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At least 307 records · Page 17
All sourcesNASA NTRSDOE OSTI
NASA NTRS1989

M.I.N.G., Mars Investment for a New Generation: Robotic construction of a permanently manned Mars base

A basic procedure for robotically constructing a manned Mars base is outlined. The research procedure was divided into three areas: environment, robotics, and habitat. The base as designed will consist of these components: two power plants, communication facilities, a habitat complex, and a hangar, a garage, recreation and manufacturing facilities. The power plants will be self-contained nuclear fission reactors placed approx. 1 km from the base for safety considerations. The base communication system will use a combination of orbiting satellites and surface relay stations. This system is necessary for robotic contact with Phobos and any future communication requirements. The habitat complex will consist of six self-contained modules: core, biosphere, science, living quarters, galley/storage, and a sick bay which will be brought from Phobos. The complex will be set into an excavated hole and covered with approximately 0.5 m of sandbags to provide radiation protection for the astronauts. The recreation, hangar, garage, and manufacturing facilities will each be transformed from the four one-way landers. The complete complex will be built by autonomous, artificially intelligent robots. Robots incorporated into the design are as follows: Large Modular Construction Robots with detachable arms capable of large scale construction activities; Small Maneuverable Robotic Servicers capable of performing delicate tasks normally requiring a suited astronaut; and a trailer vehicle with modular type attachments to complete specific tasks; and finally, Mobile Autonomous Rechargeable Transporters capable of transferring air and water from the manufacturing facility to the habitat complex.

Amos, Jeff↗
NASA NTRS1989

Development of construction materials like concrete from lunar soils without water

The development of construction materials such as concrete from lunar soils without the use of water requires a different methodology than that used for conventional terrestrial concrete. A unique approach is attempted that utilizes factors such as initial vacuum and then cyclic loading to enhance the mechanical properties of dry materials similar to those available on the moon. The application of such factors is expected to allow reorientation, and coming together, of particles of the materials toward the maximum theoretical density. If such a density can provide deformation and strength properties for even a limited type of construction, the approach can have significant application potential, although other factors such as heat and chemicals may be needed for specific construction objectives.

Desai, Chandra S.↗
NASA NTRS1991

Helmet of a laminate construction of polycarbonate and polysulfone polymeric material

An article of laminate construction is disclosed which is comprised of an underlayer of polycarbonate polymer material to which is applied a chemically resistant outer layer of polysulfone. The layers which are joined by compression-heat molding, are molded to form the shape of a body protective shell such as a space helmet comprising a shell of polycarbonate, polysulfone laminate construction attached at its open end to a sealing ring adapted for connection to a space suit. The front portion of the shell provides a transparent visor for the helmet. An outer visor of polycarbonate polysulfone laminate construction is pivotally mounted to the sealing ring for covering the transparent visor portion of the shell during extravehicular activities. The polycarbonate under layer of the outer visor is coated on its inner surface with a vacuum deposit of gold to provide additional thermal radiation resistance.

Kosmo, Joseph J.↗
NASA NTRS1992

On constructing three-dimensional overlapping grids with CMPGRD

Techniques for the construction of three-dimensional composite overlapping grids, using the grid construction program CMPGRD, are described. The overlapping approach can be used to generate grids for regions of complicated geometry. The grids can be constructed to be smooth and free from coordinate singularities. The ability to create smooth grids for complicated regions is an important first step towards the accurate numerical solution of partial differential equations. The creation of grids for surfaces defined by cross-sections such as an airplane wing is described. A method for integrating the patched surfaces generated by a computer aided design (CAD) package with the CMPGRD program is described. Additionally, the creation of grids in regions where surfaces intersect is described.

Henshaw, William D.↗
NASA NTRS1992

The use of typed lambda calculus for comprehension and construction of simulation models in the domain of ecology

We are concerned with two important issues in simulation modelling: model comprehension and model construction. Model comprehension is limited because many important choices taken during the modelling process are not documented. This makes it difficult for models to be modified or used by others. A key factor hindering model construction is the vast modelling search space which must be navigated. This is exacerbated by the fact that many modellers are unfamiliar with the terms and concepts catered to by current tools. The root of both problems is the lack of facilities for representing or reasoning about domain concepts in current simulation technology. The basis for our achievements in both of these areas is the development of a language with two distinct levels; one for representing domain information, and the other for representing the simulation model. Of equal importance, is the fact that we make formal connections between these two levels. The domain we are concerned with is ecological modelling. This language, called Elklogic, is based on the typed lambda calculus. Important features include a rich type structure, the use of various higher order functions, and semantics. This enables complex expressions to be constructed from relatively few primitives. The meaning of each expression can be determined in terms of the domain, the simulation model, or the relationship between the two. We describe a novel representation for sets and substructure, and a variety of other general concepts that are especially useful in the ecological domain. We use the type structure in a novel way: for controlling the modelling search space, rather than a proof search space. We facilitate model comprehension by representing modelling decisions that are embodied in the simulation model. We represent the simulation model separately from, but in terms of a domain mode. The explicit links between the two models constitute the modelling decisions. The semantics of Elklogic enables English text to be generated to explain the simulation model in domain terms.

