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NASA NTRS2013

Controlling Tensegrity Robots Through Evolution

Tensegrity structures (built from interconnected rods and cables) have the potential to offer a revolutionary new robotic design that is light-weight, energy-efficient, robust to failures, capable of unique modes of locomotion, impact tolerant, and compliant (reducing damage between the robot and its environment). Unfortunately robots built from tensegrity structures are difficult to control with traditional methods due to their oscillatory nature, nonlinear coupling between components and overall complexity. Fortunately this formidable control challenge can be overcome through the use of evolutionary algorithms. In this paper we show that evolutionary algorithms can be used to efficiently control a ball-shaped tensegrity robot. Experimental results performed with a variety of evolutionary algorithms in a detailed soft-body physics simulator show that a centralized evolutionary algorithm performs 400 percent better than a hand-coded solution, while the multi-agent evolution performs 800 percent better. In addition, evolution is able to discover diverse control solutions (both crawling and rolling) that are robust against structural failures and can be adapted to a wide range of energy and actuation constraints. These successful controls will form the basis for building high-performance tensegrity robots in the near future.

Robot↗
NASA NTRS2016

Rodent Habitat on ISS: Advances in Capability for Determining Spaceflight Effects on Mammalian Physiology

Rodent research is a valuable essential tool for advancing biomedical discoveries in life sciences on Earth and in space. The National Research Counsel's Decadal survey (1) emphasized the importance of expanding NASAs life sciences research to perform long duration, rodent experiments on the International Space Station (ISS). To accomplish this objective, new flight hardware, operations, and science capabilities were developed at NASA ARC to support commercial and government-sponsored research. The flight phases of two separate spaceflight missions (Rodent Research-1 and Rodent Research-2) have been completed and new capabilities are in development. The first flight experiments carrying 20 mice were launched on Sept 21, 2014 in an unmanned Dragon Capsule, SpaceX4; Rodent Research-1 was dedicated to achieving both NASA validation and CASIS science objectives, while Rodent Reesearch-2 extended the period on orbit to 60 days. Groundbased control groups (housed in flight hardware or standard cages) were maintained in environmental chambers at Kennedy Space Center. Crewmembers previously trained in animal handling transferred mice from the Transporter into Habitats under simultaneous veterinary supervision by video streaming and were deemed healthy. Health and behavior of all mice on the ISS was monitored by video feed on a daily basis, and post-flight quantitative analyses of behavior were performed. The 10 mice from RR-1 Validation (16wk old, female C57Bl6/J) ambulated freely and actively throughout the Habitat, relying heavily on their forelimbs for locomotion. The first on-orbit dissections of mice were performed successfully, and high quality RNA (RIN values>9) and liver enzyme activities were obtained, validating the quality of sample recovery. Post-flight sample analysis revealed that body weights of FLT animals did not differ from ground controls (GC) housed in the same hardware, or vivarium controls (VIV) housed in standard cages. Organ weights analyzed post-flight showed that there were no differences between FLT and GC groups in adrenal gland and spleen weights, whereas FLT thymus and liver weights exceeded those of GC. Minimal differences between the control groups (GC and VIV) were observed. In addition, Over 3,000 aliquots collected post-flight from the four groups of mice were deposited into the Ames Life Science Data Archives for the Biospecimen Sharing Program and Genelab project. New capabilities recently developed include DEXA scanning, grip strength tests and male mice. In conclusion, new capability for long duration rodent habitation of group-housed rodents was developed and includes in-flight sample collection, thus avoiding the complication of reentry. Results obtained to date reveal the possibility of striking differences between the effects of short duration vs. long duration spaceflight. This Rodent Research system enables achievement of both basic science and translational research objectives to advance human exploration of space.

Bone Loss↗
NASA NTRS2015

2015 Sensorimotor Risk Standing Review Panel Evidence and Status Review For: the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight

