Distributed mission operations with the multi-mission encrypted communication system
This paper discusses MECS' architecture for distributed operations and lessons learned from a field test in May 2001.
file replication distributed operations↗
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Mars Rover Navigation Results Using Sun Sensor Heading Estimation
This paper describes navigation results obtained in the field tests and shows that accurated heading estimation provides a significant improvement over previous results.
rovers↗
A Polarimetric Hyperspectral Imaging Sensor
This paper reports recent field test results of a polarimetric hyperspectral imaging prototype sensor using a noncollinear acousto-optic tunable filter as a wavelength sorter and a polarizing beam splitter. The objective of this work is to evaluate the AOTF-PHI technology for a variety of remote sensing applications.
spectral bandpass filter acousto-optic tunable fil↗
Flight qualified laser radar for spacecraft guidance application
Describes the LAMP instrument and its performance obtained in field-testing.
lidar laser radar STG lamp↗
Learning for autonomous navigation : extrapolating from underfoot to the far field
Autonomous off-road navigation of robotic ground vehicles has important applications on Earth and in space exploration. Progress in this domain has been retarded by the limited lookahead range of 3-D sensors and by the difficulty of preprogramming systems to understand the traversability of the wide variety of terrain they can encounter. Enabling robots to learn from experience may alleviate both of these problems. We define two paradigms for this, learning from 3-D geometry and learning from proprioception, and describe initial instantiations of them we have developed under DARPA and NASA programs. Field test results show promise for learning traversability of vegetated terrain, learning to extend the lookahead range of the vision system, and learning how slip varies with slope.
autonomous robots↗
Mars mission science operations facilities design
A variety of designs for Mars rover and lander science operations centers are discussed in this paper, beginning with a brief description of the Pathfinder science operations facility and its strengths and limitations. Particular attention is then paid to lessons learned in the design and use of operations facilities for a series of mission-like field tests of the FIDO prototype Mars rover. These lessons are then applied to a proposed science operations facilities design for the 2003 Mars Exploration Rover (MER) mission. Issues discussed include equipment selection, facilities layout, collaborative interfaces, scalability, and dual-purpose environments. The paper concludes with a discussion of advanced concepts for future mission operations centers, including collaborative immersive interfaces and distributed operations. This paper's intended audience includes operations facility and situation room designers and the users of these environments.
Ground Data System (GDC)↗
The Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT)
As NASA plans to send humans back to the Moon and develop a lunar outpost, technologies must be developed to place humans and cargo safely, precisely, repeatedly, on the lunar surface with the capability to avoid surface hazards. Exploration Space Architecture Study requirements include the need for global lunar surface access with safe, precise landing without lighting constraints on terrain that may have landing hazards for human scale landing vehicles. Landing accuracies of perhaps 1,000 meters for sortie crew missions to 10 s of meters for Outpost class missions are required. The Autonomous precision Landing Hazard Avoidance Technology (ALHAT) project will develop the new and unique descent and landing Guidance, Navigation and Control (GNC) hardware and software technologies necessary for these capabilities. The ALHAT project will qualify a lunar descent and landing GNC system to a Technology Readiness Level (TRL) of 6 capable of supporting lunar crewed, cargo, and robotic missions. The (ALHAT) development project was chartered by NASA Headquarters in October 2006. The initial effort to write a project plan and define an ALHAT Team was followed by a fairly aggressive research and analysis effort to determine what technologies existed that could be developed and applied to the lunar landing problems indicated above. This paper describes the project development, research, analysis and concept evolution that has occurred since the assignment of the project. This includes the areas of systems engineering, GNC, sensors, sensor algorithms, simulations, fielding testing, laboratory testing, Hardware-In-The-Loop testing, system avionics and system certification concepts.
Epp, Chirold D.↗
Human-Robot Site Survey and Sampling for Space Exploration
NASA is planning to send humans and robots back to the Moon before 2020. In order for extended missions to be productive, high quality maps of lunar terrain and resources are required. Although orbital images can provide much information, many features (local topography, resources, etc) will have to be characterized directly on the surface. To address this need, we are developing a system to perform site survey and sampling. The system includes multiple robots and humans operating in a variety of team configurations, coordinated via peer-to-peer human-robot interaction. In this paper, we present our system design and describe planned field tests.
