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At least 415 records · Page 23

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NASA NTRS2016

Ultrasonic Nondestructive Evaluation of Pultruded Rod Stitched Efficient Unitized Structure (PRSEUS) During Large-Scale Load Testing and Rod Push-Out Testing

The Pultruded Rod Stitched Efficient Unitized Structure (PRSEUS) is a structural concept developed by the Boeing Company to address the complex structural design aspects associated with a pressurized hybrid wing body (HWB) aircraft configuration. The HWB has long been a focus of NASA's environmentally responsible aviation (ERA) project, following a building block approach to structures development, culminating with the testing of a nearly full-scale multi-bay box (MBB), representing a segment of the pressurized, non-circular fuselage portion of the HWB. PRSEUS is an integral structural concept wherein skins, frames, stringers and tear straps made of variable number of layers of dry warp-knit carbon-fiber stacks are stitched together, then resin-infused and cured in an out-of-autoclave process. The PRSEUS concept has the potential for reducing the weight and cost and increasing the structural efficiency of transport aircraft structures. A key feature of PRSEUS is the damage-arresting nature of the stitches, which enables the use of fail-safe design principles. During the load testing of the MBB, ultrasonic nondestructive evaluation (NDE) was used to monitor several sites of intentional barely-visible impact damage (BVID) as well as to survey the areas surrounding the failure cracks after final loading to catastrophic failure. The damage-arresting ability of PRSEUS was confirmed by the results of NDE. In parallel with the large-scale structural testing of the MBB, mechanical tests were conducted of the PRSEUS rod-to-overwrap bonds, as measured by pushing the rod axially from a short length of stringer.

Johnston, Patrick H.↗

NASA NTRS1981

Turbulence characteristics in the annulus-wall boundary layer and wake mixing region of a compressor rotor exit

The flow at the exit of a turbomachinery rotor near the annulus wall is three-dimensional with a varying degree of turbulence and nonisotropic characteristics. The characteristics of the turbulence vary considerably with radial and axial location, blade loading, Reynolds number, free-stream turbulence, and the rotor blade geometry. This paper is concerned with the turbulence properties near the annulus wall region of a moderately loaded compressor blade. The variation of the streamwise, normal, and radial intensities as well as the stresses across the wake, its profile and decay characteristics, were determined with a tri-axial hot-wire probe in the stationary frame of reference. The turbulence characteristics in the annulus-wall region of the rotor exit were found to be highly complex due to the interaction of the blade wake and the annulus wall.

Davino, R.↗

NASA NTRS1983

Experimental creep data for a built-up aluminum/titanium structure subjected to heating and loading

Experimental creep, temperature, and strain data resulting from a laboratory experiment on a built-up aluminum/titanium structure are presented. The structure and the experiment are described in detail. A heating and loading experiment lasting approximately six hours is conducted on a test structure. Considerable creep strain resulted from compressive stresses in the heated skin. Large residual stresses were found after the experiment was completed. The residual stresses in the substructure frames were large enough to preclude further cycles of creep experiments with this built-up structure because of concern that the frame webs would buckle.

Jenkins, J. M.↗

NASA NTRS1946

Stress Analysis of Columns and Beam Columns by the Photoelastic Method

Principles of similarity and other factors in the design of models for photoelastic testing are discussed. Some approximate theoretical equations, useful in the analysis of results obtained from photoelastic tests are derived. Examples of the use of photoelastic techniques and the analysis of results as applied to uniform and tapered beam columns, circular rings, and statically indeterminate frames, are given. It is concluded that this method is an effective tool for the analysis of structures in which column action is present, particularly in tapered beam columns, and in statically indeterminate structures in which the distribution of loads in the structures is influenced by bending moments due to axial loads in one or more members.

