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All sourcesNASA NTRSDOE OSTI
NASA NTRSDate not supplied

Space Robot Operating System (Space ROS)

Space Robot Operating System (Space ROS) is an open-source software framework for flight-quality robotic and autonomous space systems. It combines the benefits of open-source software and flight software best-practices into a single framework. Space ROS is predicated on ROS2 and is therefore reusable, modular and adoptable. As an open-source framework, it is accessible to the global space community. Space ROS is intended to be compliant with NASA flight software engineering practices in order to facilitate meeting mission and safety standards. Space ROS has fault management and real-time capabilities at its core.

Will Chambers↗
NASA NTRS2021

Draft LunaNet Interoperability Specification

Under the guidance of NASA’s Space Communication and Navigation (SCaN) program, this document, along with its companion documents, LunaNet Services Requirements Document (TBD) and the LunaNet Concept of Operations and Architecture (TBD), provides the basis for a comprehensive set of requirements for operation of a lunar communications and navigation network capable of interoperating with other networks compliant with the Lunar Network (LunaNet) for services to the human exploration, lunar science, and space technology missions. LunaNet will start with a simple architecture of a few nodes to meet the needs of the early missions and evolve to meet the growing needs of a sustained lunar presence. All relay network services are not expected to be met by a single spacecraft platform, or node. The expectation is that the needs of NASA, its partners and other users will be met through a combination of interoperable systems provided by NASA, international partners, and commercial providers. Interoperability across this network-of-networks can be achieved through negotiation of mutually-agreed-upon standards that will be reflected in this document and in the specifications defined by other participants in the combined, cooperative lunar network.

LunaNet↗
NASA NTRS2021

Microstructural Observations on Advanced Multilayer Protective Coatings for Nuclear Thermal Propulsion

The present research discusses the microstructures of a new multilayered coating concept proposed to solve the “midrange corrosion” problem observed in NbC and ZrC-coated graphite (Gr) nuclear fuels during the NERVA/Rover programs. The concept envisions designing a compliant multilayered coatings architecture to accommodate the thermal expansion mismatch strains between the ZrC outer coating and the Gr/(U,Zr)C fuel matrix along with using a diffusion barrier to minimize carbon and hydrogen diffusion, respectively. Multilayered coatings were deposited on Gr substrates by chemical vapor deposition (CVD). Graphite disks, as well as the inner channels of a 19-hole hexagonal rod 152.4 mm long, were coated by CVD in proof-of concept process demonstration studies. Coated disk specimens were thermally-cycled between ambient and 1900 K for as long as 20 cycles with a 1h hold time at the temperature using both stepped and non-interrupted thermal cycling methods. Detailed cross-sectional microstructural analyses were conducted on the thermally-cycled coated disks. These results showed that the coatings were intact after 20 thermal cycles at 1900 K although the bonding of the overlay Mo coating appeared to be influenced by the oxygen content in the layer. Seven transverse sections were cut along the length from the coated hexagonal rod for microstructural studies. All the nineteen channels were observed to have been coated in all the sections. This paper reports the results of detailed microstructural analyses, compositional line scans and x-ray dot maps conducted on three coated channels from a mid-section of the rod. The measured values of carbon (C) were observed to be exceptionally high in all the specimens, which were attributed to hydrocarbon contamination of the specimen surfaces. It was observed that the oxygen (O) levels were high in all the coating layers even after approximately correcting for the observed high values of C. The source of O contamination of the CVD reactor system was attributed to either the presence of oxychloride impurities in the precursor salts or a pin hole leak in the coating system. It is concluded that high values of O result in poor bonding of the Mo overlay to the ZrC layer. These trials have established that it is possible to deposit multilayered coatings by CVD in 19-hole hexagonal rods 152.4 mm long similar to the NERVA fuel rod design although the quality of the coatings and the uniformity of their thicknesses require further improvement.

