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At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” (IPEx) which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30kg-class robotic excavator. IPEx will be the next generation of robotic excavators to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center (KSC). Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops (see Figure 1). The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However, the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore, this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1” (358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of IPEx and can inform the design of future bucket drum excavators.

RASSOR↗
NASA NTRSDate not supplied

ISRU Pilot Excavator: Bucket Drum Scaling Experimental Results

NASA’s Space Technology Mission Directorate (STMD) is funding the development of a robotic excavator called the “ISRU Pilot Excavator” which will be a technology demonstration of excavating and transporting 10 metric tons of lunar regolith on the surface of the moon with a 30k-class robotic excavator. ISRU Pilot Excavator will be the next generation of robotic excavator to use bucket drums as excavation tools. This is an evolution of the Regolith Advanced Surface Systems Operations Robot (RASSOR) developed at NASA’s Kennedy Space Center. Bucket drums are hollow cylinders with regularly spaced scoops around the perimeter. The drums rotate in one direction to collect regolith with the scoops. The regolith slides down an internal baffling system inside the drum which prevents the regolith from falling back out of the scoops. The captured regolith can then be transported while held in the drum and then deposited by rotating the drum in the opposite direction allowing the regolith to slide back down the baffling and out of the excavation scoops. Bucket drums were developed by Lockheed Martin in 2008 and used on multiple robotic excavator prototypes ever since. However the forces on a bucket drum and considerations for scaling have not been measured in detail. Bucket drums are challenging to model using classical blade\bucket equations because of their unique geometry. Therefore this experiment was performed to measure the forces on three bucket drums of the same geometry at different scales. Small: 9.4” (239mm) dia. x 8.1” (206mm) width, Medium: 11.6” (294mm) dia. x 10” (254mm) width, and Large: 17” (432mm) dia. x 14.1”(358mm) width. The test stand consisted of an actuated gantry with controlled motion in the vertical (Z) and horizontal (X) axes and a single rotation axis (R). The bucket drums were individually mounted to the rotary axis of the test stand and translated across a prepared bed of BP-1 lunar regolith simulant at a specified linear speed and cutting depth. The test stand was outfitted with a torque sensor in line with the rotation of the drum (R) and a 3 axis (X, Y, and Z) load cell. In addition to the three sizes of bucket drums the linear excavation speed and cutting depth were test variables. The results of these experiments show the relationship between the three scales of bucket drums for factors such as: excavation force, torque due to regolith rotation inside the drum, excavation energy, time to fill, etc. and will be discussed in detail in this paper. This fundamental data will be used in the design of the ISRU Pilot Excavator and can inform the design of future bucket drum excavators.

Jason Michael Schuler↗
DOE OSTI2023

Ice nucleation measurements from DRUM impactors during TRACER campaign in the Houston TX region from July to September 2022

