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At least 163 records · Page 9

All sources NASA NTRS DOE OSTI

NASA NTRS2003

Lightweight, Self-Deployable Wheels

Ultra-lightweight, self-deployable wheels made of polymer foams have been demonstrated. These wheels are an addition to the roster of cold hibernated elastic memory (CHEM) structural applications. Intended originally for use on nanorovers (very small planetary-exploration robotic vehicles), CHEM wheels could also be used for many commercial applications, such as in toys. The CHEM concept was reported in "Cold Hibernated Elastic Memory (CHEM) Expandable Structures" (NPO-20394), NASA Tech Briefs, Vol. 23, No. 2 (February 1999), page 56. To recapitulate: A CHEM structure is fabricated from a shape-memory polymer (SMP) foam. The structure is compressed to a very small volume while in its rubbery state above its glass-transition temperature (Tg). Once compressed, the structure can be cooled below Tg to its glassy state. As long as the temperature remains <Tg the structure remains compacted (in a cold hibernated state), even when the external compressive forces are removed. When the structure is subsequently heated above Tg, it returns to the rubbery state, in which a combination of elasticity and the SMP effect cause it to expand (deploy) to its original size and shape. Once thus deployed, the CHEM structure can be rigidified by cooling below Tg to the glassy state. The structure could be subsequently reheated above Tg and recompacted. The compaction/deployment/rigidification cycle could be repeated as many times as needed.

Chmielewski, Artur↗

NASA NTRS2013

Characterizing the Performance of the Wheel Electrostatic Spectrometer

A Wheel Electrostatic Spectrometer has been developed as a surveying tool to be incorporated into a Martian rover design. Electrostatic sensors with various protruding cover insulators are embedded into a prototype rover wheel. When these insulators come into contact with a surface, a charge develops on the cover insulator through tribocharging. A charge spectrum is created by analyzing the accumulated charge on each of the dissimilar cover insulators. This charge spectrum can be used to determine differences in Martian regolith properties. In this study, we analyzed the repeatability of the measurements for this sensor package and found that the sensor repeatability lies within one standard deviation of the noise in the signal. In addition, we tested the need for neutralizing the surface charge on the cover insulators and discovered a need to discharge the sensor cover insulators after each revolution. Future work includes an electronics redesign to reduce noise and a Martian pressure static elimination tool that can be used to neutralize the charge on the sensor cover insulators after each wheel revolution.

Johansen, M. R.↗

NASA NTRS2013

Robotic Two-Wheeled Vehicle

A robotic two-wheeled vehicle comprising a connection body interposed between the two wheels are described. A drum can be coaxially located in a central region of the connection body and can support a hollow arm projecting radially from the drum. A tether can be inserted in the arm and connected to a second drum. Instruments and sensors can be accommodated in a case housed inside each wheel.

Nesnas, Issa A. D.↗

NASA NTRS2014

Robotic Two-Wheeled Vehicle

Nesnas, Issa A. D.↗

NASA NTRS2016

High-Performance Reaction Wheel Optimization for Fine-Pointing Space Platforms: Minimizing Induced Vibration Effects on Jitter Performance plus Lessons Learned from Hubble Space Telescope for Current and Future Spacecraft Applications

The Hubble Space Telescope (HST) applies large-diameter optics (2.5-m primary mirror) for diffraction-limited resolution spanning an extended wavelength range (approx. 100-2500 nm). Its Pointing Control System (PCS) Reaction Wheel Assemblies (RWAs), in the Support Systems Module (SSM), acquired an unprecedented set of high-sensitivity Induced Vibration (IV) data for 5 flight-certified RWAs: dwelling at set rotation rates. Focused on 4 key ratios, force and moment harmonic values (in 3 local principal directions) are extracted in the RWA operating range (0-3000 RPM). The IV test data, obtained under ambient lab conditions, are investigated in detail, evaluated, compiled, and curve-fitted; variational trends, core causes, and unforeseen anomalies are addressed. In aggregate, these values constitute a statistically-valid basis to quantify ground test-to-test variations and facilitate extrapolations to on-orbit conditions. Accumulated knowledge of bearing-rotor vibrational sources, corresponding harmonic contributions, and salient elements of IV key variability factors are discussed. An evolved methodology is presented for absolute assessments and relative comparisons of macro-level IV signal magnitude due to micro-level construction-assembly geometric details/imperfections stemming from both electrical drive and primary bearing design parameters. Based upon studies of same-size/similar-design momentum wheels' IV changes, upper estimates due to transitions from ground tests to orbital conditions are derived. Recommended HST RWA choices are discussed relative to system optimization/tradeoffs of Line-Of-Sight (LOS) vector-pointing focal-plane error driven by higher IV transmissibilities through low-damped structural dynamics that stimulate optical elements. Unique analytical disturbance results for orbital HST accelerations are described applicable to microgravity efforts. Conclusions, lessons learned, historical context/insights, and perspectives on future applications are given; these previously unpublished data and findings represents a valuable resource for fine-pointing spacecraft or space-based platforms using RWAs, Control Moment Gyros (CMGs), Momentum Wheels, or other ball-bearing-based rotational units.

