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NASA NTRS2018

A Versatile Simulation Framework for Elastodynamic Modeling of Structural Health Monitoring

Structural health monitoring (SHM) has the capacity to reduce failure by detecting damage during service life, by periodic, automated monitoring. Guided Wave (GW) Ultrasound is a common SHM approach for aerospace structures. Modelling the physics of GW SHM systems provides a route for understanding system dependencies, capabilities and limitations as damage evolves during service life. Such a toolset can strengthen the understanding of the connection between GW SHM results and the true material state. The most useful modelling tools are those that provide versatile solutions with respect to the simulated component geometry and computational grid connectivity. This work details a versatile application programming interface (API) for the elastodynamic finite integration technique for modelling GW SHM of metals. The custom code implementation, EFIT-CompCell, allows for the modelling of diverse geometries by automatically balancing the message passing interface parallelization layout. The user provides the basic parameters of the simulation and the software automatically performs an initial balancing based on anticipated computational loads, and establishes the CPU communication patterns for any geometry. This work describes the programming philosophy and code structure used to create EFIT-CompCell and compares its performance and capacity to simulation tools that are more specialized for specific architectures. Results are presented for a simulation of GW SHM of an aluminum fuselage section being tested by the FAA. The simulation consists of 733M voxels which took approximately 70 hours to complete 25000 time steps using 40 Intel Xeon E5-4650v2 Ivy Bridge processor cores.

Gregory, Elizabeth D.↗

NASA NTRSDate not supplied

Thermal Control in Hypersonic Leading Edges Using Liquid Metal High Temperature Oscillating Heat Pipes

The desire to increase the range and speed of hypersonic vehicles requires sharp, shape-stable Wing Leading Edges (WLE) with performance capabilities well beyond the current state of the art. The concentrated heat flux on sharp leading edges can lead to runaway thermal and mechanical failures. Heat pipes provide a passive solution to minimize the peak temperature, thermal gradients, and resulting thermal stresses near the WLE. Conventional heat pipes have been shown to address these issues at conditions as high as Mach 8. Oscillating heat pipes (OHPs) could be used to extend this benefit to missions with higher Mach numbers since their heat transport capacity typically exceeds that of conventional heat pipes. In the current investigation, several identical liquid metal high-temperature oscillating heat pipes (LMHOHPs) were constructed and tested to demonstrate the concept. The LMHOHPs had six turns, internal diameters of 2 mm, and total lengths of 100 mm. They were additively manufactured from C103 niobium alloy and charged with lithium to reach a fill ratio of approximately 50%. The boundary conditions of the experiment were designed to resemble those of various hypersonic flight profiles. Testing was performed with a system consisting of flow-controlled acetylene torch heating and radiation dominated heat rejection. The LMHOHP’s performance was measured using temperature data from an infrared camera and pyrometer. The experimental results were used to evaluate the capability of C103/lithium LMHOHPs under various flight regimes. A heat transfer model of the LMHOHP was proposed and validated against test data. Insights from the model were then extrapolated to evaluate a Tungsten-RHC/Gallium LMHOHP with anticipated capabilities beyond that of the C103/lithium system.

Max Pawlick↗

NASA NTRS1986

Study of ice accretion on icing wind tunnel components

In a closed loop icing wind tunnel the icing cloud is simulated by introducing tiny water droplets through an array of nozzles upstream of the test section. This cloud will form ice on all tunnel components (e.g., turning vanes, inlet guide vanes, fan blades, and the heat exchanger) as the cloud flows around the tunnel. These components must have the capacity to handle their icing loads without causing significant tunnel performance degradation during the course of an evening's run. To aid in the design of these components for the proposed Altitude Wind Tunnel (AWT) at NASA Lewis Research Center the existing Icing Research Tunnel (IRT) is used to measure icing characteristics of the IRT's components. The results from the IRT are scaled to the AWT to account for the AWT's larger components and higher velocities. The results show that from 90 to 45 percent of the total spray cloud froze out on the heat exchanger. Furthermore, the first set of turning vanes downstream of the test section, the FOD screen and the fan blades show significant ice formation. The scaling shows that the same results would occur in the AWT.

