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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1999

Autonomous Rovers for Mars Exploration

Rovers will play a critical role in the exploration of Mars. Near-term mission plans call for long traverses over unknown terrain, robust navigation and instrument placement, and reliable operations for extended periods of time. Longer-term missions may visit multiple science sites in a single day and perform opportunistic science data collection, as well as complex scouting, construction, and maintenance tasks in preparation for an eventual human presence. The Pathfinder mission demonstrated the potential for robotic Mars exploration but at the same time indicated the need for more rover autonomy. The highly ground-intensive control with infrequent communication and high latency limited the effectiveness of the Sojourner rover. When failures occurred, Sojourner often sat idle for extended periods of time, awaiting further commands from earth. In future missions, the tasks will be more complex and extended; hence there will be even more situations where things do not go exactly as planned. Significant advances in rover autonomy are needed to cope with increasing task complexity and greater execution uncertainty. Towards this end, we have designed an on-board executive architecture that incorporates robust operation, resource utilization, and failure recovery. In addition, we have designed ground tools to produce and refine contingent schedules that take advantage of the on-board architecture's flexible execution characteristics. Together, the on-board executive and the ground tools constitute an integrated rover autonomy architecture. This work draws from our experience with the Deep Space One autonomy experiment, with enhancements to ensure robust operation in the face of the unpredictable, complex environment that the rover will encounter on Mars. The rover autonomy architecture is currently being developed and deployed on the Marsokhod rover platform at NASA Ames Research Center. The capabilities of the rover autonomy architecture to support autonomous operations will be demonstrated concretely in upcoming field tests.

Anderson, Corin↗
NASA NTRS2003

Mars Exploration Rovers as Virtual Instruments for Determination of Terrain Roughness and Physical Properties

The two 2003 Mars Exploration Rovers (MERs), in combination with the Athena Payload, will be used as virtual instrument systems to infer terrain properties during traverses, in addition to using the rover wheels to excavate trenches, exposing subsurface materials for remote and in-situ observations. The MERs are being modeled using finite element-based rover system transfer functions that utilize the distribution of masses associated with the vehicle, together with suspension and wheel dynamics, to infer surface roughness and mechanical properties from traverse time series data containing vehicle yaw, pitch, roll, encoder counts, and motor currents. These analyses will be supplemented with imaging and other Athena Payload measurements. The approach is being validated using Sojourner data, the FIDO rover, and experiments with MER testbed vehicles. In addition to conducting traverse science and associated analyses, trenches will be excavated by the MERs to depths of approximately 10-20 cm by locking all but one of the front wheels and rotating that wheel backwards so that the excavated material is piled up on the side of the trench away from the vehicle. Soil cohesion and angle of internal friction will be determined from the trench telemetry data. Emission spectroscopy and in-situ observations will be made using the Athena payload before and after imaging. Trenching and observational protocols have been developed using Sojourner results; data from the FIDO rover, including trenches dug into sand, mud cracks, and weakly indurated bedrock; and experiments with MER testbed rovers. Particular attention will be focused on Mini-TES measurements designed to determine the abundance and state of subsurface water (e.g. hydrated, in zeolites, residual pore ice?) predicted to be present from Odyssey GRS/NS/HEND data.

R E Arvidson↗
NASA NTRS2005

Monte Carlo Simulation of Markov, Semi-Markov, and Generalized Semi- Markov Processes in Probabilistic Risk Assessment

A standard tool of reliability analysis used at NASA-JSC is the event tree. An event tree is simply a probability tree, with the probabilities determining the next step through the tree specified at each node. The nodal probabilities are determined by a reliability study of the physical system at work for a particular node. The reliability study performed at a node is typically referred to as a fault tree analysis, with the potential of a fault tree existing.for each node on the event tree. When examining an event tree it is obvious why the event tree/fault tree approach has been adopted. Typical event trees are quite complex in nature, and the event tree/fault tree approach provides a systematic and organized approach to reliability analysis. The purpose of this study was two fold. Firstly, we wanted to explore the possibility that a semi-Markov process can create dependencies between sojourn times (the times it takes to transition from one state to the next) that can decrease the uncertainty when estimating time to failures. Using a generalized semi-Markov model, we studied a four element reliability model and were able to demonstrate such sojourn time dependencies. Secondly, we wanted to study the use of semi-Markov processes to introduce a time variable into the event tree diagrams that are commonly developed in PRA (Probabilistic Risk Assessment) analyses. Event tree end states which change with time are more representative of failure scenarios than are the usual static probability-derived end states.