Hasha, Martin D.↗

NASA NTRSDate not supplied

Lunar Rover Optimization Platform for Wheel Traction Studies

Robotic mobility systems expand the reach of future scientific and exploration missions to celestial bodies. Understanding the traction performance of these systems is necessary knowledge that informs mission-level requirements, such as power budgets and navigation envelopes. This paper covers the design, development, and verification of the four wheeled Lunar Rover Optimization Platform (LROP). This mass optimized platform is targeted to emulate future medium class rovers weighing up to 90 kg. The LROP has the ability to conduct various wheel design experiments such as obstacle traversal, slope ascent, and drawbar pull over a wheel loading range of 4.5 to 22.7 kg. The platform also has the ability to shift its center of gravity (CG) laterally and longitudinally to explore the CG shift effects on mobility performance. This knowledge is valuable for future rover designers exploring different payload packaging solutions. In this paper results from obstacle traversal test with varying angle of attack (AOA) and longitudinal CG position are reported along with results from slope ascent testing which proved-out the LROPs capabilities.

Stephen Gerdts↗

NASA NTRS2020

Autonomous Navigation over Europa Analogue Terrain for an Actively Articulated Wheel-on-Limb Rover

The ocean world Europa is a prime target forexploration given its potential habitability [1]. We proposea mobile robotic system that is capable of autonomouslytraversing hundreds of meters to visit multiple sites of intereston a Europan analogue surface. Due to the topology of Europanterrain being largely unknown, it is desired that this mobilitysystem traverse a large variety of terrain types. The mobilitysystem should also be capable of crossing unstructured terrainin an autonomous manner given the communications limitationsbetween Earth and Europa.A wheel-on-limb robotic rover is presented that may activelyconform to terrain features up to 1.5 wheel diameters tall whiledriving. The robot uses a sampling-based motion planner togenerate paths that leverage its unique locomotive capabilities.The planner assesses terrain hazards and wheel workspacelimits as obstacles. It may also select a mobility mode basedon predicted energy usage and the need for limb articulationon the terrain being traversed. This autonomous mobility wasevaluated on the chaotic salt-evaporite terrain found in DeathValley, CA, an analogue to the Europan surface. Over the courseof 38 trials, the rover autonomously traversed 435m of extremeterrain while maintaining a rate of 0.64 traverse ending failuresfor every 10m driven.

Meirion-Griffith, Gareth↗

DOE OSTI2012

Stabilizing chock assembly for caster wheel and associated method of use

A stabilizing chock assembly for a caster wheel or the like, including: a first stabilizing member or piece and a second stabilizing member or piece; and a clamping mechanism coupling the first stabilizing member to the second stabilizing member, the clamping mechanism operable for selectively biasing the first stabilizing member and the second stabilizing member together about a wheel; wherein the first stabilizing member and the second stabilizing member collectively define a conformal recess that is configured to selectively receive and retain a lower portion of the wheel. Optionally, the first stabilizing member and the second stabilizing member each define an arcuate ramp structure that forms a portion of the conformal recess. Optionally, the chock assembly also includes a friction surface disposed on a bottom surface of each of the first stabilizing member and the second stabilizing member.

42 ENGINEERING↗

NASA NTRS1924

Experiments on the resistance of airplane wheels and radiators

Experiments were made on the resistance of four airplane wheels of different sizes and coverings and two Lamblin radiators. The results show the important influence of the wheel coverings. The closing of a shutter, which was fitted to one of the radiators, considerably lessened the resistance.