Newton, J. E.↗

NASA NTRS1986

Study of ice accretion on icing wind tunnel components

Newton, J. E.↗

NASA NTRS1989

Motor and cognitive testing of bone marrow transplant patients after chemoradiotherapy

Assessment of cognitive and motor performance of bone marrow transplant patients prior to, during, and following intensive toxic chemoradiotherapy may provide an important adjunct to measures of physiological and medical status. The present study is an attempt to assess whether, as side-effects, these aggressive treatments result in cognitive performance deficits, and if so, whether such changes recover posttreatment. Measurement of cognitive ability in this situation presents special problems not encountered with one-time tests intended for healthy adults. Such tests must be sensitive to changes within a single individual, which emphasizes the crucial importance of high reliability, stability across repeated-measures, and resistance to confounding factors such as motivation and fatigue. The present research makes use of a microbased portable test battery developed to have reliable and sensitive tests which were adapted to study the special requirements of transplant patients who may suffer cognitive deficits as a result of treatment. The results showed slight but significant changes in neuropsychological capacity when compared to baseline levels and controls, particularly near the beginning of treatment. The sensitivity of the battery in detecting such subtle temporary changes is discussed in terms of past research showing effects of other stressors, such as stimulated high altitude and ingestion of alcohol, on these measures.

Non-NASA Center↗

NASA NTRS1989

Measurement of damping of graphite epoxy composite materials and structural joints

The damping capacity of graphite epoxy materials and structural joints was evaluated. The damping ratio of different composite specimens and bonded joints were systematically evaluated under normal atmospheric conditions and in a vacuum environment. Free and forced vibration test methods were employed for measuring the damping ratios. The effect of edge support conditions on the damping value of a composite tube specimen was studied by using a series of experiments performed on the specimen with different edge supports. It was found that simulating a free-free boundary conditions by having no constraints at the ends gives the lowest value of the material damping of the composite. The accuracy of the estimation of the damping ratio value was improved by using a curve-fitting technique on the response data obtained through measurement. The effect of outgassing (moisture desorption) on the damping capacity was determined by measuring the damping ratio of the tube specimen in a vacuum environment before and after outgassing had occurred. The effects of high and low temperatures on the damping was also investigated by using a series of experiments on tube and beam specimens. An analytical model to study the vibrations of a bonded lap joint system was formulated. Numerical results were generated for different overlap ratios of the system. These were compared with experimental results. In order to determine the influence of bonded joints on the material damping capacity, experiments were conducted on bonded lap-jointed and double-butt-jointed specimens. These experimental results were compared with simple beam specimens with no joints.

Crocker, Malcolm J.↗

NASA NTRS1976

A technique for measurement of material damping in metals

The paper outlines the theory, design, and application of an apparatus based on the single beam resonant dwell technique to determine the damping capacity of metallic materials by measuring the response of a structural element to excitation at a modal frequency. In this apparatus, a cantilever beam specimen of a test material is clamped to a bar which is connected at one end to an electromagnetic shaker and at the other to a heavy base. The thickness of the bar at the base end is reduced by two saw cuts to provide a pivot around which the remainder of the bar can rotate when excited by the shaker which is connected to the bar by a rod passing through a hole in the base. The response of the supporting system to shaker excitation is measured with an accelerometer mounted on the bar at the root of the specimen. Specimen response is measured optically with a low-power microscope with a reticle. Specimen loss factor is determined in terms of acceleration at the beam root, beam tip displacement, and the beam natural frequency.

Heine, J. C.↗

NASA NTRS1987

Effects of long term storage on aerospace nickel cadmium cell performance

Evaluation of the long term effects on aerospace nickel cadmium cells is described. A number of 6Ah and 12Ah capacity cells which were stored in shorted condition for 9 to 11 years at the Goddard Space Flight Center were selected for the study. Of the three tests which were initiated (initial and final destruction analyses of the test cells, electrical characterization tests, and life cycling tests) only the electrical characterization tests are completed; the other tests are scheduled to be completed by February 1987. The preliminary electrial performance data from the life cycling test and chemical composition data from the destructive testing indicate no anomalous behavior.

Yi, Thomas Y.↗

NASA NTRS1988

A 256 by 256 HgCdTe hybrid focal plane for low-background earth resources and astronomy applications

This paper describes a 256 x 256 HgCdTe hybrid focal plane with a 0.9- to 2.6-micron spectral range. The silicon FET switch multiplexer (mux) is based on previous hybrid work with a 128 x 128 Reticon mux. The high-density device described has a 40-micron pixel pitch vs 60-micron pixel pitch for the 128 x 128 devices. A read noise of about 1,000 e(-) has been obtained on developmental hybrid structures, along with full well capacities of about 1 x 10 to the 6th e(-). Preliminary device characterization for the 256 x 256 device, along with the first low-background astronomy test results for the 128 x 128 devices, will be presented.

