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NASA NTRS1994

Miniature Convection Cooled Plug-type Heat Flux Gauges

Tests and analysis of a new miniature plug-type heat flux gauge configuration are described. This gauge can simultaneously measure heat flux on two opposed active surfaces when heat flux levels are equal to or greater than about 0.2 MW/m(sup 2). The performance of this dual active surface gauge was investigated over a wide transient and steady heat flux and temperature range. The tests were performed by radiatively heating the front surface with an argon arc lamp while the back surface was convection cooled with air. Accuracy is about +20 percent. The gauge is responsive to fast heat flux transients and is designed to withstand the high temperature (1300 K), high pressure (15 MPa), erosive and corrosive environments in modern engines. This gauge can be used to measure heat flux on the surfaces of internally cooled apparatus such as turbine blades and combustors used in jet propulsion systems and on the surfaces of hypersonic vehicles. Heat flux measurement accuracy is not compromised when design considerations call for various size gauges to be fabricated into alloys of various shapes and properties. Significant gauge temperature reductions (120 K), which can lead to potential gauge durability improvement, were obtained when the gauges were air-cooled by forced convection.

Liebert, Curt H.↗

NASA NTRS1995

Flow visualization studies of VTOL aircraft models during Hover in ground effect

A flow visualization study of several configurations of a jet-powered vertical takeoff and landing (VTOL) aircraft model during hover in ground effect was conducted. A surface oil flow technique was used to observe the flow patterns on the lower surfaces of the model. There were significant configuration effects. Wing height with respect to fuselage, the presence of an engine inlet duct beside the fuselage, and nozzle pressure ratio are seen to have strong effects on the surface flow angles on the lower surface of the wing. This test was part of a program to improve the methods for predicting the hot gas ingestion (HGI) for jet-powered vertical/short takeoff and landing (V/STOL) aircraft. The tests were performed at the Jet Calibration and Hover Test (JCAHT) Facility at Ames Research Center.

Mourtos, Nikos J.↗

NASA NTRS2024

Bumper Implementation of LMEEM

The Hypervelocity Impact Technology (HVIT) group at the NASA Johnson Space Center (JSC) maintains the Bumper 3 computer program (referred to as “Bumper”) to perform Micrometeoroid and Orbital Debris (MMOD) risk assessments for spacecraft. To perform its calculations, this program requires detailed mathematical models of the space environments and can include those models representing orbital debris, micrometeoroids, and lunar ejecta. The lunar ejecta environment is a projectile environment specific to the lunar surface. Due to the Moon’s lack of an atmosphere, meteoroids frequently strike the lunar surface. When this happens, the impact ejects material radially away from the impact point, which can pose a potential impact hazard to surface-based hardware. This lunar ejecta environment was previously described in 1969, in NASA Special Publication SP-8013, which was used as the basis for a model that will be referred to in this document as the “SP-8013 environment model,” or simply, “SP-8013.” Since around 2020, this model has been used in MMOD risk assessments for the Human Landing System (HLS) program and other lunar surface programs. A new lunar meteoroid ejecta environment was developed via a computer code named Lunar Meteoroid Ejecta Engineering Model (LMEEM), produced by the Natural Environments Branch (NEB) at Marshall Space Flight Center (MSFC). A global lunar surface environment definition using LMEEM is to be provided in the Cross-Program Design Specification for Natural Environments (DSNE) Revision J in 2024. Contact the NASA MSFC Natural Environments Branch for an in-depth discussion of the LMEEM environment model and its derivation. This environment model will supersede SP-8013 for MMOD risk assessments. To perform such assessments, Bumper must read data from text files output by LMEEM and use that data in risk calculations. The purpose of this document is to: •Demonstrate verification that the Bumper code has properly implemented the LMEEM environment model (Section 3) •Discuss the LMEEM environment as understood through an initial environment file (Section 4) •Compare the calculated risk due to the SP-8013 and LMEEM models (Section 5)

Bumper↗

NASA NTRS1974

Wind tunnel investigation of a large-scale semispan model with an unswept wing and an upper-surface blown jet flat

An investigation of the static longitudinal aerodynamic characteristics of a large-scale semispan model with an unswept wing and an upper-surface blown jet flap for lift augmentation was conducted in the Langley full-scale tunnel. The wing had an aspect ratio of 7.8 (3.9 for the semispan) and a simulated turbofan engine mounted ahead of and above the wing in a nacelle with a rectangular-exit nozzle. The flap system had three spanwise flap segments: (1) an inboard plain flap located behind the engine and having a large radius of curvature to provide a smooth upper surface to enhance the turning of the jet sheet, (2) a double-slotted midspan flap, and (3) a drooped aileron equipped with blowing boundary-layer control. The wing was also equipped with a full-span leading-edge Krueger flap with blowing boundary-layer control. In addition to the aerodynamic measurements, noise measurements were also included in the investigation for positions above and below the wing.

