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Autonomous Robotic Manipulator Software

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

Autonomous Robotic Manipulator Software (ARMS)

Autonomous robotic manipulation requires a deep and wide stack of supporting software. This paper presents Autonomous Robotic Manipulator Software (ARMS), a software suite designed at NASA Langley Research Center to support research and development of different algorithms for In-space Servicing, Assembly and Manufacturing (ISAM). ARMS solves common challenges along the autonomous manipulation software stack. Various challenges, such as integration with commercial hardware, simulation, and path planning, are solved through the use of Robot Operating System 2 and its community-developed packages. Other challenges, such as configuration management and task definition, and execution are solved in software built on those tools. The result is a modular approach to robotic system definition, agent actions, and assembly task definitions. ARMS has been used in two ISAM projects at NASA Langley Research Center, the Precision Assembled Space Structures project and the Built On-orbit Robotically assembled Gigatruss project.

Collin J Cresta↗

NASA Education Forum at SAO on the Structure and Evolution of the Universe

Overview. The past year for the new SEU Forum has been a highly productive one and has moved us forward on three major objectives: Involving the public in the major scientific discoveries in our SEU theme this past year, especially the exciting discoveries about dark energy, cosmology, and black holes. Implementing the recommendations of the Knappenberger Report in order to strengthen the educational coherence of our collective activities. Developing strategic partnerships with underserved communities and other key customers . Among our activities for the past year are the following: Serving the Informal Science Education Communities: Summary of Goals, Plans and Activities for the Year 9/15/04 - 9/14/05. Interactions with the Space Science Community.

Gould, Roy↗

New Mass Properties Engineers Aerospace Ballasting Challenge Facilitated by the SAWE Community

The discipline of Mass Properties Engineering tends to find the engineers; not typically vice versa. In this case, two engineers quickly found their new responsibilities deep in many aspects of mass properties engineering and required to meet technical challenges in a fast paced environment. As part of NASA's Constellation Program, a series of flight tests will be conducted to evaluate components of the new spacecraft launch vehicles. One of these tests is the Pad Abort 1 (PA-1) flight test which will test the Launch Abort System (LAS), a system designed to provide escape for astronauts in the event of an emergency. The Flight Test Articles (FTA) used in this flight test are required to match mass properties corresponding to the operational vehicle, which has a continually evolving design. Additionally, since the structure and subsystems for the Orion Crew Module (CM) FTA are simplified versions of the final product, thousands of pounds of ballast are necessary to achieve the desired mass properties. These new mass properties engineers are responsible for many mass properties aspects in support of the flight test, including meeting the ballasting challenge for the CM Boilerplate FTA. SAWE expert and experienced mass properties engineers, both those that are directly on the team and many that supported via a variety of Society venues, significantly contributed to facilitating the success of addressing this particular mass properties ballasting challenge, in addition to many other challenges along the way. This paper discusses the details regarding the technical aspects of this particular mass properties challenge, as well as identifies recommendations for new mass properties engineers that were learned from the SAWE community along the way.

Cutright, Amanda↗

Application of active controls technology to the NASA Jet Star airplane

The feasibility was studied of modifying a Jet Star airplane into a demonstrator of benefits to be achieved from incorporating active control concepts in the preliminary design of transport type aircraft. Substantial benefits are shown in terms of fuel economy and community noise by virtue of reduction in induced drag through use of a high aspect ratio wing which is made possible by a gust alleviation system. An intermediate configuration was defined which helps to isolate the benefits produced by active controls technology from those due to other configuration variables. Also, an alternate configuration which incorporated composite structures, but not active controls technology, was defined in order to compare the benefits of composite structures with those of active controls technology.

