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At least 127 records · Page 7

Scaling Climbing Collaborative Mobile Manipulators for Outfitting a Tall Lunar Tower and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C2M2) for outfitting and other servicing tasks. Mobile robotic systems traversing truss structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The C2M2 is designed to provide access to the structure through collaborative mobile robotics. A series of gaits are developed allowing the robot to reach any point on the structure and validate the capabilities of the joint configuration. Scaling the system during the design phase is a necessary process given the wide range of trusses in development and payloads which are required for outfitting. The variable features of the system are the actuators and the length of the links connecting the two-degrees of freedom (DOF) modules. A scaling method was developed for determining the range of usable link lengths for a selected actuator in a design environment. The focus of the design is on a six-DOF robot arranged with two-DOF at each end and at the center. Two grippers are mounted at each end for grappling on the truss and holding cargo.

Collaborative Robotics

Lunar shear velocity structure at Apollo sites 12, 14, and 15

Spectral amplitude ratios of horizontal-to-vertical motion produced on seismograms of meteoroid impacts at the Apollo 12, 14, and 15 sites, the Apollo 14 and 15 lunar-module impacts, and the Apollo 15 S4B impact show consistent differences among the recording sites. On the assumption that the motion represents predominantly fundamental-mode Reyleigh waves and that the compressional-wave velocity structure is similar to that derived in other investigations involving the Apollo seismic experiments, estimates are made of the shear-wave velocity structure under the three sites. Near-surface velocities are about 35 m/s at the three sites. The results for site 14 indicate an increase to about 100 m/s near the 8-m depth and to 200 m/s at the 38-m depth. Results for sites 12 and 15 show a smoother gradient and generally a greater velocity at a given depth than that indicated at site 14, reaching velocities of about 400 m/s near the 120-m depth. If the assumed P velocity structures are correct and if changes in S velocity coincide with changes in P velocity, then the ratio of these velocities decreases from 2.9 to 2.0 in the upper 19 meters at site 12, in the upper 38 meters at site 14, and in the upper 21 meters at site 15.

Mark, N.

Scaleup of Microwave Powder Bed Fusion for Lunar Infrastructure Construction

NASA and its partners are seeking to establish a sustainable and permanent presence on the Moon. Like explorers on Earth, making use of natural resources upon arrival at the destination will be paramount. In-situ resource utilization of the lunar regolith will enable efficient construction of lunar infrastructure. Transforming the granular regolith into a solid can be achieved in many ways. One method is to use microwave energy to sinter the regolith into various structures. The lunar regolith has a low thermal conductivity, but microwaves can volumetrically heat it to bind the granular particles together in an energy efficient manner. One concept that is being developed and evaluated to sinter the regolith into infrastructure uses the Moon’s surface as a powder bed. Regolith would be added to the sintered lunar structure to build up layers to create structures such as landing pads, blast shields, roads, etc. Microwave systems, concept of operations, and sintering protocols are being developed to create a sub-element structure targeted for a lunar demonstration mission.

microwave

On Structural Design of a Mobile Lunar Habitat With Multi- Layered Environmental Shielding

This report presents an overview of a Mobile Lunar Habitat (MLH) structural design consisting of advanced composite materials. The habitat design is derived from the cylindrical-shaped U.S. Lab module aboard the International Space Station (ISS) and includes two lateral ports and a hatch at each end that geometrically match those of the ISS Nodes. Thus, several MLH units can be connected together to form a larger lunar outpost of various architectures. For enhanced mobility over the lunar terrain, the MLH uses six articulated insect-like robotic, retractable legs enabling the habitat to .t aboard a launch vehicle. The carbon-composite shell is sandwiched between two layers of hydrogen-rich polyethylene for enhanced radiation shielding. The pressure vessel is covered by modular double-wall panels for meteoroid impact shielding supported by externally mounted stiffeners. The habitat s structure is an assembly of multiple parts manufactured separately and bonded together. Based on the geometric complexity of a part and its material system, an appropriate fabrication process is proposed.

Pruitt, J. R.

Indigenous lunar construction materials

The objectives are the following: to investigate the feasibility of the use of local lunar resources for construction of a lunar base structure; to develop a material processing method and integrate the method with design and construction of a pressurized habitation structure; to estimate specifications of the support equipment necessary for material processing and construction; and to provide parameters for systems models of lunar base constructions, supply, and operations. The topics are presented in viewgraph form and include the following: comparison of various lunar structures; guidelines for material processing methods; cast lunar regolith; examples of cast basalt components; cast regolith process; processing equipment; mechanical properties of cast basalt; material properties and structural design; and future work.

