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NASA NTRS2018

Zero Launch Mass Three Dimensional Print Head

NASA's strategic goal is to put humans on Mars in the 2030's. The NASA Human Spaceflight Architecture Team (HAT) and NASA Mars Design Reference Architecture (DRA) 5.0 has determined that in-situ resource utilization (ISRU) is an essential technology to accomplish this mission. Additive construction technology using in-situ materials from planetary surfaces will reduce launch mass, allow structures to be three dimensionally (3D) printed on demand, and will allow building designs to be transmitted digitally from Earth and printed in space. This will ultimately lead to elimination of reliance on structural materials launched from Earth (zero launch mass of construction consumables). The zero launch mass (ZLM) 3D print head project addressed this need by developing a system that 3D prints using a mixture of in-situ regolith and polymer as feedstock, determining the optimum mixture ratio and regolith particle size distribution, developing software to convert g-code into motion instructions for a FANUC robotic arm, printing test samples, performing materials testing, and printing a reduced scale habitable structure concept. This paper will focus on the ZLM 3D Print Head design, materials selection, software development, and lessons learned from operating the system in the NASA KSC Swamp Works Granular Mechanics & Regolith Operations (GMRO) Laboratory.

3D print↗

NASA NTRS2018

Zero Launch Mass Three Dimensional Print Head

NASA's strategic goal is to put humans on Mars in the 2030s. The NASA Human Spaceflight Architecture Team (HAT) and NASA Mars Design Reference Architecture (DRA) 5.0 has determined that in-situ resource utilization (ISRU) is an essential technology to accomplish this mission. Additive construction technology using in-situ materials from planetary surfaces will reduce launch mass, allow structures to be three dimensionally (3D) printed on demand, and will allow building designs to be transmitted digitally from Earth and printed in space. This will ultimately lead to elimination of reliance on structural materials launched from Earth (zero launch mass of construction consumables). The zero launch mass (ZLM) 3D print head project addressed this need by developing a system that 3D prints using a mixture of in-situ regolith and polymer as feedstock, determining the optimum mixture ratio and regolith particle size distribution, developing software to convert g-code into motion instructions for a FANUC robotic arm, printing test samples, performing materials testing, and printing a reduced scale habitable structure concept. This paper will focus on the ZLM 3D Print Head design, materials selection, software development, and lessons learned from operating the system in the NASA KSC Swamp Works Granular Mechanics & Regolith Operations (GMRO) Laboratory.

Regolith↗

NASA NTRS2018

Radioisotope Heater Unit-Based Stirling Power Convertor Development at NASA Glenn Research Center

Stirling Radioisotope Power Systems (RPS) are being developed as an option to provide power on future space science missions where robotic spacecraft will orbit, flyby, land or rove. A variety of mission concepts have been studied by NASA and the U. S. Department of Energy that would utilize RPS for landers, probes, and rovers and only require milliwatts to tens of watts of power. These missions would contain science measuring instruments that could be distributed across planetary surfaces or near objects of interest in space solar flux insufficient for using solar cells. A low power Stirling convertor is being developed to provide an RPS option for future low power applications. Initial concepts convert heat available from several Radioisotope Heater Units to electrical power for spacecraft instruments and communication. Initial development activity includes defining and evaluating a variety of Stirling configurations and selecting one for detailed design, research of advanced manufacturing methods that could simplify fabrication, evaluating thermal interfaces, characterizing components and subassemblies to validate design codes, and preparing for an upcoming demonstration of proof of concept in a laboratory environment.

