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NASA Workshop on Technology for Human Robotic Exploration and Development of Space

Continued constrained budgets and growing interests in the industrialization and development of space requires NASA to seize every opportunity for assuring the maximum return on space infrastructure investments. This workshop provided an excellent forum for reviewing, evaluating, and updating pertinent strategic planning, identifying advanced concepts and high-risk/high-leverage research and technology requirements, developing strategies and roadmaps, and establishing approaches, methodologies, modeling, and tools for facilitating the commercial development of space and supporting diverse exploration and scientific missions. Also, the workshop addressed important topic areas including revolutionary space systems requiring investments in innovative advanced technologies; achieving transformational space operations through the insertion of new technologies; revolutionary science in space through advanced systems and new technologies enabling experiments to go anytime to any location; and, innovative and ambitious concepts and approaches essential for promoting advancements in space transportation. Details concerning the workshop process, structure, and results are contained in the ensuing report.

Mankins, J. C.↗

Bioenergy Technologies in Long-Run Climate Change Mitigation: Results from the EMF-33 Study

Bioenergy is expected to play an important role in long-run climate change mitigation strategies as highlighted by many integrated assessment model (IAM) scenarios. These scenarios, however, also show a very wide range of results, with uncertainty about bioenergy conversion technology deployment and biomass feedstock supply. To date, the underlying differences in model assumptions and parameters for the range of results have not been conveyed. Here we explore the models and results of the 33rd study of the Stanford Energy Modeling Forum to elucidate and explore bioenergy technology specifications and constraints that underlie projected bioenergy outcomes. We first develop and report consistent bioenergy technology characterizations and modeling details. We evaluate the bioenergy technology specifications through a series of analyses—comparison with the literature, model intercomparison, and an assessment of bioenergy technology projected deployments. We find that bioenergy technology coverage and characterization varies substantially across models, spanning different conversion routes, carbon capture and storage opportunities, and technology deployment constraints. Still, the range of technology specification assumptions is largely in line with bottom-up engineering estimates. We then find that variation in bioenergy deployment across models cannot be understood from technology costs alone. Important additional determinants include biomass feedstock costs, the availability and costs of alternative mitigation options in and across end-uses, the availability of carbon dioxide removal possibilities, the speed with which large scale changes in the makeup of energy conversion facilities and integration can take place, and the relative demand for different energy services.

bioenergy↗

NASA's In-Space Propulsion Technology Program: A Step Toward Interstellar Exploration

NASA's In-Space Propulsion Technology Program is investing in technologies that have the potential to revolutionize the robotic exploration of deep space. For robotic exploration and science missions, increased efficiencies of future propulsion systems are critical to reduce overall life-cycle costs and, in some cases, enable missions previously considered impossible. Continued reliance on conventional chemical propulsion alone will not enable the robust exploration of deep space. The maximum theoretical efficiencies have almost been reached and are insufficient to meet needs for many ambitious science missions currently being considered. By developing the capability to support mid-term robotic mission needs, the program is laying the technological foundation for travel to nearby interstellar space. The In-Space Propulsion Technology Program s technology portfolio includes many advanced propulsion systems. From the next-generation ion propulsion systems operating in the 5-10 kW range, to solar sail propulsion, substantial advances in spacecraft propulsion performance are anticipated. Some of the most promising technologies for achieving these goals use the environment of space itself for energy and propulsion and are generically called "propellantless" because they do not require onboard fuel to achieve thrust. Propellantless propulsion technologies include scientific innovations, such as solar sails, electrodynamic and momentum transfer tethers, and aerocapture. This paper will provide an overview of those propellantless and propellant-based advanced propulsion technologies that will most significantly advance our exploration of deep space.

