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NASA NTRS2005

Rough and Steep Terrain Lunar Surface Mobility

In the summer of 2004, the NASA Exploration Systems Mission Directorate conducted an open call for projects relevant to human and robotic exploration of the Earth-Moon and Mars systems. A project entitled 'Rough and Steep Terrain Lunar Surface Mobility' was submitted by JPL and accepted by NASA. The principal investigator of this project describes the robotic vehicle being developed for this effort, which includes six 'wheels-on-legs' so that it can roll efficiently on relatively smooth terrain but walk (using locked wheels as footpads) when "the going gets rough".

rough↗

NASA NTRS2009

NASA Tech Briefs, May 2009

Topics covered include: Valve-"Health"-Monitoring System; Microstrip Antenna for Remote Sensing of Soil Moisture and Sea Surface Salinity; Biomedical Wireless Ambulatory Crew Monitor; Wireless Avionics Packet to Support Fault Tolerance for Flight Applications; Aerobot Autonomy Architecture; Submillimeter Confocal Imaging Active Module; Traveling-Wave Maser for 32 GHz; System Synchronizes Recordings from Separated Video Cameras; Piecewise-Planar Parabolic Reflectarray Antenna; Reducing Interference in ATC Voice Communication; EOS MLS Level 1B Data Processing, Version 2.2; Auto-Generated Semantic Processing Services; Geospatial Authentication; Maneuver Automation Software; Event Driven Messaging with Role-Based Subscriptions; Estimating Relative Positions of Outer-Space Structures; Fabricating PFPE Membranes for Capillary Electrophoresis; Linear Actuator Has Long Stroke and High Resolution; Installing a Test Tap on a Metal Battery Case; Fabricating PFPE Membranes for Microfluidic Valves and Pumps; Room-Temperature-Cured Copolymers for Lithium Battery Gel Electrolytes; Catalysts for Efficient Production of Carbon Nanotubes; Amorphous Silk Fibroin Membranes for Separation of CO2; "Zero-Mass" Noninvasive Pressure Transducers; Radial-Electric-Field Piezoelectric Diaphragm Pumps; Ejector-Enhanced, Pulsed, Pressure-Gain Combustor; Suppressing Ghost Diffraction in E-Beam-Written Gratings; Target-Tracking Camera for a Metrology System; Polarimetric Imaging using Two Photoelastic Modulators; Miniature Wide-Angle Lens for Small-Pixel Electronic Camera; Modal Filters for Infrared Interferometry; Mo(3)Sb(7-x)Te(x) for Thermoelectric Power Generation; Two-Dimensional Quantum Model of a Nanotransistor; Scanning Miniature Microscopes without Lenses; Manipulating Neutral Atoms in Chip-Based Magnetic Traps; Expansion Compression Contacts for Thermoelectric Legs; Processing Electromyographic Signals to Recognize Words; Physical Principle for Generation of Randomness; DSN Beowulf Cluster-Based VLBI Correlator; Hybrid NN/SVM Computational System for Optimizing Designs; Criteria for Modeling in LES of Multicomponent Fuel Flow; Computerized Machine for Cutting Space Shuttle Thermal Tiles; Orbiting Depot and Reusable Lander for Lunar Transportation; FPGA-Based Networked Phasemeter for a Heterodyne Interferometer; Aquarius Digital Processing Unit; Three-Dimensional Optical Coherence Tomography; Benchtop Antigen Detection Technique using Nanofiltration and Fluorescent Dyes; Isolation of Precursor Cells from Waste Solid Fat Tissue; Identification of Bacteria and Determination of Biological Indicators; Further Development of Scaffolds for Regeneration of Nerves; Chemically Assisted Photocatalytic Oxidation System; Use of Atomic Oxygen for Increased Water Contact Angles of Various Polymers for Biomedical Applications; Crashworthy Seats Would Afford Superior Protection; Open-Access, Low-Magnetic-Field MRI System for Lung Research; Microfluidic Mixing Technology for a Universal Health Sensor; Microfluidic Extraction of Biomarkers using Water as Solvent; Microwell Arrays for Studying Many Individual Cells; Droplet-Based Production of Liposomes; and Identifying and Inactivating Bacterial Spores

