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NASA Tech Briefs, November 2010

Topics covered include: Portable Handheld Optical Window Inspection Device; Salience Assignment for Multiple-Instance Data and Its Application to Crop Yield Prediction; Speech Acquisition and Automatic Speech Recognition for Integrated Spacesuit Audio Systems ; Predicting Long-Range Traversability from Short-Range Stereo-Derived Geometry; Browser-Based Application for Telemetry Monitoring of Robotic Assets; Miniature Low-Noise G-Band I-Q Receiver; Methods of Using a Magnetic Field Response Sensor Within Closed, Electrically Conductive Containers; Differential Resonant Ring YIG Tuned Oscillator; Microfabricated Segmented-Involute-Foil Regenerator for Stirling Engines; Reducing Seal Adhesion in Low Impact Docking Systems; Optimal Flow Control Design; Corrosion-Resistant Container for Molten-Material Processing; Reusable Hot-Wire Cable Cutter; Deployment of a Curved Truss; High-Volume Airborne Fluids Handling Technologies to Fight Wildfires; Modeling of Alkane Oxidation Using Constituents and Species; Fabrication of Lanthanum Telluride 14-1-11 Zintl High-Temperature Thermoelectric Couple; A Computer Model for Analyzing Volatile Removal Assembly; Analysis of Nozzle Jet Plume Effects on Sonic Boom Signature; Optical Sidebands Multiplier; Single Spatial-Mode Room-Temperature-Operated 3.0 to 3.4 micrometer Diode Lasers; Self-Nulling Beam Combiner Using No External Phase Inverter; Portable Dew Point Mass Spectrometry System for Real-Time Gas and Moisture Analysis; Maximum Likelihood Time-of-Arrival Estimation of Optical Pulses via Photon-Counting Photodetectors; Handheld White Light Interferometer for Measuring Defect Depth in Windows; Decomposition Algorithm for Global Reachability on a Time-Varying Graph; Autonomous GN and C for Spacecraft Exploration of Comets and Asteroids; Efficient Web Services Policy Combination; Using CTX Image Features to Predict HiRISE-Equivalent Rock Density; Isolation of the Paenibacillus phoenicis, a Spore-Forming Bacterium; Monolithically Integrated, Mechanically Resilient Carbon-Based Probes for Scanning Probe Microscopy; Cell Radiation Experiment System; Process to Produce Iron Nanoparticle Lunar Dust Simulant Composite; Inversion Method for Early Detection of ARES-1 Case Breach Failure; Use of ILTV Control Laws for LaNCETS Flight Research;and Evaluating Descent and Ascent Trajectories Near Non-Spherical Bodies.

Source record↗

Recommendations Emerging from an Analysis of NASA's Deep Space Communications Capacity

During 2016-2017, NASA’s Space Communications and Navigation (SCaN) Office chartered a study of Deep Space Network (DSN) communications capacity relative to projected future-mission demand over the next 30 years. In this paper, we briefly describe the methodology used to analyze capacity vs. demand over such a broad timeframe, summarize key findings emerging from the analysis, and discuss the associated recommendations. Performing the analysis entailed: identifying key factors shaping the anticipated future mission set, identifying several alternative future mission set scenarios consistent with these factors, and then analyzing each mission set scenario in terms of required antenna capacity, downlink and uplink capabilities, and spectrum as a function of time. On the basis of these aggregate requirements, DSN loading simulations were then conducted that examined how well each of the postulated mission sets could load up onto the the DSN’s “in-plan” architecture. To the extent that capacity shortfalls emerged during these baseline simulations, architectural solutions to the shortfalls were then postulated and tested via additional simulations. In general, the trend analyses and baseline loading simulations indicated a significant progression in challenges over the next three decades. In the current decade, the DSN appeared to be operating very close to capacity. The first human exploration mission and its secondary payload launch opportunities for cubesats traveling beyond GEO contributed to this loading. As a consequence, the main challenge appeared to be managing peak assetcontention periods. In the next decade, the DSN continued to operate close to capacity but also began transitioning to more frequent human mission support. Upgrading for, and operating, a human-rated system while continuing to meet robotic mission customer requirements emerged as the key challenge. In the 2030’s and beyond, simulations suggested a need for fundamentally new capability and capacity. The high data rates and long link distances characteristic of human Mars exploration drove requirements far beyond what is currently “in plan.” The key challenge then became determining the most cost-effective combination of RF and optical assets for communicating with the postulated human Mars assets while still providing for the needs of all the other missions across the solar system. Various link budget, visibility, and loading analyses ultimately suggested that the human Mars exploration demands of the 2030’s could best be addressed with two cross-linked RF-optical areostationary relays (or an areostationary relay and deep space habitat) providing a dual “trunk link” to an array of 2-to-3 additional 34m beam waveguide antennas and an ~8.5m optical antenna at each DSN Complex. The dual “trunk link” would enable the same amount of total data return to Earth as a single trunk link at twice the data rate, but with only half the required array size on the ground, assuming use of Multiple Spacecraft Per Antenna (MSPA) techniques. MSPA techniques, including a Multiple Uplink Per Antenna (MUPA) technique currently under investigation, also showed promise for reducing asset contention in the decades prior to human Mars exploration.

