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NASA NTRS2005

Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

Calhoun Philip C.↗

NASA NTRS2005

Origins and Dynamics of Interplanetary Dust Particles

This is a final report for research supported by the National Aeronautics and Space Administration issued through the Office of Space Science Planetary Geology and Geophysics Program, covering all relevant activities during its 3-year period of funding from 02/01/2002 through to 01/31/2005. The ongoing aim of the research supported through this grant, and now through a successor award, is to investigate the origin of interplanetary dust particles (IDPs) and their dynamical and collisional evolution, in order to: (1) understand the provenance of zodiacal cloud particles and their transport from their source regions to the inner solar system; (2) produce detailed models of the zodiacal cloud and its constituent components; (3) determine the origin of the dust particles accreted by the Earth; (4) ascertain the level of temporal variations in the dust environment of the inner solar system and the accretion rate of IDPs by the Earth, and evaluate potential effects on global climate; and to (5) exploit this research as a basis for interpreting the structure observed in exozodiacal clouds that may result from the collisional evolution of planetesimals and the presence of unseen planets.

Dermott, Stanley F.↗

NASA NTRS1968

Flight Test of a 40-Foot Nominal-Diameter Disk-Gap-Band Parachute Deployed at a Mach Number of 1.91 and a Dynamic Pressure of 11.6 Pounds per Square Foot

A 40-foot (12.2 meter) nominal-diameter disk-gap-band parachute was flight tested as part of the NASA Supersonic Planetary Entry Decelerator Program (SPED-I). The test parachute was ejected by a deployment mortar from an instrumented payload at an altitude of 140,000 feet (42.5 kilometers). The payload was at a Mach number of 1.91 and the dynamic pressure was 11.6 pounds per square foot (555 newtons per square meter) at the time the parachute deployment mortar was fired. The parachute reached suspension line stretch in 0.43 second with a resultant snatch force loading of 1990 pounds (8850 newtons). The maximum parachute opening load of 6500 pounds (28,910 newtons) came 0.61 second later at a total elapsed time from mortar firing of 1.04 seconds. The first full inflation occurred at 1.12 seconds and stable inflation was achieved at approximately 1.60 seconds. The parachute had an average axial-force coefficient of 0.53 during the deceleration period. During the steady-state descent portion of the flight test, the average effective drag coefficient was also 0.53 and pitch-yaw oscillations of the canopy averaged less than 10 degrees in the altitude region above 100,000 feet (30.5 meters).

EXPERIMENTS↗

NASA NTRS1992

Stability and 3-D spatial dynamics analysis of a three cable crane

A 3-cable crane mechanism has been designed for incorporation into a highly loaded Lunar crane for planetary construction. This 3-cable crane must maintain a positive stability margin in all phases of the loading/unloading, assembly, or installation operations. A 2D kinematic curvature theory is applied to: (1) derive a general stability criterion to prevent the 3-cable crane from instability; and (2) determine a simple equation of natural frequency for two planar models of 3-cable crane. Investigation of the 2D vibrational characteristics of the planar models provides valuable insight toward understanding of 3D dynamic behavior of the 3-cable crane. Also, precision in natural frequency from this simple kinematic equation due to the exclusion of the radius-of-gyration of a suspended article is discussed. Multibody dynamics of the 3D 3-cable crane is presented and simulated to study the resulting vibrational characteristics under external disturbances and to verify the feasibility of the stability criterion for the 3-cable crane.

