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NASA NTRS2024

Ultra-Light, Strong, and Self-Reprogrammable Mechanical Metamaterials

Versatile programmable materials have long been envisioned that can reconfigure themselves to adapt to changing use cases in adaptive infrastructure, space exploration, disaster response, and more. We introduce a robotic structural system as an implementation of programmable matter, with mechanical performance and scale on par with conventional high-performance materials and truss systems. Fiber reinforced composite truss-like building-blocks form strong, stiff, and lightweight lattice structures as mechanical metamaterials. Two types of mobile robots operate over the exterior surface and through the interior of the system, performing transport, placement, and reversible fastening using the intrinsic lattice periodicity for indexing and metrology. Leveraging programmable matter algorithms to achieve scalability in size and complexity, this system design enables robust collective automated assembly and reconfiguration of large structures with simple robots. We describe the system design and experimental results from a 256-unit cell assembly demonstration and lattice mechanical testing, as well as demonstration of disassembly and reconfiguration. The assembled structural lattice material exhibits ultra-light mass density (0.0103 g/cc) with high strength and stiffness for its weight (0.01117 MPa and 1.1129 MPa, respectively), a material performance realm appropriate for applications like space structures. With simple robots and structure, high mass-specific structural performance, and competitive throughput, this system demonstrates potential for self-reconfiguring autonomous metamaterials for diverse applications.

Robotics↗

NASA NTRS2006

Modification of Eccentric Gaze-Holding

Clear vision and accurate localization of objects in the environment are prerequisites for reliable performance of motor tasks. Space flight confronts the crewmember with a stimulus rearrangement that requires adaptation to function effectively with the new requirements of altered spatial orientation and motor coordination. Adaptation and motor learning driven by the effects of cerebellar disorders may share some of the same demands that face our astronauts. One measure of spatial localization shared by the astronauts and those suffering from cerebellar disorders that is easily quantified, and for which a neurobiological substrate has been identified, is the control of the angle of gaze (the "line of sight"). The disturbances of gaze control that have been documented to occur in astronauts and cosmonauts, both in-flight and postflight, can be directly related to changes in the extrinsic gravitational environment and intrinsic proprioceptive mechanisms thus, lending themselves to description by simple non-linear statistical models. Because of the necessity of developing robust normal response populations and normative populations against which abnormal responses can be evaluated, the basic models can be formulated using normal, non-astronaut test subjects and subsequently extended using centrifugation techniques to alter the gravitational and proprioceptive environment of these subjects. Further tests and extensions of the models can be made by studying abnormalities of gaze control in patients with cerebellar disease. A series of investigations were conducted in which a total of 62 subjects were tested to: (1) Define eccentric gaze-holding parameters in a normative population, and (2) explore the effects of linear acceleration on gaze-holding parameters. For these studies gaze-holding was evaluated with the subjects seated upright (the normative values), rolled 45 degrees to both the left and right, or pitched back 30 and 90 degrees. In a separate study the further effects of acceleration on gaze stability was examined during centrifugation (+2 G (sub x) and +2 G (sub z) using a total of 23 subjects. In all of our investigations eccentric gaze-holding was established by having the subjects acquire an eccentric target (+/-30 degrees horizontal, +/- 15 degrees vertical) that was flashed for 750 msec in an otherwise dark room. Subjects were instructed to hold gaze on the remembered position of the flashed target for 20 sec. Immediately following the 20 sec period, subjects were cued to return to the remembered center position and to hold gaze there for an additional 20 sec. Following this 20 sec period the center target was briefly flashed and the subject made any corrective eye movement back to the true center position. Conventionally, the ability to hold eccentric gaze is estimated by fitting the natural log of centripetal eye drifts by linear regression and calculating the time constant (G) of these slow phases of "gaze-evoked nystagmus". However, because our normative subjects sometimes showed essentially no drift (tau (sub c) = m), statistical estimation and inference on the effect of target direction was performed on values of the decay constant theta = 1/(tau (sub c)) which we found was well modeled by a gamma distribution. Subjects showed substantial variance of their eye drifts, which were centrifugal in approximately 20 % of cases, and > 40% for down gaze. Using the ensuing estimated gamma distributions, we were able to conclude that rightward and leftward gaze holding were not significantly different, but that upward gaze holding was significantly worse than downward (p<0.05). We also concluded that vertical gaze holding was significantly worse than horizontal (p<0.05). In the case of left and right roll, we found that both had a similar improvement to horizontal gaze holding (p<0.05), but didn't have a significant effect on vertical gaze holding. For pitch tilts, both tilt angles significantly decreased gaze-holding ility in all directions (p<0.05). Finally, we found that hyper-g centrifugation significantly decreased gaze holding ability in the vertical plane. The main findings of this study are as follows: (1) vertical gaze-holding is less stable than horizontal, (2) gaze-holding to upward targets is less stable than to downward targets, (3) tilt affects gaze holding, and (4) hyper-g affects gaze holding. This difference between horizontal and vertical gaze-holding may be ascribed to separate components of the velocity-to-position neural integrator for eye movements, and to differences in orbital mechanics. The differences between upward and downward gaze-holding may be ascribed to an inherent vertical imbalance in the vestibular system. Because whole body tilt and hyper-g affects gaze-holding, it is implied that the otolith organs have direct connections to the neural integrator and further studies of astronaut gaze-holding are warranted. Our statistical method for representing the range of normal eccentric gaze stability can be readily applied to normals who maybe exposed to environments which may modify the central integrator and require monitoring, and to evaluate patients with gaze-evoked nystagmus by comparing to the above established normative criteria.