Lee, Carlyn-Ann↗

Lunar Communications Services with Emphasis on Commercialization

In mid-2020 Lockheed Marin Space (LM) and NASA’s Jet Propulsion Laboratory (JPL) formed a working group to study and address the need for a lunar communications network to service a growing lunar economy, beginning with the initial crewed and robotic mission needs in 2024. Multiple commercial relay architectures were studied and evaluated for platform requirements, communications capabilities, and commercial business viability in a growing ecosystem. The evolution of communications needs around the Moon were mapped to infrastructure build out. Trade studies were performed to evaluate reliability and lifetime requirements, and the viability of various data protocols. Mission concepts and operations plans were developed for both initial mission support and future autonomous network support. This work has led to Lockheed Martin and JPL to evaluate a single dedicated relay satellite in a frozen lunar orbit, with simultaneous coverage of the far-side and south pole landing sites for over 10 hours per day as a first step towards a comprehensive solution to lunar connectivity. This first satellite is compatible with an ESPA Grande launch volume and would be capable of launching on a rideshare into a variety of orbits and trajectories. The satellite is equipped with both high- and low-rate communications relay payloads with software-defined radios and a delay/disruption tolerant networking protocol. The system is designed to service initial and future mission needs in a commercialized manner, enabling a new class of missions to the Moon. The relay satellite leverages prior spacecraft platform work with on-orbit heritage in a lunar environment expected by 2023.

Davarian, Faramaz↗

Simple, Robust Cryogenic Propellant Depot for Near Term Applications

The ability to refuel cryogenic propulsion stages on-orbit provides an innovative paradigm shift for space transportation supporting National Aeronautics and Space Administration s (NASA) Exploration program as well as deep space robotic, national security and commercial missions. Refueling enables large beyond low Earth orbit (LEO) missions without requiring super heavy lift vehicles that must continuously grow to support increasing mission demands as America s exploration transitions from early Lagrange point missions to near Earth objects (NEO), the lunar surface and eventually Mars. Earth-to-orbit launch can be optimized to provide competitive, cost-effective solutions that allow sustained exploration. This paper describes an experimental platform developed to demonstrate the major technologies required for fuel depot technology. This test bed is capable of transferring residual liquid hydrogen (LH2) or liquid oxygen (LO2) from a Centaur upper stage, and storage in a secondary tank for up to one year on-orbit. A dedicated, flight heritage spacecraft bus is attached to an Evolved Expendable Launch Vehicle (EELV) Secondary Payload Adapter (ESPA) ring supporting experiments and data collection. This platform can be deployed as early as Q1 2013. The propellant depot design described in this paper can be deployed affordably this decade supporting missions to Earth-Moon Lagrange points and lunar fly by. The same depot concept can be scaled up to support more demanding missions and launch capabilities. The enabling depot design features, technologies and concept of operations are described.

McLean, Christopher↗

The Predicted Growth of the Low Earth Orbit Space Debris Environment: An Assessment of Future Risk for Spacecraft

Space debris is a worldwide-recognized issue concerning the safety of commercial, military, and exploration spacecraft. The space debris environment includes both naturally occuring meteoroids and objects in Earth orbit that are generated by human activity, termed orbital debris. Space agencies around the world are addressing the dangers of debris collisions to both crewed and robotic spacecraft. In the United States, the Orbital Debris Program Office at the NASA Johnson Space Center leads the effort to categorize debris, predict its growth, and formulate mitigation policy for the environment from low Earth orbit (LEO) through geosynchronous orbit (GEO). This paper presents recent results derived from the NASA long-term debris environment model, LEGEND. It includes the revised NASA sodium potassium droplet model, newly corrected for a factor of two over-estimation of the droplet population. The study indicates a LEO environment that is already highly collisionally active among orbital debris larger than 1 cm in size. Most of the modeled collision events are non-catastrophic (i.e., They lead to a cratering of the target, but no large scale fragmentation.). But they are potentially mission-ending, and take place between impactors smaller than 10 cm and targets larger than 10 cm. Given the small size of the impactor these events would likely be undetectable by present-day measurement means. The activity continues into the future as would be expected. Impact rates of about four per year are predicted by the current study within the next 30 years, with the majority of targets being abandoned intacts (spent upper stages and spacecraft). Still, operational spacecraft do show a small collisional activity, one that increases over time as the small fragment population increases.

