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NASA NTRS2016

Design Considerations for Spacecraft Operations During Uncrewed Dormant Phases of Human Exploration Missions

NASA is transforming human spaceflight. The Agency is shifting from an exploration-based program with human activities in low Earth orbit (LEO) and targeted robotic missions in deep space to a more sustainable and integrated pioneering approach. However, pioneering space involves daunting technical challenges of transportation, maintaining health, and enabling crew productivity for long durations in remote, hostile, and alien environments. Subject matter experts from NASA's Human Exploration and Operations Mission Directorate (HEOMD) are currently studying a human exploration campaign that involves deployment of assets for planetary exploration. This study, called the Evolvable Mars Campaign (EMC) study, explores options with solar electric propulsion as a central component of the transportation architecture. This particular in-space transportation option often results in long duration transit to destinations. The EMC study is also investigating deployed human rated systems like landers, habitats, rovers, power systems and ISRU system to the surface of Mars, which also will involve long dormant periods when these systems are staged on the surface. In order to enable the EMC architecture, campaign and element design leads along with system and capability development experts from HEOMD's System Maturation Team (SMT) have identified additional capabilities, systems and operation modes that will sustain these systems especially during these dormant phases of the mission. Dormancy is defined by the absence of crew and relative inactivity of the systems. For EMC missions, dormant periods could range from several months to several years. Two aspects of uncrewed dormant operations are considered herein: (1) the vehicle systems that are placed in a dormant state and (2) the autonomous vehicle systems and robotic capabilities that monitor, maintain, and repair the vehicle and systems. This paper describes the mission stages of dormancy operations, phases of dormant operations, and critical system capabilities that are needed for dormant operations. This paper will compare dormancy operations of past robotic missions to identify lessons that can be applied to planned human exploration missions. Finally, this paper will also identify future work and analysis planned to assess system performance metrics and integrated system operations.

Williams-Byrd, Julie↗
NASA NTRS1994

Evaluating Multi-Input/Multi-Output Digital Control Systems

Controller-performance-evaluation (CPE) methodology for multi-input/multi-output (MIMO) digital control systems developed. Procedures identify potentially destabilizing controllers and confirm satisfactory performance of stabilizing ones. Methodology generic and used in many types of multi-loop digital-controller applications, including digital flight-control systems, digitally controlled spacecraft structures, and actively controlled wind-tunnel models. Also applicable to other complex, highly dynamic digital controllers, such as those in high-performance robot systems.

Pototzky, Anthony S.↗
NASA NTRS1995

STS-69 Flight Day 9 Video File

The song, 'He's A Tramp', from the Walt Disney cartoon movie, 'Lady and the Tramp', awakened the astronauts, Cmdr. Dave Walker, Pilot Ken Cockrell, and Mission Specialists Jim Voss, Jim Newman, and Mike Gernhardt, on the ninth day of the STS-69 mission. The Wake Shield Facility (WSF) was again unberthed from the shuttle cargo bay and , using the shuttle's robot arm, held over the side of the shuttle for five hours where it collected data on the electrical field build-up around the spacecraft as part of the Charging Hazards and Wake Studies Experiment (CHAWS). Voss and Gernhardt rehearsed their Extravehicular Activity (EVA) spacewalk, which was planned for the next day. Earth views included cloud cover, a hurricane, and its eye.

Source record↗
NASA NTRS2006

Experiences applying Formal Approaches in the Development of Swarm-Based Space Exploration Systems

NASA is researching advanced technologies for future exploration missions using intelligent swarms of robotic vehicles. One of these missions is the Autonomous Nan0 Technology Swarm (ANTS) mission that will explore the asteroid belt using 1,000 cooperative autonomous spacecraft. The emergent properties of intelligent swarms make it a potentially powerful concept, but at the same time more difficult to design and ensure that the proper behaviors will emerge. NASA is investigating formal methods and techniques for verification of such missions. The advantage of using formal methods is the ability to mathematically verify the behavior of a swarm, emergent or otherwise. Using the ANTS mission as a case study, we have evaluated multiple formal methods to determine their effectiveness in modeling and ensuring desired swarm behavior. This paper discusses the results of this evaluation and proposes an integrated formal method for ensuring correct behavior of future NASA intelligent swarms.