Wilson, Scott D.↗

NASA NTRS2017

Mapping Vinyl Cyanide and Other Nitriles in Titan's Atmosphere Using ALMA

Vinyl cyanide (C2H3CN) is theorized to form in Titan's atmosphere via high-altitude photochemistry and is of interest regarding the astrobiology of cold planetary surfaces due to its predicted ability to form cell membrane-like structures (azotosomes) in liquid methane. In this work, we follow up on the initial spectroscopic detection of C2H3CN on Titan by Palmer et al. with the detection of three new C2H3CN rotational emission lines at submillimeter frequencies. These new, high-resolution detections have allowed for the first spatial distribution mapping of C2H3CN on Titan. We present simultaneous observations of C2H5CN, HC3N, and CH3CN emission, and obtain the first (tentative) detection of C3H8 (propane) at radio wavelengths. We present disk-averaged vertical abundance profiles, two-dimensional spatial maps, and latitudinal flux profiles for the observed nitriles. Similarly to HC3N and C2H5CN, which are theorized to be short-lived in Titan's atmosphere, C2H3CN is most abundant over the southern (winter) pole, whereas the longer-lived CH3CN is more concentrated in the north. This abundance pattern is consistent with the combined effects of high-altitude photochemical production, poleward advection, and the subsequent reversal of Titan's atmospheric circulation system following the recent transition from northern to southern winter. We confirm that C2H3CN and C2H5CN are most abundant at altitudes above 200 km. Using a 300 km step model, the average abundance of C2H3CN is found to be 3.03 +/- 0.29ppb, with a C2H5CN/C2H3CN abundance ratio of 2.43 +/- 0.26. Our HC3N and CH3CN spectra can be accurately modeled using abundance gradients above the tropopause, with fractional scale-heights of 2.05 +/- 0.16 and 1.63 +/- 0.02, respectively.

Lai, J. C.-Y.↗

NASA NTRS2018

Volatiles Loss from Water Bearing Regolith Simulant at Lunar Environments

In-Situ Resource Utilization (ISRU) enables future planetary exploration by using local resources to acquire mission consumables. Water-bearing regolith has been identified on the moon in the permanently shadowed craters. Missions designed to retrieve these resources will require testing in relevant environments. The Planetary Surface Simulation Facility (otherwise known as VF-13) at the NASA Glenn Research Center can create these relevant environments for ground based testing. This dirty thermal vacuum chamber is 3.6 m tall, 1.5 m in diameter, and can achieve pressures on the order of 10-6 Torr. The internal wall of the chamber and the soil bin are separately temperature controlled using liquid nitrogen. For the past four years, the chamber has been used by NASA's Resource Prospector to characterize volatiles loss during regolith sampling operations. Observations from 43 samples suggest agitating the sample during delivery has a significant impact on the volatiles loss. Calculated mass loss rates are consistent for similar size samples. However, the variations in moisture loss do not clearly correlate with measured conditions. Continued testing will examine the impacts of the mechanical sample delivery process.

