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NASA NTRS2008

Designing the Ares I Crew Launch Vehicle Upper Stage Element and Integrating the Stack at NASA's Marshall Space Flight Center

Fielding an integrated launch vehicle system entails many challenges, not the least of which is the fact that it has been over 30 years since the United States has developed a human-rated vehicle - the venerable Space Shuttle. Over time, whole generations of rocket scientists have passed through the aerospace community without the opportunity to perform such exacting, demanding, and rewarding work. However, with almost 50 years of experience leading the design, development, and end-to-end systems engineering and integration of complex launch vehicles, NASA's Marshall Space Flight Center offers the in-house talent - both junior- and senior-level personnel - to shape a new national asset to meet the requirements for safe, reliable, and affordable space exploration solutions.' These personnel are housed primarily in Marshall's Engineering Directorate and are matrixed into the programs and projects that reside at the rocket center. Fortunately, many Apollo era and Shuttle engineers, as well as those who gained valuable hands-on experience in the 1990s by conducting technology demonstrator projects such as the Delta-Clipper Experimental Advanced, X-33, X-34, and X-37, as well as the short-lived Orbital Space Plane, work closely with industry partners to advance the nation's strategic capability for human access to space. Currently, only three spacefaring nations have this distinction, including the United States, Russia, and, more recently, China. The U.S. National Space Policy of2006 directs that NASA provide the means to travel to space, and the NASA Appropriations Act of2005 provided the initial funding to begin in earnest to replace the Shuttle after the International Space Station construction is complete in 20 IO? These and other strategic goals and objectives are documented in NASA's 2006 Strategic Plan.3 In 2005, a team of NASA aerospace experts conducted the Exploration Systems Architecture Study, which recommended a two-vehicle approach to America's next space transportation system for missions to the International Space Station in the next decade and to explore the Moon and establish an outpost around the 2020 timeframe.4 Based on this extensive study, NASA selected the Ares I crew launch vehicle configuration and the heavy-lift Ares V cargo launch vehicle (fig 1). This paper will give an overview of NASA's approach to integrating the Ares I vehicle stack using capabilities and assets that are resident in Marshall's Engineering Directorate, working in partnership with other NASA Centers and the U.S. aerospace industry. It also will provide top-level details on the progress of the in-house design of the Ares I vehicle's upper stage element.

Lyles, Garry↗

NASA NTRS2007

Proposed Array-based Deep Space Network for NASA

The current assets of the Deep Space Network (DSN) of the National Aeronautics and Space Administration (NASA), especially the 70-m antennas, are aging and becoming less reliable. Furthermore, they are expensive to operate and difficult to upgrade for operation at Ka-band (321 GHz). Replacing them with comparable monolithic large antennas would be expensive. On the other hand, implementation of similar high-sensitivity assets can be achieved economically using an array-based architecture, where sensitivity is measured by G/T, the ratio of antenna gain to system temperature. An array-based architecture would also provide flexibility in operations and allow for easy addition of more G/T whenever required. Therefore, an array-based plan of the next-generation DSN for NASA has been proposed. The DSN array would provide more flexible downlink capability compared to the current DSN for robust telemetry, tracking and command services to the space missions of NASA and its international partners in a cost effective way. Instead of using the array as an element of the DSN and relying on the existing concept of operation, we explore a broader departure in establishing a more modern concept of operations to reduce the operations costs. This paper presents the array-based architecture for the next generation DSN. It includes system block diagram, operations philosophy, user's view of operations, operations management, and logistics like maintenance philosophy and anomaly analysis and reporting. To develop the various required technologies and understand the logistics of building the array-based lowcost system, a breadboard array of three antennas has been built. This paper briefly describes the breadboard array system and its performance.