Johnson, Les↗

NextSTEP Appendix A Modular ECLSS Effort Lessons Learned

NASA’s Artemis program provides the first steps for earth-independent exploration starting with crewed habitats in cislunar space and progressing toward crewed landings on the lunar surface that will prepare systems and crews for the exploration of Mars. The Next Space Technology for Exploration Partnerships (NextSTEP) is a public-private partnership model that facilitates commercial development of deep space exploration capabilities in support of more extensive human spaceflight missions in and beyond cislunar space. NASA issued the original NextSTEP Broad Agency Announcement (BAA) to U.S. industry in late 2014 and issued the second BAA (NextSTEP-2) in April 2016. The first appendix under NextSTEP-2, Appendix A, focused on developing deep space habitation concepts, engineering design and development, and risk reduction efforts leading to a habitation capability in cislunar space. NASA solicited concepts to develop and refine the evolvable, modular architecture, functional allocation options, standards, and common interfaces required to enable interoperability of the aggregate system to provide long duration deep space transit habitation, specifically enhancements and testing of deep space Environmental Control and Life Support Systems (ECLSS). Collins Aerospace, formerly UTC Aerospace Systems (UTAS), was awarded a Phase 1 and subsequent Phase 2 contract to “develop concepts that group ECLS systems into logical modules maximizing the use of common components and the development of unique methods and design concepts that support in-flight maintenance and repair for future exploration systems.” This paper summarizes the work accomplished under this effort, the lessons that can be applied to development of forthcoming habitation elements, and the gaps remaining to achieve a more resilient, maintainable, repairable and adaptable system capable of installation on a wide variety of habitat platforms. A primary accomplishment of this effort is the development and maturation of a modular palletization concept to enable standard rack interfaces, post-launch outfitting, and decoupling of structural supports that withstand launch environments from those needed for lower on-orbit loads in order to reduce installed mass and repurposing of panels within the habitat. In the course of the effort, Collins assessed numerous architecture trades, including the use of condensing and noncondensing heat exchangers, the ability of modular units to accommodate various habitat volumes and thermal loading, and the most appropriate order of and timing of delivery of regenerative ECLSS hardware to orbital habitats. In addition to the modularity of hardware elements, Collins developed software approaches for distributed/modular command, control, and communication systems and innovative Bayesian fault detection and isolation techniques. Finally, the effort explored advanced maintainability and supportability concepts including the definition of maintenance units (MUs) in place of the traditional Orbital Replacement Units (ORUs), increasing parts commonality to reduce the number and type of spare parts, the use of augmented reality to guide crews during maintenance and repair procedures, and how crews would prepare for and recover from long durations of habitat dormancy. Now that the NextSTEP Modular ECLSS effort has come to a close, it’s important to identify the lessons learned and where they can be leveraged to improve NASA’s broader program of ECLSS technology development and demonstration and ultimately how they can increase the performance of future surface and orbital habitats.

NextSTEP↗

NextSTEP Appendix A Modular ECLSS Effort Lessons Learned

NASA’s Artemis program provides the first steps for earth-independent exploration starting with crewed habitats in cislunar space and progressing toward crewed landings on the lunar surface that will prepare systems and crews for the exploration of Mars. The Next Space Technology for Exploration Partnerships (NextSTEP) is a public-private partnership model that facilitates commercial development of deep space exploration capabilities in support of more extensive human spaceflight missions in and beyond cislunar space. NASA issued the original NextSTEP Broad Agency Announcement (BAA) to U.S. industry in late 2014 and issued the second BAA (NextSTEP-2) in April 2016. The first appendix under NextSTEP-2, Appendix A, focused on developing deep space habitation concepts, engineering design and development, and risk reduction efforts leading to a habitation capability in cislunar space. NASA solicited concepts to develop and refine the evolvable, modular architecture, functional allocation options, standards, and common interfaces required to enable interoperability of the aggregate system to provide long duration deep space transit habitation, specifically enhancements and testing of deep space Environmental Control and Life Support Systems (ECLSS). Collins Aerospace, formerly UTC Aerospace Systems (UTAS), was awarded a Phase 1 and subsequent Phase 2 contract to “develop concepts that group ECLS systems into logical modules maximizing the use of common components and the development of unique methods and design concepts that support in-flight maintenance and repair for future exploration systems.” This paper summarizes the work accomplished under this effort, the lessons that can be applied to development of forthcoming habitation elements, and the gaps remaining to achieve a more resilient, maintainable, repairable and adaptable system capable of installation on a wide variety of habitat platforms. A primary accomplishment of this effort is the development and maturation of a modular palletization concept to enable standard rack interfaces, post-launch outfitting, and decoupling of structural supports that withstand launch environments from those needed for lower on-orbit loads in order to reduce installed mass and repurposing of panels within the habitat. In the course of the effort, Collins assessed numerous architecture trades, including the use of condensing and noncondensing heat exchangers, the ability of modular units to accommodate various habitat volumes and thermal loading, and the most appropriate order of and timing of delivery of regenerative ECLSS hardware to orbital habitats. In addition to the modularity of hardware elements, Collins developed software approaches for distributed/modular command, control, and communication systems and innovative Bayesian fault detection and isolation techniques. Finally, the effort explored advanced maintainability and supportability concepts including the definition of maintenance units (MUs) in place of the traditional Orbital Replacement Units (ORUs), increasing parts commonality to reduce the number and type of spare parts, the use of augmented reality to guide crews during maintenance and repair procedures, and how crews would prepare for and recover from long durations of habitat dormancy. Now that the NextSTEP Modular ECLSS effort has come to a close, it’s important to identify the lessons learned and where they can be leveraged to improve NASA’s broader program of ECLSS technology development and demonstration and ultimately how they can increase the performance of future surface and orbital habitats.

