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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 415 records · Page 23
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

SiC Multi-Chip Power Modules as Power-System Building Blocks

The term "SiC MCPMs" (wherein "MCPM" signifies "multi-chip power module") denotes electronic power-supply modules containing multiple silicon carbide power devices and silicon-on-insulator (SOI) control integrated-circuit chips. SiC MCPMs are being developed as building blocks of advanced expandable, reconfigurable, fault-tolerant power-supply systems. Exploiting the ability of SiC semiconductor devices to operate at temperatures, breakdown voltages, and current densities significantly greater than those of conventional Si devices, the designs of SiC MCPMs and of systems comprising multiple SiC MCPMs are expected to afford a greater degree of miniaturization through stacking of modules with reduced requirements for heat sinking. Moreover, the higher-temperature capabilities of SiC MCPMs could enable operation in environments hotter than Si-based power systems can withstand. The stacked SiC MCPMs in a given system can be electrically connected in series, parallel, or a series/parallel combination to increase the overall power-handling capability of the system. In addition to power connections, the modules have communication connections. The SOI controllers in the modules communicate with each other as nodes of a decentralized control network, in which no single controller exerts overall command of the system. Control functions effected via the network include synchronization of switching of power devices and rapid reconfiguration of power connections to enable the power system to continue to supply power to a load in the event of failure of one of the modules. In addition to serving as building blocks of reliable power-supply systems, SiC MCPMs could be augmented with external control circuitry to make them perform additional power-handling functions as needed for specific applications: typical functions could include regulating voltages, storing energy, and driving motors. Because identical SiC MCPM building blocks could be utilized in a variety of ways, the cost and difficulty of designing new, highly reliable power systems would be reduced considerably. Several prototype DC-to-DC power-converter modules containing SiC power-switching devices were designed and built to demonstrate the feasibility of the SiC MCPM concept. In anticipation of a future need for operation at high temperature, the circuitry in the modules includes high-temperature inductors and capacitors. These modules were designed to be stacked to construct a system of four modules electrically connected in series and/or parallel. The packaging of the modules is designed to satisfy requirements for series and parallel interconnection among modules, high power density, high thermal efficiency, small size, and light weight. Each module includes four output power connectors two for serial and two for parallel output power connections among the modules. Each module also includes two signal connectors, electrically isolated from the power connectors, that afford four zones for signal interconnections among the SOI controllers. Finally, each module includes two input power connectors, through which it receives power from an in-line power bus. This design feature is included in anticipation of a custom-designed power bus incorporating sockets compatible with snap-on type connectors to enable rapid replacement of failed modules.

Lostetter, Alexander↗
NASA NTRSDate not supplied

Hybrid Modeling for Complex Systems Health Management

The research work presents application of hybrid physics-informed machine learning to a representative electric powertrain for unmanned aerial vehicles. The model is composed of physics-derived and empirical equations, integrated with connected networks that are strategically placed within the model to substitute equations that are subject to large uncertainty. Polynomial fit driven by heuristics or empirical observations can be substituted by more flexible networks that can minimize the error between model predictions and observations without being restricted to a predefined functional form. This modeling strategy allows training of networks deep inside the model and unknown parameters in a single learning stage. The powertrain model consists of Li-ion batteries, electronic speed controller with pulse-width modulation, and brush-less DC motor with connected propeller. Results obtained from combination of laboratory and simulation tests are discussed in this work.

PINNS↗
NASA NTRS2004

Silicon Carbide Diodes Characterization at High Temperature and Comparison With Silicon Devices

Commercially available silicon carbide (SiC) Schottky diodes from different manufacturers rated at 200, 300, 600, and 1200 V, were electrically tested and characterized as a function of temperature up to 300 C. Electrical tests included both steady state and dynamic tests. Steady state tests produced forward and reverse I-V characteristic curves. Transient tests evaluated the switching performance of the diodes in either a hard-switched DC to DC buck converter or a half-bridge boost converter. For evaluation and comparison purposes, the same tests were performed with current state-of-the-art ultra fast silicon (Si) pn-junction diodes of similar ratings and also a Si Schottky diode. The comparisons made were forward voltage drop at rated current, reverse current at rated voltage, and turn-off peak reverse recovery current and reverse recovery time. In addition, efficiency measurements were taken for the buck DC to DC converter using both the SiC Schottky diodes and the Si pn-junction diodes at different temperatures and frequencies. The test results showed that at high temperature, the forward voltage drop for SiC Schottky diodes is higher than the forward drop of the ultra fast Si pn-junction diodes. As the temperature increased, the forward voltage drop of the SiC Schottky increased while for the ultra fast Si pn-junction diodes, the forward voltage drop decreased as temperature increased. For the elevated temperature steady state reverse voltage tests, the SiC Schottky diodes showed low leakage current at their rated voltage. Likewise, for the transient tests, the SiC Schottky diodes displayed low reverse recovery currents over the range of temperatures tested. Conversely, the Si pn-junction diodes showed increasing peak reverse current values and reverse recovery times with increasing temperature. Efficiency measurements in the DC to DC buck converter showed the advantage of the SiC Schottky diodes over the ultra fast Si pn-junction diodes, especially at the higher temperatures and higher frequencies.