Smith, C. C., Jr.↗

NASA NTRS1999

On the Use of CAD-Native Predicates and Geometry in Surface Meshing

Several paradigms for accessing computer-aided design (CAD) geometry during surface meshing for computational fluid dynamics are discussed. File translation, inconsistent geometry engines, and nonnative point construction are all identified as sources of nonrobustness. The paper argues in favor of accessing CAD parts and assemblies in their native format, without translation, and for the use of CAD-native predicates and constructors in surface mesh generation. The discussion also emphasizes the importance of examining the computational requirements for exact evaluation of triangulation predicates during surface meshing.

Aftosmis, M. J.↗

NASA NTRS1993

Particle kinetic simulation of high altitude hypervelocity flight

In this grant period, the focus has been on enhancement and application of the direct simulation Monte Carlo (DSMC) particle method for computing hypersonic flows of re-entry vehicles. Enhancement efforts dealt with modeling gas-gas interactions for thermal non-equilibrium relaxation processes and gas-surface interactions for prediction of vehicle surface temperatures. Both are important for application to problems of engineering interest. The code was employed in a parametric study to improve future applications, and in simulations of aeropass maneuvers in support of the Magellan mission. Detailed comparisons between continuum models for internal energy relaxation and DSMC models reveals that several discrepancies exist. These include definitions of relaxation parameters and the methodologies for implementing them in DSMC codes. These issues were clarified and all differences were rectified in a paper (Appendix A) submitted to Physics of Fluids A, featuring several key figures in the DSMC community as co-authors and B. Haas as first author. This material will be presented at the Fluid Dynamics meeting of the American Physical Society on November 21, 1993. The aerodynamics of space vehicles in highly rarefied flows are very sensitive to the vehicle surface temperatures. Rather than require prescribed temperature estimates for spacecraft as is typically done in DSMC methods, a new technique was developed which couples the dynamic surface heat transfer characteristics into the DSMC flow simulation code to compute surface temperatures directly. This model, when applied to thin planar bodies such as solar panels, was described in AIAA Paper No. 93-2765 (Appendix B) and was presented at the Thermophysics Conference in July 1993. The paper has been submitted to the Journal of Thermophysics and Heat Transfer. Application of the DSMC method to problems of practical interest requires a trade off between solution accuracy and computational expense and limitations. A parametric study was performed and reported in AIAA Paper No. 93-2806 (Appendix C) which assessed the accuracy penalties associated with simulations of varying grid resolution and flow domain size. The paper was also presented at the Thermophysics Conference and will be submitted to the journal shortly. Finally, the DSMC code was employed to assess the pitch, yaw, and roll aerodynamics of the Magellan spacecraft during entry into the Venus atmosphere at off-design attitudes. This work was in support of the Magellan aerobraking maneuver of May 25-Aug. 3, 1993. Furthermore, analysis of the roll characteristics of the configuration with canted solar panels was performed in support of the proposed 'Windmill' experiment. Results were reported in AIAA Paper No. 93-3676 (Appendix D) presented at the Atmospheric Flight Mechanics Conference in August 1993, and were submitted to Journal of Spacecraft and Rockets.

Haas, Brian L.↗

NASA NTRS2002

Fundamental Boiling and RP-1 Freezing Experiments

The prestart thermal conditioning of the hardware in LOX (liquid oxygen) systems involve heat transfer between LOX and metal where boiling plays a large role. Information is easily found on nucleate boiling, maximum heat flux, minimum heat flux and film boiling for common fluids like water. After looking at these standard correlations it was felt more data was needed for the cool down side transition boiling for the LN2 and LOX. In particular interest is the film boiling values, the temperature at which transition begins and the slope as peak heat flux is approached. The ultimate goal is an array of boiling heat transfer coefficient as a function of surface temperature which can be used in the chilldown model of the feed system, engine and bleed system for X-34. The first experiment consisted of an actual MC-1 LOX Impeller which had been machined backwards, that was instrumented with 17 surface thermocouples and submerged in liquid nitrogen. The thermocouples were installed on metal thicknesses varying from the thin inducer to the thick hub.

