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At least 235 records · Page 13

Technology developments integrating a space network communications testbed

As future manned and robotic space explorations missions involve more complex systems, it is essential to verify, validate, and optimize such systems through simulation and emulation in a low cost testbed environment. The goal of such a testbed is to perform detailed testing of advanced space and ground communications networks, technologies, and client applications that are essential for future space exploration missions. We describe the development of new technologies enhancing our Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) that enables its integration in a distributed space communications testbed. MACHETE combines orbital modeling, link analysis, and protocol and service modeling to quantify system performance based on comprehensive considerations of different aspects of space missions.

hybrid simulations↗

Technology Developments Integrating a Space Network Communications Testbed

As future manned and robotic space explorations missions involve more complex systems, it is essential to verify, validate, and optimize such systems through simulation and emulation in a low cost testbed environment. The goal of such a testbed is to perform detailed testing of advanced space and ground communications networks, technologies, and client applications that are essential for future space exploration missions. We describe the development of new technologies enhancing our Multi-mission Advanced Communications Hybrid Environment for Test and Evaluation (MACHETE) that enable its integration in a distributed space communications testbed. MACHETE combines orbital modeling, link analysis, and protocol and service modeling to quantify system performance based on comprehensive considerations of different aspects of space missions. It can simulate entire networks and can interface with external (testbed) systems. The key technology developments enabling the integration of MACHETE into a distributed testbed are the Monitor and Control module and the QualNet IP Network Emulator module. Specifically, the Monitor and Control module establishes a standard interface mechanism to centralize the management of each testbed component. The QualNet IP Network Emulator module allows externally generated network traffic to be passed through MACHETE to experience simulated network behaviors such as propagation delay, data loss, orbital effects and other communications characteristics, including entire network behaviors. We report a successful integration of MACHETE with a space communication testbed modeling a lunar exploration scenario. This document is the viewgraph slides of the presentation.

hybrid simulation↗

NASA DOEPOD NDE Capabilities Data Book

This data book contains the Directed Design of Experiments for Validating Probability of Detection (POD) Capability of NDE Systems (DOEPOD) analyses of the nondestructive inspection data presented in the NTIAC, Nondestructive Evaluation (NDE) Capabilities Data Book. DOEPOD is designed as a decision support system to validate inspection system, personnel, and protocol demonstrating 0.90 POD with 95% confidence at critical flaw sizes, a90/95. Although 0.90 POD with 95% confidence at critical flaw sizes is often stated as an inspection requirement in inspection documents, including NASA Standards, NASA critical aerospace applications have historically only accepted 0.978 POD or better with a 95% one-sided lower confidence bound exceeding 0.90 at critical flaw sizes, a90/95.

Generazio, Edward R.↗

Microbiological Horticultural Internship Final Abstract

GMO dwarf plum (Prunus domestica) is being evaluated as a candidate food crop for long duration space flight missions. A project was undertaken to develop a protocol for transferring selected genetic lines of GMO plum (previously maintained in pots and propagated by cuttings at NASA's Kennedy Space Center in Florida) into in vitro tissue culture. In vitro culture may reduce the space, materials, and labor required to maintain the current lines of GMO plum and better preserve them for future study. Fresh plant material from three selected GMO plum lines (NASA-5, NASA-10, and NASA-11) and a non-modified control line (Control-5) were processed aseptically into in vitro culture on four separate occasions. The impact of multiple treatments on the successful growth of GMO plum tissue in vitro were tested: Parent explant tissue type (leaf petioles, stem nodes containing buds and internodes without buds), tissue sterilization method [soaking in 10 bleach only (5 min for petioles or 10 min for nodesinternodes), or soaking in 70 EtOH (30 sec) followed by 10 bleach (5 min for petioles and 10 min for nodesinternodes)], and media type [three Murashige and Skoog-based medias (SGM, SRM, and SRM+2,4-D) and one recipe containing woody plant media (WPM)]. 22.2 of the plates containing tissue sterilized with bleach alone developed microbial contamination after two weeks, while only 11.8 of plates containing tissue sterilized sequentially with EtOH and bleach developed contamination. Node bud tissue from all four genetic lines of plum produced leafy plantlets on SGM and SRM media after 4-6 weeks. The most numerous and well-developed plantlets were present on SGM. Upon reaching suitable size, plantlets were transferred to larger media containers for further growth. Some node bud growth occurred on SRM+2,4-D and WPM 2.5 weeks after plating, however as of yet no pieces on SRM+2,4-D have adequate development for transferring. Tissue pieces from NASA-5 plated on WPM are developing leaves and will be ready for transferring soon. Petioles and internode tissue lacking bud meristem failed to produce any plantlets on any plates, however petioles developed large masses of undifferentiated callus tissue on SRM+2,4-D media. These callused pieces were then transferred to SRM+TDZ media, which resulted in even larger callus growth but no differentiation. All four selected plum lines were successfully transitioned into in vitro culture. Nodes from NASA-5 and NASA-10 lines produced the most numerous and well-developed leafy plantlets in vitro, while those from NASA-11 and Control-5 were generally smaller, slower growing and less numerous. The best method overall was to use young stem node tissue with buds, surface sterilize the pieces sequentially with 70 EtOH and 10 bleach, and then plate them onto SGM media. Future areas of study will include introducing additional genetic lines of GMO plum into in vitro culture, attempting to induce shoot growth in petiole callus tissue, testing methods (such as cold storage) that extend the time interval between transferring explants into new media, and testing viability of plantlets transferred from in vitro culture back to traditional pot culture.

