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NASA NTRS1999

Dynamical Signatures of Living Systems

One of the main challenges in modeling living systems is to distinguish a random walk of physical origin (for instance, Brownian motions) from those of biological origin and that will constitute the starting point of the proposed approach. As conjectured, the biological random walk must be nonlinear. Indeed, any stochastic Markov process can be described by linear Fokker-Planck equation (or its discretized version), only that type of process has been observed in the inanimate world. However, all such processes always converge to a stable (ergodic or periodic) state, i.e., to the states of a lower complexity and high entropy. At the same time, the evolution of living systems directed toward a higher level of complexity if complexity is associated with a number of structural variations. The simplest way to mimic such a tendency is to incorporate a nonlinearity into the random walk; then the probability evolution will attain the features of diffusion equation: the formation and dissipation of shock waves initiated by small shallow wave disturbances. As a result, the evolution never "dies:" it produces new different configurations which are accompanied by an increase or decrease of entropy (the decrease takes place during formation of shock waves, the increase-during their dissipation). In other words, the evolution can be directed "against the second law of thermodynamics" by forming patterns outside of equilibrium in the probability space. Due to that, a specie is not locked up in a certain pattern of behavior: it still can perform a variety of motions, and only the statistics of these motions is constrained by this pattern. It should be emphasized that such a "twist" is based upon the concept of reflection, i.e., the existence of the self-image (adopted from psychology). The model consists of a generator of stochastic processes which represents the motor dynamics in the form of nonlinear random walks, and a simulator of the nonlinear version of the diffusion equation which represents the mental dynamics. It has been demonstrated that coupled mental-motor dynamics can simulate emerging self-organization, prey-predator games, collaboration and competition, "collective brain," etc.

Zak, M.↗

NASA NTRSDate not supplied

Space Launch System Launch Windows and Day of Launch Processes

Lunar missions benefit from varying the launch azimuth as a function of launch time to allow longer launch windows with minimum performance impacts. This variable azimuth approach allows the vehicle to track the Moon’s apparent motion due to Earth’s rotation. The Space Launch System (SLS) Block 1 vehicle design requires the mission to launch into an elliptical parking orbit to provide sufficient energy to insert Orion into a Trans-Lunar Injection (TLI) orbit. The primary benefit of varying the launch azimuth, and as a result the achieved orbit inclination, allows the SLS Interim Cryogenic Propulsion Stage (ICPS) to perform its TLI burn closer to perigee and take advantage of performing a burn in a location where the burn will optimally raise apogee.

launch window↗

NASA NTRS1957

The Effect of Solid Admixtures on the Velocity of Motion of a Free Dusty Air Jet

In dusty air flows occurring in industrial practice in transport by air pressure of friable materials, in the drying, annealing, and so forth, of a pulverized solid mass in suspension, and in other processes, the concentration of solid particles usually has a magnitude of the order of 1 kg per 1 kg of air. At such a concentration, the ratio of the volume of the particles to the volume of the air is small (less than one-thousandth part). However, regardless of this, the presence of a solid admixture manifests itself in the rules for the velocity distribution of the air in a dusty air flow. As a result, the rules of velocity change are different for clean and for dusty air flows. The estimation of the influence of the admixture on the velocity of the motion of the flow presents a definitive interest. One of the attempts to estimate that influence on the axial velocity of a free axially symmetrical jet with admixtures was made by Abramovich. Abramovich assumed beforehand that the fine particles of the admixture in the jet are subject to the motion of the air (that is, that the velocity of the admixture is approximately equal to the local velocity of the air); he then took as the basis of his considerations, in solving the problem, the condition that the amount of motion of the two-phase jet must be constant.