The 2015 Sensorimotor Risk Standing Review Panel (from here on referred to as the SRP) participated in a WebEx/teleconference with members of the Human Health Countermeasures (HHC) Element, representatives from the Human Research Program (HRP), NASA Headquarters, and NASA Research and Education Support Services (NRESS) on December 17, 2015 (list of participants is in Section VI of this report). The SRP reviewed the new Evidence Report for the Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight (from here on referred to as the 2015 Sensorimotor Evidence Report), and also received a status review of the Risk. The opening section of the 2015 Sensorimotor Evidence Report provides written descriptions of various incidents that have occurred during space missions. In most of these incidents, the main underlying contributing factors are not easy to identify unambiguously. For example, in section 1.9, a number of falls occurred while astronauts were walking on the moon. It is not clear to the SRP, however, why they fell. It is only possible to extrapolate from likely specific psychophysical or physiological abnormalities, but how these abnormalities were determined, and how they were directly responsible for the falls is unclear to the SRP. Section 2.1.2 on proprioception is very interesting, but the functional significance of the abnormalities detected is not clear. The SRP sees this as a problem throughout the report: a mapping between the component abnormalities identified and the holistic behaviors that are most relevant, for example, controlling the vehicle, and locomotion during egress, is generally lacking. The SRP thinks the cognitive section is too strongly focused on vestibular functioning. The SRP questions the notion that the main cognitive effects are mainly attributable to reversible vestibular changes induced by spaceflight. The SRP thinks that there can also be independent cognitive effects. The Functional Task Test (FTT) protocols and the Field Test are particularly valuable. The conclusion is that the unloading of major postural muscles experienced during spaceflight plays a central role in the alteration of functional task performance and balance control. This conclusion stands in contrast with the statements in other parts of the document that emphasize the role of vestibular changes on these functions. It would help to more fully integrate these two views on the predominant effects of spaceflight. Although the SRP thinks the countermeasures section is interesting, the proposed countermeasures are not well integrated with the abnormalities described in previous sections. The SRP thinks it would help enormously to have explicit links among each abnormality, its 2015 Sensorimotor Risk SRP Evidence Review Final Report 2 overall importance/impact on function, and the appropriate countermeasure that can be implemented to maintain adequate functioning.

Steinberg, Susan↗
NASA NTRS2016

Field Test: Results of Tandem Walk Performance Following Long-Duration Spaceflight

BACKGROUND: Coordinated locomotion has proven to be challenging for many astronauts following long duration spaceflight. As NASA's vision for spaceflight points toward interplanetary travel, we must prepare for unassisted landings, where crewmembers may need to perform mission critical tasks within minutes of landing. Thus, it is vital to develop a knowledge base from which operational guidelines can be written that define when astronauts can be expected to safely perform certain tasks. Data obtained during the Field Test experiment (FT) will add important insight to this knowledge base. Specifically, we aim to develop a recovery timeline of functional sensorimotor performance during the first 24 hours and several days after landing. METHODS: FT is an ongoing study of 30 long-duration ISS crewmembers. Thus far, 9 have completed the full FT (5 U.S. Orbital Segment [USOS] astronauts and 4 Russian cosmonauts) and 4 more consented and launching within the next year. This is in addition to the eighteen crewmembers that participated in the pilot FT (11 USOS and 7 Russian crewmembers). The FT is conducted three times preflight and three times during the first 24 hours after landing. All crewmembers were tested in Kazakhstan in either the medical tent at the Soyuz landing site (~one hour post-landing), or at the airport (~four hours post-landing). The USOS crewmembers were also tested at the refueling stop (~12 hours post-landing) and at the NASA Johnson Space Center (~24 hours post-landing) and a final session 7 days post-landing. Crewmembers are instrumented with 9 inertial measurement unit sensors that measure acceleration and angular displacement (APDM's Emerald Sensors) and foot pressure-sensing insoles that measure force, acceleration, and center of pressure (Moticon GmbH, Munich, Germany) along with heart rate and blood pressure recording instrumentation. The FT consists of 12 tasks, but here we will focus on the most challenging task, the Tandem Walk, which was also performed as part of pilot FT. To perform the Tandem Walk, subjects begin with their feet together, their arms crossed at their chest and eyes closed. When ready, they brought one foot forward and touched the heel of their foot to their toe, repeating with the other foot, and continuing for about 10 steps. Three trials were collected with the eyes closed and a fourth trial was collected with eyes open. There are four metrics which are used to determine the performance level of the Tandem Walk. The first is percent correct steps. For a step to be counted as correct, the foot could not touch the ground while bringing it forward (no side stepping), eyes must stay closed during the eyes closed trials, the heel and toe should be touching, or almost touching (no large gaps) and there shouldn't be more than a three second pause between steps. Three judges score each step and the median of the three scores is kept. The second metric is the average step speed, or the number of steps/time to complete them. Thirdly, the root mean squared (RMS) error in the resultant trunk acceleration is used to determine the amount of upper body instability observed during the task. Finally, the RMS error of the mediolateral center of pressure as measured by the Moticon insoles is used to determine the mediolateral instability at the foot level. These four parameters are combined into a new overall Tandem Walk Parameter. RESULTS: Preliminary results show that crewmembers perform the Tandem Walk significantly worse the first 24 hours after landing as compared to their baseline performance. We find that each of the four performance metrics is significantly worse immediately after landing. We will present the results of tandem walk performance during the FT thus far. We will also combine these with the 18 crewmembers that participated in the pilot FT, concentrating on the level of performance and recovery rate. CONCLUSION: The Tandem Walk data collected as part of the FT experiment will provide invaluable information on the performance capabilities of astronauts during the first 24 hours after returning from long-duration spaceflight that can be used in planning future Mars, or other deep-space missions with unassisted landings. FT will determine the average sensorimotor recovery timeline and inform return-to-duty guidelines for unassisted landings.

