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Seven degree-of-freedom (DOF) robot arms have one redundant DOF for obstacle and singularity avoidance. This DOF does not change the end effector motion and must be parameterized to fully specify the joint angles for a given end effector pose. For 7-DOF revolute (7R) manipulators, we introduce the generalized shoulder-elbow-wrist (SEW) angle, a generalization of the widely-used conventional SEW angle but with an arbitrary reference direction function, along with Jacobian expressions and singularity analysis. Other redundancy parameterizations including the conventional SEW angle encounter an algorithmic singularity along a line in the workspace. We introduce a reference direction function choice called the stereographic SEW angle which has a singularity only along a half-line and can be placed out of reach. We prove such a singularity is unavoidable for any parameterization. Finally, using the general SEW angle and the subproblem decomposition method, we provide efficient singularity-robust inverse kinematics solutions for 7R manipulators which are often closed-form but may involve a 1D or (in general) 2D search. Search-based solutions may be converted to finding polynomial roots. Examples are available in a publicly accessible repository.

This paper derives a symbolic multi-body rigid nonlinear model for a space telescope using Stoneking’s implementation of Kane’s method. This symbolic nonlinear model is linearized using Matlab symbolic functions diff and inv because the analytic linearization is intractable for manual derivation. The linearized system model is then used to design the controllers using both linear quadratic regulator (LQR) and robust pole assignment methods. The closed-loop systems for the two designs are simulated using both the rigid model as well as a second model containing flexible modes. The performances of the two designs are compared based on the simulation testing results. Our conclusion is that the robust pole assignment design offers better performance than that of the LQR system in terms of actuator usage and pointing accuracy. However, the LQR approach remains an effective first design step that can inform the selection of real eigenvalues for robust pole assignment. The proposed method may be used for the modeling and controller designs for various multi-body systems.

This memorandum serves to document the test results for mating and demating the barrel type power connector on the ZBook Laptop Computer.

Safe use of high energy density batteries is critical for electrifying aerospace and other transportation sectors. Nondestructive evaluation (NDE) techniques are being developed for characterizing battery structures throughout their lifetimes so that damage mechanisms can be better understood, and prognostic tools can be developed. In this study Local Ultrasonic Resonance Spectroscopy (LURS) is applied to lithium metal pouch cell batteries of a variety of form-factors that are brought from fabrication to end of life under different charge rates, temperatures, and loading scenarios. LURS data shows improved sensitivity to changes in structure in comparison to amplitude-based methods, allowing differences in damage development to be identified as well as giving opportunities for quality control in manufacturing.

Safe use of high energy density batteries is critical for electrifying aerospace and other transportation sectors. Nondestructive evaluation (NDE) techniques are being developed for characterizing battery structures throughout their lifetimes so that damage mechanisms can be better understood, and prognostic tools can be developed. In this study Local Ultrasonic Resonance Spectroscopy (LURS) is applied to lithium metal pouch cell batteries of a variety of form-factors that are brought from fabrication to end of life under different charge rates, temperatures, and loading scenarios. LURS data shows improved sensitivity to changes in structure in comparison to amplitude-based methods, allowing differences in damage development to be identified as well as giving opportunities for quality control in manufacturing.

NASA Digital Transformation

Design for reliability by using your multiplexer’s un-assigned channels. With optimal channelization, software can detect, correct, and eliminate critical outcomes due to addressing failures.

Reconfigurable or programmable photonic devices are rapidly growing and have become an integral part of many optical systems. The ability to selectively modulate electromagnetic waves through electrical stimuli is crucial in the advancement of a variety of applications from data communication and computing devices to environmental science and space explorations. Chalcogenide-based phase change materials (PCMs) are one of the most promising material candidates for reconfigurable photonics due to their large optical contrast between their different solid-state structural phases. Although significant efforts have been devoted to accurate simulation of PCM-based devices, in this paper, we highlight three important aspects which have often evaded prior models yet having significant impacts on the thermal and phase transition behavior of these devices: the enthalpy of fusion, the heat capacity change upon glass transition, as well as the thermal conductivity of liquid-phase PCMs. We further investigated the important topic of switching energy scaling in PCM devices, which also helps explain why the three above-mentioned effects have long been overlooked in electronic PCM memories but only become important in photonics. Our findings offer insight to facilitate accurate modeling of PCM-based photonic devices and can inform the development of more efficient reconfigurable optics.

