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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Dynamic Assurance of Autonomous Systems through Ground Control Software∗

Assurance cases are being increasingly acknowledged as a way to build trust in complex systems with autonomous capabilities [1]. An assurance case is a comprehensive, defensible, and valid justification that a system will function as intended for the specific mission and operating environment. Such justifications for systems with autonomous capabilities are often based on various probabilistic quantifications [2]. Due to the dynamic nature of the environmental conditions in which these systems operate, as well as the changing nature of the autonomous systems themselves, these probabilistic quantifications cannot be simply estimated once during design time. Rather, they need to be continually evaluated during systems operations to ensure that the assurance case justifications are valid. We refer to the assurance case that combines both the static and dynamic elements as a Dynamic Assurance Case (DAC).

dynamic assurance case↗
NASA NTRS2014

The Affect of the Space Environment on the Survival of Halorubrum Chaoviator and Synechococcus (Nageli): Data from the Space Experiment OSMO on EXPOSE-R

We have shown using ESA's Biopan facility flown in Earth orbit that when exposed to the space environment for 2 weeks the survival rate of Synechococcus (Nageli), a halophilic cyanobacterium isolated from the evaporitic gypsum-halite crusts that form along the marine intertidal, and Halorubrum chaoviator a member of the Halobacteriaceae isolated from an evaporitic NaCl crystal obtained from a salt evaporation pond, were higher than all other test organisms except Bacillus spores. These results led to the EXPOSE-R mission to extend and refine these experiments as part of the experimental package for the external platform space exposure facility on the ISS. The experiment was flown in February 2009 and the organisms were exposed to low-Earth orbit for nearly 2 years. Samples were either exposed to solar ultraviolet (UV)-radiation (lambda is greater than 110 nm or lambda is greater than 200 nm, cosmic radiation (dosage range 225-320 mGy), or kept in darkness shielded from solar UV-radiation. Half of each of the UV-radiation exposed samples and dark samples were exposed to space vacuum and half kept at 105 pascals in argon. Duplicate samples were kept in the laboratory to serve as unexposed controls. Ground simulation control experiments were also performed. After retrieval, organism viability was tested using Molecular Probes Live-Dead Bac-Lite stain and by their reproduction capability. Samples kept in the dark, but exposed to space vacuum had a 90 +/- 5% survival rate compared to the ground controls. Samples exposed to full UV-radiation for over a year were bleached and although results from Molecular Probes Live-Dead stain suggested approximately 10% survival, the data indicate that no survival was detected using cell growth and division using the most probable number method. Those samples exposed to attenuated UV-radiation exhibited limited survival. Results from of this study are relevant to understanding adaptation and evolution of life, the future of life beyond earth, the potential for interplanetary transfer of viable microbes via meteorites and dust particles as well as spacecraft, and the physiology of halophiles.

space flight↗
NASA NTRS1994

Ground vehicle control at NIST: From teleoperation to autonomy

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Murphy, Karl N.↗
NASA NTRS1993

Use of optical edge and optical flow rate: Information in the perception and control of ground velocity

Previous research (Denton, 1980; Larish & Flach, 1990; Owen, Wolpert, & Warren, 1984; Awe & Johnson, 1989) suggests that people will use one or both of two optical variables as information for the perception and/or regulation of ground velocity. The first variable, global optical flow rate (FR), reflects the angular optical speed, and is proportional to the observer's ground velocity scaled in altitude units, i.e. velocity divided by altitude. Therefore, flow rate is a reliable indicator of ground velocity only under the condition of constant altitude. The second variable, optical edge rate (ER), reflects ground velocity as the frequency at which the optically specified ground edges pass across some optical region. Therefore, edge rate is an accurate indicator of ground velocity when altitude varies, but not when texture density varies. Since both flow rate and edge rate can vary independently of forward ground velocity, accurate ground-velocity control may depend upon using the best optical variable.

