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This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The Multi-Rover Integrated Science Understanding System (MISUS) combines techniques from planning and scheduling with machine learning to perform autonomous scientific exploration with cooperating rovers.
The photoelectric emission process is considered to be the dominant mechanism for charging of cosmic dust grains in many astrophysical environments. The grain charge and equilibrium potentials play an important role in the dynamical and physical processes that include heating of the neutral gas in the interstellar medium, coagulation processes in the dust clouds, and levitation and dynamical processes in the interplanetary medium and planetary surfaces and rings. An accurate evaluation of photoelectric emission processes requires knowledge of the photoelectric yields of individual dust grains of astrophysical composition as opposed to the values obtained from measurements on flat surfaces of bulk materials, as it is generally assumed on theoretical considerations that the yields for the small grains are much different from the bulk values. We present laboratory measurements of the photoelectric yields of individual dust grains of silica, olivine, and graphite of approx. 0.09-5 micrometer radii levitated in an electrodynamic balance and illuminated with ultraviolet radiation at 120-160 nm wavelengths. The measured yields are found to be substantially higher than the bulk values given in the literature and indicate a size dependence with larger particles having order-of-magnitude higher values than for submicron-size grains.
A mobile ground survey application that employs remote sensing as a primary means of area coverage is highlighted. It is distinguished from mobile robotic area coverage problems that employ contact or proximity-based sensing. The focus is on a specific concept for performing mobile surveys in search of biogenic gases on planetary surfaces using a distributed spectrometer -- a rover-based instrument designed for wide measurement coverage of promising search areas. Navigation algorithms for executing circular and spiral survey trajectories are presented for widearea distributed spectroscopy and evaluated based on area covered and distance traveled.
The success of a landed space exploration mission depends largely on the final landing site. Factors influencing site selection include safety, fuel-consumption, and scientific return. This paper addresses the problem of selecting the best available landing site based on these factors in real-time during autonomous spacecraft descent onto a planetary surface. The problem is modeled probabilistically using Bayesian Networks (BNs). BNs provide a means of representing the causal relationships between variables that impact the quality of a landing site. The final landing site is determined via probabilistic reasoning based on terrain safety derived from on-board sensors, available fuel based on spacecraft descent dynamics, and regions of interest defined by mission scientists.
Artificial gravity paradigms may offer effective, efficient, multi-system protection from the untoward effects of adaptation to the microgravity of space or the hypogravity of planetary surfaces. Intermittent artificial gravity (AG) produced by a horizontal short-radius centrifuge (SRC) has recently been utilized on human test subjects deconditioned by bed rest. This presentation will review preliminary results of a 41 day study conducted at the University of Texas Medical Branch, Galveston, TX bed rest facility. During the first eleven days of the protocol, subjects were ambulatory, but confined to the facility. They began a carefully controlled diet, and participated in multiple baseline tests of bone, muscle, cardiovascular, sensory-motor, immunological, and psychological function. On the twelfth day, subjects entered the bed rest phase of the study, during which they were confined to strict 6deg head down tilt bed rest for 21 days. Beginning 24 hrs into this period, treatment subjects received one hour daily exposures to artificial gravity which was produced by spinning the subjects on a 3.0 m radius SRC. They were oriented radially in the supine position so that the centrifugal force was aligned with their long body axis, and while spinning, they "stood" on a force plate, supporting the centrifugal loading (2.5 g at the feet, 1.0 g at the heart). The subject station allowed free translation over approximately 10 cm to ensure full loading of the lower extremities and to allow for anti-orthostatic muscle contractions. Control subjects were positioned on the centrifuge but did not spin. Following the bed rest phase, subjects were allowed to ambulate again, but remained within the facility for an additional 9 days and participated in multiple follow-up tests of physiological function.
