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All sources NASA NTRS DOE OSTI

DOE OSTI2017

A Bernoulli Gaussian Watermark for Detecting Integrity Attacks in Control Systems

We examine the merit of Bernoulli packet drops in actively detecting integrity attacks on control systems. The aim is to detect an adversary who delivers fake sensor measurements to a system operator in order to conceal their effect on the plant. Physical watermarks, or noisy additive Gaussian inputs, have been previously used to detect several classes of integrity attacks in control systems. In this paper, we consider the analysis and design of Gaussian physical watermarks in the presence of packet drops at the control input. On one hand, this enables analysis in a more general network setting. On the other hand, we observe that in certain cases, Bernoulli packet drops can improve detection performance relative to a purely Gaussian watermark. This motivates the joint design of a Bernoulli-Gaussian watermark which incorporates both an additive Gaussian input and a Bernoulli drop process. We characterize the effect of such a watermark on system performance as well as attack detectability in two separate design scenarios. Here, we consider a correlation detector for attack recognition. We then propose efficiently solvable optimization problems to intelligently select parameters of the Gaussian input and the Bernoulli drop process while addressing security and performance trade-offs. Finally, we provide numerical results which illustrate that a watermark with packet drops can indeed outperform a Gaussian watermark.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS1980

Prediction of noise constrained optimum takeoff procedures

An optimization method is used to predict safe, maximum-performance takeoff procedures which satisfy noise constraints at multiple observer locations. The takeoff flight is represented by two-degree-of-freedom dynamical equations with aircraft angle-of-attack and engine power setting as control functions. The engine thrust, mass flow and noise source parameters are assumed to be given functions of the engine power setting and aircraft Mach number. Effective Perceived Noise Levels at the observers are treated as functionals of the control functions. The method is demonstrated by applying it to an Advanced Supersonic Transport aircraft design. The results indicate that automated takeoff procedures (continuously varying controls) can be used to significantly reduce community and certification noise without jeopardizing safety or degrading performance.

Padula, S. L.↗

NASA NTRS2005

Simulation of Dynamics of a Flexible Miniature Airplane

A short report discusses selected aspects of the development of the University of Florida micro-aerial vehicle (UFMAV) basically, a miniature airplane that has a flexible wing and is representative of a new class of airplanes that would operate autonomously or under remote control and be used for surveillance and/or scientific observation. The flexibility of the wing is to be optimized such that passive deformation of the wing in the presence of aerodynamic disturbances would reduce the overall response of the airplane to disturbances, thereby rendering the airplane more stable as an observation platform. The aspect of the development emphasized in the report is that of computational simulation of dynamics of the UFMAV in flight, for the purpose of generating mathematical models for use in designing control systems for the airplane. The simulations are performed by use of data from a wind-tunnel test of the airplane in combination with commercial software, in which are codified a standard set of equations of motion of an airplane, and a set of mathematical routines to compute trim conditions and extract linear state space models.

Waszak, Martin R.↗

DOE OSTI2016

Peptide-Directed PdAu Nanoscale Surface Segregation: Toward Controlled Bimetallic Architecture for Catalytic Materials

Bimetallic nanoparticles are of immense scientific and technological interest given the synergistic properties observed when mixing two different metallic species at the nanoscale. This is particularly prevalent in catalysis, where bimetallic nanoparticles often exhibit improved catalytic activity and durability over their monometallic counterparts. Yet despite intense research efforts, little is understood regarding how to optimize bimetallic surface composition and structure synthetically using rational design principles. Recently, it has been demonstrated that peptide-enabled routes for nanoparticle synthesis result in materials with sequence-dependent catalytic properties, providing an opportunity for rational design through sequence manipulation. In this study, bimetallic PdAu nanoparticles are synthesized with a small set of peptides containing known Pd and Au binding motifs. The resulting nanoparticles were extensively characterized using high-resolution scanning transmission electron microscopy, X-ray absorption spectroscopy and high-energy X-ray diffraction coupled to atomic pair distribution function analysis. Structural information obtained from synchrotron radiation methods were then used to generate model nanoparticle configurations using reverse Monte Carlo simulations, which illustrate sequence-dependence in both surface structure and surface composition. Replica exchange solute tempering molecular dynamic simulations were also used to predict the modes of peptide binding on monometallic surfaces, indicating that different sequences bind to the metal interfaces via different mechanisms. As a testbed reaction, electrocatalytic methanol oxidation experiments were performed, wherein differences in catalytic activity are clearly observed in materials with identical bimetallic composition. Finally, taken together, this study indicates that peptides could be used to arrive at bimetallic surfaces with enhanced catalytic properties, which could be leveraged for rational bimetallic nanoparticle design using peptide-enabled approaches.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2022