FY13 XHab Texas A&M University

This irradiation campaign was performed to evaluate the destructive single event effect (SEE) susceptibility of a n-channel power MOSFET from SSDI for space-based instrumentation. Testing was performed at Michigan State University’s (MSU) Facility for Rate Isotope Beams (FRIB) using an LET of 50.5 MeV·cm2/mg

The dataset repository is organized into three main folders, each containing one group of life cycled battery packs. Within each folder individual battery packs own their dedicated csv file for continuous data logging, which are named with their respective battery pack number. The folders are named: - regular_alt_batteries: Containing one csv file for each battery pack cycled at the same load level or load range throughout lifetime - recommissioned_batteries: Containing one csv file for each battery pack cycled at different load levels at varying life stages - second_life_batteries: Containing one csv file for each second life battery pack cycled at constant current througout the second life

Material degradation during the fabrication of microelectronic devices has plagued the space industry for many years owing to the layering of many dissimilar metals to create these devices. Often, commonly used materials and systems are overlooked as potential sources of material degradation. This technical bulletin highlights extensive research to isolate probable causes of this degradation.

Goal: Enable anyone to SPICE-model and design 500 °C durable integrated circuits for their intended application.

Given the ubiquity of electronic displays integration in human-based systems, the impending mission critical, space-based applications of electronic displays will necessitate SEE assessment of components unique to electronic displays. A commercially available DDIC designed to drive a small form factor organic light emitting diode (OLED) was visually monitored during heavy ion irradiation to catalogue radiation induced persistent visual error signatures that require manual intervention (i.e., power cycling) to return to nominal function. These error signatures were able to be reproduced via modification of configuration register values utilizing the instruction set intended for interfacing a microcontroller with the DDIC. This approach to emulation of heavy-ion induced errors on a table-top assists with human perception-based criticality analysis as well as development of mitigation techniques.

The Cable Wrap mechanism has been traditionally used for feeding power and telemetry through each gimbal actuator exiting at the Gimbal output flange. Such a mechanism had often utilized round wire bundles, or a multitude of single insulated conductors woven together flatwise to handle the angular rotation. Though flexible printed circuit board (PCB) is not a new technology, it was decided to implement it for the Roman Space Telescope (RST) High Gain Antenna Gimbal in an effort to improve reliability with consistency of manufacture and to save mass and minimize required volume. This paper provides a description of what we term Flex-Capsule (a similar vendor flight development is termed Twist Capsule), discusses the reasoning behind choosing a new engineering development over maintaining heritage, and includes commentary pertaining to life cycle analysis, electrical performance, and flexible PCB lubrication. Lessons learned from the design, analysis, and test campaign are also included. The conclusion is that benefits of pursuing the Flex-Capsule over heritage Cable Wrap have been realized.

This poster describes a first attempt to demonstrate a multi-chip prototype lander control and sensor signal digitization electronics circuit board comprised of ten NASA Glenn IC Generation 11 SiC JFET-R IC chips in 460 °C, 9.4 MPa harsh Venus surface conditions. The lander circuit ceased electrical operation prematurely at 107 °C as the Venus chamber heated up. Optical and SEM post-test inspections indicate fatal dielectric cracks occurred on only one of the ten SiC chips.

This paper presents results from metal contact processing experiments towards the implementation of durable 500 °C high-frequency 4H-SiC bipolar junction transistors (BJTs). Specifically, p-type ohmic contacts have been demonstrated on a 0.25 μm-thick p-type homoepitaxial layer of doping 8 x 1018 ± 4 x 1018 cm-3. Preliminary current-voltage characteristics of fabricated BJTs are presented.

The end goal of this presentation is to make aware JEDEC members of needed modifications /updates in standards that use fluorocarbon electrical fluids to address test sensitivity (discuss potential root cause of False/Passes) and change of content in standards when mentioning trademark names of electrical fluids to be phase out by 3M due to PFAs content.