High-energy secondary neutrons, produced by the interaction of galactic cosmic rays with the atmosphere, spacecraft structure and planetary surfaces, contribute to a significant fraction to the dose equivalent in crew members and passengers during commercial aviation travel, and astronauts in space missions. The Los Alamos Nuclear Science Center (LANSCE) neutron facility#s ICE House 30L beamline is known to generate neutrons that simulate the secondary neutron spectra of earth#s atmosphere. The neutron spectrum is also similar to that measured onboard spacecraft like the MIR and International Space Station (ISS). To evaluate the biological damage, we exposed human fibroblasts in vitro to the LANSCE neutron beams without degrader at an entrance dose rate of 25 mGy/hr and analyzed the micronuclei (MN) induction. The cells were also placed behind a 9.9 cm water column to study effect of shielding in the protection of neutron induced damages. It was found that the dose response in the MN frequency was linear for the samples with and without shielding and the slope of the MN yield behind the shielding was reduced by a factor of 3.5. Compared to the MN induction in human fibroblasts exposed to a gamma source at a low dose rate, the RBE was found to be 16.7 and 10.0 for the neutrons without and with 9.9 cm water shielding, respectively.
Extravehicular activity (EVA) is any activity performed by astronauts outside their space vehicle or habitat. EVA may be performed on orbit, such as outside the Space Shuttle or the International Space Station, or on a planetary surface such as Mars or on the moon. Astronauts wear a pressurized suit that provides environmental protection, mobility, life support, and communications while they work in the harsh conditions of a microgravity environment. Exploration missions to the moon and Mars may last many days and will include many types of EVAs; exploration, science, construction and maintenance. The effectiveness and success of these EVA-filled missions is dependent on the ability to perform tasks efficiently. The EVA Physiology, Systems and Performance (EPSP) project will conduct a number of studies to understand human performance during EVA, from a molecular level to full-scale equipment and suit design aspects, with the aim of developing safe and efficient systems for Exploration missions and the Constellation Program. The EPSP project will 1) develop Exploration Mission EVA suit requirements for metabolic and thermal loading, optional center of gravity location, biomedical sensors, hydration, nutrition, and human biomedical interactions; 2) develop validated EVA prebreathe protocols that meet medical, vehicle, and habitat constraints while minimizing crew time and thus increasing EVA work efficiency; and 3) define exploration decompression sickness (DCS) risks, policy, and mission success statistics and develop a DCS risk definition report.
The closed-cycle hydrogen-oxygen PEM regenerative fuel cell (RFC) at NASA Glenn Research Center has demonstrated multiple back to back contiguous cycles at rated power, and round trip efficiencies up to 52 percent. It is the first fully closed cycle regenerative fuel cell ever demonstrated (entire system is sealed: nothing enters or escapes the system other than electrical power and heat). During FY2006 the system has undergone numerous modifications and internal improvements aimed at reducing parasitic power, heat loss and noise signature, increasing its functionality as an unattended automated energy storage device, and in-service reliability. It also serves as testbed towards development of a 600 W-hr/kg flight configuration, through the successful demonstration of lightweight fuel cell and electrolyser stacks and supporting components. The RFC has demonstrated its potential as an energy storage device for aerospace solar power systems such as solar electric aircraft, lunar and planetary surface installations; any airless environment where minimum system weight is critical. Its development process continues on a path of risk reduction for the flight system NASA will eventually need for the manned lunar outpost.
Probes are an essential element in the scientific study of planets with atmospheres. In-situ measurements provide the most accurate determination of composition, winds, temperatures, clouds, and radiative fluxes. They address fundamental NASA objectives concerning volatile compounds, climate, and the origin of life. Probes also deliver landers and aerobots that help in the study of planetary surfaces. This talk focuses on Venus, Titan, and the giant planets. I review the basic science questions and discuss the recommended missions. I stress the need for a balanced program that includes an array of missions that increase in size by factors of two. Gaps in this array lead to failures and cancellations that are harmful to the program and to scientific exploration.
