational data sets and a global climate model (GCM) to investigate “B” regional storms. The data analysis component will include the analysis of imagery from MGS/MOC and MRO/MARCI, and spectroscopic data sets of dust and temperatures from MGS/TES and MRO/MCS with the goal of fully characterizing the behavior of these storms. Both MGS and TES provide data well-suited for temperature analysis at 25 km. MCS measures atmospheric temperature, dust extinction, and water ice extinction at 5 km intervals from the surface to about 80 km. TES measured atmospheric temperatures, column dust and water ice opacities, and column water vapor abundances. Measurements made by TES extended from the surface to about 40 km [1]. At the 50 Pa (25 km) level, local dust events usually confined to shallower depths are effectively filtered out of the analysis leaving the regional dust events identifiable by their temperature signatures [1]. Our preliminary analysis makes use of the fact that the brightness temperature at 15 microns (T15 temperature) is a close approximation to observed temperature at 25 km. We first reproduce the zonal mean 50 Pa level temperature plots for MY 29-32 to establish a baseline for our procedures moving forward [1]. Expanding on Kass et al. (2016), we include recent MCS data from MY 33 and 34 as well. Preliminary Analysis: The daytime (3PM) T15 temperatures in Figure 1 indicate: in MY 29, a strong A storm at Ls 240, a B storm at high southern latitudes just after Ls 270, and a C storm at Ls 320; in MY 30, a B storm at Ls 270; in MY 31 & MY 32, a B storm just before Ls 270; in MY 33, a B storm at Ls 270; and in MY 34, a strong A storm in the northern hemisphere at Ls 210, and a B storm around Ls 270 although there is a data gap. For the B storms, each is indicative of lofted dust and resultant warming. The daytime temperature structure illustrates that the B storm occurs annually around Ls 270 and is confined to high southern latitudes. It reaches its peak intensity around SH summer solstice, Ls 270, consistently for all six MY assessed. Since direct solar heating is absent overnight, the nighttime T15 temperatures (Figure 2) are often useful for differentiating the heat signature of direct solar heating from the dynamical response to that heating. However, in the southern polar latitudes at perihelion the sun does not set and direct solar heating remains present throughout the night. Importantly for our study, dust lofted in the B storm experiences this direct heating day and night for the entirety of its lifetime. The B storm expands as far north as -60 latitude and decays in latitudinal extent more gradually than it grows. This feature is less obvious in the nighttime (3AM) T15 temperatures (Figure 2). The temperature signal is stronger at night for MY 30-33. The warm pool is larger in area relative to the background at night in these four cases. This more uniform warming masks the “tail” feature somewhat, such that it is barely noticeable during these years. Unfortunately, gaps in MCS data in MY 29 and 34 prevent confirmation of the tail feature during those years, however, the B storm temperature signature follows a very different pattern than that described for MY 30-33. MY 29 and 34 appear to show smaller centers of warming at night and larger centers of warming during the day. This is in opposition to that previously described for MY 30-33. Conclusions and Future Work: We will continue investigating the heat signatures of B storms by looking at the total column heating as recorded by TES. We will also look at lower altitudes for patterns that may describe the relationship between B storms and the cap edge storms that develop while the seasonal cap is retreating. In the future, we will use GCM simulations to determine the atmospheric and thermo-dynamic conditions associated with these storms.

Courtney Marylou Batterson↗

VLSI architectures for computing multiplications and inverses in GF(2-m)

Finite field arithmetic logic is central in the implementation of Reed-Solomon coders and in some cryptographic algorithms. There is a need for good multiplication and inversion algorithms that are easily realized on VLSI chips. Massey and Omura recently developed a new multiplication algorithm for Galois fields based on a normal basis representation. A pipeline structure is developed to realize the Massey-Omura multiplier in the finite field GF(2m). With the simple squaring property of the normal-basis representation used together with this multiplier, a pipeline architecture is also developed for computing inverse elements in GF(2m). The designs developed for the Massey-Omura multiplier and the computation of inverse elements are regular, simple, expandable and, therefore, naturally suitable for VLSI implementation.

