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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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At least 721 records · Page 40
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Safe Operational Envelope for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of long-reach cable-actuated robotic cranes. They are designed for planetary surface operations on the Moon and Mars. Their low structural weight and compact packaging reduces the fuel costs associated with space travel. The LSMS can be operated by humans, who can be on site or remotely, or autonomously. The goal of this research is to help human operators and path planning algorithms avoid unsafe states during operation. To this end, this work leverages a geometrical model of the LSMS and formulates a new dynamic model. These are later used to define the safe operational envelope for the LSMS family. The paper classifies the constraints that define the safe operational envelope in three groups: motor constraints, geometric constraints, and cable tension constraints. Keeping the cables under tension is necessary to maintain controllability over the joint angles. Two types of loss of tension events are identified for each of the cables. First, an excessive reel out of the cables can lead to a loss of tension, where the LSMS links behave like a pendulum. Second, an excessive reel in of the cables can lead to a link tip-over. This can cause a violent clash between the links on the LSMS. The paper visualizes these constraints for the LSMS-L35, the smallest robot within the family.

LSMS↗
DOE OSTI2023

Robotic pendant drop: containerless liquid for μs-resolved, AI-executable XPCS

Abstract The dynamics and structure of mixed phases in a complex fluid can significantly impact its material properties, such as viscoelasticity. Small-angle X-ray Photon Correlation Spectroscopy (SA-XPCS) can probe the spontaneous spatial fluctuations of the mixed phases under various in situ environments over wide spatiotemporal ranges (10 −6 –10 3 s /10 −10 –10 −6 m). Tailored material design, however, requires searching through a massive number of sample compositions and experimental parameters, which is beyond the bandwidth of the current coherent X-ray beamline. Using 3.7-μs-resolved XPCS synchronized with the clock frequency at the Advanced Photon Source, we demonstrated the consistency between the Brownian dynamics of ~100 nm diameter colloidal silica nanoparticles measured from an enclosed pendant drop and a sealed capillary. The electronic pipette can also be mounted on a robotic arm to access different stock solutions and create complex fluids with highly-repeatable and precisely controlled composition profiles. This closed-loop, AI-executable protocol is applicable to light scattering techniques regardless of the light wavelength and optical coherence, and is a first step towards high-throughput, autonomous material discovery.

36 MATERIALS SCIENCE↗
DOE OSTI2012

Advanced Epi Tools for Gallium Nitride Light Emitting Diode Devices

Over the course of this program, Applied Materials, Inc., with generous support from the United States Department of Energy, developed a world-class three chamber III-Nitride epi cluster tool for low-cost, high volume GaN growth for the solid state lighting industry. One of the major achievements of the program was to design, build, and demonstrate the world’s largest wafer capacity HVPE chamber suitable for repeatable high volume III-Nitride template and device manufacturing. Applied Materials’ experience in developing deposition chambers for the silicon chip industry over many decades resulted in many orders of magnitude reductions in the price of transistors. That experience and understanding was used in developing this GaN epi deposition tool. The multi-chamber approach, which continues to be unique in the ability of the each chamber to deposit a section of the full device structure, unlike other cluster tools, allows for extreme flexibility in the manufacturing process. This robust architecture is suitable for not just the LED industry, but GaN power devices as well, both horizontal and vertical designs. The new HVPE technology developed allows GaN to be grown at a rate unheard of with MOCVD, up to 20x the typical MOCVD rates of 3{micro}m per hour, with bulk crystal quality better than the highest-quality commercial GaN films grown by MOCVD at a much cheaper overall cost. This is a unique development as the HVPE process has been known for decades, but never successfully commercially developed for high volume manufacturing. This research shows the potential of the first commercial-grade HVPE chamber, an elusive goal for III-V researchers and those wanting to capitalize on the promise of HVPE. Additionally, in the course of this program, Applied Materials built two MOCVD chambers, in addition to the HVPE chamber, and a robot that moves wafers between them. The MOCVD chambers demonstrated industry-leading wavelength yield for GaN based LED wafers and industry-leading uptime enabled in part by a novel in-situ cleaning process developed in this program.

