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Experiments with an EVA Assistant Robot

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Burridge, Robert R.↗

Biomedical Applications of NASA Science and Technology

During the period 15 September 1968 to 14 December 1968, the NASA supported Biomedical Application Team at the Research Triangle Institute has identified 6 new problems, performed significant activities on 15 of the active problems identified previously, performed 5 computer searches of the NASA aerospace literature, and maintained one current awareness search. As a partial result of these activities, one technology transfer was accomplished. As a part of continuing problem review, 13 problems were classified inactive. Activities during the quarter involved all phases of team activity with respect to biomedical problems. As has been observed in preceding years, it has been exceedingly difficult to arrange meetings with medical investigators during the fourth quarter of the calendar year. This is a result of a combination of factors. Teaching requirements, submission of grant applications and holidays are the most significant factors involved. As a result, the numbers of new problems identified and of transfers and potential transfers are relatively low during this quarter. Most of our activities have thus been directed toward obtaining information related to problems already identified. Consequently, during the next quarter we will follow up on these activities with the expectation that transfers will be accomplished on a number of them. In addition, the normal availability of researchers to the team is expected to be restored during this quarter, permitting an increase in new problem identification activities as well as follow-up with other researchers on old problems. Another activity scheduled for the next quarter is consultation with several interested biomedical equipment manufacturers to explore means of effective interaction between the Biomedical Application Team and these companies.

Brown, James N., Jr.↗

Innovative Development of a Cross-Center Timeline Planning Tool

The Payload Operations Integration Center (POIC) at Marshall Space Flight Center (MSFC) supports planning, coordination and scheduling of science activities for the International Space Station (ISS) in coordination with other NASA centers, international partners, and payload developers. The ability to efficiently plan and re-plan in response to change is critical to the flight planning teams. With the achievement of supporting a fourth crew member aboard the ISS and an increasing amount of payload science activities, came the need for a dynamic, more efficient way of building timeline planning reports that could be readily updated as fast as payload science plans could change. This paper addresses software architecture considerations in the successful cross-center development of an automated planning tool with multiple data sources. It also discusses the practical implementation of a time-boxed, hybrid Agile Software Development (ASD) approach to deliver customer-driven value despite changing requirements with respect to low-Earth orbit operational planning activities. The goal of this paper is to open discussion with members of the international community and trade effective strategies for cross-center architectural and customer-developer driven collaborations, to support increasing utilization of planning and conducting science activities in space.

Pedoto, Ramon W.↗

Reaching Out: Team AETHER

Embry Riddle Aeronautical University's Daytona Beach Campus Lunabotics Team took the opportunity to share the love of space, engineering and technology through the educational outreach portion of the competition. Through visits to elementary schools and high schools, and through support of science fairs and robotics competitions, younger generations were introduced to space, engineering and robotics. This report documents the outreach activities of team Aether.

Murphy, Gloria A.↗

Results of Preliminary Hg Speciation Testing on Tank 21 and Solvent Hold Tank (SHT) Material

The Savannah River National Laboratory (SRNL) was tasked with preparing and shipping samples for Hg speciation by Eurofins Frontier Global Sciences, Inc. in Seattle, WA on behalf of the Savannah River Remediation (SRR) Mercury Task Team. The second shipment of samples was designated to include Tank 21 material (HTF-15-21-32) collected on March 9, 2015 and Solvent Hold Tank (SHT) material (MCU-15-28, -29, and -30) collected on March 10, 2015. Samples were collected with the minimum possible free headspace.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗

Raising TRL of Your Lunar Payload

Preparing payloads for the lunar surface requires rigorous testing that accurately captures the extreme environmental and operational conditions. This presentation provides an overview of the lunar relevant test capabilities at NASA JSC’s Astromaterials Research and Exploration Science (ARES) laboratories as well as the Energy System Test Area (ESTA) Lunar Development and Test Facility. These facilities allow teams to assess hardware performance in dusty vacuum environments, characterize interactions with high fidelity lunar regolith simulants, evaluate mechanical and thermal durability, and understand the effects of micrometeoroid and orbital debris impacts—critical factors for certifying payloads that will operate on the lunar surface or in orbit. While Lunar power challenges such as variable illumination, extreme temperatures, and dust driven degradation will be briefly summarized, the focus of this talk is on how JSC’s test infrastructure enables developers to validate designs, reduce mission risk, and ensure compatibility with CLPS and Artemis objectives. NASA JSC’s expertise and experience help industry, academic, and government teams prepare robust hardware ready for successful delivery and operation on the surface of the Moon.