Nuclear thermal propulsion, multilayer coatings, m↗
NASA NTRSDate not supplied

Design for Minimum Casualty Area – The IXPE Case

The Imaging X-Ray Polarimetry Explorer (IXPE) is a new international space observatory in NASA’s Small Explorer program, designed in a collaboration between the Italian Space Agency and NASA’s Marshall Space Flight Center, and built by Ball Aerospace. IXPE has an expected launch in November 2021, to a 600-km altitude equatorial orbit. IXPE is an astrophysics mission using three telescope assemblies to measure the polarization of cosmic X-rays. Each assembly is composed of a mirror module assembly (MMA) with 24 nested nickel-cobalt cylindrical shells and a unique, polarization-sensitive, gas pixel detector (GPD) within the detector unit (DU). As a NASA mission, IXPE must adhere to the orbital debris mitigation requirements specified in NASA Standard 8719.14 [1]; in the present work, we will only discuss reentry human casualty risk. As initially designed, the IXPE observatory exceeded NASA’s casualty risk threshold. IXPE does not include a propulsion system to perform a controlled reentry at the end of mission to mitigate the ground casualty risk. To reduce the risk from the uncontrolled reentry of this observatory, the IXPE design team worked with the NASA Orbital Debris Program Office to reduce the debris casualty area through design-for-demise and containment methods. The flight design of IXPE is now compliant with the ground casualty risk requirement at a casualty probability of 1:13,100 compared to a casualty requirement of better than 1:10,000.

C Ostrom↗
NASA NTRS2021

EED-2 Contract Final Report

This EED-2 contract provides for development and sustaining engineering of software and hardware systems that provide science data management for the ESDIS Project. A major activity under this contract will be for evolution and development engineering of the EOSDIS Core System (ECS), Earthdata platform, Common Metadata Repository (CMR), NASA-Compliant General Application Platform (NGAP) cloud environment, and other EOSDIS elements that provide the common capabilities and infrastructure of EOSDIS.

EOSDIS↗
NASA NTRS2021

Screening and Qualification of BME Feedthrough Capacitors for a Space Project

Surface mount technology feedthrough ceramic capacitors are gaining popularity in Hi-Rel systems due to small size and great filtering characteristics. In this work, BME feedthrough capacitors compliant with AEC-Q200 requirements have been evaluated, screened and qualified for a space project. Evaluation included analysis of the effect of post-soldering thermal shocks, temperature dependencies of leakage currents, distribution of breakdown voltages, assessments of high-current capability, and thermal resistance of the parts. The parts have been screened and qualified at conditions close to the military requirements for ceramic capacitors. No failures were detected during screening including burning-in, but two samples failed during monitored 2000 hour life testing at 125C and two times rated voltage. Failure analysis revealed manufacturing defects that required additional analysis of screening and qualification test conditions. Highly accelerated life testing (HALT) has been carried out to assess reliability acceleration factors and the probability of failure at the use conditions. An approach to selection of adequate burning-in and life test conditions is discussed.

Alexander Teverovsky↗
NASA NTRS2020

Validation on the Europa Clipper Mission in the Formulation Phase

The Europa Clipper mission will perform a detailed investigation of Europa’s environment and habitability by placing a spacecraft into a looping orbit around Jupiter and performing repeated close Europa flybys. The Europa Clipper Project Verification and Validation (V&V) team is responsible for verifying that the Project System is compliant with the science and engineering requirements levied on it and validating that it is capable of meeting the mission objectives. Europa Clipper has developed a V&V framework to ensure that mission capabilities are realized at a reasonable confidence level prior to launch. The V&V team will coordinate the validation activities defined by this framework throughout the project lifecycle as the spacecraft evolves from design to implementation and operations. Validation of space missions is typically grouped into three categories: 1) requirements validation, 2) model validation, and 3) system validation. System validation, along with verification activities, are often the primary focus of V&V programs and these efforts peak in the implementation phase. However, the increasing reliance of exploration missions on models and simulations, and the complexity of the Europa Clipper mission, have dictated attention to requirements and model validation in the formulation phase. This paper discusses the development of the Europa Clipper V&V framework with emphasis on the validation of models and simulations, and of requirements. Approaches include the adaptation of institutional guidelines, such as those in the NASA-STD-7009 document, to create a Project Model V&V Plan and the use of tools such as DOORS NG to plan model validation and derive requirement quality metrics.