NASA's mission to Moon, Mars, and Beyond envisions landing of a light weight measurement platform on the planetary surface. The Multi-Wavelength Dielectrometer (MWD) on-board consists of essential electronics and metallic plates acting as electrodes attached to the body of such platform. An electric signal applied to one of the electrodes acting as a cathode sets up electric field pattern (in the soil medium) between the cathode and other electrodes acting as anodes. The electrodes are swept through multiple wavelengths (1Hz-1MHz) and the electric current drawn by the electrodes is measured at each frequency. The measured current whose amplitude and phase depend upon electrode spacing, dielectric constant of the subsurface soil, and the frequency is then used to estimate electrical properties of the soil. In this paper the MWD sensor that will measure the dielectric properties of Moon/Mars s soil is presented. A procedure to process the MWD measured data for extracting the soil properties is also described. Assuming the subsurface soil structure as multilayer strata having varying electric properties, an electric equivalent circuit of the multiple electrodes configuration placed on a multi-layer soil sample is obtained. The current drawn by the equivalent circuit from the low frequency signal generator is then calculated. By minimizing the difference between the model s estimated current and measured MWD data the electric properties of soil samples are extracted. Experimental and simulated results will be presented to validate the proposed procedure for extracting soil properties.
The IMAG Pilot Study, recently completed at the University of Texas Medical Branch, filled in the second major gap in knowledge standing in the way of development of a practical Short Radius Centrifuge (SRC) and the use of Artificial Gravity (AG) as a multi-system countermeasure to combat the deconditioning associated with extended weightlessness. (The first challenge, to adapt rapidly rotating subjects to permit unlimited head movements without excessive motion sickness, was achieved in a series of studies at MIT involving incremental increases in head and centrifuge velocity.) It remained to be demonstrated that intermittent exposure to AG, at only one hour per day for 21 days, would have any positive effect on slowing or eliminating of deconditioning. Bed-rested normal subjects were used as a ground analog for astronauts in weightlessness. The results are clearly positive for the key physiological systems of interest: cardiovascular, muscle, and bone. No functionally relevant changes were observed in immune, cognitive, or sensory-motor function. Furthermore, we found that our initial concerns about the inability of deconditioned subjects to withstand daily centrifugation without syncope were misplaced. These encouraging initial results clearly support the further development of AG protocols. We recommend, as the next steps, the integration of a controlled exercise device on the SRC to determine the synergy between AG and exercise. Coupled with appropriate exercise device(s) the AG protocol will be tuned to-ward an optimal prescription for minimum exposure duration and frequency, maximum AG level and SRC speed.. Performance of these next steps will require extensive use of bed-rest/centrifuge facilities and eventually validation using an SRC in space. A space SRC could be placed in the ISS or on a planetary surface.
The Phoenix Mars Scout Lander will launch in August 2007 and land on the northern plains of Mars in May of 2008. In a departure from traditional planetary surface mission operations, it will have no direct-to-Earth communications capability and will rely entirely on Mars-orbiting relays in order to facilitate command and control as well as the return of science and engineering data. The Mars Exploration Rover missions have demonstrated the robust data-return capability using this architecture, and also have demonstrated the capability of using this method for command and control. The Phoenix mission will take the next step and incorporate this as the sole communications link. Operations for 90 Sols will need to work within the constraints of Odyssey and Mars Reconnaissance Orbiter communications availability, anomalies must be diagnosed and responded to through an intermediary and on-board fault responses must be tolerant to loss of a relay. These and other issues pose interesting challenges and changes in paradigm for traditional space operations and spacecraft architecture, and the approach proposed for the Phoenix mission is detailed herein.
