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NASA NTRSDate not supplied

Comparisons of CFD Simulations of Icing Wind Tunnel Clouds with Experiments Conducted at the NASA Propulsions Systems Laboratory

This paper evaluates simulation predictions against experimental test data of icing clouds that were produced during 2018 ice crystal icing physics tests conducted at the NASA Propulsion Systems Laboratory icing wind tunnel. Aero-thermal and cloud parameters are set and known upstream at the tunnel inlet and spray system, but change as the cloud and air thermodynamically interact as the flowing masses reach the tunnel test section. Utilizing the ANSYS Fluent Discrete Phase Model function, 3D computational fluid dynamics (CFD) simulations were performed, capturing the thermodynamic interactions between the test parameters, and providing predictions of the aero thermal and cloud conditions at the tunnel test section. Simulation predictions were compared with test data that were measured at the tunnel exit plane. Evaluations focused on the cloud concentration (total water content), humidity content, and air temperature. CFD simulation predictions showed areas of agreement and disagreement. Simulations showed that cloud concentration profiles at the test section are strongly related to the initial spray nozzle pattern used at the tunnel inlet. Experimental data suggest that greater dispersion of the cloud occurred as the simulated cloud predicted areas of high and low cloud concentration compared to test data profiles. Simulations, however, captured the magnitude and location of the change in humidity content and the change in air temperature due to the presence of the cloud reasonably well, when compared to test data. This result would suggest that while the ANSYS simulation did not fully predict the spreading of the cloud as measured during experiment, it did capture evaporation and the molecular movements of air and vapor relatively well.

CFD↗

NASA NTRS2019

Challenges in Qualification of Thermal Protection Systems in Extreme Entry Environments

Planetary entry vehicles employ ablative TPS materials to shield the aeroshell from entry aeroheating environments. To ensure mission success, it must be demonstrated that the heat shield system, including local features such as seams, does not fail at conditions that are suitably margined beyond those expected in flight. Furthermore, its thermal response must be predictable, with acceptable fidelity, by computational tools used in heat shield design. Mission assurance is accomplished through a combination of ground testing and material response modelling. A material's robustness to failure is verified through arcjet testing while its thermal response is predicted by analytical tools that are verified against experimental data. Due to limitations in flight-like ground testing capability and lack of validated high-fidelity computational models, qualification of heat shield materials is often achieved by piecing together evidence from multiple ground tests and analytical simulations, none of which fully bound the flight conditions and vehicle configuration. Extreme heating environments (>2000 W/sq. cm heat flux and >2 atm pressure), experienced during entries at Venus, Saturn and Ice Giants, further stretch the current testing and modelling capabilities for applicable TPS materials. Fully-dense Carbon Phenolic was the material of choice for these applications; however, since heritage raw materials are no longer available, future uses of re-created Carbon Phenolic will require re-qualification. To address this sustainability challenge, NASA is developing a new dual-layer material based on 3D weaving technology called Heat shield for Extreme Entry Environments (HEEET). Regardless of TPS material, extreme environments pose additional certification challenges beyond what has been typical in recent NASA missions. Scope of this presentation: This presentation will give an overview of challenges faced in verifying TPS performance at extreme heating conditions. Examples include: (1) Bounding aeroheating parameters (heat flux, pressure, shear and enthalpy) in ground facilities. How to certify TPS if environments can't be bounded or aeroheating parameters can't be simultaneously achieved. (2) Higher uncertainties in ground test environments (facility calibration and analytical predictions) at extreme conditions. (3) Testing in flows similar to planetary atmosphere composition (H2/He for Gas and Ice Giants). (4) Test sample size limitations for qualifying seam designs. (5) Lack of computational tools capable of simulating all significant aspects of TPS performance (including initiation and propagation of failures). This presentation will provide recommendations on how the EDL community can address these challenges and mitigate some of the risks involved in flying TPS materials at extreme conditions. Examples include: (1) Dedicated activity to understanding TPS failure modes. Develop computational tools capable of modelling fluid interaction with material's thermostructural response. Validate these tools through failure testing. A better understanding of failure mechanisms may eliminate the need to fully bound all aeroheating parameters in ground testing. (2) Enhancements to current testing facilities to simulate flight-like ablation mechanism (ex. testing in Nitrogen at Ames Interaction Heating Facility to limit oxidation in favor of more sublimation). (3) Improved characterization of test conditions with new diagnostic methods and determination of environment uncertainty through rigorous statistical analysis of available data. (4) Design margin policies that are directly tied to uncertainties in ground test environments and modelling fidelity