Johnson, Walter W.↗
NASA NTRS2010

Review of Leading Approaches for Mitigating Hypersonic Vehicle Communications Blackout and a Method of Ceramic Particulate Injection Via Cathode Spot Arcs for Blackout Mitigation

Vehicles flying at hypersonic velocities within the atmosphere become enveloped in a "plasma sheath" that prevents radio communication, telemetry, and most importantly, GPS signal reception for navigation. This radio "blackout" period has been a problem since the dawn of the manned space program and was an especially significant hindrance during the days of the Apollo missions. An appropriate mitigation method must allow for spacecraft to ground control and ground control to spacecraft communications through the reentry plasma sheath. Many mitigation techniques have been proposed, including but not limited to, aerodynamic shaping, magnetic windows, and liquid injection. The research performed on these mitigation techniques over the years will be reviewed and summarized, along with the advantages and obstacles that each technique will need to overcome to be practically implemented. A unique approach for mitigating the blackout communications problem is presented herein along with research results associated with this method. The novel method involves the injection of ceramic metal-oxide particulate into a simulated reentry plasma to quench the reentry plasma. Injection of the solid ceramic particulates is achieved by entrainment within induced, energetic cathode spot flows.

Gillman, Eric D.↗
NASA NTRS2008

Lunar and Mars Exploration: The Autonomy Factor

Long duration space flight crews have relied heavily on almost constant communication with ground control mission support. Ground control teams provide vehicle status and system monitoring, while offering near real time support for specific tasks, emergencies, and ensuring crew health and well being. With extended exploration goals to lunar and Mars outposts, real time communication with ground control teams and the ground s ability to conduct mission monitoring will be very limited compared to the resources provided to current International Space Station (ISS) crews. An operational shift toward more autonomy and a heavier reliance on the crew to monitor their vehicle and operations will be required for these future missions. NASA s future exploration endeavors and the subsequent increased autonomy will require a shift in crew skill composition, i.e. engineer, doctor, mission specialist etc. and lead to new training challenges and mission scenarios. Specifically, operational and design changes will be necessary in many areas including: Habitat Infrastructure and Support Systems, Crew Composition, Training, Procedures and Mission Planning. This paper will specifically address how to apply ISS lessons learned to further use ISS as a test bed to address decreased amounts of ground support to achieve full autonomous operations for lunar and Mars missions. Understanding these lessons learned and applying them to current operations will help to address the future impacts of increased crew autonomy for the lunar and Mars outposts and pave the way for success in increasingly longer mission durations.

Rando, Cynthia M.↗
NASA NTRS1992

An intelligent position-specific training system for mission operations

Marshall Space Flight Center's (MSFC's) payload ground controller training program provides very good generic training; however, ground controller position-specific training can be improved by including position-specific training systems in the training program. This report explains why MSFC needs to improve payload ground controller position-specific training. The report describes a generic syllabus for position-specific training systems, a range of system designs for position-specific training systems, and a generic development process for developing position-specific training systems. The report also describes a position-specific training system prototype that was developed for the crew interface coordinator payload operations control center ground controller position. The report concludes that MSFC can improve the payload ground controller training program by incorporating position-specific training systems for each ground controller position; however, MSFC should not develop position-specific training systems unless payload ground controller position experts will be available to participate in the development process.

Schneider, M. P.↗
NASA NTRS2003

Correlation of the Hubble Space Telescope (HST) Space Telescope Imaging Spectrometer (STIS) On-Orbit Data with Pre-launch Predictions and Ground Contamination Controls

The Hubble Space Telescope (HST) Space Telescope Imaging Spectrograph (STIS) was deployed on-orbit in February 1997. The contamination program for STIS was stringently controlled as the five-year end-of-life deposition was set at 158, per optical element. Contamination was controlled through materials selection, extensive vacuum outgassing certifications, cleaning techniques, and environmental controls. In addition to ground contamination controls, on-orbit contamination controls were implemented for both the HST servicing mission activities and early post-servicing mission checkout. The extensive contamination control program will be discussed and the STIS on-orbit data will be correlated with the prelaunch analytical predictions.