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NASA NTRS2009

Yb14MnSb11 as a High-Efficiency Thermoelectric Material

Yb14MnSb11 has been found to be wellsuited for use as a p-type thermoelectric material in applications that involve hotside temperatures in the approximate range of 1,200 to 1,300 K. The figure of merit that characterizes the thermal-to-electric power-conversion efficiency is greater for this material than for SiGe, which, until now, has been regarded as the state-of-the art high-temperature ptype thermoelectric material. Moreover, relative to SiGe, Yb14MnSb11 is better suited to incorporation into a segmented thermoelectric leg that includes the moderate-temperature p-type thermoelectric material CeFe4Sb12 and possibly other, lower-temperature p-type thermoelectric materials. Interest in Yb14MnSb11 as a candidate high-temperature thermoelectric material was prompted in part by its unique electronic properties and complex crystalline structure, which place it in a class somewhere between (1) a class of semiconducting valence compounds known in the art as Zintl compounds and (2) the class of intermetallic compounds. From the perspective of chemistry, this classification of Yb14MnSb11 provides a first indication of a potentially rich library of compounds, the thermoelectric properties of which can be easily optimized. The concepts of the thermoelectric figure of merit and the thermoelectric compatibility factor are discussed in Compatibility of Segments of Thermo - electric Generators (NPO-30798), which appears on page 55. The traditional thermoelectric figure of merit, Z, is defined by the equation Z = alpha sup 2/rho K, where alpha is the Seebeck coefficient, rho is the electrical resistivity, and k is the thermal conductivity.

Snyder, G. Jeffrey↗

NASA NTRS2009

Integrating and Visualizing Tropical Cyclone Data Using the Real Time Mission Monitor

The Real Time Mission Monitor (RTMM) is a visualization and information system that fuses multiple Earth science data sources, to enable real time decision-making for airborne and ground validation experiments. Developed at the NASA Marshall Space Flight Center, RTMM is a situational awareness, decision-support system that integrates satellite imagery, radar, surface and airborne instrument data sets, model output parameters, lightning location observations, aircraft navigation data, soundings, and other applicable Earth science data sets. The integration and delivery of this information is made possible using data acquisition systems, network communication links, network server resources, and visualizations through the Google Earth virtual globe application. RTMM is extremely valuable for optimizing individual Earth science airborne field experiments. Flight planners, scientists, and managers appreciate the contributions that RTMM makes to their flight projects. A broad spectrum of interdisciplinary scientists used RTMM during field campaigns including the hurricane-focused 2006 NASA African Monsoon Multidisciplinary Analyses (NAMMA), 2007 NOAA-NASA Aerosonde Hurricane Noel flight, 2007 Tropical Composition, Cloud, and Climate Coupling (TC4), plus a soil moisture (SMAP-VEX) and two arctic research experiments (ARCTAS) in 2008. Improving and evolving RTMM is a continuous process. RTMM recently integrated the Waypoint Planning Tool, a Java-based application that enables aircraft mission scientists to easily develop a pre-mission flight plan through an interactive point-and-click interface. Individual flight legs are automatically calculated "on the fly". The resultant flight plan is then immediately posted to the Google Earth-based RTMM for interested scientists to view the planned flight track and subsequently compare it to the actual real time flight progress. We are planning additional capabilities to RTMM including collaborations with the Jet Propulsion Laboratory in the joint development of a Tropical Cyclone Integrated Data Exchange and Analysis System (TC IDEAS) which will serve as a web portal for access to tropical cyclone data, visualizations and model output.

Goodman, H. Michael↗

NASA NTRS2009

Fabrication of an Antenna-Coupled Bolometer for Cosmic Microwave Background Polarimetry

We describe the development of a detector for precise measurements of the cosmic microwave background polarization. The detector employs a waveguide to couple light between a pair of Mo/Au superconducting transition edge sensors (TES) and a feedhorn. Incorporation of an on-chip ortho-mode transducer (OMT) results in high isolation. The OMT is micromachined and bonded to the microstrip and TES circuits in a low temperature wafer bonding process. The wafer bonding process incorporates a buried superconducting niobium layer with a single crystal silicon layer which serves as the leg isolated TES membrane and as the microstrip dielectric. We describe the micromachining and wafer bonding process and report measurement results of the microwave circuitry operating in the 29-43GHz band along with Johnson noise measurements of the TES membrane structures and development of Mo/Au TES operating under '00mK.

