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NASA NTRSDate not supplied

Emulation of Core Flight System Applications for Flight Software Development and Validation

The Mars Sample Return (MSR) campaign is an unprecedented attempt in the return of Martian samples back to Earth. The ascent from the surface will be performed by the Mars Ascent Vehicle (MAV), a critical element in the mission that National Aeronautics and Space Administration (NASA) Marshall Space Flight Center (MSFC) is developing. To this end, innovations in flight software development, verification, and validation are occurring. The MAV flight computer will run Core Flight System (cFS), an open-source software environment developed by NASA Goddard Space Flight Center (GSFC). NASA Marshall’s MAV Mission and Fault Management (M&FM) Team has implemented an emulation of two applications of this architecture: Limit Checker and Stored Command. Using an emulation of the functionalities of these applications allows for rapid prototyping of table-based algorithms. Further, M&FM is leveraging an in-house, low-fidelity but high-throughput State Analysis Model (SAM), an integrated MATLAB Stateflow Plant and Software model. This model is run in parallel with the cFS emulation for full flyout testing of the M&FM algorithms, verification of intent of these algorithms, and for future auto-generation of application-ingestible M&FM tables. The tables can then be delivered to the MAV Flight Software (FSW) team in a seamless process, reducing the cost of traditional FSW development and the risk of starting M&FM FSW development at later points in the NASA program life cycle.

Cody Wheeler↗

NASA NTRSDate not supplied

Correlated Electromagnetic Levitation Actuator: A Reaction Sphere Based Attitude Control System

To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at NASA’s Marshall Space Flight Center have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. The probe also includes the ability to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL Finite Element Analysis and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller thatmitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.

controls↗

NASA NTRSDate not supplied

Correlated Electromagnetic Levitation Actuator: A Reaction Sphere-Based Attitude Control System

To address problems experienced by current reaction wheels and control moment gyroscopebased attitude control systems (ACS), researchers at National Aeronautics and Space Administration’s (NASA’s) Marshall Space Flight Center (MSFC) have begun developing a reaction sphere actuator based on correlated electromagnetic levitation that will be immune to destructive bearing friction, momentum saturation, and gimbal lock. The Correlated Electromagnetic Levitation Actuator (CELA) advances the state of the art of reaction sphere ACSs by employing the concept of correlated magnetics. It is a frictionless, direct-drive reaction sphere that harnesses a unique technology with an array of applications across multiple disciplines. Correlated electromagnets function in a manner that is analogous to a matched filter; the convolution of two signals is peaked at the index representing the greatest match. For CELA, the signals are the patterns of magnetic flux density as a function of position. The magnitude of the convolution equates to an attractive or repulsive force, and these forces can be azimuthal or radial. The development of CELA is based in four distinct disciplines: Advanced Manufacturing, Prototype Development, Electromagnetic Modeling, and Controls. We are developing novel manufacturing techniques required to build arrays of permanent and electromagnet dipoles on curved surfaces. To print the permanent magnetic array, we have developed a probe with pyramidal magnets that will reside on a robotic arm to induce localized magnetic fields on a surface. We have also used high temperature ovens to erase dipole patterns from a permanent magnet by heating the surface to its Curie temperature. A number of test articles and prototypes have been developed using additive manufacturing methods. These prototypes have included hemispherical motors to test the drive algorithm, and a levitation test bed that demonstrates a magnetic bearing method based on attractive magnetic forces and ratiometric Hall effect sensors. We developed an array of electromagnetic dipoles on a printed circuit board (PCB) with individual H-bridges controlling each coil. This device created various flux density patterns and we measured their magnetic fields using a custom Hall effect 3-D probe and a LabVIEW virtual instrument. These data will serve as a benchmark for characterizing the accuracy of future models. Current work is focused on modeling the magnetic fields of our prototype arrays using COMSOL finite element analysis (FEA) and verifying the model against our test data. Accurate modeling will allow us to quickly test new patterns of electromagnets and their macro behavior. Eventually, the magnetic field models will be implemented in our controls simulations to facilitate precise control of the reaction sphere. Initial model results agree with field measurements to within 1 G (5% of measured flux density). Currently, we are testing different material properties of the electromagnets and their magnetic fields and thermal effects. These results will be used to refine the design of the electromagnetic dipoles. Our control efforts have centered on developing commutation, levitation, and field pattern shaping hardware in the form of breadboards and PCBs with software running on a local microcontroller. In addition, our partners developed MATLAB Simulink models to demonstrate a PID controller that mitigates disturbance forces resulting from the interaction of drive and levitation magnetics. Finally, we have designed a three-axis test stand that will be used in future work to demonstrate CELA’s orientation control capability.

reaction sphere↗

NASA NTRSDate not supplied

The Instrumented Walking and Turning Test to Evaluate Suited Gait Dynamics and Performance in Extravehicular Activity Training Environments