Srivastava, Priyanka↗
NASA NTRS2020

Design and Testing of an Ultra-Light Weight Perching System for Sloped or Vertical Rough Surfaces on Mars

In this paper, we present the design, characterization, and functional demonstration of a perching system that enables a flying vehicle to land on rough sloped or vertical surfaces. Steep slopes are of particular scientific interest since they are often associated with geologically interesting features including sites of active modification (e.g. landslides/avalanches, slope streaks), exposed bedrock and/or ice, and as-yet unmodified young features (e.g. walls of fresh craters or polar pits that are actively expanding). However the steep nature of these sites makes access with traditional field robots difficult: ground vehicles are unable to traverse the steep terrain and aerial vehicles are limited by their flight time and an ability to operate near terrain. We propose to address these limitation by enabling the UAV to reliably perch on steep terrain to perform in situ measurements and collect samples. Perching also enables a solar powered UAV to traverse large terrain features such as the Valles Marineris that could not be covered in a single flight by repeatedly perching and recharging its batteries. The proposed perching system that is being developed consists of a microspine gripper, a compliant gripper to vehicle interface, and a flying vehicle equipped with an autonomy sensor suite. The system also includes perception and control algorithms that identify perching targets and execute the required perching maneuver. To date, the majority of the effort has focused on developing and characterizing the microspine gripper. The initial prototype weighs 100 g, is capable of securely grasping a range of natural surfaces, and successful grasps support loads of over 10 N. Refinement of the gripper, integrating and testing it on a UAV, measuring aerodynamic distrubances from wall effects, and developing the required perception and control algorithms is ongoing. This paper describes the overall architecture of our proposed system, the design of the gripper, and its performance during initial testing.

Backus, Spencer↗
NASA NTRS2020

Mars 2020 Rover Adaptive Caching Assembly: Caching Martian Samples for Potential Earth Return

The Adaptive Caching Assembly (ACA) is part of the Sampling and Caching System on the Mars 2020 Perseverance Rover, and consists of multiple stations that process, hermetically seal, and store sample tubes containing collected Martian material, either rock cores or regolith samples, in preparation for caching on the surface of Mars. The ACA stations consist of seven active degrees-of-freedom, as well as a large number of passive mechanisms that must operate in extreme Mars temperature and pressure conditions. A robotic arm within the Rover manipulates the sample tubes between ACA stations as part of an end-to-end sampling sequence, and utilizes a compliant end effector to accommodate misalignments during station interactions. Stringent hardware cleanliness requirements were dictated to ensure collected samples would not be compromised, which significantly impacted the design, assembly, and test operations of the ACA. Three ACAs were assembled to support ground testing and flight operations, which were exposed to environmental testing to validate functionality in Mars-like conditions. A number of challenges existed from design through test, including volume constraints, mechanism controllability and operation, the effects of tight tolerances, and cleanliness requirements.

Lin, Justin↗
NASA NTRSDate not supplied

Development of Multilayered Coatings for Nerva-Type Graphite Fuel Elements- An Overview

“Mid-passage corrosion” (MPC) was observed in NbC and ZrC-coated graphite (Gr)-based nuclear fuels during the NERVA/Rover programs. A new multilayered coating concept was proposed to solve this problem. The concept envisions designing a compliant multilayered coatings architecture to accommodate the thermal expansion mismatch strains between the ZrC outer coating and the Gr/(U,Zr)C fuel matrix. Additionally, the coating architecture uses diffusion barriers to minimize carbon diffusion from the substrate, and hydrogen diffusion from the flowing gas stream, into the multilayer coating. The present paper provides a brief overview of the development of multilayered coatings deposited on Gr disks, as well as within the inner channels of a19-hole hexagonal rod 152.4 mm long, by chemical vapor deposition (CVD) in proof-of concept studies. The cross-sectional microstructural observations are discussed. These trials have established that it is possible to deposit multilayered coatings by CVD in 19-hole hexagonal rods similar to the NERVA fuel rod design although the quality of the coatings and the uniformity of their thicknesses require further improvement.

