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NASA NTRS2004

Initial Efforts toward Mission-Representative Imaging Surveys from Aerial Explorers

Numerous researchers have proposed the use of robotic aerial explorers to perform scientific investigation of planetary bodies in our solar system. One of the essential tasks for any aerial explorer is to be able to perform scientifically valuable imaging surveys. The focus of this paper is to discuss the challenges implicit in, and recent observations related to, acquiring mission-representative imaging data from a small fixed-wing UAV, acting as a surrogate planetary aerial explorer. This question of successfully performing aerial explorer surveys is also tied to other topics of technical investigation, including the development of unique bio-inspired technologies.

Pisanich, Greg↗
NASA NTRS2002

Bioinspired engineering of exploration systems for NASA and DoD

A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.

Space Flight↗
NASA NTRS2003

Automation and Robotics for Human Mars Exploration (AROMA)

Automation and Robotics (A&R) systems are a key technology for Mars exploration. All over the world initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. From December 2000 to February 2002 Kayser-Threde GmbH, Munich, Germany lead a study called AROMA (Automation and Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals of this effort is to initiate new developments and to maintain the competitiveness of European industry within this field. c2003 Published by Elsevier Science Ltd.

Space Flight/instrumentation↗
NASA NTRS2004

Mothers of Invention: Hubble Engineers Push Robotic 'Evolution' to Save Telescope, Enable New Exploration

Robotic technology being developed out of necessity to keep the Hubble Space Telescope operating could also lead to new levels of man-machine team-work in deep-space exploration down the road-if it survives the near-term scramble for funding. Engineers here who have devoted their NASA careers to the concept of humans servicing the telescope in orbit are planning modifications to International Space Station (ISS) robots that would leave the humans on the ground. The work. forced by post-Columbia flight rules that killed a planned shuttle-servicing mission to Hubble, marks another step in the evolution of robot-partners for human space explorers. "Hubble has always been a pathfider for this agency," says Mike Weiss. Hubble deputy program manager technical. "When the space station was flown and assembled, Hubble was the pathfinder. not just for modularity, but for operations, for assembly techniques. Exploration is the next step. Things we're going to do on Hubble are going to be applied to exploration. It's not just putting a robot in space. It's operating a robot in space. It's adapting that robot to what needs to be done the next time you're up there."

Morring, Frank, Jr.↗
NASA NTRS2004

GSFC Information Systems Technology Developments Supporting the Vision for Space Exploration

The Vision for Space Exploration will guide NASA's future human and robotic space activities. The broad range of human and robotic missions now being planned will require the development of new system-level capabilities enabled by emerging new technologies. Goddard Space Flight Center is actively supporting the Vision for Space Exploration in a number of program management, engineering and technology areas. This paper provides a brief background on the Vision for Space Exploration and a general overview of potential key Goddard contributions. In particular, this paper focuses on describing relevant GSFC information systems capabilities in architecture development; interoperable command, control and communications; and other applied information systems technology/research activities that are applicable to support the Vision for Space Exploration goals. Current GSFC development efforts and task activities are presented together with future plans.

Hughes, Peter↗
NASA NTRS2005

An Overview of Wind-Driven Rovers for Planetary Exploration

The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic characteristics of the Tumbleweed Rovers. Bare structures, structures carrying sails and a tumbleweed plant (of the Salsola genus) were tested in Langley's wind tunnels. Thomas Estier of the Swiss Federal Institute of Technology developed a memory metal collapsible structure, the Windball. Numerous other researchers have also suggested spherical rovers.

