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985 records · Page 55

Determining the amount of physical activity needed for long-term weight control

OBJECTIVE: To evaluate prospectively the influence of habitual physical activity on body weight of men and women and to develop a model that defines the role of physical activity on longitudinal weight change. DESIGN AND SETTING: Occupational cohort study conducted for a mean of 5.5 y. SUBJECTS: A total of 496 (341 male and 155 female) NASA/Johnson Space Center employees who completed the 3 month education component of the employee health-related fitness program and remained involved for a minimum of 2 y. MEASUREMENTS: Body weights were measured at baseline (T1) and follow-up (T2), and habitual physical activity was obtained from the mean of multiple ratings of the 11-point (0-10) NASA Activity Scale (NAS) recorded quarterly between T1 and T2. Other measures included age, gender, VO(2 max) obtained from maximal treadmill testing, body mass index (BMI), and body fat percentage. RESULTS: Multiple regression demonstrated that mean NAS, T1 weight, aging and gender all influence long-term T2 weight. T1 age was significant for the men only. Independently, each increase in mean NAS significantly (P<0.01) reduced T2 weight in men (b=-0.91 kg; 95% CI:-1.4 to-0.42 kg) and women (b=-2.14 kg; 95% CI:-2.93 to-1.35 kg). Mean NAS had a greater effect on T2 weight as T1 weight increased, and the relationship was dose-dependent. CONCLUSIONS: Habitual physical activity is a significant source of long-term weight change. The use of self-reported activity level is helpful in predicting long-term weight changes and may be used by health care professionals when counseling patients about the value of physical activity for weight control.

Exercise↗

NASA’s Moon to Mars (M2M) Transit Habitat (TH) Refinement Point of Departure (PoD) Design

As NASA prepares for the next human footsteps on the lunar surface, the Agency is already looking ahead to systems that will enable a sustained human presence on the lunar surface and mission to Mars, including a lunar Surface Habitat and Mars Transit Habitat (TH). This paper describes the latest NASA government reference design for the TH and how it will support NASA's Moon to Mars human exploration architecture. First, it will serve as a test and demonstration platform in lunar orbit, demonstrating capabilities required for long-duration microgravity human spaceflight as part of the lunar-Mars analog missions. Then, the TH will also serve as a major Mars habitation exploration element to support the crew during their transit from the lunar orbit to Mars and returning them safely to lunar orbit. This paper will cover several considerations contributing to the latest habitat design refinement, including data on the TH's concept of operations, system functional definition, subsystem assumptions, notional interior layouts, a detailed mass and volume breakdown, and trade studies and analyses required to close identified technology/ development/architecture gaps. In addition to a technical description of the TH, this paper describes how the current TH government reference design will achieve many of the current lunar and Mars mission goals. Additionally, there are many assumed technological advances needed to support the prescribed mission phases leading up to the crewed mission to Mars in the late 2030s. The paper will describe many of the TH systems requiring further technology development and identify architectural solutions to achieve these mass, reliability, autonomy, and crew health targets. As a whole, the data in the paper shows that a TH meeting the 43 metric tons launch mass/trans-Mars injection burn limits specified by the Evolvable Mars Campaign is achievable near the desired timeframe with moderate strategic investments including maintainable life support systems, re-purposable structures and packaging, and lightweight exercise modalities. It also identifies operational and technological options to reduce this mass to less than 41 metric tons, including staging of launch structure/packaging and alternate structural materials. The resulting design detail and data contained in this paper are intended to help teams across NASA and potential commercial, academic, or international partners understand the current performance targets of the Transit Habitat and vehicle interface considerations imposed by the latest Moon to Mars mission scope.

