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NASA NTRS1993

NSSDC data listing

This document identifies, in a highly summarized way, all the data held at the NSSDC. These data cover astrophysics and astronomy, solar and space physics, planetary and lunar, and Earth science disciplines. They are primarily, but not exclusively, from past and ongoing NASA spaceflight missions. We first identify all the data electronically available through NSSDC's principal online (magnetic disk-based) and nearline (robotics jukebox-based) systems, and then those data available on CDROM's. Finally, we identify all NSSDC-held data, the majority of which are still offline on magnetic tape, film, etc., but including the electronically accessible and CD-ROM resident data of earlier sections. These comprehensive identifications are in the form of two listings, one for the majority of NSSDC-held data sets resulting from individual instruments flown on individual spacecraft, and the other listing for the remainder of NSSDC-held data sets which do not adhere to this spacecraft/experiment/dataset hierarchy. The latter listing is presented in two parts, one for the numerous source catalogs of the NSSDC-operated Astronomical Data Center, and the other for the remainder. Access paths to all these data, and to further information about each, are also given in the related sections of this Data Listing. Note that this document is a companion to the electronically accessible information files (in particular, the NASA Master Directory) at NSSDC which also identify NSSDC-resident (and other) data.

Horowitz, Richard↗
NASA NTRS2005

Large Liquid Rocket Testing: Strategies and Challenges

Rocket propulsion development is enabled by rigorous ground testing in order to mitigate the propulsion systems risks that are inherent in space flight. This is true for virtually all propulsive devices of a space vehicle including liquid and solid rocket propulsion, chemical and non-chemical propulsion, boost stage and in-space propulsion and so forth. In particular, large liquid rocket propulsion development and testing over the past five decades of human and robotic space flight has involved a combination of component-level testing and engine-level testing to first demonstrate that the propulsion devices were designed to meet the specified requirements for the Earth to Orbit launchers that they powered. This was followed by a vigorous test campaign to demonstrate the designed propulsion articles over the required operational envelope, and over robust margins, such that a sufficiently reliable propulsion system is delivered prior to first flight. It is possible that hundreds of tests, and on the order of a hundred thousand test seconds, are needed to achieve a high-reliability, flight-ready, liquid rocket engine system. This paper overviews aspects of earlier and recent experience of liquid rocket propulsion testing at NASA Stennis Space Center, where full scale flight engines and flight stages, as well as a significant amount of development testing has taken place in the past decade. The liquid rocket testing experience discussed includes testing of engine components (gas generators, preburners, thrust chambers, pumps, powerheads), as well as engine systems and complete stages. The number of tests, accumulated test seconds, and years of test stand occupancy needed to meet varying test objectives, will be selectively discussed and compared for the wide variety of ground test work that has been conducted at Stennis for subscale and full scale liquid rocket devices. Since rocket propulsion is a crucial long-lead element of any space system acquisition or development, the appropriate plan and strategy must be put in place at the outset of the development effort. A deferment of this test planning, or inattention to strategy, will compromise the ability of the development program to achieve its systems reliability requirements and/or its development milestones. It is important for the government leadership and support team, as well as the vehicle and propulsion development team, to give early consideration to this aspect of space propulsion and space transportation work.

Rahman, Shamim A.↗
NASA NTRS2017

Work Term Assignment Spring 2017

My tour in the Engineering Robotics directorate exceeded my expectations. I learned lessons about Creo, manufacturing and assembly, collaboration, and troubleshooting. During my first tour, last spring, I used Creo on a smaller project, but had limited experience with it before starting in the Dynamic Systems Test branch this spring. I gained valuable experience learning assembly design, sheet metal design and designing with intent for manufacturing and assembly. These skills came from working both on the hatch and the floor. I also learned to understand the intent of other designers on models I worked with. While redesigning the floor, I was modifying an existing part and worked to understand what the previous designer had done to make it fit with the new model. Through working with the machine shop and in the mock-up, I learned much more about manufacturing and assembly. I used a Dremel, rivet gun, belt sander, and countersink for the first time. Through taking multiple safety training for different machine shops, I learned new machine shop safety skills specific to each one. This semester also gave me new collaborative opportunities. I collaborated with engineers within my branch as well as with Human Factors and the building 10 machine shop. This experience helped me learn how to design for functionality and assembly, not only for what would be easiest in my designs. In addition to these experiences, I learned many lessons in troubleshooting. I was the first person in my office to use a Windows 10 computer. This caused unexpected issues with NASA services and programs, such as the Digital Data Management Server (DDMS). Because of this, I gained experience finding solutions to lockout and freeze issues as well as Creo specific settings. These will be useful skills to have in the future and will be implemented in future rotations. This co-op tour has motivated me more to finish my degree and pursue my academic goals. I intend to take a machining Career Gateway Elective in the Fall to improve my skills in building as well as designing with manufacturing intent. I am also inspired to take more mechatronics CGE courses before I graduate to learn more about the crossover between mechanical and electrical engineering. This semester, I worked on multiple projects and had the opportunity to learn from engineers of different disciplines. I became proficient in Creo 2.0, a program I had not used significantly before. I finished modifying the hatch for 3D print and made sizeable modifications to the nose floor support design. I also gained hands-on experience that will be useful in my engineering career in the future. I would consider all of these major achievements from this spring semester. Lastly, I learned to ask more questions and to search for the right people to find answers which I know will be a valuable skill in the future. This summer, I will be completing my last rotation in the Flight Operations Directorate at Ellington Air Field. After this last tour, I will be returning to school for the Fall, Spring and Summer. I will graduate in August of 2018. I am looking forward to learning more about the different jobs available to engineers. This division works directly with many different types of aircrafts and I am excited to learn more about this focus of engineering. The Aircraft Operations Division values team work greatly and I intend to improve my interpersonal skills by working with them this summer.