BEAM-COLUMNS - STRESSES↗

NASA NTRS1993

Cabin-fuselage-wing structural design concept with engine installation

The purpose of this project is to provide a fuselage structural assembly and wing structural design that will be able to withstand the given operational parameters and loads provided by Federal Aviation Regulation Part 23 (FAR 23) and the Statement of Work (SOW). The goal is to provide a durable lightweight structure that will transfer the applied loads through the most efficient load path. Areas of producibility and maintainability of the structure will also be addressed. All of the structural members will also meet or exceed the desired loading criteria, along with providing adequate stiffness, reliability, and fatigue life as stated in the SOW. Considerations need to be made for control system routing and cabin heating/ventilation. The goal of the wing structure and carry through structure is also to provide a simple, lightweight structure that will transfer the aerodynamic forces produced by the wing, tailboom, and landing gear. These forces will be channeled through various internal structures sized for the pre-determined loading criteria. Other considerations were to include space for flaps, ailerons, fuel tanks, and electrical and control system routing. The difficulties encountered in the fuselage design include expanding the fuselage cabin to accept a third occupant in a staggered configuration and providing ample volume for their safety. By adding a third person the CG of aircraft will move forward so the engine needs to be moved aft to compensate for the difference in the moment. This required the provisions of a ring frame structure for the new position of the engine mount. The difficulties encountered in the wing structural design include resizing the wing for the increased capacity and weight, and compensating for a large torsion produced by the tail boom by placing a great number of stiffeners inside the boom, which will result in the relocation of the fuel tank. Finally, an adequate carry through structure for the wing and fuselage interface will be designed to effectively transmit loads through the fuselage.

Ariotti, Scott↗

DOE OSTI2024

Radioisotope Power System Cask Trailer Chiller Low Heat Load Study

This report documents the study of the Radioisotope Thermoelectric Generator Transport System (RTGTS) chillers capability to transport a Radioisotope Power System (RPS) with low heat loads in the cask. Tests of the RTGTS chillers included setting the glycol/water (coolant) temperature to a control set point of 40° and 60°F while applying heat loads ranging from 2500 to 0 W heat load. The tests performed showed that the chiller systems could handle the entire range of heat loads. However, a noise/vibration started to occur when the set point was 60°F with low heat loads. Three recommended changes to the RTGTS chillers are recommended with varying implementation windows. The first is an operational change that can be implemented immediately. The RTGTS chillers should have a set point of 40°F when transporting an RPS less than 1500 W. The second is a short-term change (within the next two years) augmenting RPS heat by utilizing one RTGTS onboard heater (2500 W) while transporting an RPS with less than 1500 W which will also require a change to the Instrument and Data Acquisition System (IDAS) to allow monitoring and possible control of power to the onboard heaters. However, if the heater does fail during transport, no emergency actions or immediate repairs will be required due to the chillers’ ability to handle low heat loads. Running a 2500 W heater when transporting low heat loads aids in prolonging the life of the chillers. The remaining recommended long-term change is to replace the current chillers with a new portable or permanently installed chiller system in the next five to ten years. This time frame takes advantage of the proven reliability and durability of the current chillers while the new chillers are phased in and proven to the RPS program.

42 ENGINEERING↗

NASA NTRS1975

Bifurcation and collapse analysis of stringer and ring-stringer stiffened cylindrical shells with cutouts

Results for cylindrical configurations using the STAGS computer program were presented. Discontinuities were imposed upon the shell's skin by incorporating symmetrical cutout openings. In addition, the surface is stiffened with both stringer and ring-stringer arrangements. The cutout problem has been shown to be highly nonlinear for smooth surface shells, but it was found that bifurcation and collapse loads are close when one is considering stiffened skin configurations. In order to arrive at this conclusion, it was necessary to evaluate the following: (1) comparison between smeared and discrete stiffener theory for linear solutions, (2) numerical finite difference convergence as directed toward buckling determination, (3) collapse load results with the various skin stiffeners. A linear bifurcation study relating to stiffening effects around cutout areas present within stringer and ring-stringer shell surfaces was included. Comparisons were made between a variety of geometric positions considering cutout frame and thickened skin additions.