Habitation Systems↗

Electrical stimulation in exercise training

Electrical stimulation has a long history of use in medicine dating back to 46 A.D. when the Roman physician Largus found the electrical discharge of torpedo fishes useful in the treatment of pain produced by headache and gout. A rival Greek physician, Dioscorides, discounted the value of the torpedo fish for headache relief but did recommend its use in the treatment of hemorrhoids. In 1745, the Leyden jar and various sized electrostatic generators were used to treat angina pectoris, epilepsy, hemiplegia, kidney stones, and sciatica. Benjamin Franklin used an electrical device to treat successfully a young woman suffering from convulsive fits. In the late 1800's battery powered hydroelectric baths were used to treat chronic inflammation of the uterus while electrified athletic supporters were advertised for the treatment of male problems. Fortunately, such an amusing early history of the simple beginnings of electrical stimulation did not prevent eventual development of a variety of useful therapeutic and rehabilitative applications of electrical stimulation. Over the centuries electrical stimulation has survived as a modality in the treatment of various medical disorders with its primary application being in the rehabilitation area. Recently, a surge of new interest in electrical stimulation has been kindled by the work of a Russian sport scientist who reported remarkable muscle strength and endurance improvements in elite athletes. Yakov Kots reported his research on electric stimulation and strength improvements in 1977 at a Canadian-Soviet Exchange Symposium held at Concordia University in Montreal. Since then an explosion of new studies has been seen in both sport science and in medicine. Based upon the reported works of Kots and the present surge of new investigations, one could be misled as to the origin of electrical stimulation as a technique to increase muscle strength. As a matter of fact, electric stimulation has been used as a technique to improve muscle strength for over a century. Bigelow reported in 1894, for example, the use of electrical stimulation on a young man for the purpose of increasing muscle strength. Employing a rapidly alternating sinusoidal induced current and a dynamometer for strength testing, Bigelow reported that the total lifting capacity of a patient increased from 4328 pounds to 4639 pounds after only 25 minutes of stimulation. In 1965, Massey et al. reported on the use of an Isotron electrical stimulator that emitted a high frequency current. Interestingly enough, the frequencies used by Massey et al. and the frequencies used by Bigelow in 1894 were in the same range of frequencies reported by Kots as being the most effective in strength development. It would seem the Russian secret of high frequency electrical stimulation for strength development, then, is not a modern development at all.

Kroll, Walter↗

Right Ventricular Tissue Doppler in Space Flight

Tissue Doppler (TD) registers movement of a given sample of cardiac tissue throughout the cardiac cycle. TD spectra of the right ventricle (RV) were obtained from a long-duration ISS crewmember as a portion of an ongoing experiment ("Braslet" test objective). To our knowledge, this is the first report of RV TD conducted in space flight, and the data represent reproducibility and fidelity of this application in space and serve as the first "space normal" data set. Methods RV TD was performed by astronaut scientists remotely guided by an ultrasound expert from Mission Control Center, Houston, TX. In four of the subjects, RV TD was acquired from the free wall near the tricuspid annulus in two separate sessions 4 to 7 days apart. A fifth subject had only one session. All digital DICOM frames were exported for off-line analysis. Systolic (S ), early diastolic (E ) and late diastolic (A ) velocities were measured. RV Tei-index was calculated using diastolic and systolic time intervals as a combined measure of myocardial performance. Results and Discussion The mean values from the first 4 subjects (8 sessions) were used as the on-orbit reference data, and subject 5 was considered as a hypothetical patient for comparison (see Table). The greatest difference was in the early diastolic A (31 %) yet the standard deviation (a) for A amongst the reference subjects was 2.25 (mean = 16.02). Of interest is the Tei index, a simple and feasible indicator of overall ventricular function; it was similar amongst all the subjects. The late diastolic A seems to compensate for the variance in E . Normal Tei index for the RV is < 0.3, yet our data show all but one subject consistently above this level, notwithstanding their nominal responses to daily exercise in microgravity. These data remind us that the physiology of RV preload in altered gravity environments is still not completely understood.

Hamilton, Douglas R.↗

Expanding the Description of Spaceflight Effects beyond Bone Mineral Density [BMD]: Trabecular Bone Score [TBS] in ISS Astronauts