Lebron-Velilla, Ramon C.↗
NASA NTRS2017

The Effects of Normal Metal Stripes on TES Performance

Exploring the effects of size and geometry of normal metal features on the transition shapes and performance of transition-edge sensor microcalorimeters. The spectral resolution of transition-edge sensor (TES) microcalorimeters is very sensitive to the specific dependencies of the resistance R in the superconducting transition on the current I, magnetic field B, and temperature T. In particular, it has been shown that transitions that are very steep in (R,T) space lead to a significant noise term, in excess of conventional expectations. This so-called unexplained noise is known to be reduced by the addition of normal metal stripes across the TES perpendicular to the direction of current flow. These normal metal stripes have been shown to drastically alter the oscillatory patterns seen in measurements of the critical current as a function of magnetic field. However, there are many remaining questions about the exact impact of the stripes on current distributions within the TES, the Fraunhofer pattern and, therefore, the shape of the R(I, B, T) surface. Through measurements of the resistance under DC bias of TES devices of various sizes, with different stripe patterns and dimensions, we will discuss how these stripes can affect the R(I, B, T) surface. In addition, using measurements and analysis of the noise spectra of various devices we will present how these changes to the stripe pattern may affect the performance of the TES. In particular, we will discuss strategies to reduce the presence of localized discontinuities in the derivative of R, associated with increased noise, while maintaining the globally low levels of unexplained noise currently achieved with conventional metal stripe patterns. Implementing these strategies is a path towards producing large arrays with highly uniform transitions and high spectral resolution. These large uniform arrays will be required for future x-ray astronomy applications, such as the X-IFU on ATHENA.

TES↗
NASA NTRS1992

Overview and evolution of the LeRC PMAD DC Testbed

Since the beginning of the Space Station Freedom Program (SSFP), the Lewis Research Center (LeRC) has been developed electrical power system test beds to support the overall design effort. Through this time, the SSFP has changed the design baseline numerous times, however, the test bed effort has endeavored to track these changes. Beginning in August 1989 with the baseline and an all DC system, a test bed was developed to support the design baseline. The LeRC power measurement and distribution (PMAD) DC test bed and the changes in the restructure are described. The changes includeed the size reduction of primary power channel and various power processing elements. A substantial reduction was also made in the amount of flight software with the subsequent migration of these functions to ground control centers. The impact of these changes on the design of the power hardware, the controller algorithms, the control software, and a description of their current status is presented. An overview of the testing using the test bed is described, which includes investigation of stability and source impedance, primary and secondary fault protection, and performance of a rotary utility transfer device. Finally, information is presented on the evolution of the test bed to support the verification and operational phases of the SSFP in light of these restructure scrubs.

Soeder, James F.↗
NASA NTRS1992

Overview and evolution of the LeRC PMAD DC test bed

Since the beginning of the Space Station Freedom Program (SSFP), the Lewis Research Center (LeRC) has been developed electrical power system test beds to support the overall design effort. Through this time, the SSFP has changed the design baseline numerous times, however, the test bed effort has endeavored to track these changes. Beginning in August 1989 with the baseline and an all DC system, a test bed was developed to support the design baseline. The LeRC power measurement and distribution (PMAD) DC test bed and the changes in the restructure are described. The changes included the size reduction of primary power channel and various power processing elements. A substantial reduction was also made in the amount of flight software with the subsequent migration of these functions to ground control centers. The impact of these changes on the design of the power hardware, the controller algorithms, the control software, and a description of their current status is presented. An overview of the testing using the test bed is described, which includes investigation of stability and source impedance, primary and secondary fault protection, and performance of a rotary utility transfer device. Finally, information is presented on the evolution of the test bed to support the verification and operational phases of the SSFP in light of these restructure scrubs.