Laboratories↗

Solar System Visualization (SSV) Project

The Solar System Visualization (SSV) project aims at enhancing scientific and public understanding through visual representations and modeling procedures. The SSV project's objectives are to (1) create new visualization technologies, (2) organize science observations and models, and (3) visualize science results and mission Plans. The SSV project currently supports the Mars Exploration Rovers (MER) mission, the Mars Reconnaissance Orbiter (MRO), and Cassini. In support of the these missions, the SSV team has produced pan and zoom animations of large mosaics to reveal details of surface features and topography, created 3D animations of science instruments and procedures, formed 3-D anaglyphs from left and right stereo pairs, and animated registered multi-resolution mosaics to provide context for microscopic images.

Todd, Jessida L.↗

Dante's Volcano

This video contains two segments: one a 0:01:50 spot and the other a 0:08:21 feature. Dante 2, an eight-legged walking machine, is shown during field trials as it explores the inner depths of an active volcano at Mount Spurr, Alaska. A NASA sponsored team at Carnegie Mellon University built Dante to withstand earth's harshest conditions, to deliver a science payload to the interior of a volcano, and to report on its journey to the floor of a volcano. Remotely controlled from 80-miles away, the robot explored the inner depths of the volcano and information from onboard video cameras and sensors was relayed via satellite to scientists in Anchorage. There, using a computer generated image, controllers tracked the robot's movement. Ultimately the robot team hopes to apply the technology to future planetary missions.

Source record↗

The Global Ecosystem Dynamics Investigation (GEDI) Lidar Laser Transmitter

The Global Ecosystems Dynamics Investigation (GEDI) Lidar, is an Earth Science remote sensing instrument aboard the International Space Station (ISS) and the Japanese Experiment Module (JEM). Its core mission is to measure the global carbon balance of Earth's forests by using a set of three solid state laser transmitters in a multibeam waveform capture lidar technique. GEDI's laser transmitters and precision optical system transmits over 3.4 million laser pulses to the Earth every hour, each pulse producing an individual 3-D biomass column measurement. To enable a successful two-year mission, the lasers had to be reliable, highly repeatable in performance with each measurement power cycle, and designed with minimal part count for reduced manufacture complexity and cost. These transmitters are in-house products; developed, constructed, qualified, and fully integrated into the GEDI instrument at NASA's Goddard Space Flight Center. We will present the lasers' path from initial design to flight operation, with emphasis on the major milestones, critical issues, and lessons learned. Full credit goes to the excellent team effort that led to the successful commissioning and initiation of full-time science operations in March 2019.

Coyle, D. Barry↗

New Millennium EO3

The New Millennium Program (NMP) is a NASA technology program that focuses on the validation of advanced spacecraft and instrumentation technologies in space. This program specifically seeks technologies that could significantly benefit future space and Earth science missions by enabling new science capabilities and reducing life cycle costs. These technologies must also require a validation in space to mitigate risks to the first science users, and provide cross-cutting benefits to both NASA's Earth and Space Science enterprises. The NASA Office of Earth Science (OES) directed the NMP to focus the third Earth Observing mission, E03, on innovative measurement concepts that would facilitate remote sensing observations from orbits beyond conventional low-Earth orbit (LEO). These orbits include geosynchronous orbits, highly elliptical orbits, mid-Earth and high-Earth orbits, and other unique vantage points such as L1 and L2. To maximize the input from the Earth science community, a NASA Research Announcement (NRA) was released to solicit innovative measurement concepts for this NMP flight. Because the NMP is a technology validation program, rather than a conventional science program, the NRA required that these measurement concepts employ revolutionary technologies and/or measurement strategies that will enable future science missions from orbits beyond LEO. Another requirement was that a validation in space was needed to reduce real or perceived risks of this concept to future science users. The proposals submitted in response to this NRA were peer reviewed by the NASA OES. The measurement concepts selected through this process will be summarized in this presentation. The E03 measurement concept NRA did not solicit complete mission concepts or flight hardware. Instead, the selected investigators will join integrated project formulation teams to define the mission for the demonstration of the measurement technique and participate in mission design trades and implementation planning. The teams will define and document the measurement approach, the required technologies, the validation plan, the scalability of the design to future science missions, and the infusion path for the completely validated instrument. During this project formulation phase, the specific technologies required to implement each measurement concept will be solicited through an open technology solicitation, and the technology providers will be added to the integrated teams. Once a complete candidate mission concept has been formulated for each measurement concept, these concepts will be subjected to a comprehensive review. The Associate Administrator of the OES will use the results of this review to select a single concept for the E03 flight opportunity. That mission concept will enter its implementation phase, which is expected to last for less than 36 months before launch. During this phase, and after launch, the implementation team will work with the NMP to document and disseminate the information gathered during the flight qualification testing and operations of the measurement concept and its component technologies. This information will be archived and published, where appropriate, to encourage the rapid infusion of these validated technologies into future space and Earth science missions. I

