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At least 955 records · Page 53

VEG-04 PICK-AND-EAT CROP PRODUCTION AND HUMAN RESEARCH ON THE INTERNATIONAL SPACE STATION

Growing fresh, nutritious, palatable produce for crew consumption during spaceflight may provide health-promoting, bioavailable nutrients and enhance the astronaut dietary experience as we move toward longer-duration missions. Tending plants may also serve as a countermeasure for crew psychological stresses associated with spaceflight. However, requirements to support consistent growth of a variety of nutritious crops under spaceflight environmental conditions remain unclear. This study explores the potential to grow crops for consumption on the International Space Station (ISS) using the Veggie vegetable-production system. VEG-04A and B were two flight tests conducted in 2019 with the leafy green crop Mizuna mustard. Mizuna was grown in two Veggie chambers simultaneously, with the chambers set to different red-to-blue light formulations; one Veggie was programmed as “red-rich” and the second as “blue-rich.” Light quality is known to impact plant growth, nutrition, microbiology, and organoleptic characteristics on Earth, and the Veggie flight tests examined how these impacts might differ in microgravity. VEG-04A was a 35-day growth test with a single harvest. VEG-04B, a 58-day test with harvests at four, six, and eight weeks from the same plants, assessed sustained productivity. Challenges with the watering program occurred early during VEG-04A, and several plants failed to survive in both the flight and ground control operations. Thus, prior to VEG-04B, an extra test was conducted to tailor water timing and volumes. This test allowed a fine tuning of methods for VEG-04B, and generally plant survival was better in that experiment. At each harvest, the astronauts froze half of the edible plant tissue to return to Earth and weighed the remaining half using the ISS Mass Measurement Device (MMD). Weighed samples were then cleaned with produce-sanitizing wipes, and consenting crew members participated in organoleptic evaluation of the fresh produce. Organoleptic evaluations were conducted on the Mizuna crops grown in both light treatments, and data from these tests are compared to ground data collected at JSC. The remaining sanitized produce was available for crew consumption as desired. Frozen flight samples were returned for microbial and chemical analyses to assess food safety and nutritional quality. Microbial assessments included culturing and identifying aerobic bacteria, yeasts, and molds, and screening for specific human pathogens. Chemical nutrient analyses included assessing elements, antioxidants, and phenolics in plant tissues. Crew members involved in plant operations completed behavioral health surveys pre-flight, in-flight associated with plant growth and harvest activities, and post-flight. Surveys captured the amount of time spent on different plant-related operations, enjoyment of the different activities, engagement with Veggie, experience interacting with Veggie, and sensory stimulation associated with growing plants in Veggie. Within each study, plant growth did not differ across light treatment or location (flight versus ground). In general, more biomass was produced in most treatments during the longer study, but growth of this crop declined over time with the repeated harvests. On average, bacterial and fungal counts were significantly lower on ground control samples than flight samples, and microbial counts increased with repeated harvests. Light treatment did not influence any elements in tissues tested; however, the growth duration did impact levels of several elements. Organoleptic scores were generally higher in flight, and ground tasters considered samples more bitter. Amount of interaction and responses to Veggie varied widely by individual. Enjoyable tasks had higher impact than non-enjoyable tasks and interacting with Veggie was generally viewed as positive. These tests on ISS are helping to mitigate the risk of an inadequate food supply for long-duration missions by adding fresh vegetables and key nutrients to the crew diet, and indicating which plant care activities are providing behavioral health benefits for the crew. This research was co-funded by the Human Research Program and Space Biology (MTL#1075) in the ILSRA 2015 NRA call. Videos due Jan. 25th.

Veggie↗

Software System for the Mars 2020 Mission Sampling and Caching Testbeds

The development of the Sampling and Caching Subsystem (SCS) of the Mars 2020 Rover Mission is highly dependent on testing of prototype hardware and software operating in explicit conditions as part of integrated testbeds. To achieve relevant integration of hardware and software while maintaining rapid algorithm development capabilities and high testing throughput, the Controls and Autonomy for Sample Acquisition and Handling (CASAH) software system was developed. CASAH is an implementation of the Intelligent Robotics System Architecture (IRSA),which mimics JPL Flight Software (FSW) in that it is divided into hierarchical modules that run separate processes that communicate via message passing, each module is assigned an owner that is a single developer, and the operator initiates requests via a text-based interface that interprets sequences of commands.IRSA enables a modular breakdown of CASAH that follows that of 2020 Flight Software,so developers can take an algorithm from a module in CASAH and re-code it into the same module in FSW. As deployment of CASAH has grown to ten testbeds - each with different hardware and objectives - bottom-up design decisions have been intentionally made to keep the system lightweight and maintainable by a very small team. To date, CASAH has been used to run 1393 different tests. This work describes CASAH, the testbeds and functionality it supports, the tools used to manage the development and sharing of code, and the features of the software. Lessons learned over the past three years of development and deployment are provided.

