Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “Remote Equipment”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS2006

Organic and Isotope Measurement Protocols under Development for the 2009 Mars Science Laboratory

The Mars Science Laboratory (MSL) is under development by NASA with several international partners for launch in 2009. MSL is designed to quantitatively explore a local region on Mars as a potential habitat for present or past life (http://mars.jpl.nasa.gov/msl). The goals of MSL are to (1) assess the past or present biological potential of the target environment, (2) to characterize its geology and geochemistry, (3) to study planetary processes that influence habitability, and (4) to characterize the surface radiation. The last substantial search for organic molecules on the surface of Mars was with the Viking Landers in 1976 [Biemann, et al., 19771. In that mission, no organics were detected in near surface fines and presently a more comprehensive search is required to understand the potential of that planet to support life. While the Mars Exploration Rovers are able to identify mineralogical signatures of aqueous alteration, they are not equipped to search for organics. The planned capabilities of the MSL rover payload will enable a search for a wide range of organic molecules in both solid samples of rocks and fines and atmospheric samples. MSL will also provide a determination of definitive mineralogy of the solid samples and precision isotope measurements of several volatile elements. Contact and remote surface and subsurface survey tools will establish context for Analytical Laboratory measurements and will facilitate sample selection. The Sample Analysis at Mars (SAM) suite of MSL addresses several of the mission's core measurement goals. SAM includes a gas chromatograph, a mass spectrometer, and a tunable laser spectrometer. We will describe the range of measurement protocols under development and test for SAM and the relationship of our planned measurements to outstanding issues of martian habitability.

Mahaffy, Paul R.↗
NASA NTRS2019

Gravity Effects in Two-Phase Microgap Flow

The high power density of emerging electronic devices is driving the transition from remote cooling, which relies on conduction and spreading, to embedded cooling, which extracts dissipated heat on-site. Two-phase microgap coolers employ the forced flow of dielectric fluids undergoing phase change in a heated channel within or between devices. Such coolers must work reliably in all orientations for a variety of applications (e.g., vehicle-based equipment), as well as in microgravity and high-g for aerospace applications, but the lack of acceptable models and correlations for orientation- and gravity-independent operation has limited their use. Reliable criteria for achieving orientation- and gravity-independent flow boiling would enable emerging systems to exploit this thermal management technique and streamline the technology development process. As a first step toward understanding the effect of gravity in two-phase microgap flow and transport, in an earlier effort, the authors studied the effects of evaporator orientation, mass flux, and heat flux on flow boiling of HFE7100 in a 1.01 mm tall by 13.0 mm wide by 12.7 mm long microgap channel. Orientation-independence, defined as achieving similar critical heat fluxes, heat transfer coefficients, and flow regimes across orientations, was achieved for mass fluxes of 400 kg/sq.m-s and greater (corresponding to a Froude number of about 0.8). In the present effort, the authors have studied the effects of gravity, mass flux, and subcooling on flow boiling of HFE7100 in a 0.17 mm tall by 13.0 mm wide by 12.7 mm long microgap channel. The Flow Boiling in Microgap Coolers payload experienced about three minutes of weightlessness and shorter periods of high-g (up to about 5 g) during two recent flights aboard the Blue Origin New Shepard reusable launch vehicle. The results from the flight experiments will be presented and compared with published criteria for achieving gravity-independence.

Robinson, Franklin L.↗
NASA NTRS1990

The NASA Environment Remote Sensing Analysis Facility (ERSAF) support for Space Shuttle earth observations

It is shown that dedicated premission, real-time, and postmission support for planning, acquiring, and interpreting remotely sensed data of specific sites in terms of illumination geometry, atmospheric transmissivity, and preferred viewing is required in order to acquire the best possible earth-viewing photography for each Shuttle mission. Mission support has resulted in significant advances for the earth observation activities and other experiments carried out by astronauts. Scientific and mission support are described and equipment and capabilities are reviewed. Future advances listed include improvement of existing data bases, expanding access to climatological databases of atmospheric constituents and aerosols, and expanding access to image data such as the DMSP, while Space Station Freedom will require 24-hour operational support.

