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NASA NTRS1988

Robotic applications at Kennedy Space Center

McDonnell Douglas performed a study (1987) to find effective application of robots and their associated technology at the Kennedy Space Center (KSC). Specifically, this study was directed toward the newly planned Space Station Processing Facility (SSPF). Because the Operations and Checkout (O and C) building has a similar charter to that of the SSPF, the O and C was carefully checked for potential robotic applications. Eleven applications were discovered and a trade study developed to rate these applications. Twenty more applications external to the SSPF were found during additional studies. These robotic tasks fall into three major categories including: teleoperated robots for hazardous tasks, mobile robots for repetitive tasks and feedback compensated robots for refurbishment and inspection tasks. This paper highlights some of the requirements for these tasks and others external to the SSPF. Additionally, the resources available at KSC are discussed.

Wegerif, Dan↗

NASA NTRS1992

Extended mission/lunar rover, executive summary

The design project selected to be undertaken by the 1991/92 Aerospace Design Group was that of conceptually designing an Extended Mission Rover for use on the Lunar Surface. This vehicle would serve the function as a mobile base of sorts, and be able to provide future astronauts with a mobile 'shirt-sleeve' self-sufficient living and working environment. Some of the proposed missions would be planetary surface exploration, construction and maintenance, hardware set-up and in-situ resource experimentation. The need for this type of vehicle has already been declared in the Stafford Group's report on the future of America's Space Program, entitled 'America at the Threshold: America's Space Exploration Initiative'. In the four architectures described within the report, the concept of a pressurized vehicle occurred multiple times. The approximate time frame that this vehicle would be put into use is 2010-2030.

Source record↗

NASA NTRS1992

The Extended Mission Rover (EMR)

A key component in ensuring America's status as a leader in the global community is its active pursuit of space exploration. On the twentieth anniversary of Apollo 11, President George Bush challenged the nation to place a man on the moon permanently and to conduct human exploration of Mars in the 21st century. The students of the FAMU/FSU College of Engineering hope to make a significant contribution to this challenge, America's Space Exploration Initiative (SEI), with their participation in the NASA/USRA Advanced Design Program. The project selected by the 1991/1992 Aerospace Design group is the design of an Extended Mission Rover (EMR) for use on the lunar surface. This vehicle will serve as a mobile base to provide future astronauts with a 'shirt-sleeve' living and working environment. Some of the proposed missions are planetary surface exploration, construction and maintenance, hardware setup, and in situ resource experimentation. This vehicle will be put into use in the 2010-2030 time frame.

Shields, W.↗

NASA NTRS2003

ISRU Reactant, Fuel Cell Based Power Plant for Robotic and Human Mobile Exploration Applications

Three basic power generation system concepts are generally considered for lander, rover, and Extra-Vehicular Activity (EVA) assistant applications for robotic and human Moon and Mars exploration missions. The most common power system considered is the solar array and battery system. While relatively simple and successful, solar array/battery systems have some serious limitations for mobile applications. For typical rover applications, these limitations include relatively low total energy storage capabilities, daylight only operating times (6 to 8 hours on Mars), relatively short operating lives depending on the operating environment, and rover/lander size and surface use constraints. Radioisotope power systems are being reconsidered for long-range science missions. Unfortunately, the high cost, political controversy, and launch difficulties that are associated with nuclear-based power systems suggests that the use of radioisotope powered landers, rovers, and EVA assistants will be limited. The third power system concept now being considered are fuel cell based systems. Fuel cell power systems overcome many of the performance and surface exploration limitations of solar array/battery power systems and the prohibitive cost and other difficulties associated with nuclear power systems for mobile applications. In an effort to better understand the capabilities and limitations of fuel cell power systems for Moon and Mars exploration applications, NASA is investigating the use of in-Situ Resource Utilization (ISRU) produced reactant, fuel cell based power plants to power robotic outpost rovers, science equipment, and future human spacecraft, surface-excursion rovers, and EVA assistant rovers. This paper will briefly compare the capabilities and limitations of fuel cell power systems relative to solar array/battery and nuclear systems, discuss the unique and enhanced missions that fuel cell power systems enable, and discuss the common technology and system attributes possible for robotic and human exploration to maximize scientific return and minimize cost and risk to both. Progress made to date at the Johnson Space Center on an ISRU producible reactant, Proton Exchange Membrane (PEM) fuel cell based power plant project to demonstrate the concept in conjunction with rover applications will be presented in detail.