During TRACER, three Davis Rotating Uniform size-cut Monitors (DRUM; DRUMAir 4-DRUM) were used to collect aerosols for ice nucleation measurements in the Brooks laboratory at Texas A&M University. The three instruments were located at AMF1 in La Porte, Ancillary site in Guy (ANC), and onboard the Texas A&M Rapid Onsite Atmospheric Measurements Van (ROAM-V). ROAM-V was deployed to capture airmasses behind (maritime) and ahead (continental) of the passage of the sea-breeze front through Houston. On select sampling days, ROAM-V sampled in the morning/mid-day on the coast and then transited to a second inland site for the afternoon/evening. The suite of instruments deployed on ROAM-V included a Condensation Particle Counter (CPC; GRIMM Model 5.403 CPC), Scanning Mobility Particle Sizer (SMPS; TSI 3750 detector, TSI 3082 classifier, TSI 3088 neutralizer, TSI 3081A Differential Mobility Analyzer), Cloud Condensation Nuclei counter (Droplet Measurement Technologies CCN Counter), micro pulse lidar (Droplet Measurement Technologies Micro Pulse LiDAR (miniMPL)), and one of the Davis Rotating Uniform size-cut Monitors (DRUM; DRUMAir 4-DRUM). Before sampling at each location, the latitude and longitude were recorded using the GPS on the phone application “My Altitude”. Each DRUM sampler was operated at a flow rate of 23 LPM. Each DRUM has four stages where the aerodynamic diameter size cuts are as follows: stage 1 larger than 3 μm, stage 2 from 3 to 1.2 μm, stage 3 from 1.2 to 0.34 μm, and stage 4 from 0.34 to 0.15 μm. Pretreated aluminum foil was used as a substrate on all stages. At AMF1 and ANC sites, the DRUMs were operated on the shared aerosol inlet, with generous support of the DOE ARM site staff. These instruments rotated 24 mm per day and only contained aluminum foil substrates. Substrates were changed weekly and transported to Texas A&M for storage in -80C freezer until analysis. The DRUM onboard ROAM-V was operated at a faster rotation rate of 150 mm per day to clearly separate the multiple deployment locations for ROAM-V. For the ROAM-V DRUM, substrates were changed every deployment and transported to Texas A&M for storage in -80C freezer until analysis. At Texas A&M, ice nucleation experiments were conducted to measure the ice nucleation temperature of the ambient aerosol samples collected from the three DRUMs using our previously established procedures (Alsante et al., 2023; Fornea et al., 2009; Matthews et al., 2023). For ice nucleation, only samples collected on stage 3 were analyzed, given that these are the most relevant size (1.2 to 0.34 μm diameter) for potential ice nucleating particles. For the AMF1 and ANC sites, we cut and analyzed 2 mm (2-hour) samples. We analyzed the time periods of the AMF1 site instrument when the ROAM-V was deployed. A 72-hour period from July 11th at 23:49 through July 15th at 1:49 was analyzed from the ANC site instrument. For the ROAM-V instrument, we separated the daily samples by site location. Between 1- and 6-hour independent samples were analyzed at each location. We also cut the ROAM-V samples in half to allow for compositional analysis of the aerosol on the other half of the substrate. All viable samples from the ROAM-V were analyzed. Analysis was done using a custom-built ice nucleation apparatus, recently updated to include an array of 16 individual samples (Matthews et al., 2023). On our experimental setup, we used 100 μL of Ultra-High-Performance Liquid Chromatography (UHPLC) water (Sigma Aldrich, >99.9% purity) to wash off the aerosol from the DRUM substrate. Then, we micropipetted 2 μL droplet samples into each of the 16 wells of the array, using hydrophobically coated microscope slides. Experiments would cycle 28 times from 10 C to -40C over a 20-hour period. During analysis of the TRACER samples, nine experiments were conducted with UHPLC water process blanks that followed an identical preparation procedure. The average freezing temperature and standard deviation for these process blanks is -27.7±2.4 C. This data was collected for ARM Field Campaign AFC07023 and supported by DOE ASR grant DE-SC0021047. For any further questions, please feel free to contact the instrument PI, Sarah D. Brooks, sbrooks@tamu.edu. Alsante, A. N., Thornton, D. C., & Brooks, S. D. (2023). Ice nucleation catalyzed by the photosynthesis enzyme RuBisCO and other abundant biomolecules. Communications Earth & Environment, 4(1), 51. Fornea, A. P., Brooks, S. D., Dooley, J. B., & Saha, A. (2009). Heterogeneous freezing of ice on atmospheric aerosols containing ash, soot, and soil. Journal of Geophysical Research: Atmospheres, 114(D13). DOI:10.1029/2009JD011958 Matthews, B. H., Alsante, A. N., & Brooks, S. D. (2023). Pollen Emissions of Subpollen Particles and Ice Nucleating Particles. ACS Earth and Space Chemistry.

