SEARCH · Engineering Papers

Results for “mobility behavior”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 127 records · Page 7

All sources NASA NTRS DOE OSTI

NASA NTRS2003

Electrospun Polyaniline/Polyethylene Oxide Nanofiber Field Effect Transistor

We report on the observation of field effect transistor (FET) behavior in electrospun camphorsulfonic acid doped polyaniline(PANi)/polyethylene oxide(PE0) nanofibers. Saturation channel currents are observed at surprisingly low source/drain voltages. The hole mobility in the depletion regime is 1.4 x 10(exp -4) sq cm/V s while the 1-D charge density (at zero gate bias) is calculated to be approximately 1 hole per 50 two-ring repeat units of polyaniline, consistent with the rather high channel conductivity (approx. 10(exp -3) S/cm). Reducing or eliminating the PEO content in the fiber is expected to enhance device parameters. Electrospinning is thus proposed as a simple method of fabricating 1-D polymer FET's.

Pinto, N. J.↗

NASA NTRS2020

Material Remodelling and Unconventional Gaits Facilitate Locomotion of a Robophysical Rover Over Granular Terrain

Autonomous robots and vehicles must occasionally recover from locomotion failure in loosely consolidated granular terrain. Recent mobility challenges led NASA Johnson Space Center to develop a prototype robotic lunar rover Resource Prospector 15 (RP15) capable of wheeled, legged, and crawling behavior. To systematically understand performance of such a device, we developed a scaled-down rover robot and studied its locomotion on slopes of dry and wet granular media. Addition of a cyclic legged gait to the robot’s wheel spinning action changes the robot dynamics from that of a wheeled vehicle to a locomotor paddling through frictional fluid. Granular drag force measurements and modified Resistive Force Theory facilitate modeling of such dynamics. A peculiar gait strategy that agitates and cyclically reflows grains under the robot allows it to ‘swim’ up loosely consolidated hills. Whereas substrate disturbance typically hinders locomotion in granular media, the multi-mode design of RP15 and a diversity of possible gaits facilitate formation of self-organized localized frictional fluids that enable effective robust transport.

Siddharth Shrivastava↗

NASA NTRS1985

DMSK: A practical 2400-bps receiver for the mobile satellite service: An MSAT-X Report

The partical aspects of a 2400-bps differential detection minimum-shift-keying (DMSK) receiver are investigated. Fundamental issues relating to hardware precision, Doppler shift, fading, and frequency offset are examined, and it is concluded that the receiver's implementation at baseband is more advantageous both in cost and simplicity than its IF implementation. The DMSK receiver has been fabricated and tested under simulated mobile satellite environment conditions. The measured receiver performance in the presence of anomalies pertinent to the link is presented in this report. Furthermore, the receiver behavior in a band-limited channel (GMSK) is also investigated. The DMSK receiver performs substantially better than a coherent minimum-shift-keying (MSK) receiver in a heavily fading environment. The DMSK radio is simple and robust, and results in a lower error floor than its coherent counterpart. Moreover, this receiver is suitable for burst-type signals, and its recovery from deep fades is fast.

Davarian, F.↗

NASA NTRS1989

A design strategy for autonomous systems

Some solutions to crucial issues regarding the competent performance of an autonomously operating robot are identified; namely, that of handling multiple and variable data sources containing overlapping information and maintaining coherent operation while responding adequately to changes in the environment. Support for the ideas developed for the construction of such behavior are extracted from speculations in the study of cognitive psychology, an understanding of the behavior of controlled mechanisms, and the development of behavior-based robots in a few robot research laboratories. The validity of these ideas is supported by some simple simulation experiments in the field of mobile robot navigation and guidance.