Krisko, Paula H.↗

Evaluation of the NASA Arc Jet Capabilities to Support Mission Requirements

NASA accomplishes its strategic goals through human and robotic exploration missions. Many of these missions require launching and landing or returning spacecraft with human or return samples through Earth's and other planetary atmospheres. Spacecraft entering an atmosphere are subjected to extreme aerothermal loads. Protecting against these extreme loads is a critical element of spacecraft design. The safety and success of the planned mission is a prime concern for the Agency, and risk mitigation requires the knowledgeable use of thermal protection systems to successfully withstand the high-energy states imposed on the vehicle. Arc jets provide ground-based testing for development and flight validation of re-entry vehicle thermal protection materials and are a critical capability and core competency of NASA. The Agency's primary hypersonic thermal testing capability resides at the Ames Research Center and the Johnson Space Center and was developed and built in the 1960s and 1970s. This capability was critical to the success of Apollo, Shuttle, Pioneer, Galileo, Mars Pathfinder, and Orion. But the capability and the infrastructure are beyond their design lives. The complexes urgently need strategic attention and investment to meet the future needs of the Agency. The Office of Chief Engineer (OCE) chartered the Arc Jet Evaluation Working Group (AJEWG), a team of experienced individuals from across the Nation, to capture perspectives and requirements from the arc jet user community and from the community that operates and maintains this capability and capacity. This report offers the AJEWG's findings and conclusions that are intended to inform the discussion surrounding potential strategic technical and investment strategies. The AJEWG was directed to employ a 30-year Agency-level view so that near-term issues did not cloud the findings and conclusions and did not dominate or limit any of the strategic options.

Calomino, Anthony↗

A Multi-Center Space Data System Prototype Based on CCSDS Standards

Deep space missions beyond earth orbit will require new methods of data communications in order to compensate for increasing Radio Frequency (RF) propagation delay. The Consultative Committee for Space Data Systems (CCSDS) standard protocols Spacecraft Monitor & Control (SM&C), Asynchronous Message Service (AMS), and Delay/Disruption Tolerant Networking (DTN) provide such a method. However, the maturity level of this protocol stack is insufficient for mission inclusion at this time. This Space Data System prototype is intended to provide experience which will raise the Technical Readiness Level (TRL) of this protocol set. In order to reduce costs, future missions can take advantage of these standard protocols, which will result in increased interoperability between control centers. This prototype demonstrates these capabilities by implementing a realistic space data system in which telemetry is published to control center applications at the Jet Propulsion Lab (JPL), the Marshall Space Flight Center (MSFC), and the Johnson Space Center (JSC). Reverse publishing paths for commanding from each control center are also implemented. The target vehicle consists of realistic flight computer hardware running Core Flight Software (CFS) in the integrated Power, Avionics, and Power (iPAS) Pathfinder Lab at JSC. This prototype demonstrates a potential upgrade path for future Deep Space Network (DSN) modification, in which the automatic error recovery and communication gap compensation capabilities of DTN would be exploited. In addition, SM&C provides architectural flexibility by allowing new service providers and consumers to be added efficiently anywhere in the network using the common interface provided by SM&C's Message Abstraction Layer (MAL). In FY 2015, this space data system was enhanced by adding telerobotic operations capability provided by the Robot API Delegate (RAPID) family of protocols developed at NASA. RAPID is one of several candidates for consideration and inclusion in a new international standard being developed by the CCSDS Telerobotic Operations Working Group. Software gateways for the purpose of interfacing RAPID messages with the existing SM&C based infrastructure were developed. Telerobotic monitor, control, and bridge applications were written in the RAPID framework, which were then tailored to the NAO telerobotic test article hardware, a product of Aldebaran Robotics.

Rich, Thomas M.↗

Structures and Mechanisms Design Concepts for Adaptive Deployable Entry Placement Technology

System studies have shown that large deployable aerodynamic decelerators such as the Adaptive Deployable Entry and Placement Technology (ADEPT) concept can revolutionize future robotic and human exploration missions involving atmospheric entry, descent and landing by significantly reducing the maximum heating rate, total heat load, and deceleration loads experienced by the spacecraft during entry [1-3]. ADEPT and the Hypersonic Inflatable Aerodynamic Decelerator (HIAD) [4] share the approach of stowing the entry system in the shroud of the launch vehicle and deploying it to a much larger diameter prior to entry. The ADEPT concept provides a low ballistic coefficient for planetary entry by employing an umbrella-like deployable structure consisting of ribs, struts and a fabric cover that form an aerodynamic decelerator capable of undergoing hypersonic flight. The ADEPT "skin" is a 3-D woven carbon cloth that serves as a thermal protection system (TPS) and as a structural surface that transfers aerodynamic forces to the underlying ribs [5]. This paper focuses on design activities associated with integrating ADEPT components (cloth, ribs, struts and mechanisms) into a system that can function across all configurations and environments of a typical mission concept: stowed during launch, in-space deployment, entry, descent, parachute deployment and separation from the landing payload. The baseline structures and mechanisms were selected via trade studies conducted during the summer and fall of 2012. They are now being incorporated into the design of a ground test article (GTA) that will be fabricated in 2013. It will be used to evaluate retention of the stowed configuration in a launch environment, mechanism operation for release, deployment and locking, and static strength of the deployed decelerator. Of particular interest are the carbon cloth interfaces, underlying hot structure, (Advanced Carbon- Carbon ribs) and other structural components (nose cap, struts, and main body) designed to withstand the pressure and extremely high heating experienced during planetary entry.