Li, Fuk K.↗

Are We on Track for 2050? A Materials Research & Sustainability Perspective

In commemoration of the Materials Research Society (MRS)'s 50th anniversary, the 2050 panel hosted a discussion to reflect on the past, present, and future of sustainability and the role of materials research and development. Three panelists discussed their views, based on their expertise, about future challenges and lessons from the past. Sustainable development is a broad topic; therefore, the discussion centered on their experience as material researchers and their efforts for a better and greener future. This work is developed in collaboration with the co-authors team, highlighting the need for accelerating research and development efforts, especially in materials science and applications, fostering interdisciplinary partnerships, and mobilizing collective action to address the complex and interconnected sustainability challenges that humanity is currently facing.

ENERGY PLANNING, POLICY, AND ECONOMY,ENVIRONMENTAL↗

Earth observation photography: Looking back 20 years after Skylab

A committee of trained classroom teachers, backed by a volunteer team of technical experts and academic advisors has developed a program for earth science based on photographs obtained from low earth orbit. In selecting targeting objectives, immediate note was made of the fact nearly one generation (20 years) has passed since the United States' ambitious SKYLAB program was conducted. A critical part of those missions was the acquisition of earth photography using a six camera, multi-spectral camera system. This objective was systematically furthered through the term of three separate crew visits to the Space Station. Not merely an exercise in randomly photographing the Earth below, the purpose of the Earth Resource Experiment Package (EREP) was to determine what kind, and how much, photographic data could be acquired of the broad variety of Earth features witnessed on the mission's ground track. The collection of 35,000 photos produced by EREP represents the most complete coverage of Earth. However, it remains under used. GAS 324 intends to revisit, and to add a tier of relevancy to this inventory. The photography of GAS 324 should allow a direct examination and comparison of the changes in the globe in the last 20 years. format in both coverage and quality. The photogra phy acquired by CAN DO should allow a direct examination and comparison of the changes that have occured to the Globe in the last twenty years.

Nicholson, James H.↗

Earth system dynamics: The interrelation of atmospheric, ocean and solid earth dynamics

The research work performed during the time period 16 Oct. 1992 through 31 Dec. 1993 is summarized. The overall research activity, including a list of the major findings of the EOS IDS research to date, is described, the publications and presentations are listed, and a budget request for the subsequent year is attached. Specifically, the report covers: EOS panel activities; major findings of research; team member contributions; new research directions; EOS restructuring effect; changes in requirements; plans for using existing data; collaborations with other EOS and non-EOS investigations; EOS instrument team interaction; instrument development verification and validation; interaction with EOSDIS and DAAC's; team coordination; overall management; summary of response to site review questions and comments; science computing facility; and additional new research activities.

Tapley, Byron D.↗

Dynamic Emulation of NASA Missions for IVandV: A Case Study of JWST and SLS

Software-Only-Simulations are an emerging but quickly developing field of study throughout NASA. The NASA Independent Verification Validation (IVV) Independent Test Capability (ITC) team has been rapidly building a collection of simulators for a wide range of NASA missions. ITC specializes in full end-to-end simulations that enable developers, VV personnel, and operators to test-as-you-fly. In four years, the team has delivered a wide variety of spacecraft simulations ranging from low complexity science missions such as the Global Precipitation Management (GPM) satellite and the Deep Space Climate Observatory (DSCOVR), to the extremely complex missions such as the James Webb Space Telescope (JWST) and Space Launch System (SLS).