This study was undertaken to determine the single-event functional interrupt (SEFI) susceptibility on different Linux operating system configurations. The device-under-test (DUT) was the Xilinx Zynq-7020 SoC on the TUL PYNQ-Z2 board. The device was monitored for kernel panics or hangs, classified as SEFIs, to observe any differences in the SEFI cross sections between operating system configurations. The primary purpose of this experiment was to observe if the number of drivers installed in a Linux system affects its overall execution reliability.

For several years the TechEdSat flight series (TES-n), developed by the Nano Orbital Workshop (NOW) group at NASA Ames, has relied upon an in-house developed unit to serve both EPS (Electrical Power System) and C&DH (Command and Data Handling) roles along with low data-rate telemetry functions, i.e., serving as the ‘core’ of the spacecraft bus. This ‘core’ has a considerable task given the rapid cadence of the TES program and the typically low-TRL of payloads; configurability and compatibility are key to prevent mission-specific hardware. However, at only 15 watts the current core has become insufficient to support the program’s growing missions and increasingly demanding payloads. To this end, the NOW program is developing new cores to support two TES mission classes: a single-PCB ‘MiniCore’ designed to support 80-watt missions 6U or smaller in LEO, and a three-PCB, radiation-tolerant ‘StackCore’ designed to support 6U and larger missions over 500 watts in LEO and beyond. The ‘MiniCore’ design consists of three main segments: a processor-agnostic C&DH, a software-configured EPS, and a backup low data-rate radio. The design philosophy was to enable rapid-manufacture in a turbulent supply chain, hence the design consists of COTS parts with a focus on those able to be drop-in replaced with radiation-tolerant versions when demanded by the mission. As a single PC-104 sized circuit board, power density and ease of integration also dominated design, demanding the use of modern features such as single-point USB-C for easy charging and monitoring of the spacecraft on the ground. The ‘MiniCore’ can support 80 watts of load, 140 watt-hours of storage, and over 20 watts of optimized solar generation with extensive power monitoring throughout. The ‘MiniCore’ supports one battery pack, six solar-panels, six loads, five actuators, Iridium SBD, and an internal 802.15.4 network. Additionally, the processor-agnostic design can accept any PJRC Teensy 3.x or Adafruit Feather microcontroller unit to enable processor scaling with mission requirements or environment. It is expected a development unit of this design will be completed before conference. The ‘StackCore’ design consists of three stacked PC-104 sized circuit boards: one dedicated to power generation and storage, one dedicated to power distribution, and one dedicated to C&DH tasks. This delineation is necessary to support the transition from highly integrated ICs to discrete analog circuitry, enabling a primarily analog control power system able to operate without software in a radiation environment with finer monitoring compared to the ‘MiniCore’ design. The planned base architecture supports over 500 watts of load, 250 watt-hours of storage, and over 80 watts of optimized solar generation. The power distribution board allows for the use of daughter cards hosting custom converters or interfaces for payloads, in addition to the software-configured supplies used on the ‘MiniCore’. This core stack will be managed by a Vorago ARM M4 microcontroller and support the same wireless communications as the ‘MiniCore’, with optional integration of a NOW S-band radio and attitude determination sensors for ‘black box’ functionality. It is expected the prototype will still be in development during conference.

Single-event effects testing (heavy-ion and proton) is presented for 96- and 176-layer commercially-available 3D NAND flash memory, with emphasis on SEFI detection and recovery.

64 MeV proton irradiation were conducted on pixel technologies that spans the range of commercially available electronic displays for crewed missions. Human-centric optical performance metrics and at-facility characterization techniques are discussed and reported for assessment of pixel radiation susceptibilities.

Increasingly scarce SEE testing resources and rapid growth of the New Space sector have increased the prevalence of under-constrained SEE data. We develop Monte Carlo tools to assess implications for SEE.

Single-event effects testing (heavy-ion and proton) is presented for 96- and 176-layer commercially-available 3D NAND flash memory, with emphasis on SEFI detection and recovery.