Forster, Pete↗

NASA NTRS1993

Experiments with a small behaviour controlled planetary rover

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

Miller, David P.↗

NASA NTRS2012

Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

Contreras, Michael T.↗

NASA NTRS2004

Primate Anatomy, Kinematics, and Principles for Humanoid Design

The primate order of animals is investigated for clues in the design of Humanoid Robots. The pursuit is directed with a theory that kinematics, musculature, perception, and cognition can be optimized for specific tasks by varying the proportions of limbs, and in particular, the points of branching in kinematic trees such as the primate skeleton. Called the Bifurcated Chain Hypothesis, the theory is that the branching proportions found in humans may be superior to other animals and primates for the tasks of dexterous manipulation and other human specialties. The primate taxa are defined, contemporary primate evolution hypotheses are critiqued, and variations within the order are noted. The kinematic branching points of the torso, limbs and fingers are studied for differences in proportions across the order, and associated with family and genus capabilities and behaviors. The human configuration of a long waist, long neck, and short arms is graded using a kinematic workspace analysis and a set of design axioms for mobile manipulation robots. It scores well. The re emergence of the human waist, seen in early Prosimians and Monkeys for arboreal balance, but lost in the terrestrial Pongidae, is postulated as benefiting human dexterity. The human combination of an articulated waist and neck will be shown to enable the use of smaller arms, achieving greater regions of workspace dexterity than the larger limbs of Gorillas and other Hominoidea.

Ambrose, Robert O.↗

NASA NTRS1986

Model verifies design of mobile data modem

It has been proposed to use differential minimum shift keying (DMSK) modems in spacecraft-based mobile communications systems. For an employment of these modems, it is necessary that the transmitted carrier frequency be known prior to signal detection. In addition, the time needed by the receiver to lock onto the carrier frequency must be minimized. The present article is concerned with a DMSK modem developed for the Mobile Satellite Service. This device demonstrated fast acquisition time and good performance in the presence of fading. However, certain problems arose in initial attempts to study the acquisition behavior of the AFC loop through breadboard techniques. The development of a software model of the AFC loop is discussed, taking into account two cases which were plotted using the model. Attention is given to a demonstration of the viability of the modem by an approach involving modeling and analysis of the frequency synchronizer.

Davarian, F.↗

NASA NTRS1993

Calorimetric studies of the ammonia-water system with application to the outer solar system

A series of heating experiments was performed on the condensed ammonia-water system using a differential scanning calorimeter (DSC). The water-rich samples were cooled quickly to below 130 K, then heated at a variety of rates. Rather than a single peritectic melt at 176 K, expected for the equilibrium system of water ice and ammonia dihydrate, four enthalpic transitions were repeatedly seen in the temperature range 150-176 K. These transitions are generally consistent with the earlier calorimetric results of Van Kasteren (1973), who interpreted the lowest temperature exotherm as crystallization of an amorphous ammonia-water compound formed during cooling. We propose that both sets of experiments are seeing the crystallization of ammonia monohydrate, which is metastable relative to the dihydrate, followed by partial remelting and crystallization of dihydrate upon further heating. The apparent stability of the monohydrate in the dihydrate equilibrium field implies a potentially complex behavior of ammonia-water ices in satellites. Possible self-heating of the mixture by several tens of degrees up to the 170 K eutectic could make mobilization of ammonia-water liquids in icy satellite interiors energetically easier than previously thought.

Yarger, Jeffery↗

NASA NTRS2009

Lightweight Bulldozer Attachment for Construction and Excavation on the Lunar Surface

A lightweight bulldozer blade prototype has been designed and built to be used as an excavation implement in conjunction with the NASA Chariot lunar mobility platform prototype. The combined system was then used in a variety of field tests in order to characterize structural loads, excavation performance and learn about the operational behavior of lunar excavation in geotechnical lunar simulants. The purpose of this effort was to evaluate the feasibility of lunar excavation for site preparation at a planned NASA lunar outpost. Once the feasibility has been determined then the technology will become available as a candidate element in the NASA Lunar Surface Systems Architecture. In addition to NASA experimental testing of the LANCE blade, NASA engineers completed analytical work on the expected draft forces using classical soil mechanics methods. The Colorado School of Mines (CSM) team utilized finite element analysis (FEA) to study the interaction between the cutting edge of the LANCE blade and the surface of soil. FEA was also used to examine various load cases and their effect on the lightweight structure of the LANCE blade. Overall it has been determined that a lunar bulldozer blade is a viable technology for lunar outpost site preparation, but further work is required to characterize the behavior in 1/6th G and actual lunar regolith in a vacuum lunar environment.