36 MATERIALS SCIENCE↗
NASA NTRS1981

Process development for automated solar cell and module production. Task 4: Automated array assembly

The Unimate robot was programmed for the final 35 cell pattern to be used in the fabrication of the deliverable modules. Mechanical construction of the Automated Lamination Station and Final Assembly Station were completed on schedule. All final wiring and interconnect cables were also completed and the first operational testing began. The final controlling program was written. A local fabricator was contracted to produce the glass reinforced concrete panels to be used for testing and deliverables. A video tape showing all three stations in operation was produced.

Hagerty, J. J.↗
NASA NTRS2010

Human Exploration of Mars Design Reference Architecture 5.0

This paper provides a summary of the 2007 Mars Design Reference Architecture 5.0 (DRA 5.0), which is the latest in a series of NASA Mars reference missions. It provides a vision of one potential approach to human Mars exploration including how Constellation systems can be used. The reference architecture provides a common framework for future planning of systems concepts, technology development, and operational testing as well as Mars robotic missions, research that is conducted on the International Space Station, and future lunar exploration missions. This summary the Mars DRA 5.0 provides an overview of the overall mission approach, surface strategy and exploration goals, as well as the key systems and challenges for the first three human missions to Mars.

Bret G Drake↗
NASA NTRS2010

Human Exploration of Mars Design Reference Architecture 5.0

This paper provides a summary of the Mars Design Reference Architecture 5.0 (DRA 5.0), which is the latest in a series of NASA Mars reference missions. It provides a vision of one potential approach to human Mars exploration. The reference architecture provides a common framework for future planning of systems concepts, technology development, and operational testing as well as Mars robotic missions, research that is conducted on the International Space Station, and future lunar exploration missions. This summary the Mars DRA 5.0 provides an overview of the overall mission approach, surface strategy and exploration goals, as well as the key systems and challenges for the first three human missions to Mars.

Mars exploration↗
DOE OSTI2024

An Operations and Maintenance Roadmap for U.S. Offshore Wind: Enabling a Cost-Effective and Sustainable U.S. Offshore Wind Energy Industry Through Innovative Operations and Maintenance

The United States is currently targeting 30GW of offshore wind to be installed by 2030, and 150GW by 2050. Even considering future turbine sizes, this represents thousands of new turbines installed in a diverse set of environments, each with their unique design, installation, and maintenance challenges. While much can be learned from European and Asian experience with offshore wind over the past two decades, it is important to understand the unique circumstances of the U.S. This document explores operations and maintenance of offshore wind energy, specific to the U.S. and attempts to lay out a roadmap for needed activities to ensure reliability of future installations. The roadmap was informed through dozens of interviews with a wide cross-section of the industry, including representatives from OEMs, owner/operators, service companies, certification agencies, service providers, and researchers. The roadmap first describes the problem by component - blades, drivetrain and nacelle, structures and foundations, and electrical systems - through a look at current practices and opportunities for improvement in the areas of Failure Mode Analysis and Mitigation; Monitoring, Sensing, and Inspection; and Maintenance Execution. Crosscutting areas of Digitalization, Robotics and Automation, Prognostics and Health Management and O&M Optimization, Experimentation and Demonstration, Standardization, and Design Optimization Considering Reliability and O&M are then discussed. Finally, the roadmap summarizes all of these topics with recommendations for short (1-3 years), medium (4-7 years), and long term (8-12 years) activities, with a description of needed public and private sector contributions.

17 WIND ENERGY↗
DOE OSTI2024

Assembly of CMS Endcap MIP Timing Detector Module at FNAL

The High-Luminosity LHC (HL-LHC) will enable a more detailed exploration of new phenomena thanks to an anticipated increase in collisions where pileup is expected to reach approximately 200 simultaneous interactions. Many CMS systems will be significantly upgraded to prepare for this new era, including the MIP Timing Detector (MTD) project. The MTD is designed to mitigate the effect of pileup and is set to provide a timestamp accurate to 30 ~ 40 picoseconds for every event, ensuring sustained detector performance at HL-LHC. The MTD is divided into two sections, Barrel Timing Layer (BTL) and Endcap Timing Layer (ETL) which utilize different sensor and ASIC technologies due to the difference in active surfaces, irradiation conditions, and installation schedules. The ETL, composed of two double-sided disks, employs the Low Gain Avalanche Detector (LGAD) sensor and the Endcap Timing Readout Chip (ETROC). More than 8,000 modules, each consisting of four LGAD sensors and ETROCs are required for the ETL detector. These modules will be assembled using an automated robotic gantry that guarantees precise placement at a level of 10 micrometers. In addition, the full assembly of ETL modules includes film application with the jig, wire-bonding, encapsulation with the automated dispensing robot for protecting the wire-bonding, and film curing with a vacuum oven. This talk reports on the successfully completed throughput test with mockup components using the gantry and the successful assembly of real functional modules for beam tests at CERN and FNAL, including the first official ETL module.

