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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1989

Shuttle Atlantis to deploy Galileo probe toward Jupiter

The objectives of Space Shuttle Mission STS-34 are described along with major flight activities, prelaunch and launch operations, trajectory sequence of events, and landing and post-landing operations. The primary objective of STS-34 is to deploy the Galileo planetary exploration spacecraft into low earth orbit. Following deployment, Galileo will be propelled on a trajectory, known as Venus-Earth-Earth Gravity Assist (VEEGA), by an inertial upper stage (IUS). The objectives of the Galileo mission are to study the chemical composition, state, and dynamics of the Jovian atmosphere and satellites, and investigate the structure and physical dynamics of the Jovian magnetosphere. Secondary STS-34 payloads include the Shuttle Solar Backscatter Ultraviolet (SSBUV) instrument; the Mesoscale Lightning Experiment (MLE); and various other payloads involving polymer morphology, the effects of microgravity on plant growth hormone, and the growth of ice crystals.

Source record↗
NASA NTRS2011

Fast Image Texture Classification Using Decision Trees

Texture analysis would permit improved autonomous, onboard science data interpretation for adaptive navigation, sampling, and downlink decisions. These analyses would assist with terrain analysis and instrument placement in both macroscopic and microscopic image data products. Unfortunately, most state-of-the-art texture analysis demands computationally expensive convolutions of filters involving many floating-point operations. This makes them infeasible for radiation- hardened computers and spaceflight hardware. A new method approximates traditional texture classification of each image pixel with a fast decision-tree classifier. The classifier uses image features derived from simple filtering operations involving integer arithmetic. The texture analysis method is therefore amenable to implementation on FPGA (field-programmable gate array) hardware. Image features based on the "integral image" transform produce descriptive and efficient texture descriptors. Training the decision tree on a set of training data yields a classification scheme that produces reasonable approximations of optimal "texton" analysis at a fraction of the computational cost. A decision-tree learning algorithm employing the traditional k-means criterion of inter-cluster variance is used to learn tree structure from training data. The result is an efficient and accurate summary of surface morphology in images. This work is an evolutionary advance that unites several previous algorithms (k-means clustering, integral images, decision trees) and applies them to a new problem domain (morphology analysis for autonomous science during remote exploration). Advantages include order-of-magnitude improvements in runtime, feasibility for FPGA hardware, and significant improvements in texture classification accuracy.

Thompson, David R.↗
NASA NTRS1995

Thermal conductivity of zirconia thermal barrier coatings

Thermal barrier coatings (TBC's) applied to the hot gas components of turbine engines lead to enhanced fuel efficiency and component reliability. Understanding the mechanisms which control the thermal transport behavior of the TBC's is of primary importance. Physical vapor description (PVD) and plasma spraying (PS) are the two most commonly used coating techniques. These techniques produce coatings with unique microstructures which control their performance and stability. The PS coatings were applied with either standard power or hollow sphere particles. The hollow sphere particles yielded a lower density and lower thermal conductivity coating. The thermal conductivity of both fully and partially stabilized zirconia, before and after thermal aging, will be compared. The thermal conductivity of the coatings permanently increase upon being exposed to high temperatures. These increases are attributed to microstructural changes within the coatings. Sintering of the as fabricated plasma sprayed lamellar structure is observed by scanning electron microscopy of coatings isothermally heat treated at temperatures greater than 1100 C. During this sintering process the planar porosity between lamella is converted to a series of small spherical pores. The change in pore morphology is the primary reason for the observed increase in thermal conductivity. This increase in thermal conductivity can be modeled using a relationship which depends on both the temperature and time of exposure. Although the PVD coatings are less susceptible to thermal aging effects, preliminary results suggest that they have a higher thermal conductivity than PS coatings, both before and after thermal aging. The increases in thermal conductivity due to thermal aging for partially stabilized plasma sprayed zirconia have been found to be less than for fully stabilized plasma sprayed zirconia coatings. The high temperature thermal diffusivity data indicates that if these coatings reach a temperature above 1100 C during operation, they will begin to lose their effectiveness as a thermal barrier.