WHEELS - RESISTANCE↗

DOE OSTI2022

Double Paddle‐Wheel Enhanced Sodium Ion Conduction in an Antiperovskite Solid Electrolyte

Abstract Antiperovskite structure compounds (X 3 AB, where X is an alkali cation and A and B are anions) have the potential for highly correlated motion between the cation and a cluster anion on the A or B site. This so‐called “paddle‐wheel” mechanism may be the basis for enhanced cation mobility in solid electrolytes. Through combined experiments and modeling, the first instance of a double paddle‐wheel mechanism, leading to fast sodium ion conduction in the antiperovskite Na 3− x O 1− x (NH 2 ) x (BH 4 ), is shown. As the concentration of amide (NH 2 − ) cluster anions is increased, large positive deviations in ionic conductivity above that predicted from a vacancy diffusion model are observed. Using electrochemical impedance spectroscopy, powder X‐ray diffraction, synchrotron X‐ray diffraction, neutron diffraction, ab initio molecular dynamics simulations, and NMR, the cluster anion rotational dynamics are characterized and it is found that cation mobility is influenced by the rotation of both NH 2 − and BH 4 − species, resulting in sodium ion conductivity a factor of 10 2 higher at x = 1 than expected for the vacancy mechanism alone. Generalization of this phenomenon to other compounds could accelerate fast ion conductor exploration and design.

25 ENERGY STORAGE↗

DOE OSTI2023

Development of a dynamical model and energy analysis for wheel loader

The objective of this paper is to develop a fully integrated model for the wheel loader, including the subsystem dynamics of the engine, drivetrain, working circuit, steering circuit, and vehicle. It leads to a high-order strongly nonlinear system, and all state variables are coupled together to form a Multi-Input and Multi-Output (MIMO) system. A control architecture is proposed to decouple the MIMO system into several Single-Input and Single-Output (SISO) systems. Here, a tracking problem has been formulated to validate this fully integrated model with the field test data. The accuracy of the model is verified by the 2.3% difference between the measured and simulated fuel consumption. Meanwhile, an energy distribution analysis is conducted to reveal the energy consumption and energy loss of each portion of the wheel loader. Such a model can be used to plan the working pattern, guide the driving habits of human operators, or refine the underlying architecture, leading to the ultimate goal of reducing total fuel consumption and improving productivity.

42 ENGINEERING↗

DOE OSTI2016

Well-to-Wheels Analysis of Compressed Natural Gas and Ethanol from Municipal Solid Waste

The amount of municipal solid waste (MSW) generated in the United States was estimated at 254 million wet tons in 2013, and around half of that generated waste was landfilled. There is a huge potential in recovering energy from that waste, since around 60% of landfilled material is biomass-derived waste that has high energy content. In addition, diverting waste for fuel production avoids huge fugitive emissions from landfills, especially uncontrolled CH 4 emissions, which are the third largest anthropogenic CH 4 source in the United States. Lifecycle analysis (LCA) is typically used to evaluate the environmental impact of alternative fuel production pathways. LCA of transportation fuels is called well-to-wheels (WTW) and covers all stages of the fuel production pathways, from feedstock recovery (well) to vehicle operation (wheels). In this study, the Greenhouse Gases, Regulated Emissions, and Energy Use in Transportation (GREET ® ) model developed by Argonne National Laboratory is used to evaluate WTW greenhouse gas (GHG) emissions and fossil fuel consumption of waste-derived fuels. Two waste-to-energy (WTE) pathways have been evaluated – one for compressed natural gas (CNG) production using food waste via anaerobic digestion, and the other for ethanol production from yard trimmings via fermentation processes. Because the fuel production pathways displace current waste management practices (i.e., landfilling waste), we use a marginal approach that considers only the differences in emissions between the counterfactual case and the alternative fuel production case.

03 NATURAL GAS↗

DOE OSTI2010

Well-to-wheels analysis of energy use and greenhouse gas emissions of plug-in hybrid electric vehicles.