Rosenberg, M. J. F.↗
NASA NTRS2017

Evaluating the Subjective Straight Ahead Before and After Spaceflight

Introduction. This joint European Space Agency/NASA pre- and post-flight study investigates the influence of exposure to microgravity on the subjective straight ahead (SSA) in crewmembers returning from long-duration expeditions to the International Space Station (ISS). The SSA is a measure of the internal representation of body orientation and to be influenced by stimulation of sensory systems involved in postural control. The use of a vibrotactile sensory aid to correct the representation of body tilted relative to gravity is also tested as a countermeasure. This study addresses the sensorimotor research gap to "determine the changes in sensorimotor function over the course of a mission and during recovery after landing." Research Plans. The ISS study will involve eight crewmembers who will participate in three pre-flight sessions (between 120 and 60 days before launch) and then three post-flight sessions on R plus 0/1 day, R plus 4 days, and R plus 8 days. Sixteen control subjects were also tested during three sessions to evaluate the effects of repeated testing and to establish normative values. The experimental protocol includes measurements of gaze and arm movements during the following tasks: (1) Near & Far Fixation: The subject is asked to look at actual targets in the true straight-ahead direction or to imagine these targets in the dark. Targets are located at near distance (arm's length) and far distance (beyond 2 meters). This task is successively performed with the subject's body aligned with the gravitational vertical, and with the subject's body tilted in pitch relative to the gravitational vertical using a tilt chair. Measures are then compared with and without a vibrotactile sensory aid that indicates how far one has tilted relative to the vertical; (2) Eye and Arm Movements: The subject is asked to look and point in the SSA direction in darkness and then make horizontal and vertical eye or arm movements, relative to Earth coordinates (allocentric) and to the subject's head/body reference (egocentric). This task is successively performed with the subject's body aligned with the gravitational vertical, and with subject's body tilted in roll using a tilt chair; (3) Linear Vestibulo-Ocular Reflex: The subject is asked to fixate actual visual targets at near and far distances in the true straight-ahead direction, and to evaluate the distance of these targets. The subject is asked to continue fixating the same imagined targets in darkness while he/she is passively accelerated up and down on a spring-loaded vertical linear accelerator. Results. In the control subject population, the perceived tilt angles, translations, and distances were remarkably close to the actual values. The pointing tasks indicated that the orientation of arm saccades was influenced by both the gravitational vertical and the body idiotropic vector. Repeating the testing did not reveal any significant changes. Preliminary results obtained in three crewmembers before and after flight will also be presented. Applications. A change in an individual's egocentric reference might have negative consequences on evaluating the direction of an approaching object or on the accuracy of reaching movements or locomotion. Consequently, investigating how microgravity affects the target location will have theoretical, operational, and even clinical implications for future space exploration missions. The use of vibrotactile feedback as a sensorimotor countermeasure is applicable to balance therapy applications for patients with vestibular loss and the elderly to mitigate risks due to loss of spatial orientation.

Campbell, D. J.↗
NASA NTRS2017

Evaluation of Galvanic Vestibular Stimulation System

Microgravity exposure results in an adaptive central reinterpretation of information from multiple sensory sources to produce a sensorimotor state appropriate for motor actions in this unique environment, but this new adaptive state is no longer appropriate for the 1-g gravitational environment on Earth. During these gravitational transitions, astronauts experience deficits in both perceptual and motor functions including impaired postural control, disruption in spatial orientation, impaired control of locomotion that include alterations in muscle activation variability, modified lower limb kinematics, alterations in head-trunk coordination as well as reduced dynamic visual acuity. Post-flight changes in postural and locomotor control might have adverse consequences if a rapid egress was required following a long-duration mission, where support personnel may not be available to aid crewmembers. The act of emergency egress includes, but is not limited to standing, walking, climbing a ladder, jumping down, monitoring displays, actuating discrete controls, operating auxiliary equipment, and communicating with Mission Control and recovery teams while maintaining spatial orientation, mobility and postural stability in order to escape safely. The average time to recover impaired postural control and functional mobility to preflight levels of performance has been shown to be approximately two weeks after long-duration spaceflight. The postflight alterations are due in part to central reinterpretation of vestibular information caused by exposure to microgravity. In this study we will use a commonly used technique of transcutaneous electrical stimulation applied across the vestibular end organs (galvanic vestibular stimulation, GVS) to disrupt vestibular function as a simulation of post-flight disturbances. The goal of this project is an engineering human-in-the-loop evaluation of a device that can degrade performance of functional tasks (e.g. to maintain upright balance) similar to what astronauts experience during transitions to new gravitational environments. Stochastic electrical stimulation can be applied to the vestibular system through electrodes placed over the mastoid process behind the ears in the binaural configuration resulting in stimulation in the mediolateral (side-to-side) plane. An additional electrode can be placed over the bony landmark of the tip of the c7 spinous process for the double monaural configuration, which will cause stimulation in the anteroposterior (forward-backward) plane. A portable constant current bipolar stimulator with subject isolation was designed and built to deliver the stimulus. The unit is powered using a 3.7 V battery pack and designed to produce currents up to 5 mA. The stimulator, controlled by a Raspberry Pi 3 computer, offers several stimulus signal generation options including a standalone mode, which uses onboard signal files stored on the flash memory card. Stochastic stimulation signals will be generated in 0-30 Hz frequency bandwidth. Stimulation amplitude can be increased incrementally to a maximum amplitude of 5.0 mA (e.g., 0, 0.5, 1.0, 1.5, 2.0, 2.5, 3.0, 3.5, 4.0, 4.5, 5.0 mA). In control trials, subjects will be experiencing vestibular stimulation with 0-mA current applied through the electrodes. The system will be evaluated at various levels of stimulation and in both the binaural and double monaural electrode configurations. One of the objectives is to identify stimulation levels producing effects most comparable to the post-flight disturbances. This is a pilot study that will set the stage for a larger, more comprehensive study that will investigate wider aspects of post-flight sensorimotor dysfunction and set sensorimotor standards for crew health.