Mahzari, Milad↗

NASA NTRS2014

Martian Oceans: Old Debate - New Insights

The possibility of an ancient ocean in the northern lowlands of Mars has been discussed for decades [1-14], but the subject remains controversial [15-20]. Among the many unique features of the northern lowlands is the extensive development of "giant polygons" - polygonal landforms that range from 1 to 20 km across. The kilometer-scale size of these features distinguishes them from a variety of smaller polygons (usually < 250 m) on Mars that have been compared to terrestrial analogs such as ice-wedge and desiccation features. However, until recently, geologists were aware of no examples of polygons on Earth comparable in scale to the giant polygons of Mars, so there were no good analogs from which to draw interpretations. That picture has changed with 3D seismic data acquired by the petroleum industry in exploration of offshore basins. The new data reveal kilometer-scale polygonal features in more than 50 offshore basins on Earth]. These features provide a credible analog for the giant polygons of Mars.

Oehler, Dorothy Z.↗

NASA NTRS2014

Simulation of Fluid Flow and Collection Efficiency for an SEA Multi-element Probe

Numerical simulations of fluid flow and collection efficiency for a Science Engineering Associates (SEA) multi-element probe are presented. Simulation of the flow field was produced using the Glenn-HT Navier-Stokes solver. Three-dimensional unsteady results were produced and then time averaged for the heat transfer and collection efficiency results. Three grid densities were investigated to enable an assessment of grid dependence. Simulations were completed for free stream velocities ranging from 85-135 meters per second, and free stream total pressure of 44.8 and 93.1 kilopascals (6.5 and 13.5 pounds per square inch absolute). In addition, the effect of angle of attack and yaw were investigated by including 5 degree deviations from straight for one of the flow conditions. All but one of the cases simulated a probe in isolation (i.e. in a very large domain without any support strut). One case is included which represents a probe mounted on a support strut within a finite sized wind tunnel. Collection efficiencies were generated, using the LEWICE3D code, for four spherical particle sizes, 100, 50, 20, and 5 micron in diameter. It was observed that a reduction in velocity of about 20% occurred, for all cases, as the flow entered the shroud of the probe. The reduction in velocity within the shroud is not indicative of any error in the probe measurement accuracy. Heat transfer results are presented which agree quite well with a correlation for the circular cross section heated elements. Collection efficiency results indicate a reduction in collection efficiency as particle size is reduced. The reduction with particle size is expected, however, the results tended to be lower than the previous results generated for isolated two-dimensional elements. The deviation from the two-dimensional results is more pronounced for the smaller particles and is likely due to the reduced flow within the protective shroud. As particle size increases differences between the two-dimensional and three dimensional results become negligible. Taken as a group, the total collection efficiency of the elements including the effects of the shroud has been shown to be in the range of 0.93 to 0.99 for particles above 20 microns. The 3D model has improved the estimated collection efficiency for smaller particles where errors in previous estimates were more significant.

Water Content↗

NASA NTRS2001

Tropical Oceanic Precipitation Processes Over Warm Pool: 2D and 3D Cloud Resolving Model Simulations

