Engineering Papers⌕ Search

SEARCH · Engineering Papers

Results for “gimbals”

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 883 records · Page 49
All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

SPARROW: Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

The Steam Propelled Autonomous Retrieval Robot (SPARROW) for Ocean Worlds was a Phase I mission concept study funded under the NASA NIAC program. This report represents the findings of that study and recommendations for future work. SPARROW, envisioned as a soccer ball-sized payload to a primary lander mission, is a propulsively hopping robot for the exploration of Europa's rugged, icy surface. A multi-thruster, passively gimballed robot within a protective, spherical shell, SPARROW is able to freely rotate, self-right, and tumble over chaotic terrains. Europa's abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW is to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key benefit of SPARROW's hopping, impact-tolerant design, is that it eliminates the need for a priori information regarding terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is believed to be entirely terrain agnostic. In this report we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW's range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW's sensitivity to uncertainty in: initial pose, thrust profile, and vehicle-terrain interaction. A science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa's evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Autonomous↗
NASA NTRS2019

Bit Error Rate Performance of a Free Space Optical Link Using Double Clad Fibers

Mobile and embedded applications are emerging in the growing field of free space optical links (FSOL). Some mobile applications for FSOL include spacecraft, aircraft, and automotive. These applications by nature require low size weight and power (SWaP) solutions. The main challenge with any FSOL system is the strict pointing requirements. Common solutions to pointing and alignment of FSOL include gimbals, fast steering mirrors, and adaptive optics. All of which provide viable solutions at the cost of increased SWaP. Previously, we presented the use of both large core fibers and double clad fibers (DCF) to interface FSOL transmit and receive optics with small form factor pluggable optical transceivers (SFP). Double clad fibers have been shown to enable a common optical path by transmitting through a single mode core and receiving through a large inner cladding. This enables a single set of symmetric transmit and receive optics, which decreases the SWaP. In addition, using DCF increases the received power stability of the link relative to a multi-mode fiber (MMF) transmitting. To determine the viability of the system, bit error rate performance needs to be investigated. The results of this paper show that at a bit rate of 10 Gbps, double clad fibers offer similar bit error rate performance to single mode fibers when transmitting and multi-mode fibers when receiving enabling a symmetric duplex FSOL reducing SWaP.

Small Form-Factor Pluggable Optical Transceiver↗
NASA NTRS2019

Bit Error Rate Performance of a Free Space Optical Link Using Double Clad Fibers

Mobile and embedded applications are emerging in the growing field of free space optical links (FSOL). Some mobile applications for FSOL include spacecraft, aircraft, and automotive. These applications by nature require low size weight and power (SWaP) solutions. The main challenge with any FSOL system is the strict pointing requirements. Common solutions to pointing and alignment of FSOL include gimbals, fast steering mirrors, and adaptive optics. All of which provide viable solutions at the cost of increased SWaP. Previously, we presented the use of both large core fibers and double clad fibers (DCF) to interface FSOL transmit and receive optics with small form factor pluggable optical transceivers (SFP). Double clad fibers have been shown to enable a common optical path by transmitting through a single mode core and receiving through a large inner cladding. This enables a single set of symmetric transmit and receive optics, which decreases the SWaP. In addition, using DCF increases the received power stability of the link relative to a multi-mode fiber (MMF) transmitting. To determine the viability of the system, bit error rate performance needs to be investigated. The results of this paper show that at a bit rate of 10 Gbps, double clad fibers offer similar bit error rate performance to single mode fibers when transmitting and multi-mode fibers when receiving enabling a symmetric duplex FSOL reducing SWaP.

Double Clad Fiber↗
NASA NTRS2019

Ion Thruster Produced Roll Torque

Disturbances to the ion engine’s thrust vector will cause a spacecraft to spin about its axis if left unmanaged. Spin about the yaw and pitch axis can be easily handled by a gimbal with enough authority. Spin about the roll axis however must be handled by additional thrusters or reaction wheels. In order to capitalize on the high efficiency of their thrusters, missions utilizing electric propulsion as primary propulsion generally include long periods of thrusting (several years). It is necessary to quantify and understand the ion thruster produced roll torque because it will define the amount of chemical propellant that must be carried or the lifetime and quantity of momentum wheels required for the mission. The roll torque produced by the NEXT ion thruster is analyzed through a combination of theoretical calculations and magnetic field simulations. Experimental techniques for measuring roll torque and past flight data are also discussed.