Hajos, Gregory A.↗
NASA NTRS2005

A New Vehicle for Planetary Surface Exploration: The Mars Tumbleweed

The surface of Mars is currently being explored with a combination of orbiting spacecraft, stationary landers and wheeled rovers. However, only a small portion of the Martian surface has undergone in-situ examination. Landing sites must be chosen to insure the safety of the vehicles (and human explorers) and provide the greatest opportunity for mission success. While wheeled rovers provide the ability to move beyond the landing sites, they are also limited in their ability to traverse rough terrain; therefore, many scientifically interesting sites are inaccessible by current vehicles. In order to access these sites, a capability is needed that can transport scientific instruments across varied Martian terrain. A new "rover" concept for exploring the Martian surface, known as the Mars Tumbleweed, will derive mobility through use of the surface winds on Mars, much like the Tumbleweed plant does here on Earth. Using the winds on Mars, a Tumbleweed rover could conceivably travel great distances and cover broad areas of the planetary surface. Tumbleweed vehicles would be designed to withstand repeated bouncing and rolling on the rock covered Martian surface and may be durable enough to explore areas on Mars such as gullies and canyons that are currently inaccessible by conventional rovers. Achieving Mars wind-driven mobility; however, is not a minor task. The density of the atmosphere on Mars is approximately 60-80 times less than that on Earth and wind speeds are typically around 2-5 m/s during the day, with periodic winds of 10 m/s to 20 m/s (in excess of 25 m/s during seasonal dust storms). However, because of the Martian atmosphere#s low density, even the strongest winds on Mars equate to only a gentle breeze on Earth. Tumbleweed rovers therefore need to be relatively large (4-6 m in diameter), very lightweight (10-20 kg), and equipped with lightweight, low-power instruments. This paper provides an overview of the Tumbleweed concept, presents several notional design concepts, mission scenarios, and highlights recent tests and analyses of Tumbleweed prototypes.

Antol, Jeffrey↗
NASA NTRS2005

Aerial Explorers

This paper presents recent results from a mission architecture study of planetary aerial explorers. In this study, several mission scenarios were developed in simulation and evaluated on success in meeting mission goals. This aerial explorer mission architecture study is unique in comparison with previous Mars airplane research activities. The study examines how aerial vehicles can find and gain access to otherwise inaccessible terrain features of interest. The aerial explorer also engages in a high-level of (indirect) surface interaction, despite not typically being able to takeoff and land or to engage in multiple flights/sorties. To achieve this goal, a new mission paradigm is proposed: aerial explorers should be considered as an additional element in the overall Entry, Descent, Landing System (EDLS) process. Further, aerial vehicles should be considered primarily as carrier/utility platforms whose purpose is to deliver air-deployed sensors and robotic devices, or symbiotes, to those high-value terrain features of interest.

Young, Larry A.↗
NASA NTRS2005

Technology Challenges for Deep-Throttle Cryogenic Engines for Space Exploration

Historically, cryogenic rocket engines have not been used for in-space applications due to their additional complexity, the mission need for high reliability, and the challenges of propellant boil-off. While the mission and vehicle architectures are not yet defined for the lunar and Martian robotic and human exploration objectives, cryogenic rocket engines offer the potential for higher performance and greater architecture/mission flexibility. In-situ cryogenic propellant production could enable a more robust exploration program by significantly reducing the propellant mass delivered to low earth orbit, thus warranting the evaluation of cryogenic rocket engines versus the hypergolic bi-propellant engines used in the Apollo program. A multi-use engine. one which can provide the functionality that separate engines provided in the Apollo mission architecture, is desirable for lunar and Mars exploration missions because it increases overall architecture effectiveness through commonality and modularity. The engine requirement derivation process must address each unique mission application and each unique phase within each mission. The resulting requirements, such as thrust level, performance, packaging, bum duration, number of operations; required impulses for each trajectory phase; operation after extended space or surface exposure; availability for inspection and maintenance; throttle range for planetary descent, ascent, acceleration limits and many more must be addressed. Within engine system studies, the system and component technology, capability, and risks must be evaluated and a balance between the appropriate amount of technology-push and technology-pull must be addressed. This paper will summarize many of the key technology challenges associated with using high-performance cryogenic liquid propellant rocket engine systems and components in the exploration program architectures. The paper is divided into two areas. The first area describes how the mission requirements affect the engine system requirements and create system level technology challenges. An engine system architecture for multiple applications or a family of engines based upon a set of core technologies, design, and fabrication approaches may reduce overall programmatic cost and risk. The engine system discussion will also address the characterization of engine cycle figures of merit, configurations, and design approaches for some in-space vehicle alternatives under consideration. The second area evaluates the component-level technology challenges induced from the system requirements. Component technology issues are discussed addressing injector, thrust chamber, ignition system, turbopump assembly, and valve design for the challenging requirements of high reliability, robustness, fault tolerance, deep throttling, reasonable performance (with respect to weight and specific impulse).

