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At least 1,135 records · Page 63
All sourcesNASA NTRSDOE OSTI
NASA NTRS2013

Modeling and Analysis of Asynchronous Systems Using SAL and Hybrid SAL

We present formal models and results of formal analysis of two different asynchronous systems. We first examine a mid-value select module that merges the signals coming from three different sensors that are each asynchronously sampling the same input signal. We then consider the phase locking protocol proposed by Daly, Hopkins, and McKenna. This protocol is designed to keep a set of non-faulty (asynchronous) clocks phase locked even in the presence of Byzantine-faulty clocks on the network. All models and verifications have been developed using the SAL model checking tools and the Hybrid SAL abstractor.

Tiwari, Ashish↗
NASA NTRS2013

An Evaluation of a High Pressure Regulator for NASA's Robotic Lunar Lander Spacecraft

The Robotic Lunar Lander (RLL) development project office at NASA Marshall Space Flight Center is currently studying several lunar surface science mission concepts. The focus is on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface or other air-less bodies in the solar system. Initial trade studies of launch vehicle options indicate the spacecraft will be significantly mass and volume constrained. Because of the investment by the DOD in low mass, highly volume efficient components, NASA has investigated the potential integration of some of these technologies in space science applications. A 10,000 psig helium pressure regulator test activity has been conducted as part of the overall risk reduction testing for the RLL spacecraft. The regulator was subjected to typical NASA acceptance testing to assess the regulator response to the expected RLL mission requirements. The test results show the regulator can supply helium at a stable outlet pressure of 740 psig within a +/- 5% tolerance band and maintain a lock-up pressure less than the +5% above nominal outlet pressure for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for the internal seat leakage at lock-up and less than 10-5 SCCS for external leakage through the regulator body. The successful test has shown the potential for 10,000 psig helium systems in NASA spacecraft and has reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.

Burnside, Christopher G.↗
NASA NTRS2014

Centering a DDR Strobe in the Middle of a Data Packet

The Orion CEV Northstar ASIC (application- specific integrated circuit) project required a DDR (double data rate) memory bus driver/receiver (DDR PHY block) to interface with external DDR memory. The DDR interface (JESD79C) is based on a source synchronous strobe (DQS\) that is sent along with each packet of data (DQ). New data is provided concurrently with each edge of strobe and is sent irregularly. In order to capture this data, the strobe needs to be delayed and used to latch the data into a register. A circuit solves the need for training a DDR PRY block by incorporating a PVT-compensated delay element in the strobe path. This circuit takes an external reference clock signal and uses the regular clock to calibrate a known delay through a data path. The compensated delay DQS signal is then used to capture the DQ data in a normal register. This register structure can be configured as a FIFO (first in first out), in order to transfer data from the DDR domain to the system clock domain. This design is different in that it does not rely upon the need for training the system response, nor does it use a PLL (phase locked loop) or a DLL (delay locked loop) to provide an offset of the strobe signal. The circuit is created using standard ASIC building blocks, plus the PVT (process, voltage, and temperature) compensated delay line. The design uses a globally available system clock as a reference, alleviating the need to operate synchronously with the remote memory. The reference clock conditions the PVT compensated delay line to provide a pre-determined amount of delay to any data signal that passes through this delay line. The delay line is programmed in degrees of offset, so that one could think of the clock period representing 360deg of delay. In an ideal environment, delaying the strobe 1/4 of a clock cycle (90deg) would place the strobe in the middle of the data packet. This delayed strobe can then be used to clock the data into a register, satisfying setup and hold requirements of the system.

Johnson, Michael↗
NASA NTRS2014

Modifications of the Quasi-biennial Oscillation by a Geoengineering Perturbation of the Stratospheric Aerosol Layer

This paper examines the impact of geoengineering via stratospheric sulfate aerosol on the quasi-biennial oscillation (QBO) using the NASA Goddard Earth Observing System (GEOS-5) Chemistry Climate Model. We performed four 30-year simulations with a continuous injection of sulfur dioxide on the equator at 0 degree longitude. The four simulations differ by the amount of sulfur dioxide injected (5Tg per year and 2.5 Tg per year) and the altitude of the injection (16km-25km and 22km-25km). We find that such an injection dramatically alters the quasi-biennial oscillation, prolonging the phase of easterly shear with respect to the control simulation. In the case of maximum perturbation, i.e. highest stratospheric aerosol burden, the lower tropical stratosphere is locked into a permanent westerly QBO phase. This locked QBO westerly phase is caused by the increased aerosol heating and associated warming in the tropical lower stratosphere.