Rouff, Christopher A.↗
NASA NTRS2001

Jet Propulsion Laboratory: Annual Report 1999

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

Jet Propulsion Laboratory (JPL)↗
NASA NTRS2013

Human Exploration of Near-Earth Asteroids

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEA) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, before sending human explorers to NEAs, robotic investigations of these bodies would be required to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Dr. Paul Abell discussed some of the physical characteristics of NEOs that will be relevant for EVA considerations, reviewed the current data from previous NEA missions (e.g., Near-Earth Asteroid Rendezvous (NEAR) Shoemaker and Hayabusa), and discussed why future robotic and human missions to NEAs are important from space exploration and planetary defense perspectives.

Abell, Paul↗
NASA NTRS2013

Human Exploration of Near-Earth Asteroids

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEA) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, before sending human explorers to NEAs, robotic investigations of these bodies would be required to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Dr. Paul Abell discussed some of the physical characteristics of NEOs that will be relevant for EVA considerations, reviewed the current data from previous NEA missions (e.g., Near-Earth Asteroid Rendezvous (NEAR) Shoemaker and Hayabusa), and discussed why future robotic and human missions to NEAs are important from space exploration and planetary defense perspectives.

Abell, Paul↗
NASA NTRS2019

Autonomous Mars ISRU robotic excavation: characterstics and performance targets

Characteristic hardware concepts and performance targets are described for a potential robotic excavation system that can operate and robotically maintain itself without regular human intervention. In-Situ Resource Utilization (ISRU) is the exploitation of available resources at the site of a landed spacecraft on the surface of another planetary body. This can include harvesting of atmosphere, regolith, or rock for direct use (e.g. as radiation or micrometeorite shielding) or for separation/purification (e.g. for propellant production). The objective of this study is to try to identify a potential ISRU architecture, specifically for extracting water from hydrated minerals identified from orbital multispectral imaging on Mars, which can be implemented in an affordable way.

Howe, A. Scott↗
NASA NTRS2012

Groundbreaking Mars Sample Return for Science and Human Exploration

Partnerships between science and human exploration have recent heritage for the Moon (Lunar Precursor Robotics Program, LPRP) and nearearth objects (Exploration Precursor Robotics Program, xPRP). Both programs spent appreciable time and effort determining measurements needed or desired before human missions to these destinations. These measurements may be crucial to human health or spacecraft design, or may be desired to better optimize systems designs such as spacesuits or operations. Both LPRP and xPRP recommended measurements from orbit, by landed missions and by sample return. LPRP conducted the Lunar Reconnaissance Orbiter (LRO) and Lunar Crater Observation and Sensing Satellite (LCROSS) missions, providing high-resolution visible imagery, surface and subsurface temperatures, global topography, mapping of possible water ice deposits, and the biological effects of radiation [1]. LPRP also initiated a landed mission to provide dust and regolith properties, local lighting conditions, assessment of resources, and demonstration of precision landing [2]. This mission was canceled in 2006 due to funding shortfalls. For the Moon, adequate samples of rocks and regolith were returned by the Apollo and Luna programs to conduct needed investigations. Many near-earth asteroids (NEAs) have been observed from the Earth and several have been more extensively characterized by close-flying missions and landings (NEAR, Hayabusa, Rosetta). The current Joint Robotic Precursor Activity program is considering activities such as partnering with the New Frontiers mission OSIRIS-Rex to visit a NEA and return a sample to the Earth. However, a strong consensus of the NEO User Team within xPRP was that a dedicated mission to the asteroid targeted by humans is required [3], ideally including regolith sample return for more extensive characterization and testing on the Earth.