Palazotto, A. N.↗

NASA NTRS1981

Low-cost solar array structure development

Early studies of flat-plate arrays have projected costs on the order of $50/square meter for installed array support structures. This report describes an optimized low-cost frame-truss structure that is estimated to cost below $25/square meter, including all markups, shipping an installation. The structure utilizes a planar frame made of members formed from light-gauge galvanized steel sheet and is supposed in the field by treated-wood trusses that are partially buried in trenches. The buried trusses use the overburden soil to carry uplift wind loads and thus to obviate reinforced-concrete foundations. Details of the concept, including design rationale, fabrication and assembly experience, structural testing and fabrication drawings are included.

Wilson, A. H.↗

DOE OSTI2021

UNH TDP - Concurrent Measurements of Inflow, Power Performance, and Loads for a Grid-Synchronized Vertical Axis Cross-Flow Turbine Operating in a Tidal Estuary

This data was collected between October 12 and December 15 of 2021 at the University of New Hampshire (UNH) and Atlantic Marine Energy Center (AMEC) turbine deployment platform (TDP). This data set includes over 29 days of grid connected turbine operation during this 65 day time frame. The priority for this measurement campaign was to collect data while the turbine was electrically connected to the grid by means of a rectifier and inverter. The Fall_2021_UNH_Measurement_Timeline.png highlights when each instrument was functioning and the Fall_2021_UNH_Test_Log.jpg indicates the four main regions for analysis available from this measurement campaign. The TDP is a floating structure moored on the Portsmouth facing side of Memorial Bridge pier #2, which spans the Piscataqua River between Portsmouth, NH and Kittery, ME. The Piscataqua River connects the Great Bay Estuary to the Gulf of Maine and the river currents are dominated by tidal forcing with water velocities exceeding 2.5 m/s during spring ebb tides at this site which were previously characterized by Kaelin Chancey (Assessment Of The Localized Flow And Tidal Energy Conversion System At An Estuarine Bridge - UNH MS Thesis 2019). The turbine under test was a modified New Energy Corporation (Calgary, CA) model EVG-025 4-blade H-Darrius type vertical axis cross flow turbine that rotates in the clockwise direction with a rotor diameter of 3.2m and blade length of 1.7m. The hydro-foil profile was a NACA 0021 with a 10 inch chord length and a blade preset pitch angle of +4deg with a positive angle corresponding with the toe in direction. The standard EVG-025 has a rotor diameter of 3.4m and its rated power output is 25kW at 3 m/s. The rotor diameter was reduced to accommodate the size of the existing TDP moon-pool. This project was pursued to quantify device performance for cross flow turbines operating in a marine environment. Accurate physical models, to characterize cross flow turbine performance, require real operational data sets due to the complexity of blade fluid interactions. This data can help support model development which will help predict turbine performance when analyzing perspective project locations in the future. Instrumentation was deployed to measure; water speed/direction, electrical power output, turbine shaft speed, turbine thrust force, and platform motion. Concurrent measurements of these parameters allow for correlations (cause and affect) to be inferred, allowing for characterization of device performance over a range of operating conditions. Water currents were measured using Acoustic Doppler Current Profilers (ADCP's) and Acoustic Doppler Velocimeters (ADV's) directly upstream and downstream of the turbine for inflow, wake and turbulence measurements. Electrical power output was measured using the Voltsys rectifier and the Shark power meter. Shaft speed was calculated based on the Voltsys measurements of the permanent magnet three phase generator AC generation frequency, coupled directly to the cross flow turbine under test (i.e., no gear box). Platform motions were captured using a Yost IMU (inertial measurement unit). Turbine thrust loading was measured using a reaction arm about the turbine deployment platform spanning beam, where two bi-directional load cells were connected to the system via a pinned connection. This submission includes zipped folders for each instrument containing quality controlled (QC'd) data in daily .csv files for the relevant duration specific to each instrument, along with separate .csv file that contains the units for each variable. Some instrument daily files are quite large and can pose a challenge for a visual spreadsheet editor to open. A processing software like MATLAB or Python is recommended. Note the degree of QC varied between each instrument due to time constraints. Particular time and attention was given to perform quality control tests on the acoustic based instruments that are particularly suscep...