Multifamily Air Leakage Evaluation: A Modular Case Study

The purpose of this case study is to compare the air leakage rates of modular and site-built multifamily dwelling units. The methods, materials, and equipment were observed to be very similar in the modular and site-constructed units in this case study. The installation quality of building envelope measures such as insulation and air barrier appeared to be better for modular construction, because they were installed in a controlled, factory setting. Through field observations, we identified cosmetic damage to the envelope of modular units following transport to the building site, but with no resulting significant air leakage pathways. However, we did see air leakage pathways resulting from field modifications to the envelope of modular units to accommodate structural and mechanical connections. We found that the extensive use of through-wall HVAC systems, combined with the transport, placement, and rework of modular units may compromise the high-quality envelope installation and airtightness observed in the factory without careful planning and/or design. Opportunities for improvement identified from the tested modular dwelling units include minimizing and optimally locating penetrations, pre-cutting and detailing penetrations at the factory where possible, properly sealing field modifications, and using split HVAC systems in place of through-wall packaged systems.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS1983

Number and placement of control system sensors considering possible failures

A methodology has been presented which is intended to assist the designer of a control system for a large space structure to decide how many sensors should be incorporated in the system and where they should be placed on the structure. This approach is intended to be especially useful in the early stages of the evolution of the system, before a complete control system concept has been defined. This methodology is based on a quantitative measure of the observability of the system for a given set of sensors. The effect of possible component failures during the mission period was incorporated in the measure. The question of sensor placement is then resolved by finding the locations which maximize the performance measure. The number of components to use cannot be determined by optimizing the measure because the observability always improves with increased number of sensors if they are optimally located. However, the improvement in the measure with component number can be determined, and this information can be used along with data on cost, power required, etc., to decide how many sensors to use.

Vandervelde, W. E.↗

DOE OSTI2023

Accurate Prediction of Algal Biomass Lipid, Protein, and Carbohydrate Composition with Machine Learning Regression Modelling of Near-IR Spectra

During large scale algal biomass cultivation, it is difficult to reliably control relative composition to target levels. Rapid determination of chemical composition is feasible by using near infrared (NIR) spectral data. We sought to build and improve on reliable high-throughput screening prediction method based on partial least squares regression (PLSR) by the application of artificial neural networks (ANN) and associated optimization strategies. The algal biomass sample set was designed and created in an iterative process of culturing in physiologically diverse conditions at the GAI field site, followed by compositional analyses at NREL. The workflow allowed us to identify gaps in compositional space for informing the subsequent cultivation and sampling efforts and generated a high quality set of 210 unique samples with chemical analysis results, spectral scanning data, and cultivation metadata. We observed a significant improvement in the performance of carbohydrate content predictions using an optimized ANN model compared to PLSR, with > 16% reduction in mean absolute percent error (MAPE) when tested on the same set of reserved data. The optimized ANN models for FAME and protein prediction performed exceptionally well with 5.99% and 5.09% MAPE, respectively. Application of these methods to detection and quantification of minor biomass constituents that are relevant to certain product streams has shown positive preliminary results, opening the possibility for extensions to the outputs of this powerful data type. All models are accompanied by prediction uncertainties and unsupervised spectral outlier detection to alert an operator to unreliable spectral data. These tools can be deployed for rapid determination of algal culture status, and cultivation and biomass quality improvement.

