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At least 109 records · Page 6

Experiments on a Tail-wheel Shimmy

Model tests on the "running belt" and tests with a full-scale tail wheel were made on a rotating drum as well as on a runway in order to investigate the causes of the undesirable shimmy phenomena frequently occurring on airplane tail wheels, and the means of avoiding them. The small model (scale 1:10) permitted simulation of the mass, moments of inertia, and fuselage stiffness of the airplane and determination of their influence on the shimmy, whereas by means of the larger model with pneumatic tires (scale 1:2) more accurate investigations were made on the tail wheel itself. The results of drum and road tests show good agreement with one another and with model values. Detailed investigations were made regarding the dependence of the shimmy tendency on trail, rolling speed, load, size of tires, ground friction,and inclination of the swivel axis; furthermore, regarding the influence of devices with restoring effect on the tail wheel, and the friction damping required for prevention of shimmy. Finally observations from slow-motion pictures are reported and conclusions drawn concerning the influence of tire deformation.

WHEEL, TAIL - SHIMMYING↗

Generic propellant transfer unit: A project update

Currently, most satellite programs use dedicated hypergolic propellant ground servicing equipment. These 'carts' are typically program specific (non-interchangeable), costly, and non-Department of Transportation (DOT) compliant. They require safety waivers when used on government property and must be emptied before off-site transport. The emptying process usually generates large amounts of Hazardous Wastes. Fuel carts are usually loaded from multiple 208-liter (55 gallon) drums and oxidizer carts from 909-kg (2000 lb) cylinders. This further increases operating costs due to additional container samples and cart-filling transfers. NASA, Kennedy Space Center has developed reusable, generic, DOT compliant propellant delivery containers as possible replacements for the propellant-tank portion of servicing carts. Our ultimate goal is to reduce operating expenses by minimizing propellant transfers, samples, and waste generation through use of bulk propellant operations, minimizing drum or cylinder operations. This has the added benefit of increasing operating safety by decreasing overall propellant operations.

Davis, C. L.↗

Virtual Reality Simulation of the International Space Welding Experiment

Virtual Reality (VR) is a set of breakthrough technologies that allow a human being to enter and fully experience a 3-dimensional, computer simulated environment. A true virtual reality experience meets three criteria: (1) It involves 3-dimensional computer graphics; (2) It includes real-time feedback and response to user actions; and (3) It must provide a sense of immersion. Good examples of a virtual reality simulator are the flight simulators used by all branches of the military to train pilots for combat in high performance jet fighters. The fidelity of such simulators is extremely high -- but so is the price tag, typically millions of dollars. Virtual reality teaching and training methods are manifestly effective, and we have therefore implemented a VR trainer for the International Space Welding Experiment. My role in the development of the ISWE trainer consisted of the following: (1) created texture-mapped models of the ISWE's rotating sample drum, technology block, tool stowage assembly, sliding foot restraint, and control panel; (2) developed C code for control panel button selection and rotation of the sample drum; (3) In collaboration with Tim Clark (Antares Virtual Reality Systems), developed a serial interface box for the PC and the SGI Indigo so that external control devices, similar to ones actually used on the ISWE, could be used to control virtual objects in the ISWE simulation; (4) In collaboration with Peter Wang (SFFP) and Mark Blasingame (Boeing), established the interference characteristics of the VIM 1000 head-mounted-display and tested software filters to correct the problem; (5) In collaboration with Peter Wang and Mark Blasingame, established software and procedures for interfacing the VPL DataGlove and the Polhemus 6DOF position sensors to the SGI Indigo serial ports. The majority of the ISWE modeling effort was conducted on a PC-based VR Workstation, described below.

Phillips, James A.↗

The Inside View

Bio-Imaging Research, Inc., has been included in Spinoff 1990 and 1993 with spinoffs from their ACTIS (Advanced Computed Tomography Inspection System) product developed under a Marshall Space Flight Center SBIR (Small Business Innovative Research) contract. The latest application is for noninvasive nuclear waste drum inspection. With the ACTIS CT (computed tomography, CATScan) scanner, radioactive waste is examined to prove that they do not contain one-half percent free liquid or that the drum wall has lost integrity before being moved across state lines or before being permanently disposed.

