Importance of Intellectual Curiosity as a Research Engineer
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In-space assembly↗
SEARCH · Engineering Papers
Results for “In Space Assembly”
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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Trajectory Generation with Load Constraints for Robotic Manipulators
Future large spacecraft will utilize robotic manipulators for in-space servicing, assembly, and manufacturing. Due to launch mass constraints, such manipulators will be designed to be as lightweight as possible. Trajectory generation algorithms will need to factor in load constraints to avoid overexerting and damaging manipulators. This paper investigates an approach that combines optimal Rapidly-exploring Random Trees, spline interpolation, and Model Predictive Control to generate a manipulator trajectory which respects load constraints.
Manipulators↗
Technology Roadmap for the Development of an Orbital Smallsat Factory
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small sat↗
Continuation of Solar Absorptivity Degradation of Spacecraft Materials Due to UV and Charged Particles in the Gateway Environment
Gateway is a lunar orbiting platform that will be assembled in space similar to the International Space Station. Modules will arrive following different transit orbits, some of which have an extended duration in the Van Allen Belts. This means the spacecraft is exposed to significant charged particle radiation, after which it must operate in cislunar space for 15 years. Charged particle and UV degradation of potential Gateway materials was identified as a knowledge gap by the Passive Thermal Control System (PTCS) Group as end-of-life solar absorptivity greatly impacts thermal performance. Multiple rounds of ground testing have been completed at NASA Goddard Space Flight Center in which potential Gateway materials were subjected to expected worst-case transit charged particle fluence (9.86x1015 protons/cm2 at 2.5 keV and 3.1x1016 electrons/cm2 at 10 keV) and up to 5093 Equivalent Solar Hours (ESH) of UV exposure. This report builds on previous data from Zinecker et al. 2022 which presented the first round of ground testing. Additional materials have been tested and solar absorptivity degradation along with lessons learned are shared. Comparisons to previous results are also presented.
Brandon Hoffmann↗
Thermoplastic Composite Lunar Tower Truss Structure: Design Development and Verification
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Thermoplastics↗
Continuation of Solar Absorptivity Degradation of Spacecraft Materials Due to UV and Charged Particles in the Gateway Environment
Gateway is a lunar orbiting platform that will be assembled in space similar to the International Space Station. Modules will arrive following different transit orbits, some of which have an extended duration in the Van Allen Belts. This means the spacecraft is exposed to significant charged particle radiation, after which it must operate in cislunar space for 15 years. Charged particle and UV degradation of potential Gateway materials was identified as a knowledge gap by the Passive Thermal Control System (PTCS) Group as end-of-life solar absorptivity greatly impacts thermal performance. Multiple rounds of ground testing have been completed at NASA Goddard Space Flight Center in which potential Gateway materials were subjected to expected worst-case transit charged particle fluence (9.86 x 10 15 protons/cm 2 at 2.5 keV and 3.1x10 16 electrons/cm 2 at 10 keV) and up to 5093 Equivalent Solar Hours (ESH) of UV exposure. This report builds on previous data from Zinecker et al. 2022. Round 1a was published in that paper and Rounds 2a, 2b, and 2c are discussed here with some comparisons to Round 1a. Additional materials have been tested and solar absorptivity degradation is presented along with comparisons to previous results.
Brandon Hoffmann↗
Autonomous Stabilization and Orientation Control of Hoisted Payloads
An orientation control system prototype has been developed for hoisted payloads. This system will allow payloads to be lifted off inclined surfaces while maintaining orientation control, allowing removal of tightly packed payloads without colliding with adjacent objects. For this concept, the payload is hoisted with a crane using a rigging system composed of a cable routed through two capstans and three or four attachment points on the payload. Motors rotate the capstans to adjust the cable lengths to the payload, and thereby control the orientation of the payload. Initial testing of the prototype was completed using manual control, however the algorithms necessary to fully automate the system are presented in this paper.
control↗
Performance Evaluation of a Cartesian Move Algorithm for the LSMS Family of Cable-Driven Cranes
The Lightweight Surface Manipulation System, or LSMS, is a family of cable-actuated cranes, designed for surface operations on the Moon and Mars. Its structural design focuses on three fundamental traits for space environments: a high payload-to-mass ratio to reduce launch costs, compactness for space travel in reduced cargo bays, and self-erecting capabilities for operations before astronauts arrive. The resulting design confers nonlinear and switched dynamics to the LSMS, making these cranes an interesting challenge for autonomous and teleoperated applications. One of the protocols required for these applications is a Cartesian move algorithm. This algorithm is responsible for placing the end effector of the crane at a desired location, specified in Cartesian coordinates. This paper evaluates the performance of a Cartesian move algorithm developed for the LSMS at the NASA Langley Research Center. To this end, several payload manipulation tasks were performed with LSMS-L35, the smallest version within the LSMS family. The evaluated algorithm can place the end effector with accuracy, as shown in the hardware and simulation tests.