algal biofuels↗

DOE OSTI2015

Simplified predictive models for CO 2 sequestration performance assessment

CO2 sequestration in deep saline formations is increasingly being considered as a viable strategy for the mitigation of greenhouse gas emissions from anthropogenic sources. In this context, detailed numerical simulation based models are routinely used to understand key processes and parameters affecting pressure propagation and buoyant plume migration following CO2 injection into the subsurface. As these models are data and computation intensive, the development of computationally-efficient alternatives to conventional numerical simulators has become an active area of research. Such simplified models can be valuable assets during preliminary CO2 injection project screening, serve as a key element of probabilistic system assessment modeling tools, and assist regulators in quickly evaluating geological storage projects. We present three strategies for the development and validation of simplified modeling approaches for CO2 sequestration in deep saline formations: (1) simplified physics-based modeling, (2) statisticallearning based modeling, and (3) reduced-order method based modeling. In the first category, a set of full-physics compositional simulations is used to develop correlations for dimensionless injectivity as a function of the slope of the CO2 fractional-flow curve, variance of layer permeability values, and the nature of vertical permeability arrangement. The same variables, along with a modified gravity number, can be used to develop a correlation for the total storage efficiency within the CO2 plume footprint. Furthermore, the dimensionless average pressure buildup after the onset of boundary effects can be correlated to dimensionless time, CO2 plume footprint, and storativity contrast between the reservoir and caprock. In the second category, statistical “proxy models” are developed using the simulation domain described previously with two approaches: (a) classical Box-Behnken experimental design with a quadratic response surface, and (b) maximin Latin Hypercube sampling (LHS) based design with a multidimensional kriging metamodel fit. For roughly the same number of simulations, the LHS-based metamodel yields a more robust predictive model, as verified by a k-fold cross-validation approach (with data split into training and test sets) as well by validation with an independent dataset. In the third category, a reduced-order modeling procedure is utilized that combines proper orthogonal decomposition (POD) for reducing problem dimensionality with trajectory-piecewise linearization (TPWL) in order to represent system response at new control settings from a limited number of training runs. Significant savings in computational time are observed with reasonable accuracy from the PODTPWL reduced-order model for both vertical and horizontal well problems – which could be important in the context of history matching, uncertainty quantification and optimization problems. The simplified physics and statistical learning based models are also validated using an uncertainty analysis framework. Reference cumulative distribution functions of key model outcomes (i.e., plume radius and reservoir pressure buildup) generated using a 97-run full-physics simulation are successfully validated against the CDF from 10,000 sample probabilistic simulations using the simplified models. The main contribution of this research project is the development and validation of a portfolio of simplified modeling approaches that will enable rapid feasibility and risk assessment for CO2 sequestration in deep saline formations.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2025

Model form and sensitivity analysis of CALPHAD-based nucleation models in b-stabilized Ti alloys

Accurate prediction of α-phase nucleation and growth in β-stabilized titanium alloys is crucial for designing heat treatments to optimize mechanical properties in additively manufactured lightweight components. Ideally, predictions of nucleation and growth would incorporate both top-down observations of past experimental heat treatments and bottom-up modeling of phase transformations; however, the appropriate method of combining these information sources is not self-evident. Combining top-down and bottom-up information requires a unified form of model that can connect between spatiotemporal scales, as well as sets of fitting parameters that can be identified by each data source. The selection of which parameters to fit to which data source can be made based on expert opinion, or by performing a sensitivity analysis. In solid-solid nucleation, direct observation of the nucleation and growth process is challenging. Most data on the heat treatment-controlled phase transformations are not in-situ. To predict the process and outcome of the nucleation, growth and coarsening of precipitates, theoretical models of the nucleation pathway are used to bridge the gap. Many sources of uncertainty affect the modeling of this nucleation process. It can be influenced by small variations in the thermomechanical processing history, chemical composition, and initial microstructure. If molecular dynamics (MD) simulations are used to determine thermodynamic quantities and inform CALPHAD modeling, additional uncertainty can be introduced and accounted for using Bayesian methods. Top-down uncertainties require additional steps to quantify. The influence of nucleation model form on the sensitivity of predictions to input parameters and physical conditions is the focus of this study. Classical nucleation theory (CNT) allows modeling to formulate the nucleation as homogeneous or, more commonly, heterogeneous. Non-classical nucleation models are also increasingly explored as a means of reconciling top-down and bottom-up data. In this study, the sensitivity of the intragranular nucleation of α in a β-annealed, slow-cooled aging (BASCA) heat treatment of β-stabilized Ti5553 alloy is explored using CNT and both heterogeneous and homogeneous assumptions. The Kampmann-Wagner Numerical model of precipitate nucleation and growth is employed. Using open-source tools (pyCalphad and thermodynamic modeling of TiMo as a surrogate system, a sensitivity analysis is performed to measure variations in key parameters, including chemical driving force, interfacial energy, and diffusivity, as they relate to predictions of precipitate number density. The inclusion of top-down and bottom-up data in selection of nucleation model form is discussed.

