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NASA NTRS2018

Results of NASA Technical Challenge to Demonstrate Two-Speed Drive for Vertical Lift Vehicle

Currently, manned vertical lift vehicles are flown in a manner such that the rotors operate over a narrow range of rotating speed regardless if the vehicle's flight condition is one of vertical takeoff and landing, hover, or forward cruise. The propulsion systems are optimized for operation at the same, corresponding narrow range of rotor speed. However, certain missions and markets benefit greatly if the rotor speed can be adjusted over a wide range of speed to match demands of different missions and flight regimes. A vehicle that can operate with a wide range of rotor speeds would address key barriers to enable new markets and missions for vertical lift vehicles. Key barriers addressed by the wide-range of rotor speed include noise reduced via lower rpm rotor, increase of maximum forward flight speed, increased payload and range, reduced fuel burn, and lower operating costs. A new paradigm for the propulsion system is needed to enable these key benefits. One viable approach is to make use of a two-speed ratio drive system such that the engine can continue to operate over a narrow speed range, whereby engine performance is optimal, while adjusting the rotor speed as needed using the two-speed drive system. Motivated by such needs and by results of several system studies, a NASA Revolutionary Vertical Lift Technology Challenge was established to develop and demonstrate required technologies and designs for achieving a 50% reduction in rotor rpm via a two-speed drive system that incurs less than 2% power loss and maintains current power-to-weight ratios. The technical challenge work was completed and the technical objectives were achieved. This report describes the motivations, the research approach and the significant outcomes.

Transmissions↗
NASA NTRS2014

Robust Informatics Infrastructure Required For ICME: Combining Virtual and Experimental Data

With the increased emphasis on reducing the cost and time to market of new materials, the need for robust automated materials information management system(s) enabling sophisticated data mining tools is increasing, as evidenced by the emphasis on Integrated Computational Materials Engineering (ICME) and the recent establishment of the Materials Genome Initiative (MGI). This need is also fueled by the demands for higher efficiency in material testing; consistency, quality and traceability of data; product design; engineering analysis; as well as control of access to proprietary or sensitive information. Further, the use of increasingly sophisticated nonlinear, anisotropic and or multi-scale models requires both the processing of large volumes of test data and complex materials data necessary to establish processing-microstructure-property-performance relationships. Fortunately, material information management systems have kept pace with the growing user demands and evolved to enable: (i) the capture of both point wise data and full spectra of raw data curves, (ii) data management functions such as access, version, and quality controls;(iii) a wide range of data import, export and analysis capabilities; (iv) data pedigree traceability mechanisms; (v) data searching, reporting and viewing tools; and (vi) access to the information via a wide range of interfaces. This paper discusses key principles for the development of a robust materials information management system to enable the connections at various length scales to be made between experimental data and corresponding multiscale modeling toolsets to enable ICME. In particular, NASA Glenn's efforts towards establishing such a database for capturing constitutive modeling behavior for both monolithic and composites materials

Mutli-scale models↗
NASA NTRS2011

Performance Comparison of Wireless Sensor Network Standard Protocols in an Aerospace Environment: ISA100.11a and ZigBee

Wireless Sensor Networks (WSNs) can provide a substantial benefit in spacecraft systems, reducing launch weight and providing unprecedented flexibility by allowing instrumentation capabilities to grow and change over time. Achieving data transport reliability on par with that of wired systems, however, can prove extremely challenging in practice. Fortunately, much progress has been made in developing standard WSN radio protocols for applications from non-critical home automation to mission-critical industrial process control. The relative performances of candidate protocols must be compared in representative aerospace environments, however, to determine their suitability for spaceflight applications. In this paper, we will present the results of a rigorous laboratory analysis of the performance of two standards-based, low power, low data rate WSN protocols: ZigBee Pro and ISA100.11a. Both are based on IEEE 802.15.4 and augment that standard's specifications to build complete, multi-hop networking stacks. ZigBee Pro targets primarily the home and office automation markets, providing an ad-hoc protocol that is computationally lightweight and easy to implement in inexpensive system-on-a-chip components. As a result of this simplicity, however, ZigBee Pro can be susceptible to radio frequency (RF) interference. ISA100.11a, on the other hand, targets the industrial process control market, providing a robust, centrally-managed protocol capable of tolerating a significant amount of RF interference. To achieve these gains, a coordinated channel hopping mechanism is employed, which entails a greater computational complexity than ZigBee and requires more sophisticated and costly hardware. To guide future aerospace deployments, we must understand how well these standards relatively perform in analog environments under expected operating conditions. Specifically, we are interested in evaluating goodput -- application level throughput -- in a representative crewed environment in the presence of varying levels of 802.11g Wi-Fi traffic. To do so, we use the NASA Johnson Space Center Wireless Habitat Testbed (WHT), a metallic, habitation-sized module designed for co-existence testing of wireless systems. In its quiescent state, the sealed WHT provides an RF-quiet environment to which we can selectively add interfering systems; it also provides a realistic level of multi-path self-interference for systems under investigation. In our test, we deploy two representative five node networks, configured in a star topology with all nodes reporting directly to a WSN gateway. Each ZigBee network WSN node is built using a Texas Instruments (TI) CC2530 system-on-a-chip radio running TI's ZigBee Pro Z-stack. Each ISA100.11a network node is built using a Nivis VersaNode 210 system-on-a-chip radio. In both cases, radios interface with TI MSP430-F5438 microcontroller implementing a common test application. Interference is provided by a D-link 802.11g Wi-Fi router transporting traffic generated using the Iperf network testing tool. For the single-channel ZigBee network, effects of both direct and indirect Wi-Fi interference are evaluated. For the channel-hopping ISA100.11a network, effects of interference from multiple Wi-Fi routers configured in non-overlapping 802.11g channels are evaluated. Our results show that, in general, the more lightweight ZigBee network performs well at low interference levels, but performance degrades as interference increases. Conversely, the more complex and costly ISA100.11a network continues to perform well as Wi-Fi interference levels increase.