Yount, Bryan C.↗

NASA's Hydrogen Outpost: The Rocket Systems Area at Plum Brook Station

"There was pretty much a general knowledge about hydrogen and its capabilities," recalled former researcher Robert Graham. "The question was, could you use it in a rocket engine? Do we have the technology to handle it? How will it cool? Will it produce so much heat release that we can't cool the engine? These were the questions that we had to address." The National Aeronautics and Space Administration's (NASA) Glenn Research Center, referred to historically as the Lewis Research Center, made a concerted effort to answer these and related questions in the 1950s and 1960s. The center played a critical role transforming hydrogen's theoretical potential into a flight-ready propellant. Since then NASA has utilized liquid hydrogen to send humans and robots to the Moon, propel dozens of spacecraft across the universe, orbit scores of satellite systems, and power 135 space shuttle flights. Rocket pioneers had recognized hydrogen's potential early on, but its extremely low boiling temperature and low density made it impracticable as a fuel. The Lewis laboratory first demonstrated that liquid hydrogen could be safely utilized in rocket and aircraft propulsion systems, then perfected techniques to store, pump, and cleanly burn the fuel, as well as use it to cool the engine. The Rocket Systems Area at Lewis's remote testing area, Plum Brook Station, played a little known, but important role in the center's hydrogen research efforts. This publication focuses on the activities at the Rocket Systems Area, but it also discusses hydrogen's role in NASA's space program and Lewis's overall hydrogen work. The Rocket Systems Area included nine physically modest test sites and three test stands dedicated to liquid-hydrogen-related research. In 1962 Cleveland Plain Dealer reporter Karl Abram claimed, "The rocket facility looks more like a petroleum refinery. Its test rigs sprout pipes, valves and tanks. During the night test runs, excess hydrogen is burned from special stacks in the best Oklahoma oil field tradition." Besides the Rocket Systems Area, Plum Brook Station also included a nuclear test reactor, a large vacuum tank, a hypersonic wind tunnel, and a full-scale upper-stage rocket stand. The Rocket Systems Area operated from 1961 until NASA shut down all of Plum Brook in 1974. The center reopened Plum Brook in the late 1980s and continues to use several test facilities. The Rocket Systems Area, however, was not restored. Today Plum Brook resembles a nature preserve more than an oil refinery. Lush fields and forests separate the large test facilities. Until recently, the abandoned Rocket Systems Area structures and equipment were visible amongst the greenery. These space-age ruins, particularly the three towers, stood as silent sentinels over the sparsely populated reservation. Few knew the story of these mysterious facilities when NASA removed them in the late 2000s.

Rocket Systems↗

Enhanced Gravity Tractor Derived from the Asteroid Redirect Mission for Deflecting Hypothetical Asteroid 2017 PDC

The Asteroid Redirect Mission (ARM) concept would robotically visit a hazardous-size near-Earth asteroid (NEA) with a rendezvous spacecraft, collect a multi-ton boulder and regolith samples from its surface, demonstrate an innovative planetary defense technique known as the Enhanced Gravity Tractor (EGT), and return the asteroidal material to a stable orbit around the Moon, allowing astronauts to explore the returned material in the mid-2020s. Launch of the robotic vehicle to rendezvous with the ARM reference target, NEA (341843) 2008 EV5, would occur in late 2021 [1,2]. The robotic segment of the ARM concept uses a 40 kW Solar Electric Propulsion (SEP) system with a specific impulse (Isp) of 2600 s, and would provide the first ever demonstration of the EGT technique on a hazardous-size asteroid and validate one method of collecting mass in-situ. The power, propellant, and thrust capability of the ARM robotic spacecraft can be scaled from a 40 kW system to 150 kW and 300 kW, which represent a likely future power level progression. The gravity tractor technique uses the gravitational attraction of a station-keeping spacecraft with the asteroid to provide a velocity change and gradually alter the trajectory of the asteroid. EGT utilizes a spacecraft with a high-efficiency propulsion system, such as Solar Electric Propulsion (SEP), along with mass collected in-situ to augment the mass of the spacecraft, thereby increasing the gravitational force between the objects [3]. As long as the spacecraft has sufficient thrust and propellant capability, the EGT force is only limited by the amount of in-situ mass collected and can be increased several orders of magnitude compared to the traditional gravity tractor technique in which only the spacecraft mass is used to generate the gravitational attraction force. This increase in available force greatly reduces the required deflection time. The collected material can be a single boulder, multiple boulders, regolith, or a combination of different material types using a variety of collection techniques. The EGT concept assumes that the ability to efficiently collect asteroid mass in-situ from a wide variety of asteroid types and environments is a future capability that will be developed and perfected in the future by the asteroid mining community. Additionally, it is anticipated that the mass collection would likely be performed by a single or multiple separable spacecraft to allow the SEP spacecraft to operate at safe distance from the asteroid.

