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The Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator robot is a teleoperated mobility platform with a space regolith excavation capability. This more compact, lightweight design (<50 kg) has counterrotating bucket drums, which results in a net-zero reaction horizontal force due to the self-cancellation of the symmetrical, equal but opposing, digging forces.
During EVA (Extravehicular Activity) No. 23 aboard the ISS (International Space Station) on 07/16/2013 water entered the EMU (Extravehicular Mobility Unit) helmet resulting in the termination of the EVA (Extravehicular Activity) approximately 1-hour after it began. It was estimated that 1.5-L of water had migrated up the ventilation loop into the helmet, adversely impacting the astronauts hearing, vision and verbal communication. Subsequent on-board testing and ground-based TT and E (Test, Tear-down and Evaluation) of the affected EMU hardware components led to the determination that the proximate cause of the mishap was blockage of all water separator drum holes with a mixture of silica and silicates. The blockages caused a failure of the water separator function which resulted in EMU cooling water spilling into the ventilation loop, around the circulating fan, and ultimately pushing into the helmet. The root cause of the failure was determined to be ground-processing short-comings of the ALCLR (Airlock Cooling Loop Recovery) Ion Filter Beds which led to various levels of contaminants being introduced into the Filters before they left the ground. Those contaminants were thereafter introduced into the EMU hardware on-orbit during ALCLR scrubbing operations. This paper summarizes the failure analysis results along with identified process, hardware and operational corrective actions that were implemented as a result of findings from this investigation.
Water entered the Extravehicular Mobility Unit (EMU) helmet during extravehicular activity (EVA) no. 23 aboard the International Space Station on July 16, 2013, resulting in the termination of the EVA approximately 1 hour after it began. It was estimated that 1.5 liters of water had migrated up the ventilation loop into the helmet, adversely impacting the astronaut's hearing, vision, and verbal communication. Subsequent on-board testing and ground-based test, tear-down, and evaluation of the affected EMU hardware components determined that the proximate cause of the mishap was blockage of all water separator drum holes with a mixture of silica and silicates. The blockages caused a failure of the water separator degassing function, which resulted in EMU cooling water spilling into the ventilation loop, migrating around the circulating fan, and ultimately pushing into the helmet. The root cause of the failure was determined to be ground-processing shortcomings of the Airlock Cooling Loop Recovery (ALCLR) Ion Filter Beds, which led to various levels of contaminants being introduced into the filters before they left the ground. Those contaminants were thereafter introduced into the EMU hardware on-orbit during ALCLR scrubbing operations. This paper summarizes the failure analysis results along with identified process, hardware, and operational corrective actions that were implemented as a result of findings from this investigation.
A wheel assembly for an electric vehicle includes a wheel rim that is concentrically disposed about a central axis. A propulsion-braking module is disposed within an interior region of the wheel rim. The propulsion-braking module rotatably supports the wheel rim for rotation about the central axis. The propulsion-braking module includes a liquid cooled electric motor having a rotor rotatable about the central axis, and a stator disposed radially inside the rotor relative to the central axis. A motor-wheel interface hub is fixedly attached to the wheel rim, and is directly attached to the rotor for rotation with the rotor. The motor-wheel interface hub directly transmits torque from the electric motor to the wheel rim at a 1:1 ratio. The propulsion-braking module includes a drum brake system having an electric motor that rotates a cam device, which actuates the brake shoes.
Appropriate design of fire detection systems requires knowledge of both the expected fire signature and the background aerosol levels. Terrestrial fire detection systems have been developed based on extensive study of terrestrial fires. Unfortunately there is no corresponding data set for spacecraft fires and consequently the fire detectors in current spacecraft were developed based upon terrestrial designs. In low gravity, buoyant flow is negligible which causes particles to concentrate at the smoke source, increasing their residence time, and increasing the transport time to smoke detectors. Microgravity fires have significantly different structure than those in 1-g which can change the formation history of the smoke particles. Finally the materials used in spacecraft are different from typical terrestrial environments where smoke properties have been evaluated. It is critically important to detect a fire in its early phase before a flame is established, given the fixed volume of air on any spacecraft. Consequently, the primary target for spacecraft fire detection is pyrolysis products rather than soot. Experimental investigations have been performed at three different NASA facilities which characterize smoke aerosols from overheating common spacecraft materials. The earliest effort consists of aerosol measurements in low gravity, called the Smoke Aerosol Measurement Experiment (SAME), and subsequent ground-based testing of SAME smoke in 55-gallon drums with an aerosol reference instrument. Another set of experiments were performed at NASAs Johnson Space Center White Sands Test Facility (WSTF), with additional fuels and an alternate smoke production method. Measurements of these smoke products include mass and number concentration, and a thermal precipitator was designed for this investigation to capture particles for microscopic analysis. The final experiments presented are from NASAs Gases and Aerosols from Smoldering Polymers (GASP) Laboratory, with selected results focusing on realistic fuel preparations and heating profiles with regards to early detection of smoke. SAFFIRE is the upcoming large-scale fire experiment which will be executed in a Cygnus vehicle after it undocks from the ISS.