Kofman, I. S.↗
NASA NTRS2016

Anthropomorphic Robot Design and User Interaction Associated with Motion

Though in its original concept a robot was conceived to have some human-like shape, most robots now in use have specific industrial purposes and do not closely resemble humans. Nevertheless, robots that resemble human form in some way have continued to be introduced. They are called anthropomorphic robots. The fact that the user interface to all robots is now highly mediated means that the form of the user interface is not necessarily connected to the robots form, human or otherwise. Consequently, the unique way the design of anthropomorphic robots affects their user interaction is through their general appearance and the way they move. These robots human-like appearance acts as a kind of generalized predictor that gives its operators, and those with whom they may directly work, the expectation that they will behave to some extent like a human. This expectation is especially prominent for interactions with social robots, which are built to enhance it. Often interaction with them may be mainly cognitive because they are not necessarily kinematically intricate enough for complex physical interaction. Their body movement, for example, may be limited to simple wheeled locomotion. An anthropomorphic robot with human form, however, can be kinematically complex and designed, for example, to reproduce the details of human limb, torso, and head movement. Because of the mediated nature of robot control, there remains in general no necessary connection between the specific form of user interface and the anthropomorphic form of the robot. But their anthropomorphic kinematics and dynamics imply that the impact of their design shows up in the way the robot moves. The central finding of this report is that the control of this motion is a basic design element through which the anthropomorphic form can affect user interaction. In particular, designers of anthropomorphic robots can take advantage of the inherent human-like movement to 1) improve the users direct manual control over robot limbs and body positions, 2) improve users ability to detect anomalous robot behavior which could signal malfunction, and 3) enable users to be better able to infer the intent of robot movement. These three benefits of anthropomorphic design are inherent implications of the anthropomorphic form but they need to be recognized by designers as part of anthropomorphic design and explicitly enhanced to maximize their beneficial impact. Examples of such enhancements are provided in this report. If implemented, these benefits of anthropomorphic design can help reduce the risk of Inadequate Design of Human and Automation Robotic Integration (HARI) associated with the HARI-01 gap by providing efficient and dexterous operator control over robots and by improving operator ability to detect malfunctions and understand the intention of robot movement.

automation/robotic integration↗
NASA NTRS2018

E-Glider: Active Electrostatic Flight for Airless Body Exploration

The environment near the surface of asteroids, comets, and the Moon is electrically charged due to the Sun's photoelectric bombardment and lofting dust, which follows the Sun illumination as the body spins. Chargeddust is ever present, in the form of dusty plasma, even at high altitudes, following the solar illumination. If abody with high surface resistivity is exposed to the solar wind and solar radiation, sun-exposed areas andshadowed areas become differentially charged. The E-Glider (Electrostatic Glider) is an enabling capability foroperation at airless bodies, a solution applicable to many types of in-situ mission concepts, which leverages thenatural environment. With the E-Glider, we transform a problem (spacecraft charging) into an enablingtechnology, i.e. a new form of mobility in microgravity environments using new mechanisms and maneuveringbased on the interaction of the vehicle with the environment. Consequently, the vision of the E-Glider is toenable global scale airless body exploration with a vehicle that uses, instead of avoids, the local electricallycharged environment. This platform directly addresses the "All Access Mobility" Challenge, one of the NASA'sSpace Technology Grand Challenges. Exploration of comets, asteroids, moons and planetary bodies is limitedby mobility on those bodies. The lack of an atmosphere, the low gravity levels, and the unknown surface soilproperties pose a very difficult challenge for all forms of know locomotion at airless bodies. This E-Gliderlevitates by extending thin, charged, appendages, which are also articulated to direct the levitation force in themost convenient direction for propulsion and maneuvering. The charging is maintained through continuouscharge emission. It lands, wherever it is most convenient, by retracting the appendages or by firing a cold-gasthruster, or by deploying an anchor. The wings could be made of very thin Au-coated Mylar film, which areelectrostatically inflated, and would provide the lift due to electrostatic repulsion with the naturally chargedasteroid surface. Since the E-glider would follow the Sun's illumination, the solar panels on the vehicle wouldconstantly charge a battery. Further articulation at the root of the lateral strands or inflated membrane wings,would generate a component of lift depending on the articulation angle, hence a selective maneuveringcapability which, to all effects, would lead to electrostatic (rather than aerodynamic) flight. Preliminarycalculations indicate that a 1 kg mass can be electrostatically levitated in a microgravity field with a 2 mdiameter electrostatically inflated ribbon structure at 19kV, hence the need for a "balloon-like" system. Due tothe high density and the photo-electron sheath and associate small Debye length, significant power is requiredto levitate even a few kilograms. The power required is in the kilo-Watt range to maintain a constant chargelevel.

