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NASA NTRS2007

Overview of Umbilical Extravehicular Activity (EVA) Interfaces in Life Support Systems on Spacecraft Vehicles and Applications for the Crew Exploration Vehicle (CEV)

Extravehicular Activities (EVAs) for manned spacecraft vehicles have been performed for contingencies and nominal operations numerous times throughout history. This paper will investigate how previous U.S. manned spacecraft vehicles provided life support to crewmembers performing the EVA. Specifically defined are umbilical interfaces with respect to crewmember cooling, drinking water, air (or oxygen), humidity control, and carbon dioxide removal. As historical data is available, the need for planned versus contingency EVAs in previous vehicles as well as details for a nominal EVA day versus a contingency EVA day will be discussed. The hardware used to provide the cooling, drinking water, air (or oxygen), humidity control, and carbon dioxide removal, and the general functions of that hardware, will also be detailed, as information is available. The Crew Exploration Vehicle (CEV or Orion) EVA interfaces will be generically discussed to provide a glimpse of how similar they are to the EVA interfaces in previous vehicles. Conclusions on strategies that should be used for CEV based on previous spacecraft EVA interfaces will be made in the form of questions and recommendations.

Peterson, Laurie J.↗

NASA NTRS2010

Overview of EVA PRA for TPS Repair for Hubble Space Telescope Servicing Mission

Following the Columbia accident in 2003, NASA developed techniques to repair the Thermal Protection System (TPS) in the event of damage to the TPS as one of several actions to reduce the risk to future flights from ascent debris, micro-meteoroid and/or orbital debris (MMOD). Other actions to help reduce the risk include improved inspection techniques, reduced shedding of debris from the External Tank and ability to rescue the crew with a launch on need vehicle. For the Hubble Space Telescope (HST) Servicing Mission the crew rescue capability was limited by the inability to safe haven on the International Space Station (ISS), resulting in a greater reliance on the repair capability. Therefore it was desirable to have an idea of the risk associated with conducting a repair, where the repair would have to be conducted using an Extra-Vehicular Activity (EVA). Previously, focused analyses had been conducted to quantify the risk associated with certain aspects of an EVA, for example the EVA Mobility Unit (EMU) or Space Suit; however, the analyses were somewhat limited in scope. A complete integrated model of an EVA which could quantify the risk associated with all of the major components of an EVA had never been done before. It was desired to have a complete integrated model to be able to assess the risks associated with an EVA to support the Space Shuttle Program (SSP) in making risk informed decisions. In the case of the HST Servicing Mission, this model was developed to assess specifically the risks associated with performing a TPS repair EVA. This paper provides an overview of the model that was developed to support the HST mission in the event of TPS damage. The HST Servicing Mission was successfully completed on May 24th 2009 with no critical TPS damage; therefore the model was not required for real-time mission support. However, it laid the foundation upon which future EVA quantitative risk assessments could be based.

Bigler, Mark↗

NASA NTRS2001

An Experimental Investigation of Dextrous Robots Using EVA Tools and Interfaces

This investigation of robot capabilities with extravehicular activity (EVA) equipment looks at how improvements in dexterity are enabling robots to perform tasks once thought to be beyond machines. The approach is qualitative, using the Robonaut system at the Johnson Space Center (JSC), performing task trials that offer a quick look at this system's high degree of dexterity and the demands of EVA. Specific EVA tools attempted include tether hooks, power torque tools, and rock scoops, as well as conventional tools like scissors, wire strippers, forceps, and wrenches. More complex EVA equipment was also studied, with more complete tasks that mix tools, EVA hand rails, tethers, tools boxes, PIP pins, and EVA electrical connectors. These task trials have been ongoing over an 18 month period, as the Robonaut system evolved to its current 43 degree of freedom (DOF) configuration, soon to expand to over 50. In each case, the number of teleoperators is reported, with rough numbers of attempts and their experience level, with a subjective difficulty rating assigned to each piece of EVA equipment and function. JSC' s Robonaut system was successful with all attempted EVA hardware, suggesting new options for human and robot teams working together in space.