Wagner, Raymond S.↗
NASA NTRS2010

Kennedy Space Center's Partnership with Graftel Incorporated

NASA Kennedy Space Center (KSC) has recently partnered with Graftel Incorporated under an exclusive license agreement for the manufacture and sale of the Smart Current Signature Sensor. The Smart Current Signature Sensor and software were designed and developed to be utilized on any application using solenoid valves. The system monitors the electrical and mechanical health of solenoids by comparing the electrical current profile of each solenoid actuation to a typical current profile and reporting deviation from its learned behavior. The objective of this partnership with Graftel is for them to develop the technology into a hand-held testing device for their customer base in the Nuclear Power Industry. The device will be used to perform diagnostic testing on electromechanical valves used in Nuclear Power plants. Initially, Graftel plans to have working units within the first year of license in order to show customers and allow them to put purchase requests into their next year's budget. The subject technology under discussion was commercialized by the Kennedy Space Center Technology Programs and Partnerships Office, which patented the technology and licensed it to Graftel, Inc., a company providing support, instrumentation, and calibration services to the nuclear community and private sector for over 10 years. For the nuclear power industry, Graftel designs, manufacturers, and calibrates a full line of testing instrumentation. Grafters smart sensors have been in use in the United States since 1993 and have proved to decrease set-up time and test durations. The project was funded by Non-Destructive Engineering, and it is felt that this technology will have more emphasis on future vehicles. Graftel plans to market the Current Signature Sensor to the Electric Utility industry. Graftel currently supplies product and services to the Nuclear Power Industry in the United States as well as internationally. Product and services sold are used in non-destructive testing for valves, penetrations and other applications. Graftel also supplies testing services to an industrial customer base. The customer base includes 90 percent of the U.S. Nuclear plants and plants in Brazil, Europe, and Asia. Graftel works internationally with two representative groups and employees and has ten people at the principle location and a group of contract engineers around the country.

Dunn, Carol Anne↗
NASA NTRS2018

Considerations for Implementing Voice-Controlled Spacecraft Systems Through a Human-Centered Design Approach

As computational power and speech recognition algorithms improve, the consumer market will see better-performing speech recognition applications. The cell phone and Internet-related service industry have further enhanced speech recognition applications using artificial intelligence and statistical data-mining techniques. These improvements to speech recognition technology (SRT) may one day help astronauts on future deep space human missions that require control of complex spacecraft systems or spacesuit applications by voice. Though SRT and more advanced speech recognition techniques show promise, use of this technology for a space application such as vehicle/habitat/spacesuit requires careful considerations. There are still recognition challenges to overcome such as background noise, human speech variability, and task loading. However, implemented correctly, a voice-controlled spacecraft system (VCSS) can provide a useful, natural and efficient form of human-machine communications during complex tasks such as when the hands and eyes are busy or as an aid for vehicle situational awareness inquiries or collaborative human-robot tasks. This document provides considerations and guidance for the use of SRT in VCSS applications for space missions, specifically in command-and-control (C2) applications where the commanding is user-initiated. First, current SRT limitations as known at the time of this report are given. Then, highlights of SRT used in the space program provide the reader with a history of some of the human spaceflight applications and research. Next, an overview of the speech production process and the intrinsic variations of speech are provided. Finally, general guidance and considerations are given for development of a VCSS using a human-centered design approach for space applications that includes vocabulary selection and performance testing, as well as VCSS considerations for C2 dialogue management design, feedback, error handling, and evaluation/usability testing. Available from

Salazar, George A.↗
NASA NTRS1993

Use of negotiated rulemaking in developing technical rules for low-Earth orbit mobile satellite systems