16 TIDAL AND WAVE POWER↗

DOE OSTI2019

Federal Emergency Management Agency Mobile Housing Unit Running Gear Testing (Final Report)

The Federal Emergency Management Agency (FEMA) stages manufactured housing units (MHUs) at key locations to be used during disasters when other housing accommodations cannot be arranged for individuals or families. Due to the unpredictability of natural disasters and the limitations of the manufactured housing industry to produce large numbers of MHUs in very short periods of time, it is necessary for FEMA to store a large number of units for many months or years. With these long storage periods come degradation issues with frames, tires, bearing, and braking systems. These types of issues are also of interest to the U.S. Department of Transportation (DOT) Federal Motor Carrier Safety Administration (FMCSA) because regulated carriers normally transport these units and 49 CFR 393.75 Tires specifies tire loading restrictions for manufactured homes. To compare the running gear (tires, brakes, drums, bearings, axles, springs, and spring mounting hardware) currently specified in the 2014 Rugged Based Performance Requirements (RBPR) and the newly recommended running gear specified in the upcoming revision to the RBPR, the Oak Ridge National Laboratory (ORNL) outlined a Longevity Test Plan, which focused on the assessment of component longevity (failure rates by component type). The Test Plan also studied the forces imparted to the MHU from the running gear from interaction with the roadway for both the running gear in the 2014 RBPR and the running gear specified in the upcoming RBPR revision. Since the assessment of component longevity and failures are also issues of concern for FMCSA, both agencies collaborated to support the research presented in this report. The tests and data collection were conducted at the Navistar Proving Grounds (NPG) in New Carlisle (near South Bend), Indiana, during the May-November 2018 period. Four alternatives for the suspension system of a typical three-bedroom MHU were considered in this test. Alternative 0 was the MHU that was selected from the FEMA staging area in Selma, Alabama. Empirical data had shown that, on average, this alternative experiences one tire failure every 150 miles (or 0.0067 tire failures per mile traveled). Before testing, Alternative 0 was equipped with similar running gear hardware, although in new condition and installed following the manufacturer’s specifications. This became the Baseline Unit, or Alternative 1. Another unit, also selected from the FEMA staging area in Selma, Alabama, was equipped with better axles (i.e., axles that were rated for 7,000lbs as opposed to 6,000lbs for the Baseline Unit) and better tires. This became the Upgrade Unit, or Alternative 2. At the end of the Longevity Test, the Upgrade Unit was mounted with radial tires. This became Alternative 3.Alternative 1 (Baseline Unit) had, on average, one tire failure every 251 miles (or 0.0040 tire failures per mile traveled). So, by simply following the correct manufacturer’s specifications for the assembly of the transportation system, a reduction of 41% in the per mile tire failure was achieved. In the same test, Alternative 2 (Upgrade Unit) showed, on average, one tire failure every 728 miles traveled (or 0.0014 tire failure s per mile traveled). When the Upgrade Unit was mounted with radial tires in the last part of the test, no tire failures were observed for the 2,400 miles tested. That is, in the case of the radial tires (Alternative 3) the tire failure was less than one per 2,400 miles traveled (or less than 0.0004 tire failures per mile traveled). The data collected for the Longevity Test showed that the maximum accelerations were registered in all cases at the center of the MHU in the vertical direction. The overall maximum was registered by the Baseline Unit, Alternative 1. If that value is normalized to 100%, then the Upgrade Unit (Alternative 2) showed, on average, 81% at the same location, and Alternative 3 (radial-tire test) 59%. That is, the upgraded transportation system showed a reduction of 19% and 41% in the vertical accelerations transmitted to MHU at its center when regular and radial tires, respectively, were used. As part of the Test Protocol, NPG conducted a visual inspection of the MHUs and transportation system at the end of each test day. ORNL reviewed all the inspection reports in an attempt to determine if there was any difference in the damage that the Baseline and Upgrade MHUs showed during the test. The Upgrade Unit always showed lower accelerations transmitted to the MHU than the Baseline Unit. In most cases, these differences were statistically significant. The FEMA inspection report, conducted by a FEMA certified inspector at the end of the tests, included a shorter list of damaged items for the Baseline Unit than for the Upgrade Unit, although similar type of damages was described for both units. This may be an indication that, although lower than those of the Baseline Unit, the accelerations transmitted by the Upgrade Unit were above the threshold at which MHU elements start to fail.