Electrostatic Flight↗
NASA NTRS2014

Impedance Controlled Twisted String Actuators for Tensegrity Robots

We are developing impedance controlled twisted string actuators (TSA) for use in tensegrity robots, as an alternative to traditional spooled cable actuation. Tensegrity robots are composed of continuous tension and discontinuous compression elements, with no rigid joints between elements, which give them unique force distribution properties. The use of tensegrity robots is strongly motivated by biological examples, and they are capable of locomotion and manipulation by changing lengths of their continuous network of tensional elements, which is also the primary pathways for load transfer through the structure. TSA show the potential to address some of the unique engineering challenges faced by tensegrity structures, and provide unique qualities well suited to an actively controlled tension system, such as compact, light-weight mechanical structures, inherent compliance, variable gearing'', and the ability to transmit high forces with a very low input torque. The inherent variable compliance of impedance control is essential for tensegrity robots to move through and manipulate the environment, and is a natural match to the unique qualities of TSA. This paper briefly introduces the tensegrity robots in the NASA Ames Intelligent Robotics Group and an overview of their future application to space planetary exploration. Then the effectiveness and robustness of TSA are verified through the performance of impedance control modes.

Park, In-Won↗
NASA NTRS2014

Maiden Voyage of the Rodent Habitat on ISS: Opportunities for Investigating Molecular Mechanisms and Biomedical Consequences of Long Duration Spaceflight

Research using rodents is an essential tool for advancing biomedical research on Earth and in space. The National Research Counsel’s Decadal survey (1) emphasized the importance of expanding NASAs life sciences research to perform long duration, rodent experiments on the International Space Station (ISS). To accomplish this objective, flight hardware, operations, and science capabilities were developed at NASA ARC to support both commercial and government-sponsored research. In preparation for the maiden voyage of the Rodent Habitat hardware and operations system (Rodent Research-1), and in close consultation with a Science Working Group comprised of veterinarians and experienced spaceflight investigators, we modified existing Animal Enclosure Module hardware, developed new hardware, operations, and science activities, and performed a series of ground-based verification tests. Preflight, ground based hardware tests included a simulation of SpaceX Dragon launch conditions (vibration and hypergravity) using the Transporter, and also two long-term biocompatibility tests (32 and 92 days) using the Habitat developed for long term housing on the ISS. The launch simulation test showed that adult mice housed in Transporter hardware adapted well, even if launch simulation was followed by a period of simulated weightlessness (via hind limb unloading). The biocompatibility tests demonstrated that the Habitat successfully supported animal health and also provided a useful video imaging system that enables frequent monitoring of animal health and behavior by veterinary and scientific experts on the ground, independent of ISS crew intervention. At the conclusion of all tests, mice were deemed healthy and suitable for conducting biological research. Additional preflight analyses of tissues preserved by freezing or fixation for gene expression analyses revealed that spleen and liver tissues recovered under conditions that simulated on-orbit activities yielded high quality RNA (RIN values 8-10) and liver enzyme activities and protein content (e.g. catalase). In addition, new methods were developed to optimize future science return by dissecting tissues post-euthanasia and storage. Various tissues were harvested from either intact or partially dissected, frozen carcasses after storage for ~2-6 months; most of the tissues (brain, heart, kidney, eye, adrenal glands and skeletal muscle) were of high RNA quality for science return, whereas some tissues (small intestine, bone marrow and bones) were not. These data demonstrated the protocols developed for future flight experiments supported science return despite delayed preservation post-euthanasia or prolonged storage, and furthermore, that high-quality RNA samples from many different tissues can be recovered by dissection following prolonged storage of the tissue in situ at -80˚C. The first flight experiments carrying 20 mice were launched on Sept 21, 2014 in an unmanned Dragon Capsule, SpaceX4; Rodent Research-1 is dedicated to achieving both NASA validation and CASIS science objectives. Ground based control groups (housed in flight hardware or standard cages) were maintained in environmental chambers at Kennedy Space Center. Crewmembers previously trained in animal handling transferred mice from the Transporter into Habitats under simultaneous veterinary supervision by video streaming and were deemed healthy. Health and behavior of all mice on the ISS was monitored by video feed on a daily basis. The 10 mice for validation (16wk old, female C57Bl6/J) ambulated freely and actively throughout the Habitat, relying heavily on their forelimbs for locomotion. The first on-orbit dissections of mice were performed successfully on Oct 12 and 13, 2014, and the validation mice will reside on ISS for up to 30 days. In conclusion, new capability for long duration rodent research is under development, including in-flight sample collection (which avoids the complication of reentry); results obtained to date will be described. This new Rodent Research system enables achievement of both basic science and translational research objectives to advance human exploration of space.