Yang, Li-Farn↗

NASA NTRS2020

Lunar Transient Accelerations White Paper

Recently, the United States announced a plan to return astronauts to the moon by 2024 [8]. Lunar landing (and subsequent Mars landing) architecture was not considered when the current NASA standards and vehicle design requirements for crew injury risk were developed. Therefore a gap exists in protecting the crew in planetary landing scenarios. One of the interesting aspects of this design reference mission (DRM)is the consideration of having the crew stand during dynamic phases of flight. Although this approach was contemplated for the Apollo Lunar Module, current NASA standards do not address design solutions that allow the crew to stand. Currently, NASA uses several tools and associated limits to mitigate crew injury because of dynamic loads. Some of these tools are the Brinkley Dynamic Response Criterion (BDRC) model and Hybrid III Anthropomorphic Test Devices (ATDs) [10]; and these have several limitations for assessing spaceflight loading environments, as well as specific underlying assumptions that may not be applicable in planetary landing vehicles. The BDRC is a simple lumped mass parameter model developed by the U.S. military, and has been used primarily to evaluate injury risk associated with aircraft ejection systems. The model evaluates seat accelerations in each axis to determine injury risk. Because the model treats the human-seat-restraint system as a single system, it is contingent on a restraint system and seat with similar characteristics of the original test data underlying the model. In particular, the model requires a rigid seat with a minimum natural frequency of 15Hz, minimal seat pan padding, side supports, and multipoint harness. The BDRC model uses undamped natural frequency and damping coefficients based on these requirements and any deviations may render the model injury predictions void. In lunar landing, one expects that a minimal or even no seat with minimal restraints will be employed. In this case, the original model parameters are likely to not be applicable. For capsule-based spacecraft returning crew to Earth, the Hybrid III ATD in various sizes also is used to supplement the BDRC. This analytical tool was added to address limitations in the BDRC related to spacecraft landings while wearing a pressure garment and helmet. Although the Hybrid III ATD has additional measurement capability; head, neck,and lumbar spine responses were the only metrics included because of the limitations imposed by the model.Lunar landing acceleration limits must assume the crew is standing during landing, an orientation for which we have limited data.Although the Apollo missions did employ a standing orientation for the crew, much of the data is lost. Therefore data from othersources havebeen examined to inform lunar landing acceleration limits.

Jeffrey T Somers↗

NASA NTRS1991

Design of multihundredwatt DIPS for robotic space missions

Design of a dynamic isotope power system (DIPS) general purpose heat source (GPHS) and small free piston Stirling engine (FPSE) is being pursued as a potential lower cost alternative to radioisotope thermoelectric generators (RTG's). The design is targeted at the power needs of future unmanned deep space and planetary surface exploration missions ranging from scientific probes to SEI precursor missions. These are multihundredwatt missions. The incentive for any dynamic system is that it can save fuel which reduces cost and radiological hazard. However, unlike a conventional DIPS based on turbomachinery converions, the small Stirling DIPS can be advantageously scaled to multihundred watt unit size while preserving size and weight competitiveness with RTG's. Stirling conversion extends the range where dynamic systems are competitive to hundreds of watts (a power range not previously considered for dynamic systems). The challenge of course is to demonstrate reliability similar to RTG experience. Since the competative potential of FPSE as an isotope converter was first identified, work has focused on the feasibility of directly integrating GPHS with the Stirling heater head. Extensive thermal modeling of various radiatively coupled heat source/heater head geometries were performed using data furnished by the developers of FPSE and GPHS. The analysis indicates that, for the 1050 K heater head configurations considered, GPHS fuel clad temperatures remain within safe operating limits under all conditions including shutdown of one engine. Based on these results, preliminary characterizations of multihundred watt units were established.

Bents, D. J.↗

NASA NTRS1972

Outer planets grand tours: Planetary radio astronomy team report

Requirements related to scientific observations of planetary radio emissions during outer planets grand tours are discussed. Observations at low frequencies where non-thermal cooperative plasma phenomena play a major role are considered for determining dynamical processes and magnetic fields near a planet. Magnetic field measurements by spacecraft magnetometers, and by radio receivers in their harmonic modes are proposed for interpretation of planetary radio emission.

Warwick, J. W.↗

NASA NTRS1993

Origins of Solar Systems Workshop: The Origin, Evolution, and Detectability of Short Period Comets

The origin of the short period comets (SPC) (periods less than 200 years), the dynamical formation of their present reservoir(s), the cause and rate of their transport to the inner planetary region where they can be detected, and the magnitude of selection effects in their discovery are important research questions directly coupled to the goals of understanding the origin and evolution of the Solar System. To address these questions in an intensive way, an interdisciplinary, five month long Workshop from Jan. to May 1993 at Southwest Research Institute (SwRI) in San Antonio was convened. The goal of this Workshop was to advance the state of understanding about the origins, dynamical evolution, and present location of short period comets and their reservoir(s).