Multilayer coatings, graphite, nuclear thermal pro↗
NASA NTRS2021

Thermal Analysis of Landers using Radioisotope Power Systems on Ice Worlds

The surfaces of Ice Worlds record evidence of interior processes, chemical potential, habitability, and potentially life within the interior. Volatile and organic chemistry at the surface is critical in determining habitability and detecting the presence of past or extant life. Radioisotope Power Systems (RPS) could be an enabling technology for in situ missions to ice worlds, providing both power and heat for long durations where solar power would not be feasible. However, it is necessary to understand the potential impact of RPS upon the local environment, to ensure that the rejected heat from RPS does not compromise science measurements or planetary protection requirements. To address these concerns, an RPS Ice World Lander Study was carried out in 2019 to investigate possible requirements on RPS surface mission concepts and approaches to excess heat management. The study focused on two destinations that are representative of the range of potential environments: Europa and Enceladus.Initial analysis showed that, due to the very low pressures on the surfaces of most ice world targets, surface melting does not occur because the water ice does not meet the triple-point. A 4 kW heat source suspended above the surface of Europa or Enceladus would not cause any melting, only sublimation.The study used a surface sublimation limit of 10 cm over a two-year period (the baseline for the recent Europa Lander study). To stay within this limit, Europa, with its relatively warm surface, could tolerate only 10 W/m2 of surface heat flux. Enceladus, with its relatively cold pure ice composition, could tolerate up to 100 W/m2.Various lander and heat shield configurations were analyzed for their heat flux radiated from the RPS to the surface. For a given heat shield configuration, the study team determined the minimum height of the RPS above the surface for which the heat flux would be within the accepted parameters for Europa and for Enceladus. Based on these thermal analyses, such RPS-powered landers could remain compliant with science investigation and planetary protection requirements with only modest mass allocated to spacecraft thermal accommodations.

Perl, Scott↗
NASA NTRS2022

Draft LunaNet Interoperability Specification

This document, along with its companion documents, provides the basis for a comprehensive set of requirements for operation of a lunar communications and navigation network capable of interoperating with other networks compliant with the Lunar Network (LunaNet). LunaNet will include Earth ground stations and orbiting spacecraft and will provide services to human exploration, lunar science, and space technology missions. LunaNet will start with a simple architecture of a few nodes to meet the needs of the early missions and evolve to meet the growing needs of a sustained lunar presence. All relay network services are not expected to be met by a single spacecraft, or node. The expectation is that the needs of users will be met through a combination of interoperable systems provided by NASA, international partners, and commercial providers. Interoperability across this network-of-networks can be achieved through negotiation of mutually-agreed-upon standards that will be reflected in this document and in the specifications defined by other participants in the cooperative lunar network. This document was written and reviewed by NASA and the European Space Agency (ESA).

LunaNet↗
NASA NTRSDate not supplied

EVM and Schedule Management

The objective of EVMS surveillance is to ensure that the management control processes that support the performance measurement baseline (PMB) are in place, compliant with the EVMS guidelines, are routinely being used, and provide timely and reliable data. The PMB is a triple constraint where the constraints are schedule, budget and scope. For Surveillance, NASA uses the DCMA EVM Compliance Metrics (DECM) Tests that are aligned with the EIA-748 EVM Standard. Guidelines 6 is Scheduling Work, and DECM has 23 Tests for evaluating if the IMS supports project goals in its planning, statusing and forecasting. This session will focus on the Test Metric that analyzes forecast start/finish dates riding the status date of the IMS for two or more consecutive months as an example of how surveillance works in concert with IMS health checks. It will cover how to run the test to recognize trends and how this test helps ensure that the forecast is credible in support of critical path analysis.

EVM↗
NASA NTRS2022

Draft LunaNet Interoperability Specification

This document, along with its companion documents, provides the basis for a comprehensive set of requirements for operation of a lunar communications and navigation network capable of interoperating with other networks compliant with the Lunar Network (LunaNet). LunaNet will include Earth ground stations and orbiting spacecraft and will provide services to human exploration, lunar science, and space technology missions. LunaNet will start with a simple architecture of a few nodes to meet the needs of the early missions and evolve to meet the growing needs of a sustained lunar presence. All relay network services are not expected to be met by a single spacecraft, or node. The expectation is that the needs of users will be met through a combination of interoperable systems provided by NASA, international partners, and commercial providers. Interoperability across this network-of-networks can be achieved through negotiation of mutually-agreed-upon standards that will be reflected in this document and in the specifications defined by other participants in the cooperative lunar network. This document was written and reviewed by NASA and the European Space Agency (ESA).