Cohen, Barbara↗
NASA NTRS2019

NASA's Space Launch System: Payload Opportunities for Lunar Exploration, Science Missions

Nearing its first launch, the Space Launch System (SLS), NASA’s new super heavy-lift launch vehicle, offers highly energetic launches that deliver more mass and provide more volume in 8.4 m-diameter and potentially larger fairings to make a new generation of deep space missions possible. An evolvable launcher available in crew, crew with a co-manifested payload (CPL) and cargo-only configurations, SLS is a crucial capability to enable astronauts to return to the Moon, but it also offers key benefits for science missions. NASA’s 21st-century return to the Moon recently received a formal name: the Artemis program. In addition to the core enabling capabilities of SLS and the Orion crew spacecraft, NASA will also enlist international and commercial partnerships for Artemis. The Agency intends to build a scientific outpost in lunar orbit, the Gateway, from which human and robotic missions to and from the surface can rendezvous. SLS will launch Orion on a series of missions leading to landing the first woman and the next man on the Moon as part of Artemis. SLS uses proven propulsion systems: two solid rocket boosters and four RS-25s engines that have been upgraded to provide more thrust and operate in the SLS environment. SLS Block 1 uses a modified Delta IV Heavy upper stage, called the Interim Cryogenic Propulsion Stage (ICPS) and lifts at least 26 metric tons (t) to trans-lunar injection (TLI). The Block 1 vehicle can also be outfitted with a 5 m-diameter fairing. Block 1B, the next major variant, also uses solid rocket boosters and RS-25 engines to achieve Earth escape velocity, but replaces the single-engine liquid hydrogen (LH2)/liquid oxygen (LOX) ICPS with a four-engine LH2/LOX Exploration Upper Stage (EUS) to increase mass to TLI to 34-37 t, depending on crew or cargo configuration. In the Block 1B crew configuration, a 10 m-tall Universal Stage Adapter (USA) connects the vehicle to Orion and can carry a CPL up to 10 t. The USA provides 286 m3 of unpressurized volume for payloads. For large payloads, 8.4 m- and 10 m-diameter cargo fairings in 19.1 m and 27.4 m lengths are possible. The ultimate SLS vehicle, Block 2, incorporates evolved boosters to reach a lift capacity of more than 45 t to TLI. The capabilities of SLS not only make new missions to the Moon possible, but also game-changing science missions, such as deployment of large-aperture space telescopes, spacecraft to the ice giants or even probes to the interstellar medium. This paper will discuss the capabilities of SLS, the vehicle’s planned evolution, missions that can effectively utilize the vehicle and manufacturing status of the vehicle.

Creech, Stephen D.↗
NASA NTRS2019

NASA's Space Launch System: Payload Opportunities for Lunar Exploration, Science Missions

Nearing its first launch, the Space Launch System (SLS), NASA’s new super heavy-lift launch vehicle, offers highly energetic launches that deliver more mass and provide more volume in 8.4 m-diameter and potentially larger fairings to make a new generation of deep space missions possible. An evolvable launcher available in crew, crew with a co-manifested payload (CPL) and cargo-only configurations, SLS is a crucial capability to enable astronauts to return to the Moon, but it also offers key benefits for science missions. NASA’s 21st-century return to the Moon recently received a formal name: the Artemis program. In addition to the core enabling capabilities of SLS and the Orion crew spacecraft, NASA will also enlist international and commercial partnerships for Artemis. The Agency intends to build a scientific outpost in lunar orbit, the Gateway, from which human and robotic missions to and from the surface can rendezvous. SLS will launch Orion on a series of missions leading to landing the first woman and the next man on the Moon as part of Artemis. SLS uses proven propulsion systems: two solid rocket boosters and four RS-25s engines that have been upgraded to provide more thrust and operate in the SLS environment. SLS Block 1 uses a modified Delta IV Heavy upper stage, called the Interim Cryogenic Propulsion Stage (ICPS) and lifts at least 26 metric tons (t) to trans-lunar injection (TLI). The Block 1 vehicle can also be outfitted with a 5 m-diameter fairing. Block 1B, the next major variant, also uses solid rocket boosters and RS-25 engines to achieve Earth escape velocity, but replaces the single-engine liquid hydrogen (LH2)/liquid oxygen (LOX) ICPS with a four-engine LH2/LOX Exploration Upper Stage (EUS) to increase mass to TLI to 34-37 t, depending on crew or cargo configuration. In the Block 1B crew configuration, a 10 m-tall Universal Stage Adapter (USA) connects the vehicle to Orion and can carry a CPL up to 10 t. The USA provides 286 m3 of unpressurized volume for payloads. For large payloads, 8.4 m- and 10 m-diameter cargo fairings in 19.1 m and 27.4 m lengths are possible. The ultimate SLS vehicle, Block 2, incorporates evolved boosters to reach a lift capacity of more than 45 t to TLI. The capabilities of SLS not only make new missions to the Moon possible, but also game-changing science missions, such as deployment of large-aperture space telescopes, spacecraft to the ice giants or even probes to the interstellar medium. This paper will discuss the capabilities of SLS, the vehicle’s planned evolution, missions that can effectively utilize the vehicle and manufacturing status of the vehicle.