Denis, K.L.↗

NASA NTRS2008

ATHLETE's Feet: Mu1ti-Resolution Planning for a Hexapod Robot

ATHLETE is a large six-legged tele-operated robot. Each foot is a wheel; travel can be achieved by walking, rolling, or some combination of the two. Operators control ATHLETE by selecting parameterized commands from a command dictionary. While rolling can be done efficiently with a single command, any motion involving steps is cumbersome - walking a few meters through difficult terrain can take hours. Our goal is to improve operator efficiency by automatically generating sequences of motion commands. There is increasing uncertainty regarding ATHLETE s actual configuration over time and decreasing quality of terrain data farther away from the current position. This, combined with the complexity that results from 36 degrees of kinematic freedom, led to an architecture that interleaves planning and execution at multiple levels, ranging from traditional configuration space motion planning algorithms for immediate moves to higher level task and path planning algorithms for overall travel. The modularity of the architecture also simplifies the development process and allows the operator to interact with and control the system at varying levels of autonomy depending on terrain and need.

Smith, Tristan B.↗

NASA NTRS2009

MEMS switches having non-metallic crossbeams

A RF MEMS switch comprising a crossbeam of SiC, supported by at least one leg above a substrate and above a plurality of transmission lines forming a CPW. Bias is provided by at least one layer of metal disposed on a top surface of the SiC crossbeam, such as a layer of chromium followed by a layer of gold, and extending beyond the switch to a biasing pad on the substrate. The switch utilizes stress and conductivity-controlled non-metallic thin cantilevers or bridges, thereby improving the RF characteristics and operational reliability of the switch. The switch can be fabricated with conventional silicon integrated circuit (IC) processing techniques. The design of the switch is very versatile and can be implemented in many transmission line mediums.

Scardelletti, Maximillian C↗

NASA NTRS2010

Biosensors for EVA: Improved Instrumentation for Ground-based Studies

During lunar excursions in the EVA suit, real-time measurement of metabolic rate is required to manage consumables and guide activities to ensure safe return to the base. Metabolic rate, or oxygen consumption (VO2), is normally measured from pulmonary parameters but cannot be determined with standard techniques in the oxygen-rich environment of a spacesuit. Our group has developed novel near infrared spectroscopic (NIRS) methods to calculate muscle oxygen saturation (SmO 2), hematocrit, and pH, and we recently demonstrated that we can use our NIRS sensor to measure VO 2 on the leg during cycling. Our NSBRI project has 4 objectives: (1) increase the accuracy of the metabolic rate calculation through improved prediction of stroke volume; (2) investigate the relative contributions of calf and thigh oxygen consumption to metabolic rate calculation for walking and running; (3) demonstrate that the NIRS-based noninvasive metabolic rate methodology is sensitive enough to detect decrement in VO 2 in a space analog; and (4) improve instrumentation to allow testing within a spacesuit. Over the past year we have made progress on all four objectives, but the most significant progress was made in improving the instrumentation. The NIRS system currently in use at JSC is based on fiber optics technology. Optical fiber bundles are used to deliver light from a light source in the monitor to the patient, and light reflected back from the patient s muscle to the monitor for spectroscopic analysis. The fiber optic cables are large and fragile, and there is no way to get them in and out of the test spacesuit used for ground-based studies. With complimentary funding from the US Army, we undertook a complete redesign of the sensor and control electronics to build a novel system small enough to be used within the spacesuit and portable enough to be used by a combat medic. In the new system the filament lamp used in the fiber optic system was replaced with a novel broadband near infrared LED light source. The compact grating spectrometer was replaced with a chip-scale spectrometer. With this new design, the sensor is 4 in 2 in 0.5 in, weighs 60 g, and no fiber optic cables are needed. The sensor, which contains the light source and the spectrometer, is adhered directly to the skin with medical grade adhesive. The sensor can be powered via the USB port of the laptop computer that controls the sensor operation. Alternatively, for studies in the spacesuit, the sensor can be powered by a small battery pack and operated by an ultra-portable hand-held computer. Both the handheld computer and battery pack will easily fit within the PLSS of the test spacesuit. System automation was significantly improved, to add features suggested by our colleagues in the Cardiovascular Laboratory and the NASA JSC Exercise Physiology and Countermeasures Project. The functionality and portability of this system were demonstrated in our UMass laboratory.