Mazanek, Daniel D.↗

Performance measures from the explorer platform berthing experiment

The Explorer Platform is a Modular Mission Spacecraft: it has several subunits that are designed to be replaced on orbit. The Goddard Space Flight Center Robotics Lab undertook an experiment to evaluate various robotic approaches to replacing one of the units; a large (approximately 1 meter by 1 meter by 0.5 meter) power box. The hardware consists of a Robotics Research Corporation K-1607 (RRC) manipulator mounted on a large gantry robot, a Kraft handcontroller for teleoperation of RRC, a Lightweight Servicing Tool (LST) mounted on the RRC, and an Explorer Platform mockup (EP) with a removable box (MMS) that has fixtures that mate with the LST. Sensors include a wrist wrench sensor on the RRC and Capaciflectors mounted on the LST and the MMS. There are also several cameras, but no machine vision is used. The control system for the RRC is entirely written by Goddard; it consists of Ada code on three Multibus I 386/387 CPU boards doing the real-time robot control, and C on a 386 PC processing Capaciflector data. The gantry is not moved during this experiment. The task is the exchange of the MMS; it is removed and replaced. This involves four basic steps: mating the LST to the MMS, demating the MMS from the EP, mating the MMS to the EP, and demating the LST form the MMS. Each of the mating steps must be preceeded by an alignment to bring the mechanical fixtures within their capture range. Two basic approaches to alignment are explored: teleoperation with the operator viewing thru cameras, and Capaciflector based autonomy. To evaluate the two alignment approaches, several runs were run with each approach and the final pose was recorded. Comparing this to the ideal alignment pose gives accuracy and repeatability data. In addition the wrenches exerted during the mating tasks were recorded; this gives information on how the alignment step affects the mating step. There are also two approaches to mating; teleoperation, and impedance based autonomy. The wrench data taken during mating using these two approaches is used to evaluate them. Section 2 describes the alignment results, section 3 describes the mating results, and finally Section 4 gives some conclusions.

Leake, Stephen↗

EVA Swab Kit: Tools and Techniques for Collecting Aseptic Samples from Crewed Space Missions

Introduction: When we send humans to search for life on other planets, we'll need to know what we brought with us versus what may already be there. To ensure our crewed spacecraft meet planetary protection requirements—and to protect our science from human contamination—we'll need to assess and verify whether micro-organisms may be leaking/venting from our spacesuits. This requires collecting samples under Extravehicular Activity (EVA) conditions. Detailed, systematic research on forward contamination from robotic spacecraft has been steadily progressing since the Viking missions, but systematic studies of contamination from space suits has not been conducted in many years. The modern EMU (Extravehicular Mobility Unit) suit used by NASA is designed to leak at rates as high as 100 cc/min. Before humans land on Mars there is a critical need to understand the types and quantities of microbes that could be introduced via space suits. The Human Forward Contamination Assessment team at NASA’s Johnson Space Center (JSC) has developed a prototype EVA swab tool [1,2,3,4] designed for use in space to sample cleaned and uncleaned space suits to determine the present day microbial load and eventually the rate of leakage. The ability to assess microbial leakage early in advanced space suit and life support system design cycles will help avoid costly hardware redesign later. Test Objectives: The primary objective of EMU testing was to characterize the type of micro-organisms typically found on or near selected suit pressure joints under suit differential pressure conditions. Most human-borne microbes can fit through a 0.5 to 1.0 µm gap. Knowing which joints are more likely to leak will inform hardware design decisions. Knowing which types of micro-organisms may leak from EVA suits provides a basis for subsequent studies to characterize the viability of those organisms under destination conditions, as well as how far they might spread through natural or human-influenced processes. That data, in turn, will inform exploration mission operations and hardware design. The secondary objective of testing was to evaluate the interface between a fully suited test subject and the EVA swab tool at vacuum. Bulky EVA suits can restrict movement and limit visibility through the helmet visor. Fully suited testing is important for identifying tool design issues prior to flight. At exploration destinations, such as Mars, suited crew may be required to periodically sample their suits as part of an environmental monitoring protocol. Suit Microbial Sampling Results: This report details results of microbial swabs collected from current flight suit configurations worn by crew members assigned to upcoming ISS expedition missions as well as swabs collected from prototype suits intended for use on the Orion spacecraft. These tests were intended to characterize the types of contaminants found on flight suits under current, typical handling conditions. No attempt was made to change suit handling procedures, provide additional sterilization, or to limit typical potential contaminant sources. Using culture based techniques, we cultivated 235 CFU (colony forming units) comprised of 26 bacterial species and one fungal species on the outside of the suits. The fungal species and 14 of the bacterial species were unique to the suit surfaces and were not detected in any of the background samples collected within the chambers. We sequenced 755,434 ribosomal fragments on all of the suit surfaces from swab samples. 557,016 of these sequences represent DNA that survived at least 4 hours at vacuum. These sequences formed 2,464 OTU's (Operational Taxonomic Units, 97% similarity) showing low diversity in the samples. The most abundant sequences that survived vacuum belong to the genera Staphyloccocus, Ralstona, Bacillus and Rhodobacter all of which are common to the human microbiome. [5] See Danko et al., (2021) for more complete details of these first analyses. Further analysis of EVA suit materials with respect to the efficacy of various cleaning protocols and engineered containment solutions is planned to inform suit design for NASA’s Artemis Moon to Mars program crew testing. Swab Tool Function Results: The kit was demonstrated for fit and function in suited subject vacuum tests to determine how well the tool worked as an aseptic microbial sampling device as well as to identify any design elements that could be upgraded for EVA task specific improvement. It was found that sample acquisition efficacy could be enhanced by redesign of the sample canister to end-effector interface. Several modifications of the sample caddy assemblies to optimize EVA safety and functionality were also identified. Consequently, fabrication of the redesigned sample canister to end-effector assembly interfaces and and the sample caddy assemblies are required. Fabrication of sixteen flight sample canister assemblies (8 per each of two EVA Swab Kits) and two sample caddy assemblies are in process to be followed by hardware testing and certification to produce two flight-certified EVA Swab Kits for transport to ISS no earlier than summer of 2022. Sampling Strategy: The International Space Station is an ideal testbed for systematic studies of contamination from crewed vehicles since it has been continuously occupied for 20 years and exposed to non-terrestrial conditions. We will sample the exterior of the ISS during EVA using a purpose-built swab tool capable of maintaining sterility while undergoing temperature changes from -151 to +121°C under hard vacuum. Prior to each EVA, the project team will work with ISS mission managers to identify precise sampling locations, which will vary by EVA based on the translation paths and worksites scheduled for that particular EVA. Ideally, translation path handrails and areas near ECLSS (Environmental Control and Life Support System) external vent openings on a spacecraft would be assessed. There are currently more than a dozen ECLSS external vents on the ISS. Some are connected to systems that vent waste products, while others are intended to equalize cabin pressure. As EVA opportunity allows, microbial samples from any of these external vents would provide a valuable data point, though some will be more useful than others. Four criteria have been identified to help prioritize sampling sites near vents: • EVA Accessibility: To minimize cost, it is desired to piggy-back onto a planned EVA. Therefore, the sampling location must be readily accessible by an EVA crew • Type of Vented Products: Vent products that have been in direct contact with crew, such as cabin air, are more likely to contain microorganisms than vent products associated with isolated systems, such as experiment module combustion products. • Mass of Vented Products: Higher-flow vents are more likely to contain detectible levels of microbial contaminants than lower-flow vents. • Local Environment: Sample locations with relatively benign local conditions, such as warm surfaces shielded from direct ultraviolet (UV) radiation exposure, may be more likely to support microbial growth than locations with harsher local environmental conditions. Because EVA accessibility is the most important criteria, the proposal team worked with an astronaut and flight controllers using the Dynamic Onboard Ubiquitous Graphics (DOUG) tool. The DOUG virtual environment allows an operator to “fly” around the current ISS vehicle configuration to assess EVA translation paths, attach points, and keep-out zones. While analysis on station or rapid return to Earth would be preferable, samples collected from the exterior of the ISS have already been exposed to temperature variations between -157 and +121 °C as well as hard vacuum. Therefore, they should be fairly stable and robust. We hypothesize that samples collected from the ISS exterior could be stored for up to 6 months at -80°C without degradation. Sample canisters will be returned to Earth while frozen at -80°C for analysis, and sterilized canisters can be re-flown back to ISS to support additional sampling opportunities Relevance to NASA Exploration Objectives: These data will allow us to identify new or improved methods, technologies, and procedures for spacecraft sterilization and leakage mitigation to minimize the amount of contamination introduced to the environment by human explorers. This work is funded by NASA research grant: NNH18ZDA001N-PPR References: [1] Bell, M.S. et al. (2015) LPS XLVI, Abst. #1832 [2] Rucker et al. (2018) 42nd COSPAR (PPP.3) [3] Bell, M.S. et al. (2019) Mars Extant Life Conference, Abst. #5096.[4] Bell, M.S. et al., (2020) 43rd COSPAR (BO.2).[5] Danko D, et.al.,(2021)Front.Microbiol.12:608478.