Stern, S. Alan↗

NASA NTRS1972

Evidence on the deeper planetary interiors

Various theories are evaluated that have arisen in attempts at determining the physics of planetary interiors by observations from the gravitational field and radiation from the surface. It is concluded that there appears great scope in obtaining data from planetary fields which will provide not only evidence of static structure but also of dynamic behavior and which will produce parameters of the solid state properties of their deep interiors.

Runcorn, S. K.↗

NASA NTRS1985

The observation of atmospheric structure with TOMS and some potential advancements

An overview is given of the Nimbus 7 Total Ozone Mapping Spectrometer (TOMS) which was designed to observe the spatial characteristics of total ozone that were not resolved by the nadir-viewing Nimbus BUV and SBUV instruments. At the wavelengths suitable for total ozone measurements, the radiance is large enough that the entire daytime atmosphere could be surveyed with about 50-km resolution from a polar orbiting satellite. The resulting high spatial resolution TOMS ozone images are found to reflect the internal dynamic structure of the lower atmosphere. Features which can be identified and tracked include: planetary wave scale troughs and ridges, mesoscale cutoff lows and rapidly moving troughs, jet stream confluence and difluence areas, hurricanes, and polar night lows. These features control the ozone above any given location and account for nearly all the variance in the total ozone. The instrument has been used to track the volcanic eruption clouds from El Chichon, Mount St. Helens, Alaid, and smaller eruptions such as Galunggung. It would be feasible to use a similar instrument on a geostationary platform to obtain half-hourly maps. Determination of the vertical ozone distribution in the lower stratosphere using Radon transform principles would be of importance in measuring jet stream folds and the related troposphere-stratosphere exchange.

Krueger, A. J.↗

NASA NTRS1991

Studies in planetary rings

Progress made in research devoted to examining Voyager imaging data for the purpose of understanding the kinematics and dynamics of the Neptune ring arcs is reported. It was found that a radial distortion of amplitude 30 km is traveling through the arcs with a perturbation by the nearby satellite 1989N4. Two new and smaller arcs within the outer Neptunian ring were also discovered. The longitudinal spacing of all arcs is roughly that expected for corotational arc shepherding by 1989N4 provided that not all corotation sites in the arc region are filled. The semimajor axis of the arcs' orbit inferred from their observed mean motion and the latest Neptune gravitational parameters is, within uncertainties, identical to the location of the 42:43 corotation-inclination resonance of 1989N4: an observation which supports the notion of corotational arc-shepherding. This hypothesis also explains that the 15 km radial width of the arcs are due to a spread in forced orbital eccentricities. Clumps within the arcs were observed at a greater frequency than previously reported. These features may be the manifestation of big bodies within the arcs providing a source of ring dust, or they may be a kinematical effect associated with the crossing of eccentric orbits at quadrature. The inclusion of ground based observations of the arcs taken up to five years ago will lengthen the baseline over which arc dynamics may be studied and should lead to a refinement in the position of the Neptune spin and invariable plane poles.

Porco, Carolyn C.↗

NASA NTRS2014

Functional Sensory-Motor Performance Following Long Term Space Flight: The First Results of "Field Test" Experiment