Dual-energy x-ray absorptiometry [DXA] is the widely-applied bone densitometry method used to diagnose osteoporosis in a terrestrial population known to be at risk for age-related bone loss. This medical test, which measures areal bone mineral density [aBMD] of clinically-relevant skeletal sites (e.g., hip and spine), helps the clinician to identify which persons, among postmenopausal women and men older than 50 years, are at high risk for low trauma or fragility fractures and might require an intervention. The most recognized osteoporotic fragility fracture is the vertebral compression fracture which can lead to kyphosis or hunched backs typically seen in the elderly. DXA measurement of BMD however is recognized to be insufficient as a sole index for assessing fracture risk. DXA's limitation may be related to its inability to monitor changes in structural parameters, such as trabecular vs. cortical bone volumes, bone geometry or trabecular microarchitecture. Hence, in order to understand risks to human health and performance due to space exposure, NASA needs to expand its measurements of bone to include other contributors to skeletal integrity. To this aim, the Bone and Mineral Lab conducted a pilot study for a novel measurement of bone microarchitecture that can be obtained by retrospective analysis of DXA scans. Trabecular Bone Score (TBS) assesses changes to trabecular microarchitecture by measuring the grey color "texture" information extracted from DXA images of the lumbar spine. An analysis of TBS in 51 ISS astronauts was conducted to assess if TBS could detect 1) an effect of spaceflight and 2) a response to countermeasures independent of DXA BMD. In addition, changes in trunk body lean tissue mass and in trunk body fat tissue mass were also evaluated to explore an association between body composition, as impacted by ARED exercise, and bone microarchitecture. The pilot analysis of 51 astronaut scans of the lumbar spine suggests that, following an ISS mission, DXA BMD and TBS are detecting different effects of ARED exercise and of ARED + Bisphosphonate on the lumbar spine of astronauts. There is emerging evidence associating reduced TBS with terrestrial metabolic bone disorders where a TBS <1.200 is associated with "degraded" while > 1.350 is associated with "normal." However, it is not possible to conclude how the spaceflight-induced changes in TBS increase risk for vertebral fractures in the astronaut or if changes in body composition of the trunk region could be an indirect method of assessing exercise effect on bone microarchitecture. More importantly, this pilot analysis demonstrates a new, minimal risk approach for monitoring changes to vertebral bone microarchitecture. This method could help assess the combined skeletal effects of spaceflight with the effects of aging in the astronaut after return to Earth.

Sibonga, J. D.↗

Vivid Motor Imagery as an Adaptation Method for Head Turns on a Short-Arm Centrifuge

Artificial gravity (AG) has been proposed as a potential countermeasure to the debilitating physiological effects of long duration space flight. The most economical means of implementing AG may be through the use of a short-radius (2m or less) centrifuge. For such a device to produce gravitational forces comparable to those on earth requires rotation rates in excess of 20 revolutions per minute (rpm). Head turns made out of the plane of rotation at these rates, as may be necessary if exercise is combined with AG, result in cross-coupled stimuli (CCS) that cause adverse side effects including motion sickness, illusory sensations of motion, and inappropriate eye movements. Recent studies indicate that people can adapt to CCS and reduce these side effects by making multiple head turns during centrifuge sessions conducted over consecutive days. However, about 25% of the volunteers for these studies have difficulty tolerating the CCS adaptation paradigm and often drop out due to motion sickness symptoms. The goal of this investigation was to determine whether vivid motor imagery could be used as a pseudostimulus for adapting subjects to this unique environment. Twenty four healthy human subjects (14 males, 10 females), ranging in age from 21 to 48 years (mean 33, sd 7 years) took part in this study. The experimental stimuli were produced using the NASA JSC short-arm centrifuge (SAC). Subjects were oriented supinely on this device with the nose pointed toward the ceiling and head centered on the axis of rotation. Thus, centrifuge rotation was in the body roll plane. After ramp-up the SAC rotated clockwise at a constant rate of 23 rpm, producing a centrifugal force of approximately 1 g at the feet. Semicircular canal CCS were produced by having subjects make yaw head turns from the nose up (NU) position to the right ear down (RED) position and from RED to NU. Each head turn was completed in about one second, and a 30 second recovery period separated consecutive head movements. Participants were randomly assigned to one of three groups (n=8 per group): physical adapters (PA), mental adapters (MA), or a control group (CG). Each subject participated in a one hour test session on each of three consecutive days. Each test session consisted of an initial (preadaptation) period during which the subject performed six CCS maneuvers in the dark, followed by an adaptation period with internal lighting on the centrifuge, and a final (postadaptation) period during which six more CCS maneuvers were performed in the dark. For the PA group, the adaptation period consisted of performing 30 additional CCS maneuvers in the light. For the MA and CG group the centrifuge was ramped down to 0 rpm after the pre-adaptation period and ramped back up to 23 rpm before the post-adaptation period. For the both of these groups, the adaptation period consisted of making 30 CCS maneuvers in the light with the centrifuge stationary (so no cross-coupling occurred). MA group subjects were instructed to vividly imagine the provocative sensations produced by the preadaptation CCS maneuvers in terms of magnitude, duration, and direction of illusory body tilt, as well as any accompanying levels of motion sickness. CG group subjects were asked to answer low imagery content questions (trivial pursuit) during each adaptation period head turn. During the 30 second recovery following each head turn, psychophysical data were collected including self reports of motion sickness, magnitude and direction estimates of illusory body tilt, and the overall duration of these sensations. A multilevel mixed effects linear regression analysis performed on all response variables indicated that all three groups experienced some psychophysical adaptation across the three test sessions. For illusory tilt magnitude, the PA group exhibited the most overall adaptation, followed by the MA group, and the CG group. The slopes of these adaptation trajectories by group over day were significantly diffent from one another. For the perceived duration of sensations, the CG group again exhibited the least amount of adaptation. However, the rates of adaptation of the PA and the MA groups were indistinguishable, suggesting that the imagined pseudostimulus appeared to be just as effective a means of adaptation as the actual stimulus. The MA group's rate of adaptation to motion sickness symptoms was also comparable to the PA group. The use of vivid motor imagery may be an effective method for adapting to the illusory sensations and motion sickness symptoms produced by cross-coupled stimuli. For space-based AG applications, this technique may prove quite useful in retaining astronauts considered highly susceptible to motion sickness as it reduces the number of actual CCS required to attain adaptation.

