Deployment Methods for an Origami-Inspired Rigid-Foldable Array

The purpose of this work is to evaluate several deployment methods for an origami-inspired solar array at two size scales: 25-meter array and CubeSat array. The array enables rigid panel deployment and introduces new concepts for actuating CubeSat deployables. The design for the array was inspired by the origami flasher model (Lang, 1997; Shafer, 2001). Figure 1 shows the array prototyped from Garolite and Kapton film at the CubeSat scale. Prior work demonstrated that rigid panels like solar cells could successfully be folded into the final stowed configuration without requiring the panels to flex (Zirbel, Lang, Thomson, & al., 2013). The design of the array is novel and enables efficient use of space. The array can be wrapped around the central bus of the spacecraft in the case of the large array, or can accommodate storage of a small instrument payload in the case of the CubeSat array. The radial symmetry of this array around the spacecraft is ideally suited for spacecraft that need to spin. This work focuses on several actuation methods for a one-time deployment of the array. The array is launched in its stowed configuration and it will be deployed when it is in space. Concepts for both passive and active actuation were considered

Robotic Arm Manipulator Using Active Control for Sample Acquisition and Transfer, and Passive Mode for Surface Compliance

A robotic arm that consists of three joints with four degrees of freedom (DOF) has been developed. It can carry an end-effector to acquire and transfer samples by using active control and comply with surface topology in a passive mode during a brief surface contact. The three joints are arranged in such a way that one joint of two DOFs is located at the shoulder, one joint of one DOF is located at the elbow, and one joint of one DOF is located at the wrist. Operationally, three DOFs are moved in the same plane, and the remaining one on the shoulder is moved perpendicular to the other three for better compliance with ground surface and more flexibility of sample handling. Three out of four joints are backdriveable, making the mechanism less complex and more cost effectiv

Surface Contact Model for Comets and Asteroids

A contact force model was developed for use in touch and go (TAG) surface sampling simulations on small celestial bodies such as comets and asteroids. In TAG scenarios, a spacecraft descending toward the surface of a small body comes into contact with the surface for a short duration of time, collects material samples with a sampler device, and then ascends to leave the surface. The surface contact required 6-DOF (degrees of freedom) dynamics models due to coupling of the attitude and translation dynamics during the contact. The model described here is for contact scenarios that utilize a rotating brush wheel sampler (BWS) to collect surface material. The model includes stiffness and damping of the surface material during BWS vertical motion, lateral friction from the BWS dragging across the surface, and lateral shear from the rotating BWS scooping the surface material. This model is useful for any mission to asteroids or comets that incorporates surface sampling operations

Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations

Sensor for Boundary Shear Stress in Fluid Flow

The formation of scour patterns at bridge piers is driven by the forces at the boundary of the water flow. In most experimental scour studies, indirect processes have been applied to estimate the shear stress using measured velocity profiles. The estimations are based on theoretical models and associated assumptions. However, the turbulence flow fields and boundary layer in the pier-scour region are very complex and lead to low-fidelity results. In addition, available turbulence models cannot account accurately for the bed roughness effect. Direct measurement of the boundary shear stress, normal stress, and their fluctuations are attractive alternatives. However, most direct-measurement shear sensors are bulky in size or not compatible to fluid flow. A sensor has been developed that consists of a floating plate with folded beam support and an optical grid on the back, combined with a high-resolution optical position probe. The folded beam support makes the floating plate more flexible in the sensing direction within a small footprint, while maintaining high stiffness in the other directions. The floating plate converts the shear force to displacement, and the optical probe detects the plate s position with nanometer resolution by sensing the pattern of the diffraction field of the grid through a glass window. This configuration makes the sensor compatible with liquid flow applications

Failures in sand in reduced gravity environments

The strength of granular materials, specifically sand is important for understanding physical phenomena on other celestial bodies. However, relatively few experiments have been conducted to determine the dependence of strength properties on gravity. In this work, we experimentally investigated relative values of strength (the peak friction angle, the residual friction angle, the angle of repose, and the peak dilatancy angle) in Earth, Martian, Lunar, and near-zero gravity. The various angles were captured in a classical passive Earth pressure experiment conducted on board a reduced gravity flight and analyzed using digital image correlation. The data showed essentially no dependence of the peak friction angle on gravity, a decrease in the residual friction angle between Martian and Lunar gravity, no dependence of the angle of repose on gravity, and an increase in the dilation angle between Martian and Lunar gravity. Additionally, multiple flow surfaces were seen in near-zero gravity. These results highlight the importance of understanding strength and deformation mechanisms of granular materials at different levels of gravity

Failures in sand in reduced gravity environments

The strength of granular materials, specifically sand is important for understanding physical phenomena on other celestial bodies. However, relatively few experiments have been conducted to determine the dependence of strength properties on gravity. In this work, we experimentally investigated relative values of strength (the peak friction angle, the residual friction angle, the angle of repose, and the peak dilatancy angle) in Earth, Martian, Lunar, and near-zero gravity. The various angles were captured in a classical passive Earth pressure experiment conducted on board a reduced gravity flight and analyzed using digital image correlation. The data showed essentially no dependence of the peak friction angle on gravity, a decrease in the residual friction angle between Martian and Lunar gravity, no dependence of the angle of repose on gravity, and an increase in the dilation angle between Martian and Lunar gravity. Additionally, multiple flow surfaces were seen in near-zero gravity. These results highlight the importance of understanding strength and deformation mechanisms of granular materials at different levels of gravity

The Solar Umbrella: A Low-cost Demonstration of Scalable Space Based Solar Power

Within the past decade, the Space Solar Power (SSP) community has seen an influx of stakeholders willing to entertain the SSP prospect of potentially boundless, base-load solar energy. Interested parties affiliated with the Department of Defense (DoD), the private sector, and various international entities have all agreed that while the benefits of SSP are tremendous and potentially profitable, the risk associated with developing an efficient end to end SSP harvesting system is still very high. In an effort to reduce the implementation risk for future SSP architectures, this study proposes a system level design that is both low-cost and seeks to demonstrate the furthest transmission of wireless power to date. The overall concept is presented and each subsystem is explained in detail with best estimates of current implementable technologies. Basic cost models were constructed based on input from JPL subject matter experts and assume that the technology demonstration would be carried out by a federally funded entity. The main thrust of the architecture is to demonstrate that a usable amount of solar power can be safely and reliably transmitted from space to the Earth's surface; however, maximum power scalability limits and their cost implications are discussed