Rainfall is a key link in the hydrologic cycle as well as the primary heat source for the atmosphere. The vertical distribution of convective latent-heat release modulates the large-scale circulations of the topics. Furthermore, changes in the moisture distribution at middle and upper levels of the troposphere can affect cloud distributions and cloud liquid water and ice contents. How the incoming solar and outgoing longwave radiation respond to these changes in clouds is a major factor in assessing climate change. Present large-scale weather and climate model simulate processes only crudely, reducing confidence in their predictions on both global and regional scales. One of the most promising methods to test physical parameterizations used in General Circulation Models (GCMs) and climate models is to use field observations together with Cloud Resolving Models (CRMs). The CRMs use more sophisticated and physically realistic parameterizations of cloud microphysical processes, and allow for their complex interactions with solar and infrared radiative transfer processes. The CRMs can reasonably well resolve the evolution, structure, and life cycles of individual clouds and clouds systems. The major objective of this paper is to investigate the latent heating, moisture and momentum budgets associated with several convective systems developed during the TOGA COARE IFA - westerly wind burst event (late December, 1992). The tool for this study is the Goddard Cumulus Ensemble (GCE) model which includes a 3-class ice-phase microphysics scheme.

Tao, W.-K.↗

NASA NTRS2010

Analysis of TRMM-LIS Lightning and Related Microphysics Using a Cell-Scale Database

Previous studies of tropical lightning activity using Tropical Rainfall Measurement Mission (TRMM) Lightning Imaging Sensor (LIS) data performed analyses of lightning behavior over mesoscale "feature" scales or over uniform grids. In order to study lightning and the governing ice microphysics intrinsic to thunderstorms at a more process-specific scale (i.e., the scale over which electrification processes and lightning occur in a "unit" thunderstorm), a new convective cell-scale database was developed by analyzing and refining the University of Utah's Precipitation Features database and retaining precipitation data parameters computed from the TRMM precipitation radar (PR), microwave imager (TMI) and LIS instruments. The resulting data base was to conduct a limited four-year study of tropical continental convection occurring over the Amazon Basin, Congo, Maritime Continent and the western Pacific Ocean. The analysis reveals expected strong correlations between lightning flash counts per cell and ice proxies, such as ice water path, minimum and average 85GHz brightness temperatures, and 18dBz echo top heights above the freezing level in all regimes, as well as regime-specific relationships between lighting flash counts and PR-derived surface rainfall rates. Additionally, radar CFADs were used to partition the 3D structure of cells in each regime at different flash counts. The resulting cell-scale analyses are compared to previous mesoscale feature and gridded studies wherever possible.

Leroy, Anita↗

DOE OSTI2020

Understanding asymmetries using integrated simulations of capsule implosions in low gas-fill hohlraums at the National Ignition Facility

Current capsule implosions at the National Ignition Facility (NIF) using high-density-carbon ablators and laser energies close to 2 MJ have shown neutron yields in excess of 50 kJ. Improving on this performance requires understanding of the different degradation mechanisms. For many NIF implosions, nuclear diagnostic signatures have inferred residual hot-spot velocities that correlate with fuel areal density variations consistent with a low-order mode-1 asymmetry. A current working hypothesis attributes these asymmetries to a combination of beam to beam variations in the laser delivery and possibly coupling to target features, such as the diagnostic holes needed for x-ray imaging. Recently, a new source has been identified, thickness variation in the ablator shell. To gain better understanding and eventually mitigate the causes of <ρR> asymmetries, 3D integrated simulations using the actual delivered laser powers are needed. To capture the effect of the diagnostic holes (DHs) using direct numerical simulation would require significantly large computational resources. Instead, our 3D simulations make use of a subgrid model developed using highly-resolved 2D simulations that include several details of the DH engineering complexity. Simulations of NIF shots using hohlraums without DHs, to isolate the effect of beam-to-beam variations, reproduce fairly well the observed nuclear diagnostic signatures. Similarly, reasonable agreement between data and simulations is also obtained in the presence of diagnostic holes. To account for the remaining discrepancies a sensitivity study of ablator thickness variation showed that 1% thickness asymmetries are comparable in effect to 1% peak drive mode-1 asymmetries. Furthermore, this study identified sensitivity to variations in the imbedded doped layer (needed to shield the DT ice from the high energy x-rays generated in the hohlraum) thickness even when the inner and outer surface of the ablator are perfectly spherical.

radiation hydrodynamics↗

NASA NTRS2019

Thermal Protection System Technology Maturation and Sustainment in Support of In-situ Science Missions: HEEET and PICA