Soeder, James F.↗
NASA NTRS2007

Circuit and Method for Communication Over DC Power Line

A circuit and method for transmitting and receiving on-off-keyed (OOK) signals with fractional signal-to-noise ratios uses available high-temperature silicon- on-insulator (SOI) components to move computational, sensing, and actuation abilities closer to high-temperature or high-ionizing radiation environments such as vehicle engine compartments, deep-hole drilling environments, industrial control and monitoring of processes like smelting, and operations near nuclear reactors and in space. This device allows for the networking of multiple, like nodes to each other and to a central processor. It can do this with nothing more than the already in-situ power wiring of the system. The device s microprocessor allows it to make intelligent decisions within the vehicle operational loop and to effect control outputs to its associated actuators. The figure illustrates how each node converts digital serial data to OOK 18-kHz in transmit mode and vice-versa in receive mode; though operations at lower frequencies or up to a megahertz are within reason using this method and these parts. This innovation s technique modulates a DC power bus with millivolt-level signals through a MOSFET (metal oxide semiconductor field effect transistor) and resistor by OOK. It receives and demodulates this signal from the DC power bus through capacitive coupling at high temperature and in high ionizing radiation environments. The demodulation of the OOK signal is accomplished by using an asynchronous quadrature detection technique realized by a quasi-discrete Fourier transform through use of the quadrature components (0 and 90 phases) of the carrier frequency as generated by the microcontroller and as a function of the selected crystal frequency driving its oscillator. The detected signal is rectified using an absolute-value circuit containing no diodes (diodes being non-operational at high temperatures), and only operational amplifiers. The absolute values of the two phases of the received signal are then summed and hard limited (digitized) by comparing them to a reference level and are then input into a microprocessor as a serial bit stream. The quasi-discrete Fourier transform is performed in high-temperature components (operational amplifiers, analog switches, resistors, and capacitors). The demodulated signal is a serial data stream that is input to the UART (universal asynchronous receiver transmitter) receiver pin of the microprocessor. The OOK of the carrier frequency uses the output of the UART pin as an enabling signal that drives the gate of the MOSFET. Logic low bits enable the carrier frequency (realized by using the 0 phase signal from the microcontroller, though either phase may be used) to be DC-coupled to the power supply bus through a current-limiting resistor mounted between the MOSFET drain and the supply rail. The presence of logic lows on the power supply rail is realized by carrier bursts while logic highs are realized by the absence of bursts.

Krasowski, Michael J.↗
DOE OSTI2022

Fully Distributed Multi-Material Magnetic Sensing Structures for Multiparameter DAS Applications

This dissertation demonstrates the first of its kind distributed magnetic field sensor based on a fiber optic distributed acoustic sensing (DAS) scheme. Ferromagnetic nickel and Metglas® were dispersed internally within a fiber optic preform and then drawn on an in-house fiber optic draw tower to lengths in the kilometers. Due to the close proximity of the ferromagnetic metals and fiber optic core, the magnetostrictive strain response of the ferromagnetic materials when exposed to a magnetic field would perturbate within the fiber cladding and transfer that strain, internally, to the fiber optic core. Strain resulting from the magnetostrictive effect allows the DAS based sensor to accurately translate strain into readable magnetic field data. Due to the high sensitivity seen in this sensor design, multiparameter sources, acoustic and magnetic fields, were tested and validated and a three dimensional magnetic-field vector sensor was proposed. Numerical analysis of the novel sensor design was first implemented using COMSOL Multiphysics, where inputs such as magnetostrictive element shape, size, distance, and number were first investigated. Upon optimizing system constraints, the sensor design was further modified such that single mode operation was consistent across multiple fiber draws while retaining high strain transfer from the ferromagnetic elements to the fiber optic core. Ferromagnetic material selection was evaluated as a function of the saturation magnetostriction constants and a total of 4 modules were used to fully characterize the complex physics involved in this sensor design. All fabrication and testing were performed in-house using a full scale 3-story fiber draw tower and custom environmental testing stations to imitate naturally occurring events such as magnetic or acoustic point sources. A unique stacking method was used to embed ferromagnetic nickel and Metglas® into a fiber optic preform which when combined with a custom fiber draw process resulted in consistent multi-material fibers drawn to lengths of 1-km. In-house testing facilities included different types of electromagnetic generators, in addition to a soil test bed, and an outdoor test bed which allowed 100 meters of fiber to be tested simultaneously. All tested sensors demonstrated high strain transfer capabilities on the order of 0.01-10 μϵ depending on the materials used, ferromagnetic rod number, and core to metal spacing. Due to the sensitivity of the system the difference between AC and DC was distinct, and directional magnetostriction was studied. Transverse and longitudinal magnetic wave propagation was controlled through a solenoid and rectangular Helmholtz coil, both built in-house. A three-dimensional magnetic field vector sensor was proposed due to the success of the magnetic field sensor, and a design was proposed and initially tested to validate direction as a function of field strength and distance. To summarize, this dissertation explores the first fully distributed magnetic field sensor using DAS based techniques and one of the first multi-material fiber draw processes which can produce consistent single mode fiber up to 1-km. Due to extensive FEA modeling, multiple iterations of the magnetic sensor were fully characterized and an equation describing the relationship between sensor design and strain transfer has been created and validated experimentally. Multi-parameter tests including acoustic and magnetic fields were implemented and an algorithm was developed to separate the mixed signals. Finally, a test was performed to demonstrate the feasibility of sensing magnetic fields directionally. Cumulative results demonstrate a high-quality sensor alternative to current designs which may surpass other magnetic sensors due to innate multi-parameter capabilities, in addition to the inexpensive production cost and extremely long operating lengths.

