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At least 181 records · Page 10

An Autonomous Vault-Building Robot System for Creating Spanning Structures

Research in autonomous robots for construction has largely focused on ground-based robots whose reach constrains the size of what they can build, or on climbing or aerial robots that build solid or unroofed structures. Autonomous construction of larger, multistory buildings, or bridges spanning unsupported distances, would require robots that build sturdy structures supporting their own weight. In this paper, we present VaultBot, a system of autonomous robots that build a load-bearing spanning vault using identical modular blocks. The custom blocks employ mechanical and other features to facilitate robotic manipulation and locomotion, and can be removed from and replaced in an assembled structure as a way of repairing damage. We characterize the system's performance and failure modes, and demonstrate reliable autonomous assembly for a structure composed of 46 blocks. Blocks can be made collapsible and deployable as a way of reducing mass and volume that must be transported to a construction site. Such a system could be used to help enable construction of protective shelters in challenging environments, such as disaster relief scenarios, arctic settings, or extraterrestrial habitats.

Nathan Melenbrink↗

Microwave distortions from collapsing domain-wall bubbles

It has been suggested that large-scale structure can be seeded by a postrecombination phase transition that produces soft domain walls. It is found that oscillating domain-wall bubbles produce a distinctive signature on the microwave sky; hot and cold spots with amplitude characterized by G(sigma)/H0 (sigma is the surface tension of the wall). These fluctuations are non-Gaussian and offer a powerful probe of such models.

Turner, Michael S.↗

Probabilistic progressive buckling of trusses

A three-bay, space, cantilever truss is probabilistically evaluated to describe progressive buckling and truss collapse in view of the numerous uncertainties associated with the structural, material, and load variables that describe the truss. Initially, the truss is deterministically analyzed for member forces, and members in which the axial force exceeds the Euler buckling load are identified. These members are then discretized with several intermediate nodes, and a probabilistic buckling analysis is performed on the truss to obtain its probabilistic buckling loads and the respective mode shapes. Furthermore, sensitivities associated with the uncertainties in the primitive variables are investigated, margin of safety values for the truss are determined, and truss end node displacements are noted. These steps are repeated by sequentially removing buckled members until onset of truss collapse is reached. Results show that this procedure yields an optimum truss configuration for a given loading and for a specified reliability.

PROBABILISTIC BUCKLING ANALYSI↗

Probabilistic progressive buckling of trusses

A three-bay, space, cantilever truss is probabilistically evaluated to describe progressive buckling and truss collapse in view of the numerous uncertainties associated with the structural, material, and load variables (primitive variables) that describe the truss. Initially, the truss is deterministically analyzed for member forces, and member(s) in which the axial force exceeds the Euler buckling load are identified. These member(s) are then discretized with several intermediate nodes and a probabilistic buckling analysis is performed on the truss to obtain its probabilistic buckling loads and respective mode shapes. Furthermore, sensitivities associated with the uncertainties in the primitive variables are investigated, margin of safety values for the truss are determined, and truss end node displacements are noted. These steps are repeated by sequentially removing the buckled member(s) until onset of truss collapse is reached. Results show that this procedure yields an optimum truss configuration for a given loading and for a specified reliability.

Pai, Shantaram S.↗

Probabilistic progressive buckling of trusses

A three-bay, space, cantilever truss is probabilistically evaluated to describe progressive buckling and truss collapse in view of the numerous uncertainties associated with the structural, material, and load variables (primitive variables) that describe the truss. Initially, the truss is deterministically analyzed for member forces, and member(s) in which the axial force exceeds the Euler buckling load are identified. These member(s) are then discretized with several intermediate nodes and a probabilistic buckling analysis is performed on the truss to obtain its probabilistic buckling loads and respective mode shapes. Furthermore, sensitivities associated with the uncertainties in the primitive variables are investigated, margin of safety values for the truss are determined, and truss end node displacements are noted. These steps are repeated by sequentially removing the buckled member(s) until onset of truss collapse is reached. Results show that this procedure yields an optimum truss configuration for a given loading and for a specified reliability.

