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A unique bio-inspired approach to autonomous aerial vehicle, a.k.a. aerial explorer technology is discussed. The work is focused on defining and studying aerial explorer mission concepts, both as an individual robotic system and as a member of a small robotic "ecosystem." Members of this robotic ecosystem include the aerial explorer, air-deployed sensors and robotic symbiotes, and other assets such as rovers, landers, and orbiters.
The Sensor Web concept emerged as the number of Earth Science Satellites began to increase in the recent years. The idea, part of a vision for the future of earth science, was that the sensor systems would be linked in an active way to provide improved forecast capability. This means that a system that is nearly autonomous would need to be developed to allow the satellites to re-target and deploy assets for particular phenomena or provide on board processing for real time data. This talk will describe several elements of the sensor web.
Today, theory and modeling play a critical role in our quest to understand the connection between solar eruptive phenomena, and their impacts in interplanetary space and in the near-Earth space environment. This new role is based on two developments, one related to the goal of basic physical understanding, and the other to space weather-related applications. When targeting physical our focus is shifting away from investigations aiming at basic discoveries, to missions and studies that address our basic understanding of processes we know to be important. For these studies, theory and models provide physical explanations that need to be verified or falsified by empirical evidence. Within this paradigm, a much more tight integration between theory modeling, and space flight mission design and execution is not only beneficial, but essential. One of the prime objectives of space weather research, on the other hand, is the prediction of space environmental conditions for the benefit of humans and their assets in near-Earth space and on the ground, as well as on solar system bodies like Mars that are of interest to exploration by humans. By its very nature, prediction requires modeling, which, in turn, requires understanding. We will present an overview of the role of theory and modeling within the International Living With a Star program. Specifically, we will focus on an assessment of present-day and future capabilities, as well as on strategies for tight integration of theory and modeling in space science investigations.
A sensor web to collect the scientific data needed to further exploration is a major and efficient asset to any exploration effort. This is true not only for lunar and planetary environments, but also for interplanetary and liquid environments. Such a system would also have myriad direct commercial spin-off applications. The Hybrid Exploration Agent Platform and Sensor Web or HEAP-SW like the ANTS concept is a Sensor Web concept. The HEAP-SW is conceptually and practically a very different system. HEAP-SW is applicable to any environment and a huge range of exploration tasks. It is a very robust, low cost, high return, solution to a complex problem. All of the technology for initial development and implementation is currently available. The HEAP Sensor Web or HEAP-SW consists of three major parts, The Hybrid Exploration Agent Platforms or HEAP, the Sensor Web or SW and the immobile Data collection and Uplink units or DU. The HEAP-SW as a whole will refer to any group of mobile agents or robots where each robot is a mobile data collection unit that spends most of its time acting in concert with all other robots, DUs in the web, and the HEAP-SWs overall Command and Control (CC) system. Each DU and robot is, however, capable of acting independently. The three parts of the HEAP-SW system are discussed in this paper. The Goals of the HEAP-SW system are: 1) To maximize the amount of exploration enhancing science data collected; 2) To minimize data loss due to system malfunctions; 3) To minimize or, possibly, eliminate the risk of total system failure; 4) To minimize the size, weight, and power requirements of each HEAP robot; 5) To minimize HEAP-SW system costs. The rest of this paper discusses how these goals are attained.
Aerial vehicles fill a unique planetary science measurement gap, that of regional-scale, near-surface observation, while providing a fresh perspective for potential discovery. Aerial vehicles used in planetary exploration bridge the scale and resolution measurement gaps between orbiters (global perspective with limited spatial resolution) and landers (local perspective with high spatial resolution) thus complementing and extending orbital and landed measurements. Planetary aerial vehicles can also survey scientifically interesting terrain that is inaccessible or hazardous to landed missions. The use of aerial assets for performing observations on Mars, Titan, or Venus will enable direct measurements and direct follow-ons to recent discoveries. Aerial vehicles can be used for remote sensing of the interior, surface and atmosphere of Mars, Venus and Titan. Types of aerial vehicles considered are airplane "heavier than air" and airships and balloons "lighter than air". Interdependencies between the science measurements, science goals and objectives, and platform implementation illustrate how the proper balance of science, engineering, and cost, can be achieved to allow for a successful mission. Classification of measurement types along with how those measurements resolve science questions and how these instruments are accommodated within the mission context are discussed.