Newby, N. J.↗

Status and efficacy of countermeasures to physiological deconditioning from space flight

The recent biomedical investigations conducted on the Space Shuttle and Spacelab have provided a wealth of biomedical information, including the ability to test the efficacy of proposed countermeasures. This achievement was made possible by the ability to conduct mechanistic and control-interventive studies simultaneously with a large number of individuals over a relatively brief period and to compare these data with results obtained from the Skylab missions. Comparisons between short- and long-duration results were limited to establishing trends or extrapolating from short-duration missions. To date, we have evaluated several protocols involving the lower-body negative pressure (LBNP) device, the bicycle-ergometer, the treadmill and preparations for body-fluid replenishment. In many instances, the traditional means of applying these protocols were not sufficient to protect against space-related deconditioning. This paper will review current countermeasures and compare their efficacy to that of existing protocols. Results from in-flight and ground-based experiments will be presented to illuminate the recommended protocols and procedures.

short duration↗

Imagine Moving Off the Planet

Moving off the planet will be a defining moment of this century as landing on the Moon was in the last. For that to happen for humans to go where humans cannot go-- simulation is the sole solution. NASA supports simulation for life-cycle activities: design, analysis, test, checkout, operations, review and training. We contemplate time spans of a century and more, teams dispersed to different planets and the need for systems that endure or adapt as missions, teams and technology change. Without imagination such goals are impossible. But with imagination we can go outside our present perception of reality to think about and take action on what has been, is and, especially, what might be. Consciously maturing an imagined, possibly workable, idea through framing it to optimization to design, and building the product provides us with a new approach to innovation and simulation fidelity. We address options, analyze, test and make improvements in how we think and work. Each step includes increasingly exact information about costs, schedule, who will be needed, where, when and how. NASA i integrating such thinking into its Exploration Product Realization Hierarchy for simulation and analysis, test and verification, and stimulus response goals. Technically NASA follows a timeline of studies, analysis, definition, design, development and operations with concurrent documentation. We have matched this Product Realization Hierarchy with a continuum from image to realization that incorporates commitment, current and needed research and communication to ensure superior and creative problem solving as well as advances in simulation. One result is a new approach to collaborative systems. Another is a distributed observer network prototyped using game engine technology bringing advanced 3-D simulation of a simulation to the desktop enabling people to develop shared consensus of its meaning. Much of the value of simulation comes from developing in people their ability to make good decisions and reflexes supporting impressive achievement. Synthesizing imagination systematically into our work - and thus our success - is a challenge. NASA engineers have inventive minds, and the task is determining how best to enable them to devise the simulation and other innovations that will make a story so clear and so intellectually sound that people can carry out the mission for 50-100 years. This demands skills and knowledge traditionally under-respected and under-represented in technology organizations. But we are beginning to see that the process encourages efficiency and enables us to attain more effective results. We have to elicit imaginative, intelligent and effective ways to make better use than ever of the minds we have and will have available. We have to accept the challenge to accomplish tasks among dispersed interdisciplinary teams who must overcome changing priorities and technology, time and distance in order to maximize interactivity and innovation as never before. Attention to the process of innovation is a practical means to increase the efficiency of our intelligence. We have an obligation to reexamine and improve the process by which we approach and exercise innovation as we accept the charge to move off the planet.