RASSOR (Regolith Advanced Surface Systems Operational Robot) is a dual bucket drum excavator prototype that is designed to dig regolith (moon dirt). Will develop into a smaller excavator named the ISRU Pilot Excavator that will go to the moon to support the Artemis mission. Regolith gathering by Pilot Excavator can be used as building material while dug up ice can be used as a water resource.
Continued expansion of passive acoustic telemetry networks is allowing the movements of aquatic animals to be monitored over ever-larger distances and extended time periods. From modest beginnings in east-central Florida, the collaborative FACT Network has grown into one of the largest animal tracking networks in the world, with partners working throughout the southeastern US, Bahamas, and Caribbean. In the IRL region, tracking stations deployed across a continuum of habitats are revealing the behavior and habitat needs of our region’s most valuable sportfish, shark, and sea turtle species. This talk will summarize the status of the FACT Network as of 2022. Several ongoing and upcoming studies in the Canaveral region will be highlighted including those designed to understand the export of economically valuable sportfish from protected waters of Kennedy Space Center, inshore-offshore movements of spawning red drum, seasonal migrations of coastal sharks, and habitat use of juvenile IRL sea turtles.
This Interim Groundwater Monitoring (IGWM) Report presents the findings of the IGWM activities conducted during the 2021 reporting period at the Fluid Servicing Road Area (FSRA) of Kennedy Space Center (KSC), Florida. The IGWM program was implemented at sites where active remediation was not occurring to monitor and track plume footprints and concentrations. FSRA is located east of the Vehicle Assembly Building and includes Components Cleaning Facility (CCF) also known as Solid Waste Management Unit (SWMU) 030; Converter Compressor Building (CCB) also known as SWMU 089; Area South of K7-516 (516S) also known as SWMU 100; Propellants Support Building Area (PSBA) also known as SWMU 102; and Former Drum Storage Area (FDSA) also known as SWMU 037.
Nuclear Electric Propulsion (NEP) is an in-space propulsion technology capable of enabling opposition and conjunction class crewed Mars missions. NEP subsystems include the reactor for heat generation, a power conversion system (PCS), power management and distribution (PMAD), electric propulsion subsystem (EPS), and a primary heat rejection system. Specific mass, or αe (kg / kWe), is a key performance parameter (KPP) of the propulsion system which is directly scalable with the performance and mass estimates for individual components. To inform technology maturation planning, full system and component level parametric modeling is ongoing to explore the design trade space and illustrate the effect of subsystem design choices on the system KPPs. In this study, scaling of high-assay, low-enriched uranium (HALEU) reactor designs is assessed through coupled reactor physics and thermal hydraulics analyses. Scaling analyses evaluate the impact of system performance parameters (power level, interface temperatures) on mass for direct gas cooled, pumped liquid metal, and passively cooled heat pipe reactor concepts. Each concept requires specific geometries and working fluids to reach the performance goals of PCS interface conditions (temperature, pressure, flow rate) and system mass. The reactor assembly includes the active core (fuel, moderator, cladding, working fluid), axial and radial neutron reflectors, control drums, structural support / pressure vessel, and external radiation shielding. Each of these components are parametrically sized based on performance parameters for a megawatt-class power cycle. Results of this scaling analysis increase NEP propulsion system modeling fidelity and ultimately aim to support technology down-selection along with related technology development planning. The reactor and shield αe are a function of several PCS design choices, and reactor scaling with these parameters must be considered to enable an informed decision on reactor geometry and working fluid combination.
Nuclear Electric Propulsion (NEP) is an in-space propulsion technology capable of enabling opposition and conjunction class crewed Mars missions. NEP subsystems include the reactor for heat generation, a power conversion system (PCS), power management and distribution, electric propulsion system, and heat rejection system. Specific mass, or α (kg/kWe), is a key performance parameter (KPP) of the propulsion system which is directly scalable with the performance and mass predictions for each individual component. To inform technology maturation planning activities, full system and component level parametric modeling is ongoing to explore the design trade space and illustrate the effect of subsystem design choices on the system KPPs. In this study, scaling of high-assay, low-enriched uranium reactor designs is assessed through coupled reactor physics and thermal hydraulics analyses. Scaling analyses evaluate the impact of system performance parameters (power level, interface temperatures) on mass for direct gas cooled, pumped liquid metal, and passively-cooled heat pipe reactor concepts. Each concept requires specific geometries, fluids, and power conversion interface conditions (temperature, pressure, flow rate) to meet desired performance and mass. The reactor assembly includes the active core (fuel, moderator, cladding, working fluid), axial and radial neutron reflectors, control drums, structural support / pressure vessel, and external radiation shielding. Each of these components are parametrically sized based on performance parameters for a megawatt-class power cycle. Results of this scaling analysis increase NEP propulsion system modeling fidelity and ultimately aim to support concept down-selection along with related technology development planning. The reactor and shield α are a function of several PCS and heat rejection system design choices, and reactor scaling with these parameters must be considered to enable an informed decision on an optimal reactor geometry and working fluid combination.