Background and aims: Walking will be required for many exploration tasks on the Moon during the Artemis program. Walking in a straight line on the confined floorspace of a testing area, and repetitive treadmill walking that requires no change in direction may not adequately reflect the balance and coordination required during ambulation. Also, performance of turning maneuvers may be affected differently in different extravehicular activity (EVA) training facilities that simulate partial gravity. For example, the Neutral Buoyancy Lab (NBL) simulates lunar gravity by adding weight to underwater subjects to alter buoyancy and achieve the equivalent ground reaction force of 1/6 of Earth’s gravity (1/6G), whereas the Active Response Gravity Offload System (ARGOS) uses a computer controlled overhead suspension system programmed to continuously offload a percentage of a subject’s weight to simulate 1/6G. The degree to which dynamic movements such as turning are comparable across these EVA training facilities has not yet been evaluated. The instrumented gait test helps NASA scientists and engineers evaluate gait dynamics and performance in suited conditions, and this test demonstrates the unique characteristics and limitations of EVA training facilities. We developed an instrumented walking and turning test using inertial measurement units (IMUs) and conducted the test at NASA’s EVA training facilities. Results were used to compare suited walking and turning characteristics in the ARGOS and the NBL. Methods: Subjects donned the Mark III space suit during offloading with the ARGOS spreader bar gimbal and donned the Z2.5 space suit while underwater in the NBL with weights and floatation added to achieve realistic suit center of gravity. The test team securely attached three Opal (APDM, OR, USA) wireless IMUs on the space suit for each test run: one on the middle of the hard upper torso, and one on the left and on the right ankle bearings. During the NBL tests, the IMUs were encased in a waterproof housing (GoPro) with foam added to create a tighter fit. At both testing facilities, 6.3 m x 1.0 m (LxW) walking lines were marked, and a cone for turning or walking around was located at the end of the walking path with another line on the other side of the cone to indicate the stopping point after walking around the cone. Under simulated 1/6G, subjects began by standing at the marked line with their arms folded across the chest, they then walked at a preferred speed along the straight walking path until they reached the end, turned 180 degrees around the cone, and finally stopped at the marked stopping point. All IMU data recorded during testing were automatically saved to the internal memory. Then, raw IMU signals were processed using custom MATLAB (Mathworks, MA, USA) code to compare gait parameters during both the walking and the turning components of the task. These parameters included time (s), speed (m/s for walking and rad/s for turning), step number (n) and walk:turn time ratio (% time spent straight walking versus turning). Results: Less time, faster gait, fewer steps, and higher walk:turn ratio during both walking and turning components were exhibited during tests performed at the ARGOS versus those performed at the NBL. During the NBL tests, the slower walking speed continued at the same rate throughout a U-shape turn. During the ARGOS tests, the subjects performed shorter and tighter turns at 4 times the speed of the NBL turns because they walked 30% faster and the vertical offloading system gave them more support. Conclusion: Our data show that the differences in walking and turning parameters during the NBL tests may be due to the high viscosity in the water environment where the motion of the lower limbs was slow and did not reach full flexion and extension. These tests improve the current knowledge of testing environments in preparation for EVAs on the lunar surface.

Kyoung Jae Kim↗

NASA NTRSDate not supplied

Proof Testing Aluminum and Titanium Thin-Walled Tubes for Aerospace Applications

Proof testing aerospace components aids in verifying the structural integrity of flight hardware. This process is often an important step in the certification process for critical parts. Though proof testing is a common practice at NASA and in industry, there is often a need to understand better the effectiveness of proof testing pressure systems discovering cracklike flaws or defects. Often proof tests are used in requirements and in practice as technical rationale for screening critical defects in a part in lieu of performing a non-destructive inspection. The intent of this work is to define proof test failure envelopes for thin-walled tubes composed of two materials: aluminum and titanium. Both materials are common in aerospace thin-walled tubing applications which is why these were the materials chosen for this study. The fracture mechanics software NASGRO was used to perform a parametric study on the effect of defects in thin-walled tubes subjected to proof testing. For both materials, the parameters varied in the NASGRO analyses were aspect ratio, proof test pressure, thickness, diameter, and flaw multiplier. With each case defined as a through crack or failure, the results were then pulled into MATLAB in order to parse through the data and produce failure envelope plots. Failure envelopes were created by meshing a surface in between the minimum proof pressure failing data points. As expected, based on material properties, the plots indicated the aluminum material would fail at much lower proof tests than the titanium. The parametric data and failure envelopes may be used as general qualitative insight on the effectiveness of proof testing thin-walled tubes of similar alloys.

Leah B Davis↗

NASA NTRS2021

HAPI: An API Standard for Accessing Heliophysics Time Series Data

Heliophysics data analysis often involves combining diverse science measurements, many of them captured as time series. Although there are now only a few commonly used data file formats, the diversity in mechanisms for automated access to and aggregation of such data holdings can make analysis that requires intercomparison of data from multiple data providers difficult. The Heliophysics Application Programmer's Interface (HAPI) is a recently developed standard for accessing distributed time series data to increase interoperability. The HAPI specification is based on the common elements of existing data services, and it standardizes the two main parts of a data service: the request interface and the response data structures. The interface is based on the REpresentational State Transfer (REST) or RESTful architecture style, and the HAPI specification defines five required REST endpoints. Data are returned via a streaming format that hides file boundaries; the metadata is detailed enough for the content to be scientifically useful, e.g., plotted with appropriate axes layout, units, and labels. Multiple mature HAPI-related open-source projects offer server-side implementation tools and client-side libraries for reading HAPI data in multiple languages (IDL, Java, MATLAB, and Python). Multiple data providers in the US and Europe have added HAPI access alongside their existing interfaces. Based on this experience, data can be served via HAPI with little or no information loss compared to similar existing web interfaces. Finally, HAPI has been recommended as a COSPAR standard for time series data delivery.