Wang, C. C.↗

VLSI architectures for computing multiplications and inverses in GF(2m)

Finite field arithmetic logic is central in the implementation of Reed-Solomon coders and in some cryptographic algorithms. There is a need for good multiplication and inversion algorithms that are easily realized on VLSI chips. Massey and Omura recently developed a new multiplication algorithm for Galois fields based on a normal basis representation. A pipeline structure is developed to realize the Massey-Omura multiplier in the finite field GF(2m). With the simple squaring property of the normal-basis representation used together with this multiplier, a pipeline architecture is also developed for computing inverse elements in GF(2m). The designs developed for the Massey-Omura multiplier and the computation of inverse elements are regular, simple, expandable and, therefore, naturally suitable for VLSI implementation.

Wang, C. C.↗

Robotic assembly of large space structures

The Automated Structures Assembly Laboratory (ASAL) has been developed at LaRC for the following purposes: identifying the problems associated with assembling large space structures using robotic manipulators; investigating systems and techniques applicable to such assembly tasks; and developing methodology for an in-space construction facility. The ASAL facility and its robotic manipulator system is described, and a discussion of the initial series of assembly operations are included. The status of the system software development is summarized, and an outline for follow-on testing and expanded capability is given.

Will, Ralph W.↗

Finite-Element Analysis of a Mach-8 Flight Test Article Using Nonlinear Contact Elements

A flight test article, called a glove, is required for a Mach-8 boundary-layer experiment to be conducted on a flight mission of the air-launched Pegasus(reg) space booster. The glove is required to provide a smooth, three-dimensional, structurally stable, aerodynamic surface and includes instrumentation to determine when and where boundary-layer transition occurs during the hypersonic flight trajectory. A restraint mechanism has been invented to attach the glove to the wing of the space booster. The restraint mechanism securely attaches the glove to the wing in directions normal to the wing/glove interface surface, but allows the glove to thermally expand and contract to alleviate stresses in directions parallel to the interface surface. A finite-element analysis has been performed using nonlinear contact elements to model the complex behavior of the sliding restraint mechanism. This paper provides an overview of the glove design and presents details of the analysis that were essential to demonstrate the flight worthiness of the wing-glove test article. Results show that all glove components are well within the allowable stress and deformation requirements to satisfy the objectives of the flight research experiment.

Richards, W. Lance↗

Modeling with Livingstone

MPL is the language with which a modeler describes a system to be diagnosed or controlled by Livingstone. MPL is used to specify what are the components of the system, how they are interconnected, and how they behave both nominally and when failed. Component behavioral models used by Livingstone are described by a set of propositional, well-formed formula (wff). An understanding of well-formed formula, primitive component types specified through defcomponent, and device structure specified by defmodule, is essential to understanding of MPL, This document describes: welI-formed formula (wff): The basis for describing the behavior of a component in a system defvalues: Specifies the domain (legal values) of a variable defcomponent: Defines the modes, behaviors and mode transitions for primitive components deftnodule: Defines composite devices, consisting of interconnected components defrelation: A macro mechanism for expanding a complex wff according to the value of an argument forall: An iteration construct used to expand a wff or relation on a set of arguments defsymbol-expansion: A mechanism for naming a collection of symbols (eg the name of all valves in the system)