Reschke, M. F.↗

NASA NTRS2020

Bonding to Bulk Metallic Glass using Aerospace-Grade Structural Adhesive

Bulk metallic glasses (BMGs) are non-crystalline metals with growing applications in aerospace. Due to their amorphous nature, BMGs generally exhibit stronger mechanical properties than most crystalline alloys and are more corrosion resistant. The limited reactivity of a corrosion resistant surface may explain the difficulty in establishing robust bonds to certain adhesives, especially commonly used structural adhesives for aerospace applications. Here, an amine cured aerospace adhesive was used for bonding an iron-nickel based BMG satellite component. Various types of processes were explored to avoid adhesive failure and increase bond strength. It was found that the BMG required specific chemical derivatization of the metal surface in order to achieve cohesive failure. Surface analysis was used to determine the mechanisms of adhesion enhancement. The process was optimized to maximize bond strength. This work helps explain the difficulties in bonding BMG materials and provides strategies for design of future bonded BMG components.

Roberts, Rose↗

NASA NTRS1994

Design of a walking robot

Carnegie Mellon University's Autonomous Planetary Exploration Program (APEX) is currently building the Daedalus robot; a system capable of performing extended autonomous planetary exploration missions. Extended autonomy is an important capability because the continued exploration of the Moon, Mars and other solid bodies within the solar system will probably be carried out by autonomous robotic systems. There are a number of reasons for this - the most important of which are the high cost of placing a man in space, the high risk associated with human exploration and communication delays that make teleoperation infeasible. The Daedalus robot represents an evolutionary approach to robot mechanism design and software system architecture. Daedalus incorporates key features from a number of predecessor systems. Using previously proven technologies, the Apex project endeavors to encompass all of the capabilities necessary for robust planetary exploration. The Ambler, a six-legged walking machine was developed by CMU for demonstration of technologies required for planetary exploration. In its five years of life, the Ambler project brought major breakthroughs in various areas of robotic technology. Significant progress was made in: mechanism and control, by introducing a novel gait pattern (circulating gait) and use of orthogonal legs; perception, by developing sophisticated algorithms for map building; and planning, by developing and implementing the Task Control Architecture to coordinate tasks and control complex system functions. The APEX project is the successor of the Ambler project.

Whittaker, William↗

NASA NTRS1990

Robust eigensystem assignment for state estimators using second-order models

A novel design of a state estimator is presented using second-order dynamic equations of mechanical systems. The eigenvalues and eigenvectors of the state estimator are assigned by solving the second-order eigenvalue problem of the structural system. Three design method for the state estimator are given in this paper. The first design method uses collocated sensors to measure the desired signals and their derivatives. The second design method uses prefilters to shift signal phases to obtain estimates of the signal derivatives. These two methods are used to build a second-order state estimator model. The third design method is the conventional one which converts a typical second-order dynamic model to a first-order model, and then builds a state estimator based on the first-order model. It is shown that all the three designs for state estimation are similar. A numerical example representing a large space structure is given for illustration of the design methods presented in this paper.