English, Thomas↗
NASA NTRS1999

A Message From Warmer Times; Perspectives: Martian Climate

When the Sojourner Rover crawled over the Pathfinder Landing site on Mars last year, the images returned indicated that the site had changed little from when it was created by catastrophic floods some 1.8 to 3.5 billion years (Ga) ago.

Warm Times Sojourner Rover↗
NASA NTRS1997

The Mars Rover Mobility System

The Mars Pathfinder SOJOURNER Rover vehicle has completed its mission. It explored the vicinity of the lander, probing the Martian surface while getting pictures of the rocks and the way they are arranged. It analyzed the chemical make up of the soil and the various rocks.

Mars Rover Mobility Sojourner Mars Pathfinder↗
NASA NTRS1995

(abstract) The Design of a Benign Fail-safe Mechanism Using a Low-melting-point Metal Alloy Coupler

Because the alpha proton X ray spectrometer (APXS) sensor head on the Mars Pathfinder rover, Sojourner, is placed on Martian soil by the deployment mechanism (ADM), the rover would be crippled if the actuator fails when the mechanism is in its deployed position, as rover ground clearance is then reduced to zero. This paper describes the unique fail-safe mounted on the ADM, especially the use of a low-temperature-melting alloy as a coupler device. The final form of the design is a low-melting-point metal pellet coupler, made from Cerrobend, in parallel with a Negator spring pack. In its solid state, the metal rigidly connects the driver (the actuator) and the driven part (the mechanism). When commanded, a strip heater wrapped around the coupler melts the metal pellet (at 60(deg)C), allowing the driven part to turn independent of the driver. The Negator spring retracts the mechanism to its fully stowed position. This concept meets all the design criteria, and provides an added benefit. When the metal hardens the coupler once again rigidly connects the actuator and the mechanism. The concept presented here can easily be applied to other applications. Anywhere release devices are needed, low-melting-point couplers can be considered. The issues to be concerned with are thermal isolation, proper setting of the parts before actuation, and possible outgassing concerns. However, when these issues are overcome, the resulting release mechanism can promise to be the most light, simple, power conserving alternative available.

low-melting-point alloys couplers Negator springs ↗
NASA NTRS1976

Space shuttle electromagnetic environment experiment. Phase A: Definition study

Methods for carrying out measurements of earth electromagnetic environment using the space shuttle as a measurement system platform are herein reported. The goal is to provide means for mapping intentional and nonintentional emitters on earth in the frequency range 0.4 to 40 GHz. A survey was made of known emitters using available data from national and international regulatory agencies, and from industry sources. The spatial distribution of sources, power levels, frequencies, degree of frequency re-use, etc., found in the survey, are here presented. A concept is developed for scanning the earth using a directive antenna whose beam is made to rotate at a fixed angle relative to the nadir; the illuminated area swept by the beam is of the form of cycloidal annulus over a sphere. During the beam's sojourn over a point, the receiver sweeps in frequency over ranges in the order of octave width using sweeping filter bandwidths sufficient to give stable readings.