Arthur, Neil A.↗
NASA NTRS2019

Ion Thruster Produced Roll Torque

Disturbances to the ion engine's thrust vector will cause a spacecraft to spin about its axis if left unmanaged. Spin about the yaw and pitch axis can be easily handled by a gimbal with enough authority. Spin about the roll axis however must be handled by additional thrusters or reaction wheels. In order to capitalize on the high efficiency of their thrusters, missions utilizing electric propulsion as primary propulsion generally include long periods of thrusting (several years). It is necessary to quantify and understand the ion thruster produced roll torque because it will define the amount of chemical propellant that must be carried or the lifetime and quantity of momentum wheels required for the mission. The roll torque produced by the NEXT ion thruster is analyzed through a combination of theoretical calculations and magnetic field simulations. Experimental techniques for measuring roll torque and past flight data are also discussed.

Arthur, Neil A.↗
NASA NTRS2020

Ion Thruster Produced Roll Torque

Disturbances to the ion engine’s thrust vector will cause a spacecraft to spin about its axis if left unmanaged. Spin about the yaw and pitch axes can be easily handled by a gimbal with enough authority. Spin about the roll axis, however, must be handled by additional thrusters or reaction wheels. In order to capitalize on the high efficiency of their thrusters, missions utilizing electric propulsion as primary propulsion generally include long periods of thrusting (several years). It is necessary to quantify and understand the ion thruster produced roll torque because it will define the amount of chemical propellant that must be carried or the lifetime and quantity of momentum wheels required for the mission. The roll torque produced by the NASA’s Evolutionary Xenon Thruster (NEXT) ion thruster is analyzed through a combination of theoretical calculations and magnetic field simulations. Experimental techniques for measuring roll torque and past flight data are also discussed.

Neil A Arthur↗
NASA NTRSDate not supplied

Integrated Design Results for the MSR DAC-0.0 Mars Ascent Vehicle

The NASA Mars Sample Return (MSR) Campaign endeavors to return Martian regolith, rock, and atmospheric samples to Earth for scientific study. One of many significant challenges to overcome in the return of these samples lies in transporting them from the Martian surface to space. In order to surmount this challenge, the Campaign has conceptualized the need for a Mars Ascent Vehicle (MAV) to perform this function and deliver Martian samples to orbit. There, the samples will be ejected and captured by a separate spacecraft for return to Earth. Many concepts for a MAV have existed in the past, but it has not been until now that an integrated, detailed design solution has been developed and analyzed. Preliminary assessments of the initial architecture examined multiple methods of propulsion. The team ultimately determined that a Two Stage to Orbit (TSTO) solid propulsion vehicle would provide the most effective performance and be the most technologically ready to support this mission. Following the decision to adopt a TSTO solid propelled vehicle, the first official Design Analysis Cycle, DAC-0.0, was performed in Spring 2020 to formally advance the fidelity of the vehicle to a maturity level acceptable for NASA Key Decision Point A (KDP-A). This paper describes the resultant MAV design concept developed as part of the DAC-0.0 study by the NASA Marshall Space Flight Center (MSFC), in association with the NASA Jet Propulsion Laboratory (JPL). The TSTO vehicle features two solid rocket motors, one powering each stage. Their thrust vectors are controlled with Thrust Vector Control (TVC) systems consisting of independent electromechanical actuators acting on gimballed nozzles. The vehicle is designed to deliver up to 0.47kg of Martian samples to a Mars circular orbit of 343km at 27° inclination. Due to the unique environmental conditions that this vehicle is required to operate in, the subsystem design teams were compelled to develop creative and unorthodox designs to ensure a successful mission. The detailed design and analysis of these subsystems are discussed in this paper and include topics on the MAV Guidance, Navigation, and Control (GNC); structures and mechanisms; integrated vehicle thermal; avionics and flight software; a hydrazine-based Reaction Control System (RCS); aerosciences; and vehicle assembly, integration, and test (AI&T) considerations, among others. Following the conclusion of the MAV DAC-0.0, additional alternative architecture concepts were also studied to further reduce the mass of the overall system. The results of these studies will also be examined in this paper.

Darius Yaghoubi↗
NASA NTRS2020

Development and Evaluation of the Active Response Gravity Offload System as a Lunar and Martian EVA Simulation Environment

In preparation for future exploration missions, NASA seeks the ability to simulate partial-gravity operations for use in ground-based research, crew training, and engineering design evaluations. The Active Response Gravity Offload System (ARGOS) at the Johnson Space Center (JSC) is designed to simulate reduced gravity environments, such as lunar, Martian, or microgravity, using a robotic system similar to an overhead bridge crane. ARGOS continuously offloads a portion of a suited human’s weight during all dynamic motions within the test facility, which can include basic functional movements such as walking, running, and jumping, as well as a wide range of planetary surface activities. This system will be used as part of a metabolic-rate task characterization study to determine the workload associated with partial-gravity extravehicular activity (EVA). Pilot testing was conducted using the MKIII prototype planetary space suit and two gimbal designs to determine the ability of the ARGOS test environment to simulate planetary EVA operations. This paper will describe the lessons learned from the feasibility testing, simulation-environment mockup design, and the results from the pilot tests and their influence into the final study design. Being able to effectively simulate partial-gravity environments and characterize the performance of crewmembers will have an impact on multiple domains including suit design, task design, thermal models, and life-support-system capacity verification plans, among others.