Helms, David R.↗
NASA NTRS2015

Cubesat Constellation Design for Air Traffic Monitoring

Suitably equipped global and local air traffic can be tracked. The tracking information may then be used for control from ground-based stations by receiving the Automatic Dependent Surveillance-Broadcast (ADS-B) signal. The ADS-B signal, emitted from the aircraft's Mode-S transponder, is currently tracked by terrestrial based receivers but not over remote oceans or sparsely populated regions such as Alaska or the Pacific Ocean. Lack of real-time aircraft time/location information in remote areas significantly hinders optimal planning and control because bigger "safety bubbles" (lateral and vertical separation) are required around the aircraft until they reach radar-controlled airspace. Moreover, it presents a search-and-rescue bottleneck. Aircraft in distress, e.g. Air France AF449 that crashed in 2009, take days to be located or cannot be located at all, e.g. Malaysia Airlines MH370 in 2014. In this paper, we describe a tool for designing a constellation of small satellites which demonstrates, through high-fidelity modeling based on simulated air traffic data, the value of space-based ADS-B monitoring and provides recommendations for cost-efficient deployment of a constellation of small satellites to increase safety and situational awareness in the currently poorly-served surveillance area of Alaska. Air traffic data has been obtained from the Future ATM Concepts Evaluation Tool (FACET), developed at NASA Ames Research Center, simulated over the Alaskan airspace over a period of one day. The simulation is driven by MATLAB with satellites propagated and coverage calculated using AGI's Satellite ToolKit(STK10).

cubesats↗
DOE OSTI2023

A critical review of cyber-physical security for building automation systems

Modern Building Automation Systems (BASs), as the brain that enable the smartness of a smart building, often require increased connectivity both among system components as well as with outside entities, such as the cloud, to enable low-cost remote management, optimized automation via outsourced cloud analytics, and increased building-grid integrations. As smart buildings move towards open communication technologies, providing access to BASs through the building's intranet, or even remotely through the Internet, has become a common practice. However, increased connectivity and accessibility come with increased cyber security threats. BASs were historically developed as closed environments with limited cyber-security considerations. As a result, BASs in many buildings are vulnerable to cyber-attacks that may cause adverse consequences, such as occupant discomfort, excessive energy usage, and unexpected equipment downtime. Therefore, there is a strong need to advance the state-of-the-art in cyber-physical security for BASs and provide practical solutions for attack mitigation in buildings. However, an inclusive and systematic review of BAS vulnerabilities, potential cyber-attacks with impact assessment, detection & defense approaches, and cyber resilient control strategies is currently lacking in the literature. This review paper fills the gap by providing a comprehensive up-to-date review of cyber-physical security for BASs at three levels in commercial buildings: management level, automation level, and field level. The general BASs vulnerabilities and protocol-specific vulnerabilities for the four dominant BAS protocols (i.e., BACnet, KNX, LonWorks, and Modbus) are reviewed, followed by a discussion on four attack targets and seven potential attack scenarios. Furthermore, the impact of cyber-attacks on BASs is summarized as signal corruption, signal delaying, and signal blocking. The typical cyber-attack detection and defense approaches are identified at the three levels. Cyber resilient control strategies for BASs under attack are categorized into passive and active resilient control schemes. Open challenges and future opportunities are finally discussed.

97 MATHEMATICS AND COMPUTING↗
NASA NTRS1979

Hydrazine monopropellant reciprocating engine development

A hydrazine fueled piston engine for providing 11.2 kW was developed to satisfy the need for an efficient power supply in the range from 3.7 to 74.6 kW where existing nonair-breathing power supplies such as fuel cells or turbines are inappropriate. The engine was developed for an aircraft to fly to 21.3 km and above and cruise for extended periods. A remotely piloted aircraft and the associated flight control techniques for this application were designed. The engine is geared down internally (2:1) to accommodate a 1.8 m diameter propeller. An alternator is included to provide electrical power. The pusher-type engine is mounted onto the aft closure of the fuel tank, which also provides mounting for all other propulsion equipment. About 20 hrs of run time demonstrated good efficiency and adequate life. One flight test to 6.1 km was made using the engine with a small fixed-pitch four-bladed propeller. The test was successful in demonstrating operational characteristics and future potential.