Fong, Terrence↗
Bulb Miser
The Bulb-Miser was developed during NASA's Apollo program to protect the Saturn launch vehicle from electrical current surge. It is now being produced for the commercial market by Bulb-Miser, Inc., Houston, Texas. Technically known as a "temperature compensating thermistor," the Bulb-Miser is a simple, inexpensive device which looks like a washer about the size of a quarter. It is slipped between bulb and socket and can be used with any incandescent bulb that screws into a standard socket. In addition to delaying burnout, the Bulb-Miser also offers some reduction of electrical energy. But the economy of the device goes beyond energy use or bulb cost; to big users of bulbs, it makes possible substantially lower maintenance labor costs. One field test involving an apartment complex showed that it took two men 30 man hours monthly to replace light bulbs; after Bulb-Miser installation only nine man hours a month were needed. Bulb-Misers are used not only in private homes but also by hospitals, schools, hotels and motels, restaurants, banks and firms providing contract maintenance for large outdoor electric signs. The broadest use is in industrial facilities; the list of big companies which have purchased the Bulb-Miser reads like a Who's Who of American industry.
Source record↗
Definition and Development of Habitation Readiness Levels (HRLs) for Planetary Surface Habitats
One could argue that NASA has never developed a true habitat for a planetary surface, with only the Lunar Module from the 1960's-era Apollo Program providing for a sparse 2 person, 3 day capability. An integral part of NASA's current National Vision for Space Exploration is missions back to the moon and eventually to Mars. One of the largest leaps i11 lunar surface exploration beyond the Apollo lunar missions will be the conduct of these extended duration human missions. These missions could range from 30 to 90 days in length initially and may eventually range up to 500 days in length. To enable these extended duration human missions, probably the single-most important lunar surface element is the Surface Habitat. The requirements that must be met by the Surface Habitat will go far beyond the safety, performance and operational requirements of the Lunar Module, and NASA needs to develop a basis for making intelligent, technically correct habitat design decisions. This paper will discuss the possibilities of the definition and development of a Habitation Readiness Level (HRL) scale that might be mapped to current Technology Readiness Levels (TRLs) for technology development. HRLs could help measure how well a particular technology thrust is advanced by a proposed planetary habitat concept. The readiness level would have to be measured differently than TRLs, and may include such milestones as habitat design performance under simulated mission operations and constraints (including relevant field testing), functional allocation demonstrations, crew interface evaluation and post-occupancy evaluation. With many concepts for planetary habitats proposed over the past 20 years, there are many strategic technical challenges facing designers of planetary habitats that will support NASA's exploration of the moon and Mars. The systematic assessment of a variety of planetary habitat options will be an important approach and will influence the associated requirements for human design, volumetrics, functionality, systems hardware and operations.
Connolly, Janis H.↗
Integrated Software Systems for Crew Management During Extravehicular Activity in Planetary Terrain Exploration
Initial planetary explorations with the Apollo program had a veritable ground support army monitoring the safety and health of the 12 astronauts who performed lunar surface extravehicular activities (EVAs). Given the distances involved, this will not be possible on Mars. A spacesuit for Mars must be smart enough to replace that army. The next generation suits can do so using 2 software systems serving as virtual companions, LEGACI (Life support, Exploration Guidance Algorithm and Consumable Interrogator) and VIOLET (Voice Initiated Operator for Life support and Exploration Tracking). The system presented in this study integrates data inputs from a suite of sensors into the MIII suit s communications, avionics and informatics hardware for distribution to remote managers and data analysis. If successful, the system has application not only for Mars but for nearer term missions to the Moon, and the next generation suits used on ISS as well. Field tests are conducted to assess capabilities for next generation spacesuits at Johnson Space Center (JSC) as well as the Mars and Lunar analog (Devon Island, Canada). LEGACI integrates data inputs from a suite of noninvasive biosensors in the suit and the astronaut (heart rate, suit inlet/outlet lcg temperature and flowrate, suit outlet gas and dewpoint temperature, pCO2, suit O2 pressure, state vector (accelerometry) and others). In the Integrated Walkback Suit Tests held at NASA-JSC and the HMP tests at Devon Island, communication and informatics capabilities were tested (including routing by satellite from the suit at Devon Island to JSC in Houston via secure servers at VCU in Richmond, VA). Results. The input from all the sensors enable LEGACI to compute multiple independent assessments of metabolic rate, from which a "best" met rate is chosen based on statistical methods. This rate can compute detailed information about the suit, crew and EVA performance using test-derived algorithms. VIOLET gives LEGACI voice activation capability, allowing the crew to query the suit, and receive feedback and alerts that will lead to corrective action. LEGACI and VIOLET can also automatically control the astronaut's cooling and consumable use rate without crew input if desired. These findings suggest that non-invasive physiological and environmental sensors supported with data analysis can allow for more effective management of mission task performance during EVA. Integrated remote and local view of data metrics allow crewmember to receive real time feedback in synch with mission control in preventing performance shortcomings for EVA in exploration missions.
