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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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All sources NASA NTRS DOE OSTI

NASA NTRS2009

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum that the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical strategies for distributing a prescribed torque or momentum among the n wheels are presented, with special emphasis on configurations of four, five, and six wheels.

Markley, F. Landis↗

NASA NTRS2011

Charging and Subsequent Dissipation of a Rover Wheel in the Lunar Polar Regions

As a roving vehicle moves along the lunar surface, electric charge will build up through tribo-charging. This charge collected by the roving object will have a dissipative path to either the surface or the ambient plasma, depending upon which path is most conductive. At the lunar terminator region and into nightside regions, the surface is very cold and becomes a very poor conductor. leaving the plasma as the dominant remediating current for dissipation. However, within lunar craters, even plasma currents become substantially reduced which then greatly increases electric 'dissipation times, This work will involve the advancement of the stepping astronaut charge model, by considering the charging and plasma dissipation of a rolling rover wheel, The objective of this work is to determine the nature of charging and discharging for a rover wheel as it rolls along the cold, plasma-starved lunar polar regions. The rotating wheel accumulates charge via contact electrification (tribo-charging) with the lunar regolith. This tribo-charging is dependent on the composition of the objects in contact, with insulators and conductors charging differently. Given the environmental plasma in the region, we then determine the dissipation time for the wheel to bleed off its excess charge into the surrounding plasma. A model of the rover wheel rotating continuously over a surface regolith within a polar crater has been applied. The environmental plasma has been described previously. We define a new tribo-charging term specifically for the rotating system, with charge levels defined as a function of the wheel size, area in contact with the regolith, regolith particle size distribution, as well as the velocity at which the wheel is turning. We recognize that as charged dust accumulates and sticks to the wheel, this behaves effectively as a new current. Hence, the overall charging of the system should no longer vary linearly. and begin to show signs of saturation, We are devising a dust current term to model this charge-limiting effect, and will present the results in discussion.

Jackson, T. L.↗

NASA NTRS2016

Propulsion Wheel Motor for an Electric Vehicle

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.

Figuered, Joshua M.↗

NASA NTRS2018

Performance of Cassini Reaction Wheel Friction Compensation Scheme During Spin Rate Zero-Crossing and Drag Spikes

Cassini uses reaction wheels to achieve the spacecraft pointing stability that is needed during imaging operations of several science instruments. The Cassini flight software makes inflight estimates of reaction wheel bearing drag torque and the reaction wheel controller uses these estimates to achieve a high level of spacecraft pointing stability. However, the Cassini drag torque estimator was designed to accurately track the bearing drag torque only in the steady state. When the physical drag torque changes abruptly (for example, during a reaction wheel spin rate reversal or when wheel bearings experienced drag spikes), the drag estimator will not be able to track the physical drag closely. This will lead to a degradation in the spacecraft pointing stability performance. For Cassini, this was not a problem because of the significant performance margin in pointing stability. However, for missions that have very challenging pointing stability requirements and that must perform well in the presence of frequent wheel rate reversals, alternative drag-compensating control schemes must be considered. To this end, alternative drag torque compensating control schemes (such as the adaptive model reference control scheme) are briefly reviewed in this paper. Selected design features used in these friction compensation schemes may be incorporated in reaction wheel controller design to improve the robustness of spacecraft pointing stability performance with regard to a wide range of reaction wheel drag torque anomalous behavior.

Lee, Allan Y↗

NASA NTRS1993

Judging rolling wheels: Dynamic and kinematic aspects of rotation-translation coupling

Four experiments were carried out to investigate observers' abilities to judge rolling motions. The experiments were designed to assess whether two important aspects of such motions are appreciated: the kinematic coupling of rotation and translation, and the dynamic effects of gravity. Different motion contexts of rolling wheels were created using computer-generated displays. The first experiment involved wheels rolling down an inclined plane. Observers spontaneously appreciated the anomaly of wheels that failed to accelerate, but they were not able to differentiate between different acceleration functions. Moreover, their judgements were almost exclusively based on the translation component of the rolling motion, neglecting the rotation component. In a second experiment it was found that observers could accurately estimate the perimeter of various objects. Thus, their inability to consider rotation information is not attributable to misperceptions of the geometry of wheels. In a third experiment the finding that rolling wheels appear to overrotate was replicated; however, findings from this experiment also showed, together with those from a fourth experiment, that observers are able to make very accurate judgments about translation-rotation coupling in rolling wheels when information is provided about the orientation of the wheel and the texture of the surface on which it rolls.

