Engineering topics

Verma, Vandana

Publications and source records attributed to Verma, Vandana.

5 records

NASA NTRS2018

Incorporating AEGIS Autonomous Science into Mars Science Laboratory Rover Mission Operations

The AEGIS (Autonomous Exploration for Gathering Increased Science) intelligent targeting software system has been in use on the Mars Science Laboratory (MSL) mission since 2016. The system allows on-board autonomous selection of targets for the ChemCam remote geochemistry instrument based on analysis of images taken by the rover. This paper describes the deployment of AEGIS to MSL and the operational use of the system since rollout to science operations in May of 2016.

Deflores, Lauren↗

NASA NTRS2017

A Case Study of Productivity Challenges in Mars Science Laboratory Operations

Achieving consistently high levels of productivity has been a challenge for Mars surface missions. While the rovers have made major discoveries and dramatically increased our understanding of Mars, they often require a great deal of effort from the operations teams and achieving mission objectives can take longer than anticipated. We conducted an in-depth case study of Mars Science Laboratory operations in order to identify the productivity challenges facing surface missions. In this paper, we describe how we performed the case study and analyzed the data. We present and discuss the significant productivity challenges we identified during the study. In addition to informing future surface exploration missions, the study is relevant for a wide range of applications in which operators must interact with a robotic system with limited communication opportunities.

Gaines, Daniel↗

NASA NTRS2016

Biospecimen Retrieval from NASA's Rodent Research-1: Maximizing Science Return from Flight Missions

Rodent Research (RR)-1 was conducted to validate flight hardware, operations, and science capabilities that were developed to support long duration missions on the International Space Station. After 37 days in microgravity twenty mice were euthanized and frozen on orbit. Upon return to Earth the carcasses were dissected and yielded 32 different types of tissues from each mouse and over 3200 tissue aliquots. Many tissues were distributed to the Space Life and Physical Sciences (SLPS) Biospecimen Sharing Program (BSP) Principal Investigators (PIs) through the Ames Life Science Data Archive (ALSDA). A second round of dissections was performed to collect additional tissues from the remaining carcasses thawed for a second time for additional BSP PIs. Tissues retrieved included vaginal walls, aorta, pelvis, brown adipose tissue, tail, spine and forearms. Although the analyses are still in progress, some of the PIs have reported that the quality of the tissues was acceptable for their study. In a separate experiment we tested the RNA quality of the tissues that were dissected from frozen carcasses that were subjected to euthanasia, freezing, first and second thaw dissections. Timelines simulated the on-orbit RR-1 procedures to assess the quality of the tissues retrieved from the second thaw dissections. We analyzed the RIN values of select tissues including kidney, brain, white adipose tissue (WAT) and brown adipose tissue (BAT). Overall the RIN values from the second thaw were lower compared to those from the first by about a half unit; however, the tissues yielded RNA that are acceptable quality for some quantitative gene expression assays. Interestingly, RIN values of brain tissues were 8.4+/-0.6 and 7.9+/-0.7 from first and second round dissections, respectively (n5). Kidney and WAT yielded RIN values less than 8 but they can still be used for qPCR. BAT yielded higher quality RNA (8.2+/-0.5) than WAT (5.2+/-20.9), possibly due to the high fat content. Together, these data show that select tissues can be utilized for gene expression studies even if they are retrieved from carcasses that were subjected to at least two freezing and thawing processes; this further expands science return from valuable and infrequent rodent experiments in space.

rodents↗

NASA NTRS2016

Productivity Challenges for Mars Rover Operations

Achieving consistently high levels of productivity for surface exploration missions has been a challenge for Mars missions. While the rovers have made major discoveries and accomplished a large number of objectives, they often require a great deal of effort from the operations teams and achievingobjectives can take longer than anticipated. This paper describes the early stages of a multi-year project to investigate solutions for enhancing surface mission productivity. A primary focus of this early stage is to conduct in-depth studies of Mars Science Laboratory science campaigns to gain a deeper understanding of the factors that impact productivity, and to use this understanding to identify potential changes to flight software and ground operations practices to increase productivity. We present the science campaigns we have selected along with a conceptual model of how surface missions achieve objectives that is used to guide the study. We also provide some early thoughts on the technologies, and their interactions, which we believe will play an important role in addressing surface mission productivity challenges.We are in the early stages of a multi-year project to studyand address productivity challenges of future surface missions. We have identified campaigns from the MSL missionfor study which we believe will yield valuable informationabout the nature of surface mission productivity challenges.Based on preliminary analysis from the data collected weanticipate that the lessons from these case studies will helpdevelop and mature our concepts for changes to flight andground systems to address these challenges.While the focus of our work is on Mars rover missions, webelieve the concepts in the work will be applicable to a variety of in-situ explorers, including Venus, and Titan, as wellas orbital missions, such as the Europa orbiter. These missions will also benefit from the ability to adapt and respondto the latest state of the spacecraft and its environment.

Gaines, Daniel↗

NASA NTRS2011

Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations

We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.

multi-agent collaboration↗