telemetry↗

NASA NTRS2009

Tele-Supervised Adaptive Ocean Sensor Fleet

The Tele-supervised Adaptive Ocean Sensor Fleet (TAOSF) is a multi-robot science exploration architecture and system that uses a group of robotic boats (the Ocean-Atmosphere Sensor Integration System, or OASIS) to enable in-situ study of ocean surface and subsurface characteristics and the dynamics of such ocean phenomena as coastal pollutants, oil spills, hurricanes, or harmful algal blooms (HABs). The OASIS boats are extended- deployment, autonomous ocean surface vehicles. The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. One feature of TAOSF is the adaptive re-planning of the activities of the OASIS vessels based on sensor input ( smart sensing) and sensorial coordination among multiple assets. The architecture also incorporates Web-based communications that permit control of the assets over long distances and the sharing of data with remote experts. Autonomous hazard and assistance detection allows the automatic identification of hazards that require human intervention to ensure the safety and integrity of the robotic vehicles, or of science data that require human interpretation and response. Also, the architecture is designed for science analysis of acquired data in order to perform an initial onboard assessment of the presence of specific science signatures of immediate interest. TAOSF integrates and extends five subsystems developed by the participating institutions: Emergent Space Tech - nol ogies, Wallops Flight Facility, NASA s Goddard Space Flight Center (GSFC), Carnegie Mellon University, and Jet Propulsion Laboratory (JPL). The OASIS Autonomous Surface Vehicle (ASV) system, which includes the vessels as well as the land-based control and communications infrastructure developed for them, controls the hardware of each platform (sensors, actuators, etc.), and also provides a low-level waypoint navigation capability. The Multi-Platform Simulation Environment from GSFC is a surrogate for the OASIS ASV system and allows for independent development and testing of higher-level software components. The Platform Communicator acts as a proxy for both actual and simulated platforms. It translates platform-independent messages from the higher control systems to the device-dependent communication protocols. This enables the higher-level control systems to interact identically with heterogeneous actual or simulated platforms.

Lefes, Alberto↗

NASA NTRS2009

Launch Order, Launch Separation, and Loiter in the Constellation 1 1/2-Launch Solution

The NASA Constellation Program (CxP) is developing a two-element Earth-to-Orbit launch system to enable human exploration of the Moon. The first element, Ares I, is a human-rated system that consists of a first stage based on the Space Shuttle Program's solid rocket booster (SRB) and an upper stage that consists of a four-crew Orion capsule, a service module, and a Launch Escape System. The second element, Ares V, is a Saturn V-plus category launch system that consists of the core stage with a cluster of six RS-68B engines and augmented with two 5.5-segment SRBs, a Saturn-derived J-2X engine powering an Earth Departure Stage (EDS), and the lunar-lander vehicle payload, Altair. Initial plans called for the Ares V to be launched first, followed the next day by the Ares I. After the EDS performs the final portion of ascent and subsequent orbit circularization, the Orion spacecraft then performs a rendezvous and docks with the EDS and its Altair payload. Following checkout, the integrated stack loiters in low Earth orbit (LEO) until the appropriate Trans-Lunar Injection (TLI) window opportunity opens, at which time the EDS propels the integrated Orion Altair to the Moon. Successful completion of this 1 1/2-launch solution carries risks related to both the orbital lifetime of the assets and the probability of achieving the launch of the second vehicle within the orbital lifetime of the first. These risks, which are significant in terms of overall system design choices and probability of mission success, dictated a thorough reevaluation of the launch strategy, including the order of vehicle launch and the planned time period between launches. The goal of the effort described in this paper was to select a launch strategy that would result in the greatest possible expected system performance, while accounting for launch risks and the cost of increased orbital lifetime. Discrete Event Simulation (DES) model of the launch strategies was created to determine the probability of a second launch not occurring in a timely fashion (i.e., before the assets waiting in LEO expire). An overview of the launch strategy evaluation process is presented, along with results of specific cases that were analyzed. A high-level comparison of options is then presented, along with the conclusion derived from the analysis.

Stromgren, Chel↗

NASA NTRS2003

Enhanced Multi-Modal Access to Planetary Exploration

Tomorrow's Interplanetary Network (IPN) will evolve from JPL's Deep-Space Network (DSN) and provide key capabilities to future investigators, such as simplified acquisition of higher-quality science at remote sites and enriched access to these sites. These capabilities could also be used to foster public interest, e.g., by making it possible for students to explore these environments personally, eventually perhaps interacting with a virtual world whose models could be populated by data obtained continuously from the IPN. Our paper looks at JPL's approach to making this evolution happen, starting from improved communications. Evolving space protocols (e.g., today's CCSDS proximity and file-transfer protocols) will provide the underpinning of such communications in the next decades, just as today's rich web was enabled by progress in Internet Protocols starting from the early 1970's (ARPAnet research). A key architectural thrust of this effort is to deploy persistent infrastructure incrementally, using a layered service model, where later higher-layer capabilities (such as adaptive science planning) are enabled by earlier lower-layer services (such as automated routing of object-based messages). In practice, there is also a mind shift needed from an engineering culture raised on point-to-point single-function communications (command uplink, telemetry downlink), to one in which assets are only indirectly accessed, via well-defined interfaces. We are aiming to foster a 'community of access' both among space assets and the humans who control them. This enables appropriate (perhaps eventually optimized) sharing of services and resources to the greater benefit of all participants. We envision such usage to be as automated in the future as using a cell phone is today - with all the steps in creating the real-time link being automated.