Dinwiddie, R. B.↗
NASA NTRS1995

Thermal conductivity of zirconia thermal barrier coatings

Thermal barrier coatings (TBC's) applied to the hot gas components of turbine engines lead to enhanced fuel efficiency and component reliability. Understanding the mechanisms which control the thermal transport behavior of the TBC's is of primary importance. Physical vapor deposition (PVD) and plasma spraying (PS) are the two most commonly used coating techniques. These techniques produce coatings with unique microstructures which control their performance and stability. The PS coatings were applied with either standard powder or hollow sphere particles. The hollow sphere particles yielded a lower density and lower thermal conductivity coating. The thermal conductivity of both fully and partially stabilized zirconia, before and after thermal aging, will be compared. The thermal conductivity of the coatings permanently increases upon exposed to high temperatures. These increases are attributed to microstructural changes within the coatings. Sintering of the as-fabricated plasma sprayed lamellar structure is observed by scanning electron microscopy of coatings isothermally heat treated at temperatures greater than 1100 C. During this sintering process the planar porosity between lamella is converted to a series of small spherical pores. The change in pore morphology is the primary reason for the observed increase in thermal conductivity. This increase in thermal conductivity can be modeled using a relationship which depends on both the temperature and time of exposure. Although the PVD coatings are less susceptible to thermal aging effects, preliminary results suggest that they have a higher thermal conductivity than PS coatings, both before and after thermal aging. The increases in thermal conductivity due to thermal aging for partially stabilized plasma sprayed zirconia have been found to be less than for fully stabilized plasma sprayed zirconia coatings. The high temperature thermal diffusivity data indicate that if these coatings reach a temperature above 1100 C during operation, they will begin to lose their effectiveness as a thermal barrier.

Dinwiddie, R. B.↗
NASA NTRS1987

Radio structure in the inner 1 arcsecond of NGC 1068

High-resolution VLA and VLBI observations of NGC 1068 at several different wavelengths are reported. These observations provide new information about the triple radio source in the central arcsec (75 pc) of the galaxy. The 21-cm European VLBI Network observations at 0.05-arcsec resolution detect a core of flux density 89 + or - 10 mJy. This core is dominated by a component less than 20 marcsec (1.5 pc) in diameter that has a brightness temperature of about 10 to the 8th K. Two more components may have been detected by the VLBI observations, one on either side of the compact core. At 0.07-arcsec resolution, the 1.3-cm VLA map of the central arcsec of NGC 1068 reveals a C-shaped radio morphology on scales from 10 to 50 pc. A comparison of the relative locations of the three components in the VLA and VLBI maps shows that the compact core in the VLBI map probably should be identified with the central component in the 1.3- and 2-cm VLA maps. If this identification is correct, the central component in the VLA maps is the actual nucleus of the galaxy. The core of the inner triple radio source may contain a significant flat-spectrum component. The presence of a compact core and the evidence for bending strengthen the argument that the inner triple radio source is produced by a mechanism similar to that operating in powerful radio galaxies. For a minimum-energy configuration, magnetic-field strengths of about 1 mG and energy densities of about 100 nerg/cu cm are found for the components of this source.