Technical innovations have converged with the exploding market demand for mobile telecommunications to create the impetus for low-earth orbit (LEO) communications satellite systems. The so-called 'Little LEO's' propose use of VHF and UHF spectrum to provide position - location and data messaging services. The so-called 'Big LEO's' propose to utilize the RDSS bands to provide voice and data services. In the United States, several applications were filed with the U.S. Federal Communications Commission (FCC) to construct and operate these mobile satellite systems. To enable the prompt introduction of such new technology services, the FCC is using innovative approaches to process the applications. Traditionally, when the FCC is faced with 'mutually exclusive' applications, e.g. a grant of one would preclude a grant of the others, it uses selection mechanisms such as comparative hearings or lotteries. In the case of the LEO systems, the FCC has sought to avoid these time-consuming approaches by using negotiated rulemakings. The FCC's objective is to enable the multiple applicants and other interested parties to agree on technical and service rules which will enable the grant of all qualified applications. With regard to the VHF/UHF systems, the Advisory Committee submitted a consensus report to the FCC. The process for the systems operating in the bands above 1 GHz involved more parties and more issues but still provided the FCC useful technical information to guide the adoption of rules for the new mobile satellite service.

Taylor, Leslie A.↗
NASA NTRS2017

NIAC Phase 1 Final Study Report on Titan Aerial Daughtercraft

Saturns giant moon Titan has become one of the most fascinating bodies in the Solar System. Even though it is a billion miles from Earth, data from the Cassini mission reveals that Titan has a very diverse, Earth-like surface, with mountains, fluvial channels, lakes, evaporite basins, plains, dunes, and seas [Lopes 2010] (Figure 1). But unlike Earth, Titans surface likely is composed of organic chemistry products derived from complex atmospheric photochemistry [Lorenz 2008]. In addition, Titan has an active meteorological system with observed storms and precipitation-induced surface darkening suggesting a hydrocarbon cycle analogous to Earths water cycle [Turtle 2011].Titan is the richest laboratory in the solar system for studying prebiotic chemistry, which makes studying its chemistry from the surface and in the atmosphere one of the most important objectives in planetary science [Decadal 2011]. The diversity of surface features on Titan related to organic solids and liquids makes long-range mobility with surface access important [Decadal 2011]. This has not been possible to date, because mission concepts have had either no mobility (landers), no surface access (balloons and airplanes), or low maturity, high risk, and/or high development costs for this environment (e,g. large, self-sufficient, long-duration helicopters). Enabling in situ mobility could revolutionize Titan exploration, similarly to the way rovers revolutionized Mars exploration. Recent progress on several fronts has suggested that small-scale rotorcraft deployed as daughtercraft from a lander or balloon mothercraft may be an effective, affordable approach to expanding Titan surface access. This includes rapid progress on autonomous navigation capabilities of such aircraft for terrestrial applications and on miniaturization, driven by the consumer mobile electronics market, of high performance of sensors, processors, and other avionics components needed for such aircraft. Chemical analysis, for example with a mass spectrometer, will be important to any Titan surface mission. Anticipating that it may be more practical to host chemical analysis instruments on a mothership than a daughtercraft, we defined system and mission concepts that deploy a small rotorcraft, termed a Titan Aerial Daughtercraft (TAD), from a lander or balloon to perform high-resolution imaging and mapping, potentially land to acquire microscopic images or other in situ measurements, and acquire samples to return to analytical instruments on the mothership. In principle, the ability to recharge batteries in TAD from a radioisotope or other long-lived power source on the mothership could enable multiple sorties. For a lander-based mission, a variety of landing sites is conceivable, including near lake margins, in dry lake beds, or in regions of plains, dunes, or putative cryovolanic or impact melt features. Such missions may require landing with greater precision than in previous missions (Huygens) and mission studies; this could also enhance the ability of TAD to reach interesting terrain from the landing site. Precision descent may also benefit balloon missions, with or without a daughtercraft, by increasing the probability that the balloon will drift over desired terrain early in its mission. Given these potential benefits, the overall concept studied here includes brief consideration of precision descent for landing or balloon deployment, followed by one or more sorties by a rotorcraft deployed from the mothership, with the ability to return to the mothership.