Plug-in hybrid electric vehicles (PHEVs) are being developed for mass production by the automotive industry. PHEVs have been touted for their potential to reduce the US transportation sector's dependence on petroleum and cut greenhouse gas (GHG) emissions by (1) using off-peak excess electric generation capacity and (2) increasing vehicles energy efficiency. A well-to-wheels (WTW) analysis - which examines energy use and emissions from primary energy source through vehicle operation - can help researchers better understand the impact of the upstream mix of electricity generation technologies for PHEV recharging, as well as the powertrain technology and fuel sources for PHEVs. For the WTW analysis, Argonne National Laboratory researchers used the Greenhouse gases, Regulated Emissions, and Energy use in Transportation (GREET) model developed by Argonne to compare the WTW energy use and GHG emissions associated with various transportation technologies to those associated with PHEVs. Argonne researchers estimated the fuel economy and electricity use of PHEVs and alternative fuel/vehicle systems by using the Powertrain System Analysis Toolkit (PSAT) model. They examined two PHEV designs: the power-split configuration and the series configuration. The first is a parallel hybrid configuration in which the engine and the electric motor are connected to a single mechanical transmission that incorporates a power-split device that allows for parallel power paths - mechanical and electrical - from the engine to the wheels, allowing the engine and the electric motor to share the power during acceleration. In the second configuration, the engine powers a generator, which charges a battery that is used by the electric motor to propel the vehicle; thus, the engine never directly powers the vehicle's transmission. The power-split configuration was adopted for PHEVs with a 10- and 20-mile electric range because they require frequent use of the engine for acceleration and to provide energy when the battery is depleted, while the series configuration was adopted for PHEVs with a 30- and 40-mile electric range because they rely mostly on electrical power for propulsion. Argonne researchers calculated the equivalent on-road (real-world) fuel economy on the basis of U.S. Environmental Protection Agency miles per gallon (mpg)-based formulas. The reduction in fuel economy attributable to the on-road adjustment formula was capped at 30% for advanced vehicle systems (e.g., PHEVs, fuel cell vehicles [FCVs], hybrid electric vehicles [HEVs], and battery-powered electric vehicles [BEVs]). Simulations for calendar year 2020 with model year 2015 mid-size vehicles were chosen for this analysis to address the implications of PHEVs within a reasonable timeframe after their likely introduction over the next few years. For the WTW analysis, Argonne assumed a PHEV market penetration of 10% by 2020 in order to examine the impact of significant PHEV loading on the utility power sector. Technological improvement with medium uncertainty for each vehicle was also assumed for the analysis. Argonne employed detailed dispatch models to simulate the electric power systems in four major regions of the US: the New England Independent System Operator, the New York Independent System Operator, the State of Illinois, and the Western Electric Coordinating Council. Argonne also evaluated the US average generation mix and renewable generation of electricity for PHEV and BEV recharging scenarios to show the effects of these generation mixes on PHEV WTW results. Argonne's GREET model was designed to examine the WTW energy use and GHG emissions for PHEVs and BEVs, as well as FCVs, regular HEVs, and conventional gasoline internal combustion engine vehicles (ICEVs). WTW results are reported for charge-depleting (CD) operation of PHEVs under different recharging scenarios. The combined WTW results of CD and charge-sustaining (CS) PHEV operations (using the utility factor method) were also examined and reported. According to the utility factor method, the share of vehicle miles traveled during CD operation is 25% for PHEV10 and 51% for PHEV40. Argonne's WTW analysis of PHEVs revealed that the following factors significantly impact the energy use and GHG emissions results for PHEVs and BEVs compared with baseline gasoline vehicle technologies: (1) the regional electricity generation mix for battery recharging and (2) the adjustment of fuel economy and electricity consumption to reflect real-world driving conditions. Although the analysis predicted the marginal electricity generation mixes for major regions in the United States, these mixes should be evaluated as possible scenarios for recharging PHEVs because significant uncertainties are associated with the assumed market penetration for these vehicles. Thus, the reported WTW results for PHEVs should be directly correlated with the underlying generation mix, rather than with the region linked to that mix.

02 PETROLEUM↗

DOE OSTI2018

Machining Forces Exerted by an Elastic Abrasive Wheel

A method is proposed for analytical determination of the normal machining force in grinding by elastic abrasive wheels. The method takes into account that abrasive wheels with elastoviscous properties cannot completely recover their shape within a single rotation.