Robert S. Weigel↗

NASA NTRSDate not supplied

Estimation of Timing Performance with Pulsed Laser Links for Small Satellite PNT

Satellite constellations are growing in size and in utility for applications as diverse as providing reliable, low-latency internet service to rural areas orEarth science missions.This expansion of satellite constellations brings attention to the need for responsive and reliable satellite communication.Current research in the PrecisionSpace Systems Laboratory at the University of Florida focuses on using pulsed laser communications as the method of relaying time signals instead of the radio frequency (RF)signals.The upcoming CLICK (CubeSat Laser Infrared CrosslinK) missions (Massachusetts Institute of Technology, University of Florida, NASA Ames Research Center) will demonstrate a spacecraft-to-spacecraft laser communication link and time-transfer.For pre-flight technology assessment of missions such as CLICK, a simulation of a spacecraft constellation in Earth orbit has been created to estimate clock synchronization and precision orbit determination based on measured instrumentation performance.We have developed a novel MATLAB-based numerical simulator to model spacecraft-to-spacecraft laser time-transfer and estimate the offset between the spacecraft clocks over time.This simulation includes timing errors associated with laser pulse generation and detection, as well as non-Gaussian clock drift models.The two on-board clocks modeled are a cesium-based Chip-Scale Atomic Clock (CSAC) and a rubidium-based Miniature Atomic Clock (MAC), both produced by Microchip.An example case of two spacecraft in a circular, low-Earth orbit receiving GPS position, GPS timing, and laser pulse time-of-flight measurements is simulated.The positions and velocities of the two spacecraft at a reference epoch and the constant clock model coefficients are estimated.Polynomial models of different orders were used as clock models. The effect of clock model order on the root-mean-square (RMS) of the clock error is apparent in the case using GPS and lasing measurements, showing that the clock model improves with increasing clock model order. Results compare the estimated clock model of a mission operation that only uses GPS measurements and a mission operation that uses both GPS and laser pulse time-of-flight measurements between spacecraft referenced to their on-board CSACs or on-board MACs. Including lasing measurements reduces the RMS clock model error by approximately 80% of the RMS of the cases with only GPS measurements.This simulation tool can be used to optimize the lasing operations schedule based on mission timing performance objectives. During this presentation, I will discuss the details of the simulation and clock model estimation, as well as discuss the results.I will compare the results of incorporating lasing timing measurements to using only GPS measurements and the outcomes of using different orders of polynomials.