Sico, Mallory↗
NASA NTRS2019

Global Validation of Columnar Water Vapor Derived from EOS MODIS-MAIAC Algorithm Against the Ground-Based AERONET Observations

The water vapor is a relevant greenhouse gas in the Earth's climate system, and satellite products become one of the most effective way to characterize and monitor the columnar water vapor (CWV) content at global scale. Recently, a new product (MCD19) was released as part of MODIS (Moderate Resolution Imaging Spectroradiometer) Collection 6 (C6). This operational product from the Multi-Angle Implementation for Atmospheric Correction (MAIAC) algorithm includes a high 1-kilometer resolution CWV retrievals. This study presents the first global validation of MAIAC C6 CWV obtained from MODIS MCD19A2 product. This evaluation was performed using Aerosol Robotic Network (AERONET) observations at 265 sites (2000-2017). Overall, the results show a good agreement between MAIAC/AERONET CWV retrievals, with correlation coefficient higher than 0.95 and RMS (Root Mean Square) error lower than 0.250 centimeters. The binned error analysis revealed an underestimation (approximately 10 percent) of Aqua CWV retrievals with negative bias for CWV higher than 3.0 centimeters. In contrast, Terra CWV retrievals show a slope of regression close to unity and a low mean bias of 0.075 centimeters. While the accuracy is relatively similar between 1.0 and 5.0 centimeters for both sensor products, Terra dataset is more reliable for applications in humid tropical areas (less than 5.0 centimeters). The expected error was defined as plus or minus 15 percent, with less than 68 percent of retrievals falling within this envelope. However, the accuracy is regionally dependent, and lower error should be expected in some regions, such as South America and Oceania. Since MODIS instruments have exceeded their design lifetime, time series analysis was also presented for both sensor products. The temporal analysis revealed a systematic offset of global average between Terra and Aqua CWV records. We also found an upward trend (approximately 0.2 centimeters per decade) in Terra CWV retrievals, while Aqua CWV retrievals remain stable over time. The sensor degradation influences the ability to detect climate signals, and this study indicates the need for revisiting calibration of the MODIS bands 17-19, mainly for Terra instrument, to assure the quality of the MODIS water vapor product. Finally, this study presents a comprehensive validation analysis of MAIAC CWV over land, raising the understanding of its overall quality.

MAIAC↗
NASA NTRSDate not supplied

Powering the Moon: From Artemis Technology Demonstrations to a Lunar Economy

The National Aeronautics and Space Administration (NASA) is working towards developing and demonstrating new technologies, capabilities, and business approaches that are needed for future human deep space exploration missions. This includes collaborating with commercial and international partners to establish the first long-term presence on the Moon under the Artemis mission. Artemis lunar surface operations begin with robotically exploring the lunar south polar region for locations suitable for harvesting lunar surface resources. Over time, activities will expand beyond robotic operations, increasing the need for highly reliable and available electrical power. Beyond Artemis, there are interests in full commercial lunar surface activities. A lunar microgrid is being proposed to deliver highly reliable and available electrical power on the lunar surface and meet the power needs. Microgrids are of interest in terrestrial applications due to their ability to integrate a variety of renewable power sources. A similar approach can be taken for the lunar surface. A lunar microgrid would offer the ability to integrate various power sources to maximize power availability, including nuclear, solar arrays, batteries, and regenerative fuel cells. Microgrids are flexible and can be designed to allow for islanded operation, where power is utilized near the loads to minimize power distribution losses, or in a power sharing mode where power is transmitted longer distances. This capability is crucial during failures where overall power availability is reduced. Microgrids will also allow for the power system to grow and evolve over time, meeting the need to expand beyond initial lunar surface activities.

