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Description
Affect is a domain of psychology that includes attitudes, emotions, interests, and values. My own affect influenced the choice of topics for my dissertation. After examining asteroid interiors and the Moon’s thermal evolution, I discuss the role of affect in online science education. I begin with asteroids, which are collections of smaller objects held together by gravity and possibly cohesion. These “rubble-pile” objects may experience the Brazil Nut Effect (BNE). When a collection of particles of similar densities, but of different sizes, is shaken, smaller particles will move parallel to the local gravity vector while larger objects will do the opposite. Thus, when asteroids are shaken by impacts, they may experience the BNE as possibly evidenced by large boulders seen on their surfaces. I found while the BNE is plausible on asteroids, it is confined to only the outer layers. The Moon, which formed with a Lunar Magma Ocean (LMO), is the next topic of this work. The LMO is due to the Moon forming rapidly after a giant impact between the proto-Earth and another planetary body. The first 80% of the LMO solidified rapidly at which point a floatation crust formed and slowed solidification of the remaining LMO. Impact bombardment during this cooling process, while an important component, has not been studied in detail. Impacts considered here are from debris generated during the formation of the Moon. I developed a thermal model that incorporates impacts and find that impacts may have either expedited or delayed LMO solidification. Finally, I return to affect to consider the differences in attitudes towards science between students enrolled in fully-online degree programs and those enrolled in traditional, in-person degree programs. I analyzed pre- and post-course survey data from the online astrobiology course Habitable Worlds. Unlike their traditional program counterparts, students enrolled in online programs started the course with better attitudes towards science and also further changed towards more positive attitudes during the course. Along with important conclusions in three research fields, this work aims to demonstrate the importance of affect in both scientific research and science education.
ContributorsDingatantrige Perera, Jude Viranga (Author) / Asphaug, Erik (Thesis advisor) / Semken, Steven (Thesis advisor) / Anbar, Ariel (Committee member) / Elkins-Tanton, Linda T. (Committee member) / Robinson, Mark (Committee member) / Arizona State University (Publisher)
Created2017
Description
Many planetary science missions study thermophysical properties of surfaces using infrared spectrometers and infrared cameras. Thermal inertia is a frequently derived thermophysical property that quantifies the ability for heat to exchange through planetary surfaces.
To conceptualize thermal inertia, the diffusion equation analogies are extended using a general effusivity term: the square root of a product of conductivity and capacity terms. A hypothetical thermal inductance was investigated for diurnal planetary heating. The hyperbolic heat diffusion equation was solved to derive an augmented thermal inertia. The hypothetical thermal inductance was modeled with negligible effect on Mars.
Extending spectral performance of infrared cameras was desired for colder bodies in the outer solar system where peak infrared emission is at longer wavelengths. The far-infrared response of an infrared microbolometer array with a retrofitted diamond window was determined using an OSIRIS-REx—OTES interferometer. An instrument response function of the diamond interferometer-microbolometer system shows extended peak performance from 15 µm out to 20 µm and 40% performance to at least 30 µm. The results are folded into E-THEMIS for the NASA flagship mission: Europa Clipper.
Infrared camera systems are desired for the expanding smallsat community that can inherit risk and relax performance requirements. The Thermal-camera for Exploration, Science, and Imaging Spacecraft (THESIS) was developed for the Prox-1 microsat mission. THESIS, incorporating 2001 Mars Odyssey—THEMIS experience, consists of an infrared camera, a visible camera, and an instrument computer. THESIS was planned to provide images for demonstrating autonomous proximity operations between two spacecraft, verifying deployment of the Planetary Society’s LightSail-B, and conducting remote sensing of Earth. Prox-1—THESIS was selected as the finalist for the competed University Nanosatellite Program-7 and was awarded a launch on the maiden commercial SpaceX Falcon Heavy. THESIS captures 8-12 µm IR images with 100 mm optics and RGB color images with 25 mm optics. The instrument computer was capable of instrument commanding, automatic data processing, image storage, and telemetry recording. The completed THESIS has a mass of 2.04 kg, a combined volume of 3U, and uses 7W of power. THESIS was designed, fabricated, integrated, and tested in ASU’s 100K clean lab.