Baird, Russell S.↗

NASA NTRS2007

Potential for Measurement of Trace Volatile Organic Compounds in Closed Environments Using Gas Chromatograph/Differential Mobility Spectrometer

For nearly 3.5 years, the Volatile Organic Analyzer (VOA) has routinely analyzed the International Space Station (ISS) atmosphere for a target list of approximately 20 volatile organic compounds (VOCs). Additionally, an early prototype of the VOA collected data aboard submarines in two separate trials. Comparison of the data collected on ISS and submarines showed a surprising similarity in the atmospheres of the two environments. Furthermore, in both cases it was demonstrated that the VOA data can detect hardware issues unrelated to crew health. Finally, it was also clear in both operations that the VOA s size and resource consumption were major disadvantages that would restrict its use in the future. The VOA showed the value of measuring VOCs in closed environments, but it had to be shrunk if it was to be considered for future operations in these environments that are characterized by cramped spaces and limited resources. The Sionex Microanalyzer is a fraction of the VOA s size and this instrument seems capable of maintaining or improving upon the analytical performance of the VOA. The two design improvements that led to a smaller, less complex instrument are the Microanalyzer s use of recirculated air as the gas chromatograph s carrier gas and a micromachined detector. Although the VOA s ion mobility spectrometer and the Microanalyzer s differential mobility spectrometer (DMS) are related detector technologies, the DMS was more amenable to micromachining. This paper will present data from the initial assessment of the Microanalyzer. The instrument was challenged with mixtures that simulated the VOCs typically detected in closed-environment atmospheres.

Limero, Thomas↗

NASA NTRSDate not supplied

Advanced Air Mobility Presentation at the NCTCOG UAS Workshop

This presentation was given by Nancy Mendonca, Deputy AAM Mission Integration Manager for ARMD, at the North Central Texas Council of Governments (NCTCOG) UAS Workshop on November 6, 2021. This presentation walked through the AAM Vision, Current studies and reports and resources on AAM, and opportunities to engage in AAM activities.

Nancy L Mendonca↗

NASA NTRS1990

Spectrum and orbit conservation as a factor in future mobile satellite system design

Access to the radio spectrum and geostationary orbit is essential to current and future mobile satellite systems. This access is difficult to obtain for current systems, and may be even more so for larger future systems. In this environment, satellite systems that minimize the amount of spectrum orbit resource required to meet a specific traffic requirement are essential. Several spectrum conservation techniques are discussed, some of which are complementary to designing the system at minimum cost. All may need to be implemented to the limits of technological feasibility if network growth is not to be constrained because of the lack of available spectrum-orbit resource.

Bowen, Robert R.↗

NASA NTRS2016

Mobile Launch Platform Vehicle Assembly Area (SWMU 056) Biosparge Expansion Interim Measures Work Plan

This document presents the design details for an Interim Measure (IM) Work Plan (IMWP) for the Mobile Launch Platform/Vehicle Assembly Building (MLPV) Area, located at the John F. Kennedy Space Center (KSC), Florida. The MLPV Area has been designated Solid Waste Management Unit Number 056 (SWMU 056) under KSC's Resource Conservation and Recovery Act (RCRA) Corrective Action Program. This report was prepared by Geosyntec Consultants (Geosyntec) for the National Aeronautics and Space Administration (NASA) under contract number NNK09CA02B and NNK12CA13B, project control number ENV1642. The Advanced Data Package (ADP) presentation covering the elements of this IMWP report received KSC Remediation Team (KSCRT) approval at the December 2015 Team Meeting; the meeting minutes are included in Appendix A.

IMWP↗

NASA NTRSDate not supplied

Marco… Polo, Collecting location data 78 times in 28 days

We report the results of a survey test conducted in advance of a series of community response tests (CRTs) to evaluate response to noise from NASA’s X-59 aircraft. The CRTs will require a substantial number of observations to generate a dose response curve for noise exposure and related annoyance levels and the timeframe is limited due to resource and scheduling constraints with an experimental aircraft. Respondents will be asked to fill out the surveys either on the web or as part of an application they are able to download onto their mobile phones. Respondents will be asked to fill out a survey each time the plane flies over the targeted area. The sample will be drawn targeting households within a specific ‘fly-over’ area. However, respondents may travel during the day, sometimes outside the targeted area. For the observations to be useful respondents need to be within a target area during flights. To collect the location data, respondents will be asked to identify where they were at the time of the flyover. The survey test followed the proposed methodology of the CRTs. We will describe how location data was collected using Google Maps API and evaluate reported rates of location at home, work or other places and whether these were inside or outside the target area. We will also compare how these rates varied across web and app respondents. We will use the results of this work to confirm or improve the design of the CRTs, ensuring the collection of data needed by NASA to evaluate the impact of this innovative technology.