Lange, R. H.↗

Multi-Epoch XMM Observations of NGC4258

The goal of this project is to better understand whether the well known, warped accretion disk around the supermassive black hole in NGC4258 is responsible for the observed X-ray absorbing column of gas. The active galactic nuclei (AGN) paradigm suggests that doughnut-like tori obscure black holes, not warped disks. Using radio interferometry, we have mapped the disk and its orientation. Through time monitoring radio observations we are following the rotation and variability in the disk structure. The disk crosses the line of sight to the black hole, if it is clumpy, then we will observe variations in the X-ray spectrum of NGC4258 on month to year time scales. We have reduced 14 epochs of very long base interferometry (VLBI) observations that we use to characterize the structure of the maser-laden accretion disk and its evolution. Five epochs of data remain to be reduced in the next year. We have received distributions of data for two of our four intended epochs of X-ray Multimirror Mission (XMM) observation. Because the first two epochs are relatively close in time, and because community understanding of how to calibrate XMM data has until recently been relatively immature, we are waiting until we receive the third epoch of data before we reduce the several datasets. Delivery of the third epoch should take place late this year. The last epoch of XMM observation will take place in mid-2002. In the next year, we will begin to combine constraints on disk clumpiness with estimates of X-ray variability observed by XMM.

Greenhill, Lincoln J.↗

Overview of NASA's Space Environments and Effects (SEE) Program Technology Development Activities

Reducing size and weight of spacecraft, along with demanding increased performance capabilities, introduces many uncertainties in the engineering design community on how spacecraft and spacecraft systems will perform in space. The engineering design community is forever behind on obtaining and developing new tools and guidelines to mitigate the harmful effects of the space environment. Adding to this complexity is the push to use Commercial-off-the-shelf (COTS) and shrinking microelectronics behind less shielding utilizing new materials. The potential usage of unproven technologies such as large solar sail structures and nuclear electric propulsion introduces new requirements to develop new engineering tools. In order to drive down these uncertainties, NASA s SEE Program provides resources for technology development to accommodate or mitigate these harmful environments on spacecraft. This paper will describe the current SEE Program's, currently funded activities and possible future developments.

Kauffman, Billy↗

The Quest for Organic Carbon on Mars

We are entering an era of Mars exploration in which organic carbon detection, characterization, and structural identification will be key to addressing some of the outstanding science objectives of the Mars Exploration Program. Success of these missions will depend on technical, scientific, and strategic elements--all of which are strongly determined based on terrestrial experience and knowledge of organic matter formation, concentration, and preservation. Analog studies including Precambrian sediments, modern endolithic communities, and experiments help us fine-tune these approaches, but we also need to expect the unexpected. This presentation will provide perspective on the challenges of detecting organic carbon on Mars, how we may achieve such detections with the in situ instruments, such as the SAM (Science Analysis at Mars) instrument suite onboard Curiosity, the rover for the 2011 Mars Science Laboratory mission.

Eigenbrode, Jennifer↗

Vision 2040: A Roadmap for Integrated, Multiscale Modeling and Simulation of Materials and Systems

Over the last few decades, advances in high-performance computing, new materials characterization methods, and, more recently, an emphasis on integrated computational materials engineering (ICME) and additive manufacturing have been a catalyst for multiscale modeling and simulation-based design of materials and structures in the aerospace industry. While these advances have driven significant progress in the development of aerospace components and systems, that progress has been limited by persistent technology and infrastructure challenges that must be overcome to realize the full potential of integrated materials and systems design and simulation modeling throughout the supply chain. As a result, NASA's Transformational Tools and Technology (TTT) Project sponsored a study (performed by a diverse team led by Pratt & Whitney) to define the potential 25-year future state required for integrated multiscale modeling of materials and systems (e.g., load-bearing structures) to accelerate the pace and reduce the expense of innovation in future aerospace and aeronautical systems. This report describes the findings of this 2040 Vision study (e.g., the 2040 vision state; the required interdependent core technical work areas, Key Element (KE); identified gaps and actions to close those gaps; and major recommendations) which constitutes a community consensus document as it is a result of over 450 professionals input obtain via: 1) four society workshops (AIAA, NAFEMS, and two TMS), 2) community-wide survey, and 3) the establishment of 9 expert panels (one per KE) consisting on average of 10 non-team members from academia, government and industry to review, update content, and prioritize gaps and actions. The study envisions the development of a cyber-physical-social ecosystem comprised of experimentally verified and validated computational models, tools, and techniques, along with the associated digital tapestry, that impacts the entire supply chain to enable cost-effective, rapid, and revolutionary design of fit-for-purpose materials, components, and systems. Although the vision focused on aeronautics and space applications, it is believed that other engineering communities (e.g., automotive, biomedical, etc.) can benefit as well from the proposed framework with only minor modifications. Finally, it is TTT's hope and desire that this vision provides the strategic guidance to both public and private research and development decision makers to make the proposed 2040 vision state a reality and thereby provide a significant advancement in the United States global competitiveness.