maiden voyage↗
NASA NTRS2019

Low Power Microrobotics Utilizing Biologically Inspired Energy Generation

The Low Power Microrobotics (LPM) project is a NASA NIAC-funded multi-disciplinary research effort involving the research and advancement of low power electronics, low power mobility and their integration with state of the art microbial fuel cell for power generation. The goal of this project was to advance the capabilities of each of these systems with a 10-year future target of a near one kilogram space exploration vehicle that contains each of these systems. In order to accomplish this task, each system was investigated independently in order to establish the power requirements/limitations while considering how each system affects the other systems. This was performed through numerous trade studies and experimental work, primarily focused around the power capacity of the microbial fuel cell base-lined for this project and how its strengths and limitations affected the design of the remaining onboard systems. Finally an end-to-end system test utilized a microbial fuel cell to charge a super capacitor through an energy harvesting circuit, which was discharged to activate a robotic locomotion system.

Microrobotics↗
NASA NTRS2019

Underwater Virtual Reality System for Neutral Buoyancy Training: Development and Evaluation

During terrestrial activities, sensation of pressure on the skin and tension in muscles and joints provides information about how the body is oriented relative to gravity and how the body is moving relative to the surrounding environment. In contrast, in aquatic environments when suspended in a state of neutral buoyancy, the weight of the body and limbs is offloaded, rendering these cues uninformative. It is not yet known how this altered sensory environment impacts virtual reality experiences. To investigate this question, we converted a full-face SCUBA mask into an underwater head-mounted display and developed software to simulate jetpack locomotion outside the International Space Station. Our goal was to emulate conditions experienced by astronauts during training at NASA's Neutral Buoyancy Lab. A user study was conducted to evaluate both sickness and presence when using virtual reality in this altered sensory environment. We observed an increase in nausea related symptoms underwater, but we cannot conclude that this is due to VR use. Other measures of sickness and presence underwater were comparable to measures taken above water. We conclude with suggestions for improved underwater VR systems and improved methods for evaluation of these systems based on our experience.

Simulation↗
NASA NTRS2020

Neuro-vestibular Examination During and Following Spaceflight

Adaptation to microgravity during spaceflight causes neurological disturbances that are either directly or indirectly mediated by the vestibular system. These disturbances could include space motion sickness, spatial disorientation, cognitive impairment, as well as changes in head-eye coordination, vestibulo-ocular reflex, and strategies for controlling posture and locomotion. It seems that otolith-mediated reflex gain adapts rapidly over time during spaceflight and after landing. However, animal studies have shown that structural modifications of the vestibular sensory apparatus develop during long-duration spaceflight. To date, no studies have characterized the severity of vestibular syndromes experienced by astronauts as a function of the duration of spaceflight, or whether the effects are caused by changes at the peripheral end organs, midbrain, cerebellum, or vestibular cortex.

Clément, G.↗
NASA NTRS2020

Robotic Specialization in Autonomous Robotic Structural Assembly

Robotic in-space assembly of large space structures is a long-term NASA goal to reduce launch costs and enable larger scale missions. Recently, researchers have proposed using discrete lattice building blocks and co-designed robots to build high-performance, scalable primary structure for various on-orbit and surface applications. These robots would locomote on the lattice and work in teams to build and reconfigure building-blocks into functional structure. However, the most reliable and efficient robotic system architecture, characterized by the number of different robotic 'species' and the allocation of functionality between species, is an open question. To address this problem, we decompose the robotic building-block assembly task into functional primitives and, in simulation, study the performance of the the variety of possible resulting architectures. For a set consisting of five process types (move self, move block, move friend, align bock, fasten block), we describe a method of feature space exploration and ranking based on energy and reliability cost functions. The solution space is enumerated, filtered for unique solutions, and evaluated against energy and reliability cost functions for various simulated build sizes. We find that a 2 species system, dividing the five mentioned process types between one unit cell transport robot and one fastening robot, results in the lowest energy cost system, at some cost to reliability. This system enables fastening functionality to occupy the build front while reducing the need for that functional mass to travel back and forth from a feed station. Because the details of a robot design affect the weighting and final allocation of functionality, a sensitivity analysis was conducted to evaluate the effect of changing mass allocations on architecture performance. Future systems with additional functionalities such as repair, inspection, and others may use this process to analyze and determine alternative robot architectures.