Juang, Jer-Nan↗

NASA NTRS1994

Design of passive piezoelectric damping for space structures

Passive damping of structural dynamics using piezoceramic electromechanical energy conversion and passive electrical networks is a relatively recent concept with little implementation experience base. This report describes an implementation case study, starting from conceptual design and technique selection, through detailed component design and testing to simulation on the structure to be damped. About 0.5kg. of piezoelectric material was employed to damp the ASTREX testbed, a 500kg structure. Emphasis was placed upon designing the damping to enable high bandwidth robust feedback control. Resistive piezoelectric shunting provided the necessary broadband damping. The piezoelectric element was incorporated into a mechanically-tuned vibration absorber in order to concentrate damping into the 30 to 40 Hz frequency modes at the rolloff region of the proposed compensator. A prototype of a steel flex-tensional motion amplification device was built and tested. The effective stiffness and damping of the flex-tensional device was experimentally verified. When six of these effective springs are placed in an orthogonal configuration, strain energy is absorbed from all six degrees of freedom of a 90kg. mass. A NASTRAN finite element model of the testbed was modified to include the six-spring damping system. An analytical model was developed for the spring in order to see how the flex-tensional device and piezoelectric dimensions effect the critical stress and strain energy distribution throughout the component. Simulation of the testbed demonstrated the damping levels achievable in the completed system.

Hagood, Nesbitt W., IV↗

NASA NTRS2004

Effect of Surface Impulsive Thermal Loads on Fatigue Behavior of Constant Volume Propulsion Engine Combustor Materials

The development of advanced high performance constant-volume-combustion-cycle engines (CVCCE) requires robust design of the engine components that are capable of enduring harsh combustion environments under high frequency thermal and mechanical fatigue conditions. In this study, a simulated engine test rig has been established to evaluate thermal fatigue behavior of a candidate engine combustor material, Haynes 188, under superimposed CO2 laser surface impulsive thermal loads (30 to 100 Hz) in conjunction with the mechanical fatigue loads (10 Hz). The mechanical high cycle fatigue (HCF) testing of some laser pre-exposed specimens has also been conducted under a frequency of 100 Hz to determine the laser surface damage effect. The test results have indicated that material surface oxidation and creep-enhanced fatigue is an important mechanism for the surface crack initiation and propagation under the simulated CVCCE engine conditions.

Zhu, Dongming↗

NASA NTRS2013

Development of the Orion Crew-Service Module Umbilical Retention and Release Mechanism

The Orion Crew-Service Module umbilical retention and release mechanism supports, protects and disconnects all of the cross-module commodities between the spacecraft's crew and service modules. These commodities include explosive transfer lines, wiring for power and data, and flexible hoses for ground purge and life support systems. Initial development testing of the mechanism's separation interface resulted in binding failures due to connector misalignments. The separation interface was redesigned with a robust linear guide system, and the connector separation and boom deployment were separated into two discretely sequenced events. Subsequent analysis and testing verified that the design changes corrected the binding. This umbilical separation design will be used on Exploration Flight Test 1 (EFT-1) as well as all future Orion flights. The design is highly modular and can easily be adapted to other vehicles/modules and alternate commodity sets.

Delap, Damon↗

NASA NTRS2011

Low-Thermal Conductivity Suspensions Used in the Isolation of the Salt Pills Aboard the Astro-H Adiabatic Demagnetization Refrigerator

An adiabatic demagnetization refrigerator (ADR) utilizes the magnetocholoric effect in a paramagnetic salt to produce sub-Kelvin temperatures. It is a solid-state device that has no moving parts and does not rely upon a density gradient in a working fluid. This makes it ideal for cooling space-based instruments. ·Typically the salt is enclosed in a cylindrical pill that is suspended within the bore of a magnet. The suspension between the salt pill and magnet must be robust enough to survive a launch yet have a thermal conductance that minimizes heat from the magnet that is mechanically, and thermally, anchored to a stage at a higher temperature. Here we detail such a design that uses Kevlar(Trade Mark) as the supporting media in a system that limits motion of the salt pill axial as well as laterally with respect to the magnet bore.