Apresyan, Artur↗
NASA NTRS1991

On computing the global time-optimal motions of robotic manipulators in the presence of obstacles

A method for computing the time-optimal motions of robotic manipulators is presented that considers the nonlinear manipulator dynamics, actuator constraints, joint limits, and obstacles. The optimization problem is reduced to a search for the time-optimal path in the n-dimensional position space. A small set of near-optimal paths is first efficiently selected from a grid, using a branch and bound search and a series of lower bound estimates on the traveling time along a given path. These paths are further optimized with a local path optimization to yield the global optimal solution. Obstacles are considered by eliminating the collision points from the tessellated space and by adding a penalty function to the motion time in the local optimization. The computational efficiency of the method stems from the reduced dimensionality of the searched spaced and from combining the grid search with a local optimization. The method is demonstrated in several examples for two- and six-degree-of-freedom manipulators with obstacles.

Shiller, Zvi↗
NASA NTRS1993

Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Ballhaus, W. L.↗
NASA NTRS1997

STS-80 Mission Highlights Resource Tape

The flight crew of STS-80, Cmdr. Kenneth D. Cockrell, Pilot Kent V. Rominger, Mission Specialists, Tamara E. Jernigan, Thomas D. Jones, and F. Story Musgrave are seen performing pre-launch activities such as eating the traditional breakfast, being suited-up, and riding out to the launch pad. Also, included are various panoramic views of the shuttle on the pad. The crew is readied in the 'white room' for their mission. After the closing of the hatch and arm retraction, launch activities are shown including the countdown, engine ignition, launch, and the separation of the Solid Rocket Boosters (SRB) from the shuttle. The crew completes the first major objective of the mission with the deployment of the Orbiting Retrievable Far and Extreme Ultraviolet Spectrometer (ORFEUS) on the reusable Shuttle Pallet Satellite. The crew than begins final preparations for the release of Wake Shield. Jones powers up the shuttle's Canadian-built robot arm and grapples the satellite, while Jernigan powers up the Orbiter Space Vision System, which will be used to track precisely the Wake Shield's location. Cockrell places Columbia in a gravity gradient attitude to minimize disturbances during the release. Jones uses the robot arm to hold Wake Shield in position for a two-and-a-half hour cleansing by atomic oxygen molecules before moving the arm to the deploy position. The failure of the hatch to properly open causes the cancellation of all EVA's planned for this mission by Jernigan and Jones. The mission ends with the shuttle landing at the Kennedy Space Center.

Source record↗
NASA NTRS2011

Liquid Methane Conditioning Capabilities Developed at the NASA Glenn Research Center's Small Multi- Purpose Research Facility (SMiRF) for Accelerated Lunar Surface Storage Thermal Testing

Glenn Research Center s Creek Road Cryogenic Complex, Small Multi-Purpose Research Facility (SMiRF) recently completed validation / checkout testing of a new liquid methane delivery system and liquid methane (LCH4) conditioning system. Facility checkout validation was conducted in preparation for a series of passive thermal control technology tests planned at SMiRF in FY10 using a flight-like propellant tank at simulated thermal environments from 140 to 350K. These tests will validate models and provide high quality data to support consideration of LCH4/LO2 propellant combination option for a lunar or planetary ascent stage.An infrastructure has been put in place which will support testing of large amounts of liquid methane at SMiRF. Extensive modifications were made to the test facility s existing liquid hydrogen system for compatibility with liquid methane. Also, a new liquid methane fluid conditioning system will enable liquid methane to be quickly densified (sub-cooled below normal boiling point) and to be quickly reheated to saturation conditions between 92 and 140 K. Fluid temperatures can be quickly adjusted to compress the overall test duration. A detailed trade study was conducted to determine an appropriate technique to liquid conditioning with regard to the SMiRF facility s existing infrastructure. In addition, a completely new roadable dewar has been procured for transportation and temporary storage of liquid methane. A new spherical, flight-representative tank has also been fabricated for integration into the vacuum chamber at SMiRF. The addition of this system to SMiRF marks the first time a large-scale liquid methane propellant test capability has been realized at Glenn.This work supports the Cryogenic Fluid Management Project being conducted under the auspices of the Exploration Technology Development Program, providing focused cryogenic fluid management technology efforts to support NASA s future robotic or human exploration missions.