Jeffrey Csank↗
NASA NTRS2013

High-Efficiency Nested Hall Thrusters for Robotic Solar System Exploration

This work describes the scaling and design attributes of Nested Hall Thrusters (NHT) with extremely large operational envelopes, including a wide range of throttleability in power and specific impulse at high efficiency (>50%). NHTs have the potential to provide the game changing performance, powerprocessing capabilities, and cost effectiveness required to enable missions that cannot otherwise be accomplished. NHTs were first identified in the electric propulsion community as a path to 100- kW class thrusters for human missions. This study aimed to identify the performance capabilities NHTs can provide for NASA robotic and human missions, with an emphasis on 10-kW class thrusters well-suited for robotic exploration. A key outcome of this work has been the identification of NHTs as nearly constant-efficiency devices over large power throttling ratios, especially in direct-drive power systems. NHT systems sized for robotic solar system exploration are predicted to be capable of high-efficiency operation over nearly their entire power throttling range. A traditional Annular Hall Thruster (AHT) consists of a single annular discharge chamber where the propellant is ionized and accelerated. In an NHT, multiple annular channels are concentrically stacked. The channels can be operated in unison or individually depending on the available power or required performance. When throttling an AHT, performance must be sacrificed since a single channel cannot satisfy the diverse design attributes needed to maintain high thrust efficiency. NHTs can satisfy these requirements by varying which channels are operated and thereby offer significant benefits in terms of thruster performance, especially under deep power throttling conditions where the efficiency of an AHT suffers since a single channel can only operate efficiently (>50%) over a narrow power throttling ratio (3:1). Designs for 10-kW class NHTs were developed and compared with AHT systems. Power processing systems were considered using either traditional Power Processing Units (PPU) or Direct Drive Units (DDU). In a PPU-based system, power from the solar arrays is transformed from the low voltage of the arrays to the high voltage needed by the thruster. In a DDU-based system, power from the solar arrays is fed to the thruster without conversion. DDU-based systems are attractive for their simplicity since they eliminate the most complex and expensive part of the propulsion system. The results point to the strong potential of NHTs operating with either PPUs or DDUs to benefit robotic and human missions through their unprecedented power and specific impulse throttling capabilities. NHTs coupled to traditional PPUs are predicted to offer high-efficiency (>50%) power throttling ratios 320% greater than present capabilities, while NHTs with direct-drive power systems (DDU) could exceed existing capabilities by 340%. Because the NHT-DDU approach is implicitly low-cost, NHT-DDU technology has the potential to radically reduce the cost of SEP-enabled NASA missions while simultaneously enabling unprecedented performance capability.

Hofer, Richard R.↗
NASA NTRS2015

Mars ISRU for Production of Mission Critical Consumables - Options, Recent Studies, and Current State of the Art

In 1978, a ground breaking paper titled, "Feasibility of Rocket Propellant Production on Mars" by Ash, Dowler, and Varsi discussed how ascent propellants could be manufactured on the Mars surface from carbon dioxide collected from the atmosphere to reduce launch mass. Since then, the concept of making mission critical consumables such as propellants, fuel cell reactants, and life support consumables from local resources, commonly known as In-Situ Resource Utilization (ISRU), for robotic and human missions to Mars has been studied many times. In the late 1990's, NASA initiated a series of Mars Human Design Reference Missions (DRMs), the first of which was released in 1997. These studies primarily focused on evaluating the impact of making propellants on Mars for crew ascent to Mars orbit, but creating large caches of life support consumables (water & oxygen) as a backup for regenerative life support systems for long-duration surface stays (>500 days) was also considered in Mars DRM 3.0. Until science data from the Mars Odyssey orbiter and subsequent robotic missions revealed that water may be widely accessable across the surface of Mars, prior Mars ISRU studies were limited to processing Mars atmospheric resources (carbon dioxide, nitrogen, argon, oxygen, and water vapor). In December 2007, NASA completed the Mars Human Design Reference Architecture (DRA) 5.0 study which considered water on Mars as a potential resource for the first time in a human mission architecture. While knowledge of both water resources on Mars and the hardware required to excavate and extract the water were very preliminary, the study concluded that a significant reduction in mass and significant enhancements to the mission architecture were possible if Mars water resources were utilized. Two subsequent Mars ISRU studies aimed at reexamining ISRU technologies, processing options, and advancements in the state-of-the-art since 2007 and to better understand the volume and packaging associated with Mars ISRU systems further substantiated the preliminary results from the Mars DRA 5.0 study. This paper will provide an overview of Mars ISRU consumable production options, the analyses, results, and conclusions from the Mars DRA 5.0 (2007), Mars Collaborative (2013), and Mars ISRU Payload for the Supersonic Retro Propulsion (2014) mission studies, and the current state-of-the-art of Mars ISRU technologies and systems. The paper will also briefly discuss the mission architectural implications associated with Mars resource and ISRU processing options.