Elfrey, Priscilla R.↗

Computational Analysis of Static and Dynamic Behaviour of Magnetic Suspensions and Magnetic Bearings

Static modelling of magnetic bearings is often carried out using magnetic circuit theory. This theory cannot easily include nonlinear effects such as magnetic saturation or the fringing of flux in air-gaps. Modern computational tools are able to accurately model complex magnetic bearing geometries, provided some care is exercised. In magnetic suspension applications, the magnetic fields are highly three-dimensional and require computational tools for the solution of most problems of interest. The dynamics of a magnetic bearing or magnetic suspension system can be strongly affected by eddy currents. Eddy currents are present whenever a time-varying magnetic flux penetrates a conducting medium. The direction of flow of the eddy current is such as to reduce the rate-of-change of flux. Analytic solutions for eddy currents are available for some simplified geometries, but complex geometries must be solved by computation. It is only in recent years that such computations have been considered truly practical. At NASA Langley Research Center, state-of-the-art finite-element computer codes, 'OPERA', 'TOSCA' and 'ELEKTRA' have recently been installed and applied to the magnetostatic and eddy current problems. This paper reviews results of theoretical analyses which suggest general forms of mathematical models for eddy currents, together with computational results. A simplified circuit-based eddy current model proposed appears to predict the observed trends in the case of large eddy current circuits in conducting non-magnetic material. A much more difficult case is seen to be that of eddy currents in magnetic material, or in non-magnetic material at higher frequencies, due to the lower skin depths. Even here, the dissipative behavior has been shown to yield at least somewhat to linear modelling. Magnetostatic and eddy current computations have been carried out relating to the Annular Suspension and Pointing System, a prototype for a space payload pointing and vibration isolation system, where the magnetic actuator geometry resembles a conventional magnetic bearing. Magnetostatic computations provide estimates of flux density within airgaps and the iron core material, fringing at the pole faces and the net force generated. Eddy current computations provide coil inductance, power dissipation and the phase lag in the magnetic field, all as functions of excitation frequency. Here, the dynamics of the magnetic bearings, notably the rise time of forces with changing currents, are found to be very strongly affected by eddy currents, even at quite low frequencies. Results are also compared to experimental measurements of the performance of a large-gap magnetic suspension system, the Large Angle Magnetic Suspension Test Fixture (LAMSTF). Eddy current effects are again shown to significantly affect the dynamics of the system. Some consideration is given to the ease and accuracy of computation, specifically relating to OPERA/TOSCA/ELEKTRA.

Britcher, Colin P.↗

Environmental Signatures for Habitability: What to Measure and How to Rank the Habitability Potential of Mars