NextSTEP↗

Regenerative life support technology challenges for the Space Exploration Initiative

Regenerative life support systems have been identified as one of the critical enabling technologies for future human exploration of space. This discipline encompasses processes and subsystems which regenerate the air, water, solid waste, and food streams typical of human habitation so as to minimize the mass and volume of stored consumables which must accompany the humans on a mission. A number of key technology challenges within this broad discipline are described, ranging from the development of new physical, chemical, and biological processes for regenerating the air, water, solid waste, and food streams to the development of improved techniques for monitoring and controlling microbial and trace constituent contamination. A continuing challenge overarching the development of these new technologies is the need to minimize the mass, volume, and electrical power consumption of the flight hardware. More important for long duration exploration missions, however, is the development of highly reliable, long-lived, self- sufficient systems which absolutely minimize the logistics resupply and operational maintenance requirements of the life support system and which ensure human safety through their robust, reliable operating characteristics.

Bilardo, Vincent J., Jr.↗

Nuclear Thermal Rocket (Ntr) Propulsion: A Proven Game-Changing Technology for Future Human Exploration Missions

The NTR represents the next evolutionary step in high performance rocket propulsion. It generates high thrust and has a specific impulse (Isp) of approx.900 seconds (s) or more V twice that of today s best chemical rockets. The technology is also proven. During the previous Rover and NERVA (Nuclear Engine for Rocket Vehicle Applications) nuclear rocket programs, 20 rocket reactors were designed, built and ground tested. These tests demonstrated: (1) a wide range of thrust; (2) high temperature carbide-based nuclear fuel; (3) sustained engine operation; (4) accumulated lifetime; and (5) restart capability V all the requirements needed for a human mission to Mars. Ceramic metal cermet fuel was also pursued, as a backup option. The NTR also has significant growth and evolution potential. Configured as a bimodal system, it can generate electrical power for the spacecraft. Adding an oxygen afterburner nozzle introduces a variable thrust and Isp capability and allows bipropellant operation. In NASA s recent Mars Design Reference Architecture (DRA) 5.0 study, the NTR was selected as the preferred propulsion option because of its proven technology, higher performance, lower launch mass, simple assembly and mission operations. In contrast to other advanced propulsion options, NTP requires no large technology scale-ups. In fact, the smallest engine tested during the Rover program V the 25,000 lbf (25 klbf) Pewee engine is sufficient for human Mars missions when used in a clustered engine arrangement. The Copernicus crewed spacecraft design developed in DRA 5.0 has significant capability and a human exploration strategy is outlined here that uses Copernicus and its key components for precursor near Earth asteroid (NEA) and Mars orbital missions prior to a Mars landing mission. Initially, the basic Copernicus vehicle can enable reusable 1-year round trip human missions to candidate NEAs like 1991 JW and Apophis in the late 2020 s to check out vehicle systems. Afterwards, the Copernicus spacecraft and its 2 key components, now configured as an Earth Return Vehicle / propellant tanker, would be used for a short round trip (approx.18 - 20 months)/short orbital stay (60 days) Mars / Phobos survey mission in 2033 using a split mission approach. The paper also discusses NASA s current Foundational Technology Development activities and its pre-decisional plans for future system-level Technology Demonstrations that include ground testing a small (approx.7.5 klbf) scalable NTR before the decade is out with a flight test shortly thereafter.