Ambrose, Robert↗

NASA NTRS2014

High Performance EVA Glove Collaboration: Glove Injury Data Mining Effort

Human hands play a significant role during extravehicular activity (EVA) missions and Neutral Buoyancy Lab (NBL) training events, as they are needed for translating and performing tasks in the weightless environment. It is because of this high frequency usage that hand- and arm-related injuries and discomfort are known to occur during training in the NBL and while conducting EVAs. Hand-related injuries and discomforts have been occurring to crewmembers since the days of Apollo. While there have been numerous engineering changes to the glove design, hand-related issues still persist. The primary objectives of this study are therefore to: 1) document all known EVA glove-related injuries and the circumstances of these incidents, 2) determine likely risk factors, and 3) recommend ergonomic mitigations or design strategies that can be implemented in the current and future glove designs. METHODS: The investigator team conducted an initial set of literature reviews, data mining of Lifetime Surveillance of Astronaut Health (LSAH) databases, and data distribution analyses to understand the ergonomic issues related to glove-related injuries and discomforts. The investigation focused on the injuries and discomforts of U.S. crewmembers who had worn pressurized suits and experienced glove-related incidents during the 1980 to 2010 time frame, either during training or on-orbit EVA. In addition to data mining of the LSAH database, the other objective of the study was to find complimentary sources of information such as training experience, EVA experience, suit-related sizing data, and hand-arm anthropometric data to be tied to the injury data from LSAH. RESULTS: Past studies indicated that the hand was the most frequently injured part of the body during both EVA and NBL training. This study effort thus focused primarily on crew training data in the NBL between 2002 and 2010. Of the 87 recorded training incidents, 19 occurred to women and 68 to men. While crew ages ranged from thirties to fifties, the age category most affected was in the forties range. Incident rate calculations (incidents per 100 training runs) revealed that the 2002, 2003, and 2004 time periods registered the highest reported incident rate levels (3.4, 6.1, and 4.1 respectively) when compared to the following years (all ≤ 1.0). In addition to general hand-arm discomfort being the highest reported result from training, specific types of hand injuries or symptoms included erythema, fingernail delamination, abrasions, muscle soreness/fatigue, paresthesia, bruising, blanching, and edema. Specific body locations most affected by hand injuries included the metacarpophalangeal joints, fingernails, finger crotches, fingers in general, interphalangeal joints, and fingertips. Causes of injuries reported in the LSAH data were primarily attributed to the forces that the gloved hands were exposed to due to hand intensive tasks and/or poor glove sizing. DISCUSSION: Although the age data indicate that most injuries are reported by male crewmembers in their forties, that is also the dominant gender and age range of most EVA crew therefore it is not an unexpected finding. Age and gender analysis will continue as more details on the uninjured population is accrued. While there is a reasonable mechanism to link training quantity to injury, the results were inconsistent and point to the need for a consistent method of suit-related injury screening and documentation. For instance, the high-incident rate levels for the years 2002 to 2004 could be attributed to a comprehensive medical review of crewmembers post-NBL EVA training that occurred from July 19, 2002 to January 16, 2004. Furthermore, there could have been increased awareness from an investigation at the NBL. These investigations may have temporarily increased the fidelity of reported injuries and discomforts during these dates as compared to surrounding years, when injury signs and symptom were no longer actively being investigated but rather voluntarily reported. Data mining for possible mechanistic factors continues and includes more detailed training timelines, hand anthropometry, and suit sizing information. The limited published data looking at hand-arm anthropometry correlated hand-anthropometry metrics with injuries stemming from glove design and operation. Future work will include further evaluation of body sizing and fit in relation to hand injury incidents.

Reid, C. R.↗

NASA NTRS2010

Post-Shuttle EVA Operations on ISS

The EVA hardware used to assemble and maintain the ISS was designed with the assumption that it would be returned to Earth on the Space Shuttle for ground processing, refurbishment, or failure investigation (if necessary). With the retirement of the Space Shuttle, a new concept of operations was developed to enable EVA hardware (EMU, Airlock Systems, EVA tools, and associated support equipment and consumables) to perform ISS EVAs until 2016 and possibly beyond to 2020. Shortly after the decision to retire the Space Shuttle was announced, NASA and the One EVA contractor team jointly initiated the EVA 2010 Project. Challenges were addressed to extend the operating life and certification of EVA hardware, secure the capability to launch EVA hardware safely on alternate launch vehicles, and protect EMU hardware operability on orbit for long durations.