In view of the difficult times the US and global economies are experiencing today, funds for the development of advanced fission reactors nuclear power systems for space propulsion and planetary surface applications are currently not available. However, according to the Energy Policy Act of 2005 the U.S. needs to invest in developing fission reactor technology for ground based terrestrial power plants. Such plants would make a significant contribution toward drastic reduction of worldwide greenhouse gas emissions and associated global warming. To accomplish this goal the Next Generation Nuclear Plant Project (NGNP) has been established by DOE under the Generation IV Nuclear Systems Initiative. Idaho National Laboratory (INL) was designated as the lead in the development of VHTR (Very High Temperature Reactor) and HTGR (High Temperature Gas Reactor) technology to be integrated with MMW (multi-megawatt) helium gas turbine driven electric power AC generators. However, the advantages of transmitting power in high voltage DC form over large distances are also explored in the seminar lecture series. As an attractive alternate heat source the Liquid Fluoride Reactor (LFR), pioneered at ORNL (Oak Ridge National Laboratory) in the mid 1960's, would offer much higher energy yields than current nuclear plants by using an inherently safe energy conversion scheme based on the Thorium --> U233 fuel cycle and a fission process with a negative temperature coefficient of reactivity. The power plants are to be sized to meet electric power demand during peak periods and also for providing thermal energy for hydrogen (H2) production during "off peak" periods. This approach will both supply electric power by using environmentally clean nuclear heat which does not generate green house gases, and also provide a clean fuel H2 for the future, when, due to increased global demand and the decline in discovering new deposits, our supply of liquid fossil fuels will have been used up. This is expected within the next 30 to 50 years, as predicted by the Hubbert model and confirmed by other global energy consumption prognoses. Having invested national resources into the development of NGNP, the technology and experience accumulated during the project needs to be documented clearly and in sufficient detail for young engineers coming on-board at both DOE and NASA to acquire it. Hands on training on reactor operation, test rigs of turbomachinery, and heat exchanger components, as well as computational tools will be needed. Senior scientist/engineers involved with the development of NGNP should also be encouraged to participate as lecturers, instructors, or adjunct professors at local universities having engineering (mechanical, electrical, nuclear/chemical, and/or materials) as one of their fields of study.
High-energy secondary neutrons, produced by the interaction of galactic cosmic rays with the atmosphere, spacecraft structure and planetary surfaces, contribute to a significant fraction to the dose equivalent in crew members and passengers during commercial aviation travel, and astronauts in space missions. The Los Alamos Nuclear Science Center (LANSCE) neutron facility's "30L" beam line is known to generate neutrons that simulate the secondary neutron spectrum of the Earth's atmosphere at high altitude. The neutron spectrum is also similar to that measured onboard spacecraft like the MIR and the International Space Station (ISS). To evaluate the biological damage, we exposed human epithelial cells in vitro to the LANSCE neutron beams at an entrance dose rate of 2.5 cGy/hr or gamma-ray at 1.7cGy/hr, and assessed the induction of chromosome aberrations that were identified with mBAND. With this technique, individually painted chromosomal bands on one chromosome allowed the identification of inter-chromosomal aberrations (translocation to unpainted chromosomes) and intra-chromosomal aberrations (inversions and deletions within a single painted chromosome). Compared to our previous results for gamma-rays and 600 MeV/nucleon Fe ions of high dose rate, the neutron data showed a higher frequency of chromosome aberrations. However, detailed analysis of the inversion type revealed that all of the three radiation types in the study induced a low incidence of simple inversions. The low dose rate gamma-rays induced a lower frequency of chromosome aberrations than high dose rate gamma-rays, but the inversion spectrum was similar for the same cytotoxic effect. The distribution of damage sites on chromosome 3 for different radiation types will also be discussed.
This special issue of the journal "Radiation and Environmental Biophysics" contains 20 peer-reviewed papers contributed by leading space radiation researcher's world-wide attending the 4th IWSRR. Manuscripts cover a broad range of topics ranging from radiation environments and transport in shielding and planetary surfaces to new results in understanding the biological effects of protons and high-charge and energy (HZE) nuclei on the risk of cancer, and degenerative diseases such as central nervous system effects, heart disease, and cataracts. The issue provides a snapshot of the state-of-the-art of the research in this field, demonstrating both the important results gathered in the past few years with experiments at accelerators, and the need for more research to quantify the risk and develop countermeasures.