Mueller, Robert↗

NASA NTRS1983

Electrophoretic purification of cells in space - Evaluation of results from STS-3

The procedure and results of Electrophoresis Equipment Verification Test, designed to examine electrophoretic behavior of animal cells is suspension more concentrated than possible on earth and flown on the Shuttle flight STS-3, were discussed. Ground-based laboratory values of electrophoretic mobilities of a mixture of human and rabbit aldehyde-fixed red blood cells (RBC) were compared with those recorded at 11 minute intervals on the Shuttle STS-3. RBC migration and separation observed through photographic records were not as expected. However, cell mobilities and migrating band profiles were consistent with the results of laboratory simulation experiments. It was concluded that zero G electrophoresis of very high concentrations (1 x 10 to the 9th) is possible and similar to electrophoresis of normal cell concentrations on earth.

Sarnoff, B. E.↗

NASA NTRS1988

Mechanisms of elevated-temperature deformation in the B2 aluminides NiAl and CoAl

A strain rate change technique, developed previously for distinguishing between pure-metal and alloy-type creep behavior, was used to study the elevated-temperature deformation behavior of the intermetallic compounds NiAl and CoAl. Tests on NiAl were conducted at temperatures between 1100 and 1300 K while tests on CoAl were performed at temperatures ranging from 1200 to 1400 K. NiAl exhibits pure-metal type behavior over the entire temperature range studied. CoAl, however, undergoes a transition from pure-metal to alloy-type deformation behavior as the temperature is decreased from 1400 to 1200 K. Slip appears to be inherently more difficult in CoAl than in NiAl, with lattice friction effects limiting the mobility of dislocations at a much higher tmeperature in CoAl than in NiAl. The superior strength of CoAl at elevated temperatures may, therefore, be related to a greater lattice friction strengthening effect in CoAl than in NiAl.

Yaney, D. L.↗

NASA NTRS2001

Embedded Coplanar Strips Traveling-Wave Photomixers

The electric field distribution in photomixers with electrodes deposited on the surface has already been calculated. It was shown that the strength of the electric field diminishes rapidly with depth. It was argued that the resulting reduction of the effective interaction volume of the device lowers the optical-to-heterodyne conversion. In this paper, we will present the results of our investigation on the influence of the electrode placement on the performance of photomixers. We have fabricated and measured traveling-wave photomixer devices which have both embedded and surface electrodes - the nominal spacing between the electrodes was 2 micrometers. Devices were made using either low-temperature-grown (LTG)-GaAs or ErAs:GaAs as the photoconductive material. The dark current, photocurrent, and radio frequency (RF) emission were measured at nominally 1 THz. The experimental data show a surprising difference in the behavior of ErAs:GaAs devices when the electrodes are embedded. A factor of two increase in RF radiation is observed for electric fields < 20 kV/cm. No such improvement was observed for the LTG-GaAs devices. We argue that the distinctive behavior of the two photoconductive materials is due to differences in the crystal structure - LTG-GaAs is isotropic, while ErAs:GaAs is uniaxial. We find that the carrier mobility in-plane (parallel) to the ErAs layers in the ErAs:GaAs superlattice is larger than orthogonal to these layers. The data indicate that carrier velocity overshoot is responsible for the excess radiation produced for the embedded electrode ErAs:GaAs devices.

Wyss, R. A.↗

NASA NTRS2002

Algorithms and Sensors for Small Robot Path Following

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

path following↗

NASA NTRS1982

A comparison of lidar and balloon-borne particle counter measurements of the stratospheric aerosol 1974-1980

The optical radar measurements considered in the present investigation are those which have been obtained routinely at Hampton, VA (37.1 deg N, 76.3 deg W) since 1974. The dustsonde measurements are those made monthly at Laramie, WY (41.2 deg N, 105 deg W). The extensive data sets acquired with these two instruments during the time period 1974-80 permit a long-term comparison of the two different measurement techniques. The balloon-borne dustsonde pumps ambient air in a well-defined stream through an illuminated chamber where individual aerosol particles scatter light into photodetectors. The optical radar system used in the studies has a ruby laser with a 48-inch Cassegrainian configured telescope mounted on a mobile platform to collect the backscattered laser light. The investigation shows that optical radar measurements, dustsonde measurements, and realistic optical models together give a very consistent picture of stratospheric aerosol behavior.