interplanetary network (IPN)↗

NASA NTRS2009

NASA Constellation Program (CxP) Key Driving Requirements and Element Descriptions for International Architecture Working Group (IAWG) Functional Teams Human Transportation Cargo Transportation

The NASA Constellation uncrewed cargo mission delivers cargo to any designated location on the lunar surface (or other staging point) in a single mission. This capability is used to deliver surface infrastructure needed for lunar outpost construction, to provide periodic logistics resupply to support a continuous human lunar presence, and potentially deliver other assets to various locations.In the nominal mission mode, the Altair lunar lander is launched on Ares V into Low Earth Orbit (LEO), following a short Low Earth Orbit (LEO) loiter period, the Earth Departure Stage (EDS) performs the Trans Lunar Injection (TLI) burn and is then jettisoned. The Altair performs translunar trajectory correction maneuvers as necessary and performs the Lunar Orbit Insertion (LOI) burn. Altair then descends to the surface to land near a designated target, presumably in proximity to an Outpost location or another site of interest for exploration.Alternatively, the EDS and Altair Descent Stage could deliver assets to various staging points within their propulsive capabilities.

Martinez, Roland M.↗

NASA NTRS2008

GPS Metric Tracking Unit

As Global Positioning Satellite (GPS) applications become more prevalent for land- and air-based vehicles, GPS applications for space vehicles will also increase. The Applied Technology Directorate of Kennedy Space Center (KSC) has developed a lightweight, low-cost GPS Metric Tracking Unit (GMTU), the first of two steps in developing a lightweight, low-cost Space-Based Tracking and Command Subsystem (STACS) designed to meet Range Safety's link margin and latency requirements for vehicle command and telemetry data. The goals of STACS are to improve Range Safety operations and expand tracking capabilities for space vehicles. STACS will track the vehicle, receive commands, and send telemetry data through the space-based asset, which will dramatically reduce dependence on ground-based assets. The other step was the Low-Cost Tracking and Data Relay Satellite System (TDRSS) Transceiver (LCT2), developed by the Wallops Flight Facility (WFF), which allows the vehicle to communicate with a geosynchronous relay satellite. Although the GMTU and LCT2 were independently implemented and tested, the design collaboration of KSC and WFF engineers allowed GMTU and LCT2 to be integrated into one enclosure, leading to the final STACS. In operation, GMTU needs only a radio frequency (RF) input from a GPS antenna and outputs position and velocity data to the vehicle through a serial or pulse code modulation (PCM) interface. GMTU includes one commercial GPS receiver board and a custom board, the Command and Telemetry Processor (CTP) developed by KSC. The CTP design is based on a field-programmable gate array (FPGA) with embedded processors to support GPS functions.

Source record↗

NASA NTRS2009

The Lunar Mapping and Modeling Project

Noble, Sarah K.↗

NASA NTRS2007

Two-Way Communication Using RFID Equipment and Techniques

Equipment and techniques used in radio-frequency identification (RFID) would be extended, according to a proposal, to enable short-range, two-way communication between electronic products and host computers. In one example of a typical contemplated application, the purpose of the short-range radio communication would be to transfer image data from a user s digital still or video camera to the user s computer for recording and/or processing. The concept is also applicable to consumer electronic products other than digital cameras (for example, cellular telephones, portable computers, or motion sensors in alarm systems), and to a variety of industrial and scientific sensors and other devices that generate data. Until now, RFID has been used to exchange small amounts of mostly static information for identifying and tracking assets. Information pertaining to an asset (typically, an object in inventory to be tracked) is contained in miniature electronic circuitry in an RFID tag attached to the object. Conventional RFID equipment and techniques enable a host computer to read data from and, in some cases, to write data to, RFID tags, but they do not enable such additional functions as sending commands to, or retrieving possibly large quantities of dynamic data from, RFID-tagged devices. The proposal would enable such additional functions. The figure schematically depicts an implementation of the proposal for a sensory device (e.g., a digital camera) that includes circuitry that converts sensory information to digital data. In addition to the basic sensory device, there would be a controller and a memory that would store the sensor data and/or data from the controller. The device would also be equipped with a conventional RFID chipset and antenna, which would communicate with a host computer via an RFID reader. The controller would function partly as a communication interface, implementing two-way communication protocols at all levels (including RFID if needed) between the sensory device and the memory and between the host computer and the memory. The controller would perform power V