Bamberger, Helmut H.↗
NASA NTRS2014

Affordable Exploration of Mars: Recommendations from a Community Workshop

There is a growing opinion that within two decades initial human missions to Mars are affordable under plausible budget scenarios, with sustained international participation, and --- especially --- without requiring those first missions to achieve a burdensome number of goals. In response to this view, a group of experts from the Mars exploration stakeholder communities attended the "Affording Mars" workshop at George Washington University in December 2013. Participants reviewed scenarios for proposed affordable and sustainable human and robotic exploration of Mars, the role of the International Space Station as the essential early step toward humans to Mars, possible "bridge" or "transition" missions in the 2020s, key capabilities required for affordable initial missions, international partnerships, and usable definitions of affordability and sustainability. We report here the findings, observations, and recommendations that were agreed to at that workshop. In the context of affordable early missions to Mars, we also discuss the recent report of the National Research Council on human space flight and a pair of recent scenarios that appear to promise reduced costs.

Perform an analysis elaborating↗
NASA NTRS2014

Assessment of OMI Near-UV Aerosol Optical Depth over Land

This is the first comprehensive assessment of the aerosol optical depth (AOD) product retrieved from the near-UV observations by the Ozone Monitoring Instrument (OMI) onboard the Aura satellite. The OMI-retrieved AOD by the ultraviolet (UV) aerosol algorithm (OMAERUV version 1.4.2) was evaluated using collocated Aerosol Robotic Network (AERONET) level 2.0 direct Sun AOD measurements over 8 years (2005-2012). A time series analysis of collocated satellite and ground-based AOD observations over 8 years shows no discernible drift in OMI's calibration. A rigorous validation analysis over 4 years (2005-2008) was carried out at 44 globally distributed AERONET land sites. The chosen locations are representative of major aerosol types such as smoke from biomass burning or wildfires, desert mineral dust, and urban/industrial pollutants. Correlation coefficient (p) values of 0.75 or better were obtained at 50 percent of the sites with about 33 percent of the sites in the analysis reporting regression line slope values larger than 0.70 but always less than unity. The combined AERONET-OMAERUV analysis of the 44 sites yielded a p of 0.81, slope of 0.79, Y intercept of 0.10, and 65 percent OMAERUV AOD falling within the expected uncertainty range (largest of 30 percent or 0.1) at 440 nanometers. The most accurate OMAERUV retrievals are reported over northern Africa locations where the predominant aerosol type is desert dust and cloud presence is less frequent. Reliable retrievals were documented at many sites characterized by urban-type aerosols with low to moderate AOD values, concentrated in the boundary layer. These results confirm that the near-ultraviolet observations are sensitive to the entire aerosol column. A simultaneous comparison of OMAERUV, Moderate Resolution Imaging Spectroradiometer (MODIS) Deep Blue, and Multiangle Imaging Spectroradiometer (MISR) AOD retrievals to AERONET measurements was also carried out to evaluate the OMAERUV accuracy in relation to those of the standard aerosol satellite products. The outcome of the comparison indicates that OMAERUV, MODIS Deep Blue, and MISR retrieval accuracies in arid and semiarid environments are statistically comparable.

aerosol optical depth↗
NASA NTRS1992

Thermal and range fusion for a planetary rover

This paper describes how fusion between thermal and range imaging allows us to discriminate different types of materials in outdoor scenes. First, we analyze how pure vision segmentation algorithms applied to thermal images allow discriminating materials such as rock and sand. Second, we show how combining thermal and range information allows us to better discriminate rocks from sand. Third, as an application, we examine how an autonomous legged robot can use these techniques to explore other planets.