Rodriguez Negron, A. M.↗

DOE OSTI2023

Reactor physics characterization of triply periodic minimal surface-based nuclear fuel lattices

Triply periodic minimal surface (TPMS) lattices are receiving substantial attention in numerous engineering fields due to their impressive topology-driven physical characteristics. TPMS lattices are periodic structures of two distinct intertwined volume domains separated by an area-minimizing surface or wall. TPMS lattices have been observed in nature, such as biological membranes, skeletons, block copolymers, sea urchins, butterfly wings, and equipotential surfaces in crystals. Intriguingly, the topology of TPMS lattices can be easily parametrized via level-set equations and thus are heavily numerically and experimentally studied. Here, a significant research effort is currently applying TPMS lattices for heat exchangers and sinks. This paper extends TPMS lattice applications to nuclear reactor fuel designs, with a focus on identifying relevant TPMS geometric parameters controlling neutronics characteristics, such as reactivity, neutron spectrum, and heat removal properties. We found that fuel surface-area-to-volume ratios for TPMS lattices can be two orders of magnitude larger than current cylindrical fuel rods. Further, the selected TPMS lattice and its implicit equation, the unit cell pitch, wall thickness, and structure porosity are design parameters enabling neutronics optimization for both thermal and fast spectrum configurations, paving the way for exceptionally compact and dense nuclear core concepts.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

NASA NTRS1988

The Mark III stellar interferometer

The Mark III interferometer is an operational long baseline stellar interferometer on Mt. Wilson with four-possible baseline configurations from 9m NE-SW to 20m N-S. The interferometer was designed to be a highly automated astronomical instrument to measure stellar positions and diameters to a magnitude limit of seven. Initial fringe observations were made in September 1986 with a 12-m N-S baseline. In the following months, semi-automated astrometric and stellar diameter measurements were also made. This paper describes the hardware and software components of the instrument and its operational characteristics. The interferometer has several novel features. One is the use of optimal estimation and control algorithms (e.g. Kalman filters) in the control loops. Another is the ability to operate both as a closed-loop phased interferometer and eventually as an open-loop or absolute coherent interferometer. High thermal stability and mechanical accuracy should permit the instrument to point blind at an astronomical object and maintain optical path equality to within the limits set by the atmosphere. In this absolute interferometric mode of operation, it should be possible to observe faint astronomical objects that are too dim for phase tracking. In theory, measurements of amplitude, group delay, and closure phase will be possible to 14 mag.

Shao, M.↗

DOE OSTI2025

Shaping Peptide Assemblies Using Multifaceted Cyclic Tectons

Constructing distinct biomacromolecular assemblies typically necessitates target-specific selection and engineering of building blocks alongside optimization of assembly conditions. The challenge lies in achieving diverse morphological outcomes using simple, shared modules under identical conditions, a hallmark of natural systems that remains elusive in synthetic approaches. Here, in this work, we present a molecular scaffold-based strategy to instruct the coassembly of the same set of peptides into a variety of nanostructures across multiple dimensions. We create trifaceted cyclic scaffolds to manipulate two pairs of dimeric coiled-coil peptides prior to coassembly. These scaffolds, with addressable and orthogonal modules, allow controlled exposure of their cohesive faces, directing the formation of nanotriangles and fibrillar and lamellar assemblies. By tuning interpeptide arrangements that dictate scaffold geometry, we construct nonstraight fibrils with tunable curvature, which are rarely observed before. Notably, these scaffolds exhibit plasticity in adapting the sizes and orientations of cohesive faces to different assembly morphologies. The resultant nanostructures are consistent with the design and simulation results, demonstrating the reliability and predictability of this approach. Multifaceted cyclic scaffolds bridge the intellectual and physical gaps between building peptides and assemblies, holding promise for endowing various existing assembly systems with high tunability and versatility.