Saturn↗
NASA NTRS1989

A second-generation supersonic transport

Ever since the advent of commercial flight vehicles, one goal of designers has been to develop aircraft that can fly faster and carry more passengers than before. After the development of practical supersonic military aircraft, this desire was naturally manifested in a search for a practical supersonic commercial aircraft. The first and, to date, only supersonic civil transport is the Concorde, manufactured by a consortium of British and French aerospace companies. Unfortunately, due to a number of factors, including low passenger capacity and limited range, the Concorde has not been an economic success. It is for this reason that there is considerable interest in developing a design for a supersonic civil transport that addresses some of the inadequacies of the Concorde. For the design of such an aircraft to be feasible in the near term, certain guidelines must be established at the outset. Based upon the experience with the Concorde, whose 100- passenger capacity is not large enough for profitable operation, a minimum capacity of 250 passengers is desired. Second, to date, because of the limited range of the Concorde, supersonic commercial flight has been restricted to trans-Atlantic routes. In order to broaden the potential market, any new design must have the capability of trans-Pacific flight. A summary of the potential markets involved is presented in Fig. 1. Also, because of both the cost and complexity involved with actively cooling an entire aircraft, an additional design constraint is that the aircraft as a whole be passively cooled. One additional design constraint is somewhat less quantitative in nature but of great importance nonetheless. Any time a new design is attempted, the tendency is to assume great strides in technology that serve as the basis for actual realization of the design. While it is not always possible to avoid this dependence on "enabling technology," since this design is desired for the near term, it is prudent, wherever possible, to rely on already existing technology. This is of particular importance with respect to support technology such as airport terminals and runways. Based on the above introductory remarks, a possible approach to the design of a second-generation supersonic civil transport is presented below. The design Mach number for this aircraft is 3.5. This value was chosen as it represents the limiting Mach number in the absence of active cooling. The ensuing design attempts to deal with the particular problems that are the most demanding, while relying on proven technology where it is adequate. The report clearly does not solve, or even deal with, every aspect of the aircraft design. Rather, a general direction is suggested and supported with initial, approximate calculations.

W. Humphrey↗
NASA NTRSDate not supplied

A Review Towards the Design Optimization of High-Performance Additively Manufactured Rotating Detonation Rocket Engine Injectors

Rotating Detonation Rocket Engines (RDRE) have been marketed primarily for their higher specific impulse potential over constant pressure (CP) liquid rocket engines. However, several other performance advantages exist such as heat transfer advantages for gas expander cycle, increased completeness of combustion at low chamber L*, compact engine design, reduced coolant channel pressure drop potential, and improved injector C* performance. NASA has paved the way for liquid engine system performance enhancement since the Apollo program and continues to do so with metal additive manufacturing (AM), new advanced materials, and advanced propulsion concepts. A team of propulsion development engineers at NASA are in the process of developing high-performance 7K lbf class RDRE hardware for their potential use in lander, upper stage, and even launch vehicle applications. Clear advantages have been demonstrated with AM including program cost and schedule reductions of up to 50%. It is well known that injector performance is integrally linked to the global performance of a combustion device. This is especially the case for RDREs since detonation stability is heavily dependent on the mixedness of propellants. A major goal of this work is to identify what has been done in the open experimental literature and what injectors design features are conducive to high performance in the detonation cycle. This paper reviews the available literature and reports the primary gaps in the knowledge base needed by the pressure gain combustion (PGC) community. Major conclusions are documented, and suggestions given towards the design of high-performance liquid RDRE injectors. In addition, the integration of metal AM into the design of liquid RDRE injector schemes is included.

rotating detonation rocket engine↗
NASA NTRS2012

KSC Tech Transfer News, Volume 5, No. 1

In October 2011, the White House released a presidential memorandum titled "Accelerating Technology Transfer and Commercialization of Federal Research in Support of High-Growth Businesses." It emphasized the importance of technology transfer as a driver of successful innovation to fuel economic growth, create jobs, and make U.S. industries more competitive in a global market. In response to this memorandum, NASA developed a 5-year plan for accelerating its own technology transfer activities. This plan outlines key objectives for enhancing NASA's ability to increase the rate, volume, and quality of technology transfers to industry, academia, and other Government agencies. By doing so, we are increasing the economic impact and public benefit of Federal technology investments. In addition, NASA established technology transfer as a key element of one of its Agency High Priority Performance Goals: "Enable bold new missions and make new technologies available to Government agencies and U.S. industry."What does this mean to you? In the broadest sense, NASA defines technology transfer as the utilization of NASA's technological assets- technologies, innovations, unique facilities and equipment, and technical expertise- by public and private sectors to benefit the Nation. So, if your job involves developing new technologies, writing new software, creating innovative ways to do business, performing research, or developing new technical capabilities, you could be contributing to Kennedy Space Center's (KSC) technology transfer activities by creating the technological assets that may one day be used by external partners. Furthermore, anytime you provide technical expertise to external partners, you're participating in technology transfer. The single most important step you can take to support the technology transfer process is to report new technologies and innovations ro the Technology Transfer Office. This is the critical first step in fueling the technology transfer pipeline. This is also a requirement for all Federal employees (see NPD 2091.1 B) and most NASA contractors. Detailed information on when, where, and how ro report new technology is provided on the following page. In addition, it's important that all detailed-oriented discussions about technology between NASA and external partners are documented or that they occur under formal agreements such as Space Act Agreements and Nondisclosure Agreements. Our office can assist you in putting these agreements into place, protecting NASA's interests, and providing the means to accurately measure the Agency's technology transfer activities. Technology transfer is everyone's responsibility. We need your help to ensure that NASA remains the leader in Federal technology transfer, and that the great work done at KSC provides the maximum economic and societal benefit to the Nation.