Timing Performance↗

NASA NTRSDate not supplied

Zircon, Baddeleyite, and Reidite Found in Ries Crater Suevite

Introduction: Impact events can generate superheated impact melts and even vapor [1]. In the past decade, evidence of the high temperatures and high pressures of the impact process has been found in the impact melt from terrestrial craters (e.g., Mistastin Lake [2], Meteor Crater [3]) and even on the Moon [4–5]. Often, these studies involve zircon or zirconium-bearing phases. Zircon is a particularly useful mineral, due to its robustness and durability against weathering. It is used principally for chronology, but it has a multitude of geologic applications, including geothermometry and fingerprinting magma sources. Here we focus on its capability of recording impact conditions. Grains of zircon (ZrSiO4) are converted at high temperature and/or pressure during an impact event to reidite (a high-pressure polymorph of ZrSiO4) or to tetragonal-ZrO2 + SiO2 [6]. Reidite and tertragonal-ZrO2 leave identifying relicts in the rocks, markers of the high pressures and/or temperatures these rocks underwent. Ries Crater is a 26-km-diameter peak ring crater in southern Germany that formed approximately 15 Ma [7–9]. Ries is the type locality of the polymict impact breccia known as suevite. Here, we report a microanalytical study of suevite from the Ries impact structure. These analyses are used to inform our understanding of the pressure and temperature conditions involved in creating a polymict impact breccia such as suevite in a peak ring crater. Sample Description: The sample, denoted 16RS08, originates from Otting Quarry, at 48.8777° N, 10.7921° E, approximately 17 km from the center of the Ries Crater in Germany (approximately 4 km outside the crater rim). The material recorded in sample 16RS08 is therefore considered an outer suevite. The outer suevite is a discontinuous layer of polymict impact breccia that occurs outside the central ring of Ries, up to 22 km from the center of the crater [9]. Lithic clasts in the outer suevite consist primarily of crystalline basement rocks (gneiss, granite, amphibolite), with less than 5% of lithic clasts being overlying sedimentary rocks (limestone, sandstone, shale) [9]. The thin section studied contains variably shocked lithic and mineral clasts, impact glass, and interstitial minerals that make up the matrix of the breccia (Fig. 1) [9]. Methods: We used a Cameca SX100 electron probe microanalyzer (EPMA) located in the Kuiper Materials Imaging and Characterization Facility (KMICF) at the University of Arizona to obtain 15 elemental X-ray maps of 16RS08. We next used the JEOL 7900F SEM at the Astromaterials Research & Exploration Science (ARES) at NASA Johnson Space Center (JSC) to obtain electron backscatter diffraction (EBSD) maps and energy dispersive X-ray spectroscopy (EDS) maps of select portions of the section. The EBSD data were collected under beam conditions of 20 kV, and ~9 μA, with step sizes varying from 0.05 to 2 μm. Following EBSD data collection, we processed the data using AZtecCrystal and MTEX, a free MATLAB toolbox. Results: We used the elemental X-ray maps to identify the areas of interest in the section, particularly phosphates and Zr-bearing grains. These areas of interest were then targeted for follow up EBSD and EDS analyses. We have identified, through combined EBSD and EDS analysis, the presence of zircon, reidite, and monoclinic-ZrO2 (baddeleyite) in 16RS08. In 16RS08, we have found singular grains of zircon, zircon with a vermicular baddeleyite halo (Fig. 2a), and granular zircon with reidite (Fig. 2b). The different Zr-rich phases and their corresponding textures signifies that this sample underwent a broad spectrum of pressure and temperature conditions during the impact event. For example, zircons surrounded by a vermicular baddeleyite and SiO2 intergrowth (i.e., Fig. 2a) have been shown to preserve evidence of the extremely high temperatures of impact melt, upwards of 2370 °C [2, 6]. Similarly, reidite and granular zircon (i.e., Fig. 2b) have been shown to preserve evidence of high pressure, as the transition to reidite occurs >30 GPa [3, 6]. Future Work: Next, we will process the EBSD and EDS data for these Zr-rich grains, specifically looking for indicators of cubic- or tetragonal-ZrO2 in the baddeleyite remnants and of shock-precursors to the reidite. To further inform our work, we will also obtain BSE images of these grains using a Hitachi S-4800 SEM in KMICF at the University of Arizona, as well as geochemical spot analyses via EPMA. The data collected will be used to constrain the formation conditions of the Ries Crater outer suevite. Acknowledgments: We thank Ken Domanik and Jerry Chang for their support with data collection. This work was supported by a University of Arizona RII Core Facilities Pilot Program grant and start-up funds to JJB. TME thanks A. Cavosie and N. Timms for assistance during field sampling. We acknowledge support from NASA’s Planetary Science Research program for analysis performed at JSC. References: [1] Melosh H. J. (1989) Oxf. U. Press. [2] Timms et al. (2017) EPSL 477, 52–58. [3] Cavosie et al. (2016) Geology 44:9, 703–706. [4] White et al. (2020) Nature Astr. 4, 974–978. [5] Crow C. A. et al. (2017) GCA 202, 264–284. [6] Timms et al. (2017) Earth-Sci. Rev. 165, 185–202. [7] Schmieder M. et al. (2018) GCA 220, 146–157. [8] Schwarz W. H. et al. (2020) M&PS 55:2, 312–325. [9] Stöffler et al. (2013) M&PS 43:4, 515–589.

Zircon↗

NASA NTRSDate not supplied

Pink Spinel in Apollo Impact Melt Rock 68815: Implications for Mg-Suite Magmatism