West, Bill↗

NASA NTRSDate not supplied

Comparative Analysis for EMU Fleet Latent Loading Characterization in Support of US EVA 80 Failure

During United States Extravehicular Activity 80 (US EVA 80), water was observed in the helmet of an Extravehicular Mobility Unit (EMU) during cabin repressurization. One of the primary mechanisms that can cause water in the helmet of an EMU is integrated performance induced sublimator carryover. The sublimator is a heat exchanger that removes heat and humidity from the ventilation loop. Water vapor is condensed from the gas and removed by slurper holes in the sublimator. Sublimator carryover is caused by the inability of the EMU sublimator to remove all of the condensed water vapor, resulting in liquid water entering the helmet. To determine if sublimator carryover was a likely cause of the US EVA 80 failure, a comparative analysis of numerous historical EVAs was conducted to calculate the total latent load (total water vapor generated by the crewmember) for numerous historical EVAs and ground tests using the Systems Improved Numerical Differencing Analyzer EMU (SINDA EMU) model. The analysis showed that US EVA 80 was associated with a comparatively high latent load when compared to other EVAs that did not present water in the helmet. Further, this analysis showed that other historical EVAs which had visible water in the helmet were also associated with higher latent loads. This analysis provides evidence that the likely cause of the US EVA 80 water in the helmet event was not the failure of an individual component, but rather sublimator carryover caused by excessive production of water vapor by the crewmember. The evidence from this analysis agrees with results from the Test, Teardown, and Evaluation (TT&E) of the EMU which did not show any failure of individual components of the EMU that would lead to water in the helmet.

Noah Andersen↗

NASA NTRS1975

Study to evaluate the effect of EVA on payload systems. Volume 1: Executive summary

Programmatic benefits to payloads are examined which can result from the routine use of extravehicular activity (EVA) during space missions. Design and operations costs were compared for 13 representative baseline payloads to the costs of those payloads adapted for EVA operations. The EVA-oriented concepts developed in the study were derived from these baseline concepts and maintained mission and program objectives as well as basic configurations. This permitted isolation of cost saving factors associated specifically with incorporation of EVA in a variety of payload designs and operations. The study results were extrapolated to a total of 74 payload programs. Using appropriate complexity and learning factors, net EVA savings were extrapolated to over $551M for NASA and U.S. civil payloads for routine operations. Adding DOD and ESRO payloads increases the net estimated savings of $776M. Planned maintenance by EVA indicated an estimated $168M savings due to elimination of automated service equipment. Contingency problems of payloads were also analyzed to establish expected failure rates for shuttle payloads. The failure information resulted in an estimated potential for EVA savings of $1.9 B.

Patrick, J. W.↗

NASA NTRS1985

Advanced EVA system design requirements study: EVAS/space station system interface requirements

The definition of the Extravehicular Activity (EVA) systems interface requirements and accomodations for effective integration of a production EVA capability into the space station are contained. A description of the EVA systems for which the space station must provide the various interfaces and accomodations are provided. The discussion and analyses of the various space station areas in which the EVA interfaces are required and/or from which implications for EVA system design requirements are derived, are included. The rationale is provided for all EVAS mechanical, fluid, electrical, communications, and data system interfaces as well as exterior and interior requirements necessary to facilitate EVA operations. Results of the studies supporting these discussions are presented in the appendix.

Woods, T. G.↗

NASA NTRS1988

Advanced EVA system design requirements study

The results are presented of a study to identify specific criteria regarding space station extravehicular activity system (EVAS) hardware requirements. Key EVA design issues include maintainability, technology readiness, LSS volume vs. EVA time available, suit pressure/cabin pressure relationship and productivity effects, crew autonomy, integration of EVA as a program resource, and standardization of task interfaces. A variety of DOD EVA systems issues were taken into consideration. Recommendations include: (1) crew limitations, not hardware limitations; (2) capability to perform all of 15 generic missions; (3) 90 days on-orbit maintainability with 50 percent duty cycle as minimum; and (4) use by payload sponsors of JSC document 10615A plus a Generic Tool Kit and Specialized Tool Kit description. EVA baseline design requirements and criteria, including requirements of various subsystems, are outlined. Space station/EVA system interface requirements and EVA accommodations are discussed in the areas of atmosphere composition and pressure, communications, data management, logistics, safe haven, SS exterior and interior requirements, and SS airlock.