Bailey, Gary C.↗

NASA NTRS1993

SATCOM simulator speeds MSS deployment and lowers costs

Mobile satellite systems (MSS) are being proposed and licensed at an accelerating rate. How can the design, manufacture, and performance of these systems be optimized at costs that allow a reasonable return on investment? The answer is the use of system simulation techniques beginning early in the system design and continuing through integration, pre- and post-launch monitoring, and in-orbit monitoring. This paper focuses on using commercially available, validated simulation instruments to deliver accurate, repeatable, and cost effective measurements throughout the life of a typical mobile satellite system. A satellite communications test set is discussed that provides complete parametric test capability with a significant improvement in measurement speed for manufacturing, integration, and pre-launch and in-orbit testing. The test set can simulate actual up and down link traffic conditions to evaluate the effects of system impairments, propagation and multipath on bit error rate (BER), channel capacity and transponder and system load balancing. Using a standard set of commercial instruments to deliver accurate, verifiable measurements anywhere in the world speeds deployment, generates measurement confidence, and lowers total system cost.

Carey, Tim↗

NASA NTRS1994

Associated with aerospace vehicles development of methodologies for the estimation of thermal properties

Thermal stress analyses are an important aspect in the development of aerospace vehicles at NASA-LaRC. These analyses require knowledge of the temperature distributions within the vehicle structures which consequently necessitates the need for accurate thermal property data. The overall goal of this ongoing research effort is to develop methodologies for the estimation of the thermal property data needed to describe the temperature responses of these complex structures. The research strategy undertaken utilizes a building block approach. The idea here is to first focus on the development of property estimation methodologies for relatively simple conditions, such as isotropic materials at constant temperatures, and then systematically modify the technique for the analysis of more and more complex systems, such as anisotropic multi-component systems. The estimation methodology utilized is a statistically based method which incorporates experimental data and a mathematical model of the system. Several aspects of this overall research effort were investigated during the time of the ASEE summer program. One important aspect involved the calibration of the estimation procedure for the estimation of the thermal properties through the thickness of a standard material. Transient experiments were conducted using a Pyrex standard at various temperatures, and then the thermal properties (thermal conductivity and volumetric heat capacity) were estimated at each temperature. Confidence regions for the estimated values were also determined. These results were then compared to documented values. Another set of experimental tests were conducted on carbon composite samples at different temperatures. Again, the thermal properties were estimated for each temperature, and the results were compared with values obtained using another technique. In both sets of experiments, a 10-15 percent off-set between the estimated values and the previously determined values was found. Another effort was related to the development of the experimental techniques. Initial experiments required a resistance heater placed between two samples. The design was modified such that the heater was placed on the surface of only one sample, as would be necessary in the analysis of built up structures. Experiments using the modified technique were conducted on the composite sample used previously at different temperatures. The results were within 5 percent of those found using two samples. Finally, an initial heat transfer analysis, including conduction, convection and radiation components, was completed on a titanium sandwich structural sample. Experiments utilizing this sample are currently being designed and will be used to first estimate the material's effective thermal conductivity and later to determine the properties associated with each individual heat transfer component.

Scott, Elaine P.↗

NASA NTRS2000

Antennas Designed for Advanced Communications for Air Traffic Management (AC/ATM) Project