Introduction: Magnesian rocks from the lunar highlands are collectively termed the Mg-suite. Characterized by high (>60) Mg# (molar 100×Mg/[Mg+Fe]) in mafic phases and calcic plagioclase, these rocks are plutonic to hypabyssal in origin, and include a range of bulk mineralogies such as troctolites, dunites, norites, gabbronorites, and spinel troctolites [1]. These Mg-suite lithologies have distinct trace element concentrations and ratios that differentiate them from other lunar rock types. These rocks are ancient, generally dated to between 4.5 and 4.1 Ga, although it is unknown if this represents the full range of Mg-suite ages [1–2]. Among the Mg-suite lithologies, the spinel troctolites are relatively rare, to date only found in polymict breccias [3]. Spinel troctolites, as their name suggests, consist of calcic plagioclase and forsteritic olivine, with minor amounts of spinel (MgAl2O4), ± pyroxene and cordierite [1,4]. This form of spinel is often called ‘pink’ spinel because of its appearance in thin section under plane polarized light (PPL; Fig. 1), due to minor amounts of Cr. Spinel troctolites are generally plutonic or hypabyssal in origin (subsequently exhumed and incorporated into polymict breccias), or formed through impact processes (e.g., crystalline impact melt) [5]. A spinel-rich lithology has also been found in the Moscoviense region of the Moon via the Moon Mineralogy Mapper (M3) and lacks other mafic phases [6]. Finally, while the Mg-suite sampled thus far consists of plutonic (or hypabyssal) rocks, the question remains if such magmas could have erupted on the surface of the Moon [7]. These magmas have much lower density than mare basalts, but little sample or remote sensing evidence has been found to support the idea that extrusive Mg-suite volcanism occurred [7]. Here, we present a coordinated microanalytical study of spinel-bearing lithic and mineral clasts found in Apollo sample 68815. These data will be used to understand their petrogenesis (magmatic or impact) and modification histories, and to shed light on the existence of volcanic Mg-suite rocks. Sample Description: Apollo sample 68815 is a polymict impact melt breccia containing a variety of lithic and mineral fragments embedded in devitrified impact melt. This sample was chipped off the top of a boulder at Station 8 during the Apollo 16 mission and had an original weight of nearly 1.8 kg. In this study, we investigated two polished thin sections of 68815: 68815,17 and 68815,148, both containing spinel. Methods: The thin sections of 68815 were studied using optical light microscopy (PPL, cross-polarized light, and reflected light) with a Keyence VHX-7100 Digital Microscope. Each section was then X-ray mapped for 13–14 elements using a Cameca SX100 electron probe microanalyzer (EPMA) located in the Kuiper Materials Imaging and Characterization Facility (KMICF) at the University of Arizona. We have obtained geochemical information about the phases (olivine, plagioclase, spinel, pyroxene) in the thin sections also using the EPMA. In addition, we have used ThermoScientific Helios NanoLab 660 Focused-Ion-Beam Scanning-Electron Microscope (FIB-SEM) and a Hitachi S-4800 SEM (both in KMICF) to obtain backscattered electron (BSE) images and energy dispersive Xray spectrometry (EDS) maps of areas of interest. Using a JEOL 7900F SEM at the Astromaterials Research & Exploration Science (ARES) at NASA Johnson Space Center (JSC), we have obtained electron backscatter diffraction (EBSD) maps of the spinel-bearing portions of the thin sections. The EBSD data were collected under beam conditions of 20 kV, and ~90 μA, with step sizes varying from 0.05 to 2 μm. Following EBSD data collection, we processed the data using AZtecCrystal and MTEX, a free MATLAB toolbox. Results: We have found clasts with subophitic textures, that consist of primarily olivine and plagioclase, with minor amounts of pink Mg-Al spinel and pyroxene (Fig. 1). These clasts are up to ~1 mm in length and contain spinels up to 50 μm across. We have additionally identified pink Mg-Al spinels within the impact melt (i.e., not contained in lithic clasts) in both thin sections. In one instance, a single spinel grain is approximately 300 μm across (Fig. 1b, 2). The spinel fragments embedded in impact melt have varying compositions, typically distinct from the compositions of spinels in the lithic clasts. Spinel-Bearing Clasts: Ten lithic clasts with similar textures and mineral compositions were identified between 68815,17 (two clasts) and ,148 (eight clasts). These clasts fall into two groups. The first has skeletal olivine with intergranular plagioclase, with minor amounts of pyroxene and spinel (Fig. 1a, 2c, 2d). The spinel in these clasts are found amid the plagioclase. The second group have an intergranular texture of olivine and plagioclase, again with minor spinel and pyroxene. The second group may contain spinels surrounded by plagioclase, and spinels enclosed in olivine. Spinels located within both clast types range from no apparent Cr zoning, to reverse zoning (Cr-enrichment inward; Fig. 2d), to normal zoning (Cr-enrichment outward). In the clasts thus far investigated with EPMA, plagioclase compositions range from An# (molar 100×Ca/[Ca+Na+K]) 92–96. Olivine Mg# ranged from 77 to 94, while pyroxene had Mg# from 54–84. Spinel in the clasts have Cr# (molar 100×Cr/[Cr+Al]) 2–4 and Mg# 88–91, which is within the range of pristine and plutonic spinel troctolites [8]. Isolated Spinels: These crystals are generally euhedral to subhedral, and can exhibit reverse Cr zoning (Cr enrichment inward) or no apparent Cr zoning. The spinels thus far investigated via EPMA have Cr# 9–14 and Mg# 65–82. The Cr# for these spinels is within the range reported by [8], but have lower Mg#. Future Work: We will continue to process the EBSD data for these lithic and mineral clasts. We will also continue to characterize these clasts using EPMA and SEM. By thoroughly characterizing the various spinels and spinel-bearing clasts, we aim to constrain the petrogenesis of these minerals and rock fragments. Acknowledgments: We thank NASA for the loan of these thin sections. We thank Ken Domanik and Jerry Chang for their support with data collection. Work was supported by a University of Arizona RII Core Facilities Pilot Program grant and start-up funds to JJB. We acknowledge support from NASA’s Planetary Science Research program for analysis performed at JSC. References: [1] Shearer C. K. et al. (2015) Am. Min. 100, 294–325. [2] Borg L. E. et al. (2020) GCA 290, 312–332. [3] Warren P. H. (1993) Am. Min. 78, 360–376. [4] Dymek R. F. et al. (1976) LPS VII, 2335–2378. [5] Treiman et al. (2019) Am. Min. 104, 370–384. [6] Pieters et al. (2011) JGR: Plan. 116:E00G08. [7] Prissel et al. (2016) Icarus 277, 319–329. [8] Prissel et al. (2016) Am. Min. 101, 1624–1635.