Ulvestad, James S.↗
NASA NTRS1993

Internal strain analysis of ceramics using scanning laser acoustic microscopy

Quantitative studies of material behavior characteristics are essential for predicting the functionality of a material under its operating conditions. A nonintrusive methodology for measuring the in situ strain of small dimeter (to 11 microns) ceramic fibers under uniaxial tensile loading and the local internal strains of ceramics and ceramic composites under flexural loading is introduced. The strain measurements and experimentally observed mechanical behavior are analyzed in terms of the microstructural development and fracture behavior of each test specimen evaluated. Measurement and analysis of Nicalon silicon carbide (SiC) fiber (15 microns diameter) indicate that the mean elastic modulus of the individual fiber is 185.3 GPa. Deviations observed in the experimentally determined elastic modulus values between specimens were attributed to microstructural variations which occur during processing. Corresponding variations in the fracture surface morphology were also observed. The observed local mechanical behavior of a lithium alumino-silicate (LAS) glass ceramic, a LAS/SiC monofilament composite, and a calcium alumino-silicate (CAS)/SiC fully reinforced composite exhibits nonlinearities and apparent hysteresis due to the subcritical mechanical loading. Local hysteresis in the LAS matrices coincided with the occurrence of multiple fracture initiation sites, localized microcracking, and secondary cracking. The observed microcracking phenomenon was attributed to stress relaxation of residual stresses developed during processing, and local interaction of the crack front with the microstructure. The relaxation strain and stress predicted on apparent mechanical hysteresis effects were defined and correlated with the magnitude of the measured fracture stress for each specimen studied. This quantitative correlation indicated a repeatable measure of the stress at which matrix microcracking occurred for stress relief of each material system. Stress relaxation occurred prior to the onset of steady state cracking conditions. The relaxation stress occurred at 18.5 percent of the fracture stress in LAS and 11.0 percent of the yield stress in CAS/SiC. The relaxation stress ratio was dependent upon the dominant fracture mode of the LAS/SiC specimens. Relaxation stress ratios greater than 0.30 were observed for specimens which fractured due to shear at the fiber matrix interface; specimens which fracture due to tensile cracking had relaxation stress ratios less than 0.30. The stress relaxation ratio appeared to be a specific characteristic of the glass ceramic material. The measured stress relaxation for LAS indicated a measure of the inherent residual stresses in the material due to processing and suggested localized toughening mechanisms for brittle material structures.

Kent, Renee M.↗
NASA NTRS2012

Science with the James Webb Space Telescope

The science objectives of the James Webb Space Telescope fall into four themes. The End of the Dark Ages: First Light and Reionization theme seeks to identify the first luminous sources to form and to determine the ionization history of the universe. The Assembly of Galaxies theme seeks to determine how galaxies and the dark matter, gas, stars, metals, morphological structures, and black holes within them evolved from the epoch of reionization to the present. The Birth of Stars and Protoplanetary Systems theme seeks to unravel the birth and early evolution of stars, from infall onto dust-enshrouded protostars, to the genesis of planetary systems. The Planetary Systems and the Origins of Life theme seeks to determine the physical and chemical properties of planetary systems around nearby stars and of our own, and to investigate the potential for life in those systems. These four science themes were used to establish the design requirements for the observatory and instrumentation. Since Webb's capabilities are unique, those science themes will remain relevant through launch and operations and goals contained within these themes will continue to guide the design and implementation choices for the mission. More recently, it has also become clear that Webb will make major contributions to other areas of research, including dark energy, dark matter, active galactic nuclei, stellar populations, exoplanet characterization and Solar System objects. In this paper, we review the original four science themes and discuss how the scientific output of Webb will extend to these new areas of research. The James Webb Space Telescope was designed to meet science objectives in four themes: The End of the Dark Ages: First Light and Reionization, The Assembly of Galaxies, The Birth of Stars and Protoplanetary Systems, and Planetary Systems and the Origins of Life. More recently, it has become clear that Webb will also make major contributions to studies of dark energy, dark matter, active galactic nuclei, stellar populations, exoplanet characterization and Solar System objects. We review the original four science themes and discuss how the scientific output of Webb will extend to these new areas of research.

Gardner, Jonathan P.↗
NASA NTRS2012

The James Webb Space Telescope: Extending the Science

The science objectives of the James Webb Space Telescope fall into four themes. The End of the Dark Ages: First Light and Reionization theme seeks to identify the first luminous sources to form and to determine the ionization history of the universe. The Assembly of Galaxies theme seeks to determine how galaxies and the dark matter, gas, stars, metals, morphological structures, and black holes within them evolved from the epoch of reionization to the present. The Birth of Stars and Protoplanetary Systems theme seeks to unravel the birth and early evolution of stars, from infall onto dust-enshrouded protostars, to the genesis of planetary systems. The Planetary Systems and the Origins of Life theme seeks. to determine the physical and chemical properties of planetary systems around nearby stars and of our own, and to investigate the potential for life in those systems. These four science themes were used to establish the design requirements for the observatory and instrumentation. Since Webb's capabilities are unique, those science themes will remain relevant through launch and operations and goals contained within these themes will continue to guide the design and implementation choices for the mission. More recently, it has also become clear that Webb will make major contributions to other areas of research, including dark energy, dark matter, exoplanet characterization and Solar System objects. In this paper, I review the original four science themes and discuss how the scientific output of Webb will extend to these new areas of research.