The goal of the Advanced Communications for Air Traffic Management (AC/ATM) Project at the NASA Glenn Research Center at Lewis Field is to enable a communications infrastructure that provides the capacity, efficiency, and flexibility necessary to realize a mature free-flight environment. The technical thrust of the AC/ATM Project is targeted at the design, development, integration, test, and demonstration of enabling technologies for global broadband aeronautical communications. Since Ku-band facilities and equipment are readily available, one of the near-term demonstrations involves a link through a Kuband communications satellite. Two conformally mounted antennas will support the initial AC/ATM communications links. Both of these are steered electronically through monolithic microwave integrated circuit (MMIC) amplifiers and phase shifters. This link will be asymmetrical with the downlink to the aircraft (mobile vehicle) at a throughput rate of greater than 1.5 megabits per second (Mbps), whereas the throughput rate of the uplink from the aircraft will be greater than 100 kilobits per second (kbps). The data on the downlink can be narrow-band, wide-band, or a combination of both, depending on the requirements of the experiment. The AC/ATM project is purchasing a phased-array Ku-band transmitting antenna for the uplink from the test vehicle. Many Ku-band receiving antennas have been built, and one will be borrowed for a short time to perform the initial experiments at the NASA Glenn Research Center at Lewis Field. The Ku-band transmitting antenna is a 254-element MMIC phased-array antenna being built by Boeing Phantom Works. Each element can radiate 100 mW. The antenna is approximately 43-cm high by 24-cm wide by 3.3-cm thick. It can be steered beyond 60 from broadside. The beamwidth varies from 6 at broadside to 12 degrees at 60 degrees, which is typical of phased-array antennas. When the antenna is steered to 60 degrees, the beamwidth will illuminate approximately five satellites on the orbital arc. Spread spectrum techniques will be employed to keep the power impinging on the adjacent satellites below their noise floor so that no interference results. This antenna is power limited. If the antenna elements (currently 254) are increased by a factor of 4 (1024) or 16 (4096), the gain will increase and the beamwidth will decrease in proportion. For the latter two antenna sizes, the power must be "backed off" to prevent interference with the neighboring satellites. The receiving antenna, which is approximately 90-cm high, 60-cm wide, and 3.5-cm thick, is composed of 1500 phased-array elements. The system phased-array controller can control both a 1500-element receiving antenna and a 500-element transmitting antenna. For ground testing, this controller will allow manual beam pointing and polarization alignment. For normal operation, the system can be connected to the receiving antenna and the navigation system for real-time autonomous track operation. This will be accomplished by first pointing both antennas at the satellite using information from the aircraft data bus. Then, the system phased-array controller will electronically adjust the antenna pointing of the receiving antenna to find the peak signal. After the peak signal has been found, the beam of the transmitting antenna will be pointed to the same steering angles as the receiving antenna. For initial ground testing without an aircraft, the ARINC 429 data bus (ARINC Inc., Annapolis, Maryland) will be simulated by a gyro system purchased for the follow-on to the Monolithic Microwave Integrated Circuit (MMIC) Arrays for Satellite Communication on the Move (MASCOM) Project. MASCOM utilized the Advanced Communications Technology Satellite (ACTS) with a pair of Ka-band experimental phased-array antennas.

Zakrajsek, Robert J.↗

NASA NTRS2010

Comparison of Airborne and Ground-Based Function Allocation Concepts for NextGen Using Human-In-The-Loop Simulations

This paper presents an air/ground functional allocation experiment conducted by the National Aeronautics and Space Administration (NASA) using two human-in-the-Loop simulations to compare airborne and ground-based approaches to NextGen separation assurance. The approaches under investigation are two trajectory-based four-dimensional (4D) concepts; one referred to as "airborne trajectory management with self-separation" (airborne) the other as "ground-based automated separation assurance" (ground-based). In coordinated simulations at NASA's Ames and Langley Research Centers, the primary operational participants -controllers for the ground-based concept and pilots for the airborne concept - manage the same traffic scenario using the two different 4D concepts. The common scenarios are anchored in traffic problems that require a significant increase in airspace capacity - on average, double, and in some local areas, close to 250% over current day levels - in order to enable aircraft to safely and efficiently traverse the test airspace. The simulations vary common independent variables such as traffic density, sequencing and scheduling constraints, and timing of trajectory change events. A set of common metrics is collected to enable a direct comparison of relevant results. The simulations will be conducted in spring 2010. If accepted, this paper will be the first publication of the experimental approach and early results. An initial comparison of safety and efficiency as well as operator acceptability under the two concepts is expected.