Goode, Brian↗

NASA NTRS2017

Robust Exploration and Commercial Missions to the Moon Using LANTR Propulsion and In-Situ Propellants Derived from Lunar Polar Ice (LPI) Deposits

The nuclear thermal rocket (NTR) has frequently been identified as a key space asset required for the human exploration of Mars. This proven technology can also provide the affordable access through cislunar space necessary for commercial development and sustained human presence on the Moon. It is a demonstrated technology capable of generating both high thrust and high specific impulse (Isp 900 s) twice that of todays best chemical rockets. Nuclear lunar transfer vehicles consisting of a propulsion stage using three approx.16.5 klbf "Small Nuclear Rocket Engines (SNREs)", an in-line propellant tank, plus the payload can enable a variety of reusable lunar missions. These include cargo delivery and crewed lunar landing missions. Even weeklong "tourism" missions carrying passengers into lunar orbit for a day of sightseeing and picture taking are possible. The NTR can play an important role in the next phase of lunar exploration and development by providing a robust in-space lunar transportation system (LTS) that can allow initial outposts to evolve into settlements supported by a variety of commercial activities such as in-situ propellant production used to supply strategically located propellant depots and transportation nodes. The processing of LPI deposits (estimated to be approx. 2 billion metric tons) for propellant production - specifically liquid oxygen (LO2) and hydrogen (LH2) can significantly reduce the launch mass requirements from Earth and can enable reusable, surface-based lunar landing vehicles (LLVs) using LO2/LH2 chemical rocket engines. Afterwards, LO2/LH2 propellant depots can be established in lunar polar and equatorial orbits to supply the LTS. At this point a modified version of the conventional NTR called the LO2-augmented NTR, or LANTR would be introduced into the LTS allowing bipropellant operation and leveraging the mission benefits of refueling with lunar-derived propellants (LDPs) for Earth return. The bipropellant LANTR engine utilizes the large divergent section of its nozzle as an afterburner into which oxygen is injected and supersonically combusted with nuclear preheated hydrogen emerging from the engines choked sonic throat essentially scramjet propulsion in reverse. By varying the oxygen-to-hydrogen mixture ratio, LANTR engines can operate over a range of thrust and Isp values while the reactor core power level remains relatively constant. A LANTR-based LTS offers unique mission capabilities including short transit time crewed cargo transports. Even a commuter shuttle service may be possible allowing one-way trip times to and from the Moon on the order of 36 hours or less. If only 1 of the postulated water ice trapped in deep shadowed craters at the lunar poles were available for use in lunar orbit, such a supply could support daily commuter flights to the Moon for many thousands of years! The proposed paper outlines an evolutionary mission architecture and examines a variety of mission types and transfer vehicle designs, along with the increasing demands on LDP production as mission complexity and delta V requirements increase. A comparison of vehicle features and engine operating characteristics are also provided together with a discussion of the propellant production and mining requirements, and issues, associated with using LPI as the source material.

Nuclear Thermal Propulsion↗

NASA NTRS1992

Determination of water surface temperature based on the use of Thermal Infrared Multispectral Scanner data

A straightforward method for compensating Thermal Infrared Multispectral Scanner (TIMS) digital data for the influence of atmospheric path radiance and the attenuation of target energy by the atmosphere is presented. A band ratioing model useful for estimating water surface temperatures, which requires no ground truth measurements, is included. A study conducted to test the potential of the model and the magnitudes of the corrections for atmosphere encountered is presented. Results of the study, which was based on data collected during an engineering evaluation flight of TIMS, indicate errors in the estimate of the surface temperature of the water fall from +/- 1.0 C for uncorrected data to +/- 0.4 C when data have been corrected according to the model presented. This value approaches the noise-limited thermal resolution of the sensor at the time of the flight.