Uschold, Michael↗
NASA NTRS1992

The Enabler: A reevaluation of design concepts and construction of a scaled model

The basic objective of the student's work this quarter was to make an in depth examination of the design concepts used on the lunar vehicle 'The Enabler'. Several changes were made to the vehicle including a redesigned wheel, a more compact boom and a reduced articulation angle. The vehicle's final dimensions were determined through an optimization process by defining mathematical equations for several of the vehicle's defined objectives. These included the ability to scale a one meter object, traverse a one meter crevice, and maintain a wheel-to-wheel clearance of three inches while at maximum articulation. The final dimensions of the vehicle were used to construct an approximate 1/4 scale model of the chassis and wheels. The boom, however, was constructed on a 1/5 scale (from the original design). This was due to the redesign of the boom and the limitations of the constructing material and PVC fittings.

Bess, David↗
NASA NTRS1991

Center for Space Construction Third Annual Symposium

Viewgraphs from presentations given at the symposium are presented. The topics covered include the following: orbital assembly, large space structures, space stations, expert systems, lunar regolith and structure mechanics, lunar shelter construction from lunar resources, telerobotic rovers, lunar construction equipment, lunar based equipment, and lunar construction.

Source record↗
NASA NTRS1992

Intelligent robots for planetary exploration and construction

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Albus, James S.↗
NASA NTRS1991

Structural load control during construction

In the absence of gravitational pull, the major design considerations for large space structures are stiffness for controllability, and transient dynamic loadings (as opposed to the traditional static load associated with earth-based structures). Because of the absence of gravitational loading, space structures can be designed to be significantly lighter than their counterparts on Earth. For example, the Space Shuttle manipulator arm is capable of moving and positioning a 60,000 lb payload, yet weighs less than 1,000 lbs. A recent design for the Space Station which had a total weight of about 500,000 lbs. used a primary loadcarrying keel beam which weighed less than 10,000 lbs. For many large space structures designs it is quite common for the load-carrying structure to have a mass fraction on the order of one or two percent of the total spacecraft mass. This significant weight reduction for large space structures is commonly accompanied by very low natural frequencies. These low frequencies cause an unprecedented level of operational complexity for mission applications which require a high level of positioning and control accuracy. This control problem is currently the subject of considerable research directed towards reducing the flexibility problem. In addition, however, the small mass fraction typically results in structures which are quite unforgiving to inadvertent high loadings. In other words, the structures are 'fragile.' In order to deal with the fragility issue CSC developed a load-limiting concept for space truss structures. This concept is aimed at limiting the levels of load which can occur in a large space structure during the construction process as well as during subsequent operations. Currently, the approach for dealing with large loadings is to make the structure larger. The impact this has on construction is significant. The larger structures are more difficult to package in the launch vehicle, and in fact in some instances the concept must be changed from a deployable truss to an erectable truss to permit packaging. The new load-limiting concept is aimed at permitting the use in large space structures of smaller trusses with a high level of strength robustness, in order to simplify the construction process. To date several analyses conducted on the concept have demonstrated its feasibility, and an experiment is currently being designed to demonstrate its operation.

Mikulas, Martin M., Jr.↗
NASA NTRS1993

Air Force construction automation/robotics

The Air Force has several missions which generate unique requirements that are being met through the development of construction robotic technology. One especially important mission will be the conduct of Department of Defense (DOD) space activities. Space operations and other missions place construction/repair equipment operators in dangerous environments and potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible, and more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL, to develop robotic construction/repair equipment. This development effort involves the following technologies: teleoperation, telerobotics, construction operations (excavation, grading, leveling, tool change), robotic vehicle communications, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of a robotic repair capability operating at the level of supervised autonomy. This paper will discuss current and planned efforts in space construction/repair, explosive ordnance disposal, hazardous waste cleanup, and fire fighting.

Nease, A. D.↗
NASA NTRS1991

In-Space Assembly and Construction Technology Project Summary: Infrastructure Operations Area of the Operations Technology Program

Viewgraphs describing the in-space assembly and construction technology project of the infrastructure operations area of the operation technology program are presented. Th objective of the project is to develop and demonstrate an in-space assembly and construction capability for large and/or massive spacecraft. The in-space assembly and construction technology program will support the need to build, in orbit, the full range of spacecraft required for the missions to and from planet Earth, including: earth-orbiting platforms, lunar transfer vehicles, and Mars transfer vehicles.

Bush, Harold↗
NASA NTRS1923

Internal Stresses in Laminated Construction

This report reviews the procedure employed in an investigation of the sources and influence of internal stresses in laminated construction, and discusses the influence of shrinkage and swelling stresses caused by atmospheric conditions upon the tensile strength across grain in laminated construction with special reference to airplane propellers. The investigation covered three sources of internal stress, namely, the combination of plain-sawed and quarter-sawed material in the same construction, the gluing together of laminations of different moisture contents, and the gluing together of laminations of different densities. Glued specimens and free specimens, made up under various manufacturing conditions, were subjected to various climatic changes inducing internal stresses and then were tested.