Among the challenges faced by the Entry Descent and Landing (EDL) community have been: the lack of a matured forebody heatshield thermal protection system (TPS) capable of meeting the demanding entry environments for the high priority in-situ science missions identified in the decadal survey at Venus, Saturn and the Ice Giants, and the continued sustainment of thermal protection systems/materials. In response to the identified shortfall in TPS technologies capable of extreme entry environments NASA's Space Technology Mission Directorate (STMD) and Science Mission Directorate (SMD) initiated the Heatshield for Extreme Entry Environment Technology (HEEET) project which has matured a 3D-Woven TPS to Technology Readiness Level 6 and which is ready for infusion into these high priority missions. During the development of HEEET long term sustainability was a key consideration. However existing TPS also continue to face sustainability issues. Phenolic Impregnated Carbon Ablator (PICA) has been/is being utilized by many SMD Missions (Stardust, Mars Science Laboratory, OSIRIS-Rex, Mars 2020, Dragonfly) and is under consideration for others including Mars Sample Return, so maintaining PICA for the long term is a priority for NASA. This presentation will discuss raw material sustainability challenges faced by PICA and the efforts by NASA to work with Fiber Materials Inc (FMI) to resolve these challenges with a more sustainable supply chain. In addition, NASA is working with FMI to increase the manufacturing scale for single piece PICA heatshields and to expand the aerothermal performance envelop maturing PICA for larger sized heatshield and more aggressive entry environments. This presentation will also identify challenges and limitations with these systems, particularly around understanding failure modes in these materials and systems and how understanding these may allow use of these systems in environments that are difficult to achieve in ground based testing.

Heatshield for Extreme Entry Environment Technolog↗

NASA NTRS2019

Thermal Protection System Technology Maturation and Sustainment in Support of In Situ Science Missions: HEEET and PICA

Challenges faced by the Entry Descent and Landing (EDL) community include the lack of a matured forebody heatshield thermal protection system (TPS) capable of meeting the demanding entry environments for the high priority in-situ science missions identified in the decadal survey at Venus, Saturn and the Ice Giants, and the continued sustainment of thermal protection systems/materials. In response to the identified shortfall in TPS technologies capable of extreme entry environments NASA's Space Technology Mission Directorate (STMD) and Science Mission Directorate (SMD) initiated the Heatshield for Extreme Entry Environment Technology (HEEET) project which has matured a 3D-Woven TPS to Technology Readiness Level 6 and which is ready for infusion into these high priority missions. During the development of HEEET long term sustainability was a key consideration. However existing TPS also continue to face sustainability issues. Phenolic Impregnated Carbon Ablator (PICA) has been/is being utilized by many SMD Missions (Stardust, Mars Science Laboratory, OSIRIS-Rex, Mars 2020, Dragonfly) and is under consideration for others including Mars Sample Return, so maintaining PICA for the long term is a priority for NASA. This presentation will discuss raw material sustainability challenges faced by PICA and the efforts by NASA to work with Fiber Materials Inc (FMI) to resolve these challenges with a more sustainable supply chain. In addition, NASA is working with FMI to increase the manufacturing scale for single piece PICA heatshields and to expand the aerothermal performance envelop maturing PICA for larger sized heatshield and more aggressive entry environments. This presentation will also identify challenges and limitations with these systems, particularly around understanding failure modes in these materials and systems and how understanding these may allow use of these systems in environments that are difficult to achieve in ground based testing

Phenolic Impregnated Carbon Ablator (PICA)↗

NASA NTRSDate not supplied

Status of the 3-MDCP, the 3-D Woven TPS enabling MSR Earth Entry System Development