Google Maps↗

NASA NTRS2004

Analytical Instrument for Determining the Composition of Surface Materials and Ices in the Solar System: Mini-CIDEX to TIDE

Exobiology experiments onboard spacecraft or space probes often require the detection and identification of a wide range of chemical species over vast concentration ranges. These experiments must be carried out under severely limited conditions utilizing minimal resources. The mini-Cometary Ice and Dust Experiment (mini-CIDEX) instrument was developed for the chemical analysis of a cometary environment. It combined a Gas Chromatograph (GC) with a helium-based Ion Mobility Spectrometer (IMS) to fulfill the analytical requirements of a cometary exobiology mission: universal response; ppb sensitivity; low mass, volume, and consumables. Mini-CIDEX has evolved into the Titan Ice and Dust Experiment (TIDE) for the chemical analysis of the surface (liquid and solid) and lower atmosphere of Titan. The complexity of the analyses will be similar to the comet application with a heavier emphasis on organic molecules. TIDE is a component of the Titan Orbiter Aero-Rover Mission (TOAM) proposed to NASA's New Visions Program. Advances to the Mini-CIDEX technology for the Titan application and the analytical capabilities of TIDE will be presented.

Kojiro, Daniel R.↗

NASA NTRS2005

Update on Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

Cooper, Brian↗

NASA NTRS2015

Programmable Ultra-Lightweight System Adaptable Radio Satellite Base Station

With the explosion of the CubeSat, small sat, and nanosat markets, the need for a robust, highly capable, yet affordable satellite base station, capable of telemetry capture and relay, is significant. The Programmable Ultra-Lightweight System Adaptable Radio (PULSAR) is NASA Marshall Space Flight Center's (MSFC's) software-defined digital radio, developed with previous Technology Investment Programs and Technology Transfer Office resources. The current PULSAR will have achieved a Technology Readiness Level-6 by the end of FY 2014. The extensibility of the PULSAR will allow it to be adapted to perform the tasks of a mobile base station capable of commanding, receiving, and processing satellite, rover, or planetary probe data streams with an appropriate antenna.

Varnavas, Kosta↗

NASA NTRS2003

Overview of Innovative Aircraft Power and Propulsion Systems and Their Applications for Planetary Exploration

Planetary exploration may be enhanced by the use of aircraft for mobility. This paper reviews the development of aircraft for planetary exploration missions at NASA and reviews the power and propulsion options for planetary aircraft. Several advanced concepts for aircraft exploration, including the use of in situ resources, the possibility of a flexible all-solid-state aircraft, the use of entomopters on Mars, and the possibility of aerostat exploration of Titan, are presented.

Colozza, Anthony↗

NASA NTRS2005

Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) is the software tool for use in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight-code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover-predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (IDD) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities. Thus, RSVP, being highly data driven, may be tailored to other missions with minimal effort. In addition, RSVP uses a distributed, message-passing architecture to allow multitasking, and collaborative visualization and sequence development by scattered team members.

Cooper, Brian↗

NASA NTRSDate not supplied

Capacity and Throughput of Urban Air Mobility Vertiports with a First-Come, First-Served Vertiport Scheduling Algorithm

In this paper, a first-come, first-served vertiport scheduling algorithm for Urban Air Mobility (UAM) was exercised to assess and compare the capacity and throughput of various vertiport configurations. The scheduler models each vertiport by the number of vertipads and parking spaces, and manages reservations on timelines for those vertiport resources, at a level of fidelity suitable for fast-time and system-level analyses of UAM concepts and other airspace studies. The paper defines the theoretical model that can be used to estimate the capacity of various vertiport configurations. The theoretical model provides an understanding of the conditions that can lead to either a parking space-limited or a vertipad-limited vertiport. Examples of potential throughput for some vertiport configurations are provided using both a queueing approach as well as a simulated UAM demand scenario. The study demonstrated that a first-come, first-served scheduling approach can have inefficiencies in the use of the vertiport resources. The inefficiencies can increase as the number of resources increases. Nonetheless, 80% or better peak throughput to capacity ratio was observed for most vertiport configurations.