Emulation↗

Understanding the Kepler Reaction Wheels & Satellite

Following the loss of two reaction wheels four years into its mission, the Kepler team was faced with reinventing an operational approach to continue to deliver compelling science using an unanticipated suite of actuators. Spacecraft thrusters were not designed for accurate pointing control, yet with only two reaction wheels, only two axes could be actively controlled. With solar pressure as the only disturbing force, and recognizing the innate symmetry of the spacecraft, the K2 mission points the spacecraft in the orbital plane for three months at a time, placing the antennas 90° from the earth. Mapping the solar balance ridge 70 M km from Earth, with limited communications and a reduced staff presented a significant operational challenge.

Engineering↗

Voyager Interstellar Mission: Challenges of Flying a Very Old Spacecraft on a Very Long Mission

Two Voyager spacecraft were launched in 1977. After the successful flybys of Jupiter and Saturn by both Voyagers and Uranus and Neptune by Voyager 2, the mission has been extended for another 30 years in search of the transition region between the dominance of the solar energy and interstellar energy. The Voyager Interstellar Mission (VIM) started on January 1, 1990. It can be characterized by several factors including extremely long communication distances, aging hardware, reduced staffing levels and difficulty in obtaining Deep Space Network (DSN) resources necessitated by the increasing distance between the spacecraft and Earth. The mission was redesigned to compensate for such factors while maximizing the science return. After 25 years of VIM and several significant science discoveries, both Voyager spacecraft are still functioning well and the Voyager flight team is preparing for an even longer mission - until the year 2025 and beyond. In order to work around the challenges and to continue the mission even further, the team has been implementing numerous changes, mainly through flight software modifications and hardware reconfiguration. The major drivers for the changes are two-fold: resource constraints (such as decreasing power output and difficulty in obtaining the necessary DSN coverage) and anomalies due to the aging hardware. The majority of changes occur through flight software modifications so the state of the on-board responses is appropriate for the changing space environment and mission phase, and the flight software is compatible in allowing the maximum data gathering. The on-board flight software routines such as baseline sequence, fault protection routines, the High Gain Antenna POINTing to Earth (HPOINT) table, and long-term events table need to be maintained through flight software updates. The changes also occur through hardware reconfiguration such as selecting the backup Hybrid Buffer Interface Circuits (HYBIC) or attitude propulsion thrusters. This paper will describe the challenges of VIM and what has been done to overcome or mitigate those challenges. The primary focus will be the major flight software changes made during VIM and the changes that are in store for the near future in preparation for continuing the extended mission, from the originally projected year of 2020 out to the year 2025 and possibly beyond.

Matsumoto, Sun Kang↗

The Tropospheric Emission Spectrometer: From Discovery Mission to Earth System Sounding

The Tropospheric Emission Spectrometer (TES) was launched aboard the Aura spacecraft in 2004 and decommissioned in February 2018. Over more than a decade of observations, TES has shown the potential of high-resolution Fourier Transform Spectrometer (FTS) measurements to alter our understanding of atmospheric composition and its relationship to the Earth System. We survey some of the major contributions TES has made to understanding air quality, chemistry-climate interactions, atmospheric hydrology, and carbon cycle science. We then show how innovations in retrieval methods pioneered by the TES team are now being applied to multi-spectral, multi-instrument records, establishing a new paradigm for composition measurements into the future.

Bowman, Kevin W.↗

Evaluation of AUV Search Strategies for the Localization of Hydrothermal Venting

Ocean Worlds represent one of the best chances for the dis- covery of extra-terrestrial life within our own solar system, particularly near sources of hydrothermal venting. To study the oceans on Ocean Worlds will require a new type of mis- sion to penetrate the icy shell, deploy an autonomous under- water vehicle (AUV), and travel potentially hundreds of kilo- both inspired by (Burian et al. 1996). We have improved a meters with minimal contact to Earth based operations teams. previously-developed nested search strategy (Branch et al. To maximize the science return, the AUV would need to be capable of fully autonomously locating and studying scien- tific features of interest. We have developed two strategies to locate sources of hydrothermal venting: a gradient ascent strategy and a greedy transect search strategy. We have im- proved a previously-implemented nested search strategy by adding a vertical search component. Each strategy is tested in a hydrothermal plume dispersion simulation. We compare the effectiveness of each method in this environment.

Seewald, Jeffrey S.↗

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