multi-scale modeling↗

Microbial Mats and the Search for Their Biosignatures in Deep Time and Space

Cyanobacterial mats provide insights into ancient benthic microbial communities and their biosignatures. Thick mats occupy hypersaline saltern ponds at Guerrero Negro, Baja California, Mexico. Mat biota maintains rapid rates of biogeochemical processes under steep and rapidly changing environmental gradients. Cycling of C, O, and S all increased identically with temperature, indicating the tight coupling of these cycles. An enormous microbial diversity exhibits a highly structured spatial distribution of populations.

Des Marais, David J.↗

Searching for Evidence of Life in Deep Time and Space

Cyanobacterial mats provide insights into ancient benthic microbial communities and their biosignatures. Thick mats occupy hypersaline saltern ponds at Guerrero Negro, Baja California, Mexico. Mat biota maintains rapid rates of biogeochemical processes under steep and rapidly changing environmental gradients. Cycling of C, O, and S all increased identically with temperature, indicating the tight coupling of these cycles. An enormous microbial diversity exhibits a highly structured spatial distribution of populations. Combined universal clone libraries from all mat layers indicated Bacteria/Archaea/Eukarya ratios of 57:7:1. More than 10,000 unique bacterial sequences were present. The relative abundance of Archaea increased with depth - below 10 cm, solvent-extractable archaeal lipids were twice as abundant as bacterial lipids. Only 15 species of Eukarya were found among 890 clones analyzed. Degradation of the mats’ insoluble macromolecular organic fraction (IMOM) by hydropyrolysis released a complex variety of linear, branched and polycyclic alkane structures, e.g., hopanes, methylhopanes and steranes. Covalent binding of these biosignatures into IMOM aids their long-term geological preservation. Mars rover missions revealed evidence of long-lived fluvial lacustrine systems and organics in associated mudstones. NASA’s Mars 2020 rover mission will examine sediments in Jezero crater, including a delta and shoreline carbonate deposits, environments that on Earth have sustained microbial mats.

Des Marais, David J.↗

Equitable Letters for Space Physics

Equitable Letters in Space Physics (ELSP) is an organization that aims to encourage merit-based recommendations and nominations in the space physics community by providing resources and reviews. Recommendation and award nomination letters are a known source of bias that affect education and job opportunities, career progression, and recognition for scientists from underrepresented backgrounds. ELSP was founded to mitigate this bias within the current system by providing a proof-reading service that focuses on identifying phrasing and structure within letters that unintentionally undermines the purpose of the recommendation or nomination. If you are writing a recommendation letter for someone you know professionally, you can send it to us and we will send it out to our reviewers. They will provide recommendations on how you can make your letter more equitable and less biased, using a combination of the techniques and resources described on our site, with the aim to make unbiased recommendation letters more accessible to all. If you are interested in being a reviewer or having your writing reviewed, please reach out to us. We're a relatively young initiative and are keen to engage with and involve many diverse voices. Our website with more information, sample letters, and other resources can be found at https://equitableletterssp.github.io/ELSP/