Shuttle-Derived Launch Vehicle (SDLV) concepts have been developed by a collaborative team comprising the Johnson Space Center, Marshall Space Flight Center, Kennedy Space Center, ATK-Thiokol, Lockheed Martin Space Systems Company, The Boeing Company, and United Space Alliance. The purpose of this study was to provide timely information on a full spectrum of low-risk, cost-effective options for STS-Derived Launch Vehicle concepts to support the definition of crew and cargo launch requirements for the Space Exploration Vision. Since the SDLV options use high-reliability hardware, existing facilities, and proven processes, they can provide relatively low-risk capabilities to launch extremely large payloads to low Earth orbit. This capability to reliably lift very large, high-dollar-value payloads could reduce mission operational risks by minimizing the number of complex on-orbit operations compared to architectures based on multiple smaller launchers. The SDLV options also offer several logical spiral development paths for larger exploration payloads. All of these development paths make practical and cost-effective use of existing Space Shuttle Program (SSP) hardware, infrastructure, and launch and flight operations systems. By utilizing these existing assets, the SDLV project could support the safe and orderly transition of the current SSP through the planned end of life in 2010. The SDLV concept definition work during 2004 focused on three main configuration alternatives: a side-mount heavy lifter (approximately 77 MT payload), an in-line medium lifter (approximately 22 MT Crew Exploration Vehicle payload), and an in-line heavy lifter (greater than 100 MT payload). This paper provides an overview of the configuration, performance capabilities, reliability estimates, concept of operations, and development plans for each of the various SDLV alternatives. While development, production, and operations costs have been estimated for each of the SDLV configuration alternatives, these proprietary data have not been included in this paper.
The science return of NASA's Stardust Mission with its valuable cargo of cometary debris hinges on the ability to efficiently extract particles from silica aerogel collectors. The current method for extracting cosmic dust impact tracks is a mature procedure involving sequential perforation of the aerogel with glass needles on computer controlled micromanipulators. This method is highly successful at removing well-defined aerogel fragments of reasonable optical clarity while causing minimal damage to the surrounding aerogel collector tile. Such a system will be adopted by the JSC Astromaterials Curation Facility in anticipation of Stardust s arrival in early 2006. In addition to Stardust, aerogel is a possible collector for future sample return missions and is used for capture of hypervelocity ejecta in high power laser experiments of interest to LLNL. Researchers will be eager to obtain Stardust samples for study as quickly as possible, and rapid extraction tools requiring little construction, training, or investment would be an attractive asset. To this end, we have experimented with micro-blades for the Stardust impact track extraction process. Our ultimate goal is a rapid extraction system in a clean electron beam environment, such as an SEM or dual-beam FIB, for in situ sample preparation, mounting and analysis.
Several concepts have been proposed to remediate the effect of artificial Radiation Belts (RB) in Space Plasma. Among them is the high-voltage electrostatic tether remediation technique. Preliminary analysis that has been carried out later by several groups showed, that this technique could be very efficient and is able to control relativistic electron energies of artificial RB population. The relativistic electron population is the one of the most important topic of US Space Weather studies and very dangerous to many civilian and military space assets, it is also important to study some fundamentals of scattering efficiency of high-voltage tethers in space plasma. There are several fundamental issues that should be examined in order to validate high-voltage tether artificial RB remediation concept. The most critical among them are: power consumption, the size and stability of the plasma sheath around the tether, and scattering efficiency of this high-voltage system that is ultimately related with the plasma sheath size. This study would be focused on the scattering process itself and artificial RB remediation assuming that power consumption and the size of the plasma sheath are known.
The National Aeronautics and Space Administration Space-Based Telemetry and Range Safety study is a multiphase project to increase data rates and flexibility and decrease costs by using space-based communications assets for telemetry during launches and landings. Phase 1 used standard S-band antennas with the Tracking and Data Relay Satellite System to obtain a baseline performance. The selection process and available resources for Phase 2 resulted in a Ku-band phased array antenna system. Several development efforts are under way for a Ka-band phased array antenna system for Phase 3. Each phase includes test flights to demonstrate performance and capabilities. Successful completion of this project will result in a set of communications requirements for the next generation of launch vehicles.