Soller, B.↗

NASA NTRS2009

Investigation of Seal-to-Floor Effects on Semi-Span Transonic Models

In an effort to achieve the maximum possible Reynolds number (Re) when conducting production testing for flight loads aerodynamic databases, it has been the preferred practice of The Boeing Company / Commercial Airplanes (BCA) -- Loads and Dynamics Group since the early 1990's to test large scale semi-span models in the 11- By 11-Foot Transonic Wind Tunnel (TWT) leg of the Unitary Plan Wind Tunnel (UPWT) at the NASA Ames Research Center (ARC). There are many problems related to testing large scale semi-span models of high aspect ratio flexible transport wings, such as; floor boundary layer effects, wing spanwise wall effects, solid blockage buoyancy effects, floor mechanical interference effects, airflow under the model effects, or tunnel flow gradient effects. For most of these issues, BCA has developed and implemented either standard testing methods or numerical correction schemes and these will not be discussed in this document. Other researchers have reported on semi-span transonic testing correction issues, however most of the reported research has been for low Mach testing. Some of the reports for low Mach testing address the difficult problem of preventing undesirable airflow under a semi-span model while ensuring unrestricted main balance functionality, however, for transonic models this issue has gone unresolved. BCA has been cognizant for sometime that there are marked differences in wing pressure distributions from semi-span transonic model testing than from full model or flight testing. It has been suspected that these differences are at least in part due to airflow under the model. Previous efforts by BCA to address this issue have proven to be ineffective or inconclusive and in one situation resulted in broken hardware. This paper reports on a Boeing-NASA collaborative investigation based on a series of small tests conducted between June 2006 and November 2007 in the 11 by 11 foot Transonic Wind Tunnel at NASA Ames on three large commercial jet transport configurations to assess the effects of sealing a semi-span model to the floor and to investigate efficient sealing and testing techniques. This document will show how sealing the model to the floor has a small but remarkably far reaching spanwise effect on wing pressures, wing local section forces and wing force summations.

Sleppy, Mark A.↗

NASA NTRS2007

Rover Wheel-Actuated Tool Interface

A report describes an interface for utilizing some of the mobility features of a mobile robot for general-purpose manipulation of tools and other objects. The robot in question, now undergoing conceptual development for use on the Moon, is the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) rover, which is designed to roll over gentle terrain or walk over rough or steep terrain. Each leg of the robot is a six-degree-of-freedom general purpose manipulator tipped by a wheel with a motor drive. The tool interface includes a square cross-section peg, equivalent to a conventional socket-wrench drive, that rotates with the wheel. The tool interface also includes a clamp that holds a tool on the peg, and a pair of fold-out cameras that provides close-up stereoscopic images of the tool and its vicinity. The field of view of the imagers is actuated by the clamp mechanism and is specific to each tool. The motor drive can power any of a variety of tools, including rotating tools for helical fasteners, drills, and such clamping tools as pliers. With the addition of a flexible coupling, it could also power another tool or remote manipulator at a short distance. The socket drive can provide very high torque and power because it is driven by the wheel motor.