Kurien, J.↗

NASA Space Mechanisms Handbook and Reference Guide Expanded Into CD-ROM Set

Several NASA missions suffered failures and anomalies due to problems in applying space mechanisms technology to specific projects. Research shows that engineers often lack either adequate knowledge of mechanism design or sufficient understanding of how mechanisms affect sensitive systems. The Space Mechanisms Project conducted a Lessons Learned study and published a Space Mechanisms Handbook to help space industry engineers avoid recurring design, qualification, and application problems. The Space Mechanisms Handbook written at the NASA Glenn Research Center details the state-of-the-art in space mechanisms design as of 1998. NASA's objective in developing this Space Mechanisms Handbook was to provide readily accessible information on such areas as space mechanisms design, mechanical component availability and use, testing and qualification of mechanical systems, and a listing of worldwide space mechanisms experts and testing facilities in the United States. This handbook has been expanded into a two-volume CD-ROM set in an Adobe Acrobat format. In addition to the handbook, the CD's include (1) the two volume Space Mechanisms Lessons Learned Study, (2) proceedings from all the NASA hosted Aerospace Mechanisms Symposia held through the year 2000, (3) the Space Materials Handbook, (4) the Lubrication Handbook for the Space Industry, (5) the Structural & Mechanical Systems Long-Life Assurance Design Guidelines, (6) the Space Environments and Effects Source-Book, (7) the Spacecraft Deployable Appendages manual, (8) the Fastener Design Manual, (9) A Manual for Pyrotechnic Design, Development and Qualification, (10) the Report on Alternative Devices to Pyrotechnics on Spacecraft, and (11) Gearing (a manual). In addition, numerous other papers on tribology and lubrication are included.This technical summary of the project provides information on how to obtain the handbook and related information.

Fusaro, Robert L.↗

California Space Grant Consortium

The organizational and administrative structure of the CaSGC has the Consortium Headquarters Office (Principal Investigator - Dr. John Kosmatka, California Statewide Director - Dr. Michael Wiskerchen) at UC San Diego. Each affiliate member institution has a campus director and an scholarship/fellowship selection committee. Each affiliate campus director also serves on the CaSGC Advisory Council and coordinates CMIS data collection and submission. The CaSGC strives to maintain a balance between expanded affiliate membership and continued high quality in targeted program areas of aerospace research, education, workforce development, and public outreach. Associate members are encouraged to participate on a project-by-project basis that meets the needs of California and the goals and objectives of the CaSGC. Associate members have responsibilities relating only to the CaSGC projects they are directly engaged in. Each year, as part of the CaSGC Improvement Plan, the CaSGC Advisory Council evaluates the performance of the affiliate and associate membership in terms of contributions to the CaSGC Strategic Plan, These CaSGC membership evaluations provide a constructive means for elevating productive members and removing non-performing members. This Program Improvement and Results (PIR) report will document CaSGC program improvement results and impacts that directly respond to the specific needs of California in the area of aerospace-related education and human capital development and the Congressional mandate to "increase the understanding, assessment, development and utilization of space resources by promoting a strong education base, responsive research and training activities, and broad and prompt dissemination of knowledge and technology".

Kosmatka, John↗

Soft-Robotic Rover with Electrodynamic Power Scavenging: NIAC Final Report - Phase 1

The purpose of studying the capabilities of Electrodynamic Tethers (EDT) and Soft Robotics is to ascertain the feasibility of using cross-cutting EDT and soft robotics technologies to achieve future NASA mission objectives with mass and power budgets orders of magnitude lower than conventional spacecraft. In this context, the Phase I study focuses on three technological elements: the design of a soft-robotic rover that can operate in extraterrestrial oceans, demonstrating feasibility of electrodynamic tethers for power scavenging in the Europa environment, and utilizing electrolysis to power biomimetic propulsion.The Phase I results show that a soft robotic, underwater rover has many advantages over a traditional view of autonomous underwater vehicles. Many of these advantages stem from its ability to collapse or expand the body, which carries two key benefits: (i) cost savings in transport and (ii) buoyancy control. Furthermore, this rover's material offers properties that enable it to survive most oceanic conditions, withstand a likely radiation environment, and retard ice formation. The use of these soft robots under water is very attractive because buoyancy enables very large robots without the need for skeletal structures that limit their shape-changing ability. The prime limitation of soft robots for underwater exploration is their nascent state of development, an issue that this study has begun to address and that we hope to continue in Phase II. The theoretical calculations and experimental investigation on electrodynamic tethers discussed in this report show that their use in saltwater environments is feasible. However, magneto hydrodynamic effects require attention, which will be a priority in Phase II. A possible approach involves magnetic shielding of a portion of the EDT array to generate significant current from imposed alternating magnetic fields. The Phase I experiments show that this approach may enable enough power to be generated for a soft robotic rover of the scale contemplated here. This power is in the range of 1mW to 1W and determines the time required to collect and transmit science data.

Soft Robotics↗