Geoengineering↗
NASA NTRS2014

Understanding the Effects of Spaceflight on Head-trunk Coordination During Walking and Obstacle Avoidance

Prolonged exposure to spaceflight conditions results in a battery of physiological changes, some of which contribute to sensorimotor and neurovestibular deficits. Upon return to Earth, functional performance changes are tested using the Functional Task Test (FTT), which includes an obstacle course to observe post-flight balance and postural stability, specifically during turning. The goal of this study was to quantify changes in movement strategies during turning events by observing the latency between head-and-trunk coordinated movements. It was hypothesized that subjects experiencing neurovestibular adaptations would exhibit head-to-trunk locking ('en bloc' movement) during turning, exhibited by a decrease in latency between head and trunk movement. FTT data samples were collected from 13 ISS astronauts and 26 male 70-day head down tilt bed rest subjects, including bed rest controls (10 BRC) and bed rest exercisers (16 BRE). Samples were analyzed three times pre-exposure, immediately post-exposure (0 or 1 day post) and 2-to-3 times during recovery from the unloading environment. Two 3D inertial measurements units (XSens MTx) were attached to subjects, one on the head and one on the upper back. This study focused primarily on the yaw movements about the subject's center of rotation. Time differences (latency) between head and trunk movement were averaged across a slalom obstacle portion, consisting of three turns (approximately three 60⁰ turns). All participants were grouped as 'decreaser' or 'increaser,' relating to their change in head-to-trunk movement latency between pre- and post- environmental adaptation measures. Space flight unloading (ISS) showed a bimodal response between the 'increaser' and 'decreaser' group, while both bed rest control (BRC) and bed rest exercise (BRE) populations showed increased preference towards a 'decreaser' categorization, displaying greater head-trunk locking. It is clear that changes in movement strategies are adopted during exposure to an unloading environment. These results further the understanding of vestibular-somatosensory convergence and support the use of bed rest as an exclusionary model to better understand sensorimotor changes in space flight.

Madansingh, S.↗
NASA NTRS2017

Computationally Efficient Beam Elements for Accurate Stresses in Sandwich Laminates and Laminated Composites with Delaminations

Laminated composites are prone to delamination failure due to the lack of reinforcement through the thickness. Therefore, during the design process the initiation and propagation of delaminations should be accounted for as early as possible. This paper presents computationally efficient nine degree-of-freedom (dof) and eight-dof shear locking-free beam elements using the mixed form of the refined zigzag theory (RZT(sup(m))). The corresponding nine-dof and eight-dof elements use the anisoparametric and constrained anisoparametric interpolation schemes, respectively, to eliminate shear locking in slender beams. The advantage of the present element over previous RZT beam elements is that no post-processing is required to accurately model the transverse shear stress while maintaining the computational efficiency of a low-order beam element. Comparisons with high-fidelity finite element models and three-dimensional elasticity solutions show that the elements can robustly and accurately predict the displacement field, axial stress and transverse shear stress through the thickness of a sandwich beam or a composite laminate with an embedded delamination. In fact, the accuracy and computational efficiency of predicting stresses in laminates with embedded delaminations make the present elements attractive choices for RZT-based delamination initiation and propagation methodologies available in the literature.

R. M. J. Groh↗
NASA NTRS2016

Flight Phasemeter on the Laser Ranging Interferometer on the GRACE Follow-On Mission

As the first inter-spacecraft laser interferometer, the Laser Ranging Interferometer (LRI) on the GRACE Follow-On Mission will demonstrate interferometry technology relevant to the LISA mission. This paper focuses on the completed LRI Laser Ranging Processor (LRP), which includes heterodyne signal phase tracking at µcycle/vHz precision, differential wavefront sensing, offset frequency phase locking and Pound-Drever-Hall laser stabilization. The LRI design has characteristics that are similar to those for LISA: 1064nm NPRO laser source, science bandwidth in the mHz range, MHz-range intermediate frequency and Doppler shift, detected optical power of tens of picoWatts. Laser frequency stabilization has been demonstrated at a level below 30 Hz/vHz, better than the LISA requirement of 300 Hz/vHz. The LRP has completed all performance testing and environmental qualification and has been delivered to the GRACE Follow-On spacecraft. The LRI is poised to test the LISA techniques of tone-assisted time delay interferometry and arm-locking. GRACE Follow-On launches in 2017.

