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At least 199 records · Page 11

Hopping Robot with Wheels

A small prototype mobile robot is capable of (1) hopping to move rapidly or avoid obstacles and then (2) moving relatively slowly and precisely on the ground by use of wheels in the manner of previously reported exploratory robots of the "rover" type. This robot is a descendant of a more primitive hopping robot described in "Minimally Actuated Hopping Robot" (NPO- 20911), NASA Tech Briefs, Vol. 26, No. 11 (November 2002), page 50. There are many potential applications for robots with hopping and wheeled-locomotion (roving) capabilities in diverse fields of endeavor, including agriculture, search-and-rescue operations, general military operations, removal or safe detonation of land mines, inspection, law enforcement, and scientific exploration on Earth and remote planets. The combination of hopping and roving enables this robot to move rapidly over very rugged terrain, to overcome obstacles several times its height, and then to position itself precisely next to a desired target. Before a long hop, the robot aims itself in the desired hopping azimuth and at a desired takeoff angle above horizontal. The robot approaches the target through a series of hops and short driving operations utilizing the steering wheels for precise positioning.

Barlow, Edward↗

Dispersal of gases generated near a lunar outpost

The dispersal of gases evolved by prospective lunar base operations is presently modeled analytically using continuous (mining and habitat-venting) and impulsive (primarily rocket exhaust) injections of gases. In the case of impulsive injection, the neutral atmosphere and associated ionosphere both decay on time-scales of about 20 min; in that of continuous injection, the atmosphere near the base grows and achieves a steady state after about 20 min. Both direct and diffusive transport mechanisms are considered, and it is concluded that for the injection rates and assumptions presently employed the artificial lunar atmospheres produced are not significantly detrimental to astronomical observations and high-vacuum materials processing operations.

Burns, Jack O.↗

NASA's Robotics Mining Competition Provides Undergraduates Full Life Cycle Systems Engineering Experience

NASA has held an annual robotic mining competition for teams of university/college students since 2010. This competition is yearlong, suitable for a senior university engineering capstone project. It encompasses the full project life cycle from ideation of a robot design to actual tele-operation of the robot in simulated Mars conditions mining and collecting simulated regolith. A major required element for this competition is a Systems Engineering Paper in which each team describes the systems engineering approaches used on their project. The score for the Systems Engineering Paper contributes 25% towards the team's score for the competition's grand prize. The required use of systems engineering on the project by this competition introduces the students to an intense practical application of systems engineering throughout a full project life cycle.

Stecklein, Jonette↗

Using ADOPT Algorithm and Operational Data to Discover Precursors to Aviation Adverse Events

The US National Airspace System (NAS) is making its transition to the NextGen system and assuring safety is one of the top priorities in NextGen. At present, safety is managed reactively (correct after occurrence of an unsafe event). While this strategy works for current operations, it may soon become ineffective for future airspace designs and high density operations. There is a need for proactive management of safety risks by identifying hidden and "unknown" risks and evaluating the impacts on future operations. To this end, NASA Ames has developed data mining algorithms that finds anomalies and precursors (high-risk states) to safety issues in the NAS. In this paper, we describe a recently developed algorithm called ADOPT that analyzes large volumes of data and automatically identifies precursors from real world data. Precursors help in detecting safety risks early so that the operator can mitigate the risk in time. In addition, precursors also help identify causal factors and help predict the safety incident. The ADOPT algorithm scales well to large data sets and to multidimensional time series, reduce analyst time significantly, quantify multiple safety risks giving a holistic view of safety among other benefits. This paper details the algorithm and includes several case studies to demonstrate its application to discover the "known" and "unknown" safety precursors in aviation operation.

aviation safet↗

Automation of the longwall mining system

Cost effective, safe, and technologically sound applications of automation technology to underground coal mining were identified. The longwall analysis commenced with a general search for government and industry experience of mining automation technology. A brief industry survey was conducted to identify longwall operational, safety, and design problems. The prime automation candidates resulting from the industry experience and survey were: (1) the shearer operation, (2) shield and conveyor pan line advance, (3) a management information system to allow improved mine logistics support, and (4) component fault isolation and diagnostics to reduce untimely maintenance delays. A system network analysis indicated that a 40% improvement in productivity was feasible if system delays associated with all of the above four areas were removed. A technology assessment and conceptual system design of each of the four automation candidate areas showed that state of the art digital computer, servomechanism, and actuator technologies could be applied to automate the longwall system.