Vieira, Peter↗

Curation and Handling for a Mars Sample Return Mission

A prototype handling system to provide control of biological contamination of Earth by returned Mars samples while maintaining the chemical and biological integrity of those samples was designed, constructed and tested.

Lussier, J. D.↗

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven, force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering over 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. Measurements defining task performance included 100-Hz recording of six-axis force/torque information from the slave manipulator wrist, task completion time, and visual observation of predefined task errors. The task consisted of high precision peg-in-hole insertion, electrical connectors, velcro attach-de-attach, and a twist-lock multi-pin connector. Each task was repeated three times under several operating conditions: normal bilateral telemanipulation, forward position control without force feedback, and shared control. In shared control, orientation was locally servo controlled to comply with applied torques, while translation was under operator control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, B.↗

Robotic servicing system for space material experiment

A containerless image furnace with an electrostatic positioning device has been developed as one of the material experiment facilities on the Japanese experimental module (JEM). It is characterized by heating/melting/cooling the sample whose position is kept without any contacts by actively controlled electrostatic force exerted between the sample and a set of electrodes. The experiment using the image furnace requires various servicing operations. We have been developing a robotic servicing system with an internal robot accommodated in the rack as an alternative to the crew. It aims to reduce the load on the crew by automating regular tasks and to increase the flexibility applicable to simple irregular tasks by introducing a remote teleoperation scheme. The present robot has poor capability to replace the crew. In order to compensate it, introducing of the concept of the robot friendliness and improving the controllability of the teleoperation by the ground operator aids are essential. In this paper, we identify the tasks to be performed by the robotic servicing system and discuss the way to compensate the capability of the robot. In addition we describe the evaluation tests using an experimental model.

Yamawaki, Toshihiko↗

Performance evaluation of a six-axis generalized force-reflecting teleoperator

Work in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having a dissimilar master (cable-driven force-reflecting hand controller) and a slave (PUMA 560 robot with custom controller), an extremely high sampling rate (1000 Hz), and a low loop computation delay (5 msec). In a series of experiments with this system and five trained test operators covering more than 100 hours of teleoperation, performance was measured in a series of generic and application-driven tasks with and without force feedback, and with control shared between teleoperation and local sensor referenced control. All performance measures improved as capability was added along a spectrum of capabilities ranging from pure position control through force-reflecting teleoperation and shared control. Performance was optimal for the bare-handed operator.

Hannaford, Blake↗

Control Software for Piezo Stepping Actuators

A control system has been developed for the Space Interferometer Mission (SIM) piezo stepping actuator. Piezo stepping actuators are novel because they offer extreme dynamic range (centimeter stroke with nanometer resolution) with power, thermal, mass, and volume advantages over existing motorized actuation technology. These advantages come with the added benefit of greatly reduced complexity in the support electronics. The piezo stepping actuator consists of three fully redundant sets of piezoelectric transducers (PZTs), two sets of brake PZTs, and one set of extension PZTs. These PZTs are used to grasp and move a runner attached to the optic to be moved. By proper cycling of the two brake and extension PZTs, both forward and backward moves of the runner can be achieved. Each brake can be configured for either a power-on or power-off state. For SIM, the brakes and gate of the mechanism are configured in such a manner that, at the end of the step, the actuator is in a parked or power-off state. The control software uses asynchronous sampling of an optical encoder to monitor the position of the runner. These samples are timed to coincide with the end of the previous move, which may consist of a variable number of steps. This sampling technique linearizes the device by avoiding input saturation of the actuator and makes latencies of the plant vanish. The software also estimates, in real time, the scale factor of the device and a disturbance caused by cycling of the brakes. These estimates are used to actively cancel the brake disturbance. The control system also includes feedback and feedforward elements that regulate the position of the runner to a given reference position. Convergence time for smalland medium-sized reference positions (less than 200 microns) to within 10 nanometers can be achieved in under 10 seconds. Convergence times for large moves (greater than 1 millimeter) are limited by the step rate.

