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In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C-CMMs) for outfitting and other servicing tasks. Mobile robotic systems traversing these structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The robotic system described in the proposed paper is designed to provide access to the structure through collaborative mobile robotics. The paper will provide a method to constrain the design of such a robot via the geometry of the truss structure and the controlling joint torques across various gaits. The focus of the design is on a six-degree of freedom (DOF) robot arranged with two-DOF at each end and at the center. The variable features of this system are the actuators and the length of the links connecting the two-DOF modules. The result of the analysis is a link sizing range which the robot can be designed within to ensure functionality on the truss structure. A C-CMM will be designed using the scaling utility and several constructed to demonstrate operating both independently and collaboratively.
In 2019, NASA’s Space Technology Mission Directorate (STMD) established the Lunar Surface Innovation Initiative (LSII) which has evolved into a key agency asset aimed at spurring technology development and providing risk reduction for lunar surface system and infrastructure development. In the five years since its inception, LSII’s work has serviced the needs of technology stakeholders from U.S. industry, academia, government agencies, non-profit institutions, and has expanded to include participation from international organizations. Continued domestic and foreign engagement has gained rapid momentum through LSII’s Lunar Surface Innovation Consortium (LSIC), an innovative approach that encourages public-private partnerships and collaboration across sectors to support NASA’s existing technology investments and prepare for increasingly complex lunar surface technology demonstrations.
The Thermoplastics Development for Exploration Applications (TDEA) project seeks to advance NASA’s thermoplastic composites capabilities by developing structurally efficient joining solutions for large-scale space structures to support NASA’s future exploration missions. A key objective is to develop and understand advanced thermoplastic joining techniques relevant to space environments and applicable to unitized and/or reconfigurable composite structures. The TDEA project uses NASA Langley’s Tall Lunar Tower (TLT) concept as a target application for the design and development of in-space assembled thermoplastic composites. TLT is a 50-meter-tall tower constructed on the lunar surface near the south pole. The tower’s height at this location on the moon allows for extended durations of incident solar flux which can be used to generate power via photovoltaic arrays. The thermal environment present on lunar south pole represents a challenging environment for any space-based asset. This study provides an overview of the analysis techniques used to determine the temperature extremes, gradients, and timelines of a tall composite tower over a one-year duration at the Shackleton Connecting Ridge. The developed thermal model includes tower and lunar surface elements with anisotropic and temperature-dependent material properties and incorporates a solar vector orbit with time-varying solar flux. Study topics include: a comparison between the effects of simplified lunar surface topologies on thermal results, prediction of surface temperature values versus Lunar Reconnaissance Orbiter (LRO) flight data, and tower structural-thermal deformation.
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Sulfur dioxide (SO2) is a criteria air pollutant due to its contributions to aerosol formation, rainfall acidification, and harm to human health. The placement of air quality monitoring sites is typically biased towards urban areas, leaving large areas with very limited monitoring data. The Ozone Monitoring Instrument (OMI) has been used to provide estimates of SO2 vertical column densities (VCDs) globally at spatial resolution of 10s of kms once per day. OMI SO2 VCDs have been previously used to estimate surface SO2 concentrations using chemical transport model (CTM) simulations. The CTMs use estimated emissions and assimilated meteorological data, and simulate the chemical and physical processes that determine the vertical profile of SO2, which can be used to derive a ratio between the surface concentrations and VCDs. These models are complex, computationally expensive, and have large uncertainties in the simulated surface-to-VCD ratio due to biases in emissions and relatively coarse resolution. Machine learning techniques are comparatively easier to use, much less computationally expensive to use after training, and can produce more accurate estimations of surface concentrations than the CTM-based method. The interpretation of machine learning models often poses challenges, and in some cases, non-physical variables unrelated to SO2 are used as predictors. In this work, we create an artificial neural network (ANN) to relate OMI retrievals and archived GEOS-FP boundary layer heights to surface SO2 concentrations from the ChinaHighAirPollutants ChinaHighSO2 dataset (CHAP; Wei et al., 2023) on a seasonal average timescale from 2013-2018. Our model only utilizes five variables that are directly relevant to the satellite retrieval, lifetime, and spatial distribution of SO2. The model was trained on 16 seasons (four of each) with independent validation (one of each season) and testing datasets (one of each season) to avoid overfitting. Our ANN generates surface SO2 concentrations that are sensitive (slope = 0.51) and consistent (r = 0.74) with the CHAP data, but are underpredicted by an average of 1.2 ppbv with a mean absolute error of 2.2 ppbv. These results are better than recent studies utilizing the CTM method. To our knowledge, this is the best performing machine learning model that only uses physical variables to predict surface SO2. Our work demonstrates that a carefully constructed, simple ML model can accurately estimate surface-based SO2 concentrations from satellite VCD measurements, and this technique has future promise to expend to newer, higher resolution satellites and other air pollutants.