Wing, David J.↗

NASA NTRS2018

NASA's Space Launch System: Unprecedented Payload Capabilities

As NASA turns 60 and plans to transition the International Space Station (ISS) and other low-Earth orbit (LEO) activities to commercial enterprises, the Agency's human exploration program turns its focus to deep space. With missions planned to send astronauts back to the Moon and to construct a lunar orbiting Gateway for surface access as well as science experiments and technology demonstrations, NASA requires a vehicle with capabilities for launching more mass and volume than is currently commercially available. To that end, NASA and its private sector partners are building the Space Launch System (SLS) super heavy-lift launch vehicle, which will send the new Orion crew capsule, eventually with a complement of four astronauts, to cislunar space for the first time since the Apollo Program in the 1960s and 1970s. NASA Kennedy Space Center's (KSC's) Exploration Ground Systems (EGS) Program has upgraded and refurbished ground and launch facilities to process, assemble and launch NASA's new deep space exploration system, which is managed by the Exploration Systems Development (ESD) organization in the Human Exploration and Operations Mission Directorate (HEOMD). Offering an unmatched combination of power, payload capacity and departure energy, the evolvable SLS features the world's most proven propulsion system: solid rocket boosters and RS-25 main engines with a modified Delta Cryogenic Second Stage (DCSS) cryogenic upper stage. The initial SLS configuration, Block 1, will deliver at least 26 metric tons (t) to trans-lunar injection (TLI). The second variant, Block 1B, will deliver at least 34 t to TLI in its crew configuration and at least 40 t to TLI in its cargo configuration. The Block 1 cargo vehicle will fly with an industry-standard 5 m fairing while the Block 1B cargo configuration will accommodate 8 m-diameter fairings in varying lengths. The Block 2 vehicle will incorporate upgraded boosters and possibly larger fairings for launching Mars-class payloads to deep space. Although designed to enable human exploration of deep space, the vehicle also provides game-changing benefits for large science payloads and even harnesses excess capacity to provide small satellites with access to deep space. Three flights of the Block 1 vehicle are now planned; the first vehicle, being built for a test flight known as Exploration Mission-1 (EM-1), is nearing completion at NASA and contractor sites across the United States. In fact, hardware for the second mission has also been built. This paper will provide an overview of the SLS vehicle, with a focus on its payload accommodations and the missions enabled by the unprecedented payload volume and departure energy of SLS. This paper also describes the status of the manufacturing and integration for first flight and beyond.

Exploration Mission-1↗

NASA NTRSDate not supplied

Development and Application of a Novel Calorimetry Technique for the Study of Lithium-Ion Cell Thermal Runaway

Lithium-ion battery technology is widely used and is attractive due to demonstrated specific energies in the 200-300 W-hr/kg range. The excellent, mass-efficient energy storage capability of lithium-ion batteries has led to their use on many aerospace platforms. However, lithium-ion batteries can exhibit thermal runaway behavior wherein stored electrochemical energy is released rapidly as a result of thermal or mechanical failure, electrochemical abuse, internal or external short circuiting. A single cell undergoing thermal runaway within a battery has the potential to induce thermal runaway in adjacent cells if heat dissipation is not properly managed and can result in a catastrophic failure of the battery. Designing batteries that are resistant to thermal runaway propagation requires an understanding of, not only, total energy yield but also the means by which that energy is liberated from the cell. While Accelerating Rate Calorimetry and other techniques provide total thermal runaway energy yield, they do not provide the fractional breakdown of energy liberated via conduction through the cell casing from that which is vented from the cell as hot gases and effluents. Such data are needed to inform battery thermal design and analysis. To measure the total energy yield, the fraction conducted through the cell casing, and the fraction lost due to gases and effluents, NASA developed Fractional Thermal Runaway Calorimetry (FTRC). Two calorimeters have been developed and demonstrated, the Small-format- and Large-format Fractional Thermal Runaway Calorimeters (S-FTRC and L-FTRC, respectively). The technique has been successfully applied to small- and large-format cells (2.4-3.5 Ah and >100 Ah capacity, respectively) and has given new insights into Li-ion cell thermal runaway. Development of the calorimeters is discussed and results from the initial thermal runaway testing campaigns are presented.

Lithium-Ion Cell↗

NASA NTRS2000

Resistance exercise countermeasures for space flight: implications of training specificity

While resistance exercise should be a logical choice for prevention of strength loss during unloading, the principle of training specificity cannot be overlooked. Our purpose was to explore training specificity in describing the effect of our constant load exercise countermeasure on isokinetic strength performance. Twelve healthy men (mean +/- SD: 28.0 +/- 5.2 years, 179.4 +/- 3.9 cm, 77.5 +/- 13.6 kg) were randomly assigned to no exercise or resistance exercise (REX) during 14 days of bed rest. REX performed five sets of leg press exercise to volitional fatigue (6-10 repetitions) every other day. Unilateral isokinetic concentric-eccentric knee extension testing performed before and on day 15 prior to reambulation included torque-velocity and power-velocity relationships at four velocities (0.52, 1.75, 2.97, and 4.19 rad s-1), torque-position relationship, and contractile work capacity (10 repetitions at 1.05 rad s-1). Two (group) x 2 (time) ANOVA revealed no group x time interactions; thus, groups were combined. Across velocities, angle-specific torque fell 18% and average power fell 20% (p < 0.05). No velocity x time or mode (concentric/eccentric) x time interactions were noted. Torque x position decreased on average 24% (p < 0.05). Total contractile work dropped 27% (p < 0.05). Results indicate bed rest induces rapid and marked reductions in strength and our constant load resistance training protocol did not prevent isokinetic strength losses. Differences between closed-chain training and open-chain testing may explain the lack of protection.