02 PETROLEUM↗
NASA NTRS1984

Thermal-mechanical fatigue crack growth in Inconel X-750

Thermal-mechanical fatigue crack growth (TMFCG) was studied in a gamma-gamma' nickel base superalloy Inconel X-750 under controlled load amplitude in the temperature range from 300 to 650 C. In-phase (T sub max at sigma sub max), out-of-phase (T sub min at sigma sub max), and isothermal tests at 650 C were performed on single-edge notch bars under fully reversed cyclic conditions. A dc electrical potential method was used to measure crack length. The electrical potential response obtained for each cycle of a given wave form and R value yields information on crack closure and crack extension per cycle. The macroscopic crack growth rates are reported as a function of delta k and the relative magnitude of the TMFCG are discussed in the light of the potential drop information and of the fractographic observations.

Marchand, N.↗
NASA NTRS1985

Thermal-mechanical fatigue crack growth in Inconel X-750

Thermal-mechanical fatigue crack growth (TMFCG) was studied in a 'gamma-gamma' nickel base superalloy Inconel X-750 under controlled load amplitude in the temperature range from 300 to 650 C. In-phase (T sub max at sigma sub max), out-of-phase (T sub min at sigma sub max), and isothermal tests at 650 C were performed on single-edge notch bars under fully reversed cyclic conditions. A dc electrical potential method was used to measure crack length. The electrical potential response obtained for each cycle of a given wave form and R value yields information on crack closure and crack extension per cycle. The macroscopic crack growth rates are reported as a function of delta k and the relative magnitude of the TMFCG are discussed in the light of the potential drop information and of the fractographic observations.

Marchand, N.↗
NASA NTRS2005

Implanted Silicon Resistor Layers for Efficient Terahertz Absorption

Broadband absorption structures are an essential component of large format bolometer arrays for imaging GHz and THz radiation. We have measured electrical and optical properties of implanted silicon resistor layers designed to be suitable for these absorbers. Implanted resistors offer a low-film-stress, buried absorber that is robust to longterm aging, temperature, and subsequent metals processing. Such an absorber layer is readily integrated with superconducting integrated circuits and standard micromachining as demonstrated by the SCUBA II array built by ROE/NIST (1). We present a complete characterization of these layers, demonstrating frequency regimes in which different recipes will be suitable for absorbers. Single layer thin film coatings have been demonstrated as effective absorbers at certain wavelengths including semimetal (2,3), thin metal (4), and patterned metal films (5,6). Astronomical instrument examples include the SHARC II instrument is imaging the submillimeter band using passivated Bi semimetal films and the HAWC instrument for SOFIA, which employs ultrathin metal films to span 1-3 THz. Patterned metal films on spiderweb bolometers have also been proposed for broadband detection. In each case, the absorber structure matches the impedance of free space for optimal absorption in the detector configuration (typically 157 Ohms per square for high absorption with a single or 377 Ohms per square in a resonant cavity or quarter wave backshort). Resonant structures with -20% bandwidth coupled to bolometers are also under development; stacks of such structures may take advantage of instruments imaging over a wide band. Each technique may enable effective absorbers in imagers. However, thin films tend to age, degrade or change during further processing, can be difficult to reproduce, and often exhibit an intrinsic granularity that creates complicated frequency dependence at THz frequencies. Thick metal films are more robust but the requirement for patterning can limit their absorption at THz frequencies and their heat capacity can be high. patterned absorber structures that offer low heat capacity, absence of aging, and uniform, predictable behavior at THz frequencies. We have correlated DC electrical and THz optical measurements of a series of implanted layers and studied their frequency dependence of optical absorption from .3 to 10 THz at cryogenic temperatures. We have modeled the optical response to determine the suitability of the implanted silicon resistor as a function of resistance in the range 10 Ohms/sq to 300 Ohms/sq.