To conceptualize thermal inertia, the diffusion equation analogies are extended using a general effusivity term: the square root of a product of conductivity and capacity terms. A hypothetical thermal inductance was investigated for diurnal planetary heating. The hyperbolic heat diffusion equation was solved to derive an augmented thermal inertia. The hypothetical thermal inductance was modeled with negligible effect on Mars.
Extending spectral performance of infrared cameras was desired for colder bodies in the outer solar system where peak infrared emission is at longer wavelengths. The far-infrared response of an infrared microbolometer array with a retrofitted diamond window was determined using an OSIRIS-REx—OTES interferometer. An instrument response function of the diamond interferometer-microbolometer system shows extended peak performance from 15 µm out to 20 µm and 40% performance to at least 30 µm. The results are folded into E-THEMIS for the NASA flagship mission: Europa Clipper.
Infrared camera systems are desired for the expanding smallsat community that can inherit risk and relax performance requirements. The Thermal-camera for Exploration, Science, and Imaging Spacecraft (THESIS) was developed for the Prox-1 microsat mission. THESIS, incorporating 2001 Mars Odyssey—THEMIS experience, consists of an infrared camera, a visible camera, and an instrument computer. THESIS was planned to provide images for demonstrating autonomous proximity operations between two spacecraft, verifying deployment of the Planetary Society’s LightSail-B, and conducting remote sensing of Earth. Prox-1—THESIS was selected as the finalist for the competed University Nanosatellite Program-7 and was awarded a launch on the maiden commercial SpaceX Falcon Heavy. THESIS captures 8-12 µm IR images with 100 mm optics and RGB color images with 25 mm optics. The instrument computer was capable of instrument commanding, automatic data processing, image storage, and telemetry recording. The completed THESIS has a mass of 2.04 kg, a combined volume of 3U, and uses 7W of power. THESIS was designed, fabricated, integrated, and tested in ASU’s 100K clean lab.
ContributorsVeto, Michael (Author) / Christensen, Philip C (Thesis advisor) / Bell III, Jim (Committee member) / Clarke, Amanda B (Committee member) / Asphaug, Erik (Committee member) / Sariapli, Srikanth (Committee member) / Ruff, Steven (Committee member) / Arizona State University (Publisher)
Created2018
Description
The traditional understanding of robotics includes mechanisms of rigid structures, which can manipulate surrounding objects, taking advantage of mechanical actuators such as motors and servomechanisms. Although these methods provide the underlying fundamental concepts behind much of modern technological infrastructure, in fields such as manufacturing, automation, and biomedical application, the robotic structures formed by rigid axels on mechanical actuators lack the delicate differential sensors and actuators associated with known biological systems. The rigid structures of traditional robotics also inhibit the use of simple mechanisms in congested and/or fragile environments. By observing a variety of biological systems, it is shown that nature models its structures over millions of years of evolution into a combination of soft structures and rigid skeletal interior supports. Through technological bio-inspired designs, researchers hope to mimic some of the complex behaviors of biological mechanisms using pneumatic actuators coupled with highly compliant materials that exhibit relatively large reversible elastic strain. This paper begins the brief history of soft robotics, the various classifications of pneumatic fluid systems, the associated difficulties that arise with the unpredictable nature of fluid reactions, the methods of pneumatic actuators in use today, the current industrial applications of soft robotics, and focuses in large on the construction of a universally adaptable soft robotic gripper and material application tool. The central objective of this experiment is to compatibly pair traditional rigid robotics with the emerging technologies of sort robotic actuators. This will be done by combining a traditional rigid robotic arm with a soft robotic manipulator bladder for the purposes of object manipulation and excavation of extreme environments.