LunaNet↗
NASA NTRSDate not supplied

Ruggedizing a Commercial Depth Camera for Novel Lunar Exploration.

The novel contribution of this instrument is to take the first depth images on the moon. A commercial Kinect camera from Microsoft has been ruggedized for a CLPS mission to the Lunar South Pole. The 12-megapixel color camera is combined with a 1-megapixel color time-of-flight (ToF) depth sensor. The solid-state depth sensor/LIDAR provides greater resolution, a wider field of view, pixel binning, and reduced power consumption. The high-resolution data collected from the mission can be used to construct a near-field virtual environment of the lunar surface for scientific applications. The depth camera can provide a 360-degree view of the target area by combining ToF data with RGB imagery and rover turning. The unit was evaluated for space flight compliant materials and parts at NASA Ames. The microphone array, RF shield, front face, and outer body parts were removed to reduce mass. Plastic parts were replaced with vacuum-compatible materials; manufactured cables were added to properly interface with the host rover, built by Lunar Outpost. The environmental testing was performed on the Kinect with Random Vibration/Sine Testing (Fig 1a), per GEVS (NASA’s General Environmental Verification Standard for spaceflight launch survival). Thermal Vacuum testing cycled the instrument between expected hot (+ 85 C) and cold survival temperatures, as well as +50 C and -25 C operational temps (Fig 1b). The instrument functioned nominally at the conclusion of vibration and thermal cycling tests. The Azure Kinect is manifested on the Nova-C lander which flies on the Intuitive Machines mission IM-2, landing at the lunar south pole for a mission duration of 14 days (one lunar daylight cycle). The unit will be integrated to the MAPP (Mobile Autonomous Prospecting Platform) rover at Lunar Outpost. The Azure Kinect with ToF feature will improve the resolution of lunar geology data near the south pole and enable ground-based VR experience of details of the lunar surface (Fig 1c).

V. Jha↗
NASA NTRS2022

NESC GN&C TDT Best Practices: Design Requirements for Satisfactory Handling Qualities of a Piloted Spacecraft

This document describes work to determine a proposed set of concise design requirements for manned spacecraft to yield satisfactory handling qualities when the pilot is performing manual control. This is done primary via the analysis of various historic spacecraft. Partial requirements verification is performed via the creation of a simulated pilot used to determine limits of satisfactory vehicle performance. Partial requirements validation is per-formed via example conceptual design of a spacecraft that is compliant with all relevant proposed requirements.

Cooper-Harper↗
NASA NTRSDate not supplied

Developing An Earth-Fixed Visual Reference to Aid Stability, Readaptation and Egress After a Water Landing