Buckingham, Bruce↗
NASA NTRS1999

Internet Based Remote Operations

This is the Final Report for the Internet Based Remote Operations Contract, has performed payload operations research support tasks March 1999 through September 1999. These tasks support the GSD goal of developing a secure, inexpensive data, voice, and video mission communications capability between remote payload investigators and the NASA payload operations team in the International Space Station (ISS) era. AZTek has provided feedback from the NASA payload community by utilizing its extensive payload development and operations experience to test and evaluate remote payload operations systems. AZTek has focused on use of the "public Internet" and inexpensive, Commercial-off-the-shelf (COTS) Internet-based tools that would most benefit "small" (e.g., $2 Million or less) payloads and small developers without permanent remote operations facilities. Such projects have limited budgets to support installation and development of high-speed dedicated communications links and high-end, custom ground support equipment and software. The primary conclusions of the study are as follows: (1) The trend of using Internet technology for "live" collaborative applications such as telescience will continue. The GSD-developed data and voice capabilities continued to work well over the "public" Internet during this period. 2. Transmitting multiple voice streams from a voice-conferencing server to a client PC to be mixed and played on the PC is feasible. 3. There are two classes of voice vendors in the market: - Large traditional phone equipment vendors pursuing integration of PSTN with Internet, and Small Internet startups.The key to selecting a vendor will be to find a company sufficiently large and established to provide a base voice-conferencing software product line for the next several years.

Chamberlain, James↗
NASA NTRS1992

EOS workstation

This final report summarizes the work done from mid-1989 until January 1992 to develop a prototype set of tools for the analysis of EOS-type images. Such images are characterized by great multiplicity and quantity. A single 'snapshot' of EOS-type imagery may contain several hundred component images so that on a particular pixel, one finds multiple gray values. A prototype EOS-sensor, AVIRIS, has 224 gray values at each pixel. The work focused on the ability to utilize very large images and continuously roam through those images, zoom and be able to hold more than one black and white or color image, for example for stereo viewing or for image comparisons. A second focus was the utilization of so-called 'image cubes', where multiple images need to be co-registered and then jointly analyzed, viewed, and manipulated. The target computer platform that was selected was a high-performance graphics superworkstation, Stardent 3000. This particular platform offered many particular graphics tools such as the Application Visualization System (AVS) or Dore, but it missed availability of commercial third-party software for relational data bases, image processing, etc. The project was able to cope with these limitations and a phase-3 activity is currently being negotiated to port the software and enhance it for use with a novel graphics superworkstation to be introduced into the market in the Spring of 1993.

Leberl, Franz↗
NASA NTRS2016

Measurement and Modelling of Multicopter UAS Rotor Blades in Hover

Multicopters are becoming one of the more common and popular type of unmanned aircraft systems (UAS) which have both civilian and military applications. One example being the concept of drone deliveries proposed by the distribution company Amazon [1]. The electrical propulsion is considered to have both faster and easier deliveries and also environmental benefits compared to other vehicles that still use fossil fuel. Other examples include surveillance and just simple entertainment. The reason behind their success is often said to be due to their small size, relatively low cost, simple structure and finally simple usage. With an increase in the UAS market comes challenges in terms of security, as both people and other aircrafts could be harmed if not used correctly. Therefore further studies and regulations are needed to ensure that future use of drones, especially in the civilian and public sectors, are safe and efficient. Thorough research has been done on full scale, man or cargo transporting, helicopters so that most parts of flight and performance are fairly well understood. Yet not much of it have been verified for small multicopters. Until today many studies and research projects have been done on the control systems, navigation and aerodynamics of multicopters. Many of the methods used today for building multicopters involve a process of trial an error of what will work well together, and once that is accomplished some structural analysis of the multicopter bodies might be done to verify that the product will be strong enough and have a decent aerodynamic performance. However, not much has been done on the research of the rotor blades, especially in terms of structural stress analyses and ways to ensure that the commonly used parts are indeed safe and follow safety measures. Some producers claim that their propellers indeed have been tested, but again that usually tends towards simple fluid dynamic analyses and even simpler stress analyses. There is no real deflection measurement of said blades and all theory is today based on the theory developed for full scale helicopters. This report thus intends to highlight the problems that come with blade deflection theory and measurements for multicopters. This thesis starts with the introduction and problem formulation where the grounds for what the report contains are laid out. Then a literature review of the research within the area follows where previous and current research and methods are presented. In the background information and theory relevant to the area are presented. After that the methods and set up of the different experimental and computer simulation approaches are depicted. In the results section the obtained results are presented and compared. Lastly there is a discussion where the results and methods are evaluated and analyzed, followed by the most important conclusions.

Multicopter UAS Rotor Blades↗
NASA NTRS2010

Progress in Development of the Axel Rovers

Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.