The effect that extended-duration space flights may have on human space travelers, including exploration missions, is widely discussed at the present time. Specifically, there is an increasing amount of evidence showing that the physical capacity of cosmonauts is significantly reduced after long-duration space flights. It is evident that the most impaired functions are those that rely on gravity, particularly up right posture and gait. Because of the sensorimotor disturbances manifested in the neurology of the posture and gait space flight and postflight changes may also be observed in debilitating motion sickness. While the severity of particular symptoms varies, disturbances in spatial orientation and alterations in the accuracy of voluntary movements are persistently observed after long-duration space flights. At this time most of the currently available data are primarily descriptive and not yet suitable for predicting operational impacts of most sensorimotor decrements observed upon landing on planetary surfaces or asteroids. In particular there are no existing data on the recovery dynamics or functionality of neurological, cardiovascular or muscle performance making it difficult to model or simulate the cosmonauts' activity after landing and develop the appropriate countermeasure that will ensure the rapid and safe recovery of crewmembers immediately after landing in what could be hostile environments. However and as a starting position, the videos we have acquired during recent data collection following the long duration flights of cosmonauts and astronauts walking and performing other tasks shortly after return from space flight speak volumes about their level of deconditioning. A joint Russian-American team has developed a new study specifically to address the changes in crewmembers performance and the recovery of performance with the intent of filling the missing data gaps. The first (pilot) phase of this study includes recording body kinematics and quantifying the coordination and timing of relatively simple basic movements - transition from seated and prone positions to standing, walking, stepping over obstacles, tandem walking, muscle compliance, as well as characteristics of postural sway and orthostatic tolerance. Testing for changes in these parameters have been initiated in the medical tent at the landing site. The first set of experiments showed that during the first hour after landing, cosmonauts and astronauts were able to execute (although slower and with more effort than preflight) simple movements such as egress from a seated or prone position and also to remain standing for 3.5 minutes without exhibiting pronounced cardiovascular changes. More challenging tests, however, demonstrated a prominent reduction in coordination - the obstacle task, for example, was performed at much slower speed and with a marked overestimation of the obstacle height and tandem walking was greatly degraded suggesting significant changes in proprioception, brainstem and vestibular function. There is some speculation that the neural changes, either from the bottom-up or top down may be long lasting; requiring compensatory responses that will modify or mask the adverse responses we have observed. Furthermore, these compensatory responses may actually be beneficial, helping achieve a more rapid adaptation to both weightlessness and a return to earth.

Tomilovskaya, E. S.↗

NASA NTRS2015

The Combined Strength of Thermodynamics and Comparative Planetology: Application of Activity Models to Core Formation in Terrestrial Bodies

Recent models for accretion of terrestrial bodies involve metal-silicate equilibrium as the metallic core formed during growth. Most elements considered are either refractory or well studied elements for which effects of pressure, temperature, oxygen fugacity, and metallic liquid composition are well known. There are a large number of elements that are both siderophile and volatile, whose fate in such models is unknown, largely due to a lack of data at comparable conditions and com-positions (FeNi core with light elements such as S, C, Si, and O). We have focused on Ge, In, As, Sb and determined the effect of Si and C on metal-silicate partitioning, and developed a thermo-dynamic model that allows application of these new data to a wide range of planetary bodies. New experiments: We have previously carried out experiments with FeSi metallic liquid at C-saturated conditions at 1600 and 1800 C [4]. In a new series of experiments we investigate the effect of Si in carbon-free systems at 1600 C for comparison. Experiments were carried out at 1 GPa in MgO capsules using the same basaltic starting composition as in previous studies. The MgO capsule reacts with the silicate melt to form more MgO-rich liquids that have 22-26 wt% MgO. Experimental met-als and silicates were analyzed using a combination of electron microprobe analysis and laser ablation ICP-MS. Results: The new results can be interpreted by considering Ge as an example, in the simple exchange equilibrium Fe + GeO = FeO + Ge, where the equilibrium constant Kd can be examined as a function of Si content of the metal. The slope of lnKd vs. (1-XSi) for this new series allows derivation of the epsilon interaction parameter for each of these four elements and Si (both C-saturated and C-free).All four elements have positive epsilon values, indicating that Si causes a decrease in the partition coefficients; values are 6.6, 6.5, 27.8 and 25.2 for In, Ge, As, and Sb, respectively, at 1 GPa and 1600 C. As an example of how large the effect of Si can be, these epsilon values correspond to activity coefficients (gamma) for As of 0.01 when XSi = 0, and up to gamma = 23 when XSi = 0.2. Combining these new results with previous determinations [5,6] of epsilon parameters for S and C for these elements allows us calculate activity of Ge, In, As, and Sb in Fe-Ni-Si-S-C-O metallic liquids. We apply this new model to sever-al terrestrial bodies such as Earth (Si-rich core), Mars (S-rich core), Moon (S-, C-, and Si-poor core), and Vesta, and examine the resulting core and mantle concentrations of these elements. Mantle concentrations of these four elements are well explained for Earth and Mars in models that call for mid-mantle equilibration between Si-bearing and S-bearing FeNi cores, respectively. Modeling results for the Moon and Vesta will also be presented.