Swissler, T. J.↗

NASA NTRS2016

COMMIT in 7-SEAS/BASELInE: Operation of and Observations from a Novel, Mobile Laboratory for Measuring In-Situ Properties of Aerosols and Gases

Trace gases and aerosols (particularly biomass-burning aerosols) have important implications for air quality and climate studies in Southeast Asia (SEA). This paper describes the purpose, operation, and datasets collected from NASA Goddard Space Flight Center's (NASA/GSFC) Chemical, Optical, and Microphysical Measurements of In-situ Troposphere (COMMIT) laboratory, a mobile platform designed to measure trace gases and optical/microphysical properties of naturally occurring and anthropogenic aerosols. More importantly, the laboratory houses a specialized humidification system to characterize hygroscopic growth/enhancement, a behavior that affects aerosol properties and cloud-aerosol interactions and is generally underrepresented in the current literature. A summary of the trace gas and optical/microphysical measurements is provided, along with additional detail and analysis of data collected from the hygroscopic system during the 2015 Seven South-East Asian Studies (7-SEAS) field campaign. The results suggest that data from the platform are reliable and will complement future studies of aerosols and air quality in SEA and other regions of interest.

aerosols↗

NASA NTRS2014

Focal Gray Matter Plasticity as a Function of Long Duration Head-down Tilt Bed Rest

Long duration spaceflight (i.e., > or = 22 days) has been associated with changes in sensorimotor systems, resulting in difficulties that astronauts experience with posture control, locomotion, and manual control. The microgravity environment is an important causal factor for spaceflight induced sensorimotor changes. Whether these sensorimotor changes may be related to structural and functional brain changes is yet unknown. However, experimental studies revealed changes in the gray matter (GM) of the brain after simulated microgravity. Thus, it is possible that spaceflight may affect brain structure and thereby cognitive functioning and motor behavior. Long duration head-down tilt bed rest has been suggested as an exclusionary analog to study microgravity effects on the sensorimotor system. Bed rest mimics microgravity in body unloading and bodily fluid shifts. In consideration of the health and performance of crewmembers both in- and post-flight, we are conducting a prospective longitudinal 70-day bed rest study as an analog to investigate the effects of microgravity on the brain. VBM analysis revealed a progressive decrease from pre- to in- bed rest in GM volume in bilateral areas including the frontal medial cortex, the insular cortex and the caudate. Over the same time period, there was a progressive increase in GM volume in the cerebellum, occipital-, and parietal cortex, including the precuneus. The majority of these changes did not fully recover during the post-bed rest period. Analysis of lobular GM volumes obtained with BRAINS showed significantly increased volume from pre-bed rest to in-bed rest in GM of the parietal lobe and the third ventricle. Temporal GM volume at 70 days in bed rest was smaller than that at the first pre-bed rest measurement. Trend analysis showed significant positive linear and negative quadratic relationships between parietal GM and time, a positive linear relationship between third ventricle volume and time, and a negative linear relationship between cerebellar GM volume and time. FM performance improved from pre-bed rest session 1 to session 2. From the second pre-bed rest measure to the last-day-in-bed rest, there was a significant decrease in performance that only partially recovered post-bed rest. No significant association was observed between changes in brain volume and changes in functional mobility. Extended bed rest, which is an analog for microgravity, can result in local volumetric GM increase and decrease and adversely affect functional mobility. These changes in brain structure and performance were not related in this sample. Whether the effects of bed rest dissipate at longer times post-bed rest, and if they are associated with behavior are important questions that warrant further research including more subjects and longer follow-up times.

Koppelmans, V.↗

NASA NTRS1979

A model of Martian surface chemistry

Alkaline earth and alkali metal superoxides and peroxides, gamma-Fe2O3 and carbon suboxide polymer, are proposed to be constituents of the Martian surface material. These reactive substances explain the water modified reactions and thermal behaviors of the Martian samples demonstrated by all of the Viking Biology Experiments. It is also proposed that the syntheses of these substances result mainly from electrical discharges between wind-mobilized particles at Martian pressures; plasmas are initiated and maintained by these discharges. Active species in the plasma either combine to form or react with inorganic surfaces to create the reactive constituents.

Oyama, V. I.↗