Mary Suzanne Bell↗

Crew Restraint Design for the International Space Station

With permanent human presence onboard the International Space Station (ISS), crews will be living and working in microgravity, dealing with the challenges of a weightless environment. In addition, the confined nature of the spacecraft environment results in ergonomic challenges such as limited visibility and access to the activity areas, as well as prolonged periods of unnatural postures. Without optimum restraints, crewmembers may be handicapped for performing some of the on-orbit tasks. Currently, many of the tasks on ISS are performed with the crew restrained merely by hooking their arms or toes around handrails to steady themselves. This is adequate for some tasks, but not all. There have been some reports of discomfort/calluses on the top of the toes. In addition, this type of restraint is simply insufficient for tasks that require a large degree of stability. Glovebox design is a good example of a confined workstation concept requiring stability for successful use. They are widely used in industry, university, and government laboratories, as well as in the space environment, and are known to cause postural limitations and visual restrictions. Although there are numerous guidelines pertaining to ventilation, seals, and glove attachment, most of the data have been gathered in a 1-g environment, or are from studies that were conducted prior to the early 1980 s. Little is known about how best to restrain a crewmember using a glovebox in microgravity. Another ISS task that requires special consideration with respect to restraints is robotic teleoperation. The Robot Systems Technology Branch at the NASA Johnson Space Center is developing a humanoid robot astronaut, or Robonaut. It is being designed to perform extravehicular activities (EVAs) in the hazardous environment of space. An astronaut located inside the ISS will remotely operate Robonaut through a telepresence control system. Essentially, the robot mimics every move the operator makes. This requires the operator to be stable enough to prevent inadvertent movements, while allowing the flexibility to accomplish the controlled movements of the robot. Some type of special purpose restraint will be required to operate Robonaut and similar devices.