An electronic optical laser interferometer capable of resolving depth differences of as low as 30 A and planar displacements of 6000 A was constructed for the examination of surface profiles of bearing surfaces without physical contact. This instrument was used to determine topological chemical reactivity by applying a drop of dilute alcoholic hydrochloric acid and measuring the profile of the solid surface before and after application of this probe. It was found that scuffed bearing surfaces reacted much faster than virgin ones but that bearing surfaces exposed to lubricants containing an organic chloride reacted much more slowly. In a separate series of experiments, a number of stainless steel plates were heated in a nitrogen atmosphere to different temperatures and their reactivity examined later at ambient temperature. The change of surface contour as a result of the probe reaction was found to follow an Arrhenius-type relation with respect to heat treatment temperature. This result could have implications on the scuffing mechanism.
A method of computing reliable Gaussian and mean curvature sign-map descriptors from the polynomial approximation of surfaces was demonstrated. Such descriptors which are invariant under perspective variation are suitable for hypothesis generation. A means for determining the pose of constructed geometric forms whose algebraic surface descriptors are nonlinear in terms of their orienting parameters was developed. This was done by means of linear functions which are capable of approximating nonlinear forms and determining their parameters. It was shown that biquadratic surfaces are suitable companion linear forms for cylindrical approximation and parameter estimation. The estimates provided the initial parametric approximations necessary for a nonlinear regression stage to fine tune the estimates by fitting the actual nonlinear form to the data. A hypothesis-based split-merge algorithm for extraction and pose determination of cylinders and planes which merge smoothly into other surfaces was developed. It was shown that all split-merge algorithms are hypothesis-based. A finite-state algorithm for the extraction of the boundaries of run-length regions was developed. The computation takes advantage of the run list topology and boundary direction constraints implicit in the run-length encoding.
Planetary surfaces are often covered in regolith (crushed rock), whose geologic origin is largely basalt. The lunar surface is made of small-particulate regolith and areas of boulders located in the vicinity of craters. Regolith composition also varies with location, reflecting the local bedrock geology and the nature and efficiency of the micrometeorite-impact processes. In the lowland mare areas (suitable for habitation), the regolith is composed of small granules (20 - 100 microns average size) of mare basalt and volcanic glass. Impacting micrometeorites may cause local melting, and the formation of larger glassy particles, and this regolith may contain 10-80% glass. Studies of lunar regolith are traditionally conducted with lunar regolith simulant (reconstructed soil with compositions patterned after the lunar samples returned by Apollo). The NASA Kennedy Space Center (KSC) Granular Mechanics & Regolith Operations (GMRO) lab has identified a low fidelity but economical geo-technical simulant designated as Black Point-1 (BP-1). It was found at the site of the Arizona Desert Research and Technology Studies (RATS) analog field test site at the Black Point lava flow in adjacent basalt quarry spoil mounds. This paper summarizes activities at KSC regarding the utilization of BP-1 basalt regolith and comparative work with lunar basalt simulant JSC-1A as a building material for robotic additive construction of large structures. In an effort to reduce the import or in-situ fabrication of binder additives, we focused this work on in-situ processing of regolith for construction in a single-step process after its excavation. High-temperature melting of regolith involves techniques used in glassmaking and casting (with melts of lower density and higher viscosity than those of metals), producing basaltic glass with high durability and low abrasive wear. Most Lunar simulants melt at temperatures above 1100 C, although melt processing of terrestrial regolith at 1500 C is not uncommon. These temperatures are achievable by laser heating or by using solar concentrators. Similar to volcanic magma, the cooling rate determines the crystallite size - slower cooling develops larger crystals, and rapid quenching can result in fully amorphous glass.
Efforts were directed towards completing construction of the windtunnel test section, assembling instrumentation, programming the data acquisition and reduction system, adjusting the streamwise pressure gradient of the test section, calibrating the hot-wire anemometer probe, and constructing and testing a smoke generator. The test section was installed in the wind tunnel and is completely operational. The streamwise pressure gradient was adjusted to be nominally zero at a free-stream velocity of 3.05 m/s (10 ft/s). This was accomplished by adjusting the upper wall of the test section to be slightly divergent. The change in static pressure between any two streamwise locations in the test section was less than one percent of the free-stream dynamic pressure. A suitable means was found for accurately calibrating the hot-wire probe which is used to measure boundary-layer velocity profiles and fluctuating velocities.
A technology program on large space structures was defined to respond to common need perceived for five of the six themes. Greatly expanded power, facilities, and communications/sensing requirements appear to demand a new structures technology for construction in space. Requirements to construct huge structural arrays with precision surfaces in space will need creative research efforts to identify practical structural elements and construction techniques. Requirements for advanced transportation structures were defined to respond to the space transportation theme. Because of the criticality of thermal structures to achieve lower cost transportation systems, renewed emphasis on technology in this area is recommended. A second technology needing renewed emphasis is the area of recovery and landing technology structures to permit full reuse of launch vehicle propulsion elements.