Jedry, Thomas↗

NASA NTRS2009

Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses. The project draws on expertise from several NASA and non-NASA organizations (MSFC, ARC, GSFC, JPL, CRREL US Army Cold Regions Research and Engineering Laboratory, and the USGS). LMMP will utilize data predominately from the Lunar Reconnaissance Orbiter, but also historical and international lunar mission data (e.g. Apollo, Lunar Orbiter, Kaguya, Chandrayaan-1), as available and appropriate, to meet Constellation s data needs. LMMP will provide access to this data through a single intuitive and easy to use NASA portal that transparently accesses appropriately sanctioned portions of the widely dispersed and distributed collections of lunar data, products and tools. Two visualization systems are being developed, a web-based system called Lunar Mapper, and a desktop client, ILIADS, which will be downloadable from the LMMP portal. LMMP will provide such products as local and regional imagery and DEMs, hazard assessment maps, lighting and gravity models, and resource maps. We are working closely with the LRO team to prevent duplication of efforts and to ensure the highest quality data products. While Constellation is our primary customer, LMMP is striving to be as useful as possible to the lunar science community, the lunar commercial community, the lunar education and public outreach (E/PO) community, and anyone else interested in accessing or utilizing lunar data. A beta version of the portal and visualization systems is expected to be released in late 2009, with a version 1 release planned for early 2011.

Noble, Sarah K.↗

NASA NTRS2007

Web-Based Real-Time Emergency Monitoring

The Web-based Real-Time Asset Monitoring (RAM) module for emergency operations and facility management enables emergency personnel in federal agencies and local and state governments to monitor and analyze data in the event of a natural disaster or other crisis that threatens a large number of people and property. The software can manage many disparate sources of data within a facility, city, or county. It was developed on industry-standard Geo- Spatial software and is compliant with open GIS standards. RAM View can function as a standalone system, or as an integrated plugin module to Emergency Operations Center (EOC) software suites such as REACT (Real-time Emergency Action Coordination Tool), thus ensuring the widest possible distribution among potential users. RAM has the ability to monitor various data sources, including streaming data. Many disparate systems are included in the initial suite of supported hardware systems, such as mobile GPS units, ambient measurements of temperature, moisture and chemical agents, flow meters, air quality, asset location, and meteorological conditions. RAM View displays real-time data streams such as gauge heights from the U.S. Geological Survey gauging stations, flood crests from the National Weather Service, and meteorological data from numerous sources. Data points are clearly visible on the map interface, and attributes as specified in the user requirements can be viewed and queried.

Harvey, Craig A.↗

NASA NTRS2010

An Extension of Analysis of Solar-Heated Thermal Wadis to Support Extended-Duration Lunar Exploration

The realization of the renewed exploration of the Moon presents many technical challenges; among them is the survival of lunar surface assets during periods of darkness when the lunar environment is very cold. Thermal wadis are engineered sources of stored solar energy using modified lunar regolith as a thermal storage mass that can supply energy to protect lightweight robotic rovers or other assets during the lunar night. This paper describes an extension of an earlier analysis of performance of thermal wadis based on the known solar illumination of the Moon and estimates of producible thermal properties of modified lunar regolith. The current analysis has been performed for the lunar equatorial region and validates the formerly used 1-D model by comparison of predictions to those obtained from 2-D and 3-D computations. It includes the effects of a thin dust layer covering the surface of the wadi, and incorporating either water as a phase-change material or aluminum stakes as a high thermal conductivity material into the regolith. The calculations indicate that thermal wadis can provide the desired thermal energy and temperature control for the survival of rovers or other equipment during periods of darkness.