42 ENGINEERING↗

NASA NTRS2005

Prospecting for In Situ Resources on the Moon and Mars Using Wheel-Based Sensors

The Apollo and Russian missions during 1970's were reviewed to rediscover the type and distribution of minerals on the Moon. This study revealed that the Moon is a relatively barren place in mineral content when compared with the Earth. Results from the Lunar minerals brought back to Earth, indicate that the Moon lacks water, hydroxyl ions, and carbon based minerals. Our approach to prospecting utilizes a vehicle with sensors embedded in a wheel that allow measurements while the vehicle is in motion. Once a change in soil composition is detected, decision making software stops the vehicle and analytical instruments perform a more definitive analysis of the soil. The focus of this paper is to describe the instrumentation and data from the wheel-based sensors.

moon↗

DOE OSTI2021

A {Ni 12 }-Wheel-Based Metal-Organic Framework for Coordinative Binding of Sulphur Dioxide and Nitrogen Dioxide

Air pollution by SO 2 and NO 2 has caused significant risks on the environment and human health. Understanding the mechanism of active sites within capture materials is of fundamental importance to the development of new clean-up technologies. We report the crystallographic observation of reversible coordinative binding of SO 2 and NO 2 on open Ni II sites in a metal-organic framework (NKU-100) incorporating unprecedented {Ni 12 }-wheels; each wheel exhibits six open Ni II sites on desolvation. Immobilised gas molecules are further stabilised by cooperative host-guest interactions comprised of hydrogen bonds, π∙∙∙π interactions and dipole interactions. At 298 K and 1.0 bar, NKU-100 shows adsorption uptakes of 6.21 and 5.80 mmol g -1 for SO 2 and NO 2 , respectively. Dynamic breakthrough experiments have confirmed the selective retention of SO 2 and NO 2 at low concentrations under dry conditions. This work will inspire the future design of efficient sorbents for the capture of SO 2 and NO 2 .

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

DOE OSTI2024

Engineering a Cu‐Pd Paddle‐Wheel Metal–Organic Framework for Selective CO 2 Electroreduction

Optimizing the binding energy between the intermediate and the active site is a key factor for tuning catalytic product selectivity and activity in the electrochemical carbon dioxide reduction reaction. Copper active sites are known to reduce CO 2 to hydrocarbons and oxygenates, but suffer from poor product selectivity due to the moderate binding energies of several of the reaction intermediates. Here, we report an ion exchange strategy to construct Cu−Pd paddle wheel dimers within Cu-based metal–organic frameworks (MOFs), [Cu 3-x Pd x (BTC) 2 ] (BTC=benzentricarboxylate), without altering the overall MOF structural properties. Compared to the pristine Cu MOF ([Cu 3 (BTC) 2 ], HKUST-1), the Cu−Pd MOF shifts CO 2 electroreduction products from diverse chemical species to selective CO generation. In situ X-ray absorption fine structure analysis of the catalyst oxidation state and local geometry, combined with theoretical calculations, reveal that the incorporation of Pd within the Cu−Pd paddle wheel node structure of the MOF promotes adsorption of the key intermediate COOH* at the Cu site. This permits CO-selective catalytic mechanisms and thus advances our understanding of the interplay between structure and activity toward electrochemical CO 2 reduction using molecular catalysts.

CO2 electroreduction reaction↗

DOE OSTI2013

Two molecular wheels 12-MC-6 complexes: Synthesis, structure and magnetic property of [Co(μ{sub 2}-SEt){sub 2}]{sub 6} and [Fe(μ{sub 2}-SEt){sub 2}]{sub 6}

The syntheses and structures of two ethyl mercaptan molecular wheels complexes, [M(μ{sub 2}-SCH{sub 2}CH{sub 3}){sub 2}]{sub 6} (M=Fe, Co), have been reported. Each metal atom is surrounded by four S atoms of the μ{sub 2}-SCH{sub 2}CH{sub 3} ligands in a distorted square plane fashion. The edge-sharing S{sub 4} square planes connect with each other to form a ring. Six metal atoms are located at the vertices of an almost hexagon, with M···M separations in the range of 2.903(1)∼2.936(2) Å for Fe and 2.889(2)∼2.962(2) Å for Co. The diameter of the ring, defined as the average distance between two opposing metal atoms, is 5.850(1) Å for Fe and 5.780(1) Å for Co, respectively. The magnetic property behaves of cobalt(II) cluster complex is studied. Highlights: • Two new ethyl mercaptan cyclic hexanuclear complexes were reported. • The crystal structures shown center formation of M{sub 6}S{sub 12} molecular wheels. • The Co{sub 6} ring cluster complex represents as weak ferromagnet.

36 MATERIALS SCIENCE↗