Kimball, Mark O.↗

NASA NTRSDate not supplied

A Method for Validating Causal Diagrams of Human Health Risk in Space Flight

The complexity of cause-and-effect relationships between spaceflight hazards and resulting health conditions clouds understanding of the totality of human system risk in space. In response, NASA has introduced Directed Acyclic Graphs (causal diagrams) into the human systems risk management process. These diagrams allow for a common understanding of the mechanisms that lead from unique hazards of spaceflight to the health outcomes important to agencies and astronauts. However, the paucity of available biomedical data from spaceflight creates a need for methods of validating causal models that can accommodate data from spaceflight model analogs. Here we outline one approach utilizing open-access rodent bone datasets from the Ames Life Sciences Data Archive. The properties of directed acyclic graphs themselves can provide an epistemological and statistical framework for validation of a priori causal representations of human system risk in space flight. The assumed causal connections on the graph creates sets of logical implications: variables that – if the causal diagram is correct – should be correlated, as well as sets that should be conditionally independent. By testing these implied correlations and conditional independencies both statistically and heuristically, we can provide evidence for or against specific causal pathways on the causal diagram. In addition to validation of expert-generated causal diagrams, machine learning techniques can learn the most likely structure of a causal diagram from a given dataset. Comparison with and reconciliation between machine-learned causal diagrams and expert-generated diagrams is another technique for challenging assumptions and improving our understanding of causal mechanisms. Accurately representing complex causation is essential to systemic understanding of human health risks in space travel. Having a robust system of validating causal diagrams helps us arrive at more accurate representations of causal systems. This process will be integral to developing the countermeasures necessary for extended exploration of the moon and Mars.

Robert Reynolds↗

NASA NTRS1999

Thermal and Mechanical Microspacecraft Technologies for Deep Space Systems Program X2000 Future Deliveries

Thermal and mechanical technologies are an important part of the Deep Space Systems Technology (DSST) Program X2000 Future Deliveries (FD) microspacecraft. A wide range of future space missions are expected to utilize the technologies and the architecture developed by DSST FD. These technologies, besides being small in physical size, make the tiny spacecraft robust and flexible. The DSST FD architecture is designed to be highly reliable and suitable for a wide range of missions such as planetary landers/orbiters/flybys, earth orbiters, cometary flybys/landers/sample returns, etc. Two of the key ideas used in the development of thermal and mechanical technologies and architectures are: 1) to include several of the thermal and mechanical functions in any given single spacecraft element and 2) the architecture be modular so that it can easily be adapted to any of the future missions. One of the thermal architectures being explored for the DSST FD microspacecraft is the integrated thermal energy management of the complete spacecraft using a fluid loop. The robustness and the simplicity of the loop and the flexibility with which it can be integrated in the spacecraft have made it attractive for applications to DSST FD. Some of the thermal technologies to be developed as a part of this architecture are passive and active cooling loops, electrically variable emittance surfaces, miniature thermal switches, and specific high density electronic cooling technologies. In the mechanical area, multifunction architecture for the structural elements will be developed. The multifunction aspect is expected to substantially reduce the mass and volume of the spacecraft. Some of the technologies that will be developed are composite material panels incorporating electronics, cabling, and thermal elements in them. The paper describes the current state of the technologies and progress to be made in the thermal and mechanical technologies and approaches for the DSST Future Deliveries microspacecraft.