Nesnas, Issa A.↗
NASA NTRS2021

NASA Electric Vertical Takeoff and Landing (eVTOL) Aircraft Technology for Public Services – A White Paper

History has shown that our personal life is highly dependent on the technology that people have developed. A strategic scan of the aerospace environment at the beginning of the 21st century strongly suggests that the world might be approaching a new age of airpower—the era of electrified/hybrid aircraft propulsion. Undeniably, starting from the Montgolfier Brothers balloon flight in 1783, to the Wright Brothers piston engine flight in 1903, and the jet engine of the 1960s, or the space age of today, one can say that leaps in propulsion technology have marked the different ages of human flight. The technological advancements, brought at the beginning of 21st century by the revolution in data exchange, computational power, sensors, wireless communication, internet, and autonomy, contributed to the vision of this new age of propulsion we are approaching. Historically, conventional vertical takeoff and landing (VTOL) aircraft have been equipped with propulsion units relying on complex internal combustion machines (turbines, piston engines, for example), and complex mechanical arrangements (gearboxes, shafts, variable pitch propeller). By contrast, electric VTOL aircraft (eVTOL)1 rely on simpler propulsion units (electric motors and in some cases fixed-pitch propellers). This promotes redundancy and improves tolerance to failures, in turn improving safety. The use of simpler electric propulsion units should also allow significant acquisition and operating cost reductions. Whether full-electric (relying solely on batteries) or hybrid-electric (relying on a combination of batteries, fuel-powered engines, and generators.), eVTOLs are also expected to generate less noise and air pollution than conventional aircraft with similar payloads. According to the 2019 Annual Review of IATA (International Air Transport Association) [ref.1], due to an expected increase in air transport traffic by 5% every year and a doubling of air transport passenger numbers to 8.2 billion by 2037 significant challenges are posed to the aviation industry. Furthermore, this report does not factor in the expected demand for short-range (intra-city) air transportation, which is in development and yet to be operational. The increased demand to fly creates a responsibility to expand in a sustainable manner and an endeavor to develop more environmentally-friendly aircraft. eVTOL aircraft, either piloted or autonomous, is gathering considerable interest worldwide. Modern and novel full-electric or hybrid-electric eVTOL configurations enable a new paradigm shift in air transportation as the aviation industry remains committed to its goals of carbon-neutral growth from 2020 onwards and cutting CO2 emissions to half 2005 levels by 2050. While electric power has been used for decades, recent developments in mobile electric/hybrid propulsion coupled with advanced materials and autonomous systems may create the possibility to transition into the next age of air mobility propelled by electric/hybrid VTOL aircraft technology. Although eVTOL aircraft might seem like an incremental improvement or even a counterintuitive regression with regard to past VTOL development, it has in fact the potential to transform air mobility across a wide range of government applications. Previous transformations in aviation generated dramatic leaps in performance, but the cost was commensurate with performance, limiting quantity produced. This next age appears to take a different approach. Performance may not increase, but at this moment technology is poised for future urban mobility that will spawn commercial passenger drone services, that is, autonomous (pilotless) air taxis and thereby add a new dimension to the urban transportation mix of the future [ref. 2]. Advances in electric propulsion, autonomous flight technology, and 5G communication networks will enable this fast new-growing market to become a reality. It is now time to envision the introduction of electric/hybrid eVTOL aircraft for Public Services2. We believe that in the next decades eVTOL aircraft will have the potential to become an essential tool to Public Service agencies around the world in applications such as firefighting, public safety, search and rescue, disaster relief and law enforcement. This is due to several major factors. • First, with the increasing popularity of small, unmanned aircraft vehicles (UAVs) or drones, many companies today are focusing on the development of passenger UAVs designed to accommodate up to five passengers or equivalent cargo payload. Many such configurations are electric or hybrid-electric designs with VTOL capabilities. Several of these projects have started a flight test program and many more are expected to be in the experimental and development phase in 2020. Such revolutionary vehicles could be in commercial operations by 2030. These eVTOL systems could be ready for selected Public Services missions even sooner. • Second, although these advanced eVTOL vehicles under development still need access to fuel (hybrid) and/or electric charging capability, they can take off and land from almost anywhere. Therefore, such vehicles, both manned and unmanned can be successfully integrated for the critical missions of the Public Services with extra deployment flexibilities. • Third, advancement in electric propulsion systems in the automotive industry together with NASA’s leading efforts in electrification of aircraft propulsion systems, FAA’s ongoing active eVTOL certification programs, and EASA’s proposed framework for the certification of electric/hybrid small category VTOL aircraft in Europe [ref. 3] will help accelerate industry electric propulsion system development and integration. • Finally, eVTOL vehicles could be deployed for Public Services sooner than air taxi or other commercial applications, since Public Services missions may be more easily approved based on specific mission criteria, localized airworthiness authority for public-use aircraft3, and are normally operating under centralized airspace management and control by the theater command. Moreover, public perception and acceptance are generally less of a concern when operations save lives and benefit the wider community. The prioritized introduction of eVTOL aircraft in Public Services is ambitious, but we believe it is achievable in the coming decades if fundamental enablers (people and technologies) are engaged in defining the objectives and needs of these missions. The revolution that is currently taking place in eVTOL aircraft represents an unprecedented opportunity to develop a safer, more affordable, more available and more environmentally friendly future of vertical flight. To ensure that these novel aircraft meet the future expectations of Public Services, it is essential to take a collaborative and multi-disciplinary approach to their development, across engineering disciplines, policy-making, program management, business case development, manufacturing, and flight demonstrations. It should be noted that the term eVTOL (in the near term) used throughout this publication implies aircraft capable of transporting up to 5 persons which may or may not include a pilot if operated fully autonomously, assuming an average of 200 pounds (91 kg) per person or equivalent payload and a range up to 60 miles plus a suitable reserve. Hybrid or hydrogen powered eVTOLs would have greater range. For example, a “3-seat” eVTOL aircraft may only be able to carry two fully equipped firemen, and payload capacity is more relevant when used for the supply mission. Moreover, this paper concentrates on the “last-mile” solutions with a deployment time of no more than 6 hours. Although not specifically discussed in this document, it is understood that the future of Transformative Vertical Flight in general and Public Services, in particular, will also involve smaller UAVs that will undoubtedly play a crucial role in future aerial operations. For example, smaller unmanned aircraft may be used to dispatch medical supplies, portable filtration systems or perform the Search task of future Search and Rescue (SAR) operations. Close collaboration between the aircraft industry, the Civil Aviation Authorities (CAA), e.g., Federal Aviation Administration (FAA), European Aviation Safety Agency (EASA), Transport Canada Civil Aviation (TCCA) and the Department of Defense (DoD) certifiers, will help identify Public Services requirements, define expectations and limit development cost and timescales. Take the US Air Force Agility Prime as an example, the majority of the eVTOL application opportunities and mission elements identified are in line with the NASA TVF WG-4 objectives and use cases. Together, it forms a strong partnership to accelerate the development, certification, and practical deployment for public service missions. The US Air Force Agility Prime has been a collaboration partner on this white paper, and provided valuable input and recommendations. Most of the eVTOL public service mission elements discussed in this paper and additional use cases envisioned by the NASA TVF WG-4 team are shared by the Agility Prime program. The focus and efforts of the Agility Prime in product and system development, industry and government partnership, accelerated certifications as well as early test and deployment are totally in sync with the path forward recommended by this white paper. This kind of collaboration and partnership will help enable the practical use of the eVTOL for public service missions, benefit the eVTOL public acceptance, and accelerate the eVTOL industry revolution.