Pai, Shantaram S.↗

A schematic model of crater modification by gravity

The morphology of craters found on planets and moons of the solar system is examined and a development model which can account for the observed crater characteristics is discussed. The prompt collapse of craters to form flat floors, terraced walls, and central peak structures is considered to be the result of an approximate Bingham plastic rheology of the material surrounding the crater. This rheology is induced dynamically by the strong incoherent acoustic 'noise' accompanying excavation of the crater. Central pits, peak rings, and other multiple symmetric-profile rings originate by oscillation of this fluid. Large craters with transient depths comparable to the lithosphere thickness are subject to collapse by fragmentation of the lithosphere as well as fluidization. The considered concepts are developed mathematically. A model emerges which appears capable of explaining most of the qualitative features of large impact structures.

Melosh, H. J.↗

"Electrostructural Phase Changes" In Charged Particulate Clouds: Planetary and Astrophysical Implications

There is empirical evidence that freely-suspended triboelectrostatically charged particulate clouds of dielectric materials undergo rapid conversion from (nominally) monodispersed "aerosols" to a system of well-defined grain aggregates after grain motion or fluid turbulence ceases within the cloud. In United States Microgravity Laboratory Space Shuttle experiments USML-1 and USML-2, it was found that ballistically-energized grain dispersions would rapidly convert into populations of filamentary aggregates after natural fluid (air) damping of grain motion. Unless continuously disrupted mechanically, it was impossible to maintain a non-aggregated state for the grain clouds of sand-size materials. Similarly, ground- based experiments with very fine dust-size material produced the same results: rapid, impulsive "collapse" of the dispersed grains into well-defined filamentary structures. In both ground-based and microgravity experiments, the chains or filaments were created by long-range dipole electrostatic forces and dipole-induced dielectric interactions, not by monopole interactions. Maintenance of the structures was assisted by short-range static boundary adhesion forces and van der Waals interactions. When the aggregate containers in the USML experiments were disturbed after aggregate formation, the quiescently disposed filaments would rearrange themselves into fractal bundles and tighter clusters as a result of enforced encounters with one another. The long-range dipole interactions that bring the grains together into aggregates are a product of randomly-distributed monopole charges on the grain surfaces. In computer simulations, it has been shown that when the force vectors of all the random charges (of both sign) on a grain are resolved mathematically by assuming Coulombic interaction between them, the net result is a dipole moment on individual grains, even though the grains are electrically neutral insofar as there is no predominance, on their surface, of one charge sign over another. The random charges of both sign derive from natural grain-to-grain interactions that produce triboelectrification via charge exchange every time grain surfaces make contact with one another. The conversion from a random distribution of grains (upon which there are randomly distributed charges) into an organization of electrostatically-ordered aggregates, can be regarded (within the framework of granular-material science) as an "electrical or Coulombic phase change" of the particulate cloud. It is not totally dissimilar from the more normal phase-change concept in which, for example, a gas with long free-path-molecules suddenly becomes a solid as a result of structural ordering of the molecules (notably, also the result of electronic forces, albeit at a different scale). In both the gas-to-solid case, and the aerosol-to-aggregate case, the same materials and charges are present before and after the phase change, but their arrangement now has a higher degree of order and a lower-energy configuration. An input of energy into the system is required to reverse the situation. The aggregates in the USML experiments were observed to undergo at least two phase changes as noted above. The point about phase changes, and by implication, the "electrostructural" reorganizations in particulate clouds, is the following: (a) they can occur very rapidly, almost spontaneously, above a critical cloud density, (b) in going from a higher energy state to a lower energy state, they convert to a denser system, (c) energy must be required to reverse the situation, implying that energy is released during the high-to-low energy phase change. In applying this information to natural particulate clouds, some inferences can be made (it is stressed that reference is still to dielectric materials attracted by dipole forces). There are several natural settings to which the USML observations apply, and to which the phase-change implications likewise apply. Dense clouds of triboelectrically-charged, kinetically-energized grains are to be found in volcanic eruptions (particularly on earth), aeolian dust storms (particularly on Mars), meteorite impact ejecta curtains (on all planets), in "immature" debris rings around planets (e.g., that from which our own Moon may have condensed), and in gravitationally collapsing protoplanetary dust/planetesimal debris disks where dielectric granules are being increasingly brought into collisional relationships with one another (increasing both charge exchange and physical proximity). It is noted that in many of these cases, the degree of electrical charging on the grains is likely to be much higher than that in the USML experiments where charging was not enhanced above the "normal", naturally encountered level for the particular materials (quartz, glass, and various silicate minerals). Application of the phase-change concept suggests that volcanic, aeolian, and impact debris clouds may, under certain circumstances, undergo rapid, impulsive, or even catastrophic collapse into a denser state that will lead to rapid precipitation or fall-out of suspended particulates. Although this idea has been suggested previously by the author , the phase change concept possibly permits some new insights into cloud-system behavior. For example, in a protoplanetary debris disk, the work of gravity may suddenly be enhanced by electrostatically driven collapse of the system when materials reach a critical intergranular spacing or grain number density. This might reduce the rate of planet formation by orders of magnitude (considering the ratio of g-forces to electrostatic ones for very small grains in close proximity), and indeed, it might drive the collapse into a system configuration that would perhaps not be created by gravity alone. Additional information is contained in the original.