Birur, Gajanana C.↗

NASA NTRSDate not supplied

Trends in Asian Summer Monsoon Anticyclone Dynamical Diagnostics in Reanalyses

The area of the Asian summer monsoon anticyclone (ASMA), as defined by contours of Montgomery stream function (MSF) on isentropic surfaces, has been increasing over at least the last four decades. Here we analyze the relationship of the trend in ASMA area to trends in dynamical diagnostics in the ASM region, both inside and outside the ASMA, for 1979 through 2020 in the MERRA-2, JRA-55, and ERA5 reanalyses. Trends in geopotential height (GPH) and temperature (from which MSF is calculated) indicate that MSF increases are dominated by increasing temperature (GPH) at levels that are primarily in the troposphere (stratosphere). Trends in MSF, GPH, and temperature are much less clear within the ASMA circulation than those for the entire ASM region, suggesting that other mechanisms, besides the direct effects of increasing tropospheric temperatures, are at play. To further explore these results, we present trends in lapse rate and dynamical tropopause altitudes, easterly and westerly windspeeds bounding the ASMA, and potential vorticity. Overall, weak or inconsistent trends inside the ASMA in most diagnostics likely arise from a complex interplay of mechanisms in this region (which spans tropospheric/stratospheric and tropical/midlatitude conditions), and suggest that the previously reported area trends do not necessarily indicate an increase in “intensity" of the ASMA. In regions both with and without robust trends in dynamical diagnostics, trend results are typically consistent between the three reanalyses studied even when there are biases in the magnitudes of those diagnostics. This generally good agreement indicates that these reanalyses are suitable for more detailed studies needed to fully understand the mechanisms for trends in the ASMA.

Gloria Manney↗

NASA NTRS1993

The Hubble Space Telescope fine guidance system operating in the coarse track pointing control mode

The Hubble Space Telescope (HST) Fine Guidance System has set new standards in pointing control capability for earth orbiting spacecraft. Two precision pointing control modes are implemented in the Fine Guidance System; one being a Coarse Track Mode which employs a pseudo-quadrature detector approach and the second being a Fine Mode which uses a two axis interferometer implementation. The Coarse Track Mode was designed to maintain FGS pointing error to within 20 milli-arc seconds (rms) when guiding on a 14.5 Mv star. The Fine Mode was designed to maintain FGS pointing error to less than 3 milli-arc seconds (rms). This paper addresses the HST FGS operating in the Coarse Track Mode. An overview of the implementation, the operation, and both the predicted and observed on orbit performance is presented. The discussion includes a review of the Fine Guidance System hardware which uses two beam steering Star Selector servos, four photon counting photomultiplier tube detectors, as well as a 24 bit microprocessor, which executes the control system firmware. Unanticipated spacecraft operational characteristics are discussed as they impact pointing performance. These include the influence of spherically aberrated star images as well as the mechanical shocks induced in the spacecraft during and following orbital day/night terminator crossings. Computer modeling of the Coarse Track Mode verifies the observed on orbit performance trends in the presence of these optical and mechanical disturbances. It is concluded that the coarse track pointing control function is performing as designed and is providing a robust pointing control capability for the Hubble Space Telescope.

Whittlesey, Richard↗

NASA NTRS2011

A Modular, Reusable Latch and Decking System for Securing Payloads During Launch and Planetary Surface Transport

Efficient handling of payloads destined for a planetary surface, such as the moon or mars, requires robust systems to secure the payloads during transport on the ground, in space and on the planetary surface. In addition, mechanisms to release the payloads need to be reliable to ensure successful transfer from one vehicle to another. An efficient payload handling strategy must also consider the devices available to support payload handling. Cranes used for overhead lifting are common to all phases of payload handling on Earth. Similarly, both recent and past studies have demonstrated that devices with comparable functionality will be needed to support lunar outpost operations. A first generation test-bed of a new high performance device that provides the capabilities of both a crane and a robotic manipulator, the Lunar Surface Manipulation System (LSMS), has been designed, built and field tested and is available for use in evaluating a system to secure payloads to transportation vehicles. A payload handling approach must address all phases of payload management including: ground transportation, launch, planetary transfer and installation in the final system. In addition, storage may be required during any phase of operations. Each of these phases requires the payload to be lifted and secured to a vehicle, transported, released and lifted in preparation for the next transportation or storage phase. A critical component of a successful payload handling approach is a latch and associated carrier system. The latch and carrier system should minimize requirements on the: payload, carrier support structure and payload handling devices as well as be able to accommodate a wide range of payload sizes. In addition, the latch should; be small and lightweight, support a method to apply preload, be reusable, integrate into a minimal set of hard-points and have manual interfaces to actuate the latch should a problem occur. A latching system which meets these requirements has been designed and fabricated and will be described in detail. This latching system works in conjunction with a payload handling device such as the LSMS, and the LSMS has been used to test first generation latch and carrier hardware. All tests have been successful during the first phase of operational evaluations. Plans for future tests of first generation latch and carrier hardware with the LSMS are also described.