Akkerman, J. W.↗
NASA NTRS1985

Nimbus 7 Coastal Zone Color Scanner (CZCS). Level 2 data product users' guide

The coastal zone color scanner (CZCS) is a scanning multispectral radiometer designed for the remote sensing of ocean color parameters from an earth orbiting space platform. A Technical Manual was designed for users of NIMBUS 7 CZCS Level 2 data products. It contains information which describes how the Level 1 data was process to obtain the Level 2 (derived) product. It contains information needed to operate on the data using digital computers and related equipment.

Williams, S. P.↗
NASA NTRS2013

Develop a Model Component

During my internship at NASA, I was a model developer for Ground Support Equipment (GSE). The purpose of a model developer is to develop and unit test model component libraries (fluid, electrical, gas, etc.). The models are designed to simulate software for GSE (Ground Special Power, Crew Access Arm, Cryo, Fire and Leak Detection System, Environmental Control System (ECS), etc. ~.) before they are implemented into hardware. These models support verifying local control and remote software for End-Item Software Under Test (SUT). The model simulates the physical behavior (function, state, limits and 110) of each end-item and it's dependencies as defined in the Subsystem Interface Table, Software Requirements & Design Specification (SRDS), Ground Integrated Schematic (GIS), and System Mechanical Schematic.(SMS). The software of each specific model component is simulated through MATLAB's Simulink program. The intensiv~ model development life cycle is a.s follows: Identify source documents; identify model scope; update schedule; preliminary design review; develop model requirements; update model.. scope; update schedule; detailed design review; create/modify library component; implement library components reference; implement subsystem components; develop a test script; run the test script; develop users guide; send model out for peer review; the model is sent out for verific~tionlvalidation; if there is empirical data, a validation data package is generated; if there is not empirical data, a verification package is generated; the test results are then reviewed; and finally, the user. requests accreditation, and a statement of accreditation is prepared. Once each component model is reviewed and approved, they are intertwined together into one integrated model. This integrated model is then tested itself, through a test script and autotest, so that it can be concluded that all models work conjointly, for a single purpose. The component I was assigned, specifically, was a fluid component, a discrete pressure switch. The switch takes a fluid pressure input, and if the pressure is greater than a designated cutoff pressure, the switch would stop fluid flow.

Ensey, Tyler S.↗
NASA NTRS2018

Orientation Effects in Two-Phase Microgap Flow

The high power density of emerging electronic devices is driving the transition from remote cooling, which relies on con-duction and spreading, to embedded cooling, which extracts dissipated heat on-site. Two-phase microgap coolers employ the forced flow of dielectric fluids undergoing phase change in a heated channel within or between devices. Such coolers must work reliably in all orientations for a variety of applications (e.g., vehicle-based equipment), as well as in microgravity and high-g for other applications (e.g., spacecraft and aircraft). The lack of acceptable models and correlations for orientation- and gravity-independent operation has limited the use of two-phase coolers in such applications. Previous research has revealed that gravita-tional acceleration plays a diminishing role in establishing flow regimes and transport rates as the channel size shrinks, but there is considerable variation among the proposed microscale criteria and limited research on two-phase flows in low aspect ratio mi-crogap channels. Reliable criteria for achieving orientation- and gravity-independent flow boiling would enable emerging sys-tems to exploit this thermal management technique and streamline the technology development process. As a first step toward understanding the effect of gravity on two-phase microgap flow and transport, in the present effort the authors have studied the effect of evaporator orientation and mass flux on near-saturated flow boiling of HFE7100 in a 1.01 mm tall by 13.0 mm wide by 12.7 mm long microgap channel. Orientation-independence, defined as achieving similar critical heat fluxes, heat transfer coefficients, and flow regimes across evaporator orientations, was achieved for mass fluxes of 400 kg/m2-s and greater. The present results are compared to pub-lished criteria for achieving gravity-independence.

orientation↗
NASA NTRSDate not supplied

Surviving and Thriving in Space and on Earth's Oceans - Human Logistics and Sustainability Comparisons and Considerations