Sanders, G. B.↗
NASA NTRS2014

NASA's Space Launch System Takes Shape: Progress Toward Safe, Affordable Exploration

Development of NASA's Space Launch System exploration-class heavy lift rocket has moved from the formulation phase to implementation in 3 years and will make significant progress this year toward its first launch, slated for December 2017. In recognition of the current fiscal realities, SLS represents a safe, affordable, and evolutionary path to development of an unprecedented capability for future human and robotic exploration and use of space. Current development is focused on a configuration with a 70 metric ton (t) payload to low Earth orbit (LEO), more than double any operational vehicle. It is this version that will launch NASA's Orion Multi-Purpose Crew Vehicle (MPCV) on its first autonomous flight beyond the Moon and back, as well as the first crewed Orion flight. This configuration is also designed to evolve to 130 t lift capability that offers several benefits, such as reduced mission costs, simplified payload design, faster trip times, and lower overall risk for missions of national significance. The SLS Program formally transitioned from the formulation phase to implementation during the past year, passing its Preliminary Design Review in 2013 and completion of Key Decision Point C in early 2014. NASA has authorized the Program to move forward to Critical Design Review, scheduled for 2015. Among the Program's many accomplishments are manufacture of core stage test hardware, as well as preparations for testing the world's most powerful solid rocket boosters and the main engines that flew 135 successful Space Shuttle missions. The Program's success to date is due to prudent use of existing technology, infrastructure, and workforce; streamlined management approach; and judicious use of new technologies. The result is a launch vehicle that will carry human and robotic exploration on the history-making missions in the coming decades. This paper will discuss the program and technical successes over the past year and provide a look at the milestones and challenges ahead.

Askins, Bruce↗
NASA NTRS2013

Robotics On-Board Trainer (ROBoT)

ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

Johnson, Genevieve↗
NASA NTRSDate not supplied

NASA’s Space Sustainability Strategy: An Overview and a Conceptual Framework for Implementation

Space sustainability is crucial for the continuation of humanity's exploration and utilization of space. NASA recognizes the imperative of maintaining a sustainable space operating environment to safeguard the future of space activities. On April 9, 2024, NASA released its first part of an integrated Space Sustainability Strategy focused on the domain of earth orbit, with future volumes to address impacts of space operations on earth itself; cislunar space, including the Lagrange points and the lunar surface; and deep space, including other celestial bodies. This commitment extends to ensuring the safety of astronauts conducting operations in Low Earth Orbit (LEO), as well as enabling missions to the Moon and Mars. Moreover, sustainable space practices are essential for the uninterrupted operation of NASA's robotic science missions, which monitor Earth's changes and probe the mysteries of the universe. The strategy sets out a set of goals, the first of which is to establish a framework for assessing space sustainability at NASA, addressing the absence of a universally accepted framework with key metrics that promotes understanding of how metrics are interconnected. This framework will provide a basis for evaluating the sustainability of orbital activities, with metrics informed by input from the domestic and international space community. Objectives under this goal include defining key parameters affecting space sustainability, determining tolerable levels of risk, and annually publishing NASA's effect on space sustainability, including compliance with orbital debris mitigation standards. The subsequent goals build upon this foundation, identifying effective actions for enhancing space sustainability, incentivizing adoption of these actions through technology development and policy changes, and ensuring coordination with the global space community. An organizational change within NASA is also proposed to facilitate day-to-day coordination and accountability for space sustainability efforts. By pursuing these goals, NASA aims to strengthen the technical foundations of and continue to set an example for sustainable space operations. Regular evaluation of NASA mission performance in context with meeting sustainability objectives will ensure alignment with evolving challenges in the space operating environment.