Shields, Joel F.↗

Experimental Measurements of the High-Temperature Oxidation of Carbon Fibers

We carried out laboratory experiments to study the decomposition of carbon fibers at high temperature and studied the material used in charring carbon phenolic ablators for planetary probe heatshields. Porous plug samples were exposed to controlled rates of molecular oxygen, carbon dioxide, and carbon monoxide at furnace-heated flow-tube reactor temperatures between 700 and 1500 K and pressures between 2000 and 6200 Pa. We used calibrated mass spectroscopy to make time-resolved quantitative measurements of decomposition products of the gases downstream of the test sample. Absolute and differential pressure measurements were used to determine the high-temperature permeability of the material and to monitor changes during material decomposition, and we characterized the microstructure of the porous sample using scanning electron microscopy. We found substantial carbon fiber oxidation for O2 flows, resulting in increasing CO/CO2 production ratios with increasing temperature. The CO2 was shown to react with carbon fibers following a Boudouard reaction at temperatures above 1200 K.

Francesco Panerai↗

Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

Klarer, Paul R.↗

NASA Tech Briefs, June 2008

Topics covered include: Charge-Control Unit for Testing Lithium-Ion Cells; Measuring Positions of Objects Using Two or More Cameras; Lidar System for Airborne Measurement of Clouds and Aerosols; Radiation-Insensitive Inverse Majority Gates; Reduced-Order Kalman Filtering for Processing Relative Measurements; Spaceborne Processor Array; Instrumentation System Diagnoses a Thermocouple; Chromatic Modulator for a High-Resolution CCD or APS; Commercial Product Activation Using RFID; Cup Cylindrical Waveguide Antenna; Aerobraking Maneuver (ABM) Report Generator; ABM Drag_Pass Report Generator; Transformation of OODT CAS to Perform Larger Tasks; Visualization Component of Vehicle Health Decision Support System; Mars Reconnaissance Orbiter Uplink Analysis Tool; Problem Reporting System; G-Guidance Interface Design for Small Body Mission Simulation; DSN Scheduling Engine; Replacement Sequence of Events Generator; Force-Control Algorithm for Surface Sampling; Tool for Merging Proposals Into DSN Schedules; Micromachined Slits for Imaging Spectrometers; Fabricating Nanodots Using Lift-Off of a Nanopore Template; Making Complex Electrically Conductive Patterns on Cloth; Special Polymer/Carbon Composite Films for Detecting SO2; Nickel-Based Superalloy Resists Embrittlement by Hydrogen; Chemical Passivation of Li+-Conducting Solid Electrolytes; Organic/Inorganic Polymeric Composites for Heat-Transfer Reduction; Composite Cathodes for Dual-Rate Li-Ion Batteries; Improved Descent-Rate Limiting Mechanism; Alignment-Insensitive Lower-Cost Telescope Architecture; Micro-Resistojet for Small Satellites; Using Piezoelectric Devices to Transmit Power through Walls; Miniature Latching Valve; Apparatus for Sampling Surface Contamination; Novel Species of Non-Spore-Forming Bacteria; Chamber for Aerosol Deposition of Bioparticles; Hyperspectral Sun Photometer for Atmospheric Characterization and Vicarious Calibrations; Dynamic Stability and Gravitational Balancing of Multiple Extended Bodies; Simulation of Stochastic Processes by Coupled ODE-PDE; Cluster Inter-Spacecraft Communications; Genetic Algorithm Optimizes Q-LAW Control Parameters; Low-Impact Mating System for Docking Spacecraft; Non-Destructive Evaluation of Materials via Ultraviolet Spectroscopy; Gold-on-Polymer-Based Sensing Films for Detection of Organic and Inorganic Analytes in the Air; and Quantum-Inspired Maximizer.

Source record↗

AGS-GNN: Attribute-guided Sampling for Graph Neural Networks

We propose AGS-GNN, a novel attribute-guided sampling algorithm for Graph Neural Networks (GNNs) that exploits node features and connectivity structure of a graph while simultaneously adapting for both homophily and heterophily in graphs. (In homophilic graphs vertices of the same class are more likely to be connected, and vertices of different classes tend to be linked in heterophilic graphs.) While GNNs have been successfully applied to homophilic graphs, their application to heterophilic graphs remains challenging. The best-performing GNNs for heterophilic graphs do not fit the sampling paradigm, suffer high computational costs, and are not inductive. We employ samplers based on feature-similarity and feature-diversity to select subsets of neighbors for a node, and adaptively capture information from homophilic and heterophilic neighborhoods using dual channels. Currently, AGS-GNN is the only algorithm that we know of that explicitly controls homophily in the sampled subgraph through similar and diverse neighborhood samples. For diverse neighborhood sampling, we employ submodularity, which was not used in this context prior to our work. The sampling distribution is pre-computed and highly parallel, achieving the desired scalability. Using an extensive dataset consisting of 35 small (<=100K nodes) and large (>100K nodes) homophilic and heterophilic graphs, we demonstrate the superiority of AGS-GNN compare to the current approaches in the literature. AGS-GNN achieves comparable test accuracy to the best-performing heterophilic GNNs, even outperforming methods using the entire graph for node classification. AGS-GNN also converges faster compared to methods that sample neighborhoods randomly, and can be incorporated into existing GNN models that employ node or graph sampling.

