ABSTRACT
Based on the NASA in-Space Assembled Telescope (iSAT) study (Bulletin of the American Astronomical Society, 2019, 51, 50) which details the design and requirements for a 20-m parabolic in-space telescope, NASA Langley Research Center (LaRC) has been developing structural and robotic solutions to address the needs of building larger in-space assets. One of the structural methods studied involves stackable and collapsible modular solutions to address launch vehicle volume constraints. This solution uses a packing method that stacks struts in a dixie-cup like manner and a chemical composite bonding technique that reduces weight of the structure, adds strength, and offers the ability to de-bond the components for structural modifications. We present in this paper work towards a soft material robot end-effector, capable of suppling the manipulability, pressure, and temperature requirements for the bonding/de-bonding of these conical structural components. This work is done to investigate the feasibility of a hybrid soft robotic end-effector actuated by Twisted and Coiled Artificial Muscles (TCAMs) for in-space assembly tasks. TCAMs are a class of actuator which have garnered significant recent research interest due to their allowance for high force to weight ratio when compared to other popular methods of actuation within the field of soft robotics, and a muscle-tendon actuation design using TCAMs leads to a compact and lightweight system with controllable and tunable behavior. In addition to the muscle-tendon design, this paper also details the early investigation of an induction system for adhesive bonding/de-bonding and the sensors used for benchtop design and testing. Additionally, we discuss the viability of Robotic Operating System 2 (ROS2) and Gazebo modeling environments for soft robotics as they pertain to larger simulation efforts at LaRC. We show real world test results against simulation results for a method which divides the soft, continuous material of the end-effector into discrete links connected by spring-like joints.
ABSTRACT
Carbon dioxide (CO(2)), carbon monoxide (CO), and mercury (Hg) emissions were quantified for two eastern Kentucky coal-seam fires, the Truman Shepherd fire in Floyd County and the Ruth Mullins fire in Perry County. This study is one of the first to estimate gas emissions from coal fires using field measurements at gas vents. The Truman Shepherd fire emissions are nearly 1400t CO(2)/yr and 16kg Hg/yr resulting from a coal combustion rate of 450-550t/yr. The sum of CO(2) emissions from seven vents at the Ruth Mullins fire is 726+/-72t/yr, suggesting that the fire is consuming about 250-280t coal/yr. Total Ruth Mullins fire CO and Hg emissions are estimated at 21+/-1.8t/yr and >840+/-170g/yr, respectively. The CO(2) emissions are environmentally significant, but low compared to coal-fired power plants; for example, 3.9x10(6)t CO(2)/yr for a 514-MW boiler in Kentucky. Using simple calculations, CO(2) and Hg emissions from coal-fires in the U.S. are estimated at 1.4x10(7)-2.9x10(8)t/yr and 0.58-11.5t/yr, respectively. This initial work indicates that coal fires may be an important source of CO(2), CO, Hg and other atmospheric constituents.