ContributorsShuster, Eden S. (Author) / Thanga, Jekan (Thesis director) / Asphaug, Erik (Committee member) / Mechanical and Aerospace Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2016-05
Description
In-situ exploration of planetary bodies such as Mars or the Moon have provided geologists and planetary scientists a detailed understanding of how these bodies formed and evolved. In-situ exploration has aided in the quest for water and life-supporting chemicals. In-situ exploration of Mars carried out by large SUV-sized rovers that travel long distance, carry sophisticated onboard laboratories to perform soil analysis and sample collection. But their large size and mobility method prevents them from accessing or exploring extreme environments, particularly caves, canyons, cliffs and craters.
This work presents sub- 2 kg ball robots that can roll and hop in low gravity environments. These robots are low-cost enabling for one or more to be deployed in the field. These small robots can be deployed from a larger rover or lander and complement their capabilities by performing scouting and identifying potential targets of interest. Their small size and ball shape allow them to tumble freely, preventing them from getting stuck. Hopping enables the robot to overcome obstacles larger than the size of the robot.
The proposed ball-robot design consists of a spherical core with two hemispherical shells with grouser which act as wheels for small movements. These robots have two cameras for stereovision which can be used for localization. Inertial Measurement Unit (IMU) and wheel encoder are used for dead reckoning. Communication is performed using Zigbee radio. This enables communication between a robot and a lander/rover or for inter-robot communication. The robots have been designed to have a payload with a 300 gram capacity. These may include chemical analysis sensors, spectrometers and other small sensors.
The performance of the robot has been evaluated in a laboratory environment using Low-gravity Offset and Motion Assistance Simulation System (LOMASS). An evaluation was done to understand the effect of grouser height and grouser separation angle on the performance of the robot in different terrains. The experiments show with higher grouser height and optimal separation angle the power requirement increases but an increase in average robot speed and traction is also observed. The robot was observed to perform hops of approximately 20 cm in simulated lunar condition. Based on theoretical calculations, the robot would be able to perform 208 hops with single charge and will operate for 35 minutes. The study will be extended to operate multiple robots in a network to perform exploration. Their small size and cost makes it possible to deploy dozens in a region of interest. Multiple ball robots can cooperatively perform unique in-situ science measurements and analyze a larger surface area than a single robot alone on a planet surface.
This work presents sub- 2 kg ball robots that can roll and hop in low gravity environments. These robots are low-cost enabling for one or more to be deployed in the field. These small robots can be deployed from a larger rover or lander and complement their capabilities by performing scouting and identifying potential targets of interest. Their small size and ball shape allow them to tumble freely, preventing them from getting stuck. Hopping enables the robot to overcome obstacles larger than the size of the robot.
The proposed ball-robot design consists of a spherical core with two hemispherical shells with grouser which act as wheels for small movements. These robots have two cameras for stereovision which can be used for localization. Inertial Measurement Unit (IMU) and wheel encoder are used for dead reckoning. Communication is performed using Zigbee radio. This enables communication between a robot and a lander/rover or for inter-robot communication. The robots have been designed to have a payload with a 300 gram capacity. These may include chemical analysis sensors, spectrometers and other small sensors.
The performance of the robot has been evaluated in a laboratory environment using Low-gravity Offset and Motion Assistance Simulation System (LOMASS). An evaluation was done to understand the effect of grouser height and grouser separation angle on the performance of the robot in different terrains. The experiments show with higher grouser height and optimal separation angle the power requirement increases but an increase in average robot speed and traction is also observed. The robot was observed to perform hops of approximately 20 cm in simulated lunar condition. Based on theoretical calculations, the robot would be able to perform 208 hops with single charge and will operate for 35 minutes. The study will be extended to operate multiple robots in a network to perform exploration. Their small size and cost makes it possible to deploy dozens in a region of interest. Multiple ball robots can cooperatively perform unique in-situ science measurements and analyze a larger surface area than a single robot alone on a planet surface.
ContributorsRaura, Laksh Deepak (Author) / Thangavelautham, Jekanthan (Thesis advisor) / Berman, Spring (Thesis advisor) / Lee, Hyunglae (Committee member) / Asphaug, Erik (Committee member) / Arizona State University (Publisher)
Created2016