Kuznetz, Lawrence↗
Contamination Detection and Mitigation Strategies for Unsymmetric Dimethylhydrazine/Nitrogen Tetroxide Non-Combustion Product Residues
Dimethylamine and nitrite, which are non-combustion reaction products of unsymmetrical dimethylhydrazine (UDMH) and nitrogen tetroxide (NTO) propellants, can contaminate spacesuits during extra-vehicular activity (EVA) operations. They can react with water in the International Space Station (ISS) airlock to form N-nitrosodimethylamine (NDMA), a carcinogen. Detection methods for assessing nitrite and dimethylamine contamination were investigated. The methods are based on color-forming reactions in which intensity of color is proportional to concentration. A concept color detection kit using a commercially available presumptive field test for methamphetamine coupled with nitrite test strips was developed and used to detect dimethylamine and nitrite. Contamination mitigation strategies were also developed.
Greene, Benjamin↗
Astrobiology Sample Analysis Program (ASAP) for Advanced Life Detection Instrumentation Development and Calibration
Scientific ground-truth measurements for near-term Mars missions, such as the 2009 Mars Science Laboratory (MSL) mission, are essential for validating current in situ flight instrumentation and for the development of advanced instrumentation technologies for life-detection missions over the next decade. The NASA Astrobiology Institute (NAI) has recently funded a consortium of researchers called the Astrobiology Sample Analysis Program (ASAP) to analyze an identical set of homogenized martian analog materials in a "round-robin" style using both state-of-the-art laboratory techniques as well as in-situ flight instrumentation including the SAM gas chromatograph mass spectrometer and CHEMIN X-ray diffraction/fluorescence instruments on MSL and the Urey and MOMA organic analyzer instruments under development for the 2013 ExoMars missions. The analog samples studied included an Atacama Desert soil from Chile, the Murchison meteorite, a gypsum sample from the 2007 AMASE Mars analog site, jarosite from Panoche Valley, CA, a hydrothermal sample from Rio Tinto, Spain, and a "blind" sample collected during the 2007 MSL slow-motion field test in New Mexico. Each sample was distributed to the team for analysis to: (1) determine the nature and inventory of organic compounds, (2) measure the bulk carbon and nitrogen isotopic composition, (3) investigate elemental abundances, mineralogy and matrix, and (4) search for biological activity. The experimental results obtained from the ASAP Mars analog research consortium will be used to build a framework for understanding the biogeochemistry of martian analogs, help calibrate current spaceflight instrumentation, and enhance the scientific return from upcoming missions.