Rogers, Wayne

The velocity structure of the lunar crust.

Seismic refraction data, obtained at the Apollo 14 and 16 sites, when combined with other lunar seismic data, allow a compressional wave velocity profile of the lunar near-surface and crust to be derived. The regolith, although variable in thickness over the lunar surface, possesses surprisingly similar seismic properties. Underlying the regolith at both the Apollo 14 Fra Mauro site and the Apollo 16 Descartes site is low-velocity brecciated material or impact derived debris. Key features of the lunar seismic velocity profile are: (1) velocity increases from 100 to 300 m/sec in the upper 100 m to about 4 km/sec at 5 km depth, (2) a more gradual increase from about 4 km/sec to about 6 km/sec at 25 km depth,(3) a discontinuity at a depth of 25 km, and (4) a constant value of about 7 km/sec at depths from 25 km to about 60 km.

Kovach, R. L.

Structure of the lunar interior from magnetic field measurements

A network of lunar surface and orbiting magnetometers was used to obtain measurements of electrical conductivity and magnetic permeability of the lunar interior. An exceptionally large solar transient event, when the moon was in a geomagnetic tail lobe, enabled the most accurate lunar electromagnetic sounding information to date to be obtained. A new analytical technique using a network of two surface magnetometers and a satellite magnetometer superimposes many time series measurements to improve the signal-to-noise ratio and uses both the amplitude and phase information of all three vector components of the magnetic field data. Size constraints on a hypothetical highly conducting lunar core are investigated with the aid of the permeability results.

Dyal, P.

The cordierite- to spinel-cataclasite transition - Structure of the lunar crust

A two-layer lunar crust model is proposed in light of geochemical relationships between spinel cataclasites and anorthosites, discussing the relative abundances of these rocks. The uppermost stratigraphic unit of this model consists of members of the anorthositic series, and is estimated to be 12-20 km thick. The lower, Mg-rich unit consists of rocks with cotectic mineralogical proportions, and may constitute the greatest volume of the crust.

Herzberg, C. T.

Seismic velocity structure of the lunar mantle

The recently completed set of seismic arrival times from the Apollo lunar seismic network are inverted to estimate the average seismic velocities in three sections of the lunar mantle: two for the upper mantle and one for the middle mantle. The method used is a variation of the linearized least squares inversion where the inversion is accomplished in steps. The estimated average velocities in the upper mantle decrease from Vp = 7.74 km/sec and Vs = 4.49 km/sec in the section above 270-km depth to Vp = 7.46 km/sec and Vs = 4.25 km/sec in the section between 270- and 500-km depth, confirming the earlier finding of negative gradients based on seismic amplitude variations. The average velocities in the middle mantle between the depths of 500 km and 1000 km of Vp = 8.26 km/sec and Vs = 4.65 km/sec are significantly higher than those in the upper mantle, contradicting earlier estimates based on more limited data. The higher velocities may suggest initial melting of the moon down to at least 1000-km depth.

Nakamura, Y.

Experimental methods for quenching structures in lunar-analog silicate melts: Variations as a function of quench media and composition

Compositions analogous to lunar green, organge, and brown glasses were synthesized under consistent conditions, then quenched into a variety of different media when the samples were removed from the furnace. Iron valence and coordination are a direct function of quench media used, spanning the range from brine/ice (most effective quench), water, butyl phthalate, silicone oil, liquid nitrogen, highly reducing CO-CO2 gas, to air (least efficient quench). In the green and brown glasses, Fe(3+) in four-fold and six-fold coordination is observed in the slowest-quenched samples; Fe(2+) coordination varies directly with quench efficiency. Less pronounced changes were observed in the Ti-rich orange glass. Therefore the remote-sensed spectrum of a glass-bearing regolith on the Moon may be influenced by the process by which the glass cooled, and extreme caution must be used when comparing spectra of synthetic glass analogs with real lunar glasses.

Dyar, M. D.