This work focuses on the implications of alternative working fluids for nuclear thermal propulsion (NTP) reactors. To perform this analysis, NASA’s Testing Reference Design (TRD) is altered using parametric studies with selected alternative propellants to determine the reactor modifications required to enable an operable system. This research investigates ammonia, water, methane, helium, and enriched diborane as feasible options to enable a specific impulse (𝐼 𝑠𝑝 ) greater than the chemical propulsion alternatives. Frozen and dissociated 𝐼 𝑠𝑝 for each propellant is shown for variable chamber temperature conditions. Geometrical sensitivities are performed to observe the impact on the neutron multiplication factor (k eff ), system mass, and HALEU loading. Control drum worth curves are included for 5- degree increments of rotation. The base TRD configuration does not enable a critical system for ammonia and enriched diborane, thus these propellants will be highlighted in the final results. Equivalent study results for hydrogen will be included as a point of comparison to the performance of the other options.
This work focuses on the implications of alternative working fluids for nuclear thermal propulsion (NTP) reactors. To perform this analysis, NASA’s Testing Reference Design (TRD) is altered using parametric studies with selected alternative propellants to determine the reactor modifications required to enable an operable system. This research investigates ammonia, water, methane, helium, and enriched diborane as feasible options to enable a specific impulse (Isp) greater than the chemical propulsion alternatives. Frozen and dissociated Isp for each propellant is shown for variable chamber temperature conditions. Geometrical sensitivities are performed to observe the impact on the neutron multiplication factor (keff), system mass, and HALEU loading. Control drum worth curves are included for 5- degree increments of rotation. The base TRD configuration does not enable a critical system for ammonia and enriched diborane, thus these propellants will be highlighted in the final results. Equivalent study results for hydrogen will be included as a point of comparison to the performance of the other options.
The Artemis Program seeks to establish a sustained lunar presence and robust economy driven by re-sources available on the Moon and enabled by sup-porting infrastructure. This will require robotic manipulation of tens of thousands of metric tons of regolith. Excavation and site preparation tasks in the unforgiving lunar environment will inevitably lead to component wear and necessitate periodic maintenance and repair. System modularity and standard interfaces are key components of enabling robotic repair and maintenance. The Modular Interface for CLPS (Commercial Lunar Payloads Services) -scale Excavators (MICE) project is a funded fiscal year 2024 Internal Research and Development (IRAD) project at NASA KSC. The MICE project seeks to test concepts for modular re-configuration of a CLPS-scale excavation and site preparation rover. These concepts, henceforth referred to as Modular Disconnect Systems (MDS), allow a mobility platform to interface with regolith manipulation implements such as a bucket drum excavator or compactor. The MDS concepts allow the mobility platform to detect one implement and swap to another implement in-situ. Power and communications is fed through a dust-tolerant electrical connection on the MDS to the implement’s actuator(s) and sensors.
Charge transfer between insulating grains has been a topic of interest for many years as this phenomenon is extremely important to many areas in industry. Of particular interest to NASA is the behavior of electrically insulative dust grains such as those found on the lunar surface. Whether poured from a scoop during sample collection activities, agitated inside a drum via mining robots, or fluidized by a gas plume, particle-particle interactions between similar granular materials will be widespread on the Moon. Designers hope to have a predictive model for how dust grains are charged, transported, and deposited on flight systems to better understand issues electrostatics may cause in future missions. While difference in work function is often seen as a driver for charge transfer between two materials, this is an incomplete representation for insulative particles. Other asymmetries in the system can also lead to charge being transferred: one such being the difference between static vs dynamic particles. Experiments performed under vacuum in the Electrostatics and Surface Physics Laboratory (ESPL) clearly show that particles having more contacts with other particles tend to charge positively and particles having fewer contacts tend to charge negatively, despite being made from the same material. During these experiments, monodisperse (population of single diameter) spherical particles were held in a reservoir which was then elevated at one end to slope into a Faraday cup used to measure bulk charge of the grains. Care was taken to limit the number of spheres bouncing out of the cup, to isolate the beads from the container itself so that only grain-to-grain interactions occurred, and to assure neutrality of the beads before the experiment began. A discrete element method (DEM) modeling package already incorporating many granular mechanics interactions was augmented to include the electrostatic behaviors seen in experiments. The model can reproduce the experimental results above by tracking the number of contacts between pairs of individual grains and applying a charge transfer condition related to this contact parameter. The experimental results as well as their incorporation into the improved modeling suite will be discussed. Future work includes adding additional asymmetries into the experiments/model such as polydisperse populations of spherical particles and irregularly shaped grains.