spinel↗

NASA NTRS2020

Connecting Users and Applications with Po.daac Hosted GHRSST Data

The 80+ GHRSST public datasets represent a rich resource for sea surface temperature research and applications given their time series length, resolution, spatial coverage, varying measurement types and processing levels, and availability in the full spectrum of PO.DAAC tools and services ecosystem. The PO.DAAC has created a publicly accessible recipe suite for the user community to perform straightforward yet powerful computations on GHRSST data using python recipes, Jupyter notebooks, R, Matlab, and the NCO programming language. These recipes include numerical computations for regional and global SST trends, anomaly derivations, EOF analysis, climate signal reproduction, and ocean phenology. For example, one recipe reproduces a famous SST based warming figure from the Fourth National Climate Assessment (USA) while another focuses on quantifying the regional changes in ocean SST phenology. Most are python-based while some contain hybrid calls and leverage the NCO programming interface too. All are available on the PO.DAAC user forum (https://podaac.jpl.nasa.gov/forum/) and/or via the open source NASA GitHub repository (https://github.com/nasa/podaac_tools_and_services). Several are available in the Jupyter notebook framework including podaacypy (https://github.com/nasa/podaacpy), a recipe for GHRSST granule metadata discovery and application, and more recently a Jupyter notebook developed to support data analysis and visualization of a cloud-based Zarr formatted Level 4 MUR dataset in the AWS Open Data Registry. Throughout the summer of 2020, the PO.DAAC intends to add and migrate more of its numerical recipes to the Jupyter notebook framework and publish them on its open source GitHub repository.

Gentemann, Chelle↗

NASA NTRSDate not supplied

Emulation of Core Flight System Applications for Flight Software Development and Validation

Cody Wheeler↗

NASA NTRSDate not supplied

Mars Ascent Vehicle GNC Targeting Routines with Considerations for Flight Software Development

The Mars Ascent Vehicle (MAV) will be the first vehicle to perform an ascent from the surface of another atmospheric planetary body outside of the Earth-Moon system. Significant light-time delay requires complete autonomy of flight throughout ascent, and naturally a high level of reliability is desired in both MAV’s hardware and software subsystems. The MAV Guidance, Navigation and Controls (GNC) team and the MAV Flight Software (FSW) team have partnered together to improve the efficiency of algorithm integration onto the MAV flight processor, and to increase confidence that said integration is successful and without human error. An interface architecture is proposed for the GNC suite that allows both the guidance and navigation subsystems to provide code algorithms directly in C++, and the controls subsystem to provide MATLAB Simulink auto-coded algorithms. Several continuous integration/deployment (CI/CD) methodologies have been considered for ease of transition of algorithm code from the GNC team to the FSW team. The GNC/FSW teams also worked together to develop a cFS-friendly wrapper which abstracts the integration of the GNC algorithm code into an interface-level API that is compatible with cFS. Several iterations of vehicle GNC code have been produced between the GNC/FSW team’s partnership, and this strong interface between these two teams have allowed the GNC/FSW teams to greatly increase confidence of efficient and error-free implementation of the GNC code onto MAV for a successful flight.

Jason Everett↗

NASA NTRS2021

Assessing Relay Communications for Mars Sample Return Surface Mission Concepts

The Mars Sample Return (MSR) Campaign would be a 3-mission campaign concept supported by NASA and ESA to return samples from the Mars surface. MSR would, for the first time ever, present a need to communicate with multiple surface assets that are co-located on Mars in a coordinated effort to accomplish the unified objective of fetching, transporting, and returning samples from Mars. Currently, Mars surface assets relay data to and from Earth using a number of orbiters in what’s known as the Mars Relay Network (MRN). This network is characterized by a small number of surface assets distributed across the Martian globe and a larger number of orbiters to provide relay services. As of June 2020, there are two surface assets for which five orbiters are providing relay. During the MSR Campaign, there would be two rovers and a lander that all would require relay communication from a small number of Mars orbiters to meet the aggressive MSR timeline. The inversion of the current MRN paradigm, a system of many surface assets requiring relay and few orbiters to provide relay, necessitates the unique challenge of optimally allocating relay passes to maximize the operational capability of all assets. The allocation must consider a large number of trade variables including Mars asset operational requirements and Earth ground system constraints, including staffing schedules, operations planning across time zones, and more. To address these telecommunication challenges, the Mars Asset Relay Mission Link Allocation Design Environment (MARMLADE) tool was developed. It is a MATLAB-based tool to assign orbiter passes or Direct-From-Earth (DFE) links to each of the three surface assets and quantify the operational efficiency of each surface asset.MARMLADE uses a data set of simulated Mars relay orbiter geometry and telecommunication capabilities provided by JPL’s Telecom Orbit Analysis and Simulation Tool (TOAST) software to compute which asset should get each pass based on a series of heuristics and predictions of all assets’ states. Within MARMLADE, the user can provide inputs including the option for time-based pass splitting, fixed FWD data rate capabilities, DFE communication capabilities, and link parameters allowing for the assessment of complex operations and hardware trades using surface mission operational efficiency as a primary figure of merit. As the MSR mission concepts continue to mature, MARMLADE is being used to assess ability of all MSR elements to meet the surface mission timeline requirements and to provide relay link allocations to each of the MSR surface assets.This paper will describe the motivation and design of the MARMLADE tool and how it is being used to perform campaign and mission level trades, generate requirements, and support development of the MSR surface mission scenarios.