Hecht, Heiko↗

NASA NTRS2001

Maximum Torque and Momentum Envelopes for Reaction Wheel Arrays

Spacecraft reaction wheel maneuvers are limited by the maximum torque and/or angular momentum which the wheels can provide. For an n-wheel configuration, the torque or momentum envelope can be obtained by projecting the n-dimensional hypercube, representing the domain boundary of individual wheel torques or momenta, into three dimensional space via the 3xn matrix of wheel axes. In this paper, the properties of the projected hypercube are discussed, and algorithms are proposed for determining this maximal torque or momentum envelope for general wheel configurations. Practical implementation strategies for specific wheel configurations are also considered.

Reynolds, R. G.↗

NASA NTRS2004

Minimum-Time and Vibration Avoidance Attitude Maneuver for Spacecraft with Torque and Momentum Limit Constraints in Redundant Reaction Wheel Configuration

In this paper, we present an optimal open-loop slew trajectory algorithm developed at GSFC for the so-called "Yardstick design" of the James Webb Space Telescope (JWST). JWST is an orbiting infrared observatory featuring a lightweight, segmented primary mirror approximately 6 meters in diameter and a sunshield approximately the size of a tennis court. This large, flexible structure will have significant number of lightly damped, dominant flexible modes. With very stringent requirements on pointing accuracy and image quality, it is important that slewing be done within the required time constraint and with minimal induced vibration in order to maximize observing efficiency. With reaction wheels as control actuators, initial wheel speeds as well as individual wheel torque and momentum limits become dominant constraints in slew performance. These constraints must be taken into account when performing slews to ensure that unexpected reaction wheel saturation does not occur, since such saturation leads to control failure in accurately tracking commanded motion and produces high frequency torque components capable of exciting structural modes. A minimum-time constraint is also included and coupled with reaction wheel limit constraints in the optimization to minimize both the effect of the control torque on the flexible body motion and the maneuver time. The optimization is on slew command parameters, such as maximum slew velocity and acceleration, for a given redundant reaction wheel configuration and is based on the dynamic interaction between the spacecraft and reaction wheel motion. Analytical development of the slew algorithm to generate desired slew position, rate, and acceleration profiles to command a feedback/feed forward control system is described. High-fidelity simulation and experimental results are presented to show that the developed slew law achieves the objectives.

Ha, Kong Q.↗

NASA NTRS2007

Multispectral Imager With Improved Filter Wheel and Optics

Figure 1 schematically depicts an improved multispectral imaging system of the type that utilizes a filter wheel that contains multiple discrete narrow-band-pass filters and that is rotated at a constant high speed to acquire images in rapid succession in the corresponding spectral bands. The improvement, relative to prior systems of this type, consists of the measures taken to prevent the exposure of a focal-plane array (FPA) of photodetectors to light in more than one spectral band at any given time and to prevent exposure of the array to any light during readout. In prior systems, these measures have included, variously the use of mechanical shutters or the incorporation of wide opaque sectors (equivalent to mechanical shutters) into filter wheels. These measures introduce substantial dead times into each operating cycle intervals during which image information cannot be collected and thus incoming light is wasted. In contrast, the present improved design does not involve shutters or wide opaque sectors, and it reduces dead times substantially. The improved multispectral imaging system is preceded by an afocal telescope and includes a filter wheel positioned so that its rotation brings each filter, in its turn, into the exit pupil of the telescope. The filter wheel contains an even number of narrow-band-pass filters separated by narrow, spoke-like opaque sectors. The geometric width of each filter exceeds the cross-sectional width of the light beam coming out of the telescope. The light transmitted by the sequence of narrow-band filters is incident on a dichroic beam splitter that reflects in a broad shorter-wavelength spectral band that contains half of the narrow bands and transmits in a broad longer-wavelength spectral band that contains the other half of the narrow spectral bands. The filters are arranged on the wheel so that if the pass band of a given filter is in the reflection band of the dichroic beam splitter, then the pass band of the adjacent filter is in the longer-wavelength transmission band of the dichroic beam splitter (see Figure 2). Each of the two optical paths downstream of the dichroic beam splitter contains an additional broad-band-pass filter: The filter in the path of the light transmitted by the dichroic beam splitter transmits and attenuates in the same bands that are transmitted and reflected, respectively, by the beam splitter; the filter in the path of the light reflected by the dichroic beam splitter transmits and attenuates in the same bands that are reflected and transmitted, respectively, by the dichroic beam splitter. In each of these paths, the filtered light is focused onto an FPA. As the filter wheel rotates at a constant angular speed, its shaft angle is monitored, and the shaft-angle signal is used to synchronize the exposure times of the two FPAs. When a single narrowband-pass filter on the wheel occupies the entire cross section of the beam of light coming out of the telescope, the spectrum of light that reaches the dichroic beam splitter lies entirely within the pass band of that filter. Therefore, the beam in its entirety is either transmitted by the dichroic beam splitter and imaged on the longer-wavelength FPA or reflected by the beam splitter and imaged onto the shorter-wavelength FPA.