The Icing Branch at NASA Glenn Research has developed a computer program to simulate ice formation on the leading edge of an aircraft wing during flight through cold, moist air. As part of the branch's current research, members have developed software known as LEWICE. This program is capable of predicting the formation of ice under designated weather conditions. The success of LEWICE is an asset to airplane manufacturers, ice protection system manufacturers, and the airline industry. Simulations of ice formation conducted in the tunnel and in flight is costly and time consuming. However, the danger of in-flight icing continues to be a concern for both commercial and military pilots. The LEWICE software is a step towards inexpensive and time efficient prediction of ice collection. In the most recent version of the program, LEWICE contains an algorithm for droplet splashing. Droplet splashing is a natural occurrence that causes accumulation of ice on aircraft surfaces. At impingement water droplets lose a portion of their mass to splashing. With part of each droplet joining the airflow and failing to freeze, early versions of LEWICE without the splashing algorithm over-predicted the collection of ice on the leading edge. The objective of my project was to determine whether the revised version of LEWICE accurately reflected the ice collection data obtained from the Icing Research Tunnel (IRT). The experimental data from the IRT was collected by Mark Potapczuk in January, March and July of 2001 and April and December of 2002. Experimental data points were the result of ice tracings conducted shortly after testing in the tunnel. Run sheets, which included a record of velocity, temperature, liquid water content and droplet diameter, served as the input of the LEWICE computer program. Parameters identical to the tunnel conditions were used to run LEWICE 2.0 and LEWICE 3.0. The results from IRT and versions of LEWICE were compared graphically. After entering the raw experimental data and computer output into a spread sheet, I mapped each ice formation onto a clean airfoil. The LEWICE output provided the data points to graphically depict ice formations developed by the program. weather conditions of runs conducted in January 2001, it was evident that the splashing algorithm of LEWICE 3.0 predicts ice formations more accurately than LEWICE 2.0. Especially at conditions with droplet size between 80 and 160 microns, the splashing algorithm of the new LEWICE version compensated for the loss of droplet mass as a result of splashing. In contrast, LEWICE 2.0 consistently over-predicted the mass of the ice in conditions with droplet size exceeding 80 microns. This evidence confirms that changes made to algorithms of LEWICE 3.0 have increased the accuracy of predicting ice collection.
Mission scenarios outside the Earth's protective magnetic shield are being studied. Included are high usage assets in the near-Earth environment for casual trips, for research, and for commercial/operational platforms, in which career exposures will be multi-mission determined over the astronaut's lifetime. The operational platforms will serve as launching points for deep space exploration missions, characterized by a single long-duration mission during the astronaut's career. The exploration beyond these operational platforms will include missions to planets, asteroids, and planetary satellites. The interplanetary environment is evaluated using convective diffusion theory. Local environments for each celestial body are modeled by using results from the most recent targeted spacecraft, and integrated into the design environments. Design scenarios are then evaluated for these missions. The underlying assumptions in arriving at the model environments and their impact on mission exposures within various shield materials will be discussed. Published by Elsevier Ltd on behalf of COSPAR.
The Advanced Communications Technology Satellite (ACTS) is operated by the NASA Glenn Research Center at Lewis Field 24 hours a day, 7 days a week. ACTS, which was launched in September 1993, is in its 7th year of operations, far exceeding the system s planned 2 years of operations and 4 years of designed mission life. After 5 successful years of operating as a geostationary satellite, the spacecraft s North-South stationkeeping was discontinued in August 1998. The system is now operating in an inclined orbit that increases at a rate of 0.8 /yr. With only scarce fuel remaining, operating in this mode extends the usage of the still totally functional payload. Although tracking systems are now needed on the experimenter Earth stations, experiment operations have continued with very little disruption. This is the only known geosynchronous Ka-band (30/20 GHz) spot-beam satellite operating in an inclined orbit. The project began its transition from geostationary operations to inclined operations in August 1998. This did not interrupt operations and was transparent to the experimenters on the system. For the space segment, new daily procedures were implemented to maintain the pointing of the system s narrow 0.3 spot beams while the spacecraft drifts in the North-South direction. For the ground segment, modifications were designed, developed, and fielded for the three classes of experimenter Earth stations. With the next generation of commercial satellite systems still being developed, ACTS remains the only operational testbed for Ka-band geosynchronous satellite communications over the Western hemisphere. Since inclined orbit operations began, the ACTS experiments program has supported 43 investigations by industry, Government, and academic organizations, as well as four demonstrations. The project s goals for inclined-orbit operations now reflect a narrower focus in the types of experiments that will be done. In these days of "faster, better, cheaper," NASA is seeking to gain greater relevance to the agency s mission from these experiments. One area that is of much interest both to NASA and the commercial world is the investigation of protocol issues related to the interoperability of satellites with terrestrial networks, such as Transmission Control Protocol/Internet Protocol (TCP/IP) and Asynchronous Transfer Mode (ATM) over wideband satellites. Other experiment areas of interest are supporting the U.S. Government and NASA as they begin using commercial space assets to meet their communications needs, evaluating issues related to operating a spot-beam satellite in inclined orbit, and evaluating new Ka-band hardware that requires a satellite link. ACTS is now in its last year of operations. Operations are planned through June 2000, when after 81 months of operations, this very successful spacecraft will be superorbited and made inert.