Omar S Bekdash↗
NASA NTRSDate not supplied

CLARREO Pathfinder: Mission Overview and Current Status

The Climate Absolute Radiance and Refractivity Observatory (CLARREO) Pathfinder (CPF) mission consists of a high accuracy reflected solar spectrometer that will take measurements from the International Space Station for one year starting in 2023. CPF will demonstrate that its novel on-orbit absolute calibration approaches are capable of achieving 0.3% (1-sigma) radiometric uncertainty. Additionally, using its two-axis pointing gimbal which enables nearly-concurrent measurements matching look angles with other orbiting sensors, CPF will demonstrate a novel inter-calibration approach by inter-calibrating CERES and VIIRS. CPF is currently in its Final Design and Fabrication Stage and recently passed its Critical Design Review.

Yolanda Shea↗
NASA NTRSDate not supplied

CLARREO Pathfinder: Mission Status and Current Status

The Climate Absolute Radiance and Refractivity Observatory (CLARREO) Pathfinder (CPF) mission consists of a high accuracy reflected solar spectrometer that will take measurements from the International Space Station for one year starting in 2023. CPF will demonstrate that its novel on-orbit absolute calibration approaches are capable of achieving 0.3% (1-sigma) radiometric uncertainty. Additionally, using its two-axis pointing gimbal which enables nearly-concurrent measurements matching look angles with other orbiting sensors, CPF will demonstrate a novel inter-calibration approach by inter-calibrating CERES and VIIRS. CPF is currently in its Final Design and Fabrication Stage and recently passed its Critical Design Review.

Yolanda Shea↗
NASA NTRSDate not supplied

Integrated Design Results for the MSR DAC-0.0 Mars Ascent Vehicle

The NASA Mars Sample Return (MSR) Campaign endeavors to return Martian regolith, rock, and atmospheric samples to Earth for scientific study. One of many significant challenges to overcome in the return of thesesamples lies in transporting them from the Martian surface to space. In order to surmount this challenge, the Campaign has conceptualized the need for a Mars Ascent Vehicle (MAV) to perform this function and deliver Martian samples to orbit. There, the samples will be ejected and captured by a separate spacecraft for return to Earth. Many concepts for a MAV have existed in the past, but it has not been until now that an integrated, detailed design solution has been developed and analyzed. Preliminary assessments of the initial architecture examined multiple methods of propulsion. The team ultimately determined that a Two Stage to Orbit (TSTO) solid propulsion vehicle would provide the most effective performance and be the most technologically ready to support this mission. Following the decision to adopt a TSTO solid propelled vehicle, the first official Design Analysis Cycle, DAC-0.0, was performed in Spring 2020 to formally advance the fidelity of the vehicle to a maturity level acceptable for NASA Key Decision Point A (KDP-A). This paper describes the resultant MAV design concept developed as part of the DAC-0.0 study by the NASA Marshall Space Flight Center (MSFC), in association with the NASA Jet Propulsion Laboratory (JPL). The TSTO vehicle features two solid rocket motors, one powering each stage. Their thrust vectors are controlled with Thrust Vector Control (TVC) systems consisting of independent electromechanical actuators acting on gimballed nozzles. The vehicle is designed to deliver up to 0.47kg of Martian samples to a Mars circular orbit of 343km at 27° inclination. Due to the unique environmental conditions that this vehicle is required to operate in, the subsystem design teams were compelled to develop creative and unorthodox designs to ensure a successful mission. The detailed design and analysis of these subsystems are discussed in this paper and include topics on the MAV Guidance, Navigation, and Control (GNC); structures and mechanisms; integrated vehicle thermal; avionics and flight software; a hydrazine-based Reaction Control System (RCS); aerosciences; and vehicle assembly, integration, and test (AI&T) considerations, among others. Following the conclusion of the MAV DAC-0.0, additional alternative architecture concepts were also studied to further reduce the mass of the overall system.