Matthews, Janet↗

NASA NTRS2009

Blowout Jets: Evidence from Hinode/XRT for X-Ray Jets Made by Blowout Eruption of the Emerging Bipole

Yamauchi et al (2004, ApJ, 605, 511) found that there are two structurally and dynamically distinct types of H macrospicules in polar coronal holes: single-column jet macrospicules and erupting-loop macrospicules. The structure and motion of the single-column jet macrospicules fit the standard Shibata reconnection picture for solar X-ray jets (Shibata et al 1992, PASJ, 44, L173). The form and motion of the erupting-loop macrospicules is reminiscent of the ejective eruption of the sheared-core-field flux rope in the filament-eruption birth of a bubble-type coronal mass ejection (CME). That roughly half of all polar H macrospicules were observed to be erupting-loop macrospicules suggests that there should be a corresponding large class of X-ray jets in which the emerging bipole at the base of the jet undergoes a blowout eruption as in a bubble-type CME, instead of staying closed as in the standard picture for X-ray jets. Along with a cartoon of the standard picture, we present a cartoon depicting the signatures to be expected of a blowout jet in high-resolution coronal X-ray movies such as from Hinode/XRT. From Hinode/XRT movies in polar coronal holes, we show: (1) examples of X-ray jets that fit the standard picture very well, and (2) other examples that do not fit the standard picture but do show signatures appropriate for blowout jets. These signatures are (1) a flare arcade inside the emerging bipole in addition to the flare arcade produced between the emerging bipole and the ambient high-reaching unipolar field by reconnection of these two fields as in the standard picture, and (2) in addition to the jet prong expected from the standard reconnection, a second jet prong or strand, one that could not be produced by the standard reconnection but could be produced by reconnection between the ambient unipolar field and one leg of an erupting core-field flux rope that has blown out the emerging bipole. We therefore infer that these "two pronged" jets are made by miniature versions of the sheared-core-bipole explosions that produce bubble-type CMEs. This work was funded by NASA s Science Mission Directorate through the Heliophysics Guest Investigators Program, the Hinode Project, and the Living With a Star Targeted Research and Technology Program.

Moore, Ronald L.↗

NASA NTRS2010

Modeling the Impact of Space Suit Components and Anthropometry on the Center of Mass of a Seated Crewmember

The Crew Impact Attenuation System (CIAS) is the energy-absorbing strut concept that dampens Orion Crew Exploration Vehicle (CEV) landing loads to levels sustainable by the crew. Significant COM variations across suited crew configurations would amplify the inertial effects of the pallet and potentially create unacceptable crew loading during launch and landing. The objective of this study was to obtain data needed for dynamic simulation models by quantifying the effects of posture, suit components, and the expected range of anthropometry on the COM of a seated individual. Several elements are required for the COM calculation of a suited human in a seated position: anthropometry, body segment mass, suit component mass, suit component location relative to the body, and joint angles defining the seated posture. Three-dimensional (3D) human body models, suit mass data, and vector calculus were utilized to compute the COM positions for 12 boundary manikins in two different seated postures. The analysis focused on two objectives: (1) quantify how much the wholebody COM varied from the smallest to largest subject and (2) quantify the effects of the suit components on the overall COM in each seat configuration. The location of the anterior-posterior COM varied across all boundary manikins by about 7 cm, and the vertical COM varied by approximately 9 to 10 cm. The mediolateral COM varied by 1.2 cm from the midline sagittal plane for both seat configurations. The suit components caused an anterior shift of the total COM by approximately 2 cm and a shift to the right along the mediolateral axis of 0.4 cm for both seat configurations. When the seat configuration was in the standard posture the suited vertical COM shifted inferiorly by as much as 1 cm, whereas in the CEV posture the vertical COM had no appreciable change. These general differences were due to the high proportion of suit mass located in the boots and lower legs and their corresponding distance from the body COM, as well as to the prevalence of suit components on the right side of the body.