Woods, T. G.↗

NASA NTRS1992

Investigation of the effects of Extra Vehicular Activity (EVA) and Launch and Entry (LES) gloves on performance

Human capabilities such as dexterity, manipulability, and tactile perception are unique and render the hand as a very versatile, effective and a multipurpose tool. This is especially true for unknown environments such as the EVA environment. In the microgravity environment interfaces, procedures, and activities are too complex, diverse, and defy advance definition. Under these conditions the hand becomes the primary means of locomotion, restraint, and material handling. Facilitation of these activities, with simultaneous protection from the cruel EVA environment are the two, often conflicting, objectives of glove design. The objectives of this study was (1) to assess the effects of EVA gloves at different pressures on human hand capabilities, (2) to devise a protocol for evaluating EVA gloves, (3) to develop force time relations for a number of EVA glove pressure combinations, and (4) to evaluate two types of launch and entry suit gloves. The objectives were achieved through three experiments. The experiments for achieving objectives 1, 2, and 3 were performed in the glove box in building 34. In experiment 1 three types of EVA gloves were tested at five pressure differentials. A number of performance measures were recorded. In experiment 2 the same gloves as in experiment 1 were evaluated in a reduced number of pressure conditions. The performance measure was endurance time. Six subjects participated in both the experiments. In experiment 3 two types of launch and entry suit gloves were evaluated using a paradigm similar to experiment 1. Currently the data is being analyzed. However for this report some summary analyses have been performed. The results indicate that a) With EVA gloves strength is reduced by nearly 50 percent, b) performance decrements increase with increasing pressure differential, c) TMG effects are not consistent across the three gloves tested, d) some interesting gender glove interactions were observed, some of which may have been due to the extent (or lack of) fit of the glove to the hand, and e) differences in performance exist between partial pressure suit glove and full pressure suit glove, especially in the unpressurized condition.

Bishu, Ram R.↗

NASA NTRS1994

EVA-SCRAM operations

This paper wrestles with the on-orbit operational challenges introduced by the proposed Space Construction, Repair, and Maintenance (SCRAM) tool kit for Extra-Vehicular Activity (EVA). SCRAM undertakes a new challenging series of on-orbit tasks in support of the near-term Hubble Space Telescope, Extended Duration Orbiter, Long Duration Orbiter, Space Station Freedom, other orbital platforms, and even the future manned Lunar/Mars missions. These new EVA tasks involve welding, brazing, cutting, coating, heat-treating, and cleaning operations. Anticipated near-term EVA-SCRAM applications include construction of fluid lines and structural members, repair of punctures by orbital debris, refurbishment of surfaces eroded by atomic oxygen, and cleaning of optical, solar panel, and high emissivity radiator surfaces which have been degraded by contaminants. Future EVA-SCRAM applications are also examined, involving mass production tasks automated with robotics and artificial intelligence, for construction of large truss, aerobrake, and reactor shadow shield structures. Realistically achieving EVA-SCRAM is examined by addressing manual, teleoperated, semi-automated, and fully-automated operation modes. The operational challenges posed by EVA-SCRAM tasks are reviewed with respect to capabilities of existing and upcoming EVA systems, such as the Extravehicular Mobility Unit, the Shuttle Remote Manipulating System, the Dexterous End Effector, and the Servicing Aid Tool.

Flanigan, Lee A.↗

NASA NTRS1997

A Human Factors Analysis of EVA Time Requirements

Human Factors Engineering (HFE) is a discipline whose goal is to engineer a safer, more efficient interface between humans and machines. HFE makes use of a wide range of tools and techniques to fulfill this goal. One of these tools is known as motion and time study, a technique used to develop time standards for given tasks. During the summer of 1995, a human factors motion and time study was initiated with the goals of developing a database of EVA task times and developing a method of utilizing the database to predict how long an EVA should take. Initial development relied on the EVA activities performed during the STS-61 (Hubble) mission. The first step of the study was to become familiar with EVA's, the previous task-time studies, and documents produced on EVA's. After reviewing these documents, an initial set of task primitives and task-time modifiers was developed. Data was collected from videotaped footage of two entire STS-61 EVA missions and portions of several others, each with two EVA astronauts. Feedback from the analysis of the data was used to further refine the primitives and modifiers used. The project was continued during the summer of 1996, during which data on human errors was also collected and analyzed. Additional data from the STS-71 mission was also collected. Analysis of variance techniques for categorical data was used to determine which factors may affect the primitive times and how much of an effect they have. Probability distributions for the various task were also generated. Further analysis of the modifiers and interactions is planned.