Marshall, J. R.↗

Luminescence and ESR studies of relationships between O(-)-centres and structural iron in natural and synthetically hydrated kaolinites

Luminescence, induced by dehydration and by wetting with hydrazine and unsymmetrically substituted hydrazine, and related ESR spectra have been observed from several kaolinites, synthetically hydrated kaolinites, and metahalloysites. The amine-wetting luminescence results suggest that intercalation, not a chemiluminescence reaction, is the luminescence trigger. Correlation between hydration-induced luminescence and g = 2 ESR signals associated with O(-)-centres in several natural halloysites, and concurrent diminution of the intensity of both these signal types as a function of aging in two 8.4 angstroms synthetically hydrated, kaolinites, confirm a previously-reported relationship between the luminescence induced by dehydration and in the presence of O(-)-centres (holes, i.e., electron vacancies) in the tetrahedral sheet. Furthermore, the ESR spectra of the 8.4 angstroms hydrate showed a concurrent change in the line shape of the g = 4 signal from a shape usually associated with structural Fe in an ordered kaolinite, to a simpler one typically observed in more disordered kaolinite, halloysite, and montmorillonite. Either structural Fe centres and the O(-)-centres interact, or both are subject to factors previously associated with degree of order. The results question the long-term stability of the 8.4 angstroms hydrate, although XRD does not indicate interlayer collapse over this period. Complex inter-relationships are shown between intercalation, stored energy, structural Fe, and the degree of hydration which may be reflected in catalytic as well as spectroscopic properties of the clays.

NASA Center ARC↗

Collapse and equilibrium of rotating, adiabatic clouds

A numerical hydrodynamics computer code analysis of the collapse and establishment of equilibrium of adiabatic gas clouds restricted to axial symmetry found that the clouds are originally uniform in density and rotation. The method can compare the dynamic collapse and approach to equilibrium with the data on incompressible uniformly rotating equilibrium clouds and on equilibrium structures of differentially rotating polytropes. It is concluded that the stellar formation theory indicates that the low alpha fragments produced at the termination of the dynamic isothermal collapse phase of interstellar clouds may undergo significant dynamic collapse in an adiabatic regime leading to transitory ring formation and additional fragmentation on a smaller scale.

Boss, A. P.↗

Giant Molecular Cloud Structure and Evolution

Bodenheimer and Burkert extended earlier calculations of cloud core models to study collapse and fragmentation. The initial condition for an SPH collapse calculation is the density distribution of a Bonnor-Ebert sphere, with near balance between turbulent plus thermal energy and gravitational energy. The main parameter is the turbulent Mach number. For each Mach number several runs are made, each with a different random realization of the initial turbulent velocity field. The turbulence decays on a dynamical time scale, leading the cloud into collapse. The collapse proceeds isothermally until the density has increased to about 10(exp 13) g cm(exp -3). Then heating is included in the dense regions. The nature of the fragmentation is investigated. About 15 different runs have been performed with Mach numbers ranging from 0.3 to 3.5 (the typical value observed in molecular cloud cores is 0.7). The results show a definite trend of increasing multiplicity with increasing Mach number (M), with the number of fragments approximately proportional to (1 + M). In general, this result agrees with that of Fisher, Klein, and McKee who published three cases with an AMR grid code. However our results show that there is a large spread about this curve. For example, for M=0.3 one case resulted in no fragmentation while a second produced three fragments. Thus it is not only the value of M but also the details of the superposition of the various velocity modes that play a critical role in the formation of binaries. Also, the simulations produce a wide range of separations (10-1000 AU) for the multiple systems, in rough agreement with observations. These results are discussed in two conference proceedings.