Johnny T. Doo↗
NASA NTRS2010

The ICARE Method

The ICARE method is a flexible, widely applicable method for systems engineers to solve problems and resolve issues in a complete and comprehensive manner. The method can be tailored by diverse users for direct application to their function (e.g. system integrators, design engineers, technical discipline leads, analysts, etc.). The clever acronym, ICARE, instills the attitude of accountability, safety, technical rigor and engagement in the problem resolution: Identify, Communicate, Assess, Report, Execute (ICARE). This method was developed through observation of Space Shuttle Propulsion Systems Engineering and Integration (PSE&I) office personnel approach in an attempt to succinctly describe the actions of an effective systems engineer. Additionally it evolved from an effort to make a broadly-defined checklist for a PSE&I worker to perform their responsibilities in an iterative and recursive manner. The National Aeronautics and Space Administration (NASA) Systems Engineering Handbook states, engineering of NASA systems requires a systematic and disciplined set of processes that are applied recursively and iteratively for the design, development, operation, maintenance, and closeout of systems throughout the life cycle of the programs and projects. ICARE is a method that can be applied within the boundaries and requirements of NASA s systems engineering set of processes to provide an elevated sense of duty and responsibility to crew and vehicle safety. The importance of a disciplined set of processes and a safety-conscious mindset increases with the complexity of the system. Moreover, the larger the system and the larger the workforce, the more important it is to encourage the usage of the ICARE method as widely as possible. According to the NASA Systems Engineering Handbook, elements of a system can include people, hardware, software, facilities, policies and documents; all things required to produce system-level results, qualities, properties, characteristics, functions, behavior and performance. The ICARE method can be used to improve all elements of a system and, consequently, the system-level functional, physical and operational performance. Even though ICARE was specifically designed for a systems engineer, any person whose job is to examine another person, product, or process can use the ICARE method to improve effectiveness, implementation, usefulness, value, capability, efficiency, integration, design, and/or marketability. This paper provides the details of the ICARE method, emphasizing the method s application to systems engineering. In addition, a sample of other, non-systems engineering applications are briefly discussed to demonstrate how ICARE can be tailored to a variety of diverse jobs (from project management to parenting).