Zimmerman, W.↗

The adsorption of As(V) on poorly crystalline Fe oxyhydroxides, revisited: Effect of the reaction media and the drying treatment

Arsenic (As) adsorbed on Fe oxyhydroxides (adsorbent) is widely occurring in many environmental settings such as in acid mine drainage systems or in the hydrometallurgical operations to form Fe-As coprecipitates. However, the influence of the reaction media and the drying treatment on the microstructure of the directly formed adsorbents at various pHs was still not fully understood. In this work, As adsorption behaviors on various forms of Fe oxyhydroxides were systematically investigated by using XRD, FTIR, Raman, XANES, and HRTEM. Overall, the results revealed that at weak acidic pH, more As could adsorbed on the suspension adsorbent formed in sulfate and chloride media than that in nitrate media, possibly due to the microstructure alteration of the adsorbent in the presence of sulfate and chloride. Besides, the increasing crystallinity of the Fe oxyhydroxides and the aggregation effect after drying were the major reasons why less As could be hold by the dried adsorbents than that of the corresponding suspension adsorbents. These findings could shed more light on the nature of the Fe oxyhydroxides which may be helpful for more precisely predicting the fate of some toxic metal(loid)s in the environment.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Agent-based modeling of supply disruptions in the global rare earths market

Several independent assessments have identified rare earth elements (REEs) as critical materials, notably neodymium (Nd), praseodymium (Pr), and dysprosium (Dy) used in permanent magnets. Factors affecting their criticality include expected growth in demand arising from their unique performance-enhancing properties in consumer, energy, and military applications and the supply risk associated with China's dominance in their production. We demonstrate the use of Argonne's Global Critical Materials (GCMat) agent-based model to explore the possible consequences to REE market dynamics of different types of regional supply disruptions including a temporary loss of production, shutdown of capacity, and diversion of supply. Results suggest that supply disruptions may foster earlier and more REE mine starts outside of China, although some of these mines may not be able to sustain operations post disruption. Further, price and associated market responses such as production, capacity, and demand tended to extend beyond the disruption period. Such market impacts in the magnet supply chain could affect the costs and availability of a number of emerging clean energy technology applications such as electric vehicles and wind turbines. In the future, GCMat could be used to evaluate the effectiveness of mitigation strategies - including recycling, conservation, product substitution, and diversification of supplies - on reducing the severity of disruptions in REE markets.

36 MATERIALS SCIENCE↗

Applying Waveform Correlation to Mining Blasts Using a Global Sparse Network

Agencies that monitor for underground nuclear tests are interested in techniques that automatically characterize mining blasts to reduce the human analyst effort required to produce high-quality event bulletins. Waveform correlation is effective in finding similar waveforms from repeating seismic events, including mining blasts. We report the results of an experiment that uses waveform templates recorded by multiple International Monitoring System stations of the Comprehensive Nuclear-Test-Ban Treaty for up to 10 years prior to detect and identify mining blasts that occur during single weeks of study. We discuss approaches for template selection, threshold setting, and event detection that are specialized for mining blasts and a sparse, global network. We apply the approaches to two different weeks of study for each of two geographic regions, Wyoming and Scandinavia, to evaluate the potential for establishing a set of standards for waveform correlation processing of mining blasts that can be effective for operational monitoring systems with a sparse network. We compare candidate events detected with our processing methods to the Reviewed Event Bulletin of the International Data Centre to develop an intuition about potential reduction in analyst workload.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

Applying Waveform Correlation to Mining Blasts Using a Global Sparse Network

Agencies that monitor for underground nuclear tests are interested in techniques that automatically characterize mining blasts to reduce the human analyst effort required to produce high-quality event bulletins. Waveform correlation is effective in finding similar waveforms from repeating seismic events, including mining blasts. We report the results of an experiment that uses waveform templates recorded by multiple International Monitoring System stations of the Preparatory Commission for the Comprehensive Nuclear-Test-Ban Treaty Organization for up to 10 years prior to the time period of interest to detect and identify mining blasts that occur during single weeks of study. We discuss approaches for template selection, threshold setting, and event detection that are specialized for mining blasts and a sparse, global network. We apply the approaches to two different weeks of study for each of two geographic regions, Wyoming and Scandinavia, to evaluate the potential for establishing a set of standards for waveform correlation processing of mining blasts that can be effective for operational monitoring systems with a sparse network. We compare candidate events detected with our processing methods to the Reviewed Event Bulletin of the International Data Centre to develop an intuition about potential reduction in analyst workload.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

Improved Cable Grip Reduces Wear

Improved cable grip reduces wear due to sliding friction between cable and gripping surfaces. Drive wheels are grooved with a helical pattern that meshes with the lay of cable, analogous to a worm gear. Cable is gripped between drive wheels and guide rollers, and cable pull is exerted on the grip when drive wheels are slowed by hydraulic clutches. Cable grip may be applicable to cable-operated systems, such as ore trams in mines, overhead cable cars and ski lifts.