Source record↗

Exo-Skeletal Engine: Novel Engine Concept

The exo-skeletal engine concept represents a new radical engine technology with the potential to substantially revolutionize engine design. It is an all-composite drum-rotor engine in which conventionally heavy shafts and discs are eliminated and are replaced by rotating casings that support the blades in spanwise compression. Thus the rotating blades are in compression rather than tension. The resulting open channel at the engine centerline has immense potential for jet noise reduction and can also accommodate an inner combined-cycle thruster such as a ramjet. The exo-skeletal engine is described in some detail with respect to geometry, components, and potential benefits. Initial evaluations and results for drum rotors, bearings, and weights are summarized. Component configuration, assembly plan, and potential fabrication processes are also identified. A finite element model of the assembled engine and its major components is described. Preliminary results obtained thus far show at least a 30-percent reduction of engine weight and about a 10-dB noise reduction, compared with a baseline conventional high-bypass-ratio engine. Potential benefits in all aspects of this engine technology are identified and tabulated. Quantitative assessments of potential benefits are in progress.

Chamis, Cristos C.↗

Turbomachine Sealing and Secondary Flows: Review of Rotordynamics Issues in Inherently Unsteady Flow Systems With Small Clearances - Part 2

Today's computational methods enable the determination of forces in complex systems, but without field validation data, or feedback, there is a high risk of failure when the design envelope is challenged. The data of Childs and Bently and field data reported in NASA Conference Proceedings serve as sources of design information for the development of these computational codes. Over time all turbomachines degrade and instabilities often develop, requiring responsible, accurate, turbomachine diagnostics with proper decisions to prevent failures. Tam et al. (numerical) and Bently and Muszynska (analytical) models corroborate and implicate that destabilizing factors are related through increases in the fluid-force average circumferential velocity. The stability threshold can be controlled by external swirl and swirl brakes and increases in radial fluid film stiffness (e.g., hydrostatic and ambient pressures) to enhance rotor stability. Also cited are drum rotor self-excited oscillations, where the classic fix is to add a split or severed damper ring or cylindrical damper drum, and the Benkert-Wachter work that engendered swirl brake concepts. For a smooth-operating, reliable, long-lived machine, designers must pay very close attention to sealing dynamics and diagnostic methods. Correcting the seals enabled the space shuttle main engine high-pressure fuel turbopump (SSME HPFTP) to operate successfully.

Hendricks, R. C.↗

A Holographic Interferometer System for Measuring Density Profiles in High-Velocity Flows

This paper describes a holographic interferometric technique for obtaining density measurements across a test gas that is traveling at a velocity of over 5500 meters per second in an expansion tube facility. Interferometric data describing the flow in the test section are obtained using a long coherence length cw argon laser in a holographic system and a rotating drum camera recorder. The object beam, which passes through the test section, intersects the reference beam at a small angle (5 degrees) to form an interference pattern of about 170 lines per millimeter, and is recorded as a hologram. Before a test, this hologram is placed in its original position and rotated slightly so that an interference pattern is generated by the intersection of the reconstructed and real-time object beams. This interference pattern is adjusted to a series of bright, horizontal fringes having a spatial frequency of about 5 fringes per centimeter. During the few milliseconds it takes the test gas to pass through the test section, variations in the gas density across the 8.4-centimeter test section produce phase variations in the object beam and result in a varying interference pattern. A rotating drum camera with a 0.15-millimeter slit aligned perpendicular to the fringes is used to record the varying fringe shifts with a time resolution of about 3 microseconds. The average gas density across the test section is determined by measuring these fringe shifts.

Burner, Alpheus W.↗

Electrical acustimulation relieves vection-induced motion sickness

The aim of this study was to examine the effects of electrical acustimulation on gastric myoelectric activity and severity of symptoms of motion sickness. In experiment 1, 16 Chinese subjects received electrical acustimulation in one of two sessions. In experiment 2, 45 white and black American subjects were randomly divided into three groups: acustimulation, sham acustimulation, and control. Each subject sat in an optokinetic drum for 15 minutes baseline and 15 minutes of drum rotation. Subjects' electrogastrograms and subjective symptoms of motion sickness were obtained. In experiment 1, the mean symptom score and tachyarrhythmia during acustimulation sessions were significantly lower than during no-acustimulation sessions. In experiment 2, the mean symptom score of the acustimulation group was significantly lower than that of the sham-stimulation group and the control group; tachyarrhythmia in the acustimulation group was significantly less than that of the control group but not the sham-stimulation group. In conclusion, electrical acustimulation reduces the severity of symptoms of motion sickness and appears to decrease gastric tachyarrhythmia.