Brown, Kendall K.↗
NASA NTRS2005

Sabatier Methanation Reactor for Space Exploration

The Sabatier Methanation Reactor technology is of vital importance to the success of the human and robotic exploration program. In order to achieve an affordable program, the logistics supply to support the mission must be minimized to the fullest extent possible. One area of potential reduction with high return on investment is the closure of life support loops, particularly oxygen and water. The Sabatier system accomplishes this by utilizing hydrogen and carbon dioxide, waste products from the life support system, to produce water and methane. The recovered water is then recycled back into the life support system to provide oxygen; while the methane can be used for propulsion, or can be broken down further to recover the hydrogen. This technology is applicable not only to transit phases of exploration, but surface habitats as well as in-situ propellant production. The Sabatier Reactor system has been developed for ground based demonstration experiments extensively over the past 30 years. Over the past three years, NASA has funded development of the Sabatier Carbon Dioxide Reduction Assembly (CRA) for use on the ISS. Currently this system is at TRL 5 and it is expected that the system will be flown on the ISS as a flight experiment, The purpose of the flight experiment is to integrate the Sabatier CRA into a synchronized system with the oxygen generation system and the carbon dioxide concentrator. The flight experiment will verify the integration of the different systems working together plus it will verify the capability of the system to operate, and effectively separate its products in a micro-gravity environment. Subsequent to design validation, the flight experiment can remain onboard the ISS providing valuable water to offset logistics re-supply requirements. Some of the challenges facing the development of the Sabatier system include handling vibration induced particulates, microgravity phase separation and containment of hazardous gases. Plans for adequately addressing these issues will be presented. The Sabatier carbon dioxide reduction process will greatly benefit any of the extended duration human exploration missions because of the tremendous savings of consumables realized. Any of these mission scenarios, be they transit or surface based, must consider closing the life support loops in order to make the mission achievable, let alone affordable. Carbon dioxide reduction technology will be necessary for future outpost habitats, and the technology needs to be proven viable in a space application. The Sabatier methanation reaction is also a desirable method for producing propellant from the Mars atmosphere. The common system could be designed to accept carbon dioxide from an indoor air revitalization loop concentrator, or from an outdoor atmosphere compressor. Carbon dioxide reduction validation is but one step in the spiral development of the in-situ propellant production system desired for future planetary exploration.

Murdoch, Karen↗
NASA NTRS2005

Auxiliary Propulsion Activities in Support of NASA's Exploration Initiative

The Space Launch Initiative (SLI) procurement mechanism NRA8-30 initiated the Auxiliary Propulsion System/Main Propulsion System (APS/MPS) Project in 2001 to address technology gaps and development risks for non-toxic and cryogenic propellants for auxiliary propulsion applications. These applications include reaction control and orbital maneuvering engines, and storage, pressure control, and transfer technologies associated with on-orbit maintenance of cryogens. The project has successfully evolved over several years in response to changing requirements for re-usable launch vehicle technologies, general launch technology improvements, and, most recently, exploration technologies. Lessons learned based on actual hardware performance have also played a part in the project evolution to focus now on those technologies deemed specifically relevant to the Exploration Initiative. Formal relevance reviews held in the spring of 2004 resulted in authority for continuation of the Auxiliary Propulsion Project through Fiscal Year 2005 (FY05), and provided for a direct reporting path to the Exploration Systems Mission Directorate. The tasks determined to be relevant under the project were: continuation of the development, fabrication, and delivery of three 870 lbf thrust prototype LOX/ethanol reaction control engines; the fabrication, assembly, engine integration and testing of the Auxiliary Propulsion Test Bed at White Sands Test Facility; and the completion of FY04 cryogenic fluid management component and subsystem development tasks (mass gauging, pressure control, and liquid acquisition elements). This paper presents an overview of those tasks, their scope, expectations, and results to-date as carried forward into the Exploration Initiative.

Best, Philip J.↗
NASA NTRS2005

A Sustained Proximity Network for Multi-Mission Lunar Exploration

Tbe Vision for Space Exploration calls for an aggressive sequence of robotic missions beginning in 2008 to prepare for a human return to the Moon by 2020, with the goal of establishing a sustained human presence beyond low Earth orbit. A key enabler of exploration is reliable, available communication and navigation capabilities to support both human and robotic missions. An adaptable, sustainable communication and navigation architecture has been developed by Goddard Space Flight Center and the Jet Propulsion Laboratory to support human and robotic lunar exploration through the next two decades. A key component of the architecture is scalable deployment, with the infrastructure evolving as needs emerge, allowing NASA and its partner agencies to deploy an interoperable communication and navigation system in an evolutionary way, enabling cost effective, highly adaptable systems throughout the lunar exploration program.