Bremer, James C.↗

NASA NTRS2019

Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover

Planetary exploration rovers are expensive, weight constrained, and cannot be serviced once deployed. Here, we explore one way to increase their capabilities while avoiding the cost, mass, and complexity leading to these issues. We propose to re-use the large wheel actuators for trenching and other digging operations, which will enable a range of missions such as sampling deeper layers of soil. We present a new, closed-form model of the soil displaced by an angled, spinning wheel to analyze the trenching potential of a driving strategy and inform the control of the wheel. The model is demonstrated with single wheel experiments under different driving conditions. The model suggests: that a deep trench does not require large tractive efforts; that the shape of the trench can be controlled; and that a rear wheel has a lower risk of entrapment when trenching than a front wheel. Ultimately this model could be used in a nonprehensile manipulation planning or learning algorithm to enable autonomous trenching.

Wheels↗

DOE OSTI2012

First-Principles Study of Electronic Structure and Hydrogen Adsorption of 3d Transition Metal Exposed Paddle Wheel Frameworks

Open-site paddle wheels, comprised of two transition metals bridged with four carboxylate ions, have been widely used for constructing metal-organic frameworks with large surface area and high binding energy sites. Using first-principles density functional theory calculations, we have investigated atomic and electronic structures of various 3d transition metal paddle wheels before and after metal exposure and their hydrogen adsorption properties at open metal sites. Notably, the hydrogen adsorption is impeded by covalent metal-metal bonds in early transition metal paddle wheels from Sc to Cr and by the strong ferromagnetic coupling of diatomic Mn and Fe in the paddle wheel configurations. A significantly enhanced H{sub 2} adsorption is predicted in the nonmagnetic Co{sub 2} and Zn{sub 2} paddle wheel with the binding energy of {approx}0.2 eV per H{sub 2}. We also propose the use of two-dimensional Co{sub 2} and Zn{sub 2} paddle wheel frameworks that could have strongly adsorbed dihydrogen up to 1.35 wt % for noncryogenic hydrogen storage applications.

08 HYDROGEN↗

NASA NTRS1974

Magnetically suspended momentum wheels for spacecraft stabilization

Magnetic bearings for spacecraft momentum wheels offer the promise of low friction and unlimited life. This paper describes how magnetic bearings work and their advantages and disadvantages. The present status of magnetic bearings is described and examples are shown of the various and widely-different magnetically suspended momentum wheels that have been built to date. These include wheels whose bearings exhibit high stiffness and wheels with zero-power suspensions. The future of magnetically suspended momentum wheels is discussed including the possibility of wheels with neither spokes nor shaft.

Henrikson, C. H.↗

NASA NTRS1984

Reaction wheels for kinetic energy storage

In contrast to all existing reaction wheel implementations, an order of magnitude increase in speed can be obtained efficiently if power to the actuators can be recovered. This allows a combined attitude control-energy storage system to be developed with structure mounted reaction wheels. The feasibility of combining reaction wheels with energy storage wwheels is demonstrated. The power required for control torques is a function of wheel speed but this energy is not dissipated; it is stored in the wheel. The I(2)R loss resulting from a given torque is shown to be constant, independent of the design speed of the motor. What remains, in order to efficiently use high speed wheels (essential for energy storage) for control purposes, is to reduce rotational losses to acceptable levels. Progress was made in permanent magnet motor design for high speed operation. Variable field motors offer more control flexibility and efficiency over a broader speed range.

Studer, P. A.↗

NASA NTRS1990

Stabilizing Wheels For Rover Vehicle

Proposed articulated, normally-four-wheeled vehicle holds extra pair of wheels in reserve. Deployed to lengthen wheelbase on slopes, thereby making vehicle more stable, and to aid vehicle in negotiating ledge or to right vehicle if turned upside down. Extra wheels are drive wheels mounted on arms so they pivot on axis of forward drive wheels. Both extra wheels and arms driven by chains, hydraulic motors, or electric motors. Concept promises to make remotely controlled vehicles more stable and maneuverable in such applications as firefighting, handling hazardous materials, and carrying out operations in dangerous locations.

Collins, Earl R., Jr.↗

NASA NTRS1991

A simulation model for risk assessment of turbine wheels

A simulation model has been successfully developed to evaluate the risk of the Space Shuttle auxiliary power unit (APU) turbine wheels for a specific inspection policy. Besides being an effective tool for risk/reliability evaluation, the simulation model also allows the analyst to study the trade-offs between wheel reliability, wheel life, inspection interval, and rejection crack size. For example, in the APU application, sensitivity analysis results showed that the wheel life limit has the least effect on wheel reliability when compared to the effect of the inspection interval and the rejection crack size. In summary, the simulation model developed represents a flexible tool to predict turbine wheel reliability and study the risk under different inspection policies.