The environmental signatures for habitability are not necessarily biosignatures, even though on Earth, they are definitive proof of habitability. It is the constant overprint of the chemical signatures of life that makes it difficult to recognize the chemical and physical properties of a potentially habitable environment as distinct from an inhabited one. Mars Science Laboratory (MSL) will soon embark on a mission to Mars to assess its past or present habitability, so it is useful to examine how we measure habitability on Earth and prepare for how that approach may differ for Mars. This exercise includes: (a) articulation of fundamental assumptions about habitability, (b) an inventory of factors that affect habitability, (c) development of metrics, measurement approach and implementation, and (d) a new classification scheme for planetary habitability that goes beyond the binary "yes" or "no." There may be dozens of factors that affect habitability and they can be weighted as a function of specific environment. However a robotic, in situ investigation even on Earth has constraints that prevent the measurement of every environmental factor, so metrics must be reduced to the most relevant subset, given available time, cost, technical feasibility and scientific importance. Many of the factors could be measured with a combination of orbital data and the MSL payload. We propose that, at a minimum, a designation of high habitability potential requires the following conditions be met: (a) thermally stable with respect to extremes and frequency of fluctuation, (b) has more than one energy source, (c) sufficient chemical diversity to make compounds with covalent and hydrogen bonding, (d) can moderate ionizing radiation enough to allow a stable or evolving pool of organic molecules, (e) must have water or other high quality polar solvent, (f) must be able to renew chemical resources (e.g., plate tectonics, volcanism or something else we haven't envisioned). A measurement approach we have taken to measure habitability on Earth is : 1. Study remote sensing data, maps, etc. 2. Decide how big an area to measure. 3. Determine the spatial sampling rate. 4. Determine the temporal sampling rate. 5. Determine the order of measurements 6. Decide where to begin measurements 7. Select locations at field site and proceed While science drives each of the steps, there are additional constraints, e.g., technical, time, cost, safety (risk). This approach is also executable on Mars. Measurement of past habitability is more challenging both for Earth and Mars where access to the past means subsurface access and confrontation with unknowns about preservation of the martian past. Some environments preserve evidence of past habitability better than others, and this is where selection of the landing site to maximize the preservation potential of habitability indicators will be key. Mars presents an opportunity to discover transitional states between habitable or not, and we offer a ranking scale for planetary habitability with Mars as the second test subject: CLASS ONE Uninhabitable and likely has never been so CLASS TWO Has a high potential but no confirmed observation of life (as defined above) CLASS THREE Inhabited (we find life) 3-A Globally inhabited 3-B Primitive life; early in its evolution, but not yet globally established 3-C Exists only in refugia -- planet heading toward class four CLASS FOUR Post-habitable (there once was life, but now it's gone) MSL provides an opportunity to carefully investigate the habitability of at least one site on Mars and it will reveal much about the possible states of planetary habitability

Conrad, Pamela G.↗

NASA Human Spaceflight Scenarios - Do All Our Models Still Say No?

Historically, NASA human spaceflight planning has included healthy doses of life cycle cost analysis. Planners put projects and their cost estimates in a budget context. Estimated costs became expected budgets. Regardless, real budgets rarely matched expectations. So plans would come and go as NASA canceled projects. New projects would arise and the cycle would begin again. Repeatedly, NASA schedule and performance ambitions come up against costs growing at double-digit rates while budgets barely rise a couple of percent a year. Significant skepticism greets proposed NASA programs at birth, as cost estimates for new projects are traditionally very high, and worse, far off the mark for those carried forward. In this environment the current "capability driven framework" for NASA human spaceflight evolved, where long term life cycle cost analysis are even viewed as possibly counter-productive. Here, a space exploration project, for example the Space Launch System, focuses on immediate goals. A life cycle is that of a project, not a program, and for only that span of time to a near term milestone like a first test launch. Unfortunately, attempting to avoid some pitfalls in long-term life cycle cost analysis breeds others. Government audits have noted that limiting the scope of cost analysis "does not provide the transparency necessary to assess long-term affordability" making it difficult to understand if NASA "is progressing in a cost-effective and affordable manner." Even in this short-term framework, NASA realizes the importance of long-term considerations, that it must "maximize the efficiency and sustainability of the Exploration Systems development programs", that this is "critical to free resources for re-investment...such as other required deep space exploration capabilities." Assuming the value of long-term life cycle cost analysis, where due diligence meets reconnaissance, and accepting past shortcomings, the work here approaches life cycle cost analysis for human spaceflight differently. 1) If costs have traditionally been so high that adding them up is discouraging, are there any new facts on the ground offering paths to significantly lower costs? 2) If NASA's spaceflight budget and process is an over-arching constraint, with its planning limitations favoring short-term outlooks, is there a way to step outside the budget box? 3) If life cycle answers have historically been too uncertain to be useful, is there a process where stakeholders gain valuable insights merely from emphasizing a common understanding around questions? We analyze the potential life cycle cost of assorted NASA human spaceflight architectures - an architecture as a sum of individual systems, working together. With the prior questions of high costs, limited budgets and uncertainties in mind, public private partnerships are central in these architectures. The cost data for current commercial public private partnerships is encouraging, as are cost estimates for future partnership approaches beyond low Earth orbit. Private capital, directly or indirectly, an ingredient of public private partnerships, may be a significant factor in finding a path around the limits of the NASA spaceflight budget. Also, understanding and reviewing the pros, cons and uncertainties of assorted architectures can assist in developing a common understanding around key questions as important if not more so than the numbers and answers. Lastly, a scenario planning technique is briefly explored that can mature a common understanding about the agencies situation at hand and how diverse stakeholders can go forward together. Scenario planning, rather than focusing on answers, places emphasis on stakeholders developing a common understanding about the future. Putting aside costs, this is especially true of questions about sustainability and growth, results, benefits and expectations. While efficiency exercises or analysis look to reduce resources in one place to apply them elsewhere, moving around slices in a pie, scenario planning can get at the heart of the matter, growing the pie, transforming it, and making the pieces relevant. Especially important is the question of sustainability for different scenarios in the broad sense of the word - not just the narrow ability to survive or continue, but also the ability to adapt, prosper and grow.