Matt Forsbacka↗
NASA NTRS2015

NASA, Engineering, and Swarming Robots

This presentation is an introduction to NASA, to science and engineering, to biologically inspired robotics, and to the Swarmie ant-inspired robot project at KSC. This presentation is geared towards elementary school students, middle school students, and also high school students. This presentation is suitable for use in STEM (science, technology, engineering, and math) outreach events. The first use of this presentation will be on Oct 28, 2015 at Madison Middle School in Titusville, Florida where the author has been asked by the NASA-KSC Speakers Bureau to speak to the students about the Swarmie robots.

robotic exploration↗
NASA NTRS1976

DABI: A data base for image analysis with nondeterministic inference capability

A description is given of the data base used in the perception subsystem of the Mars robot vehicle prototype being implemented at the Jet Propulsion Laboratory. This data base contains two types of information. The first is generic (uninstantiated, abstract) information that specifies the general rules of perception of objects in the expected environments. The second kind of information is a specific (instantiated) description of a structure, i.e., the properties and relations of objects in the specific case being analyzed. The generic knowledge can be used by the approximate reasoning subsystem to obtain information on the specific structures which is not directly measurable by the sensory instruments. Raw measurements are input either from the sensory instruments or a human operator using a CRT or a TTY.

Yakimovsky, Y.↗
NASA NTRS1988

Human factors: Space

The objectives are to provide a technology base for intelligent operator interfaces, especially with autonomous subsystems, and to develop a new generation of high performance space suits, gloves, and tools/end effectors to meet the requirements of advanced space missions. The technology base is intended to meet the requirements of productivity, efficiency, and safety in complex manned operations within automated onboard systems and extravehicular activities (EVA) environments. Crew station research is the first of two major areas. Development of methods for the astronaut to supervise, monitor, and evaluate the performance of robotic systems, other space subsystems, and orbital vehicles are key areas of research. The second major area is development of an EVA space suit and gloves. Emphasis in the space human factors research program is placed on technology baseline studies and development of methods, techniques, and data to support productive and safe operations by the astronaut and crew as they interface with complex systems, advance automation, and robotic assistants.

Jenkins, James P.↗
NASA NTRS1990

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Nguyen, Charles C.↗
NASA NTRS1991

Automation of vehicle processing at Space Station Freedom

A methodology for applying the Kennedy Space Center vehicle processing experience to similar operations at Space Station Freedom is described. First, the required on-orbit processing tasks are identified. These tasks are then evaluated for automation suitability, and robotic manipulator and artificial intelligence technologies are investigated to automate selected physical and cognitive tasks. Effects on processing times, extra-vehicular activity savings, and required resources for incorporating these automation enhancements are identified. Results of the following case studies are included: Phobos Gateway Vehicle On-Orbit Assembly and Launch, Lunar Evolution Vehicle On-Orbit Refurbishment, and Mars Mission Vehicle On-Orbit Assembly and Launch.

Vargo, Rick↗
NASA NTRS2001

Design and Verification of Space Station EVA-Operated Truss Attachment System

This paper describes the design and verification of a system used to attach two segments of the International Space Station (ISS). This system was first used in space to mate the P6 and Z1 trusses together in December 2000, through a combination of robotic and extravehicular tasks. Features that provided capture, coarse alignment, and fine alignment during the berthing process are described. Attachment of this high value hardware was critical to the ISS's sequential assembly, necessitating the inclusion of backup design and operational features. Astronauts checked for the proper performance of the alignment and bolting features during on-orbit operations. During berthing, the system accommodates truss-to-truss relative displacements that are caused by manufacturing tolerances and on-orbit thermal gradients. After bolt installation, the truss interface becomes statically determinate with respect to in-plane shear loads and isolates attach bolts from bending moments. The approach used to estimate relative displacements and the means of accommodating them is explained. Confidence in system performance was achieved through a cost-effective collection of tests and analyses, including thermal, structural, vibration, misalignment, contact dynamics, underwater simulation, and full-scale functional testing. Design considerations that have potential application to other mechanisms include accommodating variations of friction coefficients in the on-orbit joints, wrench torque tolerances, joint preload, moving element clearances at temperature extremes, and bolt-nut torque reaction.

Katell, Gabriel↗
NASA NTRS2001

Classification Experiments on Real-World Texture

Many papers have been published concerning the analysis of visual texture and yet, very few application domains use texture for image classification. A possible reason for this low transfer of the technology is the lack of experience and testing in real-world imagery. In this paper, we assess the performance of texture-based classification methods on a number of real-world images relevant to autonomous navigation on cross-country terrain and to autonomous geology. Texture analysis will form part of the closed loop that allows a robotic system to navigate autonomously. We have implemented two different classifiers on features extracted by Gabor filter banks. The first classifier models feature distributions for each texture class using a mixture of Gaussians. Classification is performed using Maximum Likelihood. The second classifier represents local statistics using marginal histograms of the features over a region centered on the pixel to be classified. We measure system performance by comparison to ground truth image labels.

image segmentation↗