While the HEEET project established the dual-layer, 3-D Woven TPS at TRL 6 for extreme entry environment missions such as Saturn and Ice-Giant Probe missions, subsequent to the completion of HEEET project in 2018, further development was undertaken to assess the viability of a variant of the 3-D Woven, a single, insulating layer alone as a viable TPS for Mars Sample Return mission. MSR Earth Entry System (EES) baselined it and named the TPS as 3D, mid-density, carbon-phenolic (3MDCP). MSR program invested in building a new loom and the weaver T.E.A.M. Inc is currently weaving 80” wide 1.2” thick insulating layer. Unlike HEEET, where a set of tiles and seams are integrated to form the heat-shield, 3MDCP is a seamless heatshield by wrapping and shaping a flat panel into the heatshield shape and then rigidizing the preform through resin infusion. MSR EES is investing in technology maturation of 3MDCP for the current mission launch in 2027. This lighting talk will provide key developments and time line for 3MDCP technology maturation to show that 3MDCP will be ready to support future UOP or Saturn Probe mission. In addition, the limitations of the capability will be presented so that Saturn mission proposers as well as UOP flagship mission study can be fully informed as to the 3MDCP capability.

HEEET↗

NASA NTRSDate not supplied

3D Woven Mid-Density Carbon Phenolic (3MDCP) Thermal Protection System Development

3-Dimensionally Woven, Mid-Density, Carbon Phenolic (3MDCP) Thermal Protection System (TPS) material is derived from the dual layer 3D woven Heatshield for Extreme Entry Environment Technology (HEEET) material. The baseline 3MDCP design is a single piece thermal protection system that avoids the manufacturing and certification challenges associated with a tiled configuration. 3MDCP is targeted for very aggressive entry environments such as high-speed sample return missions to Earth and missions to Saturn, Venus and the ice giants. A 3MDCP heatshield begins as a flat woven preform that is formed to a given heatshield shape and then infused with phenolic resin. NASA Ames, in collaboration with TEAM Inc. (weaving) and Fiber Materials Inc. (both Spirit AeroSystems Companies) have been developing and demonstrating the manufacturing processes to fabricate a 3MDCP heatshield at a diameter of 1.25 meters. The process of forming the flat woven preform into the final heatshield shape, a sphere-cone geometry, involves local movement of the yarns in the weave. This results in a single piece heatshield with continuous fibers, albeit with property variations between different regions on the heatshield. This presentation will provide a high-level status of 3MDCP development. This will include an overview of the manufacturing processes, with an emphasis on the impact of forming on fiber orientation, material properties and performance. The presentation will layout the plan for testing to assess the impact of forming on properties and review preliminary data comparing properties of flat to formed materials.

Thermal Protection System↗

NASA NTRSDate not supplied

Advances in Design Capabilities for Planetary Missions from the NASA Entry Systems Modeling and Instrumentation Portfolio

The Entry Systems Modeling project (ESM) is supported by both the NASA Space Technology and the Science Mission Directorates and focuses on developing simulation tools and validated models for characterizing the performance of entry systems tailored to planetary destinations across the Solar System. ESM is organized into six technical capability areas that together address all relevant factors related to spacecraft entry, as well as some aspects of descent: Thermal Protection System (TPS) Materials; Aerothermodynamics; Entry & Descent Vehicle Dynamics; Guidance, Navigation, and Control; Vehicle Systems Analysis; and Advanced Tools and Numerical Methods. Development within the capability areas is undertaken explicitly with a focus on transition and infusion to science missions, human exploration missions, and commercial space activities. The present talk details developments that specifically impact science missions, including simulation tool capabilities that aid in mission design and model development to understand entry system performance at a given destination. Examples of the successful infusion and transition of such project outcomes to science missions also are provided. Several simulation tool development efforts within ESM have resulted in new design capabilities for missions. One such outcome is improved toolsets for mission trajectory and concept of operations design. Specifically, an initiative to couple a leading tool for entry, ascent/descent, and orbital trajectory optimization (Program to Optimize Simulated Trajectories II or POST2) to those used within the Agency for interplanetary trajectory optimization (Copernicus and Monte) has made substantial progress, with the outcomes to date promising to allow efficient trajectory optimization across mission phases. Additionally, toolchains for the evaluation of vehicle performance during entry and descent have been developed that allow assessment of multi-dimensional aeroheating on detailed vehicle geometries, characterization of deployment and inflation of parachutes, and assessment of vehicle dynamic stability during descent. These capabilities are achieved by coupling diverse sets of physics together – material response, computational fluid dynamics, radiation, and vehicle dynamics – to suitably describe complex entry and descent phenomena. Several model development and validation efforts for specific destinations and entry regimes also are underway within the ESM project. For instance, new experimental capabilities to validate radiation models at low densities/high altitudes recently have been established with project support, specifically the Low-Density Shock Tube (LDST) at the NASA Ames Research Center Electric Arc Shock Tube (EAST) facility. The LDST is being leveraged to develop improved models of shock layer kinetics and radiation in Titan atmospheres, while future studies will be conducted in the LDST and the existing high velocity shock tube to provide validation data for radiation models of Venus, Ice Giants, and Mars atmospheres. Models describing the aerothermal and thermo-structural performance of Thermal Protection System (TPS) materials has been another focus, with multiscale modeling activities on-going for the two leading TPS materials applicable to a range of entry conditions and science missions: the Phenolic-Impregnated Carbon Ablator (PICA) and woven materials like 3D Mid-Density Carbon Phenolic (3MDCP). A continual effort is made to infuse and transition outcomes from ESM simulation tool and model development activities into relevant science missions. Significant progress has been made on this front, with missions such as Dragonfly, DAVINCI, and Mars Missions benefitting from project outcomes. The groundwork also is being laid to provide insights into forward looking missions to Gas/Ice Giants as well as for potential sample returns.

