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NASA NTRS2020

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

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

Siddharth Shrivastava↗

NASA NTRSDate not supplied

Packing and flow particle simulations

Granular material is present across natural and industrial processes on Earth and other planets. Granular particles show up in space exploration (lunar regolith), avalanches (boulders), food (coffee), construction (concrete powder) and manufacturing (additive manufacturing powder, battery slurries). Important phenomena emerge from large collections of granular particles. The size scales of the particles in granular material, 10 μm diameter or larger, makes particle-based simulations a tractable computational method. This seminar will present the packing and flow of granular matter using particle-based discrete element modeling simulations. Particles modeled with rotational friction only require as few as 2.6 contacts for mechanical stability, as opposed to 6 contacts for frictionless particles. Optimal parameters for in-space manufacturing particulate material are identified. Specifically, the maximum density and contacts occurs for a large-to-small particle volume ratio of 0.265. Stress and contact fabric fluctuations of flowing dry granular matter have power-law scaling with strain rate, and a kink. The pressure-dependent slope change kink could identify the transition between slower, quasistatic and faster, inertial flows.

granular↗

NASA NTRSDate not supplied

Packing and flow particle simulations

granular↗

NASA NTRS1989

Cornering and wear characteristics of the Space Shuttle Orbiter nose-gear tire

Tests of the Space Shuttle Orbiter nose-gear tire have been completed at NASA Langley's Aircraft Landing Dynamics Facility. The purpose of these tests was to determine the cornering and wear characteristics of the Space Shuttle Orbiter nose-gear tire under realistic operating conditions. The tire was tested on a simulated Kennedy Space Center runway surface at speeds from 100 to 180 kts. The results of these tests defined the cornering characteristics which included side forces and associated side force friction coefficient over a range of yaw angles from 0 deg to 12 deg. Wear characteristics were defined by tire tread and cord wear over a yaw angle range of 0 deg to 4 deg under dry and wet runway conditions. Wear characteristics were also defined for a 15 kt crosswind landing with two blown right main-gear tires and nose-gear steering engaged.

Davis, Pamela A.↗

NASA NTRS2008

Mars Science Laboratory Rover Mobility Bushing Development

NASA s Mars Science Laboratory (MSL) Project will send a six-wheeled rover to Mars in 2009. The rover will carry a scientific payload designed to search for organic molecules on the Martian surface during its primary mission. This paper describes the development and testing of a bonded film lubricated bushing system to be used in the mobility system of the rover. The MSL Rover Mobility System contains several pivots that are tightly constrained with respect to mass and volume. These pivots are also exposed to relatively low temperatures (-135 C) during operation. The combination of these constraints led the mobility team to consider the use of solid film lubricated metallic bushings and dry running polymeric bushings in several flight pivot applications. A test program was developed to mitigate the risk associated with using these materials in critical pivots on the MSL vehicle. The program was designed to characterize bushing friction and wear performance over the expected operational temperature range (-135 C to +70 C). Seven different bushing material / lubricant combinations were evaluated to aid in the selection of the final flight pivot bushing material / lubricant combination.

Riggs, Benjamin↗

NASA NTRS1982

The dryout region in frictionally heated sliding contacts

Some conditions under which boiling and two-phase flow can occur in or near a wet sliding contact are determined and illustrated. The experimental apparatus consisted of a tool pressed against an instrumented slider plate and motion picture sequences at 4000 frames/sec. The temperature and photographic data demonstrated surface conditions of boiling, drying, trapped gas evolution (solutions), and volatility of fluid mixture components. The theoretical modeling and analysis are in reasonable agreement with experimental data.

Hendricks, R. C.↗

NASA NTRS1982

The dryout region in frictionally heated sliding contacts

Some conditions under which boiling and two-phase flow can occur in or near a wet sliding contact are determined and illustrated. The experimental apparatus consisted of a tool pressed against an instrumented slider plate and motion picture sequences at 4000 frames/sec. The temperature and photographic data demonstated surface conditions of boiling, dry, trapped gas evolution (solutions), and volatility of fluid mixture components. The theoretical modeling and analysi are in reasonable agreement with experimental data. Previously announced in STAR as N82-28574