Safie, Fayssal M.↗

NASA NTRS1991

Design of a compliant wheel for a miniature rover to be used on Mars

The Jet Propulsion Laboratory has identified the need for a compliant wheel for a miniature martian rover vehicle. This wheel must meet requirements of minimum mass, linear radial deflection, and reliability in cryogenic conditions over a five year lifespan. Additionally, axial and tangential deflections must be no more than 10 percent of the radial value. The team designed a wheel by use of finite element and dimensionless parameter analysis. Due to the complex geometry of the wheel, a finite element model describing its behavior was constructed to investigate different wheel configurations. Axial and tangential deflections were greatly reduced but did not meet design criteria. A composite material was selected for its high strength, toughness, fatigue resistance, and damping characteristics. The team chose a Kevlar fiber filled thermoplastic composite. This report is divided into four primary sections. First, the introduction section gives background information, defines the task, and discusses the scope and limitations of the project. Second, the alternative designs section introduces alternative design solutions, addresses advantages and disadvantages of each, and identifies the parameters used to determine the best design. Third, the design solution section introduces the methods used to evaluate the alternates, and gives a description of the design process used. Finally, the conclusion and recommendations section evaluates the wheel design, and offers recommendations pertaining to improvement of the design solution.

Carroll, Mark↗

NASA NTRS1991

Wheel speed management control system for spacecraft

A spacecraft attitude control system uses at least four reaction wheels. In order to minimize reaction wheel speed and therefore power, a wheel speed management system is provided. The management system monitors the wheel speeds and generates a wheel speed error vector. The error vector is integrated, and the error vector and its integral are combined to form a correction vector. The correction vector is summed with the attitude control torque command signals for driving the reaction wheels.

Goodzeit, Neil E.↗

NASA NTRS2008

Optimization of Angular-Momentum Biases of Reaction Wheels

RBOT [RWA Bias Optimization Tool (wherein RWA signifies Reaction Wheel Assembly )] is a computer program designed for computing angular momentum biases for reaction wheels used for providing spacecraft pointing in various directions as required for scientific observations. RBOT is currently deployed to support the Cassini mission to prevent operation of reaction wheels at unsafely high speeds while minimizing time in undesirable low-speed range, where elasto-hydrodynamic lubrication films in bearings become ineffective, leading to premature bearing failure. The problem is formulated as a constrained optimization problem in which maximum wheel speed limit is a hard constraint and a cost functional that increases as speed decreases below a low-speed threshold. The optimization problem is solved using a parametric search routine known as the Nelder-Mead simplex algorithm. To increase computational efficiency for extended operation involving large quantity of data, the algorithm is designed to (1) use large time increments during intervals when spacecraft attitudes or rates of rotation are nearly stationary, (2) use sinusoidal-approximation sampling to model repeated long periods of Earth-point rolling maneuvers to reduce computational loads, and (3) utilize an efficient equation to obtain wheel-rate profiles as functions of initial wheel biases based on conservation of angular momentum (in an inertial frame) using pre-computed terms.

Lee, Clifford↗

NASA NTRS2016

The Matsu Wheel: A Cloud-Based Framework for Efficient Analysis and Reanalysis of Earth Satellite Imagery

Project Matsu is a collaboration between the Open Commons Consortium and NASA focused on developing open source technology for cloud-based processing of Earth satellite imagery with practical applications to aid in natural disaster detection and relief. Project Matsu has developed an open source cloud-based infrastructure to process, analyze, and reanalyze large collections of hyperspectral satellite image data using OpenStack, Hadoop, MapReduce and related technologies. We describe a framework for efficient analysis of large amounts of data called the Matsu "Wheel." The Matsu Wheel is currently used to process incoming hyperspectral satellite data produced daily by NASA's Earth Observing-1 (EO-1) satellite. The framework allows batches of analytics, scanning for new data, to be applied to data as it flows in. In the Matsu Wheel, the data only need to be accessed and preprocessed once, regardless of the number or types of analytics, which can easily be slotted into the existing framework. The Matsu Wheel system provides a significantly more efficient use of computational resources over alternative methods when the data are large, have high-volume throughput, may require heavy preprocessing, and are typically used for many types of analysis. We also describe our preliminary Wheel analytics, including an anomaly detector for rare spectral signatures or thermal anomalies in hyperspectral data and a land cover classifier that can be used for water and flood detection. Each of these analytics can generate visual reports accessible via the web for the public and interested decision makers. The result products of the analytics are also made accessible through an Open Geospatial Compliant (OGC)-compliant Web Map Service (WMS) for further distribution. The Matsu Wheel allows many shared data services to be performed together to efficiently use resources for processing hyperspectral satellite image data and other, e.g., large environmental datasets that may be analyzed for many purposes.

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