The human species has a yearning for exploration as evidenced by the extensive historical ocean voyages and expeditions which have led to a massive advancement in the scientific and geodetic knowledge about planet Earth. These global explorations via the oceans have also had strategic, economic, cultural and religious implications and impacts, which have drastically changed the state of humanity and its condition. The transportation network created by ships traveling across the oceans has been supplemented by other transportation networks on land and in the air, creating a global economy that, in general, has improved the human condition leading to better health, longer lives, lower child mortality, better education, political freedom, higher gross national product (GNP) and improved hygiene. The logical extension of this societal trend is to extend the transportation network and human civilization into outer space, beyond the cradle of planet Earth. Our solar system contains vast amounts of natural resources which can be harnessed and used to bootstrap a space economy and related infrastructure by using advanced technologies. Sailing journeys from hundreds of years ago required large vessels and large crews, (in comparison with today’s space capsules). Modern sailors of today are able to complete large voyages, in small vessels, with a minimal crew, comparable in magnitude to modern space travel. This paper will use a systems engineering approach (e.g. using the NASA Human Integration Design Handbook (HIDH), NASA-SP-2010-3407, 2010 and the “Advanced Life Support Baseline Values and Assumptions Document, (BVAD)” NASA-CR-2004-208941, 2004.), to examine and compare the logistics and sustainability aspects of a small crew traveling on Earth's oceans in sailing vessels versus humans traveling in space. The “Mālama Honua Worldwide Voyage” of the Hokule’a, a replica of an ancient Hawaiian double hulled sailing canoe, will be used as a case study. This is the best comparison case since the Polynesian exploration of the vast (and virtually empty) Pacific Ocean is the closest analogue to modern space travel. “"Both are voyages of exploration.” –Shuttle astronaut Lacy Veach. Minimizing waste and maximizing re-use and re-cycling will lead to more efficient logistics and sustainability. In addition, In-Situ Resource Utilization (ISRU) strategies, based on successful Earth based strategies used for many years by sailors will be considered and evaluated for their usefulness. For example, human logistics for a typical space mission are shown in Table 1 and Table 2 (Lopez et al, 2015). Studies show that typical human water consumption in space is projected to be 3.2 kg/day per crew member as shown in Table 2. Data from human sailing voyages around the globe will be examined. Anecdotal evidence indicates that knowledgeable and well-equipped modern sailors, who conserve water, can comfortably live using 1.5 to 5 kg/day per person. This paper will investigate key logistics and sustainability aspects of living in space and compare them quantitatively to similar aspects of living on ocean faring sailing vessels on Earth. Mutually beneficial observations, advanced technologies and modern considerations will be applied within confines of a remote sailing environment, which could be of immense value to both the space faring community and the ocean sailing community.

Space↗
NASA NTRS1990

Monitoring Both Sides Of A Weld In Progress

Proposed remote vision system provides simultaneous viewing of front and back of workpiece while being welded. Enables human or automatic controller to monitor both weld pool on front and weld penetration on back. Nitrogen laser generates ultraviolet light, distributed to both sides of workpiece through two optical fiber cables. Image-intensifier tubes convert reflected ultraviolet light to visible light. Video cameras equipped with high-resolution charge-coupled devices convert visible outputs of image intensifiers into images for viewing on video monitors.