Non-NASA Center↗

Stabilizing Microwave Frequency of a Photonic Oscillator

A scheme for stabilizing the frequency of a microwave signal is proposed that exploits the operational characteristics of a coupled optoelectronic oscillator (COEO) and related optoelectronic equipment. An essential element in the scheme is a fiber mode-locked laser (MLL), the optical frequency of which is locked to an atomic transition. In this scheme, the optical frequency stability of the mode-locked laser is transferred to that of the microwave in the same device. Relative to prior schemes for using wideband optical frequency comb to stabilize microwave signals, this scheme is simpler and lends itself more readily to implementation in relatively compact, rugged equipment. The anticipated development of small, low-power, lightweight, highly stable microwave oscillators based on this scheme would afford great benefits in communication, navigation, metrology, and fundamental sciences. COEOs of various designs, at various stages of development, in some cases called by different names, have been described in a number of prior NASA Tech Briefs articles. A COEO is an optoelectronic apparatus that generates both short (picosecond) optical pulses and a steady microwave signal having an ultrahigh degree of spectral purity. The term "coupled optoelectronic" in the full name of such an apparatus signifies that its optical and electronic oscillations are coupled to each other in a single device. The present frequency-stabilization scheme is best described indirectly by describing the laboratory apparatus used to demonstrate it. The apparatus (see figure) includes a COEO that generates a comb-like optical spectrum, the various frequency components of which interfere, producing short optical pulses. This spectrum is centered at a nominal wavelength of 1,560 nm. The spectrum separation of this comb is about 10 GHz, as determined primarily by the length of an optical loop and the bandpass filter in the microwave feedback loop. The optical loop serves as microwave resonator having a very high value of the resonance quality factor (Q). The optical frequency of MLL is then stabilized by locking it to an atomic transition as described below. The COEO contains a tunable 1-nm band-pass optical filter and a piezoelectric-transducer (PZT) drum over which a stretch of fiber is wound. The 1-nm-wide pass band of the filter provides coarse tuning to overlap the frequency comb with the atomic transition frequency. Controlled stretching of the fiber by means of the PZT drum can be used in conjunction with temperature control for locking the laser frequency. To reference to an atomic resonance at 780 nm in this demonstration setup, the optical output of the COEO at 1,560 nm is fed through an erbium-doped-fiber amplifier (EDFA) to a frequency doubler in the form of a periodically poled lithium niobate (PPLN) crystal. The frequency-doubled output is combined with the output of a separate frequency-stabilized diode laser at a photodetector. As described thus far, the two 780-nm laser subsystems are nominally independent of each other and can, therefore, operate at different frequencies. Hence, at the photodetector, the two laser beams interfere, so that the output of the photodetector includes a beat note (a component at the difference between the two laser frequencies).

Maleki, Lute↗

Levitated Duct Fan (LDF) Aircraft Auxiliary Generator

This generator concept includes a novel stator and rotor architecture made from composite material with blades attached to the outer rotating shell of a ducted fan drum rotor, a non-contact support system between the stator and rotor using magnetic fields to provide levitation, and an integrated electromagnetic generation system. The magnetic suspension between the rotor and the stator suspends and supports the rotor within the stator housing using permanent magnets attached to the outer circumference of the drum rotor and passive levitation coils in the stator shell. The magnets are arranged in a Halbach array configuration.

Eichenberg, Dennis J.↗

Size Resolved Measurements of Springtime Aerosol Particles over the Northern South China Sea

Large sources of aerosol particles and their precursors are ubiquitous in East Asia. Such sources are known to impact the South China Sea (henceforth SCS), a sometimes heavily polluted region that has been suggested as particularly vulnerable to climate change. To help elucidate springtime aerosol transport into the SCS, an intensive study was performed on the remote Dongsha (aka Pratas) Islands Atoll in spring 2010. As part of this deployment, a Davis Rotating-drum Uniform size-cut Monitor (DRUM) cascade impactor was deployed to collect size-resolved aerosol samples at the surface that were analyzed by X-ray fluorescence for concentrations of selected elements. HYSPLIT backtrajectories indicated that the transport of aerosol observed at the surface at Dongsha was occurring primarily from regions generally to the north and east. This observation was consistent with the apparent persistence of pollution and dust aerosol, along with sea salt, in the ground-based dataset. In contrast to the sea-level observations, modeled aerosol transport suggested that the westerly flow aloft (w700 hPa) transported smoke-laden air toward the site from regions from the south and west. Measured aerosol optical depth at the site was highest during time periods of modeled heavy smoke loadings aloft. These periods did not coincide with elevated aerosol concentrations at the surface, although the model suggested sporadic mixing of this free-tropospheric aerosol to the surface over the SCS. A biomass burning signature was not clearly identified in the surface aerosol composition data, consistent with this aerosol type remaining primarily aloft and not mixing strongly to the surface during the study. Significant vertical wind shear in the region also supports the idea that different source regions lead to varying aerosol impacts in different vertical layers, and suggests the potential for considerable vertical inhomogeneity in the SCS aerosol environment.