Gardner, Jonathan P.↗
NASA NTRS2012

Hydrocarbon Rocket Technology Impact Forecasting

Ever since the Apollo program ended, the development of launch propulsion systems in the US has fallen drastically, with only two new booster engine developments, the SSME and the RS-68, occurring in the past few decades.1 In recent years, however, there has been an increased interest in pursuing more effective launch propulsion technologies in the U.S., exemplified by the NASA Office of the Chief Technologist s inclusion of Launch Propulsion Systems as the first technological area in the Space Technology Roadmaps2. One area of particular interest to both government agencies and commercial entities has been the development of hydrocarbon engines; NASA and the Air Force Research Lab3 have expressed interest in the use of hydrocarbon fuels for their respective SLS Booster and Reusable Booster System concepts, and two major commercially-developed launch vehicles SpaceX s Falcon 9 and Orbital Sciences Antares feature engines that use RP-1 kerosene fuel. Compared to engines powered by liquid hydrogen, hydrocarbon-fueled engines have a greater propellant density (usually resulting in a lighter overall engine), produce greater propulsive force, possess easier fuel handling and loading, and for reusable vehicle concepts can provide a shorter turnaround time between launches. These benefits suggest that a hydrocarbon-fueled launch vehicle would allow for a cheap and frequent means of access to space.1 However, the time and money required for the development of a new engine still presents a major challenge. Long and costly design, development, testing and evaluation (DDT&E) programs underscore the importance of identifying critical technologies and prioritizing investment efforts. Trade studies must be performed on engine concepts examining the affordability, operability, and reliability of each concept, and quantifying the impacts of proposed technologies. These studies can be performed through use of the Technology Impact Forecasting (TIF) method. The Technology Impact Forecasting method is a normative forecasting technique that allows the designer to quantify the effects of adding new technologies on a given design. This method can be used to assess and identify the necessary technological improvements needed to close the gap that exists between the current design and one that satisfies all constraints imposed on the design. The TIF methodology allows for more design knowledge to be brought to the earlier phases of the design process, making use of tools such as Quality Function Deployments, Morphological Matrices, Response Surface Methodology, and Monte Carlo Simulations.2 This increased knowledge allows for more informed decisions to be made earlier in the design process, resulting in shortened design cycle time. This paper will investigate applying the TIF method, which has been widely used in aircraft applications, to the conceptual design of a hydrocarbon rocket engine. In order to reinstate a manned presence in space, the U.S. must develop an affordable and sustainable launch capability. Hydrocarbon-fueled rockets have drawn interest from numerous major government and commercial entities because they offer a low-cost heavy-lift option that would allow for frequent launches1. However, the development of effective new hydrocarbon rockets would likely require new technologies in order to overcome certain design constraints. The use of advanced design methods, such as the TIF method, enables the designer to identify key areas in need of improvement, allowing one to dial in a proposed technology and assess its impact on the system. Through analyses such as this one, a conceptual design for a hydrocarbon-fueled vehicle that meets all imposed requirements can be achieved.

Stuber, Eric↗
NASA NTRS1974

Microwave maps of the polar ice of the earth

Synoptic views of the entire polar regions of earth have been obtained free of the usual persistent cloud cover using a scanning microwave radiometer operating at a wavelength of 1.55 cm on board the Nimbus-5 satellite. Three different views at each pole are presented utilizing data obtained at approximately one-month intervals from December 1972 to February 1973. Large discrepancies exist between the long-term ice cover depicted in various atlases and the actual extent of the canopies. The distribution of multiyear ice in the north polar region is markedly different from that predicted by existing ice dynamics models. Irregularities in the edge of the Antarctic sea ice pack occur that have neither been observed previously nor anticipated. The brightness temperatures of the Greenland and Antarctic glaciers show interesting contours probably related to the ice and snow morphologic structure.