Dickinson, C. B.↗
NASA NTRS2009

Monitoring Disasters by Use of Instrumented Robotic Aircraft

Efforts are under way to develop data-acquisition, data-processing, and data-communication systems for monitoring disasters over large geographic areas by use of uninhabited aerial systems (UAS) robotic aircraft that are typically piloted by remote control. As integral parts of advanced, comprehensive disaster- management programs, these systems would provide (1) real-time data that would be used to coordinate responses to current disasters and (2) recorded data that would be used to model disasters for the purpose of mitigating the effects of future disasters and planning responses to them. The basic idea is to equip UAS with sensors (e.g., conventional video cameras and/or multispectral imaging instruments) and to fly them over disaster areas, where they could transmit data by radio to command centers. Transmission could occur along direct line-of-sight paths and/or along over-the-horizon paths by relay via spacecraft in orbit around the Earth. The initial focus is on demonstrating systems for monitoring wildfires; other disasters to which these developments are expected to be applicable include floods, hurricanes, tornadoes, earthquakes, volcanic eruptions, leaks of toxic chemicals, and military attacks. The figure depicts a typical system for monitoring a wildfire. In this case, instruments aboard a UAS would generate calibrated thermal-infrared digital image data of terrain affected by a wildfire. The data would be sent by radio via satellite to a data-archive server and image-processing computers. In the image-processing computers, the data would be rapidly geo-rectified for processing by one or more of a large variety of geographic-information- system (GIS) and/or image-analysis software packages. After processing by this software, the data would be both stored in the archive and distributed through standard Internet connections to a disaster-mitigation center, an investigator, and/or command center at the scene of the fire. Ground assets (in this case, firefighters and/or firefighting equipment) would also be monitored in real time by use of Global Positioning System (GPS) units and radio communication links between the assets and the UAS. In this scenario, the UAS would serve as a data-relay station in the sky, sending packets of information concerning the locations of assets to the image-processing computer, wherein this information would be incorporated into the geo-rectified images and maps. Hence, the images and maps would enable command-center personnel to monitor locations of assets in real time and in relation to locations affected by the disaster. Optionally, in case of a disaster that disrupted communications, the UAS could be used as an airborne communication relay station to partly restore communications to the affected area. A prototype of a system of this type was demonstrated in a project denoted the First Response Experiment (Project FiRE). In this project, a controlled outdoor fire was observed by use of a thermal multispectral scanning imager on a UAS that delivered image data to a ground station via a satellite uplink/ downlink telemetry system. At the ground station, the image data were geo-rectified in nearly real time for distribution via the Internet to firefighting managers. Project FiRE was deemed a success in demonstrating several advances essential to the eventual success of the continuing development effort.

Wegener, Steven S.↗
NASA NTRS1974

STARPAHC. Part 1: Final summary report

A ground-based demonstration of IMBLMS Space Technology was conducted in a remote geographical area of the U.S. The STARPAHC program, designed to improve the capability for delivering health care to the Papago Indians, is divided into three areas: (1) design and definition; (2) system assembly, test, installation, checkout, and training; and (3) operations and evaluation. The accomplishments achieved in the program are summarized emphasizing system requirements in the areas of communication, specialized medical equipment, display, and computer software. Budgetary history and future cost plans are presented and planned activities are summarized.

Riley, F. E.↗
NASA NTRS1984

Firefighting Module

Firefly II pump module is NASA's Marshall Space Flight Center's commercial offshoot of a NASA/US Coast Guard program involving development of a lightweight, helicopter-transportable firefighting module for a quick response in combating shipboard or harbor fires. Operable on land or water, the Amphib One is equipped with 3 water cannons. When all 3 are operating, unit pumps more than 3,000 gallons a minute. Newly developed model used by U.S. Coast Guard can pump 5,000 gallons per minute. It was designed for applications such as firefighting onboard ship fires, emergency dockside water pumping, dewatering ships in danger of sinking, flood control, and emergency water supply at remote locations.

Source record↗
NASA NTRS2012

Crew Earth Observations: Twelve Years of Documenting Earth from the International Space Station

The Crew Earth Observations (CEO) payload was one of the initial experiments aboard the International Space Station, and has been continuously collecting data about the Earth since Expedition 1. The design of the experiment is simple: using state-of-the-art camera equipment, astronauts collect imagery of the Earth's surface over defined regions of scientific interest and also document dynamic events such as storms systems, floods, wild fires and volcanic eruptions. To date, CEO has provided roughly 600,000 images of Earth, capturing views of features and processes on land, the oceans, and the atmosphere. CEO data are less rigorously constrained than other remote sensing data, but the volume of data, and the unique attributes of the imagery provide a rich and understandable view of the Earth that is difficult to achieve from the classic remote sensing platforms. In addition, the length-of-record of the imagery dataset, especially when combined with astronaut photography from other NASA and Russian missions starting in the early 1960s, provides a valuable record of changes on the surface of the Earth over 50 years. This time period coincides with the rapid growth of human settlements and human infrastructure.