Bachman, B↗
NASA NTRSDate not supplied

Perturbations, TTVs & the (Un)reliability of Ephemerides of Kepler Planets

Fractional uncertainties quoted for orbital periods of the vast majority of planet candidates listed in recent Kepler catalogs are $<10^{-5}$, with values $\sim 10^{-6}$ (corresponding to 2 minutes per 4 years) being typical. These small uncertainties suggest ephemeris predictions for most Kepler planets are robust for decades to come. Tabulated periods list formal uncertainties in the mean times between midpoints of successive transits during the time interval in which transits were observed. However, transit timing variations (TTVs) produce errors in estimates of some planets’ orbital periods that need to be accounted for in certain dynamical investigations and ephemeris predictions. Periodic TTVs with timescales short compared to the interval of Kepler observations largely average out and do not produce significant errors in estimates of orbital periods. TTVs with timescales comparable to the interval of Kepler observations have been fit for dozens of Kepler planet candidates to estimate long-term average orbital periods (Holczer et al. 2016, ApJS 225, 9), and more detailed dynamical models have been used to estimate long-term average periods of a small number of well-studied planets. Most Kepler planets that show large TTVs are near mean-motion orbital resonances with other planets. The largest effect for planets moderately close to two-body resonances are due to rotation of the forced eccentricity vector by resonant perturbations; the timescale for this precession is typically short, so the variations tend to average out. Libration of planets locked in resonances typically occurs on timescales longer than the Kepler baseline, but few Kepler planets appear to be resonantly-locked. The more general but smaller (during the era of Kepler observations) effect is caused by secular precession of the planets' free eccentricities usually has a period much longer than the baseline of the Kepler observations, so it is not accounted for in estimates of mean periods or uncertainties. This precession causes a discrepancy between Kepler era mean orbital period and long-term mean orbital period can exist even for planets having TTVs that are too small to be observable during the epoch of Kepler observations.

Kepler↗
NASA NTRS1996

Deconvolution Approach to Carrier and Code Multipath Error Elimination in High Precision GPS

This paper proposes a novel technique based on the deconvolution approach of the simultaneous estimation and compensation of the multipath estimation errors in both the carrier phase lock and the code delay lock loops in GPS receivers. Simulation results are presented showing that the proposed GPS receiver algorithm achieves high precision in the range and differential range estimation in various GPS precision applications such as spacecraft attitude control, even in a relatively severe multipath environment.

GPS↗
NASA NTRS2019

Towards Articulated Mobility and Efficient Docking for the DuAxel Tethered Robot System

Sites of increasing interest for planetary science,such as craters, cold traps, and vents lie in terrains that are inaccessible to state-of-the-art rovers. The Jet Propulsion Laboratory, in collaboration with Caltech, is actively developing a tethered mobile robot, Axel, for traversing and exploring extremely steep terrain, such as Recurring Slope Lineae on Mars and vertical pits on the Moon. However, on Mars, where landing-site uncertainty is high due to the presence of an atmosphere, Axel may need to traverse several kilometers from its lander untethered due to a finite tether carrying capacity (⇠300m). This paper proposes a novel design for a hybrid mobility system that allows a pair of Axel rovers to dock, lock, and drive long distances as a four-wheeled, articulated steering vehicle. The design improves upon prior efforts to achieve DuAxel mobility by leveraging two actuated docking mechanisms attached on opposite ends of a central module to enable ‘sit/stand’ functionality; the prior DuAxel system was limited to skid steering, which was inefficient due to Axel’s grouser-style, high-friction wheels. In the proposed system, the ‘sit’ configuration is achieved by aligning each dock parallel to the surface, allowing one Axel to detach and explore while the other remains docked and serves as a backup. While ‘sitting’, the central module rests on the ground and is outfitted with shovel-style wedges for passive anchoring to sandy terrain (an optional drill can be integrated for anchoring to rock). In order to ‘stand’, the exploring Axel reattaches, locks, and both docks are rotated until Axel’s tether caster arm is upright and the central module is lifted off the ground. Once upright, each Axel rotates about a pivot point for articulated, all-wheel steering, which is accomplished by applying differential wheel torques. The main contributions of this paper are i) a detailed systems design of the docking mechanism and central module, ii) kinematic modeling of articulated mobility and ‘sit/stand’ docking functionality, and iii) initial testing in a relevant environment to characterize the mobility of the proposed system.