bioregenerative life support↗

Large-scale features of Last Interglacial climate: results from evaluating the lig127k simulations for the Coupled Model Intercomparison Project (CMIP6)–Paleoclimate Modeling Intercomparison Project (PMIP4)

The modeling of paleoclimate, using physically based tools, is increasingly seen as a strong out-of-sample test of the models that are used for the projection of future climate changes. New to the Coupled Model Intercomparison Project (CMIP6) is the Tier 1 Last Interglacial experiment for 127 000 years ago (lig127k), designed to address the climate responses to stronger orbital forcing than the midHolocene experiment, using the same state-of-the-art models as for the future and following a common experimental protocol. Here we present a first analysis of a multi-model ensemble of 17 climate models, all of which have completed the CMIP6 DECK (Diagnostic, Evaluation and Characterization of Klima) experiments. The equilibrium climate sensitivity (ECS) of these models varies from 1.8 to 5.6°C. The seasonal character of the insolation anomalies results in strong summer warming over the Northern Hemisphere continents in the lig127k ensemble as compared to the CMIP6 piControl and much-reduced minimum sea ice in the Arctic. The multi-model results indicate enhanced summer monsoonal precipitation in the Northern Hemisphere and reductions in the Southern Hemisphere. These responses are greater in the lig127k than the CMIP6 midHolocene simulations as expected from the larger insolation anomalies at 127 than 6 ka. New synthesis for surface temperature and precipitation, targeted for 127 ka, have been developed for comparison to the multi-model ensemble. The lig127k model ensemble and data reconstructions are in good agreement for summer temperature anomalies over Canada, Scandinavia, and the North Atlantic and for precipitation over the Northern Hemisphere continents. The model–data comparisons and mismatches point to further study of the sensitivity of the simulations to uncertainties in the boundary conditions and of the uncertainties and sparse coverage in current proxy reconstructions. The CMIP6–Paleoclimate Modeling Intercomparison Project (PMIP4) lig127k simulations, in combination with the proxy record, improve our confidence in future projections of monsoons, surface temperature, and Arctic sea ice, thus providing a key target for model evaluation and optimization.

Last Interglacial climate↗

Can Cell to Cell Thermal Runaway Propagation be Prevented in a Li-ion Battery Module?

Increasing cell spacing decreased adjacent cell damage center dotElectrically connected adjacent cells drained more than physically adjacent cells center dotRadiant barrier prevents propagation when fully installed between BP cells center dotBP cells vent rapidly and expel contents at 100% SOC -Slower vent with flame/smoke at 50% -Thermal runaway event typically occurs at 160 degC center dotLG cells vent but do not expel contents -Thermal runaway event typically occurs at 200 degC center dotSKC LFP modules did not propagate; fuses on negative terminal of cell may provide a benefit in reducing cell to cell damage propagation. New requirement in NASA-Battery Safety Requirements document: JSC 20793 Rev C 5.1.5.1 Requirements - Thermal Runaway Propagation a. For battery designs greater than a 80-Wh energy employing high specific energy cells (greater than 80 watt-hours/kg, for example, lithium-ion chemistries) with catastrophic failure modes, the battery shall be evaluated to ascertain the severity of a worst-case single-cell thermal runaway event and the propensity of the design to demonstrate cell-to-cell propagation in the intended application and environment. NASA has traditionally addressed the threat of thermal runaway incidents in its battery deployments through comprehensive prevention protocols. This prevention-centered approach has included extensive screening for manufacturing defects, as well as robust battery management controls that prevent abuse-induced runaway even in the face of multiple system failures. This focused strategy has made the likelihood of occurrence of such an event highly improbable. b. The evaluation shall include all necessary analysis and test to quantify the severity (consequence) of the event in the intended application and environment as well as to identify design modifications to the battery or the system that could appreciably reduce that severity. In addition to prevention protocols, programs developing battery designs with catastrophic failure modes should take the steps necessary to assess the severity of a possible thermal runaway event. Programs should assess whether there are reasonable design changes that could appreciably affect the severity of the outcome. Evaluation should include environmental effects to surrounding hardware (i.e., temperature, pressure, shock), contamination effects due to any expelled contaminates, and venting propulsive effects when venting overboard.