The design of aerodynamic components of aircraft, such as wings or engines, involves a process of obtaining the most optimal component shape that can deliver the desired level of component performance, subject to various constraints, e.g., total weight or cost, that the component must satisfy. Aerodynamic design can thus be formulated as an optimization problem that involves the minimization of an objective function subject to constraints. A new aerodynamic design optimization procedure based on neural networks and response surface methodology (RSM) incorporates the advantages of both traditional RSM and neural networks. The procedure uses a strategy, denoted parameter-based partitioning of the design space, to construct a sequence of response surfaces based on both neural networks and polynomial fits to traverse the design space in search of the optimal solution. Some desirable characteristics of the new design optimization procedure include the ability to handle a variety of design objectives, easily impose constraints, and incorporate design guidelines and rules of thumb. It provides an infrastructure for variable fidelity analysis and reduces the cost of computation by using less-expensive, lower fidelity simulations in the early stages of the design evolution. The initial or starting design can be far from optimal. The procedure is easy and economical to use in large-dimensional design space and can be used to perform design tradeoff studies rapidly. Designs involving multiple disciplines can also be optimized. Some practical applications of the design procedure that have demonstrated some of its capabilities include the inverse design of an optimal turbine airfoil starting from a generic shape and the redesign of transonic turbines to improve their unsteady aerodynamic characteristics.
A detailed molecular surface chemistry model for the DSMC (Direct Simulation Monte Carlo) method is proposed and implemented into the SPARTA (Stochastic PArallel Rarefied-gas Time-accurate Analyzer) DSMC solver. Molchanova et al. constructed a molecular model for surface recombination in DSMC that includes different surface processes (adsorption, desoprtion, Eley-Rideal and Langmuir-Hinshelwood). All surface processes can be divided into two groups: surface mechanisms, which involve only the particle adsorbed by the surface (desorption and Langmuir-Hinshelwood), and impact mechanisms, which also involve gas-phase particles (adsorption, Eley-Rideal). Using a similar approach, the 14-reaction kinetic model of oxygen-carbon interaction suggested by Zhlukhtov and Abe, as well as more recent models by Alba et al., Poovathinghal et al., and a new model developed in the scope of this work, are implemented in SPARTA. The computational results for the different oxidation models are compared with experimental results from Murray et al. (oxidation of a vitreous carbon surface due to a hyperthermal beam of O and O2), with a particular focus on fluxes, angular and Time-Of-Flight distributions of scattered particles.
To improve ice accretion prediction codes, more data regarding ice roughness and its effects on convective heat transfer are required. The Vertical Icing Studies Tunnel (VIST) at NASA Glenn Research was used to model realistic ice roughness in the stagnation region of a NACA 0012 airfoil. In the VIST, a test plate representing the leading 2% chord of the airfoil was subjected to flows of 7.62 m/s (25 ft/s), 12.19 m/s (40 ft/s), and 16.76 m/s (55 ft/s). The test plate was fitted with multiple surfaces or sets of roughness panels, each with a different representation of ice roughness. The sets of roughness panels were constructed using two element distribution patterns that were created based on a laser scan of an iced airfoil acquired in the Icing Research Tunnel at NASA Glenn. For both roughness patterns, surfaces were constructed using plastic hemispherical elements, plastic conical elements, and aluminum conical elements. Infrared surface thermometry data from tests run in the VIST were used to calculate area averaged heat transfer coefficient values. The values from the roughness surfaces were compared to the smooth control surface, showing convective enhancement as high as 400% in some cases. The data gathered during this study will ultimately be used to improve the physical modeling in LEWICE or other ice accretion codes and produce predictions of in-flight ice accretion on aircraft surfaces with greater confidence.
A design of a lunar regolith bag and bagging system is described. The bags of regolith are to be used for construction applications on the lunar surface. The machine is designed to be used in conjunction with the lunar SKITTER currently under development. The bags for this system are 1 cu ft volume and are made from a fiberglass composite weave. The machinery is constructed mostly from a boron/aluminum composite. The machine can fill 120 bags per hour and work for 8 hours a day. The man hours to machine hours ratio to operate the machine is .5/8.
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Classical trajectory calculations are presented for the reaction ClO + O yields Cl + O2, a reaction which is an important step in the chlorine-catalyzed destruction of ozone which is thought to occur in the 220 and 1000 K. The calculated rate constant is 4.36 x 10 to the minus 11th power exp (-191/T)cu cm molecule (-1)s(-1) and its value at 300 K is 2.3 plus or minus 10 to the 11th power cu cm molecule (-1)s(-1), about a factor of 2 lower than recent experimental data. The empirical potential energy surface used in the calculations was constructed to fit experimental data for ClO, O2 and ClOO molecules. Other important features of this potential surface, such as the barrier to reaction, were varied systematically and calculations were performed for a range of conditions to determine the best theoretical rate constants. Results demonstrate the utility of classical trajectory methods for determining activation energies and other kinetic data for important atmospheric reactions.
In order to improve aerodynamic performance, a twist criterion was used to design the canard and wing lifting surfaces of two graphite-epoxy research aircraft. To meet that twist criterion, the lifting surfaces were tailored using graphite-epoxy tape. The outer surface of the aircraft is essentially constructed of 95 percent graphite epoxy materials. The analytical tools and methodology used to design those lifting surfaces are described. One aircraft was subjected to an 8g ground test in order to verify structural integrity and to determine how well the desired twist was achieved. Test results are presented and the reductions of both flight and ground strain test gages and their associated stresses are discussed.