Balasubramaniam, R.↗

NASA NTRS2010

Analysis of Solar-Heated Thermal Wadis to Support Extended-Duration Lunar Exploration

The realization of the renewed exploration of the Moon presents many technical challenges; among them is the survival of lunar surface assets during periods of darkness when the lunar environment is very cold. Thermal wadis are engineered sources of stored solar energy using modified lunar regolith as a thermal storage mass that can enable the operation of lightweight robotic rovers or other assets in cold, dark environments without incurring potential mass, cost, and risk penalties associated with various onboard sources of thermal energy. Thermal wadi-assisted lunar rovers can conduct a variety of long-duration missions including exploration site surveys; teleoperated, crew-directed, or autonomous scientific expeditions; and logistics support for crewed exploration. This paper describes a thermal analysis of thermal wadi performance based on the known solar illumination of the moon and estimates of producible thermal properties of modified lunar regolith. Analysis was performed for the lunar equatorial region and for a potential Outpost location near the lunar south pole. The results are presented in some detail in the paper and indicate that thermal wadis can provide the desired thermal energy reserve, with significant margin, for the survival of rovers or other equipment during periods of darkness.

Balasubramaniam, R.↗

NASA NTRS2010

Cast Glance Near Infrared Imaging Observations of the Space Shuttle During Hypersonic Re-Entry

High resolution calibrated infrared imagery of the Space Shuttle was obtained during hypervelocity atmospheric entries of the STS-119, STS-125 and STS128 missions and has provided information on the distribution of surface temperature and the state of the airflow over the windward surface of the Orbiter during descent. This data collect was initiated by NASA s Hypersonic Thermodynamic Infrared Measurements (HYTHIRM) team and incorporated the use of air- and land-based optical assets to image the Shuttle during atmospheric re-entry. The HYTHIRM objective is to develop and implement a set of mission planning tools designed to establish confidence in the ability of an existing optical asset to reliably acquire, track and return global quantitative surface temperatures of the Shuttle during entry. On Space Shuttle Discovery s STS-119 mission, NASA flew a specially modified thermal protection system tile and instrumentation package to monitor heating effects from boundary layer transition during re-entry. On STS-119, the windward airflow on the port wing was deliberately disrupted by a four-inch wide and quarter-inch tall protuberance built into the modified tile. In coordination with this flight experiment, a US Navy NP-3D Orion aircraft was flown 28 nautical miles below Discovery and remotely monitored surface temperature of the Orbiter at Mach 8.4 using a long-range infrared optical package referred to as Cast Glance. Approximately two months later, the same Navy Cast Glance aircraft successfully monitored the surface temperatures of the Orbiter Atlantis traveling at approximately Mach 14.3 during its return from the successful Hubble repair mission. In contrast to Discovery, Atlantis was not part of the Boundary Layer Transition (BLT) flight experiment, thus the vehicle was not configured with a protuberance on the port wing. In September 2009, Cast Glance was again successful in capturing infrared imagery and monitoring the surface temperatures on Discovery s next flight, STS-128. Again, NASA flew a specially modified thermal protection system tile and instrumentation package to monitor heating effects from boundary layer transition during re-entry. During this mission, Cast Glance was able to image laminar and turbulent flow phenomenology optimizing data collection for Mach 14.7. The purpose of this paper is to describe key elements associated with STS-119/125/128 mission planning and execution from the perspective of the Cast Glance flight crew that obtained the imagery. The paper will emphasize a human element of experience, expertise and adaptability seamlessly coupled with Cast Glance system and sensor technology required to manually collect the required imagery. Specific topics will include a near infrared (NIR) camera upgrade that was implemented just prior to the missions, how pre-flight radiance modeling was utilized to optimize the IR sensor configuration, communications, the development of aircraft test support positions based upon Shuttle trajectory information, support to contingencies such as Shuttle one orbit wave-offs/west coast diversions and then the Cast Glance perspective during an actual Shuttle imaging mission.

Tack, Steve↗

NASA NTRS2010

Using Facility Condition Assessments to Identify Actions Related to Infrastructure

To support cost effective, quality research it is essential that laboratory and testing facilities are maintained in a continuous and reliable state of availability at all times. NASA Langley Research Center (LaRC) and its maintenance contractor, Jacobs Technology, Inc. Research Operations, Maintenance, and Engineering (ROME) group, are in the process of implementing a combined Facility Condition Assessment (FCA) and Reliability Centered Maintenance (RCM) program to improve asset management and overall reliability of testing equipment in facilities such as wind tunnels. Specific areas are being identified for improvement, the deferred maintenance cost is being estimated, and priority is being assigned against facilities where conditions have been allowed to deteriorate. This assessment serves to assist in determining where to commit available funds on the Center. RCM methodologies are being reviewed and enhanced to assure that appropriate preventive, predictive, and facilities/equipment acceptance techniques are incorporated to prolong lifecycle availability and assure reliability at minimum cost. The results from the program have been favorable, better enabling LaRC to manage assets prudently.