Peyran, R. J.↗

Single-Command Approach and Instrument Placement by a Robot on a Target

AUTOAPPROACH is a computer program that enables a mobile robot to approach a target autonomously, starting from a distance of as much as 10 m, in response to a single command. AUTOAPPROACH is used in conjunction with (1) software that analyzes images acquired by stereoscopic cameras aboard the robot and (2) navigation and path-planning software that utilizes odometer readings along with the output of the image-analysis software. Intended originally for application to an instrumented, wheeled robot (rover) in scientific exploration of Mars, AUTOAPPROACH could be adapted to terrestrial applications, notably including the robotic removal of land mines and other unexploded ordnance. A human operator generates the approach command by selecting the target in images acquired by the robot cameras. The approach path consists of multiple legs. Feature points are derived from images that contain the target and are thereafter tracked to correct odometric errors and iteratively refine estimates of the position and orientation of the robot relative to the target on successive legs. The approach is terminated when the robot attains the position and orientation required for placing a scientific instrument at the target. The workspace of the robot arm is then autonomously checked for self/terrain collisions prior to the deployment of the scientific instrument onto the target.

Huntsberger, Terrance↗

ISR Restoration Methods and Applicability to Groundwater Remediation at Abandoned Uranium Mills - 20342

There are numerous abandoned uranium mining and mill sites in the southwestern US. Surface remediation was undertaken in the 1980's and 90's to cover mill tailings and minimize infiltration of meteoric precipitation into the subsurface These actions have reduced the availability of tailings contaminants but many of these sites have persistent groundwater contamination, primarily due to the disposal of tailings and process fluids in unlined impoundments during the mill's operational life. Active in situ recovery (ISR) uranium mining and wellfield restoration practices are examined to determine the factors that contribute to the success of groundwater restoration. Hydrologic characteristics, geochemistry, ore body quality, regulatory requirements and the aboveground components of uranium production and water treatment are considered. While there is no such thing as a typical abandoned mill site, the potential use of ISR restoration methods is evaluated for viability as a remedial alternative to mine and mill sites that have residual contaminated groundwater plumes. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

General Purpose Data-Driven System Monitoring for Space Operations

Modern space propulsion and exploration system designs are becoming increasingly sophisticated and complex. Determining the health state of these systems using traditional methods is becoming more difficult as the number of sensors and component interactions grows. Data-driven monitoring techniques have been developed to address these issues by analyzing system operations data to automatically characterize normal system behavior. The Inductive Monitoring System (IMS) is a data-driven system health monitoring software tool that has been successfully applied to several aerospace applications. IMS uses a data mining technique called clustering to analyze archived system data and characterize normal interactions between parameters. This characterization, or model, of nominal operation is stored in a knowledge base that can be used for real-time system monitoring or for analysis of archived events. Ongoing and developing IMS space operations applications include International Space Station flight control, spacecraft vehicle system health management, launch vehicle ground operations, and fleet supportability. As a common thread of discussion this paper will employ the evolution of the IMS data-driven technique as related to several Integrated Systems Health Management (ISHM) elements. Thematically, the projects listed will be used as case studies. The maturation of IMS via projects where it has been deployed or is currently being integrated to aid in fault detection will be described. The paper will also explain how IMS can be used to complement a suite of other ISHM tools, providing initial fault detection support for diagnosis and recovery

Space Propulsion↗

Addressing Critical Challenges of Coal Mines for Underground Pumped Storage Hydropower Using Numerical Calculations

Using existing coal mines to build underground pumped storage hydropower (UPSH) power plants could help reduce the costs associated with starting a new PSH operation. This innovative approach can leverage the existing infrastructure of coal mine facilities available in many regions of the United States. However, technical challenges associated with water quality, mineral chemistry and integrity of subsurface topologies have thus far prevented any of these facilities from going online. Rye Development is investigating the feasibility of UPSH at existing coal mine facilities. In this project, Rye Development received the technical assistance from Oak Ridge National Laboratory to investigate the impacts of minerals, metal particles, and chemical substances in water flow on hydraulic equipment and assess the overall structural integrity of hydraulic equipment in former coal mines.