assembly morphology↗

NASA NTRS1990

Integrated controls-structures design methodology development for a class of flexible spacecraft

Future utilization of space will require large space structures in low-Earth and geostationary orbits. Example missions include: Earth observation systems, personal communication systems, space science missions, space processing facilities, etc., requiring large antennas, platforms, and solar arrays. The dimensions of such structures will range from a few meters to possibly hundreds of meters. For reducing the cost of construction, launching, and operating (e.g., energy required for reboosting and control), it will be necessary to make the structure as light as possible. However, reducing structural mass tends to increase the flexibility which would make it more difficult to control with the specified precision in attitude and shape. Therefore, there is a need to develop a methodology for designing space structures which are optimal with respect to both structural design and control design. In the current spacecraft design practice, it is customary to first perform the structural design and then the controller design. However, the structural design and the control design problems are substantially coupled and must be considered concurrently in order to obtain a truly optimal spacecraft design. For example, let C denote the set of the 'control' design variables (e.g., controller gains), and L the set of the 'structural' design variables (e.g., member sizes). If a structural member thickness is changed, the dynamics would change which would then change the control law and the actuator mass. That would, in turn, change the structural model. Thus, the sets C and L depend on each other. Future space structures can be roughly divided into four mission classes. Class 1 missions include flexible spacecraft with no articulated appendages which require fine attitude pointing and vibration suppression (e.g., large space antennas). Class 2 missions consist of flexible spacecraft with articulated multiple payloads, where the requirement is to fine-point the spacecraft and each individual payload while suppressing the elastic motion. Class 3 missions include rapid slewing of spacecraft without appendages, while Class 4 missions include general nonlinear motion of a flexible spacecraft with articulated appendages and robot arms. Class 1 and 2 missions represent linear mathematical modeling and control system design problems (except for actuator and sensor nonlinearities), while Class 3 and 4 missions represent nonlinear problems. The development of an integrated controls/structures design approach for Class 1 missions is addressed. The performance for these missions is usually specified in terms of (1) root mean square (RMS) pointing errors at different locations on the structure, and (2) the rate of decay of the transient response. Both of these performance measures include the contributions of rigid as well as elastic motion.

Maghami, P. G.↗

NASA NTRS2016

Closed Loop Control Compact Exercise Device for Use on MPCV

Long duration space travel to Mars or to an asteroid will expose astronauts to extended periods of reduced gravity. To combat spaceflight physiological deconditioning, astronauts will use resistive and aerobic exercise regimens for the duration of the space flight to minimize the loss of bone density, muscle mass and aerobic capacity that occurs during exposure to a reduced gravity environment. Unlike the International Space Station (ISS), the mass and volume available for an exercise device in the next generation of spacecraft is limited. Therefore, compact exercise device prototypes are being developed for human in the loop evaluations. The NASA Human Research Program (HRP) is managing Advanced Exercise Concepts (AEC) requirements development and candidate technology maturation for all exploration mission profiles from Multi-Purpose Crew Vehicle (MPCV) exploration missions (e.g., EM-2, up to 21 day) to Mars Transit (up to 1000 day) missions. Numerous technologies have been considered and evaluated against HRP-approved functional requirements and include flywheel, pneumatic and closed-loop microprocessor-controlled motor driven power plants. Motor driven technologies offer excellent torque density and load accuracy characteristics as well as the ability to create custom mechanical impedance (the dynamic relationship between force and velocity) and custom load versus position exercise algorithms. Further, closed-loop motor-driven technologies offer the ability to monitor exercise dose parameters and adapt to the needs of the crewmember for real time optimization of exercise prescriptions. A simple proportional-integral-derivative (PID) controller is demonstrated in a prototype motor driven exercise device with comparison to resistive static and dynamic load set points and aerobic work rate targets. The resistive load term in the algorithm includes a constant force component (Fcmg) as well as inertial component (Fima) and a discussion of system tuning is presented in terms of addressing key functional requirements and human interfaces. The device aerobic modality is modelled as a rowing exercise using ground data sets obtained from Concept 2 rowers as well as competitive rowing1. A discussion of software and electronic implementations are presented which demonstrate unique approaches to meeting the constrained mass, volume and power requirements of the MPCV. . In addition to utilizing traditional PID control, controllers utilizing state feedback with gains solved using a Linear Quadratic Regulator will be developed. Controllability and observability will be utilized to investigate the need for state measurement in the design. As the control system directly interacts with human test subjects, robust methods such as H-infinity are also being investigated.1. Kleshnev V. Biomechanics. In: Rowing, Handbook of Sports Medicine and Science. ed. by Secher N., Voliantis S. IOC Medical Commission, Blackwell Pub. pp. 22-34, 2007