Glavin, Daniel↗
Indium Hybridization of Large Format TES Bolometer Arrays to Readout Multiplexers for Far-Infrared Astronomy
The advance of new detector technologies combined with enhanced fabrication methods has resulted in an increase in development of large format arrays. The next generation of scientific instruments will utilize detectors containing hundreds to thousands of elements providing a more efficient means to conduct large area sky surveys. Some notable detectors include a 32x32 x-ray microcalorimeter for Constellation-X, an infrared bolometer called SAFIRE to fly on the airborne observatory SOFIA, and the sub-millimeter bolometer SCUBA-2 to be deployed at the JCMT which will use more than 10,000 elements for two colors, each color using four 32x40 arrays. Of these detectors, SCUBA-2 is farthest along in development and uses indium hybridization to multiplexers for readout of the large number of elements, a technology that will be required to enable the next generation of large format arrays. Our current efforts in working toward large format arrays have produced GISMO, the Goddard IRAM Superconducting 2-Millimeter observer. GISMO is a far infrared instrument to be field tested later this year at the IRAM 30 meter telescope in Spain. GISMO utilizes transition edge sensor (TES) technology in an 8x16 filled array format that allows for typical fan-out wiring and wire-bonding to four 1x32 NIST multiplexers. GISMO'S electrical wiring is routed along the tops of 30 micron walls which also serve as the mechanical framework for the array. This architecture works well for the 128 element array, but is approaching the limit for routing the necessary wires along the surface while maintaining a high fill factor. Larger format arrays will benefit greatly from making electrical connections through the wafer to the backside, where they can be hybridized to a read-out substrate tailored to handling the wiring scheme. The next generation array we are developing is a 32x40 element array on a pitch of 1135 microns that conforms to the NIST multiplexer, already developed for the SCUBA-2 instrument This architecture will utilize electrical connections that route from the TES to the support frame and through the wafer. The detector chip will then be hybridized to the NIST multiplexer via indium bump bonding. In our development scheme we are using substrates that allow for diagnostic testing of electrical continuity across the entire array and we are testing our process to minimize or eliminate any contact resistance at metal interfaces. Our goal is hybridizing a fully functional 32x40 array of TES bolometers to a NIST multiplexer. The following work presents our current progress toward enabling this technology.
Miller, Timothy M.↗
In Situ Resource Utilization (ISRU) on the Moon: Moessbauer Spectroscopy as a Process Monitor for Oxygen Production
Essential consumables like oxygen must to be produced from materials on the lunar surface to enable a sustained, long-term presence of humans on the Moon. The Outpost Precursor for ISRU and Modular Architecture (OPTIMA) field test on Mauna Kea, Hawaii, facilitated by the Pacific International Space Center for Exploration Systems (PISCES) of the University of Hawaii at Hilo, was designed to test the implementation of three hardware concepts to extract oxygen from the lunar regolith: Precursor ISRU Lunar Oxygen Testbed (PILOT) developed by Lockheed Martin in Littleton, CO; Regolith & Environmental Science and Oxygen & Lunar Volatiles Extraction (RESOLVE) developed at the NASA Kennedy Space Center in Cape Canaveral, FL; and ROxygen developed at the NASA Johnson Space Center in Houston, TX. The three concepts differ in design, but all rely on the same general principle: hydrogen reduction of metal cations (primarily Fe2+) bonded to oxygen to metal (e.g., Fe0) with the production of water. The hydrogen source is residual hydrogen in the fuel tanks of lunar landers. Electrolysis of the water produces oxygen and hydrogen (which is recycled). We used the miniaturized M ssbauer spectrometer MIMOS II to quantify the yield of this process on the basis of the quantity of Fe0 produced. Iron M ssbauer spectroscopy identifies iron-bearing phases, determines iron oxidation states, and quantifies the distribution of iron between mineral phases and oxidation states. The oxygen yield can be calculated by quantitative measurements of the distribution of Fe among oxidation states in the regolith before and after hydrogen reduction. A M ssbauer spectrometer can also be used as a prospecting tool to select the optimum feedstock for the oxygen production plants (e.g., high total Fe content and easily reduced phases). As a demonstration, a MIMOS II backscatter spectrometer (SPESI, Germany) was mounted on the Cratos rover (NASA Glenn Research Center in Cleveland, OH), which is one of several rover concepts designed to excavate and transfer regolith to the stationary hydrogen reduction plants. Spaceflight versions of the MIMOS II are part of the instrument payloads of NASA s Mars Exploration Rovers and still operating five years after landing on the surface of the planet. MIMOS II was also selected for Phobos-Grunt, a Russian sample return mission to the martian moon Phobos scheduled to launch in 2009, and ESA s ExoMars rover, an exobiology mission scheduled to launch in 2013. An advanced version of the instrument is currently under development. A new detector system with a higher energy resolution will not only reduce the necessary measurement time considerably, but also allow the simultaneous acquisition of an X-ray fluorescence spectrum to determine the elemental composition of samples.