Hendricks, R. C.↗

NASA NTRS1983

Tribological measurements on a Charnley-type artificial hip joint

A total hip simulator was used to determine the friction and wear properties of Charnley-type (316L stainless steel balls and sterile ultrahigh molecular weight polyethylene cups) hip prostheses. Three different sets of specimens were tested to 395,000, 101,500 and 233,000 walking cycles, respectively. All tests were run unlubricated, at ambient conditions (22 to 26 C, 30 to 50 percent relative humidity), at 30 walking cycles per minute, under a dynamic load simulating walking. Polyethylene cup wear rates ranged from 1.4 to 39 ten billions cu m which corresponds to dimensional losses of 4.0 to 11 microns per year. Although these wear rates are lower than those obtained from other hip simulators and from in vivo X-ray measurements, they are comparable when taking run-in and plastic deformation into account. Maximum tangential friction forces ranged from 93 to 129 N under variable load (267 to 3090 N range) and from 93 to 143 N under a static load of 3090 N. A portion of one test 250,000 walking cycles) run under dry air ( 1 percent relative humidity) yielded a wear rate almost 6 times greater than that obtained under wet air ( 70 percent relative humidity) conditions.

Jones, W. R., Jr.↗

NASA NTRS1996

Surface Chemistry, Friction, and Wear Properties of Untreated and Laser-Annealed Surfaces of Pulsed-Laser-Deposited WS(sub 2) Coatings

An investigation was conducted to examine the surface chemistry, friction, and wear behavior of untreated and annealed tungsten disulfide (WS2) coatings in sliding contact with a 6-mm-diameter 440C stainless-steel ball. The WS2 coatings and annealing were performed using the pulsed-laser-deposition technique. All sliding friction experiments were conducted with a load of 0.98 N (100 g), an average Hertzian contact pressure of 0.44 GPa, and a constant rotating speed of 120 rpm. The sliding velocity ranged from 31 to 107 mm/s because of the range of wear track radii involved in the experiments. The experiment was performed at room temperature in three environments: ultrahigh vacuum (vacuum pressure, 7X(exp -10) Pa), dry nitrogen (relative humidity, less than 1 percent), and humid air (relative humidity, 15 to 40 percent). Analytical techniques, including scanning electron microscopy (SEM), energy-dispersive x-ray spectroscopy (EDX), x-ray photo electron spectroscopy (XPS), surface profilometry, and Vickers hardness testing, were used to characterize the tribological surfaces of WS2 coatings. The results of the investigation indicate that the laser annealing decreased the wear of a WS2 coating in an ultrahigh vacuum. The wear rate was reduced by a factor of 30. Thus, the laser annealing increased the wear life and resistance of the WS2 coating. The annealed WS 2 coating had a low coefficient of friction (less than O.1) and a low wear rate ((10(exp -7) mm(exp 3)/N-m)) both of which are favorable in an ultrahigh vacuum.

Miyoshi, Kazuhisa↗

NASA NTRS1996

Demonstration of the Feasibility of High Temperature Bearing Lubrication From Carbonaceous Gases

Research has been conducted on silicon nitride pin-on-disk sliding contacts at temperatures of up to 520 C, and four-ball rolling contacts with silicon nitride balls and 52100 steel or silicon nitride races at 590 C. These tests were conducted in a variety of gaseous environments in order to determine the effects of simulated engine exhaust gas on the carbonaceous gas decomposition lubrication scheme. In rolling tests with steel races and exhaust gas the wear track depth was roughly half that of tests run in nitrogen gas alone. The deposition of lubricous microcrystalline graphitic carbon on the rolling surfaces, generated from the carbon monoxide within the exhaust gas mixture, was verified by microfocused Raman spectroscopy. Ten-fold reductions in rolling wear could be achieved by the exhaust gas atmosphere in cases where water vapor was removed or not present. The exhaust gas mixture alone was not found to provide any lubricating effect on silicon nitride sliding contacts, where the rate of wear greatly exceeds the rate of carbon deposition. Directed admixture of acetylene (as low as 5% of the exhaust gas flow rates), has provided reductions in both wear volume and coefficient of friction by factors of 60X and 20X respectively for sliding contacts during the initial 80 m of sliding distance. Exhaust gas atmosphere with the acetylene admixture provided 65OX reductions in steady state wear rate compared to that measured for sliding contacts in dry N2. Such acetylene admixture also augments the ability of the exhaust gas atmosphere to lubricate high-temperature rolling contacts, with up to 25-fold reductions in wear track depth compared to those measured in the presence of N2 alone. In addition to providing some lubricating benefit itself, an important potential role of the exhaust gas from rich mixtures would be to shield bearings from 02. Such shielding enables surface deposition of lubricous pyrolytic carbon from the acetylene admixture, instead of combustion, rendering feasible the continuously replenished solid lubrication of high-temperature bearing surfaces.