Lee, Charles↗

NASA NTRS2021

Assessing Relay Communications for Mars Sample Return Surface Mission Concepts

The Mars Sample Return (MSR) Campaign is a 3-mission campaign concept supported by NASA and ESA to return samples from the Mars surface. MSR will, for the firsttime ever, present a need to communicate with multiple surfaceassets that are co-located on Mars in a coordinated effort toaccomplish the unified objective of fetching, transporting, andreturning samples from Mars. Currently, Mars surface assetsrelay data to and from Earth using a number of orbiters inwhat’s known as the Mars Relay Network (MRN). This networkis characterized by a small number of surface assets distributedacross the Martian globe and a larger number of orbiters toprovide relay services. As of June 2020, there are two surfaceassets for which five orbiters are providing relay. During theMSR Campaign, there will be two rovers and a lander that allwill require relay communication from a small number of Marsorbiters to meet the aggressive MSR timeline. The inversion ofthe current MRN paradigm, a system of many surface assetsrequiring relay and few orbiters to provide relay, necessitatesthe unique challenge of optimally allocating relay passes tomaximize the operational capability of all assets. The allocationmust consider a large number of trade variables includingMars asset operational requirements and Earth ground systemconstraints, including staffing schedules, operations planningacross time zones, and more. To address these telecommunicationchallenges, the Mars Asset Relay Mission Link AllocationDesign Environment (MARMLADE) tool was developed. Itis a MATLAB-based tool to assign orbiter passes or Direct-From-Earth (DFE) links to each of the three surface assets andquantify the operational efficiency of each surface asset.MARMLADE uses a data set of simulated Mars relay orbitergeometry and telecommunication capabilities provided by JPL’sTelecom Orbit Analysis and Simulation Tool (TOAST) softwareto compute which asset should get each pass based on a seriesof heuristics and predictions of all assets’ states. WithinMARMLADE, the user can provide inputs including the optionfor time-based pass splitting, fixed FWD data rate capabilities,DFE communication capabilities, and link parameters allowingfor the assessment of complex operations and hardware tradesusing surface mission operational efficiency as a primary figureof merit. As the MSR mission concepts continue to mature,MARMLADE is being used to assess ability of all MSR elementsto meet the surface mission timeline requirements and to provide relay link allocations to each of the MSR surface assets.

Lee, Charles↗

NASA NTRSDate not supplied

Parameters Impacting Columnated Granular Soil Pneumatic Seal Performance

The ability of a column of loose granular soil to form a pneumatic seal was investigated by varying the diameter of the soil column, the effective column height, and the level of compaction in the soil. The soil column diameter was tested at three levels using pipes with inner diameters measuring 5.08, 10.16, and 15.24 centimeters (2, 4, and 6 inches). Soil was filled in each pipe to form 15, 30, and 45 centimeter (6, 12, and 18 inch) tall soil columns. Each diameter/height configuration was also tested at three levels of soil compaction, compared by calculating the bulk density of the soil with mass and volume measurements. GRC-1a simulant was used, with approximate low/medium/high bulk densities of 1.6, 1.75, and 1.9 g/cc achieved with a combination of vibration and tamping. The order of tests for a given column diameter was randomized and repeated three times. With the top of the soil open to atmosphere at room temperature, compressed air was injected through a small diffuser at the column base with several small downward-facing holes. The number and size of these holes was scaled such that a constant total inlet orifice area to column cross sectional area ratio was maintained for each column diameter. Inlet air pressure was slowly increased via a precision regulator to preserve quasi-static equilibrium in the soil column to minimize the impact of dynamics. Air pressure was increased all the way through the static and bubbling regimes until slugging or turbulent behavior was observed in the soil to ensure that the entire static regime had been captured during data collection. A three-factor, three-level analysis of variance (ANOVA) statistical analysis was performed on the resulting data to determine the extent to which each physical parameter impacted the soil column seal performance. It was concluded that there is statistically significant evidence that column height, and the interaction between column height and diameter impact soil seal performance. In all other cases there was insufficient data to identify a statistically significant causal relationship. Additionally, plots were generated comparing experimental data to the predictive formula developed by Ogino et al. for fluidized beds in 1993. Because this model was developed for industrial spouted fluidized beds, the accuracy of its output prior to fluidization in the static seal ‘edge case’ is unknown, especially considering in this application the working gas was diffused across the column base rather than being injected through a spout. Further, the fidelity of the model had not yet been tested with lunar soil simulants. Plotting the Ogino et al. model alongside test data allows for a more intuitive sense of the impact of test parameters on soil seal performance, as well as providing a quick means to further tune this predictive model for more accurate use with static seals across granular lunar soil simulants. The model provided by Ogino et al. was further tuned using test data to determine the degree to which a spouted bed model could be applied to a slightly modified set of testing conditions: lunar soil simulants and a more diffuse, homogeneous application of pneumatic pressure. A Matlab script was created to test different values for the leading coefficient and exponents in Ogino’s formula. The script swept preset ranges, then iterated with higher resolutions across narrower ranges to converge on the optimal value for each parameter. The resulting adjusted model was compared to the original, as well as test data with noticeable improvements across the entire test domain.