Creech, Steve↗
NASA NTRS2013

Spacecraft 3D Augmented Reality Mobile App

The Spacecraft 3D application allows users to learn about and interact with iconic NASA missions in a new and immersive way using common mobile devices. Using Augmented Reality (AR) techniques to project 3D renditions of the mission spacecraft into real-world surroundings, users can interact with and learn about Curiosity, GRAIL, Cassini, and Voyager. Additional updates on future missions, animations, and information will be ongoing. Using a printed AR Target and camera on a mobile device, users can get up close with these robotic explorers, see how some move, and learn about these engineering feats, which are used to expand knowledge and understanding about space. The software receives input from the mobile device's camera to recognize the presence of an AR marker in the camera's field of view. It then displays a 3D rendition of the selected spacecraft in the user's physical surroundings, on the mobile device's screen, while it tracks the device's movement in relation to the physical position of the spacecraft's 3D image on the AR marker.

Hussey, Kevin J.↗
NASA NTRS1985

The US Space Station programme

The Manned Space Station (MSS) involves NASA, and other countries, in the operation, maintenance and expansion of a permanent space facility. The extensive use of automation and robotics will advance those fields, and experimentation will be carried out in scientific and potentially commercial projects. The MSS will provide a base for astronomical observations, spacecraft assembly, refurbishment and repair, transportation intersection, staging for interplanetary exploration, and storage. Finally, MSS operations will be performed semi-autonomously from ground control. Phase B analysis is nearing completion, and precedes hardware development. Studies are being performed on generic advanced technologies which can reliably and flexibly be incorporated into the MSS, such as attitude control and stabilization, power, thermal, environmental and life support control, auxiliary propulsion, data management, etc. Guidelines are also being formulated regarding the areas of participation by other nations.

Hodge, J. D.↗
NASA NTRS1999

A New Frontier Beckons: Space Exploration in the 21st Century

Throughout recorded history, small groups of explorers have Pushed back the edge of the frontier and opened up new territories for others to follow. As the 20th Century closes, history will record that in the 1960's humankind opened the vast frontier beyond Earth's atmosphere. Although the Apollo program blazed a trail of exploration to the Moon, the development of space has only reached into low Earth orbit. The Space Shuttle and International Space Station programs, and the communication and scientific satellite networks established in orbit around the Earth, are all stepping stones that will enable explorers to venture once again beyond our home planet. Exploration is difficult. It is difficult for the people and machines that travel in extreme environments and endure harsh conditions, and it is difficult for the national leaders who must champion and fund the programs that lead to discovery and reward. Christopher Columbus spent many years meeting with the Kings of Portugal, England, and France only to see his dream of sailing west into the vast Atlantic with ships and crew. discredited. Queen Isabella of Spain was willing to look beyond the many problems plaguing her own shores and see the potential reward for her investment in the future. The voyages of Columbus set the stage for more Spanish explorers, who turned Spain into a great world power. The Apollo program and the unpiloted Lunar Orbiter, Surveyor, Mariner and Viking spacecraft that NASA launched in the 1966's &1970's were our country's first investment, in the exploration of the solar system. These human and robotic missions rewarded us with the first close views of the lunar and martian surfaces, and laid before our eyes territories as vast as all the continents of Earth combined. The Lunar Prospector, Near Earth Asteroid Rendezvous, and Mars Pathfinder and Global Surveyor missions are continuing our scientific conquest of the inner solar system, leading the way for humans to follow.