artificial intelligence↗

Oceanic corrosion test of bare and zinc-protected aluminum alloys for seawater heat exchangers

Bare 3004 tubes, 7072 Alclad 3004 tubes, and bare and zinc diffusion treated 3003 extrusions from a brazed aluminum, plate-fin heat exchanger were exposed to 1.8 m/sec flowing seawater aboard an open ocean test facility moored 3.4 km off the southeast coast of Puerto Rico. After six months exposure, the average corrosion rates for most varieties of aluminum materials converged to a low value of 0.015 mm/yr (0.6 mils/yr). Pitting did not occur in bare 3003 and 3004 samples during the six month test. Pitting did occur to varying degrees in the Alclad and zinc diffusion treated material, but did not penetrate to the base metal. Biofouling countermeasures (intermittent chlorination and brushing) did not affect the corrosion rates to any significant extent. Intermittent chlorination at a level of 0.5 ppm for 28 minutes daily controlled microbiofouling of the samples but did not prevent the development of a macrobiofouling community in areas of the plumbing with low flow.

Sasscer, D. S.↗

Microwave Resonator Measurements of Atmospheric Absorption Coefficients: A Preliminary Design Study

A preliminary design study examined the feasibility of using microwave resonator measurements to improve the accuracy of atmospheric absorption coefficients and refractivity between 18 and 35 GHz. Increased accuracies would improve the capability of water vapor radiometers to correct for radio signal delays caused by Earth's atmosphere. Calibration of delays incurred by radio signals traversing the atmosphere has applications to both deep space tracking and planetary radio science experiments. Currently, the Cassini gravity wave search requires 0.8-1.0% absorption coefficient accuracy. This study examined current atmospheric absorption models and estimated that current model accuracy ranges from 5% to 7%. The refractivity of water vapor is known to 1% accuracy, while the refractivity of many dry gases (oxygen, nitrogen, etc.) are known to better than 0.1%. Improvements to the current generation of models will require that both the functional form and absolute absorption of the water vapor spectrum be calibrated and validated. Several laboratory techniques for measuring atmospheric absorption and refractivity were investigated, including absorption cells, single and multimode rectangular cavity resonators, and Fabry-Perot resonators. Semi-confocal Fabry-Perot resonators were shown to provide the most cost-effective and accurate method of measuring atmospheric gas refractivity. The need for accurate environmental measurement and control was also addressed. A preliminary design for the environmental control and measurement system was developed to aid in identifying significant design issues. The analysis indicated that overall measurement accuracy will be limited by measurement errors and imprecise control of the gas sample's thermodynamic state, thermal expansion and vibration- induced deformation of the resonator structure, and electronic measurement error. The central problem is to identify systematic errors because random errors can be reduced by averaging. Calibrating the resonator measurements by checking the refractivity of dry gases which are known to better than 0.1% provides a method of controlling the systematic errors to 0.1%. The primary source of error in absorptivity and refractivity measurements is thus the ability to measure the concentration of water vapor in the resonator path. Over the whole thermodynamic range of interest the accuracy of water vapor measurement is 1.5%. However, over the range responsible for most of the radio delay (i.e. conditions in the bottom two kilometers of the atmosphere) the accuracy of water vapor measurements ranges from 0.5% to 1.0%. Therefore the precision of the resonator measurements could be held to 0.3% and the overall absolute accuracy of resonator-based absorption and refractivity measurements will range from 0.6% to 1.

Walter, Steven J.↗

Effect of external disturbances and data rate on the response of an automatic landing system capable of curved trajectories

The effects of steady wind, turbulence, data sample rate, and control-actuator natural frequency on the response of a possible automatic landing system were investigated in a nonstatistical study. The results indicate that the system, which interfaces with the microwave landing system, functions well in winds and turbulence as long as the guidance law contains proper compensation for wind. The system response was satisfactory down to five data samples per second, which makes the system compatible with the microwave landing system. No adverse effects were observed when actuator natural frequency was lowered. For limiting cases, those cases where the roll angle goes to zero just as the airplane touches down, the basic method for computing the turn-algorithm gains proved unsatisfactory and unacceptable landings resulted. Revised computation methods gave turn-algorithm gains that resulted in acceptable landings. The gains provided by the new method also improved the touchdown conditions for acceptable landings over those obtained when the gains were determined by the old method.