Norris, Lena↗

Jet Propulsion Laboratory: Annual Report 1999

The Jet Propulsion Laboratory, located in the foothills near Pasadena, California, is the nation's lead center for the robotic exploration of space. Intense activity in space missions was the hallmark of the Jet Propulsion Laboratory as a new generation of smaller, less expensive spacecraft were sent out from Earth. From late 1998 to mid-1999, JPL launched a craft testing a futuristic ion engine, an orbiter and lander bound for Mars, a mission to fly by a comet and return a sample of its dust to Earth, a small infrared telescope, and an Earth-circling satellite that uses radar to gauge winds over the oceans. This unprecedented schedule resulted in spectacular achievements, tempered by highly visible mission losses. Weighed together, the successes and failures dramatically underscored the difficulty and risk involved in the unique business of space science and exploration. Among the achievements, the ion-engine-powered Deep Space 1, comet-bound Stardust and Earth-orbiting SeaWinds were joined by such ongoing missions as Mars Global Surveyor, Galileo and Cassini in delivering on their promise and, in some cases, providing surprising new views of space and Earth. At the same time, mission teams were disappointed by the losses of an orbiter and lander at Mars, as well as a small infrared telescope. JPL worked closely with NASA to learn from these experiences and build successful future missions. The Laboratory also achieved a key goal by winning the International Organization of Standards' 'ISO 9001' certification - a standard shared by the world's best engineering organizations. As the year rolled to a close, clocks rolled over from 1999 to 2000. Operations teams at JPL and NASA watched with satisfaction as a major campaign of Year 2000 readiness paid off with no problems among the thousands of computer systems that support the Laboratory's missions. With that auspicious beginning, JPL was positioned to step into the 21st century and embark on even yet unimagined future explorations.

Jet Propulsion Laboratory (JPL)↗

Space Operations Learning Center (SOLC) iPhone/iPad Application

This iPhone application, Space Junk Sammy, is intended to be an educational application designed for Apple iPhones and iPads. This new concept educates kids in an innovative way about how orbital debris affects space missions. Orbital debris is becoming a very significant concern for NASA and all Earthorbiting space missions. Spacecraft in low-Earth orbit are in constant danger of being potentially damaged or destroyed by debris. High-profile spacecraft such as the International Space Station (ISS) and Hubble Space Telescope are dealing with orbital debris on a regular basis. Other basic educational concepts that are portrayed are low-Earth orbits, satellites, ISS, attitude control, and other facts that can be presented in betweenlevel popup screens. The Orbital Debris Cleanup game is relatively simple from the user s technical standpoint. It is a 2D game where the user s avatar is a satellite buddy, named Sammy, in orbit around Earth. Sammy is controlled by the user with the device s gyroscope as well as touchscreen controls. It has equipment used for taking care of the space debris objects on the screen. Sammy also has a claw, a laser deflector, and hydrazine rockets to grab or push the debris objects into a higher orbit or into a lower orbit to burn up in the Earth s atmosphere. The user interface shows Sammy and space debris objects constantly moving from left to right, where Sammy is trying to catch the debris objects before they move off the right side of the screen. Everything will be in constant motion to increase fun and add to the realism of orbiting the Earth. The satellite buddy is used to clean up the space debris and protect other satellites. Later levels will include a laser deflector and hydrazine rockets instead of a robotic claw to push the orbital debris into a higher orbit and out of the path of other satellites

Binebrink, Daniel↗

Integrated controls-structures design methodology development for a class of flexible spacecraft

Future utilization of space will require large space structures in low-Earth and geostationary orbits. Example missions include: Earth observation systems, personal communication systems, space science missions, space processing facilities, etc., requiring large antennas, platforms, and solar arrays. The dimensions of such structures will range from a few meters to possibly hundreds of meters. For reducing the cost of construction, launching, and operating (e.g., energy required for reboosting and control), it will be necessary to make the structure as light as possible. However, reducing structural mass tends to increase the flexibility which would make it more difficult to control with the specified precision in attitude and shape. Therefore, there is a need to develop a methodology for designing space structures which are optimal with respect to both structural design and control design. In the current spacecraft design practice, it is customary to first perform the structural design and then the controller design. However, the structural design and the control design problems are substantially coupled and must be considered concurrently in order to obtain a truly optimal spacecraft design. For example, let C denote the set of the 'control' design variables (e.g., controller gains), and L the set of the 'structural' design variables (e.g., member sizes). If a structural member thickness is changed, the dynamics would change which would then change the control law and the actuator mass. That would, in turn, change the structural model. Thus, the sets C and L depend on each other. Future space structures can be roughly divided into four mission classes. Class 1 missions include flexible spacecraft with no articulated appendages which require fine attitude pointing and vibration suppression (e.g., large space antennas). Class 2 missions consist of flexible spacecraft with articulated multiple payloads, where the requirement is to fine-point the spacecraft and each individual payload while suppressing the elastic motion. Class 3 missions include rapid slewing of spacecraft without appendages, while Class 4 missions include general nonlinear motion of a flexible spacecraft with articulated appendages and robot arms. Class 1 and 2 missions represent linear mathematical modeling and control system design problems (except for actuator and sensor nonlinearities), while Class 3 and 4 missions represent nonlinear problems. The development of an integrated controls/structures design approach for Class 1 missions is addressed. The performance for these missions is usually specified in terms of (1) root mean square (RMS) pointing errors at different locations on the structure, and (2) the rate of decay of the transient response. Both of these performance measures include the contributions of rigid as well as elastic motion.