Jeevarajan, Judith↗

Gender Differences in Bed Rest: Preliminary Analysis of Vascular Function

Orthostatic intolerance is a recognized consequence of spaceflight. Numerous studies have shown that women are more susceptible to orthostatic intolerance following spaceflight as well as bed rest, the most commonly used ground-based analog for spaceflight. One of the possible mechanisms proposed to account for this is a difference in vascular responsiveness between genders. We hypothesized that women and men would have differing vascular responses to 90 days of 6-degree head down tilt bed rest. Additionally, we hypothesized that vessels in the upper and lower body would respond differently, as has been shown in the animal literature. Thirteen subjects were placed in bedrest for 90 days (8 men, 5 women) at the Flight Analogs Unit, UTMB. Direct arterial and venous measurements were made with ultrasound to evaluate changes in vascular structure and function. Arterial function was assessed, in the arm and leg, during a reactive hyperemia protocol and during sublingual nitroglycerin administration to gauge the contributions of endothelial dependent and independent dilator function respectively. Venous function was assessed in dorsal hand and foot veins during the administration of pharmaceuticals to assess constrictor and dilator function. Both gender and day effects are seen in arterial dilator function to reactive hyperemia, but none are seen with nitroglycerin. There are also differences in the wall thickness in the arm vs the leg during bed rest, which return toward pre-bed rest levels by day 90. More subjects are required, especially females as there is not sufficient power to properly analyze venous function. Day 90 data are most underpowered.

Platts, Steven H.↗

The Stratospheric Aerosol and Gas Experiment IV

Atmospheric composition continues to be a key Earth science focus for international space agencies and research organizations. The target constituent varies depending upon the topic area of interest such as monitoring the ozone layer and the efficacy of the Montreal Protocol, assessing the influence of volcanic eruptions and large wildfires on the atmosphere, improving our knowledge of transport processes, or evaluating the impacts of greenhouse gases on climate. Additionally, there is a growing need for measurement continuity of many trace gases both from an inability to properly assess long-term trends without it as well as the reliance of reanalyses and chemistry climate models on observational input. To this end, proper continuity requires continuous and overlapping multi-instrument data records of which spaceborne measurements are a critical component. However, most current satellite systems are well beyond their expected lifetimes, and so we look toward the future to develop the Stratospheric Aerosol and Gas Experiment (SAGE) IV as a future mission concept. Enabled by the NASA Earth Science Technology Office’s (ESTO) Instrument Incubator Program, the SAGE IV Pathfinder project has developed and validated a prototype demonstration that paves the way for a future SAGE IV spaceflight mission. Utilizing solar occultation imaging, SAGE IV will be capable of measuring key species in the stratosphere and upper troposphere with the same quality as previous SAGE instruments but with greatly improved pointing knowledge and extensibility to new science targets. Furthermore, current technological advancements allow SAGE IV to fit within a CubeSat framework and make use of commercial hardware, significantly reducing the size and cost when compared with traditional missions and enabling sustainability of future measurements.