Chervenak, J. A.↗
NASA NTRS1973

Logic-controlled solid-state switchgear for 270 volt dc.

A feasibility study to design and demonstrate solid-state switchgear composed of circuit breakers and a power transfer switch is described. The switchgear operates on a nominal 270 Vdc circuit and controls power to a load up to 15 A. One circuit breaker may be interconnected to a second to form a power transfer switch. Breaker or switch on-off and transfer functions can be remotely controlled. Automatic overload trip-out is provided through an ultimate current trip and an I squared t trip for transient overcurrents lower than the ultimate current trip level. A number of reclosures with variable time delay between trip-out and reclosure are programmed and controlled by integrated analog and COSMOS logic circuits. A commutation circuit that creates minimal transient disturbances to either source or load was developed to interrupt current flow through the main SCR switching element.-

Waddington, D.↗
DOE OSTI2023

Self-Sustainable IoT-Based Remote Sensing Powered by Energy Harvesting Using Stacked Piezoelectric Transducer and Thermoelectric Generator

We propose a self-powered remote multi-sensing system for traffic sensing which is powered by the collective energy harvested from the mechanical vibration of the road caused by the passing vehicles and from the temperature gradient between the asphalt of the road and the soil underneath. A stacked piezoelectric transducer converts mechanical vibrations into electrical energy and a thermoelectric generator harvests the thermal energy from the thermal gradient. Electrical energy signals from the stacked piezoelectric transducer and the thermoelectric generators are converted into usable DC power to recharge the battery using AC-DC and DC-DC converters working simultaneously. The multi-sensing system comprises an embedded system with a microcontroller that acquires data from the sensors and sends the sensory data to an IoT transceiver which transmits the data as RF packets to an ethernet gateway. The gateway converts the RF packets into Internet Protocol (IP) packets and sends them to a remote server. Laboratory and road-testing results showed over 98% sensory data accuracy with the system functioning solely powered by the energy harvested from the alternative energy sources. The successful maximum transmission distance obtained between the IoT, and the gateway was approximately 1 mile, which is a considerable transmission distance achieved in an urban environment. Successful operation of the self-powered multi-sensing system under both laboratory and road conditions contributes considerably to the fields of energy harvesting and self-powered remote sensing systems. The energy flow chart and efficiency for the steps in the system were found to be mechanical power from vehicles to the energy harvester of 0.25%, stacked PZT transducer efficiency was found to be 37%, and for the TEGs the efficiency is 11%. AC-to-DC and DC-to-DC converters’ efficiencies were found to be 90% and 11%. The wireless communication RF transceiver efficiency was found to be 62.5%.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2021

An investigation of high entropy alloy conductivity using first-principles calculations

The Kubo–Greenwood equation, in combination with the first-principles Korringa–Kohn–Rostoker coherent potential approximation (KKR-CPA) can be used to calculate the DC residual resistivity of random alloys at T = 0 K. We implemented this method in a multiple scattering theory based ab initio package, MuST, and applied it to the ab initio study of the residual resistivity of the high entropy alloy Al x CoCrFeNi as a function of x. The calculated resistivities are compared with experimental data. We also predict the residual resistivity of refractory high entropy alloy MoNbTaV x W. Furthermore, the calculated resistivity trends are also explained using theoretical arguments.