Nesnas, Issa↗
NASA NTRS2021

EnDEVR: An Environment for Data Engineering in VR

Organizations within the public and private sectors are looking to improve their data science operations for research, development, and operational purposes. As this interest in data science grows, so too does interest in tools and programs that facilitating such operations. This paper presents EnDEVR, the Environment for Data Engineering in Virtual Reality, a user-extensible system that allows for the execution of custom data science functions. We describe the user-centered design process for the EnDEVR system, based on the needs of subject matter experts within the aerospace and aviation industries. Fundamental to this design is a method for users to integrate their existing analysis code (that may leverage third-party vendors) as usable objects in the virtual environment; this allows organizations to operate without the price tag and lifetime obligations associated with commercial data science toolkits, a concept known as “vendor lock-in”. We then present our system design with iterative implementations, and conclude with lessons learned. The presented work may provide insight into future user-centered design processes for VR applications, particularly for digital transformation stakeholders to circumvent vendor lock-in.

Human-centered computing↗
NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
NASA NTRS2020

Design and Development of a Robust Chuck Mechanism for the Mars2020 Coring Drill

The Sampling and Caching Subsystem (SCS) onboard the Mars2020 rover includes a coring drill that can perform coring, abrasion, and regolith collection operations. The coring drill requires a chuck mechanism to allow for the changing of the bits needed to perform sampling. The chuck mechanism must be capable of securely connecting a bit under drilling, rover slip, and pullout loads, but also readily release a bit after application of these loads. The Mars2020 chuck consists of a ball lock mechanism that allows for robust engagement and release of bit assemblies that is preloaded to ensure a secure, stiff connection between the bit assembly and the rest of the corer. To prevent jamming, the chuck incorporates rollers to preload the ball lock. The rollers are mounted onto a flexured cam that minimizes changes in internal mechanism loads that result from thermally induced dimensional changes, further mitigating the potential for jamming. The chuck mechanism is moved between engaged, disengaged, and loose chuck positions by rotating the cam with a gearmotor that incorporates a magnetic detent brake that prevents inadvertent mechanism motion under design loads. Ongoing testing is occurring on the qualification model in a dirty environment while coring and abrading rocks in a Mars representative environment.

Barletta, Anthony↗
NASA NTRSDate not supplied

Development of 2.05 µm Fiber Lasers for CO2 DIAL Lidar Measuring Martian CO2 and Pressure

The Decadal Survey by the National Academy of Sciences in the United States and NASA’s Science Mission Directorate (SMD) Science Plan both require global CO 2 observations for the Martian atmospheric pressure, dynamics and chemistry. However, there are significant observational gaps in polar regions and during nighttime for global air pressure and CO 2 on Mars. Therefore, recently we proposed a new concept of Martian differential absorption lidar (DIAL) operating in the 2.05 µm CO 2 absorption band for global, including poles, atmospheric CO 2 and pressure observations day and night [1]. Based on the concept, we are awarded to develop 2.05 µm fiber lasers by the NASA Planetary Instrument Concepts for the Advancement of Solar System Observations (PICASSO) Program. The laser is designed to be an all-fiber master oscillator and power amplifier (MOPA) system with laser output of ~3 mJ at a repetition frequency of 2 kHz. The primary master oscillator (PMO) is locked to the center (2.0504280 µm) of the selected CO 2 absorption line. The frequency of a second MO (SMO) is locked to that of PMO. This SMO frequency is adjustable and switched between the online (2.05044156 µm) and offline (2.05050812 µm) wavelengths. The online wavelength is optimally selected so that the CO 2 absorption optical depth (AOD) is ~1.1 at 3 km and the measurement in the low Martian atmosphere has largest signal-to-noise ratio. The online wavelength can also be adjusted to a line slope location where AOD is larger to observe atmospheric pressure at higher altitudes. We will present more detail about this project and instrument development at the conference.