The Direct Data Distribution (D(sup 3)) project being designed at the NASA Glenn Research Center at Lewis Field will demonstrate a high-performance communications system that transmits information at up to 1.2 gigabits per second (Gbps) from an advanced technology payload carried by the space shuttles in low Earth orbit to small (0.9-m) autonomously tracking terminals on the Earth. The flight communications package features a solid-state, phased-array antenna operating in the commercial K-band frequency that electronically steers two independently controlled downlink beams toward low-cost tracking ground terminals. The array enables agile, vibration-free beam steering at reduced size and weight with increased reliability over traditional mechanically steered reflectors. The flight experiment will also demonstrate efficient digital modulation technology that allows transmission of substantially increased amounts of latency-tolerant data (up to 72 Gb of data per minute of contact time) with very high quality (10(exp -11) bit error rate). D(sup 3) enables transmission from low-Earth-orbit science spacecraft, the shuttles, or the International Space Station directly to NASA field centers and principle investigator sites, or directly into the commercial terrestrial telecommunications network for remote distribution and archive. The ground terminal features a cryocooled receiver for ultralow noise and a reduced antenna aperture as well as open-loop tracking for unattended operations. The D(sup 3) technology validation and service demonstration will help to facilitate NASA's transition from using Government-owned communications assets to using commercially provided services.
A goal of the NASA Space Communications Project is to enable broad coverage for high-data-rate delivery to the users by means of ground, air, and space-based assets. The NASA Enterprise need will be reviewed. A number of optical space communications technologies being developed by NASA will be described, and the prospective applications will be discussed.
NASA Glenn Research Center's Direct Data Distribution (D3) project will demonstrate an advanced, high-performance communications system that transmits information from an advanced technology payload carried by a NASA spacecraft in low Earth orbit (LEO) to a small receiving terminal on Earth. The space-based communications package will utilize a solid-state, K-band phased-array antenna that electronically steers the radiated energy beam toward a low-cost, tracking ground terminal, thereby providing agile, vibration-free, electronic steering at reduced size and weight with increased reliability. The array-based link will also demonstrate new digital processing technology that will allow the transmission of substantially increased amounts of latency-tolerant data collected from the LEO spacecraft directly to NASA field centers, principal investigators, or into the commercial terrestrial communications network. The technologies demonstrated by D3 will facilitate NASA's transition from using Government-owned communication assets to using commercial communication services. The hardware for D3 will incorporate advanced technology components developed under the High Rate Data Delivery (HRDD) Thrust Area of NASA's Office of Aerospace Technology Space Base Program at Glenn's Communications Technology Division. The flight segment components will include the electrically steerable phased-array antenna, which is being built by the Raytheon System Corporation and utilizes monolithic microwave integrated circuit (MMIC) technology operating at 19.05 GHz; and the digital encoder/modulator chipset, which uses four-channel orthogonal frequency division multiplexing (OFDM). The encoder/modulator will use a chipset developed by SICOM, Inc., which is both bandwidth and power efficient. The ground segment components will include a low-cost, open-loop tracking ground terminal incorporating a cryoreceiver to minimize terminal size without compromising receiver capability. The project is planning to hold a critical design review in the second quarter of fiscal year 2002.