Haber, F.↗
NASA NTRS1983

The Alpha-Helix Concept: Innovative utilization of the Space Station Program. A report to the National Aeronautical and Space Administration requesting establishment of a Sensory Physiology Laboratory on the Space Station

A major laboratory dedicated to biological-medical research is proposed for the Space Platform. The laboratory would focus on sensor physiology and biochemistry since sensory physiology represents the first impact of the new space environment on living organisms. Microgravity and the high radiation environment of space would be used to help solve the problems of prolonged sojourns in space but, more importantly, to help solve terrestrial problems of human health and agricultural productivity. The emphasis would be on experimental use of microorganisms and small plants and small animals to minimize the space and time required to use the Space Platform for maximum human betterment. The Alpha Helix Concept, that is, the use of the Space Platform to bring experimental biomedicine to a new and extreme frontier is introduced so as to better understand the worldly environment. Staffing and instrumenting the Space Platform biomedical laboratory in a manner patterned after successful terrestrial sensory physiology laboratories is also proposed.

Bandurski, R. S.↗
NASA NTRS1985

Reliability bounds for fault-tolerant systems with competing responses to component failures

Bounds are established on the probability of system failure for fault-tolerant systems of the type used, for example, in aviation control. Event series leading to system failure are assumed to follow a semi-Markov model in which the potential sojourn times associated with component failures have exponential distributions and those associated with system responses have distributions with unspecified form. A product form of the bounds is derived by using a model that provides for multiple competing system responses to component failures.

Lee, L. D.↗
NASA NTRS1986

Reliability bounds for fault-tolerant systems with competing responses to component failures

Bounds are established on the probability of system failure for fault-tolerant systems of the type used, for example, in aviation control. Event series leading to system failure are assumed to follow a semi-Markov model in which the potential sojourn times associated with component failures have exponential distributions and those associated with system responses have distributions with unspecified form. A product form of the bounds is derived by using a model that provides for multiple competing system responses to component failures.

Lee, L. D.↗
NASA NTRS1988

Massive parallelism in the future of science

Massive parallelism appears in three domains of action of concern to scientists, where it produces collective action that is not possible from any individual agent's behavior. In the domain of data parallelism, computers comprising very large numbers of processing agents, one for each data item in the result will be designed. These agents collectively can solve problems thousands of times faster than current supercomputers. In the domain of distributed parallelism, computations comprising large numbers of resource attached to the world network will be designed. The network will support computations far beyond the power of any one machine. In the domain of people parallelism collaborations among large groups of scientists around the world who participate in projects that endure well past the sojourns of individuals within them will be designed. Computing and telecommunications technology will support the large, long projects that will characterize big science by the turn of the century. Scientists must become masters in these three domains during the coming decade.

Denning, Peter J.↗
NASA NTRS1989

Late cataractogenesis caused by particulate radiations and photons in long-lived mammalian species

Radiation cataractogenesis induced by small acute doses of particulate radiations and photons in the New Zealand white rabbit (Oryctolagus cuniculus), the beagle dog (Canis familiaris) and the rhesus monkey (Macaca mulatta) is discussed in the context of the use of animal models to assess the radiation hazards faced by humans during lengthy sojourns in deep space. Attention is paid to (1) the importance of lifespan studies with long-lived species - the above animals have median lifespans in captivity of 5-7, 13-14 and 25 years, respectively; and (2) the magnitudes of possible dose thresholds for cataractogenesis from sparsely ionizing radiations and the modifications of those thresholds by the late degenerative phase of the phenomenon.

Lett, J. T.↗
NASA NTRS1991

Assessment of atomic oxygen erosion of silver interconnects on Intelsat 6, F3

Intelsat 6 F-3 was launched from Cape Canaveral on a Titan 3 launch vehicle. Failure of the launch vehicle resulted in the satellite being marooned in Low Earth Orbit (LEO). During its sojourn in LEO, Intelsat 6 is exposed to an unanticipated environment consisting primarily of atomic oxygen, which will subject the unprotected silver interconnects (nominally 12.5 microns thick) on the solar panel to oxidation and erosion. Rescue by Space Shuttle is being examined. Consequently, Intelsat and Comsat have joined in an effort to determine the condition of the silver interconnects at the anticipated time of reboost and to assess the long term risks to the intended geostationary mission. Ground based tests, theoretical analysis, and a flight experiment aboard STS-41 were executed, and new software was written to calculate the expected total atomic oxygen fluence on the interconnects.

A. Dunnet↗