42 ENGINEERING↗

DOE OSTI2019

Analysis of Localized Deformation Processes in Highly Irradiated Austenitic Stainless Steel through In Situ Techniques

This report describes new experimental results obtained during in situ mechanical tests with neutron-irradiated (10.7 dpa) austenitic 304L steel specimens. The in situ tensile tests inside a scanning electron microscope (SEM) were accompanied by modern high-resolution electron backscatter diffraction (HR-EBSD) analysis. The HR-EBSD approach allowed for investigating and quantifying internal stresses and dislocation structures in nondeformed and deformed steels, materials used in light water reactor internal components. The literature regarding the HR-EBSD analysis of metals and alloys is very limited, and practically no publications on the HR-EBSD analysis coupled with in situ tests are available. Experimental work, performed at Oak Ridge National Laboratory’s Low Activation Materials Development and Analysis facility, is detailed in this report. Section 1 briefly describes strain and stress localization processes and underlines their importance and role in irradiated materials, materials used in nuclear power plants. The section demonstrates that very limited quantitative data exist regarding localized stresses and strains in the irradiated materials at the meso-level (i.e., inside the grain, for a group of interacting grains, or for channel–grain boundary [GB] interaction) whereas local stresses at GBs are key contributors to the stress corrosion crack initiation.Section 2 documents the key methods used to conduct the experimental work: the SEM/EBSD system, miniature tensile frame, and irradiated material. Irradiated specimen manufacturing is described, as this option may be of special interest for other projects. Section 3 provides details of the HR-EBSD in situ tests (e.g., tensile curves, geometry, dimensions of regions of interest, load, and deformation steps). Section 4 discusses the results related to the evolution of geometrically necessary dislocations (GNDs) and their density, spatial, and statistical distributions.Section 5 focuses on the HR-EBSD analysis with respect to a channel–GB interaction. Two aspects are discussed in detail: mapping and analyzing the GND fields before and after loading, and the possibility of investigating local stresses and elastic strains at the channel–GB interaction. The present work results are beneficial for understanding strain and stress localization processes leading to crack initiation, for analyzing the material after long-term in-service life, and for developing predictive models. Section 6 summarizes the work performed and discusses future activities within this research direction.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

DOE OSTI2021

Instabilities driven by the fundamental crabbing mode

The Electron Ion Collider (EIC) requires crab cavities to correct for crossing angle effects. These cavities produce a time varying horizontal kick that makes the collision head on in the center of mass frame of the bunches. This results in a luminosity that is very close to the the luminosity obtained without a crossing angle. Producing the kick requires a transverse RF field. This field requires a superconducting resonator and reasonable power levels require loaded quality factors of order a million. This results is a very large transverse impedance for the crabbing mode. The horizontal beta function is large and this, coupled with the large transverse impedance of the resonator can lead to strong instabilities. In the first section of the paper a simple model is used to describe the situation without feedback. There are large ranges of tune leading to strong instabilities in both the electron and hadron storage rings of the EIC. These estimates are confirmed with simulations. In the second section, RF feedback is used to reduce the apparent impedance of the crabbing mode. Simulating the actual feedback would require both a significant rewrite of the tracking code and a significant reduction in computational speed. Instead, the apparent impedance is fitted using one pole filters, which allows use of the existing simulation code. In the third section a transverse damping system is outlined.

