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  • Spacecraft Design, Testing and Performance; Structural Mechanics; Cybernetics, Artificial Intelligence and Robotics  (1)
  • Structural Mechanics; Statistics and Probability; Man/System Technology and Life Support  (1)
  • 1
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    BILL-E: Robotic Platform for Locomotion and Manipulation of Lightweight Space Structures (2017)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: We describe a robotic platform for traversing and manipulating a modular 3D lattice structure. The robot is designed to operate within a specifically structured environment, which enables low numbers of degrees of freedom (DOF) compared to robots performing comparable tasks in an unstructured environment. This allows for simple controls, as well as low mass and cost. This approach, designing the robot relative to the local environment in which it operates, results in a type of robot we call a "relative robot." We describe a bipedal robot that can locomote across a periodic lattice structure, as well as being able to handle, manipulate, and transport building block parts that compose the lattice structure. Based on a general inchworm design, the robot has added functionality for traveling over and operating on a host structure.
    Keywords: Spacecraft Design, Testing and Performance; Structural Mechanics; Cybernetics, Artificial Intelligence and Robotics
    Type: ARC-E-DAA-TN38470 , AIAA SciTech 2017; Jan 09, 2017 - Jan 13, 2017; Grapevine, TX; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Digital Cellular Solid Pressure Vessels: A Novel Approach for Human Habitation in Space (2017)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: It is widely assumed that human exploration beyond Earth's orbit will require vehicles capable of providing long duration habitats that simulate an Earth-like environment - consistent artificial gravity, breathable atmosphere, and sufficient living space- while requiring the minimum possible launch mass. This paper examines how the qualities of digital cellular solids - high-performance, repairability, reconfigurability, tunable mechanical response - allow the accomplishment of long-duration habitat objectives at a fraction of the mass required for traditional structural technologies. To illustrate the impact digital cellular solids could make as a replacement to conventional habitat subsystems, we compare recent proposed deep space habitat structural systems with a digital cellular solids pressure vessel design that consists of a carbon fiber reinforced polymer (CFRP) digital cellular solid cylindrical framework that is lined with an ultra-high molecular weight polyethylene (UHMWPE) skin. We use the analytical treatment of a linear specific modulus scaling cellular solid to find the minimum mass pressure vessel for a structure and find that, for equivalent habitable volume and appropriate safety factors, the use of digital cellular solids provides clear methods for producing structures that are not only repairable and reconfigurable, but also higher performance than their conventionally manufactured counterparts.
    Keywords: Structural Mechanics; Statistics and Probability; Man/System Technology and Life Support
    Type: ARC-E-DAA-TN39675 , IEEE Aerospace Conference 2017; Mar 04, 2017 - Mar 11, 2017; Big Sky, MT; United States
    Format: application/pdf
    Location Call Number Expected Availability
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    NASA TECHNICAL REPORTS
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