Morris, R.V.↗
A Comparison of the Unpressurized Rover and Small Pressurized Rover During a Desert Field Evaluation
To effectively explore the lunar surface, astronauts will need a transportation vehicle which can traverse all types of terrain. Currently, the National Aeronautics and Space Administration s (NASA) is investigating two lunar rover configurations to meet such a requirement. Under the Lunar Electric Rover (LER) project, a comparison study between the unpressurized rover (UPR) and the small pressurized rover (SPR) was conducted at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicles with respect to human-machine interfaces, vehicle impacts on crew productivity, and scientific observations. Four male participants took part in four, one-day field tests using the exact same terrain and scientific sites for an accurate comparison between vehicle configurations. Subjective data was collected using several human factors performance measures. Results indicate either vehicle configuration was generally acceptable for a lunar mission; however, the SPR configuration was preferred over the UPR configuration primarily for the SPR s ability to cause less fatigue and enabling greater crew productivity.
Litaker, Harry↗
Orchestrator Telemetry Processing Pipeline
Orchestrator is a software application infrastructure for telemetry monitoring, logging, processing, and distribution. The architecture has been applied to support operations of a variety of planetary rovers. Built in Java with the Eclipse Rich Client Platform, Orchestrator can run on most commonly used operating systems. The pipeline supports configurable parallel processing that can significantly reduce the time needed to process a large volume of data products. Processors in the pipeline implement a simple Java interface and declare their required input from upstream processors. Orchestrator is programmatically constructed by specifying a list of Java processor classes that are initiated at runtime to form the pipeline. Input dependencies are checked at runtime. Fault tolerance can be configured to attempt continuation of processing in the event of an error or failed input dependency if possible, or to abort further processing when an error is detected. This innovation also provides support for Java Message Service broadcasts of telemetry objects to clients and provides a file system and relational database logging of telemetry. Orchestrator supports remote monitoring and control of the pipeline using browser-based JMX controls and provides several integration paths for pre-compiled legacy data processors. At the time of this reporting, the Orchestrator architecture has been used by four NASA customers to build telemetry pipelines to support field operations. Example applications include high-volume stereo image capture and processing, simultaneous data monitoring and logging from multiple vehicles. Example telemetry processors used in field test operations support include vehicle position, attitude, articulation, GPS location, power, and stereo images.
Powell, Mark↗
Flashline Mars Arctic Research Station (FMARS) 2009 Expedition Crew Perspectives
The Flashline Mars Arctic Research Station (FMARS), located on the rim of the Haughton Crater on Devon Island in the Canadian Arctic, is a simulated Mars habitat that provides operational constraints similar to those which will be faced by future human explorers on Mars. In July 2009, a six-member crew inhabited the isolated habitation module and conducted the twelfth FMARS mission. The crew members conducted frequent EVA operations wearing mock space suits to conduct field experiments under realistic Mars-like conditions. Their scientific campaign spanned a wide range of disciplines and included many firsts for Mars analog research. Among these are the first use of a Class IV medical laser during a Mars simulation, helping to relieve crew stress injuries during the mission. Also employed for the first time in a Mars simulation at FMARS, a UAV (Unmanned Aerial Vehicle) was used by the space-suited explorers, aiding them in their search for mineral resources. Sites identified by the UAV were then visited by geologists who conducted physical geologic sampling. For the first time, explorers in spacesuits deployed passive seismic equipment to monitor earthquake activity and characterize the planet's interior. They also conducted the first geophysical electromagnetic survey as analog Mars pioneers to search for water and characterize geological features under the surface. The crew collected hydrated minerals and attempted to produce drinkable water from the rocks. A variety of equipment was field tested as well, including new cameras that automatically geotag photos, data-recording GPS units, a tele-presence rover (operated from Florida), as well as MIT-developed mission planning software. As plans develop to return to the Moon and go on to Mars, analog facilities like FMARS can provide significant benefit to NASA and other organizations as they prepare for robust human space exploration. The authors will present preliminary results from these studies as well as their perspectives on topics including human factors, logistics, EVA operations, and the use of social media throughout the mission.
Cusack, Stacy↗