Caillas, Claude↗
NASA NTRS2013

NASA's Space Launch System: One Vehicle, Many Destinations

The National Aeronautics and Space Administration's (NASA's) Space Launch System (SLS) Program, managed at the Marshall Space Flight Center, is making progress toward delivering a new capability for exploration beyond Earth orbit. Developed with the goals of safety, affordability, and sustainability in mind, the SLS rocket will start its missions in 2017 with 10 percent more thrust than the Saturn V rocket that launched astronauts to the Moon 40 years ago. From there it will evolve into the most powerful launch vehicle ever flown, via an upgrade approach that will provide building blocks for future space exploration and development. The International Space Exploration Coordination Group, representing 12 of the world's space agencies, has created the Global Exploration Roadmap, which outlines paths toward a human landing on Mars, beginning with capability-demonstrating missions to the Moon or an asteroid. The Roadmap and corresponding NASA research outline the requirements for reference missions for all three destinations. This paper will explore the capability of SLS to meet those requirements and enable those missions. It will explain how the SLS Program is executing this development within flat budgetary guidelines by using existing engines assets and developing advanced technology based on heritage systems, from the initial 70 metric ton (t) lift capability through a block upgrade approach to an evolved 130-t capability. It will also detail the significant progress that has already been made toward its first launch in 2017. The SLS will offer a robust way to transport international crews and the air, water, food, and equipment they will need for extended trips to explore new frontiers. In addition, this paper will summarize the SLS rocket's capability to support science and robotic precursor missions to other worlds, or uniquely high-mass space facilities in Earth orbit. As this paper will explain, the SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by providing the robust launch capability to deliver sustainable solutions for space exploration.

May, Todd A.↗
NASA NTRS2015

NASA's Space Launch System: An Evolving Capability for Exploration

Designed to enable human space exploration missions, including eventually landings on Mars, NASA's Space Launch System (SLS) represents a unique launch capability with a wide range of utilization opportunities, from delivering habitation systems into the "proving ground" of lunar-vicinity space to enabling high-energy transits through the outer solar system. Substantial progress has been made toward the first launch of the initial configuration of SLS, which will be able to deliver more than 70 metric tons of payload into low Earth orbit (LEO). Preparations are also underway to evolve the vehicle into more powerful configurations, culminating with the capability to deliver more than 130 metric tons to LEO. Even the initial configuration of SLS will be able to deliver greater mass to orbit than any contemporary launch vehicle, and the evolved configuration will have greater performance than the Saturn V rocket that enabled human landings on the moon. SLS will also be able to carry larger payload fairings than any contemporary launch vehicle, and will offer opportunities for co-manifested and secondary payloads. Because of its substantial mass-lift capability, SLS will also offer unrivaled departure energy, enabling mission profiles currently not possible. The basic capabilities of SLS have been driven by studies on the requirements of human deep-space exploration missions, and continue to be validated by maturing analysis of Mars mission options, including the Global Exploration Roadmap. Early collaboration with science teams planning future decadal-class missions have contributed to a greater understanding of the vehicle's potential range of utilization. As SLS draws closer to its first launch, the Program is maturing concepts for future capability upgrades, which could begin being available within a decade. These upgrades, from multiple unique payload accommodations to an upper stage providing more power for inspace propulsion, have ramifications for a variety of missions, from human exploration to robotic science.

Robinson, Kimberly F.↗
DOE OSTI2019

The MoSeS dynamic omnigami paradigm for smart shape and composition programmable 2D materials

The properties of 2D materials can be broadly tuned through alloying and phase and strain engineering. Shape programmable materials offer tremendous functionality, but sub-micron objects are typically unachievable with conventional thin films. Here we propose a new approach, combining phase/strain engineering with shape programming, to form 3D objects by patterned alloying of 2D transition metal dichalcogenide (TMD) monolayers. Conjugately, monolayers can be compositionally patterned using non-flat substrates. For concreteness, we focus on the TMD alloy MoSe 2c S 2 (1–c) ; i.e., MoSeS. These 2D materials down-scale shape/composition programming to nanoscale objects/patterns, provide control of both bending and stretching deformations, are reversibly actuatable with electric fields, and possess the extraordinary and diverse properties of TMDs. Utilizing a first principles-informed continuum model, we demonstrate how a variety of shapes/composition patterns can be programmed and reversibly modulated across length scales. Furthermore, the vast space of possible designs and scales enables novel material properties and thus new applications spanning flexible electronics/optics, catalysis, responsive coatings, and soft robotics.

36 MATERIALS SCIENCE↗