In Situ Resource Utilization↗

NASA NTRS2018

Development of an Inflatable Airlock for a Deep Space Gateway

Inflatable structures technology utilizes high-strength fabric materials and internal pressure to create a stiffened pressure vessel that can replace traditional metallic primary structure in a habitable spacecraft. The flexibility of fabric structures allows them to be compactly stowed for launch and expanded in space, providing significant launch volume savings. The unique construction and design flexibility of these structures can be customized for a variety of uses in space including landing bags, decelerators, long duration in-space and planetary surface habitats, and even airlocks. An airlock is often a required component of a crewed spacecraft to allow for maintenance and human exploration outside of the vehicle. Airlock designs in use today rely on complex hatches and seals connected by metallic walls. Recent developments towards the design of an inflatable airlock structure show feasibility and a significant launch volume savings over a traditional metallic design. This paper will provide a high-level summary of these projects and the current state-of-the-art in inflatable airlock development with additional references and detail about previous and on-going research, providing guidance for the design of a softgoods airlock system. The use of inflatables in space has been in development since the 1960’s for both habitats and airlocks. The first ever EVA was conducted by the USSR in 1965 using an inflatable airlock known as the Volga. This airlock was attached to the Voskhod 2 spacecraft and turned the vehicle into a dual chamber airlock. The airlock was successfully deployed, used and jettisoned after Alexey Leonov’s historic spacewalk. Additional work on human-rated inflatable structures was not continued until the late 1990’s when NASA-JSC led an effort to demonstrate these structures as feasible long-term pressurized elements with the TransHab project. The technology developed and pioneered during this project led to multiple patents and proven feasibility that inflatables could be used for large habitable structures. Following TransHab, Bigelow Aerospace continued the development of inflatable structures with technical support from NASA. This partnership eventually led to the successful flight certification, launch, attachment and deployment of the Bigelow Expandable Activities Module (BEAM) on the ISS in 2016. Inflatable and expandable airlock structures have undergone various detailed feasibility studies and testing for over 15 years, most notably with the Advanced Inflatable Airlock (AIA), Dual-Chamber Hybrid Inflatable Suitlock (DCIS), Minimalistic Advanced Soft Hatch (MASH), and Lightweight External Inflatable Airlock (LEIA). During this time, full-scale articles have been built and pressure-tested, and mock-ups and demonstrators have been constructed and evaluated. During the 2001-2003 timeframe, the AIA concept was matured through requirements development, conceptual design, subscale and full-scale engineering breadboards subjecting various test articles to deployment and pressure testing up to four times operating pressure. These tests proved the feasibility of successful deployment and structural integrity of an inflatable crewlock. Additional testing was performed in the ensuing years, as funding permitted, to further refine additional structural and deployment concepts and to understand the EVA crewmember interfaces, hatches and EVA support equipment interfaces that would be required for a fully functioning airlock. This work resulted in a refinement of the structural requirements and an accounting of the systems needed in an inflatable airlock. In 2014, the MASH project developed an ultra-lightweight airlock concept with a fabric hatch that utilized a unique pressure vessel shape to minimize structural loads around a linear seal. The concept uses an automated zipper-like seal that allows for crew egress/ingress. Most of the development work on the project thus far has focused on the design, analysis and testing of the primary structure and the zipper-like seal system is in the preliminary stages of development with a successful proof-of-concept test. As part of the 2017 LEIA effort, studies were conducted on EVA crewmember interfaces on the inside of an inflatable airlock. These efforts included the design of an internal secondary structure and placement of handholds and foot restraints to enable hatch opening, closing and translation through the airlock. Structural design, analysis and testing was completed on several secondary structure candidates. Crew interface testing was also completed using an inflatable crewlock mockup and the JSC Active Response Gravity Offload System (ARGOS) to simulate the movement of an EVA crewmember through an inflatable crewlock in microgravity. The results of these tests helped demonstrate the feasibility of utilizing an inflatable structure as an airlock and informed the required volume, hatch size, and configuration and location of translation aids for crewmembers in a microgravity crewlock. The ISS Quest airlock uses a dual-chamber design with isolated compartments known as the equipment-lock and the crewlock. The equipment-lock houses the Servicing, Performance and Checkout Equipment (SPCE) items (suit batteries, consumables, etc.) while the crewlock has limited internal hardware and is the nominally depressurized compartment during US EVAs. While inflatable dual chamber airlocks have been studied, the current state of the art emphasizes an inflatable crewlock-type structure attached to a rigid equipment-lock type or habitat structure. Since a large portion of the hardware in the equipment-lock are rigid components and connectors that are installed on the ground - and an inflatable structure does not achieve full structural capabilities until pressurized in space - a depressurized fabric structure cannot provide the capabilities of a full equipment-lock. The use of an inflatable as a crewlock, however, provides all the required capabilities for EVA operations in a small launch package that offers significant volume savings over a metallic crewlock. The functions of a traditional equipment lock, including the SPCE, could be provided by a spacecraft’s habitat module or node and not necessarily in a separate equipment lock. An inflatable crewlock would be attached to the vehicle and launched in a packed and compressed state, saving volume under the launch shroud and mass for the overall airlock element compared to a rigid crewlock. Work is currently underway to continue development of an inflatable airlock with a variety of focus areas including the consideration of crew-induced loads and interfaces, the design and development of an internal sub-structure to provide translation aids and restraints, the thermal considerations of a fabric shell depressurized during an EVA, the micrometeorite environment in deep space, and the packaging and deployment of an inflatable airlock.

Deep Space Exploration↗

NASA NTRS2018

1-Watt Radioisotope Power System for Small Spacecraft

A variety of mission concepts have been studied by NASA and the U. S. Department of Energy that would utilize low power Radioisotope Power Systems (RPS) for small probes, landers, rovers, and communication repeaters. These missions would contain science measuring instruments that could be distributed across planetary surfaces for operation in temporarily or permanently shadowed regions. High efficiency dynamic RPS could be mission enabling for science measurements on the moon, such as collecting real-time, event-based, or cumulative space radiation measurements including primary galactic cosmic rays (GCR), solar particle events (SPE), and secondary particles liberated during atmospheric and/or surface reactions. Small RPS would use fractional versions of the General Purpose Heat Source (GPHS) or Light Weight Radioisotope Heater Units (LWRHU), to heat the power conversion technologies. Capable of three to four times higher conversion efficiency than static technologies, dynamic RPS would provide an equal amount of power using less fuel or more power using an equal amount of fuel. Providing spacecraft with more power could decrease duty cycling of basic functions and increase the quality and abundance of science data. Low power Stirling convertors are being developed at NASA Glenn Research Center (GRC) to provide future micro spacecraft with electrical power by converting heat from one or more LWRHUs. An initial concept would convert eight Watts of heat to one Watt of electrical power output for science instruments and communication. The initial design, called Small Stirling Technology Exploration Power (smallSTEP), is 11 cm diameter X 32 cm long, weighs around 3 kg, and could be used to charge batteries or capacitors for higher power burst usage. Development of the 1-watt RPS includes maturation of a Stirling engine and linear alternator, an electronics controller, and an evacuated metal foil insulation package. Test hardware and facilities are being prepared for initial demonstration of the subassemblies in a laboratory environment.