Chernov, A. P.↗

NASA NTRS2004

Vacuum Plasma Spray Forming of Tungsten Lorentz Force Accelerator Components

The Vacuum Plasma Spray (VPS) Laboratory at NASA's Marshall Space Flight Center, working with the Jet Propulsion Laboratory, has developed and demonstrated a fabrication technique using the VPS process to form anode and cathode sections for a Lorentz force accelerator made from tungsten. Lorentz force accelerators are an attractive form of electric propulsion that provides continuous, high-efficiency propulsion at useful power levels for such applications as orbit transfers or deep space missions. The VPS process is used to deposit refractory metals such as tungsten onto a graphite mandrel of the desired shape. Because tungsten is reactive at high temperatures, it is thermally sprayed in an inert environment where the plasma gun melts and deposits the molten metal powder onto a mandrel. A three-axis robot inside the chamber controls the motion of the plasma spray torch. A graphite mandrel acts as a male mold, forming the required contour and dimensions for the inside surface of the anode or cathode of the accelerator. This paper describes the processing techniques, design considerations, and process development associated with the VPS forming of Lorentz force accelerator components.

Zimmerman, Frank R.↗

NASA NTRS2010

Speckle Interferometry at the Blanco and SOAR Telescopes in 2008 and 2009

The results of speckle interferometric measurements of binary and multiple stars conducted in 2008 and 2009 at the Blanco and Southern Astrophysical Research (SOAR) 4 m telescopes in Chile are presented. A tot al of 1898 measurements of 1189 resolved pairs or sub-systems and 394 observations of 285 un-resolved targets are listed. We resolved for the first time 48 new pairs, 21 of which are new sub-systems in close visual multiple stars. Typical internal measurement precision is 0.3 mas in both coordinates, typical companion detection capability is delta m approximately 4.2 at 0.15 degree separation. These data were obtained with a new electron-multiplication CCD camera; data processing is described in detail, including estimation of magnitude difference, observational errors, detection limits, and analysis of artifacts. We comment on some newly discovered pairs and objects of special interest.

TRIPLE STARS↗

NASA NTRSDate not supplied

Spacesuit and Mobility Performance Changes

The complex interactions between the human body and spacesuit lead to changes inmovement patterns and mobility performancesof the wearer. In general, factors including the geometric properties, such as shape and size, mechanical properties of the suit, and pressurization of the suit are known to be associated with altered movement patterns as compared to an unsuited human.However, their relative contributions have not been explicitly quantified from the mobility performance perspectives. The goal of this study wasthus to assessthe effects fromthe different types of mobility constraintconditions, namely by wearing either a 3D printed hard upper torso (HUT) assembly orfully pressurized spacesuit. The outcome was also compared against the unsuited motions. For this study, an xEMU (exploration Extravehicular Mobility Unit) suitwas considered, which is the next generation spacesuit developed by NASA. In each test condition, the subject was asked to move the arm and hand as prescribedfor different task types, and the corresponding body segment locations were recordedusing a 3D motion capture system. The following three tasks were performedand analyzed: 1) Outward one-handed reaches:the subject in a standing pose made sweeping motions with the extended right arm from the extreme end-to-end positions, including side-to-side at different elevations and top-to-bottom at different azimuths. 2) Outward two-handed reaches:similarto the previous task, howeverthe subject kept the hands together during the motions in order to assessthe areas that can be reached by both hands. 3) Inward one-handed reaches:the subject made right-hand reach motions to the surface of the HUT.The hand traces collected from each task were modeled by a template shape parametrically deformed with a radial basis function. This process enabled foran abstraction of the hand traces into a smooth surface envelope representing the maximally reachable area of the test subject, of which the shapes and sizes were compared across the different test conditions. The preliminary analysis has shown that theoverall size of reachenvelopes decreases in a pressurized suit compared to 3D printed mockup HUT and unsuited conditions. The specific shape of the envelopes, which were determined by the reachable and unreachable zones, alsovary with the testconditions, and the differences werepronounced with the inward reaches to the HUT surface. The latter observation ispotentially relatedto the increased demandfor shoulder and elbow flexions.Overcomingthe resistance from the pressurizedsoft goods and mechanical constraints of the shoulder assemblywas seen to be associated with the difference in motion patterns between the suited and unsuited conditions. Overall, the information quantified from this study is expected to provide structured metrics for spacesuit mobility, which can improve design optimization and human-system integration.