microgravity↗

NASA NTRS2002

Science Planning for Multi-Spacecraft Coordinated Observations

Fulfilling the promise of an era of great observatories, NASA now has more than three space-based astronomical telescopes operating in different wavebands. This situation provides astronomers with a unique opportunity to simultaneously observe with multiple observatories. Yet scheduling multiple observatories simultaneously is highly inefficient when compared to single observatory observations. Thus, programs using multiple observatories are limited not due to scientific restrictions, but due to operational inefficiencies. Each year, a number of proposals are accepted by a space-based observatory for conduction of astronomical observations and gathering of science data for the study of galactic events. Since each space-based observatory uses a set of instruments designed to operate in specific energy regions, most such studies are conducted by submitting observation proposals to multiple observatories, with requests to coordinate among themselves. To assure that the proposed observations can be scheduled, each observatory's staff has to check that the observations are valid and meet all the constraints for their own observatory; in addition, they have to verify that the observations satisfy the constraints of the other observatories. Thus, coordinated observations require painstaking manual collaboration among the observatory staff at each observatory. In order to exploit new paradigms for observatory operation, the Goddard Space Flight Center's Advanced Architectures and Automation Branch has developed a prototype tool called the Visual Observation Layout Tool (VOLT). The main objective of VOLT is to provide a visual tool to automate the science planning of coordinated observations for multiple spacecraft, as well as to increase the scheduling probability of observations. However, VOLT is also useful for single observatory planning to optimize observatory control. Three space-based missions are interested in using VOLT (the Hubble Space Telescope, the Chandra X-Ray Observatory, and the Far Ultraviolet Spectroscopic Explorer). The VOLT team members have collaborated with these missions to gather requirements and obtain feedback on their mission planning processes. VOLT has been developed as a cross-platform Java client application for use by scientists and observatory science planning staff to visualize scheduling options and constraints. It also supports a lightweight graphical user interface for remote viewing via a Web front end. Additionally, it uniquely supports the ability to interact with multiple, diverse scheduling packages in order to determine windows of opportunity for observations and visually portray the constraints of each observation request. VOLT enables science data capture scenarios which are currently either impossible, or which require extensive time and manpower to coordinate amongst multiple observatories. it supports early detection of planning conflicts by generating coordinated solutions based on observatory schedulability and constraints. The project development approach has included frequent prototype demonstrations to our interested missions to obtain feedback after each release of the software. We will present an overview of our lessons learned in infusing the VOLT tool into the operations of the missions we have collaborated with and a brief demonstration of the software.

Maks, Lori↗

NASA NTRS2006

Separation Control in a Multistage Compressor Using Impulsive Surface Injection

Control of flow separation using impulsive surface injection is investigated within the multistage environment of a low speed axial-flow compressor. Measured wake profiles behind a set of embedded stator vanes treated with suction-surface injection indicate significant reduction in flow separation at a variety of injection-pulse repetition rates and durations. The corresponding total pressure losses across the vanes reveal a bank of repetition rates at each pulse duration where the separation control remains nearly complete. This persistence allows for demands on the injected-mass delivery system to be economized while still achieving effective flow control. The response of the stator-vane boundary layers to infrequently applied short injection pulses is described in terms of the periodic excitation of turbulent strips whose growth and propagation characteristics dictate the lower bound on the band of optimal pulse repetition rates. The eventual falloff in separation control at higher repetition rates is linked to a competition between the benefits of pulse-induced mixing and the aggravation caused by the periodic introduction of low-momentum fluid. Use of these observations for impulsive actuator design is discussed and their impact on modeling the time-average effect of impulsive surface injection for multistage steady-flow simulation is considered.