Wilson, Scott↗

NASA NTRS2019

BioBot: Innovative Offloading of Astronauts for More Effective Exploration

The BioBot concept consists of a robotic rover which is capable of traversing the same terrain as a spacesuited human. It carries the primary life support system for the astronaut, including consumables, atmosphere revitalization systems (e.g., CO2 scrubbing, humidity and temperature management, ventilation fan), power system (e.g., battery, power management and distribution),and thermal control system (e.g., water sublimator, cooling water pump), along with umbilical lines to connect to the supported astronaut. Although not technically part of life support, it would be logical for the BioBot to also provide long-range communications, video monitoring, tool and sample transport, and other functions to enable and enhance EVA productivity in planetary surface exploration.The design reference scenario for this concept is that astronauts involved in future lunar or Mars exploration will be on the surface for weeks or months rather than days, and will be involved in regular EVA operations. It is not unreasonable to think of geologists spending several days inEVA exploration each week over a prolonged mission duration, with far more ambitious operational objectives than were typical of Apollo. In this scenario, each astronaut will be accompanied by a "BioBot", which will transport their life support system and consumables, an extended umbilical and umbilical reel, and robotic systems capable of controlling the position and motion of the umbilical. The astronaut will be connected to the robot via the umbilical, carrying only a small emergency open-loop life support system similar to those contained in every PLSS. The robotic mobility base will be designed to be capable of traveling anywhere the astronaut can walk, and will also be useful as a transport for the EVA tools, science instrumentation, and collected samples. In addition, the BioBot can potentially carry the astronaut on traverses as well. Such a system will also be a significant enhancement to public engagement in these future exploration missions, as the robotic vehicles can also support high-resolution cameras and high bandwidth communications gear to providehigh-definition video coverage of each crew throughout each EVA sortie.

Akin, David L.↗

NASA NTRS2019

Characterization and Measurement of Spacecraft Airborne Particulate Matter

The International Space Station (ISS) gives a 6-member astronaut crew the ability to live and work in low Earth orbit. It is a unique indoor environment, which has served as both home and workplace to over 230 people since the year 2000. In this low gravity environment, smoke does not rise and cookie crumbs do not settle the way they do on Earth, causing airborne particulate matter, or aerosols, to behave differently and pose unique hazards for crew members. In its existence, virtually the same volume of ISS air has been continuously conditioned and ‘revitalized,’ including the removal of particles by filtration. While gaseous constituents of ISS air are monitored meticulously, sparse data exists on the indoor aerosols. The quantity and types of ISS airborne debris have been investigated in NASA’s Aerosol Sampling Experiment. Both active and passive samplers successfully collected airborne particulate matter in U.S. segments of the ISS, which were returned to Earth for characterization by microscopy and other techniques. The resulting data has informed the design of candidate particle instruments for spacecraft. In 2020, a reference-quality aerosol instrument will be flown to ISS, and will provide real-time data of particle concentrations in various modules. Smaller, more compact instruments will be necessary in future space missions, for example, in smaller vehicles, in habitats on lunar and planetary surfaces with ubiquitous dust, and also for use as wearable technology throughout missions. Miniaturized aerosol sensors, though lower fidelity than reference-quality instruments, can monitor the environment well when calibrated appropriately. Indoor air quality in spacecraft is fundamentally important to human health and comfort, and several particulate monitoring technologies will be at sufficient technology readiness levels for operational use within the next two years. Results of the Aerosol Sampling Experiment will be presented, along with the status of NASA’s aerosol instrument technology demonstrations on ISS.