K Han Kim↗

NASA NTRS2015

Wing Shape Sensing from Measured Strain

A new two-step theory is investigated for predicting the deflection and slope of an entire structure using strain measurements at discrete locations. In the first step, a measured strain is fitted using a piecewise least-squares curve fitting method together with the cubic spline technique. These fitted strains are integrated twice to obtain deflection data along the fibers. In the second step, computed deflection along the fibers are combined with a finite element model of the structure in order to interpolate and extrapolate the deflection and slope of the entire structure through the use of the System Equivalent Reduction and Expansion Process. The theory is first validated on a computational model, a cantilevered rectangular plate wing. The theory is then applied to test data from a cantilevered swept-plate wing model. Computed results are compared with finite element results, results using another strain-based method, and photogrammetry data. For the computational model under an aeroelastic load, maximum deflection errors in the fore and aft, lateral, and vertical directions are -3.2 percent, 0.28 percent, and 0.09 percent, respectively; and maximum slope errors in roll and pitch directions are 0.28 percent and -3.2 percent, respectively. For the experimental model, deflection results at the tip are shown to be accurate to within 3.8 percent of the photogrammetry data and are accurate to within 2.2 percent in most cases. In general, excellent matching between target and computed values are accomplished in this study. Future refinement of this theory will allow it to monitor the deflection and health of an entire aircraft in real time, allowing for aerodynamic load computation, active flexible motion control, and active induced drag reduction..

system equivalent reduction and expansion process↗

NASA NTRS1987

Earthquake source mechanisms and transform fault tectonics in the Gulf of California

The source parameters of 19 large earthquakes in the Gulf of California were determined from inversions of long-period P and SH waveforms. The goal was to understand the recent slip history of this dominantly transform boundary between the Pacific and North American plates as well as the effect on earthquake characteristics of the transition from young oceanic to continental lithosphere. For the better recorded transform events, the fault strike is resolved to + or - 4 deg at 90 percent confidence. The slip vectors thus provide important constraints on the direction of relative plate motion. Most centroid depths are poorly resolved because of tradeoffs between depth and source time function. On the basis of waveform modeling, historical seismicity, and other factors, it is appropriate to divide the Gulf into three distinct zones. The difference in seismic character among the three zones is likely the result of differing levels of maturity of the processes of rifting, generation of oceanic crust, and formation of stable oceanic transform faults. The mechanism of an earthquake on the Tres Marias Escarpment is characterized by thrust faulting and likely indicates the direction of relative motion between the Rivera and North American plates. This mechanism requires revision in plate velocity models which predict strike slip motion at this location.

Goff, John A.↗

NASA NTRS2016

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on- board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles. There are two previous studies that form the background to the current investigation. The first set looked in-depth at applying convex optimization to a powered descent trajectory on Mars with promising results.1, 2 This showed that the powered descent equations of motion can be relaxed and formed into a convex optimization problem and that the optimal solution of the relaxed problem is indeed a feasible solution to the original problem. This analysis used a constant gravity field. The second area applied a successive solution process to formulate a second order cone program that designs rendezvous and proximity operations trajectories.3, 4 These trajectories included a Newtonian gravity model. The equivalence of the solutions between the relaxed and the original problem is theoretically established. The proposed solution for designing the asteroid powered descent trajectory is to use convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process to design the fuel optimal trajectory. The solution to the convex optimization problem is the thrust profile, magnitude and direction, that will yield the minimum fuel trajectory for a soft landing at the target site, subject to various mission and operational constraints. The equations of motion are formulated in a rotating coordinate system and includes a high fidelity gravity model. The vehicle's thrust magnitude can vary between maximum and minimum bounds during the burn. Also, constraints are included to ensure that the vehicle does not run out of propellant, or go below the asteroid's surface, and any vehicle pointing requirements. The equations of motion are discretized and propagated with the trapezoidal rule in order to produce equality constraints for the optimization problem. These equality constraints allow the optimization algorithm to solve the entire problem, without including a propagator inside the optimization algorithm.