Anderson, James E.↗

NASA NTRS2024

Digital Lunar Exploration Sites (DLES) Terrain Crafting

Humans will soon be returning to the surface of the Moon with NASA’s Artemis program. The Artemis program is an international collaboration that will consist of a complex series of space systems and missions to explore the lunar surface and pave the way for the future exploration of Mars. NASA and its partners rely heavily on simulation for lighting and navigation studies as well as training astronauts, flight controllers, and mission support staff. The NASA Exploration Systems Simulations (NExSyS) team in the Simulation and Graphics Branch (ER7) in the Engineering Directorate at NASA’s Johnson Space Center has built up many simulation products to support this effort, one of which is the Digital Lunar Exploration Sites (DLES). DLES is a collection of products used to simulate and render the lunar surface in a digital environment. We discussed and presented an overview of the DLES products at the 2022 IEEE Aerospace Conference in Big Sky, MT with a paper titled "Digital Lunar Exploration Sites". This “DLES Terrain Crafting” paper will expand on the information previously provided in “DLES” paper and dive deeper into the details of the terrain crafting process and the toolsets used to support this task. The best digital data currently available of the lunar surface is provided by the Lunar Reconnaissance Orbiter (LRO). Its Lunar Orbiter Laser Altimeter (LOLA) achieves an impressive resolution of 5m per pixel at the Lunar South Pole (LSP) and can generate datasets covering a large continuous region near the LSP. There are a few additional methods, such as Shape from Shading which can infer higher resolution data (up to 1m per pixel) from the LRO Narrow Angle Camera (NAC) images. However, surface-based simulations require higher-resolution data, and this paper will discuss the process of enhancing the terrain to meet that need. The process begins with capturing statistical data of craters in the regions of interest using images provided by the LRO NAC. This data is then used to scatter artificial features which are not captured in the truth data, resulting in an enhanced DEM with a much higher resolution of 20cm per pixel. Many tools were built up to assist in the creation of these artificial Digital Elevation Models (DEM), which this paper will discuss in detail. DEMs themselves are a very powerful representation of a planetary surface, and many operations and tools can utilize the data they contain. This paper includes a description of the rendering of the lunar surface in a graphics engine, generation of contact patches to simulate tire to ground interaction, and ray tracing utilities to model Line of Sight (LOS) interactions with the terrain. This paper will also explore some new tool sets currently under development which aim to utilize Machine Learning (ML) to assist in the identification of craters from LRO NAC imagery. While this is not a novel idea, the NExSyS team is developing a unique approach which may result in more robust identification of crater characteristics.

Artemis↗

NASA NTRS2001

Surface Texturing Investigated for a High Solar Absorptance Low Infrared Emittance Solar Collector

The objective of this work was to design, build, and vacuum test a high solar absorptance, low infrared emittance solar collector for heat engine and thermal switching applications. Mini-satellites proposed by the Applied Physics Laboratory for operation in environments that are subject to radiation threat may utilize a heat engine for power and a thermal bus for thermal control. To achieve this goal, a surface having high solar absorptance and low infrared emittance is needed. At the NASA Glenn Research Center, one concept being pursued to achieve this goal is texturing high thermal conductivity graphite epoxy composites using a directed atomic oxygen beam and then coating the textured surface with a reflective metallic coating. Coupons were successfully textured, coated, and evaluated. A variety of texturing conditions were explored, and textures were documented by scanning electron microscopy. Copper, gold, silver, iridium, and aluminum coatings were applied, and the highest solar absorptance to infrared emittance ratio was found to be 1.3. A full-sized solar collector was manufactured with this ratio, and the amount of heat collected was observed using an Inconel calorimeter installed in a bench-top vacuum chamber equipped with a solar simulator. Results to date indicate good heat flow through the system, with 9 W of heat flow measured by the calorimeter.

Jaworske, Donald A.↗

NASA NTRS2008

Nanostructures Exploit Hybrid-Polariton Resonances

Nanostructured devices that exploit the hybrid-polariton resonances arising from coupling among photons, phonons, and plasmons are subjects of research directed toward the development of infrared-spectroscopic sensors for measuring extremely small quantities of molecules of interest. The spectroscopic techniques in question are surface enhanced Raman scattering (SERS) and surface enhanced infrared absorption (SEIRA). An important intermediate goal of this research is to increase the sensitivity achievable by these techniques. The basic idea of the approach being followed in this research is to engineer nanostructured devices and thereby engineer their hybrid-polariton resonances to concentrate infrared radiation incident upon their surfaces in such a manner as to increase the absorption of the radiation for SEIRA and measure the frequency shifts of surface vibrational modes. The underlying hybrid-polariton-resonance concept is best described by reference to experimental devices that have been built and tested to demonstrate the concept. The nanostructure of each such device includes a matrix of silicon carbide particles of approximately 1 micron in diameter that are supported on a potassium bromide (KBr) or poly(tetrafluoroethylene) [PTFE] window. These grains are sputter-coated with gold grains of 40-nm size (see figure). From the perspective of classical electrodynamics, in this nanostructure, that includes a particulate or otherwise rough surface, the electric-field portion of an incident electromagnetic field becomes concentrated on the particles when optical resonance conditions are met. Going beyond the perspective of classical electrodynamics, it can be seen that when the resonance frequencies of surface phonons and surface plasmons overlap, the coupling of the resonances gives rise to an enhanced radiation-absorption or -scattering mechanism. The sizes, shapes, and aggregation of the particles determine the frequencies of the resonances. Hence, the task of designing a nanostructure to exhibit the desired radiation-absorption properties translates, in large part, to selecting particle sizes and shapes to obtain the desired enhanced coupling of energy from photons to plasmons and phonons. To broaden the spectral region(s) of enhanced absorption, one would select a distribution of particle sizes and shapes.