Zhaoyan Liu↗
NASA NTRSDate not supplied

Understanding and Utilizing PBL Height Data from Multiple Observing Systems in the GEOS System

The accuracy of PBL height simulation is a key issue in many applications including forecasting near surface meteorology and air quality, however, it is a very challenging problem due to the lack of not only comprehensive, global Planetary Boundary Layer (PBL) observations but also a strategy and infrastructure to utilize PBL height data from a variety of sensors. Following the designation of PBL as an incubation class observable in the 2017 Decadal Survey, the PBL Incubation Study Team Report [14] made clear that “a future global PBL observing system requires modeling and data assimilation as essential components.” There is an urgent need for global modeling development in order to utilize Program of Record (POR) observations, assess their impacts, and identify gaps to be filled by future PBL missions. Our overall objective is to develop PBL data assimilation capabilities in the NASA Global Earth Observing System (GEOS), focusing on PBL height from multiple observing systems, to support the assessment and use of future PBL observations. The NASA GEOS system is composed of the GEOS global atmospheric general circulation model (AGCM) and the atmospheric data assimilation system (ADAS). The PBL parameterizations include the “Lock” K-profile scheme driven by surface and cloud-top buoyancy fluxes ([4]), and the “Louis” local scheme for stable conditions based on the Richardson number ([5]). Above the mixed layer defined by the Lock surface plume, shallow cumulus convection is represented by the mass flux scheme of [9]. Additional parameterizations are summarized in [1]. The ADAS employs the hybrid 4D Ensemble- Variational (EnVar) configuration ([15]), with the ensemble providing flow-dependent background error covariance information. The resultant analysis increments are fed back to the forecast model through the 4D incremental analysis update (IAU) approach ([11]). In this study, PBL height data are being or have been generated from radiosondes, GNSS RO, satellite (CATS, CALIPSO and ICESat-2) and ground-based (MPLNET) lidars, and wind profiler. Investigations have been conducted to specify quality marks for PBL height retrievals for the data assimilation purpose. These PBL height data have different strengths and weaknesses ([2], [3], [6], [7], [8], [10]), and the satellite PBL height data provide better global coverage and complement in-situ PBL height data. Radiosondes offer high accuracy and in situ measurement of temperature and humidity profiles, but with poor spatio-temporal sampling. The in-situ observing systems like MPLNET and wind profiler provide long history of PBL height records at each station. The GNSS RO based PBL height is retrieved based on the sharp gradients in refractivity profile that represent the fine vertical structure of temperature and moisture changes above the PBL. However, not all RO refractivity profiles reach the surface depending on location and regime, and RO refractivity retrievals can be negatively biased below 2km. The PBL height data from satellite lidars provide high resolution along track PBL height retrievals, but over land they are affected by previous day convective PBL aerosol and strongly associated with mixing layer and retrievals cannot be made below thick, attenuating clouds. A successful assimilation of PBL height data requires a thorough understanding of the observing method and the retrieval algorithm for each observing system in order to use the PBL height data from multiple observing systems properly. Due to the sensitivity of PBL height data to the observing method and choice of algorithm, it is important to use a model definition appropriate for each observation type to compute differences between PBL height data and model PBL height (OmFs). The GEOS model currently includes two PBL height definitions suitable for direct comparison with observed PBL height, and additional definitions are being added in this study. Evaluation of different model PBL height definitions is underway. Meanwhile, efforts have been made in the GEOS data assimilation system to develop PBL height data assimilation capability. PBL height data can be assimilated using two different approaches. The traditional approach is to construct an observation operator and its tangent linear and adjoint, which link control variables to PBL height data from each observing system. This observation operator can be very complicated, e.g., the lidar-based PBL height observation operator includes the backscatter lidar forward observation operator, the algorithm to derive PBL height from attenuated total backscatter, interpolation, and calculations handling the mismatch between observed and model scales. The other approach is to augment PBL height to the control variable vector, and it is adopted in this study. The latter approach was also used in previous studies, e.g., the assimilation of PBL height data from radiosonde and aircraft in the Real Time Mesoscale Analysis (RTMA) system for a dispersion modelling study ([13]); the PBL height assimilation study using lidar PBL height data at Greensburg, Kansas for a field campaign ([12]). The PBL height assimilation from multiple observing systems in this study allows us to take advantage of the diverse PBL height data that provide much better global coverage collectively under different meteorological conditions and with different temporal and spatial scales. As all the PBL heights are tightly coupled with the PBL thermodynamic variables, the strong correlations, which are provided by the 4D ensemble forecast, enable PBL height data from various sources to interact and combine coherently and provide additional information for PBL temperature and moisture fields. The results of comparisons among PBL height data from different sources and the evaluation of the model PBL height definitions with the PBL height data will be presented, and the PBL height data synergy strategies and preliminary results will also be discussed at the conference.