space systems life cycle costs↗

The Effects of Partial Mechanical Loading and Ibandronate on Skeletal Tissues in the Adult Rat Hindquarter Suspension Model for Microgravity

We report initial data from a suspended rat model that quantitatively relates chronic partial weightbearing to bone loss. Chronic partial weightbearing is our simulation of the effect of limited artificial gravity aboard spacecraft or reduced planetary gravity. Preliminary analysis of bone by PQCT, histomorphometry, mechanical testing and biochemistry suggest that chronic exposure to half of Earth gravity is insufficient to prevent severe bone loss. The effect of episodic full weightbearing activity (Earth Gravity) on rats otherwise at 50% weightbearing was also explored. This has similarity to treatment by an Earth G-rated centrifuge on a spacecraft that normally maintained artificial gravity at half of Earth G. Our preliminary evidence, using the above techniques to analyze bone, indicate that 2 hours daily of full weightbearing was insufficient to prevent the bone loss observed in 50% weightbearing animals. The effectiveness of partial weightbearing and episodic full weightbearing as potential countermeasures to bone loss in spaceflight was compared with treatment by ibandronate. Ibandronate, a long-acting potent bisphosphonate proved more effective in preventing bone loss and associated functionality based upon structure than our first efforts at mechanical countermeasures. The effectiveness of ibandronate was notable by each of the testing methods we used to study bone from gross structure and strength to tissue and biochemistry. These results appear to be independent of generalized systemic stress imposed by the suspension paradigm. Preliminary evidence does not suggest that blood levels of vitamin D were affected by our countermeasures. Despite the modest theraputic benefit of mechanical countermeasures of partial weightbearing and episodic full weightbearing, we know that some appropriate mechanical signal maintains bone mass in Earth gravity. Moreover, the only mechanism that correctly assigns bone mass and strength to oppose regionally specific force applied to bone is mechanical, a process based upon bone strain. Substantial evidence indicates that the specifics of dynamic loading i.e. time-varying forces are critical. Bone strain history is a predictor of the effect that mechanical conditions have on bone structure mass and strength. Using servo-controlled force plates on suspended rats with implanted strain gauges we manipulated impact forces of ambulation in the frequency (Fourier) domain. Our results indicate that high frequency components of impact forces are particularly potent in producing bone strain independent of the magnitude of the peak force or peak energy applied to the leg. Because a servo-system responds to forces produced by the rat's own muscle activity during ambulation, the direction of ground-reaction loads act on bone through the rat's own musculature. This is in distinction to passive vibration of the floor where forces reach bone through the natural filters of soft tissue and joints. Passive vibration may also be effective, but it may or may not increase bone in the appropriate architectural pattern to oppose the forces of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of normal ambulatory activity. Effectiveness of high frequency mechanical stimulation in producing regional (muscle directed) bone response will be limited by 1. the sensitivity of bone to a particular range of frequencies and 2. the inertia of the muscles, limiting their response to external forces by increasing tension along insertions. We have begun mathematical modeling of the rat forelimb as a transfer function between impact force and bone strain to predict optimal dynamic loading conditions for this system. We plan additional studies of mechanical counter-measures that incorporate improved dynamic loading, features relevant to anticipated evaluation of artificial gravity, exercise regimens and exposure to Martian gravity, The combination of mechanical countermeasures with ibandronate will also be investigated for signs of synergy.

Schultheis, Lester W.↗

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