Meyer, Marit E.↗

NASA NTRS2018

Mega-Drivers to Inform NASA Space Technology Strategic Planning

The National Aeronautics and Space Administration (NASA) Space Technology Mission Directorate (STMD) has been developing a new Strategic Framework to guide investment prioritization and communication of STMD strategic goals to stakeholders. STMD’s analysis of global trends identified four overarching drivers which are anticipated to shape the needs of civilian space research for years to come. These Mega-Drivers form the foundation of the Strategic Framework. The Increasing Access Mega-Driver reflects the increase in the availability of launch options, more capable propulsion systems, access to planetary surfaces, and the introduction of new platforms to enable exploration, science, and commercial activities. Accelerating Pace of Discovery reflects the exploration of more remote and challenging destinations, drives increased demand for improved abilities to communicate and process large datasets. The Democratization of Space reflects the broadening participation in the space industry, from governments to private investors to citizens. Growing Utilization of Space reflects space market diversification and growth. This paper will further describe the observable trends that inform each of these Mega Drivers, as well as the interrelationships between them within STMD’s new Strategic Framework.

Grande, Melanie L.↗

NASA NTRS2019

Machine Learning Approaches to Data Reduction from the MapX X-ray Fluorescence Instrument for Detection of Biosignatures and Habitable Planetary Environments

The search for evidence of life or its processes involves the detection of biosignatures suggestive of extinct or extant life, or the determination that an environment either has or once had the potential to harbor life. In situ elemental imaging is useful in either case, since features on the mm to μm scale reveal geological processes which may indicate past or present habitability. The Mapping X-ray Fluorescence Spectrometer (MapX) is an in-situ instrument designed to identify these features on planetary surfaces. Here we present progress on instrument development, data analysis methods, and element quantification.

Walroth, Richard C.↗

NASA NTRS2019

Untangling Source-To-Sink Geochemical Signals in a ~3.5 Ga Martian Lake: Sedimentology and Geochemistry of the Murray Formation

Sedimentary rocks are historical archives of planetary surface processes; their grains, textures, and chemistry integrate the effects of source terrains, paleoclimatic conditions, weathering and transport processes, authigenic mineral precipitation, and diagenesis, which records groundwater chemistry through time. “Source to Sink” basin analysis seeks to constrain the influence of each of these different signals through sedimentary and geochemical analyses. Here, we use Mars Science Laboratory (MSL) Curiosity rover images and geochemical and mineralogical data from a traverse across a portion of the Murray formation—the lowermost unit exposed in the Gale crater central mound—to begin to constrain the aspects of the source to sink system that formed this Martian mudstone between 3.7 and 3.2 Ga.

Siebach, K. L.↗

NASA NTRS2020

NASA's Geoscience Training Program for Astronauts

Geoscientists have been training and preparing astronauts to observe the Earth from space and explore other planetary surfaces with a legacy that reaches back to the early days of the space program. Continuing this legacy and critical function, a core NASA team has been closely coordinating with the Johnson Space Center (JSC) Flight Operations Directorate (FOD) as well as academic, institute, and other governmental partners to conduct a comprehensive geoscience training program that ranges from initial astronaut candidate training to preparing crew for Artemis missions. Described below are the three program training phases, along with recent program highlights and forward planning.

Graff, T. G.↗

NASA NTRS2020

Gateway Lunar Habitat Modules as the Basis for a Modular Mars Transit Habitat

This paper provides a summary of the results from a recent concept study of various configurations for a Mars Transit Habitat. The designs considered are composed of modules based on published contractor concepts proposed for the lunar Gateway through NASA’s NextSTEP program. Using these Gateway concepts as a starting point for the design of a Mars Transit Habitat has potential advantages. Both Gateway and Mars Transit Habitats will have similar requirements for long-term operations in deep space, autonomous and remote operations when the crew is not onboard, and similar requirements for transferring crew to and from a planetary surface—the Moon and Mars respectively. The contractor designs for Gateway were traded against a monolithic transit habitat previously proposed by NASA’s Mars Integration Group. In addition, these concepts were considered for a “shakedown” mission for the transit habitat hardware in cislunar space to build confidence in new systems, including the advanced environmental control and life support systems needed for Mars missions. The results presented include overall vehicle configurations, mass, and volume estimates for the selected design concepts. Two concepts using large expandable modules are identified as leading candidates for a Mars Transit Habitat and the remaining elements are identified as representative of the habitable pressure vessels needed for safe haven configurations, logistics modules, surface habitats, rovers, and descent and ascent crew cabins in the overall Mars Architecture.