Bernus, Borbala↗
NASA NTRS2019

Integrated Research Plan to Assess the Combined Effects of Space Radiation, Altered Gravity, and Isolation and Confinement on Crew Health and Performance: Problem Statement

Future crewed exploration missions to Mars could last up to three years and will expose astronauts to unprecedented environmental challenges. Challenges to the nervous system during these missions will include factors of: space radiation that can damage sensitive neurons in the central nervous system (CNS); isolation and confinement can affect cognition and behavior; and altered gravity that will change the astronauts’ perception of their environment and their spatial orientation, and will affect their coordination, balance, and locomotion. In the past, effects of spaceflight stressors have been characterized individually. However, long-term, simultaneous exposure to multiple stressors will produce a range of interrelated behavioral and biological effects that have the potential to adversely affect operationally relevant crew performance. These complex environmental challenges might interact synergistically and increase the overall risk to the health and performance of the astronaut. Therefore, NASA’s Human Research Program (HRP) has directed an integrated approach to characterize and mitigate the risk to the CNS from simultaneous exposure to these multiple spaceflight factors. The proposed research strategy focuses on systematically evaluating the relationships among three existing research risks associated with spaceflight: Risk of Acute (In-flight) and Late Central Nervous System Effects from Radiation (CNS), Risk of Adverse Cognitive or Behavioral Conditions and Psychiatric Disorders (BMed), and Risk of Impaired Control of Spacecraft/Associated Systems and Decreased Mobility Due to Vestibular/Sensorimotor Alterations Associated with Spaceflight (SM). NASA’s HRP approach is intended to identify the magnitude and types of interactions as they affect behavior, especially as it relates to operationally relevant performance (e.g., performance that depends on reaction time, procedural memory, etc.). In order to appropriately characterize this risk of multiple spaceflight environmental stressors, there is a recognition of the need to leverage research approaches using appropriate animal models and behavioral constructs. Very little has been documented on the combined effects of altered gravity, space radiation, and other psychological and cognitive stressors on the CNS. Preliminary evidence from rodents suggest that a combination of a minimum of exposures to even two of three stressors of: simulated space radiation, simulated microgravity, and simulated isolation and confinement, have produced different and more pronounced biological and performance effects than exposure to these same stressors individually. Structural and functional changes to the CNS of rodents exposed to transdisciplinary combined stressors indicate that important processes related to information processing are likely altered including impairment of exploratory and risk taking behaviors, as well as executive function including learning, memory, and cognitive flexibility — all of which may be linked to changes in related operational relevant performance. The fully integrated research plan outlines approaches to evaluate how combined, potentially synergistic, impacts of simultaneous exposures to spaceflight hazards will affect an astronaut’s CNS and their operationally relevant performance during future exploration missions, including missions to the Moon and Mars. The ultimate goals are to derive risk estimates for the combined, potentially synergistic, effects of the three major spaceflight hazards that will establish acceptable maximum decrement or change in a physiological or behavioral parameters during or after spaceflight, the acceptable limit of exposure to a spaceflight factor, and to evaluate strategies to mitigate any associated decrements in operationally relevant performance.

Steinberg, Susan L.↗
NASA NTRSDate not supplied

Using Open Innovation in Reducing Risk to Crews

In the exploration of destinations outside of Earth's neighborhood, specifically Mars, scientific and engineering inquiries have occurred by two means; observations from satellites and observations by landed spacecraft. Satellite observations (Mariner, MRO, Mars Odyssey, provide global-scale spatial and temporal data while landed spacecraft (Viking, Mars Pathfinder, Spirit, Opportunity, Phoenix Mars Lander) investigate highly localized areas of the surface of the planet. In preparation for human exploration, extensive knowledge of the surface and atmospheric environments should be known before the first human leaves Earth. The primary goal of performing reconnaissance on Mars on a sub-global scale is to know as much as possible about the environment to which crews will be subjected. At the current rate of launching and landing probes to Mars, it will take a very long time to understand the surface and atmospheric conditions associated with the regions where prospective crews may land. Meanwhile electronics and electrical systems are rapidly getting smaller. One can argue that to acquire the knowledge of the region, one must take hundreds, maybe thousands of measurements simultaneously. One means to perform such a task is to deploy a swarm of sensors. Such a swarm would perform an in-situ assessment of the region. Imagine a close flyby mission to Mars for example, where mini- to micro-sensors are deposited into the atmosphere over half an orbit or more. The sensors, captured by the atmospheric drag and Martian gravity slowly descend buffeted about by Martian winds and weather until they settle on the surface a great time later (think of how long dust takes to settle). As they descend they communicate a vast array of data; temperature, chemistry, pressure, radiation dose, electric or magnetic properties from a region of the planet and an individual sensor need not measure the same quantity as its neighbors. Initially, they could move at the whim of the environment but later versions could have locomotion or propulsion mechanisms. Humans wouldn't need to decide where the sensors go, the sensors do that for themselves. This is a key strength of a sensor swarm. The intelligence relies on the group not on a decision maker on earth. Real time sensor inputs direct what the swarm considers most interesting to investigate resulting in emergent behavior. We issued a $20,000 challenge to the global innovators to provide solutions as to how such a swarm could be initialized and by what protocols and methodologies by which they operate. Over 400 innovators from 49 countries took a look at the problem, with three receiving partial awards for solutions.