Pinson, Robin M.↗

NASA NTRS2012

Time-Domain Terahertz Computed Axial Tomography NDE System

NASA has identified the need for advanced non-destructive evaluation (NDE) methods to characterize aging and durability in aircraft materials to improve the safety of the nation's airline fleet. 3D THz tomography can play a major role in detection and characterization of flaws and degradation in aircraft materials, including Kevlar-based composites and Kevlar and Zylon fabric covers for soft-shell fan containment where aging and durability issues are critical. A prototype computed tomography (CT) time-domain (TD) THz imaging system has been used to generate 3D images of several test objects including a TUFI tile (a thermal protection system tile used on the Space Shuttle and possibly the Orion or similar capsules). This TUFI tile had simulated impact damage that was located and the depth of damage determined. The CT motion control gan try was designed and constructed, and then integrated with a T-Ray 4000 control unit and motion controller to create a complete CT TD-THz imaging system prototype. A data collection software script was developed that takes multiple z-axis slices in sequence and saves the data for batch processing. The data collection software was integrated with the ability to batch process the slice data with the CT TD-THz image reconstruction software. The time required to take a single CT slice was decreased from six minutes to approximately one minute by replacing the 320 ps, 100-Hz waveform acquisition system with an 80 ps, 1,000-Hz waveform acquisition system. The TD-THZ computed tomography system was built from pre-existing commercial off-the-shelf subsystems. A CT motion control gantry was constructed from COTS components that can handle larger samples. The motion control gantry allows inspection of sample sizes of up to approximately one cubic foot (.0.03 cubic meters). The system reduced to practice a CT-TDTHz system incorporating a COTS 80- ps/l-kHz waveform scanner. The incorporation of this scanner in the system allows acquisition of 3D slice data with better signal-to-noise using a COTS scanner rather than the gchirped h scanner. The system also reduced to practice a prototype for commercial CT systems for insulating materials where safety concerns cannot accommodate x-ray. A software script was written to automate the COTS software to collect and process TD-THz CT data.

Zimdars, David↗

NASA NTRS2000

Numerical Calculation of the Drag Force Acting on an Insoluble Particle Moving in Front of a Solidifying Interface

The distribution of insoluble particles in a metal casting depends primarily on the interaction of the particles with the solid/liquid interface (SLI) during the solidification process. Whether a particle will be engulfed or continuously pushed by SLI is essentially determined by the balance of forces acting on the particle. An important component of this force balance is the drag force generated by the particle motion in front of the SLI. Previously developed mathematical models for particle/SLI interaction made use of steady-state solutions of this force provided by the lubrication theory. However, our numerical model based on the SLI tracking approach shows that not only the steady-state approach is inappropriate to model the interaction process but also that even at steady-state the theoretical solution underestimates the drag force. A regression analysis of steady-state numerical solutions for cylindrical particles moving normal to a flat SLI gave a relationship of the form F(sub d) (exp num) = (square root of 3) pi eta V(sub p)((R(sub p) / d) (exp 10 gamma/3)) as compared to the theoretical solution F(sub d) (exp theor) = 3 X (square root of 2) pi eta V(sub p)((R(sub p) / d) (exp 3/2)) where F(sub d) is the drag force, eta is the dynamic viscosity of the fluid, V(sub p) is the particle velocity, R(sub p) is the particle radius, gamma is Euler's constant (gamma is approximately equal to 0.577), and d is the width of the gap between the particle and the SLI. Model validation as well as the influence of the interface shape on the value of F(sub d) will also be discussed.

Catalina, Adrian V.↗

NASA NTRS1995

A Large-Particle Monte Carlo Code for Simulating Non-Linear High-Energy Processes Near Compact Objects

High-energy radiation processes in compact cosmic objects are often expected to have a strongly non-linear behavior. Such behavior is shown, for example, by electron-positron pair cascades and the time evolution of relativistic proton distributions in dense radiation fields. Three independent techniques have been developed to simulate these non-linear problems: the kinetic equation approach; the phase-space density (PSD) Monte Carlo method; and the large-particle (LP) Monte Carlo method. In this paper, we present the latest version of the LP method and compare it with the other methods. The efficiency of the method in treating geometrically complex problems is illustrated by showing results of simulations of 1D, 2D and 3D systems. The method is shown to be powerful enough to treat non-spherical geometries, including such effects as bulk motion of the background plasma, reflection of radiation from cold matter, and anisotropic distributions of radiating particles. It can therefore be applied to simulate high-energy processes in such astrophysical systems as accretion discs with coronae, relativistic jets, pulsar magnetospheres and gamma-ray bursts.