Charge transfer between insulating grains has been a topic of interest for many years as this phenomenon is extremely important to many areas in industry. Of particular interest to NASA is the behavior of electrically insulative dust grains such as those found on the lunar surface. Whether poured from a scoop during sample collection activities, agitated inside a drum via mining robots, or fluidized by a gas plume, particle-particle interactions between similar granular materials will be widespread on the Moon. Designers hope to have a predictive model for how dust grains are charged, transported, and deposited on flight systems to better understand issues electrostatics may cause in future missions. While difference in work function is often seen as a driver for charge transfer between two materials, this is an incomplete representation for insulative particles. Other asymmetries in the system can also lead to charge being transferred: one such being the difference between static vs dynamic particles. Experiments performed under vacuum in the Electrostatics and Surface Physics Laboratory (ESPL) clearly show that particles having more contacts with other particles tend to charge positively and particles having fewer contacts tend to charge negatively, despite being made from the same material. During these experiments, monodisperse (population of single diameter) spherical particles were held in a reservoir which was then elevated at one end to slope into a Faraday cup used to measure bulk charge of the grains. Care was taken to limit the number of spheres bouncing out of the cup, to isolate the beads from the container itself so that only grain-to-grain interactions occurred, and to assure neutrality of the beads before the experiment began. A discrete element method (DEM) modeling package already incorporating many granular mechanics interactions was augmented to include the electrostatic behaviors seen in experiments. The model can reproduce the experimental results above by tracking the number of contacts between pairs of individual grains and applying a charge transfer condition related to this contact parameter. The experimental results as well as their incorporation into the improved modeling suite will be discussed. Future work includes adding additional asymmetries into the experiments/model such as polydisperse populations of spherical particles and irregularly shaped grains.
This Interim Groundwater Monitoring (IGWM) Report presents the findings from the IGWM events, completed between December 2022 and June 2023, at the Fluid Servicing Road Area (FSRA), Kennedy Space Center (KSC), Florida. KSC is located on the northern portion of Merritt Island, between the Indian and Banana Rivers in Brevard County, Florida. The IGWM program is implemented at sites where active remediation is not occurring. The IGWM events at the Propellants Support Building Area (PSBA; Solid Waste Management Unit [SWMU] 102) included the collection of eight groundwater monitoring well samples and 107 direct-push technology (DPT) samples. The DPT samples were collected for the Five-Year supplemental plume monitoring event. Additionally, 27 wells were sampled as part of the December 2022 IGWM event at the Former Drum Storage Area (FDSA), SWMU 037. This IGWM Report was prepared by HydroGeoLogic, Inc. (HGL) for the National Aeronautics and Space Administration (NASA) under Task Order 4 of Indefinite Delivery Indefinite Quantity Contract 80KSC019D0012/80KSC019F0090.
A continuous or semi-continuous process for fabricating nanowires or microwires makes use of the substantially planar template that may be moved through electrochemical solution to grow nanowires or microwires on exposed conductive edges on the surface of that template. The planar template allows fabrication of the template using standard equipment and techniques. Adhesive transfer may be used to remove the wires from the template and in one embodiment to draw a continuous wire from the template to be wound around the drum.
Clothes drying accounts for a significant amount of energy consumed in residential and commercial sectors. A thermal vacuum clothes drying technology (TVCD) is proposed as an advanced clothes dryer which can significantly reduce the energy requirements by expediting the drying process. In the conventional convective clothes dryer, hot dry air is introduced into the drum which gets in direct contact to dry the clothes. This process is energy inefficient since the significant amount of heat and the water carried out with the exhaust stream are wasted. In contrast to the conventional convective drying technique, the drying mechanism of TVCD is through nucleate boiling at low temperature due to reduced vessel pressure. The process is not only efficient but also reduces the required time for drying. The objective of this paper is to develop a comprehensive thermodynamic model to predict the transient drying process of TVCD. The three-stage system model including the detail analysis of individual components is capable of simulating the variation of the water content in the textile under various operational conditions. The preliminary results show that the drying time of 3 lb textile from 70% to 2.5% in TVCD is approximately four times less than the time required in the conventional clothes dryer. Parametric studies are carried out to understand the effect of operation conditions and component geometry on the system performance. Energy consumption of the system is also analyzed.