Hollenbach, David↗

Protostellar formation in rotating interstellar clouds. II - Axially symmetric collapse

A two spatial dimension gravitational hydrodynamics code has been used to calculate the initial isothermal dynamic collapse phase of axially symmetric, rotating interstellar clouds. The Eulerian code has been constructed so as to conserve angular momentum both locally (approximately) and globally (exactly). An axially symmetric, rotating cloud collapses to form a rotating, near-equilibrium ring. The rings so formed are compared with those found previously by Black and Bodenheimer, and Bodenheimer and Tscharnuter, and found to agree in structure fairly well. Numerical tests with the code, as well as an analytic calculation of the collapse of a pressureless, rotating, axially symmetric cloud in a fixed gravitational potential, support the assertion that the observed ring formation is physically realistic.

Boss, A. P.↗

Impact of Upheaval Dome, Utah

Reexamination of Upheaval Dome in the Canyonlands National Park, Utah, shows that the structure of this remarkable feature conforms with that expected for a deeply eroded astrobleme. The structure is definitely not compatible with an origin due simply to plastic flowage of salt and other rocks in the underlying Paradox Formation. The most strongly deformed rocks are bounded by a series of circumferential listric faults. The convergent displacement of the rocks corresponds to the deformation that results from collapse of a transient cavity produced by high speed impact. From considerations of the probable depth of exposure of the impact structure and upward extrapolation of the listric faults, the final collapsed crater is estimated to be about 8 to 10 km in diameter; the impacting body was on the order of 0.5 km in diameter.

Shoemaker, E. M.↗

A flattened cloud core in NGC 2024

The (J, K) (1, 1) and (2, 2) NH3 lines were mapped toward a molecular cloud core in NGC 2024 using the VLA in its C/D-configuration. This region is associated with one of the most highly collimated molecular outflows. We find that the molecular condensations associated with the far-infrared sources FIR 5, FIR 6, and FIR 7 have kinetic temperatures of about 40 K. We also find line broadening toward FIR 6 and FIR 7. This suggests that these condensations may not be protostars heated by gravitational energy released during collapse but that they have an internal heating source. A flattened structure of ammonia emission is found extending parallel to the unipolar CO outflow structure, but displaced systematically to the east. If the NH3 emission traces the denser gas environment, there is no evidence that a dense gas structure is confining the molecular outflow. Instead, the location of the high-velocity outflow along the surface of the NH3 structure suggests that a wind is sweeping material from the surface of this elongated cloud core.

Ho, Paul T. P.↗

Portable Hyperbaric Chamber

A portable, collapsible hyperbaric chamber was developed. A toroidal inflatable skeleton provides initial structural support for the chamber, allowing the attendant and/or patient to enter the chamber. Oval hatches mate against bulkhead rings, and the hyperbaric chamber is pressurized. The hatches seal against an o-ring, and the internal pressure of the chamber provides the required pressure against the hatch to maintain an airtight seal. In the preferred embodiment, the hyperbaric chamber has an airlock to allow the attendant to enter and exit the patient chamber during treatment. Visual communication is provided through portholes in the patient and/or airlock chamber. Life monitoring and support systems are in communication with the interior of the hyperbaric chamber and/or airlock chamber through conduits and/or sealed feed-through connectors into the hyperbaric chamber.

Schneider, William C.↗

An evaluation of foldable elastic tubes for application in space structures

An experimental investigation and design study has been performed on one type of foldable elastic tube in order to assess its suitability as a member of deployable space structures. It is demonstrated that one or more slots inserted longitudinally in the center of the tube to alleviate strain serves to prevent collapse of the tube. The nonlinear spring characteristics of the tube that are required for computer-based deployment dynamic analysis of space structures are determined, and it is shown that strain energy levels over a certain range are realizable for tubes representing space structure members in the 15-20 ft length range. Approximate strain energy/geometric parameter relationships are developed which may be useful for preliminary design or concept studies.