South China Sea↗

Mass Inferencing Model Creation And Deployment To Lunar Excavation Robot, RASSOR

NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) Excavator is a teleoperated mobile robotic platform with a unique space regolith excavation capability. This research project developed functionality for inferencing regolith mass ingested during RASSOR operation, enhancing RASSOR’s ability to successfully complete ISRU missions. Radio wave propagation time to the Moon and back is ~2.56 seconds. Though teleoperation is possible with this delay, autonomous capability that enables RASSOR to plan and execute excavation missions intelligently and efficiently is preferred. To teleoperate or run autonomously, it is crucial for the quantity of regolith mass ingested by RASSOR to be available as a system state for efficient operation (e.g. knowledge of whether drums are full informs the task of highest priority, whether it be continuing to dig, or returning to a processing plant to offload regolith). A configurable data reduction and analysis pipeline was created to allow for straightforward incorporation of new data, such as that from lunar excavation, to improve model performance in new environments. Four distinct modeling approaches were employed in developing a mass inferencing approach that could work on RASSOR. All four models take in system states and output a mass prediction for each set of the robot’s bucket drums. Initial results from deployment to RASSOR and testing in a simulated lunar environment show that the models have <10% mean error during robot operation. Future work includes refinement of a model that estimates regolith mass in real-time during excavation as well as further testing of the developed models on the hardware.

ROS↗

Towards Autonomous Lunar Resource Excavation via Reinforcement Learning

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. NASA’s Regolith Advanced Surface Systems Operations Robot (RASSOR) is principally designed to mine and deliver regolith for In-Situ Resource Utilization (ISRU) processing. RASSOR’s design enables it to efficiently collect and deposit regolith, return collected material for processing, and myriad related ISRU activities. To reliably perform these operations on the lunar surface, RASSOR software and sensory systems need to be robust and maximize the information extracted from a reduced sensor payload. Herein, we present preliminary findings from the Intelligent Capabilities Enhanced RASSOR project. We created reduced-order simulation environments to develop autonomous trenching controllers via reinforcement learning and prototype state estimation architectures. The goal of reinforcement learning is for an agent to learn a policy (task strategy) through interactions with an environment. When the agent performs an action, a change occurs in environment state and a numerical reward is received which informs the agent whether the action performed was good or not. Since reinforcement learning algorithms learn through trial-and-error, a simulation is a desirable first environment for development and learning. We developed two simulations, the first is a 2D excavation simulation developed to facilitate parameter selection, and a 3D simulation developed using a game physics engine, to simulate simplified soil interactions and increase the fidelity of the dynamic models of the robotic agents. The development of this 3D simulation has enabled the training of additional sensing capabilities and research both at the granular mechanics and operations levels. We experimented with various virtual sensor payloads to identify a combination that enabled efficient excavation operation and learning. Our reward function is based on how much material is excavated per step. A penalty is also received for leaving the dig site and to smooth the acceleration of the drum arms. We implemented pseudo time-of-flight sensors to report distance from each drum to ground and the height above ground which was found to be more efficient than existing solutions. Our findings suggest that reinforcement learning for autonomous operations has learned viable trenching strategies within 3000 training episodes in our simplified 2D environment and helped identify desirable sensing capabilities, arrangements, and considerations such as the positioning of time-of-flight sensors. Future work includes expanding our simulation to more complex environments and scenarios, and transfer learning from simulation to RASSOR 2.0 hardware for deployment in the Regolith Test Bin at NASA's Kennedy Space Center.