Y. Zhu↗
NASA NTRSDate not supplied

SOLL-E: A Module Transport and Placement Robot for Autonomous Assembly of Discrete Lattice Structures

This paper presents the design and development of a transport and placement robot that demonstrates autonomous assembly of structural building blocks. The robots are intended to serve as a critical component of automated structural assembly and maintenance systems. The Scaling Omni-directional Lattice Locomoting Explorer (SOLL-E) uses a 5-DoF bipedal inchworm locomotion architecture with locking foot and cargo grippers. The locomotion system employs large magnet gap diameter BLDC motors with moderate timing belt gearing for primary joints, and DC planetary gearmotors for turning. Foot and cargo grippers are identical, with servo-actuated locking mechanisms. Three modular controller boards are used to control these actuators in real-time, with command and telemetry data transferred between the server and each controller board via WiFi. Functionality and performance were evaluated in a ground demonstration.

robotics↗
NASA NTRSDate not supplied

Progress of 2.05 μm Fiber Laser Development for CO2 DIAL Measurements of Martian CO2 and Pressure

The Decadal Survey by the US National Academy of Sciences in the United States and NASA’s Science Mission Directorate (SMD) Science Plan both require global CO2 observations for the Martian atmospheric pressure, dynamics and CO2 variations. However, there are significant observational gaps in polar regions and during nighttime for global air pressure and CO2 on Mars. Therefore, recently we proposed a new concept of Martian differential absorption lidar (DIAL) operating in the 2.05 μm CO2 absorption band for global, including poles, atmospheric CO2 and pressure observations day and night. Based on the concept, we are awarded to develop 2.05 μm fiber lasers by the NASA Planetary Instrument Concepts for the Advancement of Solar System Observations (PICASSO) Program. The laser is designed to be an all-fiber master oscillator and power amplifier (MOPA) system with laser out put of ~3 mJ at a repetition frequency of 2 kHz. The primary master oscillator (PMO) is locked to the center (2.0504280 μm) of the selected CO2 absorption line. The frequency of a second MO (SMO) is locked to that of PMO. This SMO frequency is adjustable and switched between the online (2.05044156 μm) and offline (2.05050812 μm) wavelengths. The online wavelength is optimally selected so that the CO2 absorption optical depth (AOD) is ~1.1 at 3 km and the measurement in the low Martian atmosphere has largest signal-to-noise ratio. The online wavelength can also be adjusted to a line slope location where AOD is larger to observe atmospheric pressure at higher altitudes. We will present more details about this project and instrument development.

CO2↗
DOE OSTI2020

Subcritical-voltage magnetron RF power source

A system and method of operating a magnetron power source can achieve a broad range of output power control by operating a magnetron with its cathode voltage lower than that needed for free running oscillations (e.g., below the Kapitsa critical voltage or equivalently below the Hartree voltage) A sufficiently strong injection-locking signal enables the output power to be coherently generated and to be controlled over a broad power range by small changes in the cathode voltage. In one embodiment, the present system and method is used for a practical, single, frequency-locked 2-magnetron system design.

30 DIRECT ENERGY CONVERSION↗