Jack Stewart↗

NASA NTRSDate not supplied

4BCO2 Model Validation and Comparisons Between Simulation and Ground and ISS Telemetry Data

The 4-bed CO2Scrubber (4BCO2), used to remove carbon dioxide from the atmosphere of the International Space Station(ISS), was built to improve upon its predecessors to meet the air revitalization needs of future missions. During this internship session, a Matlab wrapper of COMSOL models used to simulate the operation of the 4BCO2 unit was improved upon and validated against both ground test data and flight test data from the currently operating 4BCO2 unit. This presentation details the results of the activities and exercises performed during this internship session, such as the discussion on the plots generated from least squares minimization of the simulation linear driving force and sorbent bed dispersion correction factor multiplier. Plots derived from the collection and processing of telemetry data from the 4BCO2 unit aboard the ISS are discussed in relation to the work processing work performed, and comparisons between real-time CO2 removal rates and simulation removal rates are also discussed.

Larissa Lagria↗

NASA NTRSDate not supplied

CoCoSim Tutorial: Contract-based Compositional Verification of Simulink Models

This tutorial presents CoCoSim, a verification framework for MATLAB Simulink and Stateflow models. We demonstrate CoCoSim’s architecture, designed to be compatible with Lustre-based verification tools, as well as easily extensible to other candidate backends. We focus on CoCoSim’s powerful compositional verification scheme, which allows for scalable verification through the usage of abstractions of subsystems, express ed in the form of Assume-Guarantee Contracts. We show CoCoSim’s interconnection with NASA’s Formal Requirements Tool (FRET), that enables a seamless transition between authoring and formally verifying requirements for Simulink/Stateflow models. Finally, we discuss work in progress with regards to test case generation options in CoCoSim, demonstrating the generation of MC/DC tests for Simulink artifacts.

Formal Verification↗

NASA NTRSDate not supplied

Development of an Inertial Sensor-based Methodology for Spacesuited Geology Task Assessments during Simulated Lunar Extravehicular Activities

Lunar surface exploration during Artemis missions will require the specific skill set of geology sampling. Apollo astronauts had extensive training and used specialized tools to collect lunar rocks, core samples, pebbles, sand, and dust. The inflexibility of the pressurized Apollo spacesuits forced sampling to be taken at a standstill posture. However, new exploration spacesuits are expected to incorporate advanced materials and joint bearings, allowing for greater mobility and a wider range of functional postures. Thus, science and exploration during Artemis missions will likely involve a variety of standing, squatting, and kneeling postures. In preparation for future lunar exploration missions, NASA provides geologic training to astronauts and other mission personnel. This professional training with a spacesuit in simulated lunar environments will enhance performance and reduce risk of injury to astronauts on the lunar surface. However, anecdotally, untrained or newly trained people wearing prototype planetary spacesuits have been observed to performing motions differently than a trained geologist would when conducting the same geology sampling tasks. Therefore, a tool for evaluating geology postures at extravehicular activity (EVA) training facilities becomes required. In this paper, we introduce a novel inertial measurement unit (IMU)-based method of geology task assessments in spacesuited conditions during simulated lunar EVAs. As a case study, two subjects (one geologist and one non-geologist) participated and donned the Mark III prototype planetary spacesuit during offloading with the spreader bar gimbal in NASA’s Active Response Gravity Offload System (ARGOS). For automated geology task assessments, the spacesuit was instrumented with three wireless IMUs (APDM Opal, OR, USA): one on the chest and one each on the left and right ankle bearings. Then subjects performed geology tasks using various tools (rake, trench, hammer chisel, scoop, and drive tube) for 45 minutes each. The chest IMU measured the torso tilt angle in the sagittal plane. We used an ensemble learning method with the ankle IMUs to discriminate between standing and kneeling activities. IMU data were processed using custom MATLAB (Mathworks, MA, USA) software. In our case study, the developed method was able to discriminate differences in standing and kneeling activity levels between subjects who were all highly experienced with spacesuited testing. Our preliminary data showed one subject maintained the constant and lower range of the upper body tilt angle while both standing and kneeling, while the other subject showed more variation of the upper body tilt angle and preferred bending the upper body rather than changing from standing to kneeling posture and vice versa. While geology experience may be a factor, these results need further investigation as suit sizing and ARGOS offloading configurations have been proven to have a significant influence on suited ARGOS tasks. Also, more subjects will be needed to complete these tasks for validation. IMU-based geology task assessments can provide useful information for geology training programs. Additionally, our IMU-based posture analysis can provide new insights into how to evaluate spacesuited geology task characteristics of astronauts during simulated lunar EVAs.

Kyoung Jae Kim↗