High-energy secondary neutrons, produced by the interaction of galactic cosmic rays (GCR) with the atmosphere, spacecraft structure and planetary surfaces, contribute a significant fraction to the dose equivalent radiation measurement in crew members and passengers of commercial aviation travel as well as astronauts in space missions. The Los Alamos Nuclear Science Center (LANSCE) neutron facility's 30L beam line (4FP30L-A/ICE House) is known to generate neutrons that simulate the secondary neutron spectrum of the Earth's atmosphere at high altitude. The neutron spectrum is also similar to that measured onboard spacecrafts like the MIR and the International Space Station (ISS). To evaluate the biological damage, we exposed human epithelial cells in vitro to the LANSCE neutron beams with an entrance dose rate of 2.5 cGy/hr, and studied the induction of chromosome aberrations that were identified with multicolor-banding in situ hybridization (mBAND) technique. With this technique, individually painted chromosomal bands on one chromosome allowed the identification of inter-chromosomal aberrations (translocation to unpainted chromosomes) and intra-chromosomal aberrations (inversions and deletions within a single painted chromosome). Compared to our previous results with gamma-rays and 600 MeV/nucleon Fe ions of high dose rate at NSRL (NASA Space Radiation Laboratory at Brookhaven National Laboratory), the neutron data from the LANSCE experiments showed significantly higher frequency of chromosome aberrations. However, detailed analysis of the inversion type revealed that all of the three radiation types in the study induced a low incidence of simple inversions. Most of the inversions in gamma-ray irradiated samples were accompanied by other types of intrachromosomal aberrations but few inversions were accompanied by interchromosomal aberrations. In contrast, neutrons and Fe ions induced a significant fraction of inversions that involved complex rearrangements of both inter- and intrachromosome exchanges. The distribution of damage sites on chromosome 3 was also compared for different radiation types. The breakpoints were randomly localized on chromosome 3 with neutrons and Fe ions exposure, whereas non-random distribution with clustering breakpoints was observed with gamma-rays exposure. The specific fingerprint of neutron radiations on chromosomal aberrations will be discussed.
The candidate crops for planetary food systems include: wheat, white and sweet potatoes, soybean, peanut, strawberry, dry bean including le ntil and pinto, radish, rice, lettuce, carrot, green onion, tomato, p eppers, spinach, and cabbage. Crops such as wheat, potatoes, soybean, peanut, dry bean, and rice can only be utilized after processing, while others are classified as ready-to-eat. To process foods in space, the food processing subsystem must be capable of producing a variety of nutritious, acceptable, and safe edible ingredients and food produ cts from pre-packaged and resupply foods as well as salad crops grown on the transit vehicle or other crops grown on planetary surfaces. D esigning, building, developing, and maintaining such a subsystem is b ound to many constraints and restrictions. The limited power supply, storage locations, variety of crops, crew time, need to minimize waste , and other equivalent system mass (ESM) parameters must be considere d in the selection of processing equipment and techniques.
One of the major challenges for long duration human exploration beyond the low Earth orbit and sustained human presence on planetary surfaces would be development of materials that would help minimize the radiation exposure to crew and equipment from the interplanetary radiation environment, This radiation environment consists primarily of a continuous flux of galactic cosmic rays (GCR) and transient but intense fluxes of solar energetic particles (SEP). The potential for biological damage by the relatively low percentage of high-energy heavy-ions in the GCR spectrum far outweigh that due to lighter particles because of their ionizing-power and the quality of the resulting biological damage. Although the SEP spectrum does not contain heavy ions and their energy range is much lower than that for GCRs, they however pose serious risks to astronaut health particularly in the event of a bad solar storm The primary purpose of this paper is to discuss our recent efforts in development and evaluation of materials for minimizing the hazards from the interplanetary radiation environment. Traditionally, addition of shielding materials to spacecrafts has invariably resulted in paying a penalty in terms of additional weight. It would therefore be of great benefit if materials could be developed not only with superior shielding effectiveness but also sufficient structural integrity. Such a multifunctional material could then be considered as an integral part of spacecraft structures. Any proposed radiation shielding material for use in outer space should be composed of nuclei that maximize the likelihood of projectile fragmentation while producing the minimum number of target fragments. A modeling based approach will be presented to show that composite materials using hydrogen-rich epoxy matrices reinforced with polyethylene fibers and/or fabrics could effectively meet this requirement. This paper will discuss the fabrication of such a material for a crewed vehicle. Ln addition, the capability of synthesizing radiation shielding materials for habitat structures primarily from Lunar or Martian in-situ resources will also be presented. Such an approach would significantly _reduce the cost associated with transportation of such materials and structures from earth. Results from radiation exposure measurements will be presented demonstrating the shielding effectiveness of the developed materials. Mechanical testing data will be discussed to illustrate that the specific mechanical properties of the developed composites are comparable to structural aluminum based alloys currently used for the space shuttle and space station.