Mars↗
NASA NTRS2008

Precision linear actuator for Space Interferometry Mission (SIM) Siderostat pointing

“SIM PlanetQuest will exploit the classical measuring tool of astrometry (interferometry) with unprecedented precision to make dramatic advances in many areas of astronomy and astrophysics.” (1) In order to obtain interferometric data two large steerable mirrors, or Siderostats, are used to direct starlight into the interferometer. A gimbaled mechanism actuated by linear actuators is chosen to meet the unprecedented pointing and angle tracking requirements of SIM.

Moore, Don↗
NASA NTRS2013

A hybrid FPGA/Tilera compute element for autonomous hazard detection and navigation

To increase safety for future missions landing on other planetary or lunar bodies, the Autonomous Landing and Hazard Avoidance Technology (ALHAT) program is developing an integrated sensor for autonomous surface analysis and hazard determination. The ALHAT Hazard Detection System (HDS) consists of a Flash LIDAR for measuring the topography of the landing site, a gimbal to scan across the terrain, and an Inertial Measurement Unit (IMU), along with terrain analysis algorithms to identify the landing site and the local hazards. An FPGA and Manycore processor system was developed to interface all the devices in the HDS, to provide high-resolution timing to accurately measure system state, and to run the surface analysis algorithms quickly and efficiently. In this paper, we will describe how we integrated COTS components such as an FPGA evaluation board, a TILExpress64, and multi-threaded/multi-core aware software to build the HDS Compute Element (HDSCE). The ALHAT program is also working with the NASA Morpheus Project and has integrated the HDS as a sensor on the Morpheus Lander. This paper will also describe how the HDS is integrated with the Morpheus lander and the results of the initial test flights with the HDS installed. We will also describe future improvements to the HDSCE.

Trawny, Nikolas↗
NASA NTRS2019

SPARROW: A Steam Propelled Autonomous Retrieval Robot for Ocean Worlds

This paper presents the results of a NIAC Phase I study into the use of a propulsively hopping robot for the exploration of Europa’s rugged, icy surface. Named the“Steam Propelled Retrieval Robot for Ocean Worlds,” SPARROW is a multi-thruster robot passively gimballed within a protective, spherical shell, which enables it to freely rotate, self-right, and tumble over chaotic terrains. SPARROW is envisioned as a soccerball-sized payload to a primary lander mission. Europa’s abundant surface ice would be harvested as an in situ propellant source. The principal objective of SPARROW would be to increase the science return of a Europa landed asset by enabling access to distal, spatially distributed geologic units. The design of mobility systems for Europa is challenging, due in part to its almost entirely unconstrained surface topography and strength. Images returned by Voyager and Galileo yielded resolutions on the order of hundreds of meters per pixel, with localized regions reaching 6 meters per pixel—still far larger than a typical rover. A key benefit of SPARROW’s hopping, impact-tolerant design, is that it eliminates the need for a piori information on the terrain topography and surface strength; no surface reaction forces are required for motion. In this context, SPARROW is entirely terrain agnostic. In this paper we detail the results of three study objectives: i) to quantify the energy required to collect surface ice, change its phase, and maintain propellant temperature, ii) to identify control and estimation strategies that enable SPARROW to successfully reach, and return from, regions of scientific interest, and iii) to characterize the impact of SPARROW’s range on likely science return. Five water-based propellant architectures are presented alongside their mass, power, and volume requirements. Monte Carlo simulations of SPARROW hopping and tumbling over 1 km of glacial ice are summarized, characterizing SPARROW’s sensitivity to uncertainty in: initial conditions, thrust control, and cage-terrain interaction. Finally, a science traceability matrix is presented, which details the effect of sortie range on three science goals: constraining Europa’s evolutionary morphology, assessing sub-surface ocean habitability, and searching for life and/or biosignatures.