Borowski, Stanley K.↗

Technology Needs to Support Future Mars Exploration

The Mars Program Planning Group (MPPG) under the direction of Dr. Orlando Figueroa, was chartered to develop options for a program-level architecture for robotic exploration of Mars consistent with the objective to send humans to Mars in the 2030's. Scientific pathways were defined for future exploration, and multiple architectural options were developed that meet current science goals and support the future human exploration objectives. Integral to the process was the identification of critical technologies which enable the future scientific and human exploration goals. This paper describes the process for technology capabilities identification and examines the critical capability needs identified in the MPPG process. Several critical enabling technologies that have been identified to support the robotic exploration goals and with potential feedforward application to human exploration goals. Potential roadmaps for the development and validation of these technologies are discussed, including options for subscale technology demonstrations of future human exploration technologies on robotic missions.

Mars Program Planning Group (MPPG)↗

NASA's Human Research Program at The Glenn Research Center: Progress and Opportunities

The NASA Human Research Program is aimed at correcting problems in critical areas that place NASA human spaceflight missions at risk due to shortfalls in astronaut health, safety and performance. The Glenn Research Center (GRC) and partners from Ohio are significant contributors to this effort. This presentation describes several areas of GRC emphasis, the first being NASA s path to creating exercise hardware requirements and protocols that mitigate the effects of long duration spaceflight. Computational simulations will be a second area that is discussed. This includes deterministic models that simulate the effects of spaceflight on the human body, as well as probabilistic models that bound and quantify the probability that adverse medical incidents will happen during an exploration mission. Medical technology development for exploration will be the final area to be discussed.

Nall, Marsha↗

Towards Autonomous Operations of the Robonaut 2 Humanoid Robotic Testbed

The Robonaut project has been conducting research in robotics technology on board the International Space Station (ISS) since 2012. Recently, the original upper body humanoid robot was upgraded by the addition of two climbing manipulators ("legs"), more capable processors, and new sensors, as shown in Figure 1. While Robonaut 2 (R2) has been working through checkout exercises on orbit following the upgrade, technology development on the ground has continued to advance. Through the Active Reduced Gravity Offload System (ARGOS), the Robonaut team has been able to develop technologies that will enable full operation of the robotic testbed on orbit using similar robots located at the Johnson Space Center. Once these technologies have been vetted in this way, they will be implemented and tested on the R2 unit on board the ISS. The goal of this work is to create a fully-featured robotics research platform on board the ISS to increase the technology readiness level of technologies that will aid in future exploration missions. Technology development has thus far followed two main paths, autonomous climbing and efficient tool manipulation. Central to both technologies has been the incorporation of a human robotic interaction paradigm that involves the visualization of sensory and pre-planned command data with models of the robot and its environment. Figure 2 shows screenshots of these interactive tools, built in rviz, that are used to develop and implement these technologies on R2. Robonaut 2 is designed to move along the handrails and seat track around the US lab inside the ISS. This is difficult for many reasons, namely the environment is cluttered and constrained, the robot has many degrees of freedom (DOF) it can utilize for climbing, and remote commanding for precision tasks such as grasping handrails is time-consuming and difficult. Because of this, it is important to develop the technologies needed to allow the robot to reach operator-specified positions as autonomously as possible. The most important progress in this area has been the work towards efficient path planning for high DOF, highly constrained systems. Other advances include machine vision algorithms for localizing and automatically docking with handrails, the ability of the operator to place obstacles in the robot's virtual environment, autonomous obstacle avoidance techniques, and constraint management.

Badger, Julia↗

Milli-Arcsecond (MAS) Imaging with SmallSat Enabled Super-resolution

The objective of this project is to demonstrate a new imaging technology with unprecedented capabilities for scientific exploration. This technology innovation will enable extremely high-resolution imaging capability, otherwise unattainable with conventional approaches. It is based on a unique combination of novel diffractive optical sensing (photon sieve), advanced image processing, and small satellite formation flying. The spatial resolution of current solar instruments are more than 100 times coarser than the size of energy dissipation features in coronal heating (<100 km) since conventional optics cannot be figured to near diffraction-limited accuracy at extreme ultraviolet (EUV) wavelengths. This project will demonstrate the feasibility of imaging of a few milli-arcseconds (MAS) to study the structure and development of these dissipation regions.

Farzad Kamalabadi↗

Nuclear technology and the space exploration missions

The strategy for a major exploration initiative leading to permanent human presence beyond earth orbit is still being developed; however enough is known to begin defining the role of nuclear technologies. Three broad areas are discussed: low power (less than 10 kWe) rover/vehicle power systems; integrated, evolutionary base power systems (25 to 100 kW) and nuclear energy for electric propulsion (2 to 100 MWe); and direct thermal propulsion (1000s MW). A phased, evolutionary approach is described for both the moon and Mars, and the benefits of nuclear technologies relative to solar and their integration are described.