Doggett, William R.↗

NASA NTRS2020

Percussion Mechanism for the Mars2020 Coring Drill

The Mars2020 rover includes a Sampling & Caching Subsystem (SCS) that is required to acquire core samples of hard rocks and to abrade rocky surfaces flat and smooth in order to facilitate surface science. Hard, high strength rocks exhibit brittle failure modes, and can be drilled and chiseled efficiently using percussive impacts. The coring drill percussion mechanism was designed to provide those impacts with variable output force and to be used with various drill bits. A unique hammering mechanism, using a base-driven hammer, powered by a conventional rotary actuator driving a Scotch yoke, was designed to robustly provide the required function in a Martian environment for a life exceeding 2 million impacts.

Chrystal, Kyle↗

NASA NTRS1999

Thermal and Mechanical Microspacecraft Technologies for X-2000 Future Deliveries

Thermal and mechanical technologies are an important part of the X-2000 Future Delivery (X-2000 FD) microspacecraft. A wide range of future space missions are expected to utilize the technologies and the architecture developed by the X-2000 FD. These technologies, besides being small in physical size, make the tiny spacecraft robust and flexible. The X2000 FD architecture is designed to be highly reliable and suitable for a wide range of missions such as planetary landers/orbiters/flybys, earth orbiters, cometary flybys/landers/sample returns, etc. One of the key ideas used in the development of these technologies and architecture is that several functions be in included in each of the thermal and mechanical elements. One of the thermal architecture being explored for the X-2000 FD microspacecraft is integrated thermal energy management of the complete spacecraft using a fluid loop. The robustness and the simplicity of the loop and the flexibility with which it can be integrated in the spacecraft have made it attractive for applications to X-2000 FD. Some of the thermal technologies to be developed as a part of this architecture are passive and active cooling loops, electrically variable emittance surfaces, miniature thermal switches, and specific high density electronic cooling technologies. In the mechanical area, multifunction architecture for the structural elements will be developed. The multifunction aspect is expected to substantially reduce the mass and volume of the spacecraft. Some of the technologies that will be developed are composite material panels incorporating electronics, cabling, and thermal elements in them. The paper to be presented at the 1999 conference, will describe the progress made so far in the microspacecraft thermal and mechanical technologies and approaches for the X2000 Future Deliveries microspacecraft.

Birur, Gaj↗

NASA NTRS2025

Modeling and Simulation Credibility Assessments of Musculoskeletal Computational Models for Simulating Astronaut Injuries Due to a Poor Spacesuit Fit

The musculoskeletal (MS) system of astronauts is subject to physiological changes, potentially leading to injuries due to the exposure to different gravitational environments experienced during spaceflight. These injuries can occur while an astronaut is performing an Extravehicular Activity (EVA) in space, on lunar or planetary surfaces or while wearing a spacesuit during terrestrial training for an EVA. The OpenSim MS modeling software can assess EVA induced MS injury mechanisms such as muscle strains, ligament injuries and joint injuries. One area of concern, since there are only a few different spacesuit sizes with limited adjustability, is the possibility of a poorly fitting spacesuit. This can cause unnatural joint motions and torques resulting in various MS injuries. A credibility assessment of the OpenSim modeling and simulation procedures is performed per NASA-STD-7009A to provide information on the credibility of the model’s use in simulating EVA related injury mechanisms. The credibility assessment evaluated various OpenSim models against the following eight credibility factors: data pedigree, input pedigree, code verification, solution verification, conceptual validation, referent validation, results uncertainty and results robustness (sensitivity). The models evaluated for EVA injuries will require additional credibility factor analysis and upgrades to the model features, such as adding ligaments to a whole-body model, to reliably predict and analyze the EVA injuries expected to occur due to a poor spacesuit fit. The degree of elevation strategy required to increase the credibility assessment scores will depend on the model complexity and the injury mechanism.

Christopher A. Gallo↗

NASA NTRS2024

Modeling and Simulation Credibility Assessments of Musculoskeletal Computational Models for Simulating Astronaut Injuries Due to a Poor Spacesuit Fit

Christopher A Gallo↗