Hansen, Patricia A.↗
NASA NTRS2016

Advances in Rodent Research Missions on the International Space Station

A research platform for rodent experiment on the ISS is a valuable tool for advancing biomedical research in space. Capabilities offered by the Rodent Research project developed at NASA Ames Research Center can support experiments of much longer duration on the ISS than previous experiments performed on the Space Shuttle. NASAs Rodent Research (RR)-1 mission was completed successfully and achieved a number of objectives, including validation of flight hardware, on-orbit operations, and science capabilities as well as support of a CASIS-sponsored experiment (Novartis) on muscle atrophy. Twenty C57BL6J adult female mice were launched on the Space-X (SpX) 4 Dragon vehicle, and thrived for up to 37 days in microgravity. Daily health checks of the mice were performed during the mission via downlinked video; all flight animals were healthy and displayed normal behavior, and higher levels of physical activity compared to ground controls. Behavioral analysis demonstrated that Flight and Ground Control mice exhibited the same range of behaviors, including eating, drinking, exploratory behavior, self- and allo-grooming, and social interactions indicative of healthy animals. The animals were euthanized on-orbit and select tissues were collected from some of the mice on orbit to assess the long-term sample storage capabilities of the ISS. In general, the data obtained from the flight mice were comparable to those from the three groups of control mice (baseline, vivarium and ground controls, which were housed in flight hardware), showing that the ISS has adequate capability to support long-duration rodent experiments. The team recovered 35 tissues from 40 RR-1 frozen carcasses, yielding 3300 aliquots of tissues to distribute to the scientific community in the U.S., including NASAs GeneLab project and scientists via Space Biology's Biospecimen Sharing Program Ames Life Science Data Archive. Tissues also were distributed to Russian research colleagues at the Institute for Biomedical Problems. The expression levels of select genes including albumin, catalase, GAPDH, HMGCoA Reductase, and IGF1 were determined using RNA isolated from the livers by qPCR and no significant differences by one factor ANOVA were found between flight and ground control groups. In addition, some of the liver samples were analyzed for transcriptomic, epigenomic and proteomic profiles; some of the data sets are now available to the scientific community through GeneLabs open science data website. A second long duration mission, Rodent Research-2 (RR-2) was completed on the ISS in 2015; 20 female C57BL6J mice were successfully maintained on the ISS for various durations, with the last group of 5 animals living on-orbit for 54 days. Furthermore, we continue to expand the ISSs capabilities by introducing new on-orbit technologies including blood collection and separation, bone densitometry scanning, muscle grip strength and anesthesia with recovery. In addition, series of ground-based verification testing to fly male mice and increase the total number of mice on-orbit from 20 to 40. Subsequent missions will provide the capability to return live mice from the ISS animals to evaluate recovery on Earth, further expanding operational and science capabilities of the RR project on the ISS.

Choi, S. Y.↗
NASA NTRS2001

Background and architecture for an autonomous ground station controller

The Deep Space Station Controller (DSSC) is state of the art ground station control architecture being developed at JPL. During the past few years the technology development program at JPL demonstrated a series of increasingly competent automated ground station prototypes of which the DSSC is the latest. It has been designed for robust closed loop control of ground stations utilized for forward and return link communications with NASA's deep space exploration missions.

controller for ground station automation fault det↗
NASA NTRS1994

Abrogation of TNF-mediated cytotoxicity by space flight involves protein kinase C

Experiments conducted on STS-50 indicated that space flight significantly inhibited tumor necrosis factor (TNF)-mediated killing of LM929 cells compared to ground controls. In ground-based studies, activation of protein kinase C (PKC) with phorbol 12-myristate 13-acetate (PMA) also inhibited TNF-mediated killing of LM929 cells. Therefore, we used PKC inhibitors to determine if the inhibitory effects of spaceflight on TNF-mediated cytotoxicity involved the activation of PKC. In experiments conducted onboard space shuttle mission STS-54, we saw that in the presence of the protein kinase C inhibitors H7 and H8, TNF-mediated cytotoxicity was restored to levels of those observed in the ground controls. Subsequent experiments done during the STS-57 mission tested the dose response of two protein kinase inhibitors, H7 and HA1004. We again saw that killing was restored in a dose-dependent manner, with inhibitor concentrations known to inhibit PKC being most effective. These data suggest that space flight ameliorates the action of TNF by affecting PKC in target cells.

STS-54 Shuttle Project↗
NASA NTRS1987

Mapping experiment with space station

Mapping the earth from space stations can be approached in two areas. One is to collect gravity data for defining a new topographic datum using the earth's gravitational field in terms of spherical harmonics. The other, which should be considered as a very significant contribution of the Space Station, is to search and explore techniques of mapping the earth's topography using either optical or radar images with or without references to ground control points. Geodetic position of ground control points can be predetermined by the Global Positioning System (GPS) for the mapping experiment with the Space Station. It is proposed to establish four ground control points in North America or Africa (including the Sahara Desert). If this experiment should be successfully accomplished, it may also be applied to the defense charting service.