rassor↗

ISRU Pilot Excavator - Development of Autonomous Excavation Algorithms

The ISRU Pilot Excavator (IPEx) is a Space Technology Mission Directorate (STMD) Game Changing Development (GCD) project to develop a robotic excavator to demonstrate excavation of up to 10 metric tons of lunar regolith. IPEx is based on the Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator developed at NASA Kennedy Space Center (KSC) and utilizes a counter rotating bucket drum concept to balance excavation forces for use on reduced gravity planetary bodies. To take advantage of the counter rotating bucket drum mechanism, work is being done to develop new autonomous excavation strategies and algorithms. Referred to as “Auto-dig”, these algorithms will allow IPEx to excavate, drive, and deliver its target mass of 10 metric tons of lunar regolith during an 11-day mission semi-autonomously. Due to bandwidth and latency constraints teleoperation will be kept to a minimum, with operators periodically confirming and verifying the excavator’s high-level tasks and operations. While the work to develop optimized autodig solutions is ongoing at KSC, early tests have yielded interesting results that have led to the discovery of additional risks that need to be mitigated in autonomous excavation. Testing has also encouraged the development of new software and visualization tools that provide real-time insight into excavation loads during operation, allowing faster development and helping build better intuition to the excavation process. These tools will help in the pursuit to develop fully optimized digging algorithms that are robust enough to handle hazards such as rocks or irregular terrain.

B. C. Buckles↗

Lunar Nuclear Reactor Neutron Fluence and Gamma Dose Estimates

NASA aims to deploy a fission reactor on the lunar surface by 2030 to generate 100 kWe of power for at least 10 years without maintenance or refueling. To assess system and subsystem survivability according to those requirements, a model of the reactor pallet was created in the radiation transport code MCNP to determine the neutron fluences and gamma doses that the materials and systems would be exposed to. The model was based on the 2025 government design. The model indicated that the control drum motors, Brayton cycle engines, and pipes and valves would be exposed to neutron fluences of 1×10 15 – 1×10 16 n/cm 2 per year and gamma doses ranging from 10 to 500 Mrad per year. The electronics box housing the instrumentation and control elements is expected to receive 1×10 14 – 1×10 15 n/cm 2 per year and gamma doses in the range of 1–5 Mrad per year. These doses necessitate that the control drum motors, Brayton cycle engines, valve components, control electronics, and other components be radiation-hardened (>10 16 n/cm 2 and >10 Mrad gamma dose) or additionally shielded to survive the 10-year lunar mission.

Radiation-Hardened Materials↗

Design of an Excavation Robot: Regolith Advanced Surface Systems Operations Robot (RASSOR) 2.0

To continue on a sustainable and flexible path, NASA needs to address the challenge of collecting and moving large amounts of regolith at the destination. Acquiring the water resources on Mars will require mining significant quantities of regolith and this is not possible with the state-of-the-art low mass excavation systems. Low gravity environments (Mars = 3/8 G) and launch mass restrictions limit the traction and the resulting reaction force of the vehicle, making current terrestrial techniques impractical. This project addressed this challenge by developing a completely new technology that can mine large quantities of regolith on Mars. Recent measurements by the “Curiosity” rover on Mars have found that the regolith contains ~ 2% water by weight globally, ~4% in Jezero Crater (Human Architecture Team’s reference landing site), and much more at the poles(Leshin et al, 2013). RASSOR 2.0 is a planetary excavator, which has a mass of 66 kg, with a 0.38 kg vehicle mass per kilogram, per hour of excavation rate and power usage of 4 W per kg of regolith excavation rate. A single RASSOR 2.0 can excavate a minimum of 2.7 metric tons of regolith per day.This is accomplished by using counteracting excavation forces on two opposing digging implements called bucket drums and an autonomous mining control system. This work has addressed several major research areas outlined in the NASA Technology Area (TA) 04 Robotics & Autonomous Systems and TA 07 Human Destination Systems roadmaps. This project started at Technology Readiness Level (TRL) 4 as a low fidelity “proof of concept” prototype which has successfully demonstrated basic regolith simulant excavation functionality in a lab-scale gravity off load test. The foundational technology described here was awarded US patent number: US 9027265 for a “Zero horizontal reaction force excavator” on May 12, 2015.

RASSOR↗

Sheet metal strip unrolls to form circular boom

Preformed metal strip, coiled flat on a storage drum, unrolls to form a cylindrical boom. Tabs and slots on opposite sides of the strip interlock to form a continuous circular cross section. This retractable boom can be used as a spacecraft antenna, gravity gradient, or positioning device.

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