Justin Haskins↗

NASA NTRS1992

Helium bubble flow visualization of the spanwise separation on a NACA 0012 with simulated glaze ice

Research has been performed to experimentally visualize and document the flow separation due to simulated glaze ice accretion on a NACA 0012 semispan with 30-deg sweep using helium bubbles as flow tracers. Results are compared to Navier-Stokes computational simulations for different angles of attack. Prior to acquiring data for the semispan model, a two-dimensional experiment was conducted to determine the accuracy of using the helium bubbles as flow tracers. Results from the 3D experiment compare well to the computational simulations.

Kerho, M.↗

NASA NTRS2019

Challenges in Qualification of Thermal Protection Systems for Extreme Entry Environments

Mahzari, Milad↗

NASA NTRSDate not supplied

3D Climate Simulations of Earth-Like Planets with A Range of Atmospheric Composition, Radiative Transfer, Ocean, And Resolution Configurations, Using the New Version of ROCKE-3D

Understanding the climate of terrestrial planetary atmospheres has been increasingly the focus of research worldwide, in light of the increasing amount of rocky planet discoveries orbiting other stars in or near their habitable zone. Here we present simulations with the new version of the 3D climate model ROCKE-3D, whose version 2.0 will soon become publicly available. A wide range of configurations will be supported, compared to a handful ones in its predecessor, version 1.0 (Way et al., 2017). These include two model resolutions (4x5 and 2x2.5), two radiation schemes (GISS and SOCRATES), three atmospheric configurations (Earth-like, Earth-like without O3 and aerosols, and N2-dominated), and three ocean setups (prescribed sea-surface temperatures and ice cover, q-flux, and dynamic). Simulations of all different configuration combinations have been performed and will become available for use by the community. Key results will be presented across those configurations, together of the role of the structural uncertainty in model setup in the resulting climate calculated by the model.

climate simulations of Earth-like planets↗

NASA NTRS2019

Enhanced Habitability on High Obliquity Bodies near the Outer Edge of the Habitable Zone of Sun-Like Stars

High obliquity planets represent potentially extreme limits of terrestrial climate, as they exhibit large seasonality, a reversed annual-mean pole-to-equator gradient of stellar heating, and novel cryospheres. A suite of 3D global climate model simulations is performed for low and high obliquity planets with various stellar fluxes, CO2 concentrations, and initial conditions to explore the propensity for high obliquity climates to undergo global glaciation. We also simulate planets with thick CO2 or H2 atmospheres, such as those expected to develop near or beyond the outer edge of the habitable zone. We show that high obliquity planets are hotter than their low obliquity counterparts due to ice-albedo feedbacks for cold climates, and water vapor in warm climates. We suggest that the water vapor greenhouse trapping is greater on high obliquity bodies for a given global-mean temperature due to the different dynamical regimes that occur between the two states. While equatorial ice belts are stable at high obliquity in some climate regimes, it is substantially harder to achieve global glaciation than for a low obliquity planet. Temperate polar conditions can be present at high obliquity at forcings for which low obliquity planets would be in a hard snowball state. Furthermore, open ocean can persist even in the winter hemisphere and when global-mean temperatures are well below freezing. However, the influence of obliquity diminishes for dense atmospheres, in agreement with calculations from 1D energy balance models.