Robert Damadeo↗

The Stratospheric Aerosol and Gas Experiment (SAGE) IV

Atmospheric composition continues to be a key Earth science focus for international space agencies and research organizations. The target constituent varies depending upon the topic area of interest such as monitoring the ozone layer and the efficacy of the Montreal Protocol, assessing the influence of volcanic eruptions and large wildfires on the atmosphere, improving our knowledge of transport processes, or evaluating the impacts of greenhouse gases on climate. Additionally, there is a growing need for measurement continuity of many trace gases both from an inability to properly assess long-term trends without it as well as the reliance of reanalyses and chemistry climate models on observational input. To this end, proper continuity requires continuous and overlapping multi-instrument data records of which spaceborne measurements are a critical component. However, most current satellite systems are well beyond their expected lifetimes, and so we look toward the future to develop the Stratospheric Aerosol and Gas Experiment (SAGE) IV as a future mission concept. Enabled by the NASA Earth Science Technology Office’s (ESTO) Instrument Incubator Program, the SAGE IV Pathfinder project developed and validated a prototype demonstration that paves the way for a future SAGE IV spaceflight mission. Utilizing solar occultation imaging, SAGE IV will be capable of measuring key species in the stratosphere and upper troposphere with the same quality as previous SAGE instruments but with greatly improved pointing knowledge and extensibility to new science targets. The precision and stability of a well-designed occultation instrument can act as a calibration reference standard for other spaceborne instruments, ensuring proper continuity of the desired science targets. Furthermore, current technological advancements allow SAGE IV to fit within a CubeSat framework and make use of commercial hardware, significantly reducing the size and cost when compared with traditional missions and enabling sustainability of future measurements.

Robert Damadeo↗

Field Immune Assessment during Simulated Planetary Exploration in the Canadian Arctic

Dysregulation of the immune system has been shown to occur during space flight, although the detailed nature of the phenomenon and the clinical risks for exploration class missions has yet to be established. In addition, the growing clinical significance of immune system evaluation combined with epidemic infectious disease rates in third world countries provides a strong rationale for the development of field-compatible clinical immunology techniques and equipment. In July 2002 NASA performed a comprehensive field immunology assessment on crewmembers participating in the Haughton-Mars Project (HMP) on Devon Island in the high Canadian Arctic. The purpose of the study was to evaluate mission-associated effects on the human immune system, as well as to evaluate techniques developed for processing immune samples in remote field locations. Ten HMP-2002 participants volunteered for the study. A field protocol was developed at NASA-JSC for performing sample collection, blood staining/processing for immunophenotype analysis, wholeblood mitogenic culture for functional assessments and cell-sample preservation on-location at Devon Island. Specific assays included peripheral leukocyte distribution; constitutively activated T cells, intracellular cytokine profiles and plasma EBV viral antibody levels. Study timepoints were L-30, midmission and R+60. The protocol developed for immune sample processing in remote field locations functioned properly. Samples were processed in the field location, and stabilized for subsequent analysis at the Johnson Space Center in Houston. The data indicated that some phenotype, immune function and stress hormone changes occurred in the HMP field participants that were largely distinct from pre-mission baseline and post-mission recovery data. These immune changes appear similar to those observed in Astronauts following spaceflight. The sample processing protocol developed for this study may have applications for immune assessment during exploration-class space missions or in remote terrestrial field locations. The data validate the use of the HMP as a ground-based spaceflight/planetary exploration analog for some aspects of human physiology.

Crucian, Brian↗

Joint Test Report for Validation of Alternative Low-Emission Surface Preparation/Depainting Technologies for Structural Steel

Headquarters National Aeronautics and Space Administration (NASA) chartered the NASA Acquisition Pollution Prevention (AP2) Office to coordinate agency activities affecting pollution prevention issues identified during system and component acquisition and sustainment processes. The primary objectives of the AP2 Office are to: (1) Reduce or eliminate the use of hazardous materials or hazardous processes at manufacturing, remanufacturing, and sustainment locations. (2) Avoid duplication of effort in actions required to reduce or eliminate hazardous materials through joint center cooperation and technology sharing. The objective of this project was to qualify candidate alternative Low-Emission Surface Preparation/Depainting Technologies for Structural Steel applications at NASA facilities. This project compares the surface preparation/depainting performance of the proposed alternatives to existing surface preparation/depainting systems or standards. This Joint Test Report (JTR) contains the results of testing as per the outlines of the Joint Test Protocol (JTP), Joint Test Protocol for Validation of Alternative Low-Emission Surface Preparation/Depainting Technologies for Structural Steel, and the Field Test Plan (FTP), Field Evaluations Test Plan for Validation of Alternative Low-Emission Surface Preparation/Depainting Technologies for Structural Steel, for critical requirements and tests necessary to qualify alternatives for coating removal systems. These tests were derived from engineering, performance, and operational impact (supportability) requirements defined by a consensus of government and industry participants. This JTR documents the results of the testing as well as any test modifications made during the execution of the project. This JTR is made available as a reference for future pollution prevention endeavors by other NASA Centers, the Department of Defense and commercial users to minimize duplication of effort. The current coating removal processes identified herein are for polyurethane, epoxy and other paint systems applied by conventional wet-spray processes. A table summarizes the target hazardous materials, processes and materials, applications, affected programs, and candidate substrates.