Stern, Boris E.↗

NASA NTRSDate not supplied

New Hayabusa2 and OSIRIS REx Curation Facilities at Nasa Johnson Space Center

Asteroids are made up of rocky material that is left over from the formation of our solar system [1]. This material holds the key to unlocking information about the history of the planets and our sun. Hayabusa2 and OSIRIS-REx are two sample return missions that have collected rocky material from carbonaceous asteroids which are rich in water, carbon, and organic compounds [1]. Hayabusa2 is a spacecraft that collected samples from asteroid Ryugu launched by the Japan Aerospace Exploration Agency (JAXA). Samples were returned to Earth in December 2020 and 10 percent of the collected material is currently housed in a state-of-the-art laboratory at NASA Johnson Space Center (JSC) dedicated to Ryugu material [1]. OSIRIS-REx is a spacecraft launched by NASA that collected samples from asteroid Bennu. The samples are on their journey to Earth and will arrive in September 2023. They will be stored in a separate cleanroom dedicated to Bennu material. From these two missions, scientists will examine dust particles and rocky material to research clues on how the early solar system formed and how life began [2]. Because these samples are so precious and rare, it is important to keep them free from Earth contamination. In September of 2020, a massive construction project began to provide curation facilities to meet the needs of two incoming asteroid collections, Hayabusa2 and OSIRIS-REx. Despite numerous setbacks caused by the coronavirus pandemic, these facilities have been completed in the fall of 2021. Some of these setbacks included strict PPE requirements, keeping safe working distances as well as access to the facilities as NASA was operating under a Stage 3 condition in response to the pandemic. These facilities will provide curation laboratories to safely house the precious asteroid samples as well as facilities to manipulate samples, do sample preparation and process samples into and out of the labs for future studies by the scientific community. The lab suite consists of several different rooms including an initial anteroom (ISO 7), a staging area (ISO 7), two gowning areas (one for OSIRIS-REx and one for Hayabusa2; both ISO 6)), the Haybusa2 Curation Laboratory (ISO 5), the OSIRIS-REx Curation Laboratory (ISO 5), an ultramicrotomy laboratory (ISO 7) and a thin section laboratory (not a cleanroom). To maintain cleanliness levels necessary for these lab spaces quarterly to monthly Balazs organic and inorganic sampling has been conducted on a regular basis before, during and after the construction project to monitor the cleanliness levels in the new labs that will house the asteroid samples. These new facilities feature a Ruuvi (Grafana) monitoring system that measures temperature, humidity, and pressure of the lab suite. This is a small puck shaped sensor that sends signals to the Grafana cloud where the data can be plotted and set up on dashboards within the lab suite. These sensors are easy to set up and install and they run off a cell battery that is good for 3-5 years before needing replacement. This system can deliver text messages and emails to the appropriate personnel when values fall outside of set limits. In addition to the monitoring system, this new lab suite features viewing windows from several different locations and sliding motion censored doors. We have obtained some state-of-the-art equipment to outfit the lab spaces (desiccators, microscopes, ultramicrotome) and are in the process of outfitting the suite with additional items such as: nitrogen gloveboxes, additional desiccators, micromanipulators, etc. The Hayabusa2 samples provided to NASA by JAXA included 23 millimeter sized grains and 4 containers with finer material. OSIRIS-REx is expected to return as much as 400 grams of asteroid Bennu. Samples will be stored in a nitrogen glove box and separated into nitrogen sealed transfer containers. Small Bennu and Ryugu particles will be handled and prepared (e.g., ultra-thin sections for scanning electron microscopy (SEM) or transmission electron microscopy (TEM)) using an Axis Pro micromanipulator and Leica EM UC7 ultramicrotome. Analyzing samples at the atomic scale will provide greater insight to the origins of the solar system and life formation on Earth. All the curation preparation for these sample collections is essential to ongoing research and efforts to understand our solar system, both nowand for future generations.