Brandhorst, Henry W.↗

Nuclear technology and the space exploration missions

The strategy for a major exploration initiative leading to permanent human presence beyond earth orbit is still being developed; however enough is known to begin defining the role of nuclear technologies. Three broad areas are discussed: low power (less than 10 kWe) rover/vehicle power systems; integrated, evolutionary base power systems (25 to 100 kW) and nuclear energy for electric propulsion (2 to 100 MWe); and direct thermal propulsion (1000s MW). A phased, evolutionary approach is described for both the moon and Mars, and the benefits of nuclear technologies relative to solar and their integration are described.

Brandhorst, Henry W.↗

Instrument technology for remote-surface exploration, prospecting and assaying, part 2

The capability to specify new instrument/mechanism technology needs, for effective remote surface exploration, prospecting and assaying (EPA), requires first, an understanding of the functions or major elements of such a task, and second an understanding of the scientific instruments and support mechanisms that may be involved. An analog or task model was developed from which the various functions, operational procedures, scientific instruments, and support mechanisms for an automated mission could be derived. The task model led to the definition of nine major functions or categories of discrete operational elements that may have to be accomplished on a mission of this type. Each major function may stand alone as an element of an EPA mission, but more probably a major function will require the support of other functions, so they are inter-related.

Brereton, R. G.↗

Automating CapCom: Pragmatic Operations and Technology Research for Human Exploration of Mars

During the Apollo program, NASA and the scientific community used terrestrial analog sites for understanding planetary features and for training astronauts to be scientists. More recently, computer scientists and human factors specialists have followed geologists and biologists into the field, learning how science is actually done on expeditions in extreme environments. Research stations have been constructed by the Mars Society in the Arctic and American southwest, providing facilities for hundreds of researchers to investigate how small crews might live and work on Mars. Combining these interests-science, operations, and technology-in Mars analog field expeditions provides tremendous synergy and authenticity to speculations about Mars missions. By relating historical analyses of Apollo and field science, engineers are creating experimental prototypes that provide significant new capabilities, such as a computer system that automates some of the functions of Apollo s CapCom. Thus, analog studies have created a community of practice-a new collaboration between scientists and engineers-so that technology begins with real human needs and works incrementally towards the challenges of the human exploration of Mars.

Clancey, William J.↗

From a lunar outpost to Mars - Science, policy and the U.S. Space Exploration Initiative

The technological developments required for the Space Exploration Initiative (SEI) objectives are discussed in terms of scientific investigation and present U.S. space policy. The results of the 90-Day Study are listed which include explicit suggestions for the successful exploration of the moon and Mars. The Outreach/Synthesis program is described which provides four methods for eliciting ideas, technologies, and research venues for lunar and Martian missions. The results of the studies include 5 scientific objectives such as the relationship between the sun, planetary atmospheres, and climate. The protection of human life from potential extraterrestrial hazards such as radiation is also found to be a key objective of SEI as are the theoretical and practical issues of scientific research.

Pilcher, Carl B.↗

Station Explorer for X-Ray Timing and Navigation Technology Architecture Overview

The Station Explorer for X-ray Timing and Navigation Technology (SEXTANT) is a technology demonstration enhancement to the Neutron-star Interior Composition Explorer (NICER) mission. NICER is a NASA astrophysics Explorer Mission of Opportunity, scheduled for launch in mid-2016, that will be hosted on the International Space Station (ISS) via the ExPRESS Logistics Carrier (ELC). By exploiting the regular pulsations emit-ted by the ultra dense remnants of dead stars, which rotate many hundreds of times per second, SEXTANT will, for the first-time, demonstrate real-time, on-board X-ray pulsar-based navigation is a significant milestone in the quest to establish a GPS-like navigation capability available throughout our Solar System and beyond and include the worlds first completely functional system architecture for navigation using X-ray pulsars. In addition, NICER SEXTANT will investigate the suit-ability of these millisecond X-ray pulsars (MSPs) as a Solar System-wide timing infrastructure to rival terrestrial atomic clocks on long timescales. This paper provides a brief overview of the SEXTANT demonstration and the design of the system architecture that consists of the NICER X-ray timing instrument, the SEXTANT flight software and algorithms, supporting ground system, and the GSFC X-ray Navigation Laboratory Testbed (GXLT).

Pulsars↗