75 CONDENSED MATTER PHYSICS, SUPERCONDUCTIVITY AND↗
NASA NTRS1984

Characterization of CNRS Fizeau wedge laser tuner

A fringe detection and measurement system was constructed for use with the CNRS Fizeau wedge laser tuner, consisting of three circuit boards. The first board is a standard Reticon RC-100 B motherboard which is used to provide the timing, video processing, and housekeeping functions required by the Reticon RL-512 G photodiode array used in the system. The sampled and held video signal from the motherboard is processed by a second, custom fabricated circuit board which contains a high speed fringe detection and locating circuit. This board includes a dc level discriminator type fringe detector, a counter circuit to determine fringe center, a pulsed laser triggering circuit, and a control circuit to operate the shutter for the He-Ne reference laser beam. The fringe center information is supplied to the third board, a commercial single board computer, which governs the data collection process and interprets the results.

Source record↗
NASA NTRS1996

The 1996 Subsonic Aircraft: Contrail and Cloud Effects Special Study

During April 1996 NASA, in conjunction with the DOE, will sponsor a multi-aircraft field campaign to better understand the microphysical and radiative properties of cirrus clouds, the origins of ice nuclei and cloud condensation nuclei in the upper troposphere, and the possible role that the commercial subsonic aircraft fleet might play in altering cloud or aerosol properties. The NASA ER-2 aircraft will be used as a remote sensing platform, while the NASA DC-8 aircraft will be used as an in situ measurement platform. In situ observations will include a full set of size distribution measurements from nano-meter to millimeter sizes, ice water content measurements, gas phase and condensed phase chemical measurements, ice crystal optical phase function measurements, lidar observations of cloud top and cloud base, and atmospheric state measurement. The ER-2 will have lidar, microwave ice water path measurements, as well as visible and infrared spectral measurement. In this presentation the highlights of the mission will be presented. The goal will be to address fundamental questions such as the mode of nucleation of cirrus clouds, the composition of the nuclei on which cirrus form, the degree to which aircraft impact cirrus cloud properties.

Toon, Owen B.↗
NASA NTRS2009

Electric Field Observations of Plasma Convection, Shear, Alfven Waves, and other Phenomena Observed on Sounding Rockets in the Cusp and Boundary Layer

On December 14,2002, a NASA Black Brant X sounding rocket was launched equatorward from Ny Alesund, Spitzbergen (79 N) into the dayside cusp and subsequently cut across the open/closed field line boundary, reaching an apogee of771 km. The launch occurred during Bz negative conditions with strong By negative that was changing during the flight. SuperDarn (CUTLASS) radar and subsequent model patterns reveal a strong westward/poleward convection, indicating that the rocket traversed a rotational reversal in the afternoon merging cell. The payload returned DC electric and magnetic fields, plasma waves, energetic particle, suprathermal electron and ion, and thermal plasma data. We provide an overview of the main observations and focus on the DC electric field results, comparing the measured E x B plasma drifts in detail with the CUTLASS radar observations of plasma drifts gathered simultaneously in the same volume. The in situ DC electric fields reveal steady poleward flows within the cusp with strong shears at the interface of the closed/open field lines and within the boundary layer. We use the observations to discuss ionospheric signatures of the open/closed character of the cusp/low latitude boundary layer as a function of the IMF. The electric field and plasma density data also reveal the presence of very strong plasma irregularities with a large range of scales (10 m to 10 km) that exist within the open field line cusp region yet disappear when the payload was equatorward of the cusp on closed field lines. These intense low frequency wave observations are consistent with strong scintillations observed on the ground at Ny Alesund during the flight. We present detailed wave characteristics and discuss them in terms of Alfven waves and static irregularities that pervade the cusp region at all altitudes.

Pfaff, R. F.↗
NASA NTRSDate not supplied

SOLL-E: A Module Transport and Placement Robot for Autonomous Assembly of Discrete Lattice Structures

This paper presents the design and development of a transport and placement robot that demonstrates autonomous assembly of structural building blocks. The robots are intended to serve as a critical component of automated structural assembly and maintenance systems. The Scaling Omni-directional Lattice Locomoting Explorer (SOLL-E) uses a 5-DoF bipedal inchworm locomotion architecture with locking foot and cargo grippers. The locomotion system employs large magnet gap diameter BLDC motors with moderate timing belt gearing for primary joints, and DC planetary gearmotors for turning. Foot and cargo grippers are identical, with servo-actuated locking mechanisms. Three modular controller boards are used to control these actuators in real-time, with command and telemetry data transferred between the server and each controller board via WiFi. Functionality and performance were evaluated in a ground demonstration.

robotics↗