Anderson, Mark↗

NASA NTRS1971

Generation of Finite Life Distributional Goodman Diagrams for Reliability Prediction

The methodology of developing finite life distributional Goodman diagrams and surfaces is described for presenting allowable combinations of alternating stress and mean stress to the design engineer. The combined stress condition is that of an alternating bending stress and a constant shear stress. The finite life Goodman diagrams and surfaces are created from strength distributions developed at various ratios of alternating to mean stress at particular cycle life values. The conclusions indicate that the Von Mises-Hencky ellipse, for cycle life values above 1000 cycles, is an adequate model of the finite life Goodman diagram. In addition, suggestions are made which reduce the number of experimental data points required in a fatigue data acquisition program.

Kececioglu, D.↗

NASA NTRS2023

Great Salt Lake Health and Air Quality: Monitoring Lakebed Exposure and its Impact on Air Quality and Environmental Hazards in the Great Salt Lake Watershed

Water flow into the Great Salt Lake has declined rapidly over the last forty years due to human withdrawals and climate change. As a result of declining lake levels, over 50% of the lakebed is now exposed. Dust storms may grow in frequency and intensity across Northern Utah as lakebed dust becomes airborne under specific meteorological conditions. In our research project, we utilized satellite imagery from Terra and Aqua, Sentinel-5P, CALIPSO, Landsat 5 TM, Landsat 7 ETM+, Landsat 8 OLI-2, Suomi NPP, ground sensor environmental data, and demographic data to understand the relationship between lake desiccation and dust, and the impact of pollution upon the communities surrounding the Great Salt Lake. By plotting changes in Lake Surface Area against Aerosol Optical Depth (AOD) over our study period (2010-2022), we found an inverse relationship (R2=0.3423) between lake surface area and dust levels within our study area. We conducted a Vertical Feature Mask (VFM) and Extinction Coefficient Plot, from which we identified that during dust events, the aerosol type is mainly polluted dust and the aerosol height is 200 meters from the surface. Lastly, we created bivariate choropleth maps, which demonstrate which census tracts within our study area are most vulnerable to AOD (a proxy for PM2.5 from dust), NO2 and HCHO (precursors to ozone). In summary, our findings revealed that declining lake levels are associated with an increase in intensity of dust events, and these dust events will particularly impact residents of Tooele County and the west side of Salt Lake City. Project resources support partner needs by informing targeted air monitoring efforts, lakebed management practices, and advocacy efforts for GSL stewardship.