Pate, Dennis W.↗

NASA NTRS2000

EVA Design, Verification, and On-Orbit Operations Support Using Worksite Analysis

The International Space Station (ISS) design is a very large and complex orbiting structure with thousands of Extravehicular Activity (EVA) worksites. These worksites are used to assemble and maintain the ISS. The challenge facing EVA designers was how to design, verify, and operationally support such a large number of worksites within cost and schedule. This has been solved through the practical use of computer aided design (CAD) graphical techniques that have been developed and used with a high degree of success over the past decade. The EVA design process allows analysts to work concurrently with hardware designers so that EVA equipment can be incorporated and structures configured to allow for EVA access and manipulation. Compliance with EVA requirements is strictly enforced during the design process. These techniques and procedures, coupled with neutral buoyancy underwater testing, have proven most valuable in the development, verification, and on-orbit support of planned or contingency EVA worksites.

Hagale, Thomas J.↗

NASA NTRS2004

Advanced EVA Capabilities: A Study for NASA's Revolutionary Aerospace Systems Concept Program

This report documents the results of a study carried out as part of NASA s Revolutionary Aerospace Systems Concepts Program examining the future technology needs of extravehicular activities (EVAs). The intent of this study is to produce a comprehensive report that identifies various design concepts for human-related advanced EVA systems necessary to achieve the goals of supporting future space exploration and development customers in free space and on planetary surfaces for space missions in the post-2020 timeframe. The design concepts studied and evaluated are not limited to anthropomorphic space suits, but include a wide range of human-enhancing EVA technologies as well as consideration of coordination and integration with advanced robotics. The goal of the study effort is to establish a baseline technology "road map" that identifies and describes an investment and technical development strategy, including recommendations that will lead to future enhanced synergistic human/robot EVA operations. The eventual use of this study effort is to focus evolving performance capabilities of various EVA system elements toward the goal of providing high performance human operational capabilities for a multitude of future space applications and destinations. The data collected for this study indicate a rich and diverse history of systems that have been developed to perform a variety of EVA tasks, indicating what is possible. However, the data gathered for this study also indicate a paucity of new concepts and technologies for advanced EVA missions - at least any that researchers are willing to discuss in this type of forum.

Hoffman, Stephen J.↗

NASA NTRS2008

Minimizing EVA Airlock Time and Depress Gas Losses

This paper describes the need and solution for minimizing EVA airlock time and depress gas losses using a new method that minimizes EVA out-the-door time for a suited astronaut and reclaims most of the airlock depress gas. This method consists of one or more related concepts that use an evacuated reservoir tank to store and reclaim the airlock depress gas. The evacuated tank can be an inflatable tank, a spent fuel tank from a lunar lander descent stage, or a backup airlock. During EVA airlock operations, the airlock and reservoir would be equalized at some low pressure, and through proper selection of reservoir size, most of the depress gas would be stored in the reservoir for later reclamation. The benefit of this method is directly applicable to long duration lunar and Mars missions that require multiple EVA missions (up to 100, two-person lunar EVAs) and conservation of consumables, including depress pump power and depress gas. The current ISS airlock gas reclamation method requires approximately 45 minutes of the astronaut s time in the airlock and 1 KW in electrical power. The proposed method would decrease the astronaut s time in the airlock because the depress gas is being temporarily stored in a reservoir tank for later recovery. Once the EVA crew is conducting the EVA, the volume in the reservoir would be pumped back to the cabin at a slow rate. Various trades were conducted to optimize this method, which include time to equalize the airlock with the evacuated reservoir versus reservoir size, pump power to reclaim depress gas versus time allotted, inflatable reservoir pros and cons (weight, volume, complexity), and feasibility of spent lunar nitrogen and oxygen tanks as reservoirs.