Blanchet, Thierry A.↗

NASA NTRS2023

Insights Into the Size-Resolved Dust Emission From Field Measurements in the Moroccan Sahara

The particle size distribution (PSD) of mineral dust has a strong effect on the impacts of dust on climate. However, our understanding of the emitted dust PSD, including its variability and the fraction of super-coarse dust (diameter >10 µm), remains limited. Here, we provide new insights into the size-resolved dust emission process based on a field campaign performed in the Moroccan Sahara in September 2019 in the context of the FRontiers in dust minerAloGical coMposition and its Effects upoN climaTe (FRAGMENT) project. The obtained dust concentration and diffusive flux PSDs show significant dependencies upon the friction velocity (u*), wind direction and type of event (regular events versus haboob events). For instance, the number fraction of sub-micrometre particles increases with u*, along with a large decrease in the mass fraction of super-coarse dust. We identify dry deposition, which is modulated by u* and fetch length, as a potential cause for this PSD variability. Using a resistance model constrained with field observations to estimate the dry deposition flux and thereby also the emitted dust flux, we show that deposition could represent up to ∼90 % of the emission of super-coarse particles (>10 µm) and up to ∼65 % of the emission of particles as small as ∼5 µm in diameter. Importantly, removing the deposition component significantly reduces the variability with u* in the PSD of the emitted dust flux compared with the diffusive flux, particularly for super-coarse dust. The differences between regular and haboob event concentration and diffusive flux PSDs are suspected to result from a smaller and variable dust source fetch during the haboob events, and/or an increased resistance of soil aggregates to fragmentation associated with the observed increase in relative humidity along the haboob outflow. Finally, compared to the invariant emitted dust flux PSD estimated based on brittle fragmentation theory, we obtain a substantially higher proportion of super-micrometre particles in the dust flux. Overall, our results suggest that dry deposition needs to be adequately considered to estimate the emitted PSD, even in studies limited to the fine and coarse size ranges (<10 µm).

particle size distribution↗

NASA NTRS1980

Surface temperatures in sliding systems - A finite element analysis

Finite element equations are developed for studying surface temperatures resulting from frictional heating in sliding systems. The equations include the effect of velocity of moving components, an effect which is found to be quite significant, even at low sliding velocities. A program was written using the equations and it was applied to the study of surface temperatures in two different sliding systems: dry or boundary lubricated sleeve bearings and a labyrinth gas path seal configuration. Very good agreement was achieved between analytical predictions using the program and experimental temperature measurements. The program was used to study the influence of various material parameters on surface temperatures in the two sliding systems.

Kennedy, F. E., Jr.↗

NASA NTRS1981

Cornering characteristics of the nose-gear tire of the space shuttle orbiter

An experimental investigation was conducted to evaluate cornering characteristics of the 32 x 8.8 nose gear tire of the space shuttle orbiter. Data were obtained on a dry concrete runway at nominal ground speeds ranging from 50 to 100 knots and over a range of tire vertical loads and yaw angles which span the expected envelope of loads and yaw angles to be encountered during space shuttle landing operations. The cornering characteristics investigated included side and drag forces and friction coefficients, aligning and overturning torques, friction force moment arm, and the lateral center of pressure shift. Results of this investigation indicate that the cornering characteristics of the space shuttle nose gear tire are insensitive to variations in ground speed over the range tested. The effects on cornering characteristics of variations in the tire vertical load and yaw angle are as expected. Trends observed are consistent with trends observed during previous cornering tests involving other tire sizes.