Gloersen, P.↗
NASA NTRS2004

Developing Software for NASA Missions in the New Millennia

NASA is working on new mission concepts for exploration of the solar system. The concepts for these missions include swarms of hundreds of cooperating intelligent spacecraft which will be able to work in teams and gather more data than current single spacecraft missions. These spacecraft will not only have to operate independently for long periods of time on their own and in teams, but will also need to have autonomic properties of self healing, self configuring, self optimizing and self protecting for them to survive in the harsh space environment. Software for these types of missions has never been developed before and represents some of the challenges of software development in the new millennia. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm missions NASA is considering. The ANTS mission will use a swarm of one thousand pico-spacecraft that weigh less than five pounds. Using an insect colony analog, ANTS will explore the asteroid belt and catalog the mass, density, morphology, and chemical composition of the asteroids. Due to the size of the spacecraft, each will only carry a single miniaturized science instrument which will require them to cooperate in searching for asteroids that are of scientific interest. This article also discusses the ANTS mission, the properties the spacecraft will need and how that will effect future software development.

Truszkowski, Walt↗
NASA NTRS2015

Kinematic and Microphysical Control of Lightning Flash Rate over Northern Alabama

The Deep Convective Clouds and Chemistry (DC3) experiment seeks to examine the relationship between deep convection and the production of nitrogen oxides (NO (sub x)) via lightning (LNO (sub x)). A critical step in estimating LNO (sub x) production in a cloud-resolving model (CRM) without explicit lightning is to estimate the flash rate from available model parameters that are statistically and physically correlated. As such, the objective of this study is to develop, improve and evaluate lightning flash rate parameterizations in a variety of meteorological environments and storm types using radar and lightning mapping array (LMA) observations taken over Northern Alabama from 2005-2012, including during DC3. UAH's Advanced Radar for Meteorological and Operational Research (ARMOR) and the Weather Surveillance Radar - 1988 Doppler (WSR 88D) located at Hytop (KHTX) comprises the dual-Doppler and polarimetric radar network, which has been in operation since 2004. The northern Alabama LMA (NA LMA) in conjunction with Vaisala's National Lightning Detection Network (NLDN) allow for a detailed depiction of total lightning during this period. This study will integrate ARMOR-KHTX dual Doppler/polarimetric radar and NA LMA lightning observations from past and ongoing studies, including the more recent DC3 results, over northern Alabama to form a large data set of 15-20 case days and over 20 individual storms, including both ordinary multicell and supercell convection. Several flash rate parameterizations will be developed and tested, including those based on 1) graupel/small hail volume; 2) graupel/small hail mass, and 3) convective updraft volume. Sensitivity of the flash rate parameterizations to storm intensity, storm morphology and environmental conditions will be explored.

Carey, Lawrence D.↗
NASA NTRSDate not supplied

Probing the Sun with Imaging Spectrographs

EUV and X-ray images of the Sun have revolutionized our understanding of our closest star. With them, we can probe the morphology and temperature structure of the solar atmosphere and see how they evolve as a function of space and time. However, image data cannot be used to determine line-of-sight velocities, abundances, or densities. This information is required to calculate the energy budget of eruptive events, provide boundary conditions for global solar models, and explore fundamental processes occurring in the solar atmosphere. For those diagnostics, we require spectroscopy. Because the structures on the Sun are extended sources, most modern-day spectrographs observe the Sun through long narrow slits. Two-dimensional, spectrally pure solar images with velocity, abundance, and density information are built up by stepping the slit over regions of interest. This mode of operation implies that two-dimensional information is highly limited by cadence and the temporal evolution and spatial structure of these parameters can never be truly separated. Both spatial and spectral information can be obtained in a single snapshot with slitless spectrographs, which were often used in the 1950-1970s, but were abandoned due to the difficulty of unfolding the overlapping spatial and spectral information. Thanks to advances in computer processing speeds and machine learning algorithms, there have been several techniques developed to complete the spatial/spectral unfolding, unlocking the full capability of slitless spectrographs for solar observations. The goal of this talk is to give a broad overview of the capability of such instruments and demonstrate their usefulness in the next decade of solar observatories and beyond.

Amy Winebarger↗
NASA NTRS2000

Kinematic and Moisture Environments of Convective Systems During TRMM-LBA: Preliminary Sounding Analyses

Preliminary radiosonde data are analyzed from a four station observation network that operated during TRMM-LBA. These data, which are undergoing quality control, are used to construct mean vertical profiles and time-height sections of u- and v- wind components, and also filtered time series analyses of layer mean relative humidity. Trends are identified in the humidity data which appear similar at all sites, and correlate well with multi-week changes in wind regime identified by Rickenbach et al. Higher-frequency modes of variation (3-5 day) also occur in the humidity and upper tropospheric winds and are spatially coherent among the four locations. The causes of these variations are explored, including interactions among upper tropospheric synoptic features. Finally, an attempt is made to relate the general morphology of convective systems to the vertical shear structure and thermodynamic changes that accompany contrasting wind regimes.