NASA's vision for space exploration (February 2004) calls for development of a new crew exploration vehicle, sustained lunar operations, and human exploration of Mars. To meet the challenges of planned sustained operations as well as the limited communications between Earth and the crew (e.g., Mars exploration), many systems will require crews to operate in an autonomous environment. It has been estimated that once every 2.4 years a major medical issue will occur while in space. NASA's future travels, especially to Mars, will begin to push this timeframe. Therefore, now is the time for investigating technologies and systems that will support crews in these environments. Therefore, this summer two studies were conducted to evaluate the technology and systems that may be used by crews in future missions. The first study evaluated three commercial Indoor Positioning Systems (IPS) (Versus, Ekahau, and Radianse) that can track equipment and people within a facility. While similar to Global Positioning Systems (GPS), the specific technology used is different. Several conclusions can be drawn from the evaluation conducted, but in summary it is clear that none of the systems provides a complete solution in meeting the tracking and technology integration requirements of NASA. From a functional performance (e.g., system meets user needs) evaluation perspective, Versus performed fairly well on all performance measures as compared to Ekahau and Radianse. However, the system only provides tracking at the room level. Thus, Versus does not provide the level of fidelity required for tracking assets or people for NASA requirements. From an engineering implementation perspective, Ekahau is far simpler to implement that the other two systems because of its wi-fi design (e.g., no required runs of cable). By looking at these two perspectives, one finds there was no clear system that met NASA requirements. Thus it would be premature to suggest that any of these systems are ready for implementation and further study is required.
The first mechanical tests of superalloy lattice block structures produced promising results for this exciting new lightweight material system. The testing was performed in-house at NASA Glenn Research Center's Structural Benchmark Test Facility, where small subelement-sized compression and beam specimens were loaded to observe elastic and plastic behavior, component strength levels, and fatigue resistance for hundreds of thousands of load cycles. Current lattice block construction produces a flat panel composed of thin ligaments arranged in a three-dimensional triangulated trusslike structure. Investment casting of lattice block panels has been developed and greatly expands opportunities for using this unique architecture in today's high-performance structures. In addition, advances made in NASA's Ultra-Efficient Engine Technology Program have extended the lattice block concept to superalloy materials. After a series of casting iterations, the nickel-based superalloy Inconel 718 (IN 718, Inco Alloys International, Inc., Huntington, WV) was successfully cast into lattice block panels; this combination offers light weight combined with high strength, high stiffness, and elevated-temperature durability. For tests to evaluate casting quality and configuration merit, small structural compression and bend test specimens were machined from the 5- by 12- by 0.5-in. panels. Linear elastic finite element analyses were completed for several specimen layouts to predict material stresses and deflections under proposed test conditions. The structural specimens were then subjected to room-temperature static and cyclic loads in Glenn's Life Prediction Branch's material test machine. Surprisingly, the test results exceeded analytical predictions: plastic strains greater than 5 percent were obtained, and fatigue lives did not depreciate relative to the base material. These assets were due to the formation of plastic hinges and the redundancies inherent in lattice block construction, which were not considered in the simplified computer models. The fatigue testing proved the value of redundancies since specimen strength was maintained even after the fracture of one or two ligaments. This ongoing test program is planned to continue through high-temperature testing. Also scheduled for testing are IN 718 lattice block panels with integral face sheets, as well as specimens cast from a higher temperature alloy. The initial testing suggests the value of this technology for large panels under low and moderate pressure loadings and for high-risk, damage-tolerant structures. Potential aeropropulsion uses for lattice blocks include turbine-engine actuated panels, exhaust nozzle flaps, and side panel structures.
The National Aeronautics and Space Administration Space-Based Telemetry and Range Safety study is a multiphase project to demonstrate the performance, flexibility and cost savings that can be realized by using space-based assets for the Range Safety (global positioning system metric tracking data, flight termination command and range safety data relay) and Range User (telemetry) functions during vehicle launches and landings. Phase 1 included flight testing S-band Range Safety and Range User hardware in 2003 onboard a high-dynamic aircraft platform at Dryden Flight Research Center (Edwards, California) using the NASA Tracking and Data Relay Satellite System as the communications link. The current effort, Phase 2, includes hardware and packaging upgrades to the S-band Range Safety system and development of a high data rate Ku-band Range User system. The enhanced Phase 2 Range Safety Unit provided real-time video for three days during the historic GlobalFlyer (Scaled Composites, Mojave, California) flight in March, 2005. Additional Phase 2 testing will include a sounding rocket test of the Range Safety system and aircraft flight testing of both systems. Future testing will include a flight test on a launch vehicle platform. This report discusses both Range Safety and Range User developments and testing with emphasis on the Range Safety system. The operational concept of a future space-based range is also discussed.