Heim, A L↗
NASA NTRS1931

Relative Economy of Different Methods of Airplane Construction

A comparison of the relative economy of airplane construction shows that monoplanes are cheaper than biplanes; that all-metal construction is much more expensive than mixed construction; that multi-engine airplanes are more expensive than single-engine types of the same carrying capacity and speed;that the cost of airplanes is materially reduced by increasing their size without increasing the number of engines. The greatest economy usually coincides with the best aerodynamic and static conditions and the cost is always increased by safety requirements.

Herrmann, H↗
NASA NTRS1994

Air Force construction automation/robotics

The Air Force has several unique requirements that are being met through the development of construction robotic technology. The missions associated with these requirements place construction/repair equipment operators in potentially harmful situations. Additionally, force reductions require that human resources be leveraged to the maximum extent possible and that more stringent construction repair requirements push for increased automation. To solve these problems, the U.S. Air Force is undertaking a research and development effort at Tyndall AFB, FL to develop robotic teleoperation, telerobotics, robotic vehicle communications, automated damage assessment, vehicle navigation, mission/vehicle task control architecture, and associated computing environment. The ultimate goal is the fielding of robotic repair capability operating at the level of supervised autonomy. The authors of this paper will discuss current and planned efforts in construction/repair, explosive ordnance disposal, hazardous waste cleanup, fire fighting, and space construction.

Nease, AL↗
NASA NTRS1994

Design and construction of a tensile tester for the testing of simple composites

The following is a design for a tensile tester which will be used to test the tensile strength and anisotropic properties of simple composites. These simple composites are suspected to be anisotropic primarily in a single plane. When the composites undergo a tensile force, they will undergo deformation, causing movement either to the left or right. The composites are suspect due to their method of construction. Each sample has a single layer of unidirectional continuous fibers embedded in a rubbery resin. It has been well established that a serious limitation of unidirectional fiber composites is the very large in-plane anisotropy. The design presented here incorporates a single degree of freedom such that distortion (to the left or right) due to anisotropic tendencies may be measured. The device will spend the vast majority of its time in an undergraduate materials lab. As a result, ease of use and durability are valued more highly than research grade accuracy. Additional concerns focus on the fact that this machine will be built as a student project. Issues which are dealt with during this design include: specimen configuration or shape; a method of applying consistent, linear tension force; a method of gripping specimen without affecting its overall properties; a method of collecting data; repeatability of data; ease of use; ease of construction; and cost. After the device has been constructed, it will be used to test the simple composites which were fabricated in house. A comparison will be made between composites manufactured using aluminum screening as the strengthening fibers and those manufactured using fiberglass screening.

Borst, Mark A.↗
NASA NTRS1994

Evaluation of Wiring Constructions for Space Applications

A NASA Office of Safety and Mission Assurance (OS&MA) program to develop lightweight, reliable, and safe wiring insulations for aerospace applications is being performed by the NASA Lewis Research Center (LeRC). As part of this effort, a new wiring construction utilizing high strength PTFE (poly tetrafluoroethylene) as the insulation has been tested and compared with the existing military standard polyimide-based MIL-W-81381 wire construction. Electrical properties which were investigated included ac corona inception and extinction voltages (sea level and 60,000 feet), time/current to smoke, and wire fusing time. The two constructions were also characterized in terms of their mechanical properties of flexural strength, abrasion resistance (23 C and 150 C), and dynamic cut-through (23 C and 200 C). The results obtained in this testing effort are presented and discussed in this paper.

Hammoud, Ahmad N.↗
NASA NTRS1995

Design and construction of the X-2 two-stage free piston driven expansion tube

This report outlines the design and construction of the X-2 two-stage free piston driven expansion tube. The project has completed its construction phase and the facility has been installed in the new impulsive research laboratory where commissioning is about to take place. The X-2 uses a unique, two-stage driver design which allows a more compact and lower overall cost free piston compressor. The new facility has been constructed in order to examine the performance envelope of the two-stage driver and how well it couple to sub-orbital and super-orbital expansion tubes. Data obtained from these experiments will be used for the design of a much larger facility, X-3, utilizing the same free piston driver concept.

Doolan, Con↗
NASA NTRS1995

Construction material processed using lunar simulant in various environments

The manufacture of construction materials from locally available resources in space is an important first step in the establishment of lunar and planetary bases. The objective of the CoMPULSIVE (Construction Material Processed Using Lunar Simulant In Various Environments) experiment is to develop a procedure to produce construction materials by sintering or melting Johnson Space Center Simulant 1 (JSC-1) lunar soil simulant in both earth-based (1-g) and microgravity (approximately 0-g) environments. The characteristics of the resultant materials will be tested to determine its physical and mechanical properties. The physical characteristics include: crystalline, thermal, and electrical properties. The mechanical properties include: compressive tensile, and flexural strengths. The simulant, placed in a sealed graphite crucible, will be heated using a high temperature furnace. The crucible will then be cooled by radiative and forced convective means. The core furnace element consists of space qualified quartz-halogen incandescent lamps with focusing mirrors. Sample temperatures of up to 2200 C are attainable using this heating method.

Chase, Stan↗