Halverson, J. B.↗
NASA NTRSDate not supplied

Strong Thermoset Regolith UV-Curable Composite Technology (STRUCT) Overview

Future lunar surface missions require construction materials that can be manufactured in situ using lo-cal resources while operating under extreme environmental conditions. Many Lunar material demands can be solved solely with regolith by compacting or sintering. And yet past Lunar missions rely on polymeric materials, and sustained Lunar missions must reduce Earth-supplied polymers dependence. Dual-cure (Ultraviolet (UV) and thermal) polymer-regolith composites offer a promising pathway by leveraging solar UV radiation, moderate thermal in-put, and regolith. Mission mass limits, power availability and energy constraints on the lunar surface further motivate low-energy processing and curing strategies for surface construction materials. The Strong Thermoset Regolith UV-Curable Composite Technology (STRUCT) project has successfully synthesized and demonstrated dual-cure photopolymer resins derivable from in-situ resources [3]. Morphological, thermal, and mechanical characterization show that the newly formulated UV curable resin systems integrates well with lunar regolith simulants. Processing and chemistry changes, and computational analysis advanced the composite design. X-ray CT scanned and computational analysis demonstrate that resin, regolith and additives are well incorporated. The large fraction of regolith, 95% by mass, large char yield (82% mass), low thermal conductivity (0.26 W/m/K), confirm this material as a promising high-performance thermal and structural material.

thermal conductivity↗
NASA NTRS1997

Variability of Mass Dependence of Auroral Acceleration Processes with Solar Activity

The objectives of this investigation are to improve understanding of the mass dependent variability of the auroral acceleration processes and so to clarify apparent discrepancies regarding the altitude and local time variations with solar cycle by investigating: (1) the global morphological relationships between auroral electric field structures and the related particle signatures under varying conditions of solar activity, and (2) the relationships between the electric field structures and particle signatures in selected events that are representative of the different conditions occurring during a solar cycle. The investigation is based in part on the Lockheed UFI data base of UpFlowing Ion (UFI) events in the 5OO eV to 16keV energy range and associated electrons in the energy range 7O eV to 24 keV. This data base was constructed from data acquired by the ion mass spectrometer on the S3-3 satellite in the altitude range of I to 1.3 Re. The launch of the POLAR spacecraft in early 1996 and successful operation of its TIMAS ion mass spectrometer has provided us with data from within the auroral acceleration regions during the current solar minimum. The perigee of POLAR is at about 1 Re, comparable to that of S3-3. The higher sensitivity and time resolution of TIMAS compared to the ion mass spectrometer on S3-3 together with its wider energy range, 15 eV to 33 keV, facilitate more detailed studies of upflowing ions.

Ghielmetti, Arthur G.↗
NASA NTRS2003

A New Antibody for Category 1 Biomarker Detection

At least two questions arise in developing a life-detection strategy: What do we look for and what will positive detection tell us? Unfortunately, many 'biomarkers' are not conclusive markers of biology. For example, sugars, amino acids, polycyclic aromatic hydrocarbons (PAH) and certain bacteria-like morphologies can all be produced non-biologically. Inferences of life following the detection of several inconclusive biomarkers in one sample will always be questioned. Although DNA, RNA and proteins are excellent markers of biology, and preserved on Earth for several millions of years, their survival over longer periods of time is low. Ideally, we should target biomarkers which are both stable over time and formed exclusively from biological processes, i.e. a 'category 1' biomarker under the new classification system of Mckay. We have used antibodies to detect category 1 and other biomarkers in rock samples. Extraction takes a few minutes and analysis a few hours. We have presented use of new antibodies to detect hopanes and have shown proof of operation during martian gravity.

Maule, J.↗
NASA NTRS2004

Teleoperated Modular Robots for Lunar Operations

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Globus, Al↗