Vogler, W. A.↗

NASA NTRS2004

Examination of B. subtilis var. niger Spore Killing by Dry Heat Methods

Dry heat microbial reduction is the only NASA approved sterilization method to reduce the microbial bioburden on space-flight hardware prior to launch. Reduction of the microbial bioburden on spacecraft is necessary to meet planetary protection requirements specific for the mission. Microbial bioburden reduction also occurs if a spacecraft enters a planetary atmosphere (e.g., Mars) and is heated due to frictional forces. Temperatures reached during atmospheric entry events (>200 C) are sufficient to damage or destroy flight hardware and also kill microbial spores that reside on the in-bound spacecraft. The goal of this research is to determine the survival rates of bacterial spores when they are subjected to conditions similar to those the spacecraft would encounter (i.e., temperature, pressure, etc.). B. subtilis var. niger spore coupons were exposed to a range of temperatures from 125 C to 200 C in a vacuum oven (at <1 Torr). After the exposures, the spores were removed by sonication, dilutions were made, and the spores were plated using the pour plate method with tryptic soy agar. After 3 days incubation at 32 C, the number of colony-forming units was counted. Lethality rate constants and D-values were calculated at each temperature. The calculated D-values were: 27 minutes (at 125 C), 13 minutes (at 135 C), and <0.1 minutes (at 150 C). The 125 C and 135 C survivor curves appeared as concavedownward curves. The 150 C survivor curve appeared as a straight-line. Due to the prolonged ramp-up time to the exposure conditions, spore killing during the ramp-up resulted in insufficient data to draw curves for exposures at 160 C, 175 C, and 200 C. Exploratory experiments using novel techniques, with short ramp times, for performing high temperature exposures were also examined. Several of these techniques, such as vacuum furnaces, thermal spore exposure vessels, and laser heating of the coupons, will be discussed.

bacillus subtilis var niger↗

NASA NTRS1977

Preliminary test results of the joint FAA-USAF-NASA runway research program. Part 1: Traction measurements of several runways under wet and dry conditions with a Boeing 727, a diagonal-braked vehicle, and a mu-meter

The stopping distance, brake application velocity, and time of brake application were measured for two modern jet transports, along with the NASA diagonal-braked vehicle and the British Mu-Meter on several runways, which when wetted, cover the range of slipperiness likely to be encountered in the United States. Tests were designed to determine if correlation between the aircraft and friction measuring vehicles exists. The test procedure, data reduction techniques, and preliminary test results obtained with the Boeing 727, the Douglas DC-9, and the ground vehicles are given. Time histories of the aircraft test run parameters are included.

Horne, W. B.↗

NASA NTRS1980

Protective Coatings

General Magnaplate Corporation's pharmaceutical machine is used in the industry for high speed pressing of pills and capsules. Machine is automatic system for molding glycerine suppositories. These machines are typical of many types of drug production and packaging equipment whose metal parts are treated with space spinoff coatings that promote general machine efficiency and contribute to compliance with stringent federal sanitation codes for pharmaceutical manufacture. Collectively known as "synergistic" coatings, these dry lubricants are bonded to a variety of metals to form an extremely hard slippery surface with long lasting self lubrication. The coatings offer multiple advantages; they cannot chip, peel or be rubbed off. They protect machine parts from corrosion and wear longer, lowering maintenance cost and reduce undesired heat caused by power-robbing friction.

Source record↗

NASA NTRS1993

Direct tension experiments on compacted granular materials

The objective of this experiment is to determine the level of tensile strength of uncemented, dry, granular materials. The experimental apparatus does not lend itself to a direct measurement of the material's tensile strength, but must be analyzed as a stress field problem in order to arrive at a tensile strength value. The experiment, and subsequent analysis, serve to instruct the student on the influence of gravitationally induced stresses in frictional granular materials, the importance and difficulty of accurately describing the entire failure envelope for granular materials in the low mean stress range, and the fundamental principles of material modeling.

Perkins, Steven W.↗

NASA NTRS1994

Evaluation of PS 212 Coatings Under Boundary Lubrication Conditions with an Ester-based Oil to 300 C

High friction and wear of turbine engine components occur during high temperature excursions above the oxidation threshold of the liquid lubricant. This paper reports on research to study the use of a high temperature self lubricating coating, PS 212 for back-up lubrication in the event of failure of the liquid lubricant. Pin on disk tests were performed under dry and boundary-lubricated conditions at disk temperatures up to 300 C. The liquid lubricant was a formulated polyol ester qualified under MIL L-23699. At test temperatures above the oil's thermal degradation level, the use of PS 212 reduced wear, providing a back-up lubricant effect.

Sliney, Harold E.↗