Sherman, W. L.↗

RhizoGrid Indexed Sorghum Rhizosphere Multi-Omics

PerCon SFA project data dentification of spatially resolved biomarkers of drought in Sorghum bicolor rhizosphere molecular-microbe interactions using a novel root cartography "RhizoGrid" system for sampling plants under drought and control conditions across 10 equally sized root zone environments (4 quadrants each). Each quadrant was sampled and processed for 16S amplicon, metabolomics, and X-ray computed tomography (XCT). Data download includes experimental metadata and results files for 16S rRNA sequence analysis of microbial community assembly (processed data files), liquid chromatography mass spectrometry (LC-MS) metabolomics analysis of microbial community root exudates (processed data files), X-ray computed tomography (XCT) spatial gradient analysis (raw and processed data files) of microbial community composition, and related computational modeling outputs.

59 BASIC BIOLOGICAL SCIENCES↗

The 'sample experiment' on the Mars Rover/Sample Return mission

Sample Experiment denotes the set of all operations that include collection, analysis, packaging, and environmental control of atmospheric and geologic samples of Mars. Various functions may be distributed among surface roving vehicles, stationary landers, and spacecraft but the Sample Experiment remains an integrated mission activity that extends from Mars landing through delivery of the sample payload to the recieving facility on Earth. Technological challenges not faced in previous planetary missions include development of robotic systems to manipulate and characterize samples and to reliably seal them in containers with minimal contamination or degradation.

Gooding, James L.↗

System and component design and test of a 10 hp, 18,000 rpm AC dynamometer utilizing a high frequency AC voltage link, part 1

Hard and soft switching test results conducted with one of the samples of first generation MOS-controlled thyristor (MCTs) and similar test results with several different samples of second generation MCT's are reported. A simple chopper circuit is used to investigate the basic switching characteristics of MCT under hard switching and various types of resonant circuits are used to determine soft switching characteristics of MCT under both zero voltage and zero current switching. Next, operation principles of a pulse density modulated converter (PDMC) for three phase (3F) to 3F two-step power conversion via parallel resonant high frequency (HF) AC link are reviewed. The details for the selection of power switches and other power components required for the construction of the power circuit for the second generation 3F to 3F converter system are discussed. The problems encountered in the first generation system are considered. Design and performance of the first generation 3F to 3F power converter system and field oriented induction moter drive based upon a 3 kVA, 20 kHz parallel resonant HF AC link are described. Low harmonic current at the input and output, unity power factor operation of input, and bidirectional flow capability of the system are shown via both computer and experimental results. The work completed on the construction and testing of the second generation converter and field oriented induction motor drive based upon specifications for a 10 hp squirrel cage dynamometer and a 20 kHz parallel resonant HF AC link is discussed. The induction machine is designed to deliver 10 hp or 7.46 kW when operated as an AC-dynamo with power fed back to the source through the converter. Results presented reveal that the proposed power level requires additional energy storage elements to overcome difficulties with a peak link voltage variation problem that limits reaching to the desired power level. The power level test of the second generation converter after the addition of extra energy storage elements to the HF link are described. The importance of the source voltage level to achieve a better current regulation for the source side PDMC is also briefly discussed. The power levels achieved in the motoring mode of operation show that the proposed power levels achieved in the generating mode of operation can also be easily achieved provided that no mechanical speed limitation were present to drive the induction machine at the proposed power level.

Lipo, Thomas A.↗

Manipulator control for rover planetary exploration

An anticipated goal of Mars surface exploration missions will be to survey and sample surface rock formations which appear scientifically interesting. In such a mission, a planetary rover would navigate close to a selected sampling site and the remote operator would use a manipulator mounted on the rover to perform a sampling operation. Techniques for accomplishing the necessary manipulation for the sampling components of such a mission have been developed and are presented. We discuss the implementation of a system for controlling a seven (7) degree of freedom Puma manipulator, equipped with a special rock gripper mounted on a planetary rover prototype, intended for the purpose of performing the sampling operation. Control is achieved by remote teleoperation. This paper discusses the real-time force control and supervisory control aspects of the rover manipulation system. Integration of the Puma manipulator with the existing distributed computer architecture is also discussed. The work described is a contribution toward achieving the coordinated manipulation and mobility necessary for a Mars sample acquisition and return scenario.

Cameron, Jonathan M.↗