Lewis, Pattie↗

Methodolgy For Evaluation Of Technology Impacts In Space Electric Power Systems

The Analysis and Management branch of the Power and Propulsion Office at NASA Glenn Research Center is responsible for performing complex analyses of the space power and In-Space propulsion products developed by GRC. This work quantifies the benefits of the advanced technologies to support on-going advocacy efforts. The Power and Propulsion Office is committed to understanding how the advancement in space technologies could benefit future NASA missions. They support many diverse projects and missions throughout NASA as well as industry and academia. The area of work that we are concentrating on is space technology investment strategies. Our goal is to develop a Monte-Carlo based tool to investigate technology impacts in space electric power systems. The framework is being developed at this stage, which will be used to set up a computer simulation of a space electric power system (EPS). The outcome is expected to be a probabilistic assessment of critical technologies and potential development issues. We are developing methods for integrating existing spreadsheet-based tools into the simulation tool. Also, work is being done on defining interface protocols to enable rapid integration of future tools. Monte Carlo-based simulation programs for statistical modeling of the EPS Model. I decided to learn and evaluate Palisade's @Risk and Risk Optimizer software, and utilize it's capabilities for the Electric Power System (EPS) model. I also looked at similar software packages (JMP, SPSS, Crystal Ball, VenSim, Analytica) available from other suppliers and evaluated them. The second task was to develop the framework for the tool, in which we had to define technology characteristics using weighing factors and probability distributions. Also we had to define the simulation space and add hard and soft constraints to the model. The third task is to incorporate (preliminary) cost factors into the model. A final task is developing a cross-platform solution of this framework.

Holda, Julie↗

Medical experiment M-171 - Results from the second manned Skylab mission

Preflight, inflight, and postflight exercise response tests were conducted on the astronauts of the second Skylab mission as part of an evaluation of physiological adaptation to long-term weightlessness. The flight phase of this mission was 59 days in duration. An exercise protocol was designed around a bicycle ergometer which was used to apply work loads approximating 25, 50, and 75% of each crewman's measured maximum aerobic capacity. Respiratory gas exchange, heart rate, and blood pressure were measured during all tests; cardiac output was measured at selected times during preflight and postflight tests. Data obtained both at rest and during exercise in flight showed no consistent changes which would indicate a degraded physical work capacity. In fact, heart rate during exercise actually decreased for all crewmen in flight. This response indicated improved physical fitness in flight relative to preflight. The postflight period of readaptation to 1 G was characterized by a marked tachycardia, during which time stroke volume was decreased. This response returned to normal within 5-day postflight.

Rummel, J. A.↗

Radiation-induced genomic instability

Quantitative assessment of the heritable somatic effects of ionizing radiation exposures has relied upon the assumption that radiation-induced lesions were 'fixed' in the DNA prior to the first postirradiation mitosis. Lesion conversion was thought to occur during the initial round of DNA replication or as a consequence of error-prone enzymatic processing of lesions. The standard experimental protocols for the assessment of a variety of radiation-induced endpoints (cell death, specific locus mutations, neoplastic transformation and chromosome aberrations) evaluate these various endpoints at a single snapshot in time. In contrast with the aforementioned approaches, some studies have specifically assessed radiation effects as a function of time following exposure. Evidence has accumulated in support of the hypothesis that radiation exposure induces a persistent destabilization of the genome. This instability has been observed as a delayed expression of lethal mutations, as an enhanced rate of accumulation of non-lethal heritable alterations, and as a progressive intraclonal chromosomal heterogeneity. The genetic controls and biochemical mechanisms underlying radiation-induced genomic instability have not yet been delineated. The aim is to integrate the accumulated evidence that suggests that radiation exposure has a persistent effect on the stability of the mammalian genome.