43 PARTICLE ACCELERATORS↗

DOE OSTI2022

UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence 8 - Raw Data

Sequences 8 and 9: Downwind Sonics (F,P) and Downwind Sonics Parked (P) This test sequence used an upwind, rigid turbine with a 0° cone angle. The wind speed ranged from 5 m/s to 25 m/s. Yaw angles of 0° to 60° were achieved. The blade tip pitch was 3°. The rotor rotated at 72 RPM during Sequence 8, but it was parked during Sequence 9. Blade pressure measurements were collected. The five-hole probes were removed and the plugs were installed. Plastic tape 0.03-mm-thick was used to smooth the interface between the plugs and the blade. The teeter dampers were replaced with rigid links, and these two channels were flagged as not applicable by setting the measured values in the data file to –99999.99 Nm. The teeter link load cell was pre-tensioned to 40,000 N. During post-processing, the probe channels were set to read -99999.99. Sonic anemometers were mounted on a strut downwind of the turbine. The strut was mounted to the T-frame, which was rotated to align the anemometers aft of the 9% and 49% radius locations at hub height. Because of this configuration, the tunnel balance data are considered invalid. Sequence 9 was designed to compare the downwind sonic anemometer readings with the upwind sonic anemometers without interference from the turbine. The rotor was parked with the instrumented blade at 0° azimuth. All pressure measurements obtained in Sequence 9 are invalid because sufficient time for temperature stabilization did not occur, thus all associated data values were flagged as not applicable by setting the measured values in the data file to 0.0000 Pa. This test is further described in Appendix G.

17 WIND ENERGY↗

DOE OSTI2022

UAE6 - Wind Tunnel Tests Data - UAE6 - Sequence 9 - Raw Data

17 WIND ENERGY↗

NASA NTRS2004

Part 1 of a Computational Study of a Drop-Laden Mixing Layer

This first of three reports on a computational study of a drop-laden temporal mixing layer presents the results of direct numerical simulations (DNS) of well-resolved flow fields and the derivation of the large-eddy simulation (LES) equations that would govern the larger scales of a turbulent flow field. The mixing layer consisted of two counterflowing gas streams, one of which was initially laden with evaporating liquid drops. The gas phase was composed of two perfect gas species, the carrier gas and the vapor emanating from the drops, and was computed in an Eulerian reference frame, whereas each drop was tracked individually in a Lagrangian manner. The flow perturbations that were initially imposed on the layer caused mixing and eventual transition to turbulence. The DNS database obtained included transitional states for layers with various liquid mass loadings. For the DNS, the gas-phase equations were the compressible Navier-Stokes equations for conservation of momentum and additional conservation equations for total energy and species mass. These equations included source terms representing the effect of the drops on the mass, momentum, and energy of the gas phase. From the DNS equations, the expression for the irreversible entropy production (dissipation) was derived and used to determine the dissipation due to the source terms. The LES equations were derived by spatially filtering the DNS set and the magnitudes of the terms were computed at transitional states, leading to a hierarchy of terms to guide simplification of the LES equations. It was concluded that effort should be devoted to the accurate modeling of both the subgridscale fluxes and the filtered source terms, which were the dominant unclosed terms appearing in the LES equations.

Okong'o, Nora A.↗

NASA NTRS1997

Development and Operation of a Material Identification and Discrimination Imaging Spectroradiometer

Many imaging applications require quantitative determination of a scene's spectral radiance. This paper describes a new system capable of real-time spectroradiometric imagery. Operating at a full-spectrum update rate of 30Hz, this imager is capable of collecting a 30 point spectrum from each of three imaging heads: the first operates from 400 nm to 950 nm, with a 2% bandwidth; the second operates from 1.5 micro-m to 5.5 micro-m with a 1.5% bandwidth; the third operates from 5 micro-m to 12 micro-m, also at a 1.5% bandwidth. Standard image format is 256 x 256, with 512 x 512 possible in the VIS/NIR head. Spectra of up to 256 points are available at proportionately lower frame rates. In order to make such a tremendous amount of data more manageable, internal processing electronics perform four important operations on the spectral imagery data in real-time. First, all data in the spatial/spectral cube of data is spectro-radiometrically calibrated as it is collected. Second, to allow the imager to simulate sensors with arbitrary spectral response, any set of three spectral response functions may be loaded into the imager including delta functions to allow single wavelength viewing; the instrument then evaluates the integral of the product of the scene spectral radiances and the response function. Third, more powerful exploitation of the gathered spectral radiances can be effected by application of various spectral-matched filtering algorithms to identify pixels whose relative spectral radiance distribution matches a sought-after spectral radiance distribution, allowing materials-based identification and discrimination. Fourth, the instrument allows determination of spectral reflectance, surface temperature, and spectral emissivity, also in real-time. The spectral imaging technique used in the instrument allows tailoring of the frame rate and/or the spectral bandwidth to suit the scene radiance levels, i.e., frame rate can be reduced, or bandwidth increased to improve SNR when viewing low radiance scenes. The unique challenges of design and calibration are described. Pixel readout rates of 160 MHz, for full frame readout rates of 1000 Hz (512 x 512 image) present the first challenge; processing rates of nearly 600 million integer operations per second for sensor emulation, or over 2 billion per second for matched filtering, present the second. Spatial and spectral calibration of 66,536 pixels (262,144 for the 512 x 512 version) and up to 1,000 spectral positions mandate novel decoupling methods to keep the required calibration memory to a reasonable size. Large radiometric dynamic range also requires care to maintain precision operation with minimum memory size.