Angeline G. Burrell↗

PRIMA: The PRobe Far-Infrared Mission for Astrophysics

PRIMA is a far-infrared observatory concept being developed to address timely and fundamental questions about the growths of galaxies and solar systems and their constituents. It will observe the build-up of heavy elements, dust, stars, and black holes in galaxies and their interrelationships, and trace the masses and water contents of protoplanetary disks to probe the growths of solar systems. The majority of observing time will be devoted to Guest Observer programs to enable the astrophysics community to identify and plan the most critical observations, with focused PI programs to address key science with rapid releases of data to inform community planning. PRIMA will have spectral, hyperspectral imaging, and polarimetric capabilities, enabled now for the first time by extraordinary progress in kinetic inductance detector (KID) array technology over the last two decades. The 2.0-meter telescope will be cooled to < 5 K to take maximum advantage of the KID sensitivities. For observations of atomic fine-structure lines, molecular lines, and solid-state emission and absorption bands, R = 200 spectral coverage will range from approximately 25 µm to 200 µm, with a high-resolution mode across the entire band that will have a spectral resolving power of a few thousand at 100 µm. R ~ 10 moderate-resolution (hyperspectral) imaging will range from 25 to 80 µm for rest-frame, mid- and far-infrared spectral energy distribution measurements to probe dust grain composition and disambiguate star formation and active galactic nuclei in galaxies. Polarimetric observations of large areas of Galactic molecular clouds and the Magellanic Clouds from 80 to ~200 µm will bridge between the large-scale polarimetry of the interstellar medium from cosmic microwave background observatories and protostellar disk-scale interferometric observations to probe magnetic fields at the critical scales at which clouds collapse to form stars. An overview of PRIMA’s basic design and capabilities will be presented. Other posters in this session describe PRIMA science, technology, and instrumentation in greater depth.

Jason Glenn↗

Assessment of the impact of increased solar ultraviolet radiation upon marine ecosystems

Reduction of the earth's ozone layer, with a resultant increase in transmission of solar ultraviolet radiation in the 290 to 320nm waveband (UV-B), via space shuttle operations through the stratosphere is considered. It is shown that simulated solar ultraviolet radiation can, under experimental conditions, detrimentally affect the marine organisms that form the base of the food web of oceanic and estuarine ecosystems. Whether a small increase in biologically harmful ultraviolet radiation might overwhelm these mechanisms and produce changes that will have damaging consequences to the biosphere is discussed. The potential for irreversible damage to the productivity, structure and/or functioning of a model estuarine ecosystem by increased UV-B radiation and whether these ecosystems are highly stable or amenable to adaptive change is studied. Data are provided to assess the potential impact upon marine ecosystems if space shuttle operations contribute to a reduction of the stratospheric ozone layer and the sensitivity of key community components to increased UV-B radiation is examined.

Worrest, R. C.↗

HST Multi Layer Insulation Failure Review Board Findings

The mechanical and optical properties of the thermal control materials on the Hubble Space Telescope (HST) have degraded over the nearly seven years the telescope has been in orbit. Astronaut observations and photographs from the Second Servicing Mission (SM2) revealed large cracks in the metallized Teflon fluorinated ethylene propylene (FEP), the outer layer of the multi-layer insulation (MLI), in many locations around the telescope. Also, the absorptance of the bonded metallized Teflon FEP radiator surfaces of the telescope has increased over time. A Failure Review Board was established to determine the damage mechanism and to identify a replacement material. Samples of the top layer of the MLI and radiator material were retrieved during SM2, and a thorough investigation into the degradation followed in order to determine the primary cause of the damage. Mapping of the cracks on HST and the ground testing showed that thermal cycling with deep-layer damage from electron and proton radiation are necessary to cause the observed embrittlement. Further, strong evidence was found indicating that chain scission (reduced molecular weight) is the dominant form of damage to the metallized Teflon FEP. Given the damage to the outer layer of the multi-layer insulation (MLI) that was apparent during the second servicing mission (SM2), the decision was made to replace the outer layer during subsequent servicing missions. The replacement material had to meet the stringent thermal requirements of the spacecraft and maintain structural integrity for at least ten years. Ten candidate materials were exposed to simulated orbital environments and a replacement material was selected. This presentation will summarize the FRB results, in particular, the analysis of the retrieved specimens, the results of the simulated environmental exposures, and the selection of the replacement material. The NASA Space Environments and Effects community needs to hear these results because they reveal that Teflon (FEP) films should not be used in LEO as routinely as they are today.