Wu, Sherman S. C.↗
NASA NTRS2016

Advances in Rodent Research Missions on the International Space Station

A Research platform for rodent experiment on the ISS is an essential tool for advancing biomedical research in space. The Rodent Research allows for experiments of much longer duration that experiments on the Shuttle. NASA’s Rodent Research (RR)-1 mission was successfully completed, including post-flight analysis and achieved a number of objectives including validation of flight hardware, on-orbit operations, and science capabilities that were developed at the NASA Ames Research Center. Briefly, twenty C57BL/6J adult female mice were launched on the SpX4 Dragon vehicle, which thrived for up to 37 days in microgravity. Daily health checks of the mice were performed during the mission via downlinked video; all animals were healthy and displayed normal behavior without any significant signs of stress. Behavioral analysis demonstrated that Flight and Ground Control mice exhibited the same range of behaviors, including eating, drinking, exploratory behavior, self- and allo-grooming, and social interactions indicative of healthy animals. The animals were euthanized and select tissues were collected from some of the mice on orbit to assess the long-term sample storage capabilities of the ISS. The data obtained from the flight mice were comparable to those from the 3 groups of control mice (baseline, vivarium and ground controls), suggesting that the ISS has adequate capability to support long-duration rodent experimentations. We recovered over 35 tissues from 40 RR1 frozen carcasses, yielded over 3200 aliquots of tissues, and distributed to the scientific community, including NASA’s GeneLab and scientists in the U.S. through Biospecimen Sharing Program via Ames Life Science Data Archive. Tissues were also distributed to Russian research colleagues at the Institute for Biomedical Problems. The expression levels of select genes including albumin, catalase, GAPDH, HMGCoA Reductase, and IGF1 were determined using RNA isolated from the livers by qPCR and no significant differences by one factor ANOVA were found between flight and ground control groups. In addition, some of the liver samples were subject to transcriptomics, epigenomics and proteomics. The data are now available to the scientific community through GeneLab’s open science data website. Since the RR1 mission, another long duration mission (Rodent Research-2) was completed on the ISS in 2015 in which 20 female C57 BL/6J mice were successfully maintained on the ISS for varying time points, with the last group of 5 animals being on-orbit for 54 days. This second Rodent Research flight expanded the program’s capabilities with the introduction of new technologies including blood collection and separation and bone densitometry scanning. Furthermore, we have continued to expand the ISS’s capabilities by running a series of ground-based verification testing using male mice. Our next step is to fly male mice for Rodent Research-4 on SpaceX-10 to study the effects of microgravity on bone healing and regeneration. It will be the first long-duration mission using male mice using Rodent Hardware. In addition, the number of mice will increase from 20 mice (on RR-1 and RR-2) to 40 for RR-4. When samples return to Earth, a number of tissues will be dissected from the frozen carcasses and select tissue samples will become available to the scientific community via BSP. Altogether, we have continued to expand our capabilities for performing long-duration missions on the ISS as emphasized in the National Research Council’s Decadal Survey released in 2011 and to maximize science return from each mission.

Choi, S.↗
NASA NTRS2007

In-Space Crew-Collaborative Task Scheduling

For all past and current human space missions, the final scheduling of tasks to be done in space has been devoid of crew control, flexibility, and insight. Ground controllers, with minimal input from the crew, schedule the tasks and uplink the timeline to the crew or uplink the command sequences to the hardware. Prior to the International Space Station (ISS), the crew could make requests about tomorrow s timeline, they could omit a task, or they could request that something in the timeline be delayed. This lack of control over one's own schedule has had negative consequences. There is anecdotal consensus among astronauts that control over their own schedules will mitigate the stresses of long duration missions. On ISS, a modicum of crew control is provided by the job jar. Ground controllers prepare a task list (a.k.a. "job jar") of non-conflicting tasks from which jobs can be chosen by the in space crew. Because there is little free time and few interesting non-conflicting activities, the task-list approach provides little relief from the tedium of being micro-managed by the timeline. Scheduling for space missions is a complex and laborious undertaking which usually requires a large cadre of trained specialists and suites of complex software tools. It is a giant leap from today s ground prepared timeline (with a job jar) to full crew control of the timeline. However, technological advances, currently in-work or proposed, make it reasonable to consider scheduling a collaborative effort by the ground-based teams and the in-space crew. Collaboration would allow the crew to make minor adjustments, add tasks according to their preferences, understand the reasons for the placement of tasks on the timeline, and provide them a sense of control. In foreseeable but extraordinary situations, such as a quick response to anomalies and extended or unexpected loss of signal, the crew should have the autonomous ability to make appropriate modifications to the timeline, extend the timeline, or even start over with a new timeline. The Vision for Space Exploration (VSE), currently being pursued by the National Aeronautics and Space Administration (NASA), will send humans to Mars in a few decades. Stresses on the human mind will be exacerbated by the longer durations and greater distances, and it will be imperative to implement stress-reducing innovations such as giving the crew control of their daily activities.