NASA Discipline Radiation Health↗

Autonomous Diagnostic Imaging Performed by Untrained Operators using Augmented Reality as a Form of "Just-in-Time" Training

We will address the Human Factors and Performance Team, "Risk of performance errors due to training deficiencies" by improving the JIT training materials for ultrasound and OCT imaging by providing advanced guidance in a detailed, timely, and user-friendly manner. Specifically, we will (1) develop an audio-visual tutorial using AR that guides non-experts through an abdominal trauma ultrasound protocol; (2) develop an audio-visual tutorial using AR to guide an untrained operator through the acquisition of OCT images; (3) evaluate the quality of abdominal ultrasound and OCT images acquired by untrained operators using AR guidance compared to images acquired using traditional JIT techniques (laptop-based training conducted before image acquisition); and (4) compare the time required to complete imaging studies using AR tutorials with images acquired using current JIT practices to identify areas for time efficiency improvements. Two groups of subjects will be recruited to participate in this study. Operator-subjects, without previous experience in ultrasound or OCT, will be asked to perform both procedures using either the JIT training with AR technology or the traditional JIT training via laptop. Images acquired by inexperienced operator-subjects will be scored by experts in that imaging modality for diagnostic and research quality; experts will be blinded to the form of JIT used to acquire the images. Operator-subjects also will be asked to submit feedback to improve the training modules used during the scans to improve future training modules. Scanned-subjects will be a small group individuals from whom all images will be acquired.

Martin, D. S.↗

Autonomous Diagnostic Imaging Performed by Untrained Operator Using Augmented Reality as a Form of "Just-in-Time" Training

We will address the Human Factors and Performance Team, "Risk of performance errors due to training deficiencies" by improving the JIT training materials for ultrasound and OCT imaging by providing advanced guidance in a detailed, timely, and user-friendly manner. Specifically, we will (1) develop an audio-visual tutorial using AR that guides non-experts through an abdominal trauma ultrasound protocol; (2) develop an audio-visual tutorial using AR to guide an untrained operator through the acquisition of OCT images; (3) evaluate the quality of abdominal ultrasound and OCT images acquired by untrained operators using AR guidance compared to images acquired using traditional JIT techniques (laptop-based training conducted before image acquisition); and (4) compare the time required to complete imaging studies using AR tutorials with images acquired using current JIT practices to identify areas for time efficiency improvements. Two groups of subjects will be recruited to participate in this study. Operator-subjects, without previous experience in ultrasound or OCT, will be asked to perform both procedures using either the JIT training with AR technology or the traditional JIT training via laptop. Images acquired by inexperienced operator-subjects will be scored by experts in that imaging modality for diagnostic and research quality; experts will be blinded to the form of JIT used to acquire the images. Operator-subjects also will be asked to submit feedback to improve the training modules used during the scans to improve future training modules. Scanned-subjects will be a small group individuals from whom all images will be acquired.

Martin, David S.↗

Automated End-to-End Spacecraft Connectivity Across Diverse Links

An increasing variety of communications services are available to space missions. Yet varying standards between providers hinder adoption due to the complexity of managing many configurations. We present a software framework to automatically establish end-to-end communications during contacts with a provider by configuring spacecraft protocols at the physical, link, and network layers. Underlying protocols and routes are abstracted, allowing the user to simply send data to a destination with the framework ensuring its delivery. We evaluate a full implementation of the framework in laboratory experiments conducted on an emulated communications testbed. These tests demonstrate data delivery across three different services with rapid (<20s) reconfiguration as the spacecraft transitions between providers.

satellite communication↗

Performance Evaluation of a Cartesian Move Algorithm for the LSMS Family of Cable-Driven Cranes

The Lightweight Surface Manipulation System, or LSMS, is a family of cable-actuated cranes, designed for surface operations on the Moon and Mars. Its structural design focuses on three fundamental traits for space environments: a high payload-to-mass ratio to reduce launch costs, compactness for space travel in reduced cargo bays, and self-erecting capabilities for operations before astronauts arrive. The resulting design confers nonlinear and switched dynamics to the LSMS, making these cranes an interesting challenge for autonomous and teleoperated applications. One of the protocols required for these applications is a Cartesian move algorithm. This algorithm is responsible for placing the end effector of the crane at a desired location, specified in Cartesian coordinates. This paper evaluates the performance of a Cartesian move algorithm developed for the LSMS at the NASA Langley Research Center. To this end, several payload manipulation tasks were performed with LSMS-L35, the smallest version within the LSMS family. The evaluated algorithm can place the end effector with accuracy, as shown in the hardware and simulation tests.

cable-actuated↗