Henke, Luke↗
NASA NTRSDate not supplied

Development of a Safety Hazards Risk Assessment Tool for Uncrewed Aircraft System Traffic Management during Preflight Planning

Tremendous growth in the uncrewed and remotely piloted vehicle market is expected in low-altitude, uncontrolled airspace, resulting in potential decreases in safety without systems that support monitoring, assessing, and mitigating risk. At NASA, the System-Wide Safety (SWS) project has been developing a suite of data-driven tools to predict hazards so that the potential risks that these hazards pose can be mitigated. Services to predict various hazards have been developed, including battery capacity, proximity to static obstacles, population risks, global positioning system signal strength, radio frequency spectrum interference risk, and vertiport congestion. These services can monitor hazards along a flight path and if any risks posed by these hazards exceed a threshold, the uncrewed aircraft system (UAS) fleet manager can be alerted to mitigate the risk by modifying the flight path, changing the scheduled departure or arrival times, and/or diverting the vehicle to an alternate vertiport. These services were originally developed to monitor and assess risks during flight, but they have been adapted to assess hazard risks prior to departure so that a fleet manager can evaluate the potential risks for a fleet of UAS along their planned flight paths. These services have been integrated into a prototype tool called the Supplemental Data Service Provider-Consolidated Dashboard (SDSP-CD), developed at NASA Ames Research Center. The tool consists of a dashboard which provides a comprehensive overview for a number of risks and a map display that shows the details of the hazards along each flight’s path. Based on the findings from three previous studies, the SDSP-CD has been updated with new design elements and functions. In this paper, we describe lessons learned from the previous studies, changes made to the interface, and the feedback received during a follow-up usability study. Overall, participants reported that there is a substantial benefit of having a fleet manager use a consolidated dashboard to assess hazards for the vehicles in their fleet and to provide situational awareness to potential risks so that they can be mitigated prior to flight. Once the SDSP-CD matures, it will need to be integrated into flight and mission planning tools. Some initial thoughts on how this integration should be accomplished are shared in this paper. Finally, the functional differences between preflight vs. in-flight risk assessment and the differences in fleet manager vs. UAS pilot roles that may require different information and user interactions are discussed.

preflight↗
NASA NTRS1996

Damage accumulation in closed cross-section, laminated, composite structures

The need for safe, lightweight, less expensive, and more reliable launch vehicle components is being driven by the competitiveness of the commercial launch market. The United States has lost 2/3 of the commercial lunch market to Europe. As low cost Russian and Chinese vehicles become available, the US market share could be reduced even further. This international climate is driving the Single Stage To Orbit (SSTO) program at NASA. The goal of the SSTO program is to radically reduce the cost of safe, routine transportation to and from space with a totally reusable launch vehicle designed for low-cost aircraft-like operations. Achieving this goal will require more efficient uses of materials. Composite materials can provide this program with the material and structural efficiencies needed to stay competitive in the international launch market place. In satellite systems the high specific properties, design flexibility, improved corrosion and wear resistance, increased fatigue life, and low coefficient of thermal expansion that are characteristic of composite materials can all be used to improve the overall satellite performance. Some of the satellites that may be able to take advantage of these performance characteristics are the Tethered Satellite Systems (TOSCIFER, AIRSEDS, TSS2, SEDS1, and SEDS2), AXAF, GRO, and the next generation Hubble Space Telescope. These materials can also be utilized in projects at the NASAIMSFC Space Optics Technology and System Center of Excellence. The successful implementation of composite materials requires accurate performance characterization. Materials characterization data for composite materials is typically generated using flat coupons of finite width. At the free edge of these coupons the stress state is exacerbated by the presence of stiffness and geometric discontinuities. The exacerbated stress state has been shown to dominate the damage accumulation in these materials and to have a profound affect on the material constants. Space structures typically have closed cross-sections, absent of free edges. As a result, composite material characterization data generated using finite width flat specimens does not accurately reflect the performance of the composite materials used in a closed cross-section structural configuration. Several investigators have recognized the need to develop characterization techniques for composite materials in closed cross-sectioned structures. In these investigations test methods were developed and cylindrical specimens were evaluated. The behavior of the cylindrical specimens were observed to depart from behavior typical of flat coupons. However, no attempts were made to identify and monitor the progression of damage in these cylindrical specimens during loading. The identification and monitoring of damage is fundamental to the characterization of composite materials in closed cross-section configurations. In the study reported here, a closed cross-sectioned test method was developed to monitor damage progression in 2 in. diameter cylindrical specimens and 1.5 in. finite width flat coupons subjected to quasi-static, tensile loading conditions. Damage in these specimen configurations was monitored using pulse echo ultrasonic, acoustic emission, and X-ray techniques.

Bucinell, Ronald B.↗