13 HYDRO ENERGY↗

Design Visualization Internship Overview

This is a report documenting the details of my work as a NASA KSC intern for the Summer Session from June 2nd to August 8th, 2014. This work was conducted within the Design Visualization Group, a Contractor staffed organization within the C1 division of the IT Directorate. The principle responsibilities of the KSC Design Visualization Group are the production of 3D simulations of NASA equipment and facilities for the purpose of planning complex operations such as hardware transportation and vehicle assembly. My role as an intern focused on aiding engineers in using 3D scanning equipment to obtain as-built measurements of NASA facilities, as well as using CATIA and DELMIA to process this data. My primary goals for this internship focused on expanding my CAD knowledge and capabilities, while also learning more about technologies I was previously unfamiliar with, such as 3D scanning. An additional goal of mine was to learn more about how NASA operates, and how the U.S. Space Program operates on a day-to-day basis. This opportunity provided me with a front-row seat to the daily maneuvers and operations of KSC and NASA as a whole. Each work day, I was able to witness, and even take part of, a small building block of the future systems that will take astronauts to other worlds. After my experiences this summer, not only can I say that my goals have been met, but also that this experience has been the highlight of my experience in higher education.

Telescience↗

Lunar Mining and Processing: Considerations for Responsible Space Mining & Connections to Terrestrial Mining

The National Aeronautics and Space Administration (NASA) of the United States of America (US) has initiated the Artemis Moon to Mars program to send astronauts (the first woman and person of color) back to the lunar surface, create a sustainable human lunar exploration program, and lead the first human exploration mission to the Mars surface in the late 2030’s [1]. Besides reinvigorating human exploration beyond low Earth orbit not seen since the Apollo program and enabling new scientific activities and discoveries, a major objective of this program is to characterize the resources that exist on the Moon and Mars, and learn how to utilize them for human exploration and the commercialization of cis-lunar space. Commonly known as In Situ Resource Utilization (ISRU), the search for, acquisition, and processing of resources in space has the potential to greatly reduce the dependency on transporting mission consumables and infrastructure from Earth, thereby reducing mission costs, risks, and dependency on Earth. With the launch of Artemis I in November 2022 and the anticipation of several robotic missions to the Moon under the Commercial Lunar Payload Services (CLPS) program, greater recognition and excitement about NASA’s Artemis program and lunar exploration activities is growing in the public. With the recognition that past statements and concept videos of human exploration of the Moon are actually becoming real, there is also a growing awareness of the possible positive and negative consequences and impacts these exploration activities may have on the Moon and Mars. On the positive side, the development of ISRU and lunar mining and processing can enable and grow lunar surface exploration and cis-lunar commercial activities, as well as provide benefits to terrestrial industries through spin-in and spin-back of advanced technologies and autonomous operations. On the negative side, there is a perception that space mining will impact the lunar surface and environment negatively for science, and that cultural beliefs about the Moon need to be addressed and considered before these operations occur. This paper will begin to explore the potential driving attributes and guidelines that will address how best to maximize the lessons and connections to terrestrial mining to reduce the risk and cost of lunar ISRU and space commercial activities, enhance efforts to achieve the terrestrial ‘mine of the future’, and provide viable markets for space-derived technologies until commercial space mining is established. This paper will also begin to explore the potential driving attributes and guidelines that could address how to minimize the environmental and surface impacts of lunar ISRU and foster ‘responsible’ space mining that can be implemented until more official agreements and treaties are signed. The existing robust mining regulations adopted globally will be used as a basis for this examination and suggestions will be presented to adopt these agreements for use in space mining.

ISRU↗

Transfer function tests of the Joy longwall shearer

A series of operational tests was performed on the Joy longwall shearer located at the Bureau of Mines in Bructon, Pennsylvania. The purpose of these tests was to determine the transfer function and operational characteristics of the system. These characteristics will be used to generate a simulation model of the longwall shearer used in the development of the closed-loop vertical control system.

Fisher, P. H., Jr.↗

Automated Coal-Mining System

Proposed system offers safety and large return on investment. System, operating by year 2000, employs machines and processes based on proven principles. According to concept, line of parallel machines, connected in groups of four to service modules, attacks face of coal seam. High-pressure water jets and central auger on each machine break face. Jaws scoop up coal chunks, and auger grinds them and forces fragments into slurry-transport system. Slurry pumped through pipeline to point of use. Concept for highly automated coal-mining system increases productivity, makes mining safer, and protects health of mine workers.

Gangal, M. D.↗