Maghami, P. G.↗

Concepts to Automate Fluid Transfer Capability of Low Impact Docking System (LIDS)

The capability to transfer mass between spacecraft is necessary for many mission scenarios. Docking and berthing operations have enabled fluid, electrical, crew and equipment transfers to some degree on all manned space operations since the Gemini program. The Apollo program performed some sophisticated docking maneuvers to land men on the moon and return them safely to Earth. These programs primarily transferred crew, equipment, and pressurized atmosphere between docked spacecraft. The International Space Station (ISS) U.S. modules are connected by Common Berthing Mechanism (CBM) portals. They provide many feed-through ports for electrical, and fluid transfer between modules, as well as a large diameter crew and equipment tunnel. Fluid and electrical jumpers are manually installed after the CBM sealing surfaces have been securely mated to maintain the pressurized cabin environment. CBM berthing and subsequent fluid transfer capability requires a lengthy manual process involving an active interface that mates with a passive half. The Androgynous Peripheral Attach System (MAS) a Russian technology that docked the Russian Zarya module to Unity, or Node 1, is a more complex system that also is capable of fuel transfer, enabling refueling of the Russian re-boost engines on ISS. For several years, a Low Impact Docking System (LIDS) has been under development at Johnson Space Center (JSC). This docking technology has a requirement to be androgynous in order to allow the fabrication of a single configuration that can dock with all other LIDS units. It is desired to make electrical and fluid coupling mating an automated process to enable routine docking and undocking operations to support future exploration missions. It is envisioned that modular design and vehicle assembly will require an efficient LIDS for fuel, electrical, crew, and equipment transfer. Marshall Space Flight Center (MSFC) has joined the LIDS development effort and plans to employ fluid transfer concepts and technology from previous development programs, such as the Automated Fluid Interface System (AFIS) and the Ohital Fluid Transfer System (OFTS) that were developed and tested by MSFC. Orbital Expressderived robotic satellite servicing technology is scheduled to fly soon to demonstrate fluid transfer technology developed for the Air Force. This paper will compare known technology against possible fluid transfer requirements for LIDS to develop design strategies for automated fluid transfer.

Miernik, Janie H.↗

Orbital Express Advanced Video Guidance Sensor

In May 2007 the first US fully autonomous rendezvous and capture was successfully performed by DARPA's Orbital Express (OE) mission. Since then, the Boeing ASTRO spacecraft and the Ball Aerospace NEXTSat have performed multiple rendezvous and docking maneuvers to demonstrate the technologies needed for satellite servicing. MSFC's Advanced Video Guidance Sensor (AVGS) is a primary near-field proximity operations sensor integrated into ASTRO's Autonomous Rendezvous and Capture Sensor System (ARCSS), which provides relative state knowledge to the ASTRO GN&C system. This paper provides an overview of the AVGS sensor flying on Orbital Express, and a summary of the ground testing and on-orbit performance of the AVGS for OE. The AVGS is a laser-based system that is capable of providing range and bearing at midrange distances and full six degree-of-freedom (6DOF) knowledge at near fields. The sensor fires lasers at two different frequencies to illuminate the Long Range Targets (LRTs) and the Short Range Targets (SRTs) on NEXTSat. Subtraction of one image from the other image removes extraneous light sources and reflections from anything other than the corner cubes on the LRTs and SRTs. This feature has played a significant role for Orbital Express in poor lighting conditions. The very bright spots that remain in the subtracted image are processed by the target recognition algorithms and the inverse-perspective algorithms, to provide 3DOF or 6DOF relative state information. Although Orbital Express has configured the ASTRO ARCSS system to only use AVGS at ranges of 120 m or less, some OE scenarios have provided opportunities for AVGS to acquire and track NEXTSat at greater distances. Orbital Express scenarios to date that have utilized AVGS include a berthing operation performed by the ASTRO robotic arm, sensor checkout maneuvers performed by the ASTRO robotic arm, 10-m unmated operations, 30-m unmated operations, and Scenario 3-1 anomaly recovery. The AVGS performed very well during the pre-unmated operations, effectively tracking beyond its 10-degree Pitch and Yaw limit-specifications, and did not require I-LOAD adjustments before unmated operations. AVGS provided excellent performance in the 10-m unmated operations, effectively tracking and maintaining lock for the duration of this scenario, and showing good agreement between the short and long range targets. During the 30-m unmated operations, the AVGS continuously tracked the SRT to 31.6 m, exceeding expectations, and continuously tracked the LRT from 8.8 m out to 31.6 m, with good agreement between these two target solutions. After this scenario was aborted at a 10-m separation during remate operations, the AVGS tracked the LRT out 54.3 m, until the relative attitude between the vehicles was too large. The vehicles remained apart for eight days, at ranges from 1 km to 6 km. During the approach to remate in this recovery operation, the AVGS began tracking the LRT at 150 m, well beyond the OE planned limits for AVGS ranges, and functioned as the primary sensor for the autonomous rendezvous and docking.

Howard, Ricky↗