INTRODUCTION Water landings present the worst possible sensory conditions for crews trying to orient and stabilize themselves immediately after long-duration spaceflight. Of the three sensory feedback systems involved in maintaining stability (i.e., proprioceptive, vestibular, and visual), none will provide reliable orientation information under the current water landing scenarios. The proprioceptive and vestibular systems are affected during spaceflight by disuse and adaptation to microgravity. Vision may not suffer the same degradation, but the visual environment within the enclosed space of a capsule, or interior room of a recovery ship, is disorienting when subject to wave-induced motion. The result is an increased risk of fall-related injury. In a prior study, 70% (21 of 30) of nonimpaired subjects reported that the presence of an Earth-fixed horizontal line helped them stabilize when their visually enclosed environment was exposed to wave motion. In addition to aiding stability, sensory re-adaptation occurs when inputs from the three sensory systems are synchronized with one another and aligned with Earth’s gravity. The earlier an Earth-fixed visual reference can be introduced the sooner the readaptation process can begin. The goal of this project is to identify the optimal features of a device that visually presents gravitational reference cues to support stability and readaptation. METHODS The capsule sensory-condition simulator is a three-sided enclosure atop a six degree-of-freedom motion platform. A sum-of-sines equation is used to drive the motion platform, producing the simulated wave motion. The equation was derived using the frequency range present in inertial measurement unit (IMU) data collected during open-water Orion mock-up testing. The enclosure creates the nature of a floating visual environment where the walls move in relation to the standing surface. To more accurately represent the condition of postflight crewmembers, galvanic vestibular stimulation (GVS) is applied to disrupt normal vestibular function and standing on a compliant surface attenuates proprioceptive feedback. An instrumented handhold allows the subjects to stabilize themselves and serves as the primary dependent variable. Subjects are instructed to minimize handhold use so the higher forces applied to the handhold correspond to greater instability. Various forms of a visual reference have been explored. Passive systems, such as mechanical gimbals and weighted plumb bobs were eliminated from consideration because of the intertia-induced oscillations that the wave-motion causes. Laser lines presented as horizontal, vertical, or the combination of both are being used to provide the Earth-fixed visual reference. These are presented in the central visual field or periphery from laser sources that are mounted either from within or outside the visual enclosure. RESULTS Data collection for this study is currently in progress. CONCLUSIONS This study will determine whether a visual reference system can help improve stability during challenging sensory conditions and define the optimal chacteristics for such a system.

Brian T Peters↗
NASA NTRS2023

Flexible User Radio for Lunar Missions

NASA’s Artemis program and other lunar exploration and development programs are planning over 40 lunar missions before 2030. Lunar missions, both crewed and uncrewed, include orbiters, landers, rovers, and surface stations. All these missions require communications with Earth, either via Direct to Earth (DTE) links or through relays in lunar orbit. Multiple DTE options are available among existing and planned ground stations: Deep Space Network (DSN), European Space Agency, and others. Relay options include the planned Lunar Gateway, LunaNet compliant relays, and some lunar landers propose to launch dedicated orbiters. The dilemma for lunar system designers is to identify a communication link which meets mission requirements but does not have issues of limited access (e.g. DSN is in high demand supporting deep space missions with high priority and some with inflexible schedules), system impacts (high power Radio Frequency (RF) for DTE links), cost (dedicated relay), or operational date. To avoid this difficult decision, a Flexible Radio for Lunar Missions is proposed, which will enable system designs to proceed prior to any final decision on the communication network to be used, by enabling compatibility with any of multiple DTE or orbital relay communication systems. The Flexible Radio will support the necessary frequency, bandwidth, modulation, and power requirements to interoperate with the majority of known or planned DTE or relay systems, and can be designed into a lunar mission without prior knowledge of which link will ultimately be used. Furthermore, the link being used can be changed as needed during the mission, in near real time. The Flexible Radio design will leverage work already completed at NASA in the areas of Wideband RF, Software Defined Radio, Adaptive Coding and Modulation, and Phased Array antennas. The Flexible Radio requires sufficient bandwidth to cover the allocated frequencies for both the operation of links in cislunar space and for space-to-Earth links; the flexibility to support multiple modulations, data rates, and coding schemes; the ability to identify available relays, detect and recognize the signals of those relays, and adapt its own frequency, modulation, symbol rate, and code rate to operate with the detected relay (or DTE station); and finally, it requires appropriate software to support network configuration and interoperability with the detected network. The Flexible Radio can be designed in a sufficiently small, lightweight, and low-power package to be used in a wide variety of lunar systems. The initial implementation, as proposed, will focus on the Ka-band, supporting up to 2 GHz bandwidth around the 27 GHz frequency for return links, and 23 GHz for forward links. Other frequency bands are under consideration for future configurations. The software defined modem will support OQPSK, BPSK, and NASA-defined modulations which also support two-way ranging with data. For near-real time adaptation, the Flexible Radio will scan the sky for available relays, using a phased array antenna with Adaptive/Cognitive Communications. It will then configure for network interoperability supporting DTN and other protocol options. The Flexible Radio will support scheduled connections and on-demand use when available.

Lunar Space Communications↗