Phillips, Cynthia↗
NASA NTRS2018

Flight Plasma Diagnostics for High-Power, Solar-Electric Deep-Space Spacecraft

NASA’s Asteroid Redirect Robotic Mission (ARRM) mission concept plans included a set of plasma and space environment instruments, the Plasma Diagnostic Package (PDP), to fulfill ARRM requirements for technology extensibility to future missions. The PDP objectives were divided into the classes of 1) Plasma thruster dynamics, 2) Solar array-specific environmental effects, 3) Plasma environmental spacecraft effects, and 4) Energetic particle spacecraft environment. A reference design approach and interface requirements for ARRM’s PDP was generated by the PDP team at JPL and GRC. The reference design consisted of redundant single-string avionics located on the ARRM spacecraft bus as well as solar array, driving and processing signals from multiple copies of several types of plasma, effects, and environments sensors distributed over the spacecraft and array. The reference design sensor types were derived in part from sensors previously developed for USAF Research Laboratory (AFRL) plasma effects campaigns such as those aboard TacSat-2 in 2007 and AEHF-2 in 2012. ARRM project leadership also encouraged the PDP team to convene a team of topical subject matter experts from across the country to review and confirm the reference design and to consider effective alternatives and/or enhancements to the reference design. This activity was proposed and accepted as an interactive, informal JPL “A-team” study and a cadre of 25 participants gathered in early 2017 for discussions. The outcome of the two-day A-team study was that the PDP reference design would allow the most important induced-environment unknowns to be measured in the appropriate space environment. Another outcome addressed technology developments of new or improved space plasma environmental sensors. The A-team study concluded that selected developments would lead to improved measurements that could efficiently provide important and otherwise unavailable information about plasma thruster operation in the space environment as well as the plasma induced spacecraft environment. Specifically, the A-team group recommended greater sensor diversity, by inclusion of deployed sensor capabilities in the thruster plume, or by occasional gimbaling of the thruster(s) toward the sensor arrays. The A-team also recommended developing high-speed probes, optical plasma probes, energy selective probes, and direct erosion/deposition sensors, among others; and recommended the inclusion of cameras as well as, since ARRM was to be recovered in cis-lunar orbit by a crewed mission, astronaut assessments of thruster induced environments and collection of sample coupons. Overall, the PDP A-team study provided a clear, consensus supported validation of the reference design PDP approach and pointed out important directions for future flight plasma sensor development.

Choi, Maria↗
NASA NTRS2020

Simultaneous Optical Links with the Inter-Satellite Omnidirectional Optical Communicator

As the onboard data volume for smaller platforms such as CubeSats increases, Radio Frequency (RF) communications systems may be unable to adequately support the required downlink demand. Optical communications (lasercom) systems can relieve the data bottleneck as they can support higher data throughput than RF for comparable Size, Weight, and Power (SWaP). Lasercom crosslinks are of particular interest for spacecraft swarms and constellations because they enable additional mission robustness for distributed science observations and remote sensing applications. The Inter-Satellite Omnidirectional optical Communicator (ISOC) is capable of supporting simultaneous lasercom crosslinks between multiple spacecraft at separations of up to thousands of kilometers in orbit. The ISOC architecture features a truncated dodecahedron chassis containing an array of photodetectors and gimbal-less MEMS mirrors, enabling full-duplex communications. The main objectives of the ISOC terminal include: 1) full sky coverage, 2) Gbps data rates, and 3) the ability to maintain multiple simultaneous links. We show ISOC can support up to 12 simultaneous links with the current architecture at 1-Gbps at 200-km separation with 10-9 BER. Compared to current lasercom transceivers (i.e., point-to-point), ISOC offers increased throughput performance for similar SWaP. A detailed link budget for both scenarios is presented, and the limiting factors for maximum number of simultaneous links are discussed.

Cahoy, Kerri↗
NASA NTRS2021

Clarreo Pathfinder: Mission Overview and Current Status

The Climate Absolute Radiance and Refractivity Observatory (CLARREO) Pathfinder (CPF) mission consists of a high accuracy reflected solar spectrometer that will take measurements from the International Space Station for one year starting in 2023. CPF will demonstrate that its novel on-orbit absolute calibration approaches are capable of achieving 0.3% (1-sigma) radiometric uncertainty. Additionally, using its two-axis pointing gimbal which enables nearly-concurrent measurements matching look angles with other orbiting sensors, CPF will demonstrate a novel inter-calibration approach by inter-calibrating CERES and VIIRS. CPF is currently in its Final Design and Fabrication Stage and recently passed its Critical Design Review.

accuracy↗
NASA NTRS2022

Wind Tunnel Performance Tests of a Full-Scale Proprotor on the Tiltrotor Test Rig

The Tiltrotor Test Rig (TTR) is a new, large-scale proprotor test system for the National Full-Scale Aerodynamics Complex (NFAC). The TTR was jointly developed by NASA, the U. S. Army and the U. S. Air Force. The first wind-tunnel entry was completed in November 2018 with a modern, 26-ft diameter proprotor. The primary purpose was to complete the development of the TTR, including systems integration with the NFAC. The TTR and rotor were tested up to 273 knots in axial flow, which is the highest airspeed ever achieved by a full-scale proprotor in any wind tunnel. The entry constitutes the first full-scale wind-tunnel test of a gimballed, coning-flexure rotor. Extensive conversion-mode data were also acquired, and hover/climb conditions were explored. Additional testing included aerodynamic tares, motor tests, thermal tests, modal vibration tests, and other checkout activities. This report summarizes the results of the test, including examples of the most significant data.

Tiltrotor Test Rig↗