Jones, I. W.↗

Envelope structure on 700 AU scales and the molecular outflows of low-mass young stellar objects

Aperture synthesis observations of HCO+ J = 1-0, 13CO 1-0, and C18O 1-0 obtained with the Owens Valley Millimeter Array are used to probe the small-scale (5" approximately 700 AU) structure of the molecular envelopes of a well-defined sample of nine embedded low-mass young stellar objects in Taurus. The interferometer results can be understood in terms of: (1) a core of radius approximately or less than 1000 AU surrounding the central star, possibly flattened and rotating; (2) condensations scattered throughout the envelope that may be left over from the inhomogeneous structure of the original cloud core or that may have grown during collapse; and (3) material within the outflow or along the walls of the outflow cavity. Masses of the central cores are 0.001-0.1 M (solar), and agree well with dust continuum measurements. Averaged over the central 20" (3000 AU) region, an HCO+ abundance of 4 x 10(-8) is inferred, with a spread of a factor of 3 between the different sources. Reanalysis of previously presented single-dish data yields an HCO+ abundance of (5.0 +/- 1.7) x 10(-9), which may indicate an average increase by a factor of a few on the smaller scales sampled by the interferometer. Part of this apparent abundance variation could be explained by contributions from extended cloud emission to the single-dish C18O lines, and uncertainties in the assumed excitation temperatures and opacities. The properties of the molecular envelopes and outflows are further investigated through single-dish observations of 12CO J = 6-5, 4-3, and 3-2, 13CO 6-5 and 3-2, and C18O 3-2 and 2-1, obtained with the James Clerk Maxwell and IRAM 30 m telescopes, along with the Caltech Submillimeter Observatory. Ratios of the mid-J CO lines are used to estimate the excitation temperature, with values of 25-80 K derived for the gas near line centre. The outflow wings show a similar range, although Tex is enhanced by a factor of 2-3 in at least two sources. In contrast to the well-studied L1551 IRS 5 outflow, which extends over 10' (0.4 pc), seven of the remaining eight sources are found to drive 12CO 3-2 outflows over < or = 1' (0.04 pc); only L1527 IRS has a well-developed outflow of some 3'(0.12 pc). Estimates are obtained for the outflow kinetic luminosity, Lkin, and the flow momentum rate, FCO, applying corrections for line opacity and source inclination. The flow force FCO correlates with the envelope mass and with the 2.7 mm flux of the circumstellar disk. Only a weak correlation is seen with Lbol, while none is found with the relative age of the object as measured by integral Tmb(HCO+ 3-2)dV/Lbol. These trends support the hypothesis that outflows are driven by accretion through a disk, with a global mass infall rate determined by the mass and density of the envelope. The association of compact HCO+ emission with the walls of the outflow cavities indicates that outflows in turn influence the appearance of the envelopes. It is not yet clear, however, whether they are actively involved in sweeping up envelope material, or merely provide a low-opacity pathway for heating radiation to reach into the envelope.

NASA Discipline Exobiology↗

Precision in Assembled Discrete Lattice Space Structures for Next-Generation ISAM Applications

Robust autonomous robotic assembly of large-scale space structures has been a long-term and challenging goal to enable higher quality in-space communication and science instrumentation. For optical observatory support structures and antenna structures, the challenge is the strict dimensional precision requirements (generally RMS surface error) driven by the operational radiation wavelength. Early theoretical work in the area linked RMS surface error of a reflector support truss plate to the natural passive dynamic mode frequencies of the structure, as well as to the error distribution in dimensions of constituent structural elements. Prior robotic truss assembly demonstrations focused on designing ultra-high precision structural elements, joints, and robotic actuators. Recently, an alternative space structure assembly strategy based on a programmable matter approach (NASA ARMADAS) was demonstrated. This approach uses lattice building blocks (voxels) that are reversibly, mechanically joined into a bulk lattice structure by robots that locomote in and on the structure itself. Such a system can achieve high-level autonomy with low computation, robustly assemble utilizing inexpensive and imprecise robots, and efficiently build structures several orders of magnitude larger than the assembly robots. However, for instrumentation support structure applications, the resulting precision of these building block-based lattice structures is not well studied. Since they are demonstrated with many more assembly units than prior art trusses, it is unclear whether the same precision design approaches apply. In this work, we study in simulation the effects of voxel geometry, error in distribution, assembly resolution (module size), and assembly geometry on the error of both beam and plate lattice structures. While average RMS error of a plate increases with plate size, increasing plate thickness quickly collapses RMS error towards a limit that is on the order of the error of the constituent parts. We validate our models against previously published precision measurements of built systems. Results from this study will guide manufacturing precision requirements, as well as designs, for future robotically assembled structural applications and establish feasibility for different applications.

Christine E Gregg↗