Experimental methods for quenching structures in lunar-analog silicate melts - Variations as a function of quench media and composition

Compositions analogous to lunar green, orange, and brown glasses were synthesized under consistent conditions, then quenched into a variety of different media when the samples were removed from the furnace. Iron valence and coordination are a direct function of quench media used, spanning the range from brine/ice (most effective quench), water, butyl phthalate, silicone oil, liquid nitrogen, highly reducing CO-CO2 gas, to air (least efficient quench). In the green and brown glasses, Fe(3+) in four-fold and six-fold coordination is observed in the slowest-quenched samples; Fe(2+) coordination varies directly with quench efficiency. Less pronounced changes were observed in the Ti-rich orange glass. Therefore the remote-sensed spectrum of a glass-bearing regolith on the moon may be influenced by the process by which the glass cooled, and extreme caution must be used when comparing spectra of synthetic glass analogs with real lunar glasses.

Dyar, M. D.

Regolith-structure modeling of lunar facilities

The mechanical properties of lunar regolith are significantly different from terrestrial soils; at low stress levels, the ultimate strength envelope is highly nonlinear, and the material is essentially dilatant. The effects of platen friction, membrane confinement, and material self weight in triaxial tests have been shown to be of great significance in low stress level tests. An inverse identification technique has been devised to account for these effects where the load-displacement response of the entire specimen, including the boundary conditions and the self-weight, was analyzed by nonlinear finite element techniques so as to obtain true material parameters.

Perkins, Steven W.

Lunar seismology - The internal structure of the moon

It is pointed out that seismology has provided the most detailed information concerning the structure and state of the earth's interior. Beginning in 1969, seismometers were landed on the moon by the Apollo missions, providing the first opportunity to attempt similar studies on another planetary body. In September 1977 the operation of these instruments was terminated. A description is presented of the internal structure of the moon, as determined from the obtained lunar seismic data. The analysis of the lunar data is approached in a systematic fashion, using appropriate techniques to minimize the number of necessary assumptions, extract the maximum amount of structural information, and determine its reliability. The completed lunar seismic network consists of four stations located at the landing sites of Apollo missions 12, 14, 15, and 16. Attention is given to crustal structure, the structure of the lunar mantle, the attenuating region, and the core.

Goins, N. R.

Regolith-structure modeling

Early lunar missions have provided a basic understanding of the physical and strength properties of lunar regolith, which have been shown to differ from those of dry terrestrial granular soils. Lunar regolith is predominantly a fine sand of which nearly 40 percent can be characterized as silt with a particle size smaller than 100 micrometers. The top 10 to 20 cm of the regolith can be characterized as being in a loose to medium-loose state. The density of the regolith, however, rapidly increases below a depth of 20 cm. The highly irregular and angular shapes of the regolith particles tend to interlock and create relatively strong mechanical bonds that give the particulate mass substantial cohesive properties and smaller amounts of tensile strength properties. In addition, the friction angle of lunar regolith at medium to high densities is quite high and often exceeds 55 degrees. These known properties of lunar regolith have been matched in a terrestrially-manufactured analog known as Minnesota Lunar Simulant. A variety of experiments were conducted using this simulant to both verify existing information and generate new information on the physical and constitutive properties of lunar regolith. These experiments include maximum and minimum density determinations, specific mass of solids, grain-size distribution, conventional triaxial compression and extension, isotropic compression, one-dimensional compression, direct shear, and direct tension. Direct shear experiments were conducted under atmospheric and vacuum conditions. Results of the physical and strength experiments compare closely to results obtained from lunar missions. Results of simulant strength experiments performed in vacuum indicated no observable difference from results obtained in air. A test bed currently under study is one involving a regolith shield covering a first-generation human habitat module. It is understood that regolith in depths ranging from 3 to 5 meters is required for radiation shielding for habitation and workspace. The habitat module is treated as a rigid cylindrical tube with a smooth exterior. By making the cylinder rigid, a complex interaction problem is reduced to a situation where we can consider the support regolith and the shielding regolith as behaving independently of the structural properties of the cylindrical structure. Medium-dense lunar simulant was placed around a scaled model of the habitat module to provide a radiation shield. This embankment-type shield was constructed in relatively thin but fine layers by compacting, by mechanical vibratory means, layer upon layer of simulant placed adjacent to the horizontally-aligned cylinder. The slope angles were constructed at 55 degrees. The model described above was studied in a geotechnical centrifuge, which allows for the scaling of model dimensions to prototype dimensions by increasing the acceleration of gravity on the model. The deformation response can be scaled up to prototype dimensions to provide an assessment of the deformation patterns of the lunar structure. The actual process of local and/or global growth of instabilities or skip planes can also be observed.

Ko, Hon-Yim