Townsend, Jacqueline↗

Magnetohydrodynamic MACH Code Used to Simulate Magnetoplasmadynamic Thrusters

The On-Board Propulsion program at the NASA Glenn Research Center is utilizing a state of-the-art numerical simulation to model the performance of high-power electromagnetic plasma thrusters. Such thrusters are envisioned for use in lunar and Mars cargo transport, piloted interplanetary expeditions, and deep-space robotic exploration of the solar system. The experimental portion of this program is described in reference 1. This article describes the numerical modeling program used to guide the experimental research. The synergistic use of numerical simulations and experimental research has spurred the rapid advancement of high-power thruster technologies for a variety of bold new NASA missions. From its inception as a U.S. Department of Defense code in the mid-1980's, the Multiblock Arbitrary Coordinate Hydromagnetic (MACH) simulation tool has been used by the plasma physics community to model a diverse range of plasma problems--including plasma opening switches, inertial confinement fusion concepts, compact toroid formation and acceleration, z-pinch implosion physics, laser-target interactions, and a variety of plasma thrusters. The MACH2 code used at Glenn is a time-dependent, two-dimensional, axisymmetric, multimaterial code with a multiblock structure. MACH3, a more recent three-dimensional version of the code, is currently undergoing beta tests. The MACH computational mesh moves in an arbitrary Lagrangian-Eulerian (ALE) fashion that allows the simulation of diffusive-dominated and dispersive-dominated problems, and the mesh can be refined via a variety of adaptive schemes to capture regions of varying characteristic scale. The mass continuity and momentum equations model a compressible viscous fluid, and three energy equations are used to simulate nonthermal equilibrium between electrons, ions, and the radiation field. Magnetic fields are modeled by an induction equation that includes resistive diffusion, the Hall effect, and a thermal source for magnetic fields. Various models of plasma resistivity are included, along with ablation models and multiport circuit solvers. The set of equations is closed using either an ideal gas or real equation of state.

Mikellides, Pavlos G.↗

A Survey of New Trends in Symbolic Execution for Software Testing and Analysis

Symbolic execution is a well-known program analysis technique which represents values of program inputs with symbolic values instead of concrete (initialized) data and executes the program by manipulating program expressions involving the symbolic values. Symbolic execution has been proposed over three decades ago but recently it has found renewed interest in the research community, due in part to the progress in decision procedures, availability of powerful computers and new algorithmic developments. We provide a survey of some of the new research trends in symbolic execution, with particular emphasis on applications to test generation and program analysis. We first describe an approach that handles complex programming constructs such as input data structures, arrays, as well as multi-threading. We follow with a discussion of abstraction techniques that can be used to limit the (possibly infinite) number of symbolic configurations that need to be analyzed for the symbolic execution of looping programs. Furthermore, we describe recent hybrid techniques that combine concrete and symbolic execution to overcome some of the inherent limitations of symbolic execution, such as handling native code or availability of decision procedures for the application domain. Finally, we give a short survey of interesting new applications, such as predictive testing, invariant inference, program repair, analysis of parallel numerical programs and differential symbolic execution.

Pasareanu, Corina S.↗

Assimilation of GPM GMI Rainfall Product with WRF GSI

The Global Precipitation Measurement (GPM) is an international mission to provide next-generation observations of rain and snow worldwide. The GPM built on Tropical Rainfall Measuring Mission (TRMM) legacy, while the core observatory will extend the observations to higher latitudes. The GPM observations can help advance our understanding of precipitation microphysics and storm structures. Launched on February 27th, 2014, the GPM core observatory is carrying advanced instruments that can be used to quantify when, where, and how much it rains or snows around the world. Therefore, the use of GPM data in numerical modeling work is a new area and will have a broad impact in both research and operational communities. The goal of this research is to examine the methodology of assimilation of the GPM retrieved products. The data assimilation system used in this study is the community Gridpoint Statistical Interpolation (GSI) system for the Weather Research and Forecasting (WRF) model developed by the Development Testbed Center (DTC). The community GSI system runs in independently environment, yet works functionally equivalent to operational centers. With collaboration with the NASA Short-term Prediction Research and Transition (SPoRT) Center, this research explores regional assimilation of the GPM products with case studies. Our presentation will highlight our recent effort on the assimilation of the GPM product 2AGPROFGMI, the retrieved Microwave Imager (GMI) rainfall rate data for initializing a real convective storm. WRF model simulations and storm scale data assimilation experiments will be examined, emphasizing both model initialization and short-term forecast of precipitation fields and processes. In addition, discussion will be provided on the development of enhanced assimilation procedures in the GSI system with respect to other GPM products. Further details of the methodology of data assimilation, preliminary result and test on the impact of GPM data and the influence on precipitation forecast will be presented at the conference.

Li, Xuanli↗