Randomized Controlled Trial↗

NASA NTRS2010

Lessons Learned from Performance Testing of Humans in Spacesuits in Simulated Reduced Gravity

Introduction: The overarching objective of the Integrated Suit Test (IST) series is to evaluate suited human performance using reduced-gravity analogs and learn what aspects of an EVA suit system affect human performance. For this objective to be successfully achieved, the testing methodology should be valid and reproducible, and the partial-gravity simulations must be as accurate and realistic as possible. Objectives: To highlight some of the key lessons learned about partial-gravity analogs and testing methodology, and to suggest considerations for optimizing the effectiveness and quality of results of future tests. Methods: Performance testing of suited and unsuited subjects was undertaken in different reduced-gravity analogs including the Space Vehicle Mockup Facility s Partial Gravity Simulator (POGO), parabolic flight on the C-9 aircraft, underwater environments including NASA s Extreme Environment Mission Operations (NEEMO) and the Neutral Buoyancy Lab (NBL), and in field analogs including Desert Research and Technology Studies (RATS), the Haughton Mars Project (HMP), and the JSC Rock Pile. Subjects performed level walking, incline/decline walking, running, shoveling, picking up and transferring rocks, kneeling/standing, and task boards. Lessons Learned Analogs: No single analog will properly simulate all aspects of the true partial-gravity environment. The POGO is an ideal environment from the standpoint that there are no time limits or significant volumetric constraints, but it does have several limitations. It allows only 2 translational degrees of freedom (DOF) and applies true partial-gravity offload only through the subject s center of gravity (CG). Also, when a subject is doing non-stationary tasks, significant overhead inertia from the lift column seems to have a negative impact on performance. Parabolic flight allows full translational and rotational DOF and applies offload to all parts of the body, but the simulation lasts less than 30 seconds. When this is coupled with the volumetric constraints of the plane, both task selection and data collection options are significantly limited. The underwater environments also allow all 6 DOF and allow off-loading to be applied throughout the body, but the data collection capabilities are limited to little more than subjective ratings. In addition, water drag negatively affects performance of tasks requiring dynamic motion. Field analogs provide the ability to simulate lunar terrain and more realistic mission-like objectives, but all of them operate at 1-g, so suited human performance testing generally must utilize a reduced-mass or "mockup" suit, depending on study objectives. In general, the ground-based overhead-suspension partial-gravity analogs like POGO allow the most diverse data collection methods possible while still simulating partial gravity. However, as currently designed, the POGO has significant limitations. Design of the Active Response Gravity Offload System (ARGOS) has begun and is focusing on adding full x,y,z translational DOF, improved offload accuracy, increased lift capacity, and active control of the x and y axes to minimize offload system inertia. Additionally, a new gimbal is being designed to reduce mass and inertia and to be able to work with different suits, as the current gimbal only supports suited testing with the Mark III Technology Demonstrator Suit (MKIII).

Norcross, Jason R.↗

NASA NTRS2011

Development and Field Testing of the FootFall Planning System for the ATHLETE Robots

The FootFall Planning System is a ground-based planning and decision support system designed to facilitate the control of walking activities for the ATHLETE (All-Terrain Hex-Limbed Extra-Terrestrial Explorer) family of robots. ATHLETE was developed at NASA's Jet Propulsion Laboratory (JPL) and is a large six-legged robot designed to serve multiple roles during manned and unmanned missions to the Moon; its roles include transportation, construction and exploration. Over the four years from 2006 through 2010 the FootFall Planning System was developed and adapted to two generations of the ATHLETE robots and tested at two analog field sites (the Human Robotic Systems Project's Integrated Field Test at Moses Lake, Washington, June 2008, and the Desert Research and Technology Studies (D-RATS), held at Black Point Lava Flow in Arizona, September 2010). Having 42 degrees of kinematic freedom, standing to a maximum height of just over 4 meters, and having a payload capacity of 450 kg in Earth gravity, the current version of the ATHLETE robot is a uniquely complex system. A central challenge to this work was the compliance of the high-DOF (Degree Of Freedom) robot, especially the compliance of the wheels, which affected many aspects of statically-stable walking. This paper will review the history of the development of the FootFall system, sharing design decisions, field test experiences, and the lessons learned concerning compliance and self-awareness.

SunSpiral, Vytas↗