Blackledge, Christopher↗

NASA NTRS2010

Suited Occupant Injury Potential During Dynamic Spacecraft Flight Phases

In support of the Constellation Space Suit Element [CSSE], a new space-suit architecture will be created for support of Launch, Entry, Abort, Microgravity Extra- Vehicular Activity [EVA], and post-landing crew operations, safety and, under emergency conditions, survival. The space suit is unique in comparison to previous launch, entry, and abort [LEA] suit architectures in that it utilizes rigid mobility elements in the scye (i.e., shoulder) and the upper arm regions. The suit architecture also utilizes rigid thigh disconnect elements to create a quick disconnect approximately located above the knee. This feature allows commonality of the lower portion of the suit (from the thigh disconnect down), making the lower legs common across two suit configurations. This suit must interface with the Orion vehicle seat subsystem, which includes seat components, lateral supports, and restraints. Due to the unique configuration of spacesuit mobility elements, combined with the need to provide occupant protection during dynamic vehicle events, risks have been identified with potential injury due to the suit characteristics described above. To address the risk concerns, a test series has been developed in coordination with the Injury Biomechanics Research Laboratory [IBRL] to evaluate the likelihood and consequences of these potential issues. Testing includes use of Anthropomorphic Test Devices [ATDs; vernacularly referred to as "crash test dummies"], Post Mortem Human Subjects [PMHS], and representative seat/suit hardware in combination with high linear acceleration events. The ensuing treatment focuses on test purpose and objectives; test hardware, facility, and setup; and preliminary results.

Dub, Mark O.↗

NASA NTRS2007

Robot Would Climb Steep Terrain

This brief describes the steep terrain access robot (STAR) -- a walking robot that has been proposed for exploring steep terrain on remote planets. The STAR would be able to climb up or down on slopes as steep as vertical, and even beyond vertical to overhangs. Its system of walking mechanisms and controls would be to react forces and maintain stability. To enable the STAR to anchor itself in the terrain on steep slopes to maintain stability and react forces, it would be necessary to equip the tips of the walking legs with new ultrasonic/ sonic drill corers (USDCs) and to develop sensors and control algorithms to enable robust utilization of the USDCs.

Kennedy, Brett↗

NASA NTRS2010

5,120 Superconducting Bolometers for the PIPER Balloon-Borne CMB Polarization Experiment

We are constructing the Primordial Inflation Polarization Explorer (PIPER) to measure the polarization of the cosmic microwave background (CMB) and search for the imprint of gravity waves produced during an inflationary epoch in the early universe. The signal is faint and lies behind confusing foregrounds, both astrophysical and cosmological, and so many detectors are required to complete the measurement in a limited time. We will use four of our matured 1,280 pixel, high-filling-factor backshort-under-grid bolometer arrays for efficient operation at the PIPER CMB wavelengths. All four arrays observe at a common wavelength set by passband filters in the optical path. PIPER will fly four times to observe at wavelengths of 1500, 1100, 850, and 500 microns in order to separate CMB from foreground emission. The arrays employ leg-isolated superconducting transition edge sensor bolometers operated at 145 mK; tuned resonant backshorts for efficient optical coupling; and a second-generation superconducting quantum interference device multiplexer readout. We describe the design, development, and performance of PIPER bolometer array technology to achieve background-limited sensitivity for a cryogenic balloon-borne telescope.

Benford, Dominic J.↗

NASA NTRS2010

Gimballing Spacecraft Thruster

A gimballing spacecraft reaction-control-system thruster was developed that consists of a small hydrogen/oxygen-burning rocket engine integrated with a Canfield joint. (Named after its inventor, a Canfield joint is a special gimbal mount that is strong and stable yet allows a wide range of motion.) One especially notable aspect of the design of this thruster is integration, into both the stationary legs and the moving arms of the Canfield joint, of the passages through which the hydrogen and oxygen flow to the engine. The thruster was assembled and subjected to tests in which the engine was successfully fired both with and without motion in the Canfield joint.

Pickens, Tim↗

NASA NTRS2010

An Approach to Designing Passive Self-Leveling Landing Gear with Application to the Lunar Lander

Once the lunar lander has touched down on the moon problems can occur if the crew module is not level. To mitigate, compliant landing gear provide a solution that would allow the module to be leveled once it has landed on some ground slope. The work presented here uses compliant joints, or flexures, for each leg of the module and optimizes the mechanics of these flexures such that the module can be passively leveled over a range of landing slopes. Preliminary results suggest that for landing on a slope of up to 12 deg the effective slope of the module can be reduced to a maximum of 2.5 deg.

Rippere, Troy B.↗

NASA NTRS2010

An Approach to Designing Passive Self-Leveling Landing Gear with Application to the Lunar Lander

Rippere, Troy B.↗