Righter, K.↗

NASA NTRS2016

Electrodynamic Context of Magnetopause Dynamics Observed by Magnetospheric Multiscale

Magnetopause observations by Magnetospheric Multiscale (MMS) and Birkeland currents observed by the Active Magnetosphere and Planetary Electrodynamics Response Experiment are used to relate magnetopause encounters to ionospheric electrodynamics. MMS magnetopause crossings on 15 August and 19 September 2015 occurred earthward of expectations due to solar wind ram pressure alone and coincided with equatorward expansion of the Birkeland currents. Magnetopause erosion, consistent with expansion of the polar cap, contributed to the magnetopause crossings. The ionospheric projections of MMS during the events and at times of the magnetopause crossings indicate that MMS observations are related to the main path of flux transport in one case but not in a second. The analysis provides a way to routinely relate in situ observations to the context of in situ convection and flux transport.

Anderson, Brian J.↗

NASA NTRS2020

Organic Components of Small Bodies in the Outer Solar System: Some Results of the New Horizons Mission

The close encounters of the Pluto–Charon system and the Kuiper Belt object Arrokoth (formerly 2014 MU 69 ) by NASA’s New Horizons spacecraft in 2015 and 2019, respectively, have given new perspectives on the most distant planetary bodies yet explored. These bodies are key indicators of the composition, chemistry, and dynamics of the outer regions of the Solar System’s nascent environment. Pluto and Charon reveal characteristics of the largest Kuiper Belt objects formed in the dynamically evolving solar nebula inward of ~30 AU, while the much smaller Arrokoth is a largely undisturbed relic of accretion at ~45 AU. The surfaces of Pluto and Charon are covered with volatile and refractory ices and organic components, and have been shaped by geological activity. On Pluto, N 2 , CO and CH 4 are exchanged between the atmosphere and surface as gaseous and condensed phases on diurnal, seasonal and longer timescales, while Charon’s surface is primarily inert H 2 O ice with an ammoniated component and a polar region colored with a macromolecular organic deposit. Arrokoth is revealed as a fused binary body in a relatively benign space environment where it originated and has remained for the age of the Solar System. Its surface is a mix of CH 3 OH ice, a red-orange pigment of presumed complex organic material, and possibly other undetected components.

Solar System↗

NASA NTRSDate not supplied

THUNDER: A New Frontiers-Class Titan Orbiter Mission Concept From the NASA JPL Planetary Science Summer School

Titan is unique in our Solar System: an icy ocean world with an Earth-like, dynamic hydrocarbon reservoir cycling through its interior, surface, and atmosphere. Titan’s hazy atmosphere produces complex organic material, which has the potential to develop the necessary compounds for biologic activity if it moves through Titan’s water ice bedrock to encounter the subsurface ocean. Here, we propose Titan’s Hydrocarbons: Uncovering New Dimensions of Evolutionary pRocesses (THUNDER), a New Frontiers-class Titan orbiter mission concept. This mission responds directly to the Decadal Survey’s call for a Titan Orbiter and follows the guidelines of the New Frontiers 4 (NF4) Announcement of Opportunity (AO) and NF5 draft AO. THUNDER will provide high-resolution global mapping of Titan’s surface, exploring how Titan’s hydrocarbon cycle has shaped its evolution through time.

Rudi Lien↗

NASA NTRS2024

A Trajectory-Tracking Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of scalable long-reach cable-actuated manipulators. The design of the LSMS has a high payload ratio for efficient operations on planetary surfaces like the Moon or Mars. The LSMS has nonlinear, coupled, and hybrid dynamics. The engineering decisions that led to these challenging dynamics make this structure light and efficient. This paper proposes a novel trajectory tracking algorithm for these cranes that facilitates precise autonomous and teleoperated operations. This algorithm enables these robots to follow complex trajectories that avoid obstacles and pickup regolith in a construction site.

trajectory tracking↗

NASA NTRS2024

A Trajectory Tracking Algorithm for the LSMS Family of Cable-Driven Crane

lunar operations↗