cable-actuated↗
Autonomous Stabilization and Orientation Control of Hoisted Payloads
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autonomy↗
Dusty Environment Classification and Testing: Dust Mitigation Slide Wipes & Tapes
During the Apollo missions many mechanisms, equipment, and surfaces were contaminated by lunar dust and often negatively affected. The methods used to clear these devices of dust proved ineffective, which led to premature failure in some cases. Systems being designed for upcoming missions to the Moon will need to address the performance degradation risk of dust contamination. Surfaces at risk include thermal control surfaces, solar cells, camera and sensor optics, seals, metal joints and tools, and space suit assemblies. To improve state of the art dust mitigation approaches, the dust mitigation team at NASA Glenn Research Center (GRC) explored the effects imposed on substrates during cleaning activities in the presence of lunar dust. The Uniform Dust Deposition System (UDDS) was used to conduct a study of various cleaning techniques on different substrates. Test substrates and cleaning media were selected to represent a wide range of structural and functional materials. Substrates included orthofabric, thermal radiator coating, aluminum, quartz glass, silicone rubber, aluminized Mylar, and FEP. Cleaning materials included cloth wipes, tapes, a brush, and a pliable cleaner concept. Cleaning material / substrate pairs were rated on cleaning efficiency, substrate damage, cleaning material longevity, and ease of use. The best performing cleaning method varied based on application.
lunar simulant↗
Space Nuclear Thermal Propulsion Critical Assembly Boron Worth Experiments.
Abstract not provided.
Ames, David↗
Effective Permeability of a Nuclear Fuel Assembly
This report aids in the development of models to perform characterization studies of aerosol dispersal and deposition within a spent fuel cask system. Due to the complex geometry in a spent-fuel canister, direct simulation of buoyancy-driven flow through the fuel assemblies to model aerosol deposition within the fuel canister is computationally expensive. Identification of an effective permeability as given in this work for a nuclear fuel assembly greatly simplifies the requirements for thermal hydraulic computations. The results of computations performed using OpenFOAM® to solve the Navier-Stokes Equations for laminar flow are used to determine an effective permeability by applying Darcy's Law. The computations are validated against an analytical solution for the special case of an infinite array of pins for which the numerical and analytical solutions have excellent agreement. The effective permeability of a 1717 PWR nuclear fuel assembly in a basket without spacer grids is numerically determined to be 1.85010 -6 m 2 for the range of fluid viscosities and pressure drops expected in a spent fuel storage canister. However, the flow is not uniform on the scale of multiple pins. Instead, significantly higher velocities are attained in the space between the assembly and the basket walls compared to the flow between the fuel pins within the assembly. Comparison with an analytical solution for fully developed flow through an infinite array of pins shows that the larger spacing near the basket walls results in about a 20% larger permeability compared to the analytical solution which does not include the enhanced flow in the space between the assembly and basket wall, or entrance and exit effects. A preliminary assessment of turbulence effects shows that with a k-epsilon model, significantly higher flow velocities are attained between the fuel pins within the assembly compared to the flow velocity in the space between the assembly and the basket walls. This is the opposite of what is determined for laminar flow.
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
Validation of FSP Reactor Design with Sensitivity Studies of Beryllium-Reflected Critical Assemblies
The baseline design for space nuclear power is a fission surface power (FSP) system: sodium-potassium (NaK) cooled, fast spectrum reactor with highly-enriched-uranium (HEU)-O 2 fuel, stainless steel (SS) cladding, and beryllium reflectors with B4C control drums. Previous studies were performed to evaluate modeling capabilities and quantify uncertainties and biases associated with analysis methods and nuclear data. Comparison of Zero Power Plutonium Reactor (ZPPR)-20 benchmark experiments with the FSP design indicated that further reduction of the total design model uncertainty requires the reduction in uncertainties pertaining to beryllium and uranium cross-section data. Further comparison with three beryllium-reflected HEU-metal benchmark experiments performed at the Oak Ridge Critical Experiments Facility (ORCEF) concluded the requirement that experimental validation data have similar cross section sensitivities to those found in the FSP design. A series of critical experiments was performed at ORCEF in the 1960s to support the Medium Power Reactor Experiment (MPRE) space reactor design. The small, compact critical assembly (SCCA) experiments were graphite- or beryllium-reflected assemblies of SS-clad, HEU-O 2 fuel on a vertical lift machine. All five configurations were evaluated as benchmarks. Two of the five configurations were beryllium reflected, and further evaluated using the sensitivity and uncertainty analysis capabilities of SCALE 6.1. Validation of the example FSP design model was successful in reducing the primary uncertainty constituent, the Be(n,n) reaction, from 0.28 %$\delta$k/k to 0.0004 %$\delta$k/k. Further assessment of additional reactor physics measurements performed on the SCCA experiments may serve to further validate FSP design and operation.