Curation↗

NASA NTRSDate not supplied

Dynamic Stability Analysis Using Free-Flight CFD

Blunt body probes are the primary design for atmospheric entry. The blunted capsule shape, while desirable for the decreased forebody heating, typically experiences dynamic instability at low supersonic and transonic flight. At moderate to low supersonic conditions, the unsteady wake begins to adversely interact with the vehicle in free-flight resulting in attitude oscillations which can grow in time and result in tumbling. Understanding vehicle dynamics is thus important when considering vehicle entry design and guidance navigation and control (GN&C) considerations. Historically, dynamic stability has been carried out exclusively using experimental techniques. The wide range of experimental approaches provide reasonable coverage in Mach and dynamic pressure space for a given trajectory, however achieving flight similitude is often difficult or impossible. Advancements in Computational Fluid Dynamics (CFD) techniques allow for dynamic motion of the vehicle surface during the simulation with either forced/prescribed motion or free motion in response to fluid forces. Several examples of CFD software with the ability to simulate fluid dynamics and vehicle motion are available in literature. The Free-Flight CFD (FF-CFD) capability developed by NASA Ames within the US3D flow solver has shown extensive validation and verification (V&V) efforts from moderate to low supersonic flow across a range of vehicle architectures. The solver is able to simulate full rotational and translation motion resulting in full 6 degrees-of-freedom (DoF) motion. The validation and verification efforts the solver's ability to predict the motion of a ballistic range model as compared to experimental results. Similar to other computational capabilities in literature, FF-CFD relied on heritage data reduction methodologies and processes for reducing dynamic data into aerodynamic coefficients intended for use in design and trajectory codes. These heritage approaches, initially developed with the assumptions (and restrictions) of ground test facilities, resulted in the significant culling of the full 6-DoF dynamic data set to discrete values which are then fit using an aerodynamic model. Recent development of simulation and data reduction methodologies has resulted in an improved approach to FF-CFD simulations of vehicle dynamics which leverage the control of dynamic constraints within a simulation set-up. The presentation of this work will cover the constrained dynamic simulation approach for deriving dynamic coefficients for a Genesis capsule. The methodology will be outlined and a discussion of implications in motion restriction will be discussed. Finally, reconstructed vehicle trajectories using FF-CFD derived aerodynamic coefficients will be presented.

Joseph M Brock↗

NASA NTRS1974

Acoustic field positioning for containerless processing

The non-contact positioning of materials in a space processing chamber is accomplished using a new type of acoustic levitator. Liquid and solid materials are positioned using a single source of sound. Fine control of position may be obtained by motion of an acoustical reflector. Electrical power required is usually less than 100 watts. The system operates satisfactorily at high and low temperatures and is adaptable as an add-on feature to existing space experiments. Containerless melting and solidification can be performed and a freely suspended liquid can be shaped to the contour of the sound field. Experiments are described in which aluminum, glass and plastic materials are melted and solidified in the containerless state. The system has applications to containerless crystal growth, melting and related processes.

Whymark, R. R.↗

NASA NTRS1975

Acoustic field positioning for containerless processing

The noncontact positioning of materials in a space processing chamber is accomplished using a new type of acoustic levitator. Liquid and solid materials are positioned using a single source of sound. Fine control of position may be obtained by motion of an acoustical reflector. The electrical power required is usually less than 100 watts. The system operates satisfactorily at high and low temperatures and is adaptable as an 'add-on' feature to existing space experiments. Containerless melting and solidification can be performed and a freely suspended liquid can be shaped to the contour of the sound field. Experiments are described in which aluminum, glass and plastic materials are melted and solidified in the containerless state. The system has applications to containerless crystal growth, melting and related processes.

Whymark, R. R.↗

NASA NTRS2011

Lunar Wormbot: Design and Development of a Ground Base Robotic Tunneling Worm for Operation in Harsh Environments