54 ENVIRONMENTAL SCIENCES↗
DOE OSTI2023

Moisture ingress in commercial steel drums: Water content determination, diffusion modelling and predicted permeation rates

Commercial steel drums underpin the global economy, playing a pivotal role in the storage and transportation of critical materials. Transported and stored materials, such as food, chemical and nuclear waste, can be sensitive to ambient conditions, particularly moisture that can enhance negative effects such as corrosion and material degradation. Although international standards and regulations are in place for the qualification of steel drums, there are no current testing requirements, established limits or boundaries for the permeation of moisture into the drums during transportation or storage. This work aims to provide insights into the moisture ingress over time into properly sealed steel drums and provides estimated moisture ingress rates over time through extrapolation. Water vapour transmission rate (WVTR) measurements through the gasket material at 10–40°C were 0.11–2.1 g/m 2 /day resulting in a permeation activation energy of 30.2 kJ/mol. Water sorption measurements and Karl Fischer titration (KFT) on ethylene propylene diene monomer (EPDM) gasket material revealed a decrease in equilibrium moisture saturation with increasing temperature. KFT measurements also revealed the presence of moisture within the adhesive and drum wall after exposure to ambient conditions. KFT and Fourier transform infrared spectroscopy (FTIR) show that moisture will desorb from the EPDM and drum wall after exposure to desiccating conditions, although a minimal amount of moisture will remain present. When sealed to the manufacturer's recommendations, the steel drums are effective in minimizing moisture ingress. In conclusion, in sealed empty drums, moisture ingress rates for 19-L drums were 0.4–1.5 mg/day at 25°C 15% relative humidity (RH) and increased to 7.1–8.8 mg/day at 40°C 90% RH, and moisture ingress rates for 210-L drums were 2.5 and 3.5 mg/day at field deployment conditions of 15.5°C 51.5% RH and 23°C 40% RH, respectively.

42 ENGINEERING↗
NASA NTRS1973

Image data rate converter having a drum with a fixed head and a rotatable head

A data-rate converter is disclosed comprising a rotatable data-storing drum with at least one fixed read/record head and a rotatable read/record head. The latter is rotatable in a circular path about the drum axis of rotation. The drum is positionable in any one of a plurality of axial positions with respect to the heads, so that at least one drum track is aligned with the fixed head in one drum position and with the rotatable head in another drum position. When a track is aligned with the fixed head, data may be recorded therin or read out therefrom at a rate which is a function of drum rotation, while when aligned with the rotatable head, data may be recorded or read out at a rate which is a function of the rates and directions of rotation of both the drum and the head.

Billingsley, F. C.↗
NASA NTRS1985

Thermal sensing for characterizing the contents of waste storage drums

The present investigation is concerned with the feasibility to employ remote sensing for the characterization of the contents of liquid chemical waste storage drums. Philipson et al. (1981) had found that, when the air temperature is changing rapidly, differences in the thermal inertia of the drum contents can lead to detectable differences in the skin temperature of the drums. Thus, postsunset, airborne thermal remote sensing could potentially provide some level of discrimination among chemical storage drums. Discrimination should be possible among steel drums filled largely with: (1) aqueous solvents, (2) organic solvents, or (3) clay packing materials. The response of a drum filled with clay packing materials should be similar to that of an empty drum. The reported study had the objective to verify the theoretical findings, taking into account the use of a hand-held infrared radiometer. It was found that under the proper conditions the temperature differences among drums with the three different types of contents will be significant and consistent.

Philpot, W. D.↗
NASA NTRS2013

Miniature rotating transmissive optical drum scanner

A miniature rotating transmissive optical scanner system employs a drum of small size having an interior defined by a circumferential wall rotatable on a drum axis, an optical element positioned within the interior of the drum, and a light-transmissive lens aperture provided at an angular position in the circumferential wall of the drum for scanning a light beam to or from the optical element in the drum along a beam azimuth angle as the drum is rotated. The miniature optical drum scanner configuration obtains a wide scanning field-of-view (FOV) and large effective aperture is achieved within a physically small size.