Trevino, Luis A.↗

NASA NTRS2006

Risk Management in EVA

This viewgraph presentation reviews the use of risk management in Extravehicular Activities (EVA). The contents include: 1) EVA Office at NASA - JSC; 2) EVA Project Risk Management: Why and When; 3) EVA Office Risk Management: How; 4) Criteria for Closing a Risk; 5) Criteria for Accepting a Risk; 6) ISS IRMA Reference Card Data Entry Requirement s; 7) XA/ EVA Office Risk Activity Summary; 8) EVA Significant Change Summary; 9) Integrated Risk Management Application (XA) Matrix, March 31, 2004; 10) ISS Watch Item: 50XX Summary Report; and 11) EVA Project RM Usefulness

Hall, Jonathan↗

NASA NTRS2012

EVA Physiology and Medical Considerations Working in the Suit

This "EVA Physiology and Medical Considerations Working in the Suit" presentation covers several topics related to the medical implications and physiological effects of suited operations in space from the perspective of a physician with considerable first-hand Extravehicular Activity (EVA) experience. Key themes include EVA physiology working in a pressure suit in the vacuum of space, basic EVA life support and work support, Thermal Protection System (TPS) inspections and repairs, and discussions of the physical challenges of an EVA. Parazynski covers the common injuries and significant risks during EVAs, as well as physical training required to prepare for EVAs. He also shares overall suit physiological and medical knowledge with the next generation of Extravehicular Mobility Unit (EMU) system designers.

Parazynski, Scott↗

NASA NTRS2018

Intra-EVA Space-to-Ground Interactions when Conducting Scientific Fieldwork Under Simulated Mars Mission Constraints

The Biologic Analog Science Associated with Lava Terrains (BASALT) project is a four-year program dedicated to iteratively designing, implementing, and evaluating concepts of operations (ConOps) and supporting capabilities to enable and enhance scientific exploration for future human Mars missions. The BASALT project has incorporated three field deployments during which real (non-simulated) biological and geochemical field science have been conducted at two high-fidelity Mars analog locations under simulated Mars mission conditions, including communication delays and data transmission limitations. BASALT's primary Science objective has been to extract basaltic samples for the purpose of investigating how microbial communities and habitability correlate with the physical and geochemical characteristics of chemically altered basalt environments. Field sites include the active East Rift Zone on the Big Island of Hawai'i, reminiscent of early Mars when basaltic volcanism and interaction with water were widespread, and the dormant eastern Snake River Plain in Idaho, similar to present-day Mars where basaltic volcanism is rare and most evidence for volcano-driven hydrothermal activity is relict. BASALT's primary Science Operations objective has been to investigate exploration ConOps and capabilities that facilitate scientific return during human-robotic exploration under Mars mission constraints. Each field deployment has consisted of ten extravehicular activities (EVAs) on the volcanic flows in which crews of two extravehicular and two intravehicular crewmembers conducted the field science while communicating across time delay and under bandwidth constraints with an Earth-based Mission Support Center (MSC) comprised of expert scientists and operators. Communication latencies of 5 and 15 min one-way light time and low (0.512 Mb/s uplink, 1.54 Mb/s downlink) and high (5.0 Mb/s uplink, 10.0 Mb/s downlink) bandwidth conditions were evaluated. EVA crewmembers communicated with the MSC via voice and text messaging. They also provided scientific instrument data, still imagery, video streams from chest-mounted cameras, GPS location tracking information. The MSC monitored and reviewed incoming data from the field across delay and provided recommendations for pre-sampling and sampling tasks based on their collective expertise. The scientists used dynamic priority ranking lists, referred to as dynamic leaderboards, to track and rank candidate samples relative to one another and against the science objectives for the current EVA and the overall mission. Updates to the dynamic leaderboards throughout the EVA were relayed regularly to the IV crewmembers. The use of these leaderboards enabled the crew to track the dynamic nature of the MSC recommendations and helped minimize crew idle time (defined as time spent waiting for input from Earth during which no other productive tasks are being performed). EVA timelines were strategically designed to enable continuous (delayed) feedback from an Earth-based Science Team while simultaneously minimizing crew idle time. Such timelines are operationally advantageous, reducing transport costs by eliminating the need for crews to return to the same locations on multiple EVAs while still providing opportunities for recommendations from science experts on Earth, and scientifically advantageous by minimizing the potential for cross-contamination across sites. This paper will highlight the space-to-ground interaction results from the three BASALT field deployments, including planned versus actual EVA timeline data, ground assimilation times (defined as the amount of time available to the MSC to provide input to the crew), and idle time. Furthermore, we describe how these results vary under the different communication latency and bandwidth conditions. Together, these data will provide a basis for guiding and prioritizing capability development for future human exploration missions.

Beaton, Kara H.↗