Rubert, Kennedy F.↗

NASA NTRS2001

Challenges and Lessons Learned in the Application of Autonomy to Space Operations

NASA's Space Operations Management Office (SOMO) is working toward a goal of providing an integrated infrastructure of mission and data services for space missions undertaken by NASA enterprises. A significant portion of this effort is focused on reducing the cost of these services. We are interested in the potential of autonomy to reduce operations costs. SOMO services support space missions, but are not part of the mission objectives; therefore the level of acceptable risk is very low. In fact, SOMO could be effective ly prevented from applying autonomy if customers merely perceive it as adding risk to their mission(s). We are interested in this workshop from the standpoint of understanding what can be done to realize the potential cost savings due to autonomy while maintaining acceptable risk and serving the needs of our customers. We would like to present our lessons learned so far in adopting autonomy and automation, which we think will contribute to clarifying the challenges facing the use of such technology. SOMO provides services to a diverse and ambitious set of mission customers. Many of these missions are groundbreaking missions for which communications, data, and other operations requirements sometimes cannot be clearly articulated early in the program. This motivates a need for systems that are robust in the face of unanticipated situations so that customer missions are not unreasonably constrained or impacted by "shortcomings" in SOMO services. One of SOMO's primary goals is to realize a paradigm in which SOMO acts as a service provider to organizations that fly space missions for NASA, other government agencies, and even the commercial sector. These organizations purchase SOMO services "by the pound" as customers. We have to provide systems that are not experiments themselves, but rather stable bases from which to do bold experiments. To this end, SOMO also seeks to work closely with industry to see that robust autonomy technology gets infused into products and services for the space industry and beyond. The potential for application of these technologies spans space-based communications networks (e.g. TDRSS) and ground-based assets including communication and tracking antenna systems, data networks, and control centers. There are several problems that are candidates for the application of autonomy, if it can be made reliable enough, including: antenna control, antenna scheduling, communication link scheduling and operation, navigation, attitude determination, fault detection, isolation, and reconfiguration (for spacecraft or ground assets), and mission-level planning and scheduling. Some attempts have been made to apply autonomy and automation in these areas in the past with varying degrees of success. We will present relevant case histories and the lessons inferred from them. Combining this past experience with anticipated future needs, we can clarify the challenges that must be met in order to realize the benefits of autonomy.

Forrest, David J.↗

NASA NTRS2002

Human Lunar Destiny: Past, Present, and Future

This paper offers conceptual strategy and rationale for returning astronauts to the moon. NASA's historic Apollo program enabled humans to make the first expeditionary voyages to the moon and to gather and return samples back to the earth for further study. To continue exploration of the moon within the next ten to fifteen years, one possible mission concept for returning astronauts using existing launch vehicle infrastructure is presented. During these early lunar missions, expeditionary trips are made to geographical destinations and permanent outposts are established at the lunar south pole. As these missions continue, mining operations begin in an effort to learn how to live off the land. Over time, a burgeoning economy based on mining and scientific activity emerges with the formation of more accommodating settlements and surface infrastructure assets. As lunar activity advances, surface infrastructure assets grow and become more complex, lunar settlements and outposts are established across the globe, travel to and from the moon becomes common place, and commerce between earth and the moon develops and flourishes. Colonization and development of the moon is completed with the construction of underground cities and the establishment of a full range of political, religious, educational, and recreational institutions with a diverse population from all nations of the world. Finally, rationale for diversifying concentrations of humanity throughout earth's neighborhood and the greater solar system is presented.

Fletcher, David↗

NASA NTRS2008

The Telesupervised Adaptive Ocean Sensor Fleet (TAOSF) Architecture: Coordination of Multiple Oceanic Robot Boats

Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth s climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations. This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in-situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a sliding autonomy control architecture, where the operating mode of the vessels ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.

sensor web↗