Dombrowski, Mark↗

NASA NTRS2010

Steerable Hopping Six-Legged Robot

The figure depicts selected aspects of a six-legged robot that moves by hopping and that can be steered in the sense that it can be launched into a hop in a controllable direction. This is a prototype of hopping robots being developed for use in scientific exploration of rough terrain on remote planets that have surface gravitation less than that of Earth. Hopping robots could also be used on Earth, albeit at diminished hopping distances associated with the greater Earth gravitation. The upper end of each leg is connected through two universal joints to an upper and a lower hexagonal frame, such that the tilt of the leg depends on the relative position of the two frames. Two non-back-driveable worm-gear motor drives are used to control the relative position of the two frames along two axes 120 apart, thereby controlling the common tilt of all six legs and thereby, further, controlling the direction of hopping. Each leg includes an upper and a lower aluminum frame segment with a joint between them. A fiberglass spring, connected via hinges to both segments, is used to store hopping energy prior to launch into a hop and to cushion the landing at the end of the hop. A cable for loading the spring is run into each leg through the center of the universal joints and then down along the center lines of the segments to the lower end of the leg. A central spool actuated by a motor with a harmonic drive and an electromagnetic clutch winds in all six cables to compress all six springs (thereby also flexing all six legs) simultaneously. To ensure that all the legs push off and land in the same direction, timing- belt pulley drives are attached to the leg segments, restricting the flexing and extension of all six legs to a common linear motion. In preparation for a hop, the spool can be driven to load the spring legs by an amount corresponding to a desired hop distance within range. The amount of compression can be computed from the reading of a shaft-angle encoder that indicates the amount by which the spool has been turned. When the robot is ready to hop, the electromagnetic clutch disengages the motor from the spool, thus releasing the cable restraints on the springs and allowing the springs to extend all six legs simultaneously.

Younse, Paulo↗

NASA NTRS2010

Momentum Management Tool for Low-Thrust Missions

A momentum management tool was designed for the Dawn low-thrust interplanetary spacecraft en route to the asteroids Vesta and Ceres, in an effort to better understand the early creation of the solar system. Momentum must be managed to ensure the spacecraft has enough control authority to perform necessary turns and hold a fixed inertial attitude against external torques. Along with torques from solar pressure and gravity-gradients, ion-propulsion engines produce a torque about the thrust axis that must be countered by the four reaction wheel assemblies (RWA). MomProf is a ground operations tool built to address these concerns. The momentum management tool was developed during initial checkout and early cruise, and has been refined to accommodate a wide range of momentum-management issues. With every activity or sequence, wheel speeds and momentum state must be checked to avoid undesirable conditions and use of consumables. MomProf was developed to operate in the MATLAB environment. All data are loaded into MATLAB as a structure to provide consistent access to all inputs by individual functions within the tool. Used in its most basic application, the Dawn momentum tool uses the basic principle of angular momentum conservation, computing momentum in the body frame, and RWA wheel speeds, for all given orientations in the input file. MomProf was designed specifically to be able to handle the changing external torques and frequent de - saturations. Incorporating significant external torques adds complexity since there are various external torques that act under different operational modes.

Swenka, Edward R.↗