11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
Measurement of Trace Water Vapor in a Carbon Dioxide Removal Assembly Product Stream
The International Space Station Carbon Dioxide Removal Assembly (CDRA) uses regenerable adsorption technology to remove carbon dioxide (COP) from cabin air. Product water vapor measurements from a CDRA test bed at the NASA Marshall Space Flight Center were made using a tunable infrared diode laser differential absorption spectrometer (TILDAS) provided by NASA Glenn Research Center. The TILDAS instrument exceeded all the test specifications, including sensitivity, dynamic range, time response, and unattended operation. During the COP desorption phase, water vapor concentrations as low as 5 ppmv were observed near the peak of CO2 evolution, rising to levels of approx. 40 ppmv at the end of a cycle. Periods of high water concentration (>100 ppmv) were detected and shown to be caused by an experimental artifact. Measured values of total water vapor evolved during a single desorption cycle were as low as 1 mg.
Wormhoudt, Joda↗
Safety considerations involved in testing, checkout and launch operations at Cape Kennedy
This paper concerns itself with identifying safety problems associated with launch operations conducted during preparations for manned space flights at Cape Kennedy. This includes transportation and assembly of large space vehicles in the Vehicle Assembly Building, rollout to Launch Pad 39, test, checkout, and the launch countdown. Under these broad categories, the risks of fuel and oxidizer loading, installation of pyrotechnics, and similar hazardous operations are discussed. The many aspects for fire and rescue requirements are examined. These encompass the water deluge systems on the Mobile Service Structure and the Mobile Launcher, the insulated fire and rescue tractor, slide wire escape system, fire proximity suits, self-contained breathing apparatus and emergency cutting tools. In addition, written procedures for tests, emergencies, rescue and backout, as well as certification of personnel and TV monitoring of the launch system are detailed.-
Bolger, P. H.↗
Space Station/Orbiter berthing dynamics during an assembly flight
A large-angle, multi-body, dynamic modeling capability was developed to help validate numerical simulations of the dynamic motion and control forces which occur while berthing Space Station Freedom to the Shuttle Orbiter during early assembly flights. The paper describes the dynamics and control of the station, the attached Shuttle Remote Manipulator System, and the Orbiter during a maneuver from a gravity-gradient attitude to a torque equilibrium attitude using the station reaction control jets. The influence of the elastic behavior of the station and of the remote manipulator system on the attitude control of the station/Orbiter system during the maneuver is investigated. The flexibility of the station and the arm had only a minor influence on the attitude control of the system during the maneuver.
Cooper, Paul A.↗
End-effector for robotic assembly of welded truss structures in space
In June 1987, work was initiated at LaRC on end-effectors and preloaded joints for robotic truss assembly. This is part of an on-going research effort centered on a test facility that assembles 1 inch x 2 m identical struts into an 8 m diameter x 1.5 m deep platform truss. A detailed description of the test facility was published. The end-effector being used for the LaRC assembly demonstration is quite suitable for the Precision Segmented Reflector or other precision applications. These require high stiffness provided by mechanical joint preloads. Stiffness obtained in this manner is only required and provided over a load range far less than the ultimate strength of the strut tubes. Beyond this useful range, truss behavior is somewhat unpredictable. Mechanically preloaded joints of this type are less suitable for applications such as the Aero Brake where predictable strength and stiffness are required over a greater fraction of the load bearing capacity of component parts. Preliminary studies of the Aerobrake support truss indicate that struts of at least 3 different diameters and various lengths would improve performance. The double-ended end-effector currently in service is designed for only one diameter and length. Anticipated single-ended versions can accommodate varying lengths but not multiple diameters. Tradeoff considerations for welded joints relative to their mechanically preloaded counterparts are presented. Conclusions from this research are as follows: (1) repair by cut and re-weld on the original weld site should be research; (2) welded joints, though repairable, should not be used where high repair frequencies are anticipated; and (3) welded joints should be considered for an Aero Brake truss.
Brewer, William V.↗
2019 Corrective Measures Implementation and Intermim Measures Annual Status Report: Summary of Biosparge System Operation and Maintenance, and Interim Groundwater Monitoring Mobile Launch Platform / Vehicle Assembly Building Area (SWMU 056) Kennedy Space Center, Florida
This report presents a summary of the Corrective Measures Implementation (CMI) and Interim Measure (IM) implementation activities that occurred from May 2019 through December 2019 at the Mobile Launch Platform/Vehicle Assembly Building (MLPV) Area, Solid Waste Management Unit 056 (SWMU 056), located at the John F. Kennedy Space Center, Florida.
MOBILE LAUNCH PLATFORM / VEHICLE ASSEMBLY BUILDING↗