Terminal Saline Lake↗

NASA NTRS1996

Silicon Carbide Epitaxial Films Studied by Atomic Force Microscopy

Silicon carbide (SiC) holds great potential as an electronic material because of its wide band gap energy, high breakdown electric field, thermal stability, and resistance to radiation damage. Possible aerospace applications of high-temperature, high-power, or high-radiation SiC electronic devices include sensors, control electronics, and power electronics that can operate at temperatures up to 600 C and beyond. Commercially available SiC devices now include blue light-emitting diodes (LED's) and high-voltage diodes for operation up to 350 C, with other devices under development. At present, morphological defects in epitaxially grown SiC films limit their use in device applications. Research geared toward reducing the number of structural inhomogeneities can benefit from an understanding of the type and nature of problems that cause defects. The Atomic Force Microscope (AFM) has proven to be a useful tool in characterizing defects present on the surface of SiC epitaxial films. The in-house High-Temperature Integrated Electronics and Sensors (HTIES) Program at the NASA Lewis Research Center not only extended the dopant concentration range achievable in epitaxial SiC films, but it reduced the concentration of some types of defects. Advanced structural characterization using the AFM was warranted to identify the type and structure of the remaining film defects and morphological inhomogeneities. The AFM can give quantitative information on surface topography down to molecular scales. Acquired, in part, in support of the Advanced High Temperature Engine Materials Technology Program (HITEMP), the AFM had been used previously to detect partial fiber debonding in composite material cross sections. Atomic force microscopy examination of epitaxial SiC film surfaces revealed molecular-scale details of some unwanted surface features. Growth pits propagating from defects in the substrate, and hillocks due, presumably, to existing screw dislocations in the substrates, were imaged. Away from local defects, step bunching was observed to yield step heights of hundreds of angstroms, with possible implications for the uniformity of dopants incorporated in SiC devices during fabrication. The quantitative topographic data from the AFM allow the relevant defect information to be extracted, such as the size and distribution of step bunching and the Burgers vector of screw dislocations. These atomic force microscopy results have furthered the understanding of the dynamic epitaxial SiC growth process. A model describing the observed hillock step bunching has been proposed. This cooperation between researchers involved in crystal growth, electronic device fabrication, and surface structural characterization is likely to continue as atomic force microscopy is used to improve SiC films for high-temperature electronic devices for NASA's advanced turbine engines and space power devices, as well as for future applications in the automotive industry.

Source record↗

NASA NTRS2025

Beamed Energy and Communications Optical Node (BEACON) Demonstrator

Due to long shadow periods (2 weeks or greater) on the south pole, concepts to raise solar arrays to a sufficient height at specific locations have shown the capability to provide power to surface users for much longer periods. Such a tower can also provide a 3rd Generation Partnership Project (3GPP) service for users up to 10 km away, dependent on terrain. An option to deliver power, albeit with low efficiency, using a laser beam coupled with the tower height could provide mobile and fixed users power during darkness, reducing their battery requirements. A demonstration of these technologies in the lunar environment is crucial to support future Artemis campaigns as well as potential emerging lunar infrastructures. A demonstrator design of a 15 m deployed boomon the south pole has been shown to enable both the gathering of kilowatts of power and the provision of 3GPP relay and backhaul given an appropriate lunar location. Using a laser to send power to a photovoltaic receiver has been proposed to transmit electrical power on the moon, particularly for applications such as powering a rover in near-polar permanently shadowed regions (PSR) where solar power is not available. In this work, the Compass team performed a conceptual engineering design study of a near-term laser surface-to-surface power beaming and relay station using a tower to simultaneously carry the power source (Vertical Solar Array Technologies (VSAT)[1]), the 3GPP relay antenna, and the laser telescope.

Deployable solar array tower laser beamed power 3G↗

NASA NTRSDate not supplied

Beamed Energy and Communications Optical Node (BEACON) Demonstrator

Lunar Relay↗

NASA NTRS2007

Surface Operations: Two Case Studies of Simulated Lunar Operations

In September 2007, a team of scientists and engineers from several NASA centers participated in a field exercise at Meteor Crater, Arizona. The tests in this field exercise utilized recently developed robots of varying scales and capabilities and humans in pressurized space suits. Two examples of operations performed in the field are presented: a surface operations scenario involving suited crew supported by a number of mobile robots and setup operations for accessing a crater. The surface operations scenario simulated the end of a crew sortie and involved the following agents: 1) Suit subjects from Johnson Space Center s (JSC) advanced spacesuit laboratory 2) JSC's unpressurized crewed rover testbed, SCOUT 3) The Jet Propulsion Laboratory s (JPL) rough terrain, payload carrying robot, ATHLETE 4) JSC's Astronaut assist robot, Robonaut 5) Ames Research Center's (ARC) inspection robot, K-10. Operations began with ATHLETE positioning a pressurized rover compartment (PRC) as two crew members drove the SCOUT unpressurized rover from the field. The crew dismounted SCOUT, walked to the PRC for recharging. Robonaut then removed a sample box from the SCOUT equipment tray. K-10 then performed a drive around inspection of SCOUT, assembling a mosaic image. Lastly, the SCOUT vehicle was remotely driven to the next site. The setup operations for crater access scenario involved ATHLETE and Robonaut. This scenario began with Robonaut approaching ATHLETE and extracting a tether line. ATHLETE then extracted a drill and drilled an anchor into the surface. Robonaut then reconnected the tether to the anchor and backed away. ATHLETE is then ready to descend into the crater. This descending into the crater step is currently in the planning phase.

Bluethmann, William J.↗