Evans, Cynthia A.↗
NASA NTRS2012

A Field Portable Hyperspectral Goniometer for Coastal Characterization

During an airborne multi-sensor remote sensing experiment at the Virginia Coast Reserve (VCR) Long Term Ecological Research (LTER) site in June 2011 (VCR '11), first measurements were taken with the new NRL Goniometer for Outdoor Portable Hyperspectral Earth Reflectance (GOPHER). GOPHER measures the angular distribution of hyperspectral reflectance. GOPHER was constructed for NRL by Spectra Vista Corporation (SVC) and the University of Lethbridge through a capital equipment purchase in 2010. The GOPHER spectrometer is an SVC HR -1024, which measures hyperspectral reflectance over the range from 350 -2500 nm, the visible, near infrared, and short-wave infrared. During measurements, the spectrometer travels along a zenith quarter -arc track that can rotate in azimuth, allowing for measurement of the bi-directional reflectance distribution function (BRDF) over the whole hemisphere. The zenith arc has a radius of approximately 2m, and the spectrometer scan pattern can be programmed on the fly during calibration and validation efforts. The spectrometer and zenith arc assembly can be raised and lowered along a mast to allow for measurement of uneven terrain or vegetation canopies of moderate height. Hydraulics on the chassis allow for leveling of the instrument in the field. At just over 400 lbs, GOPHER is a field portable instrument and can be transformed into a compact trailer assembly for movement over long distances in the field.

Bachmann, Charles M.↗
NASA NTRS2017

Atmospheric Instrument Systems and Technology in the Goddard Earth Sciences Division

Studies of the Earth’s atmosphere require a comprehensive set of observations that rely on instruments flown on spacecraft, aircraft, and balloons as well as those deployed on the surface. Within NASA’s Goddard Space Flight Center (GSFC) Earth Sciences Division-Atmospheres, laboratories and offices maintain an active program of instrument system development and observational studies that provide: 1) information leading to a basic understanding of atmospheric processes and their relationships with the Earth’s climate system, 2) prototypes for future flight instruments, 3) instruments to serve as calibration references for satellite missions, and 4) instruments for future field validation campaigns that support ongoing space missions. Our scientists participate in all aspects of instrument activity, including component and system design, calibration techniques, retrieval algorithm development, and data processing systems. The Atmospheres Program has well-equipped labs and test equipment to support the development and testing of instrument systems, such as a radiometric calibration and development facility to support the calibration of ultraviolet and visible (UV/VIS), space-borne solar backscatter instruments. This document summarizes the features and characteristics of 46 instrument systems that currently exist or are under development. The report is organized according to active, passive, or in situ remote sensing across the electromagnetic spectrum. Most of the systems are considered operational in that they have demonstrated performance in the field and are capable of being deployed on relatively short notice. Other systems are under study or of low technical readiness level (TRL). The systems described herein are designed mainly for surface or airborne platforms. However, two Cubesat systems also have been developed through collaborative efforts. The Solar Disk Sextant (SDS) is the single balloon-borne instrument. The lidar systems described herein are designed to retrieve clouds, aerosols, methane, water vapor pressure, temperature, and winds. Most of the lasers operate at some wavelength combination of 355, 532, and 1064 nm. The various systems provide high sensitivity measurements based on returns from backscatter or Raman scattering including intensity and polarization. Measurements of the frequency (Doppler) shift of light scattered from various atmospheric constitutes can also be made. Microwave sensors consist of both active (radar) and passive (radiometer) systems. These systems are important for studying processes involving water in various forms. The dielectric properties of water affect microwave brightness temperatures, which are used to retrieve atmospheric parameters such as rainfall rate and other key elements of the hydrological cycle. Atmosphere radar systems operate in the range from 9.6 GHz to 94 GHz and have measurement accuracies from -5 to 1 dBZ; radiometers operate in the 50 GHz to 874 GHz range with accuracies from 0.5 to 1 degree K; conical and cross-track scan modes are used. Our passive optical sensors, consisting of radiometers and spectrometers, collectively operate from the UV into the infrared. These systems measure energy fluxes and atmospheric parameters such as trace gases, aerosols, cloud properties, or altitude profiles of various species. Imager spatial resolution varies from 37 m to 400 m depending on altitude; spectral resolution is as small as 0.5 nm. Many of the airborne systems have been developed to fly on multiple aircraft.

Platnick, Steven E.↗
NASA NTRS2007

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