NASA’s plans to return humans to the Lunar surface require overcoming a variety of challenging technical and operational obstacles. In 2022, NASA formed the Extravehicular Activity (EVA) and Human Surface Mobility (HSM) Program (EHP) at the Johnson Space Center with responsibilities including development of space suits and surface mobility systems for Lunar missions. This program includes a Technology Development and Partnerships office chartered to identify high priority gaps in capabilities for Lunar surface mobility and to coordinate resources to close those gaps. This presentation details the EHP technology roadmap for “Informatics and Decision Support,” a subset of spacecraft avionics focused on effective and autonomous crew interaction with spaceflight systems. The gaps, grouped into displays, audio systems, and information technology infrastructure, are largely driven by the unique interaction requirements for human spacecraft and the severe radiation environments beyond low earth orbit. The roadmap identifies ongoing activities and paths to technology infusion into Lunar spacecraft. NASA is seeking input on the content and ideas for alternative paths to gap closure. Closing these gaps is important to successful human operations on the Lunar surface and vital to NASA’s long-term goal of human missions to Mars.

A model using the Electrical Modeling and Thermal Analysis Toolbox (EMTAT), a National Aeronautics and Space Administration (NASA)-developed Simulink® model block library of electrical components, was developed to mirror the Hybrid Propulsion Emulation Rig (HyPER) hardware, a laboratory focused on Electrified Aircraft Propulsion (EAP) hardware tests. The goal of the model was to demonstrate the utility of the library by comparing the accuracy of the library models to the performance of real hardware, with the primary metrics being the simulation outputs matching physical test hardware data within 5 percent of full scale. The objective of this paper is to present the background, setup, testing and results of this comparison. It describes some of the adjustments that were necessary to match the system hardware, as well as next steps in verification and validation. The outputs of the model were compared to the results of several tests in HyPER, and in the process captured an additional torque loss that is still being analyzed for the root cause but has been confirmed in the hardware. Across all the test series, only one key model parameter was outside the target 5 percent full scale matching, and nearly 70 percent were within 1 percent.

The prospects for beneficial infusion of integrated circuits (ICs) into previously inaccessible extreme-temperature application environments has increased with recent NASA Glenn demonstrations of 4H-SiC Junction Field Effect Transistor & Resistor (JFET-R) chips functioning for over a year at 500 °C in air ambient [1]. This paper focuses on fabrication process choices believed key to demonstrated 500 °C durability that must be considered when porting this uniquely durable IC capability into commercial foundry manufacturing.

The purpose of this testing is to provide preliminary characterization of the displacement damage and total ionizing dose effects via 63 MeV protons on InGaAs PIN photodiodes fabricated and assembled by Excelitas for use in a LIDAR system. The testing is being conducted to determine the susceptibility of the component to the radiation environment that it will be exposed to during mission duration.

Three technology highlights from the Science Mission Directorate (SMD) Astrophysics Division, Biological and Physical Sciences Division, and Planetary Science Division are featured: a) A new class of X-ray detector with unprecedented energy resolution and array size could help transform our understanding of the cosmos through unparalleled vision into the otherwise invisible universe. b) An autonomous microfluidic culturing system with CubeSat heritage is teaming up with two state-of-the-art radiation detectors to measure how biology responds to the radiation and reduced gravity environment on the lunar surface. c) Several core technologies developed via the Hot Operating Temperature Technology (HOTTech) Program were recently tested in the Glenn Extreme Environment Rig (GEER), which simulates the conditions on the surface of Venus.

Electronics used in space missions encounter exposure to extreme temperatures and operation under wide thermal swings. Most commercial-off-the-shelf (COTS) devices are not designed to function under such extreme conditions and very little data exist on their performance outside their specified range of operation. Extending the temperature range at which electronic parts can operate reliably leads to potential benefits resulting in improving reliability, reducing mass/weight, and simplifying thermal design due to elimination of thermal control elements and fewer parts count. In this work, the performance of an isolated, precision gate driver for controlling power-level transistors, including gallium nitride (GaN) and silicon carbide (SiC) devices, was evaluated under extreme temperatures and thermal cycling. The investigations were carried out to assess performance for potential use of this device in space exploration missions under extreme temperature conditions.

The purpose of this test was to characterize the single-event effects (SEE) susceptibility of the Texas Instrument (TI) DRV8881 2.5A Dual H-Bridge Motor Driver. The device’s output was monitored for changes during exposure to heavy-ions at Lawrence Berkeley National Laboratory (LBNL) 88-inch Cyclotron. The main goal of testing was to test for destructive SEEs. Nondestructive SEEs were recorded during testing but not fully characterized. Testing was performed on November 9th and 11th, 2022.