Wundrow, David W.↗

NASA NTRSDate not supplied

ISRU Pilot Excavator Wheel Testing in Lunar Regolith Simulant

The ISRU Pilot Excavator, or IPEx, is a robotic excavator funded by NASA’s Space Technology Mission Directorate (STMD). The Concept of Operations for IPEx involves the robot driving on the lunar surface up to 70 km at a speed of up to 30 cm/s. As such, it is critical to the mission’s success to optimize the design of the wheels for performance in lunar conditions, specifically in lunar regolith. To achieve this, an array of tests was completed to observe the effects of various wheel design choices on the driving performance of the wheels in lunar regolith simulant. In order to facilitate testing, we designed a 12” dia. configurable wheel to allow for interchangeability between various wheel formations. Two types of wheel parts were designed to be swapped: cleats, which form the tread of the wheel; and grousers, which protrude from the treads. The test variables that we considered were as follows: square vs. round wheel shape, solid vs. perforated cleats, cleat spacing, grouser height, and grouser spacing. By combining different settings of each of these test variables, ten discrete wheel designs were created and tested. The configurable test wheels were mounted on the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. In our experiments, the robot was driven at a controlled speed across a prepared surface of BP-1 lunar regolith simulant. Four types of tests were conducted: circle driving, straight driving, slope driving, and drawbar pull. The driving tests were chosen to mimic a variety of conditions in which IPEx may be expected to operate, and the drawbar pull test was chosen to provide a standard of comparison with existing wheel design literature. The circle and straight driving tests were each performed at different levels: for the circle driving test, the robot was driven at a constant linear speed and three different angular speeds, while for the straight driving test, the robot was driven at three different linear speeds. The data collected from these tests included the power usage from each of the wheels, measurements of the tread patterns left in the regolith surface, and the amount of slip the wheels experienced, which was calculated using data from an OptiTrack motion capture system. From the results of these experiments, we found that certain test variables were more significant than others in determining performance for each type of test, and no single wheel design clearly outperformed the others in all areas. The details of our findings will be discussed further in this paper. This data will be utilized to inform the design of the wheels for IPEx and can provide a basis for the design of wheels for future lunar terrain vehicles.

RASSOR↗

DOE OSTI2016

SU-F-T-505: A Novel Approach for Sparing Critical Organs at Risk for Cancer Patients Undergoing Radiation Oncology Treatments

Purpose: A major goal of an effective radiation treatment plan is to deliver the maximum dose to the tumor while minimizing radiation exposure to the surrounding normal structures. For example, due to the radiation exposure to neighboring critical structures during prostate cancer treatment, a significant increase in cancer risk was observed for the bladder (77%) and the rectum (105%) over the following decade. Consequently, an effective treatment plan necessitates limiting the exposure to such organs which can best be achieved by physically displacing the organ at-risk. The goal of this study is to present a prototype for an organ re-positioner device designed and fabricated to physically move the rectum away from the path of radiation beam during external beam and brachytherapy treatments. This device affords patient comfort and provides a fully controlled motion to safely relocate the rectum during treatment. Methods: The NiTi shape memory alloy was designed and optimized for manufacturing a rectal re-positioner device through cooling and heating the core alloy for its shaping. This has been achieved through a prototyped custom designed electronic circuit in order to induce the reversible austenitic transformation and was tested rigorously to ensure the integrity of the actuated motion in displacement of the target anatomy. Results: The desirable NiTi shape-setting was configured for easy insertion and based on anatomical constraint. When the final prototype was evaluated, accuracy and precision of the maximum displacement and temperature changes revealed that the device could safely be used within the target anatomy. Conclusion: The organ re-positioner device is a promising tool that can be implemented in clinical setting. It provides a controlled and safe displacement of the delicate organ(s) at risk. The location of the organ being treated could also be identified using conventional onboard imaging devices or MV imaging available on-board most modern clinical accelerators.

60 APPLIED LIFE SCIENCES↗