Mendell, Wendell W.↗
NASA NTRS2007

Establishing a Near Term Lunar Farside Gravity Model via Inexpensive Add-on Navigation Payload

The Space Communications and Navigation, Constellation Integration Project (SCIP) is tasked with defining, developing, deploying and operating an evolving multi-decade communications and navigation (C/N) infrastructure including services and subsystems that will support both robotic and human exploration activities at the Moon. This paper discusses an early far side gravitational mapping service and related telecom subsystem that uses an existing spacecraft (WIND) and the Lunar Reconnaissance Orbiter (LRO) to collect data that would address several needs of the SCIP. An important aspect of such an endeavor is to vastly improve the current lunar gravity model while demonstrating the navigation and stationkeeping of a relay spacecraft. We describe a gravity data acquisition activity and the trajectory design of the relay orbit in an Earth-Moon L2 co-linear libration orbit. Several phases of the transfer from an Earth-Sun to the Earth-Moon region are discussed along with transfers within the Earth-Moon system. We describe a proposed, but not integrated, add-on to LRO scheduled to be launched in October of 2008. LRO provided a real host spacecraft against which we designed the science payload and mission activities. From a strategic standpoint, LRO was a very exciting first flight opportunity for gravity science data collection. Gravity Science data collection requires the use of one or more low altitude lunar polar orbiters. Variations in the lunar gravity field will cause measurable variations in the orbit of a low altitude lunar orbiter. The primary means to capture these induced motions is to monitor the Doppler shift of a radio signal to or from the low altitude spacecraft, given that the signal is referenced to a stable frequency reference. For the lunar far side, a secondary orbiting radio signal platform is required. We provide an in-depth look at link margins, trajectory design, and hardware implications. Our approach posed minimum risk to a host mission while maintaining a very low implementation and operations cost.

Folta, David↗
NASA NTRS2004

Jet Propulsion Laboratory: Annual Report 2003

If you stepped outdoors on the final evening of 2003 and looked up into the night sky, many celestial events were taking place. A hundred million miles away from Earth, a dust storm swirled across the terracotta peaks and gullies of Mars, as two six-wheeled robots bore down on the planet. They were soon to join two orbital sentries already stationed there. A few hops across the inner solar system, another spacecraft was closing in on a ball of ice and rock spewing forth a hailstorm of dust grains, heated as it swung in toward the Sun. Closer in, two newly lofted space telescopes scanned the skies, their mirrors gathering photons that had crossed the empty vastness of space for billions of years, recording ancient events in unimaginably distant galaxies. And streaking overhead every few minutes directly above our home planet, a handful of satellites was recording the unfolding events of a tropical cyclone off the east coast of Africa and a blizzard that carpeted the northwestern United States. As 2003 drew to a close, the Jet Propulsion Laboratory was on the cusp of an extraordinarily busy period, a time when JPL will execute more fly-bys, landings, sample returns and other milestones than at any other time in its history. The exploration we undertake is important for its own sake. And it serves other purposes, none more important than inspiring the next generation of explorers. If the United States wishes to retain its status as a world leader, it must maintain the technological edge of its workforce. What we do here is the stuff of dreams that will inspire a new generation to continue the American legacy of exploration.

Jet Propulsion Laboratory (JPL)↗
NASA NTRS2013

Near-Earth Object Exploration and Marco Polo-R

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEAs) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Therefore robotic investigations of NEAs, such as ESA's Marco Polo-R sample return mission to 2008 EV5, would allow NASA and its international partners to gain critical operational experience in performing complex tasks (e.g., close proximity operations, surface sample collection, etc.) under microgravity conditions at or near the surface of a potential human destination. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