Jaap, John↗
NASA NTRS2005

Dynamics of storage reserve deposition during Brassica rapa L. pollen and seed development in microgravity

Pollen and seeds share a developmental sequence characterized by intense metabolic activity during reserve deposition before drying to a cryptobiotic form. Neither pollen nor seed development has been well studied in the absence of gravity, despite the importance of these structures in supporting future long-duration manned habitation away from Earth. Using immature seeds (3-15 d postpollination) of Brassica rapa L. cv. Astroplants produced on the STS-87 flight of the space shuttle Columbia, we compared the progress of storage reserve deposition in cotyledon cells during early stages of seed development. Brassica pollen development was studied in flowers produced on plants grown entirely in microgravity on the Mir space station and fixed while on orbit. Cytochemical localization of storage reserves showed differences in starch accumulation between spaceflight and ground control plants in interior layers of the developing seed coat as early as 9 d after pollination. At this age, the embryo is in the cotyledon elongation stage, and there are numerous starch grains in the cotyledon cells in both flight and ground control seeds. In the spaceflight seeds, starch was retained after this stage, while starch grains decreased in size in the ground control seeds. Large and well-developed protein bodies were observed in cotyledon cells of ground control seeds at 15 d postpollination, but their development was delayed in the seeds produced during spaceflight. Like the developing cotyledonary tissues, cells of the anther wall and filaments from the spaceflight plants contained numerous large starch grains, while these were rarely seen in the ground controls. The tapetum remained swollen and persisted to a later developmental stage in the spaceflight plants than in the ground controls, even though most pollen grains appeared normal. These developmental markers indicate that Brassica seeds and pollen produced in microgravity were physiologically younger than those produced in 1 g. We hypothesize that microgravity limits mixing of the gaseous microenvironments inside the closed tissues and that the resulting gas composition surrounding the seeds and pollen retards their development.

short duration↗
NASA NTRS2008

Maneuver Planning for Conjunction Risk Mitigation with Ground-track Control Requirements

The planning of conjunction Risk Mitigation Maneuvers (RMM) in the presence of ground-track control requirements is analyzed. Past RMM planning efforts on the Aqua, Aura, and Terra spacecraft have demonstrated that only small maneuvers are available when ground-track control requirements are maintained. Assuming small maneuvers, analytical expressions for the effect of a given maneuver on conjunction geometry are derived. The analytical expressions are used to generate a large trade space for initial RMM design. This trade space represents a significant improvement in initial maneuver planning over existing methods that employ high fidelity maneuver models and propagation.

McKinley, David↗
NASA NTRS2013

Pushing the Limits of Cubesat Attitude Control: A Ground Demonstration

A cubesat attitude control system (ACS) was designed at the NASA Marshall Space Flight Center (MSFC) to provide sub-degree pointing capabilities using low cost, COTS attitude sensors, COTS miniature reaction wheels, and a developmental micro-propulsion system. The ACS sensors and actuators were integrated onto a 3D-printed plastic 3U cubesat breadboard (10 cm x 10 cm x 30 cm) with a custom designed instrument board and typical cubesat COTS hardware for the electrical, power, and data handling and processing systems. In addition to the cubesat development, a low-cost air bearing was designed and 3D printed in order to float the cubesat in the test environment. Systems integration and verification were performed at the MSFC Small Projects Rapid Integration & Test Environment laboratory. Using a combination of both the miniature reaction wheels and the micro-propulsion system, the open and closed loop control capabilities of the ACS were tested in the Flight Robotics Laboratory. The testing demonstrated the desired sub-degree pointing capability of the ACS and also revealed the challenges of creating a relevant environment for development testin

Sanders, Devon S.↗
NASA NTRS1986

The Spartan attitude control system - Ground support computer

The Spartan Attitude Control System (ACS) contains a command and control computer. This computer is optimized for the activities of the flight and contains very little human interface hardware and software. The computer system provides the technicians testing of Spartan ACS with a convenient command-oriented interface to the flight ACS computer. The system also decodes and time tags data automatically sent out by the flight computer as key events occur. The duration and magnitude of all system maneuvers is also derived and displayed by this system. The Ground Support Computer is also the primary Ground Support Equipment for the flight sequencer which controls all payload maneuvers, and long term program timing.

Schnurr, R. G., Jr.↗