Planet and satellite atmospheres↗

NASA NTRS2020

Analysis of Sample Acquisition Dynamics Using Discrete Element Method

The analysis presented in this paper is conducted in the framework of the Ocean Worlds Autonomy Testbed for Exploration Research and Simulation (OceanWATERS) project, currently under development at NASA Ames Research Center. OceanWATERS aims at designing a simulation environment which allows for testing autonomy of scientific lander missions to the icy moons of our solar system. Mainly focused on reproducing the end effector interaction with the inherent terrain, this paper introduces a novel discrete element method (DEM)-based approach to determine forces and torques acting on the lander’s scoop during the sample acquisition process. An accurate force feedback from the terrain on the scoop is required by fault-detection and autonomous decision-making algorithms to identify when the requested torque on the robotic arm’s joints exceeds the maximum available torque. Knowledge of the terrain force feedback significantly helps evaluating the arm’s links structural properties and properly selecting actuators for the joints. Models available in literature constitute a partial representation of the dynamics of the interaction. As an example, Balovnev derived an analytical expression of the vertical and horizontal force acting on a bucket while collecting a sample as a function of its geometry and velocity, soil parameters and reached depth. Although the model represents an adequate approximation of the two force components, it ignores the direction orthogonal to the scoop motion and neglects the torque. This work relies on DEM analysis to compensate for analytical models’ deficiencies and inaccuracies, i. e. provide force and torque 3D vectors, defined in the moving reference (body) frame attached to the scoop, at each instant of the sample collection process. Results from the first presented analysis relate to the specific OceanWATERS sampling strategy, which consists of collecting the sample through five consecutive passes with increasing depth, each pass following the same circularlinear- circular trajectory. Data is collected given a specific scoop design interacting with two types of bulk materials, which may characterize the surface of icy planetary bodies: snow and ice. Although specifically concerned with the OceanWATERS design, this first analysis provides the expected force trends for similar sampling strategies and allows to deduce phenomenological information about the general scooping process. In order to further instruct the community on the use of DEM tools as a solution to the sampling collection problem, two more analyses have been carried out, mainly focused on reducing the DEM computation time, which increases with a decrease in particle size. After running a set of identical simulations, where the only changing parameter is the size of the spherical particle, it is observed that the resulting force trajectories, starting from a given particle size, converge to the true trend. It is deducible that a further decrease in size yields negligible improvements in the accuracy, while it sensibly increases computation time. A final analysis aims at discussing limitations of approximating bulk material particles having a complex shape, e. g. ice fragments, with spheres, by comparing force trends resulting in the two cases for the same simulation scenario.

Catanoso, Damiana↗

NASA NTRS1992

Charge-coupled device imaging spectroscopy of Mars. I - Instrumentation and data reduction/analysis procedures

This paper describes the collection, reduction, and analysis of 0.4-1.0-micron Mars imaging spectroscopy data obtained during the 1988 and 1990 oppositions from Mauna Kea Observatory and provides a general outline for the acquisition and analysis of similar imaging spectroscopy data sets. The U.H. 2.24-m Wide Field Grism CCD Spectrograph was used to collect 13 3D image cubes covering 90 percent of the planet south of 50 deg N in the 0.4-0.8 micron region and covering 55 percent of the planet south of 50 deg N in the 0.5-1.0 micron region. Spectra extracted from these image cubes reveal the detailed character of the Martian near-UV to visible spectrum. Images at red wavelengths reveal the 'classical' albedo markings at 100-500 km spatial resolution while images at blue wavelengths show little surface feature contrast and are dominated by condensate clouds/hazes and polar ice.

Bell, James F., III↗