Lewis, Robert↗
NASA NTRS2015

Plasma Glucose Levels for Red Drum Sciaenops Ocellatus in a Florida Estuarine Fisheries Reserve

Despite the significant value of the southeastern United States' red drum (Sciaenops ocellatus) fishery, there is a lack of clinical blood chemistry data. This was the first study to assess plasma glucose values as an indicator of stress response to evaluate variation and the effect of reproductive activity for wild adult red drum in Florida. Red drum (n=126) were collected from NASA's Kennedy Space Center waters during three reproductive periods in 2011. Samples were obtained from the branchial vessels of the gill arch. Plasma glucose levels were significantly different among reproductive periods, with the highest mean values recorded during the spawning period, September- October (38.23 mg / dL +/- 10.0). The glucose range was 17 - 69 mg / dL. Glucose values were lower during all three periods than previous values recorded for cultured or captive red drum studies. This may indicate that fish from this population were under less stress than other populations previously sampled.

the first study to assess plasma glucose values↗
NASA NTRS1980

Tensioning of a belt around a drum using membrane element

An application of the membrane element to the problem of the tensioning of a conveyer belt which wraps around a drum is presented. Two cases were investigated: (1) belt tension increase due to drum edge wear; and (2) material trapped between the drum and the belt. In both cases it was found that the increase in belt tension was due to the additional stretching of the belt resulting from the drum radius change rather than from the transverse deflection of the belt.

Chen, C. H. S.↗
NASA NTRS1981

The design of a mechanical referencing system for the rear drum of the Longwall Shearer Coal Miner

The design of two systems which reference the position of a longwall shearer coal miner to the mine roof of the present cut and of the last cut are presented. This system is part of an automation system that will guide the rear cutting drum in such a manner that the total depth of cut remains constant even though the front drum may be following an undulating roof profile. The rear drum referencing mechanism continually monitors the distance from the mine roof to the floor for the present cut. This system provides a signal to control a constant depth of cut. The last cut follower mechanism continually monitors the distance from the mine roof of the prior cut to the cutting drum. This latter system provides a signal to minimize the step height in the roof between cuts. The dynamic response of this hydraulic-pneumatic and mechanical system is analyzed to determine accumulator size and precharge pressure.

Jones, E. W.↗
NASA NTRS1989

Motion sickness and gastric myoelectric activity as a function of speed of rotation of a circular vection drum

Motion sickness symptoms and electrogastrograms (EGGs) were obtained from 60 healthy subjects while they viewed an optokinetic drum rotated at one of four speeds: 15, 30, 60 or 90 deg/s. All subjects experienced vection, illusory self-motion. Motion sickness symptoms increased as drums speed increased up to 60 deg/s. Power, spectral intensity, of the EGG at the tachygastria frequencies (4-9 cpm) was calculated at each drum rotation speed. The correlation between the motion sickness symptoms and the power at 4-9 cpm was significant. Thus, drum rotation speed influenced the spectral power of the EGG at 4-9 cpm, tachygastria, and the intensity of motion sickness symptoms.

Hu, Senqi↗
NASA NTRS2004

Flow Straightener for a Rotating-Drum Liquid Separator

A flow straightener has been incorporated into a rotary liquid separator that originally comprised an inlet tube, a shroud plate, an impeller, an inner drum, an outer drum, a housing, a pitot tube, and a hollow shaft motor. As a consequence of the original geometry of the impeller, shroud, inner drum, and hollow shaft, swirl was created in the airflow inside the hollow shaft during operation. The swirl speed was large enough to cause a significant pressure drop. The flow straightener consists of vanes on the back side of the shroud plate. These vanes compartmentalize the inside of the inner drum in such a way as to break up the flow path and thereby stop the air from swirling; as a result, the air enters the hollow shaft with a predominantly axial velocity instead of a swirl. Tests of the rotary liquid separator at an airflow rate of 10 cu ft/min (0.0047 cu m/s) revealed that the dynamic pressure drop was 8 in. of water (approx.=2 kPa) in the absence of the flow straightener and was reduced to 1 in. of water (approx.=0.25 kPa) in the presence of the flow straightener.