Mel Ferebee↗
NASA NTRS2017

Active Electrostatic flight for airless bodies

The environment near the surface of asteroids, comets, and the Moon is electrically charged due to the Sun’s photoelectric bombardment and lofting dust, which follows the Sun illumination as the body spins. Charged dust is ever present, in the form of dusty plasma, even at high altitudes, following the solar illumination. If a body with high surface resistivity is exposed to the solar wind and solar radiation, sunexposed areas and shadowed areas become differentially charged. The E-Glider (Electrostatic Glider) is an enabling capability for operation at airless bodies, a solution applicable to many types of in-situ missions, which leverages the natural environment. This platform directly addresses the "All Access Mobility" Challenge, one of the NASA’s Space Technology Grand Challenges. Exploration of comets, asteroids, moons and planetary bodies is limited by mobility on those bodies. The lack of an atmosphere, the low gravity levels, and the unknown surface soil properties pose a very difficult challenge for all forms of know locomotion at airless bodies. This EGlider levitates by extending thin, charged, appendages, which are also articulated to direct the levitation force in the most convenient direction for propulsion and maneuvering. The charging is maintained through continuous charge emission. It lands, wherever it is most convenient, by retracting the appendages or by firing a cold-gas thruster, or by deploying an anchor. Preliminary calculations indicate that a 1 kg mass can be electrostatically levitated in a microgravity field with a 2 m diameter electrostatically inflated ribbon structure at 19kV, hence the need for a “balloon-like” system. The wings could be made of very thin Au-coated Mylar film, which are electrostatically inflated, and would provide the lift due to electrostatic repulsion with the naturally charged asteroid surface. Since the E-glider would follow the Sun’s illumination, the solar panels on the vehicle would constantly charge a battery. Further articulation at the root of the lateral strands or inflated membrane wings, would generate a component of lift depending on the articulation angle, hence a selective maneuvering capability which, to all effects, would lead to electrostatic (rather than aerodynamic) flight.

Schaub, Hanspeter↗
NASA NTRS2018

Modeling of Orbital and Attitude Dynamics of Nanosatellites Controlled via Active Electrostatic Charging

The large-scale exploration of airless bodies, such as asteroids and moons, is gaining interest, however it is limited by mobility issues: the lack of atmosphere, low gravity, and unknown soil properties pose difficult challenges for many forms of traditional locomotion. The environment in proximity of these bodies is also electrically charged due to interactions with solar wind and UV radiation. The EGlider (Electrostatic Glider) concept would be able to overcome these mobility issues by leveraging the natural environment, allowing operations in close proximity of the surface, while enabling long duration missions by minimizing propellant consumption. The EGlider is an advanced concept for small satellite mobility and propulsion, which relies on the electric fields naturally present around airless bodies in order to generate forces and torques useful for maneuvering. It does so by extending electrically charged appendages, which enable it to electrostatically soar above the surface. By differentially charging its electrodes it can also produce torques to control its attitude. The charges are maintained by continuous active ion or electron emission from the spacecraft, in order to cancel out the neutralizing influx of charges from surrounding plasma. An investigation of the spacecraft-plasma interaction was carried out. This included studying the effect of electrode geometry and calculating the charge-to-mass ratios required to enable several mission scenarios. Long, thin wire electrodes were identified to be the most power-efficient and would allow power-to-weight ratios achievable with current nanosatellite technologies. High electrode potential represents the main limiting factor for the system design. In order to test the feasibility of active control by means of differential charging, a simple 2D interaction model was developed, and a feedback controller to stabilize the vehicle was tested in a simulation environment. The results confirmed that good performance could be obtained for both position and attitude control. Finally, a dedicated software was developed for future simulation and testing of control strategies for the EGlider. This software allows to study the trajectory and attitude of an arbitrarily configured spacecraft in the proximity of an arbitrarily defined main airless body. The spacecraft can be assembled from basic parts, each with specified electrical, mass and optical properties. Efficient models allow to calculate gravitational and electrical interactions with the rotating main body and the local plasma field, as well as solar radiation pressure effects. Control models can be implemented as simple plug-in functions and easily tested. The preliminary validation campaign showed good matching with the reference cases that have been analyzed.

Corpino, Sabrina↗