Smitherman, David↗

NASA NTRS2019

Advances in Space Radiation Physics and Transport

The space radiation environment is a complex mixture of particle types and energies originating from sources inside and outside of the galaxy. These environments may be modified by the heliospheric and geomagnetic conditions as well as planetary bodies and vehicle or habitat mass shielding. In low Earth orbit (LEO), the geomagnetic field deflects a portion of the galactic cosmic rays (GCR) and all but the most intense solar particle events (SPE). There are also dynamic belts of trapped electrons and protons with low to medium energy and intense particle count rates. In deep space, the GCR exposure is more severe than in LEO and varies inversely with solar activity. Unpredictable solar storms also present an acute risk to astronauts if adequate shielding is not provided. Near planetary surfaces such as the Earth, moon or Mars, secondary particles are produced when the ambient deep space radiation environment interacts with these surfaces and/or atmospheres. These secondary particles further complicate the local radiation environment and modify the associated health risks. Characterizing the radiation fields in this vast array of scenarios and environments is a challenging task and is currently accomplished with a combination of computational models and dosimetry. The computational tools include models for the ambient space radiation environment, mass shielding geometry, and atomic and nuclear interaction parameters. These models are then coupled to a radiation transport code to describe the radiation field at the location of interest within a vehicle or habitat. Many new advances in these models have been made in the last decade, and the present review article focuses on the progress and contributions made by workers and collaborators at NASA in the same time frame. Although great progress has been made, and models continue to improve, significant gaps remain and are discussed in the context of planned future missions. Of particular interest is the juxtaposition of various review committee findings regarding the accuracy and gaps of combined space radiation environment, physics, and transport models with the progress achieved over the past decade. While current models are now fully capable of characterizing radiation environments in the broad range of forecasted mission scenarios, it should be remembered that uncertainties still remain and need to be addressed.

Space radiation↗

NASA NTRS2019

Workforce for the Future Development of Space Access Vehicles

The development of advanced vehicles that will travel between planetary surfaces with atmospheres and space requires the availability of experimental and computational capabilities that accomplish the research leading to new technologies and the development, test, and evaluation (RDT&E) of new flight systems. The United States is at risk of not having the required RDT&E workforce – qualified and in sufficient numbers – in place and ready to meet the future market’s commercial and defense needs. Systemic challenges include uncertain Federal budgets that limit and interrupt government research and development, the projectized nature of new space access systems that drive boom/bust cycles, an aging aerospace workforce (compounded by a mid-age demographic gap), limited to declining investment in sustaining and advancing experimental and computational tools infrastructure, lack of standards for sharing (and leveraging) data, dramatically changing technologies, changing social norms, and potentially large increases in commercial market needs. Flight systems have mission-based trajectories to and from space and designers must ensure risk is properly assessed across the entire trajectory. Thus, physics questions must be answered at each stage of flight, which requires a suite of experimental and computational tools. The RDT&E workforce utilizing these tools include subject matter experts from the producers, interested in acquiring data and information on the product, and from the capabilities being utilized, interested in addressing the product customer’s needs (providing robust data collection techniques, data quality, timeliness – available when needed, efficient with cost management, and teaming on data analysis). This requires a range of skills – in addition to aerospace, other engineers, and software developers, a highly trained and certified craft and technician workforce is critical to future success. This paper will present a human resources construct that addresses the system of needs for people – including, but more than just technical skills and an application of that construct in the hypersonic Test and Evaluation (T&E) community. This is part of a larger AIAA effort to document challenges and associated best practices for the aerospace RDT&E workforce.

Steven C Dunn↗

NASA NTRS2018

Mega-Drivers to Inform NASA Space Technology Strategic Planning

Melanie L Grande↗

NASA NTRS2010

TPSAS-NF1676L-10766-DND

A novel device has been invented at the Langley Research Center that can provide a wide variety of operational capabilities on planetary surfaces. The device is a autonomous three-degree-of-freedom hybrid crane-manipulator robot that uses a truss architecture to achieve a very light weight. This talk describes the manipulator concept and summarizes its operational versatility and capabilities.

John T Dorsey↗