O'Coin, James R.↗
NASA NTRS1978

Tread drum for animals

A device for exercising animals such as primates is described, which includes a cylindrical housing mounted for rotation about a horizontal axis of revolution and has a cylindrical treadway portion on which the animal treads while the drum is rotated by means of a motorized drive. The treadway portion of the drum includes an electrode structure with sectors being independently energizable by means of a commutator and source of potential so that an electrical shock station is created behind a running-in-place station on the moving treadway. In this manner, if the animal should fall behind its running-in-place station, it may be shocked by treading on the energized electrode structure. One end of the tread drum comprises a transparent wall for unobstructed viewing of the animal being exercised.

Howard, W. H.↗
NASA NTRS1991

Motion sickness severity and physiological correlates during repeated exposures to a rotating optokinetic drum

Fifty-two subjects were exposed to a rotating optokinetic drum. Ten of these subjects who became motion sick during the first session completed two additional sessions. Subjects' symptoms of motion sickness, perception of self-motion, electrogastrograms (EGGs), heart rate, mean successive differences of R-R intervals (RRI), and skin conductance were recorded for each session. The results from the first session indicated that the development of motion sickness was accompanied by increased EGG 4-9 cpm activity (gastric tachyarrhythmia), decreased mean succesive differences of RRI, increased skin conductance levels, and increased self-motion perception. The results from the subjects who had three repeated sessions showed that 4-9 cpm EGG activity, skin conductance levels, perception of self-motion, and symptoms of motion sickness all increased significantly during the drum rotation period of the first session, but increased significantly less during the following sessions. Mean successive differences of RRI decreased significantly during the drum rotation period for the first session, but decreased significantly less during the following sessions. Results show that the development of motion sickness is accompanied by an increase in gastric tachyarrhythmia, and an increase in sympathetic activity and a decrease in parasympathetic activity, and that adaptation to motion sickness is accompanied by the recovery of autonomic nervous system balance.

Hu, Senqi↗
DOE OSTI2025

SPC-71123 Rev 1 MARVEL Control Drum Actuator Torsional Spring

Idaho National Laboratory (INL) is developing a microreactor to produce electrical power utilizing a small nuclear core under the Microreactor Application Research Validation and Evaluation (MARVEL) program. This specification defines the requirements for the procurement and factory acceptance testing of the MARVEL control drum actuator torsional spring. The purpose of this specification is to define the requirements to procure the MARVEL control drum actuator torsional spring component and witness a torsional spring rate Factory Acceptance Test (FAT) at the subcontractor’s facility with the contractor present. Any conflict between this specification and referenced Codes and Standards, or any supplementary specifications in the procurement documents requires written clarification from the Contractor prior to proceeding with any work. Any deviation from the procurement documents requires approval by the Contractor with the change request process.

21 - SPECIFIC NUCLEAR REACTORS AND ASSOCIATED PLAN↗
DOE OSTI2022

FY2022 Filter Test for TRU Waste Drum Prototype Unit

Continuing last year’s (fiscal year 2021) work, a prototype instrument and an NPI-6 Integrated Work Document (IWD) were developed to assess the functionality of filters on transuranic waste containers (commonly called 55 Gallon ring-top drums) without requiring the removal of the drum lid. The purpose of this work is to determine the air flow and pressure characteristics associated with filter clogging, filter pressure drop at a fixed flow rate, and leakage around the lid seal. The FY22 objectives included: (A) Development of prototype device, (B) Drafting an IWD document, (C) Defining a filter clogging parameter, (D) Assessing filter damage due to over-pressure events, and (E) A path forward to obtain approval of the system safety filters in compliance with P101-16 Industrial Ventilation – non HVACR (LANL 2022).

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
NASA NTRS1972

Analysis of dashpot performance for rotating control drums of a lithium cooled fast reactor concept

A dashpot was incorporated in the design of the drive train of the rotating control drum to prevent shock damage to the control drum and drive train at the termination of a scram action. A rotating vane dashpot using reactor coolant lithium as a damping fluid appears to be the best candidate of the various damping devices explored. A performance analysis, results and discussion of vane type dashpots are presented.

Wenzler, C. J.↗