Soloff, Jason A.↗
NASA NTRS2005

Engineering Ultimate Self-Protection in Autonomic Agents for Space Exploration Missions

NASA's Exploration Initiative (EI) will push space exploration missions to the limit. Future missions will be required to be self-managing as well as self-directed, in order to meet the challenges of human and robotic space exploration. We discuss security and self protection in autonomic agent based-systems, and propose the ultimate self-protection mechanism for such systems-self-destruction. Like other metaphors in Autonomic Computing, this is inspired by biological systems, and is the analog of biological apoptosis. Finally, we discus the role it might play in future NASA space exploration missions.

Sterritt, Roy↗
NASA NTRS2005

Interaction Challenges in Human-Robot Space Exploration

In January 2004, NASA established a new, long-term exploration program to fulfill the President's Vision for U.S. Space Exploration. The primary goal of this program is to establish a sustained human presence in space, beginning with robotic missions to the Moon in 2008, followed by extended human expeditions to the Moon as early as 2015. In addition, the program places significant emphasis on the development of joint human-robot systems. A key difference from previous exploration efforts is that future space exploration activities must be sustainable over the long-term. Experience with the space station has shown that cost pressures will keep astronaut teams small. Consequently, care must be taken to extend the effectiveness of these astronauts well beyond their individual human capacity. Thus, in order to reduce human workload, costs, and fatigue-driven error and risk, intelligent robots will have to be an integral part of mission design.

Fong, Terrence↗
NASA NTRS2005

Air and Water System (AWS) Design and Technology Selection for the Vision for Space Exploration

This paper considers technology selection for the crew air and water recycling systems to be used in long duration human space exploration. The specific objectives are to identify the most probable air and water technologies for the vision for space exploration and to identify the alternate technologies that might be developed. The approach is to conduct a preliminary first cut systems engineering analysis, beginning with the Air and Water System (AWS) requirements and the system mass balance, and then define the functional architecture, review the International Space Station (ISS) technologies, and discuss alternate technologies. The life support requirements for air and water are well known. The results of the mass flow and mass balance analysis help define the system architectural concept. The AWS includes five subsystems: Oxygen Supply, Condensate Purification, Urine Purification, Hygiene Water Purification, and Clothes Wash Purification. AWS technologies have been evaluated in the life support design for ISS node 3, and in earlier space station design studies, in proposals for the upgrade or evolution of the space station, and in studies of potential lunar or Mars missions. The leading candidate technologies for the vision for space exploration are those planned for Node 3 of the ISS. The ISS life support was designed to utilize Space Station Freedom (SSF) hardware to the maximum extent possible. The SSF final technology selection process, criteria, and results are discussed. Would it be cost-effective for the vision for space exploration to develop alternate technology? This paper will examine this and other questions associated with AWS design and technology selection.

Jones, Harry↗
NASA NTRS2005

Impact of Lunar Dust on the Exploration Initiative

From the Apollo era it is known that dust on the Moon can cause serious problems for exploration activities. Such problems include adhering to clothing and equipment, reducing external visibility on landings, and causing difficulty to breathing and vision within the spacecraft. An important step in dealing with dust-related problems is to understand how dust grains behave in the lunar environment. All astronauts who walked on the Moon reported difficulties with lunar dust. Eugene Cernan, commander of Apollo 17, stated that one of the most aggravating, restricting facets of lunar surface exploration is the dust and its adherence to everything no matter what kind of material, whether it be skin, suit material, metal, no matter what it be and it's restrictive friction-like action to everything it gets on. Dust has also been highlighted as a priority by the Mars Exploration Program Assessment Group (MEPAG): 1A. Characterize both aeolian dust and particulates that would be kicked up from the martian regolith by surface operations of a human mission with fidelity sufficient to establish credible engineering simulation labs and/or software codes on Earth. We shall briefly describe the properties of lunar dust and its impact on the Apollo astronauts, and then summarize three main problems areas for understanding its behavior: Dust Adhesion and Abrasion, Surface Electric Fields and Dust Transport. These issues are all inter-related and must be well understood in order to minimize the impact of dust on lunar surface exploration.

Stubbs, T. J.↗
NASA NTRS2005

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↗
NASA NTRS2005

Materials Challenges in Space Exploration

The new vision of space exploration encompasses a broad range of human and robotic missions to the Moon, Mars and beyond. Extended human space travel requires high reliability and high performance systems for propulsion, vehicle structures, thermal and radiation protection, crew habitats and health monitoring. Advanced materials and processing technologies are necessary to meet the exploration mission requirements. Materials and processing technologies must be sufficiently mature before they can be inserted into a development program leading to an exploration mission. Exploration will be more affordable by in-situ utilization of materials on the Moon and Mars.

Vickers, John↗