UAM↗

NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

High launch costs and mission requirements drive the need for low mass excavators with mobility platforms, which in turn have little traction and excavation reaction capacity in low gravity environments. This presents the need for precursor and long term future missions with low mass robotic mining technology to perform In-Situ Resource Utilization (ISRU) tasks. This paper discusses a series of experiments that investigate the effectiveness of a percussive digging device to reduce excavation loads and thereby the mass of the excavator itself. The goal of percussive excavation is to fluidize dry regolith in front of the leading edge of the tool by mechanically separating the microscopic interlocking grains resulting in a reduced force needed to shear the soil. There are several variables involved with this technique; this experiment varied: Impact energy, frequency, and excavation speed and held constant: impact direction, depth of cut, angle of tool, and soil bulk density. The test apparatus consisted of an aluminum truss bridge with a central pivoting arm. Attached to the arm was a winch with a load cell in line that recorded the tension in the cable and therefore the excavation load. The arm could be adjusted for excavation depth which was recorded along with the arm angle relative to the bridge. A percussive mechanism and 30" wide pivoting bucket were attached at the end of the arm simulating a basic backhoe with a percussion direction tangent to the direction of . movement. Internally the mechanism used a set of die springs and barrel cam to produce the percussive blow. By changing the springs and the speed of the motor the impact energy and frequency of percussion could be varied independently. Impact energies from 11.2J to 30.5J and frequencies from 0 BPM to 700 BPM were investigated. A reduction in excavation force of as much as 51% was achieved in this experimental investigation. Smaller percussive digging implements, tested by others, have achieved a reduction of as much as 72%. This paper will examine the effects of impact energy, frequency, scaling and their effect on excavation forces in a dry granular material such as lunar regolith. The past several years have shown an increasing interest in mining space resources both for exploration and commercial enterprises. This work studied the benefits and risks of percussive excavation and prelimin~ry results indicate that this technique may become an enabling technology for extra-terrestrial excavation of regolith and ice.

Schuler, Jason↗

NASA NTRS2012

Reducing Extra-Terrestrial Excavation Forces with Percussion

Mueller, Robert↗

NASA NTRSDate not supplied

Spectral Properties of Dust on Asteroid (101955) Bennu with the OSIRIS-REx Visible and Infrared Spectrometer (OVIRS)

The Origins, Spectral Interpretation, Resource Identification, Security-Regolith Explorer (OSIRIS-REx) spacecraft successfully collected a sample of regolith from asteroid (101955) Bennu on October 20, 2020[1]. The Touch-and-Go (TAG) spacecraft maneuver used to collect the sample mobilized material, including very fine particles (dust),from up to ~1m in depth and ~10m in diameter from the point of contact with the asteroid [1,2].TAG created a dust plume that intercepted the spacecraft and accumulated on the instruments. As a result, all instruments show degradation in optical throughput, with the degree of degradation depending on their aperture size, orientation, and position on the spacecraft [1]. In this study, we analyzed OSIRIS-REx Visible and Infrared Spectrometer (OVIRS) from before and after TAG to assess the dust on the instrument with implications for Bennu’s dust composition and scattering properties, and future visible–near-infrared (VNIR)spectral observations with the OSIRIS-REx spacecraft. OVIRS is a point spectrometer that measures reflected light at VNIR wavelengths from 0.4 to 4.3 μm with a 4 mrad circular field of view(FOV) [3]. Previous observations with OVIRS revealed widespread hydrated minerals and carbon-bearing materials on Bennu [4,5]. A ~3 μm absorption feature is observed globally in OVIRS spectra, with a band position and depth that is consistent with Mg/Fe phyllosilicates and suggests a similar degree of aqueous alteration to that experienced by some carbonaceous chondrite meteorites[4,6]. A series of weak (<5%) VNIR spectral features, potentially associated with hydrated phyllosilicates and iron oxides, are also found in OVIRS spectra (Fig. 1), though not typically observed in meteorite spectra [7]. OSIRIS-REx Thermal Emission Spectrometer (OTES) spectra are consistent with a very thin accumulation (a few to ~ten microns) of fine particles (<~65–100 microns in size)across the surface of Bennu, and particularly on the roughest boulders, an interpretation that is supported by the dust plume seen during TAG [1,8]. An analysis of TAG contamination on the OTES optics revealed a 15% decrease in throughput, and OTES observations of space with and without that contamination allow a recreation of the thermal infrared spectrum [1]. The spectrum of the contamination lacks volume scattering features and exhibits a stronger Mg-OH absorption (~16.5 μm) than average Bennu, suggesting a Mg-rich phyllosilicate composition [1,6]. Here we present the first compositional analysis of Bennu dust at VNIR wavelengths by analyzing the contaminant on OVIRS.

H H Kaplan↗