From 1969 to 1972, the National Aeronautics and Space Administration (NASA) sent Apollo missions to the moon to conduct various exploration experiment. A few of the missions were directed to the study and sampling of moon soil, otherwise known as lunar regolith. The extent of the sample acquisition was limited due to the astronauts' limited ability to penetrate the moon's surface to a depth greater than three meters. However. the samples obtained were sufficient enough to provide key information pertaining to lunar regolith material properties that would further assist in future exploration endeavors. Analysis of the collected samples showed that the properties of lunar regolith may lead to knowledge of processed materials that will be beneficial for future human exploration or colonization. However, almost 40 years after the last Apollo mission, limited infonnation is known about regions underneath the moon's surface. Future lunar missions will require hardware that possesses the ability to burrow to greater depths in order to collect samples for subsequent analysis. During the summer of 2010, a team (Dr. Jessica Gaskin, Michael Kuhlman. Blaze Sanders, and Lafe Zabowski) from the NASA Robotics Academy at Marshall Space Flight Center (MSFC) was given the task of designing a robot to function as a soil collection and analysis device. Working with the National Space Science and Technology Center (NSSTC), the team was able to propose an initial design, build a prototype, and test the various subsystems of the prototype to be known as the "Lunar Wormbot" (LW). The NASA/NSSTC team then transferred the project to a University of Alabama in Huntsville (UAH) Mechanical and Aerospace Engineering (MAE) senior design class for further development. The UAH team was to utilize the NASA Systems Engineering Engine Design Process in the continuance of the Lunar Wormbot project. This process was implemented in order to coordinate the efforts of the team and guide the design of the project to ensure a high quality product that met requirements within the academic year timeframe. When the transition from the NASA NSSTC team to the UAH team occurred in August 2010, the scope and requirements were provided to the UAH team. The main objective for the UAH team was to design and fabricate a robotic burrowing prototype using peristaltic or earthworm-like motion with the purpose of collecting soil samples. The team was tasked with the design of a sub-system of the LW called the locomotive, or active, segment. Through the design process, the team extensively reviewed the requirements and functions to be performed of the LW, which led to the proposal of a final design. The present paper provides the details of the development of the design up to and including the Critical Design Review (CDR) of the Lunar Wormbot. This document briefly describes thc overall system and its function but primarily focuses on the design and implementation of the locomotive segment. Content presented includes: general design and system functionality, technical drawings, system analysis, manufacturing methods, and general project costs.

Boyles, Charles↗

NASA NTRSDate not supplied

Developing An Earth-Fixed Visual Reference to Aid Stability, Readaptation and Egress After a Water Landing

INTRODUCTION Water landings present the worst possible sensory conditions for crews trying to orient and stabilize themselves immediately after long-duration spaceflight. Of the three sensory feedback systems involved in maintaining stability (i.e., proprioceptive, vestibular, and visual), none will provide reliable orientation information under the current water landing scenarios. The proprioceptive and vestibular systems are affected during spaceflight by disuse and adaptation to microgravity. Vision may not suffer the same degradation, but the visual environment within the enclosed space of a capsule, or interior room of a recovery ship, is disorienting when subject to wave-induced motion. The result is an increased risk of fall-related injury. In a prior study, 70% (21 of 30) of nonimpaired subjects reported that the presence of an Earth-fixed horizontal line helped them stabilize when their visually enclosed environment was exposed to wave motion. In addition to aiding stability, sensory re-adaptation occurs when inputs from the three sensory systems are synchronized with one another and aligned with Earth’s gravity. The earlier an Earth-fixed visual reference can be introduced the sooner the readaptation process can begin. The goal of this project is to identify the optimal features of a device that visually presents gravitational reference cues to support stability and readaptation. METHODS The capsule sensory-condition simulator is a three-sided enclosure atop a six degree-of-freedom motion platform. A sum-of-sines equation is used to drive the motion platform, producing the simulated wave motion. The equation was derived using the frequency range present in inertial measurement unit (IMU) data collected during open-water Orion mock-up testing. The enclosure creates the nature of a floating visual environment where the walls move in relation to the standing surface. To more accurately represent the condition of postflight crewmembers, galvanic vestibular stimulation (GVS) is applied to disrupt normal vestibular function and standing on a compliant surface attenuates proprioceptive feedback. An instrumented handhold allows the subjects to stabilize themselves and serves as the primary dependent variable. Subjects are instructed to minimize handhold use so the higher forces applied to the handhold correspond to greater instability. Various forms of a visual reference have been explored. Passive systems, such as mechanical gimbals and weighted plumb bobs were eliminated from consideration because of the intertia-induced oscillations that the wave-motion causes. Laser lines presented as horizontal, vertical, or the combination of both are being used to provide the Earth-fixed visual reference. These are presented in the central visual field or periphery from laser sources that are mounted either from within or outside the visual enclosure. RESULTS Data collection for this study is currently in progress. CONCLUSIONS This study will determine whether a visual reference system can help improve stability during challenging sensory conditions and define the optimal chacteristics for such a system.

Brian T Peters↗