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NASA NTRS2001

National Ice Center Visiting Scientist Program

The objectives of the work done by Dr. Kim Partington were to manage NASA's polar research program, including its strategic direction, research funding and interagency and international collaborations. The objectives of the UCAR Visiting Scientist Program at the National Ice Center (NIC) are to: (1) Manage a visiting scientist program for the NIC Science Center in support of the mission of the NIC; (2) Provide a pool of researchers who will share expertise with the NIC and the science community; (3) Facilitate communications between the research and operational communities for the purpose of identifying work ready for validation and transition to an operational environment; and (4) Act as a focus for interagency cooperation. The NIC mission is to provide worldwide operational sea ice analyses and forecasts for the armed forces of the US and allied nations, the Departments of Commerce and Transportation, and other US Government and international agencies, and the civil sector. The NIC produces these analyses and forecasts of Arctic, Antarctic, Great Lakes, and Chesapeake Bay ice conditions to support customers with global, regional, and tactical scale interests. The NIC regularly deploys Naval Ice Center NAVICECEN Ice Reconnaissance personnel to the Arctic and Antarctica in order to perform aerial ice observation and analysis in support of NIC customers. NIC ice data are a key part of the US contribution to international global climate and ocean observing systems.

Austin, Meg↗

NASA NTRS1991

Dynamic inter-limb resistance exercise device for long-duration space flight

Essential for fitness on Earth, resistive exercise is even more important for astronauts, who must maintain muscle and bone strength in the absence of gravity. To meet this need, designers and scientists at NASA Ames Research Center, Life Science Division, have worked to develop more effective exercise devices for long-duration exposure to microgravity. One of these concepts is the Inter-Limb Resistance Device which allows the subject to exercise one limb directly against another, strengthening muscle groups in the arms, legs, and back. It features a modular harness with an inelastic cable and instrumented pulley. Forces similar to other high resistance exercise equipment are generated. Sensors in the pulley measure force and velocity for performance feedback display and data acquisition. This free-floating apparatus avoids vibration of sensitive experiments on board spacecraft. Compact with low mass, this hardware is also well suited for a 'safe haven' from radiation on board Space Station Freedom, and may prove useful in confined environments on Earth, such as Antarctic stations, submarines, and other underwater habitats. Potential spin-offs of this technology include products for personal strengthening and cardiovascular conditioning, rehabilitation of hospital patients, fitness exercise for the disabled, and retraining after sports injuries.

Schwandt, Douglas F.↗

NASA NTRS2012

NASA Tech Briefs, September 2012

Topics covered include: Beat-to-Beat Blood Pressure Monitor; Measurement Techniques for Clock Jitter; Lightweight, Miniature Inertial Measurement System; Optical Density Analysis of X-Rays Utilizing Calibration Tooling to Estimate Thickness of Parts; Fuel Cell/Electrochemical Cell Voltage Monitor; Anomaly Detection Techniques with Real Test Data from a Spinning Turbine Engine-Like Rotor; Measuring Air Leaks into the Vacuum Space of Large Liquid Hydrogen Tanks; Antenna Calibration and Measurement Equipment; Glass Solder Approach for Robust, Low-Loss, Fiber-to-Waveguide Coupling; Lightweight Metal Matrix Composite Segmented for Manufacturing High-Precision Mirrors; Plasma Treatment to Remove Carbon from Indium UV Filters; Telerobotics Workstation (TRWS) for Deep Space Habitats; Single-Pole Double-Throw MMIC Switches for a Microwave Radiometer; On Shaft Data Acquisition System (OSDAS); ASIC Readout Circuit Architecture for Large Geiger Photodiode Arrays; Flexible Architecture for FPGAs in Embedded Systems; Polyurea-Based Aerogel Monoliths and Composites; Resin-Impregnated Carbon Ablator: A New Ablative Material for Hyperbolic Entry Speeds; Self-Cleaning Particulate Prefilter Media; Modular, Rapid Propellant Loading System/Cryogenic Testbed; Compact, Low-Force, Low-Noise Linear Actuator; Loop Heat Pipe with Thermal Control Valve as a Variable Thermal Link; Process for Measuring Over-Center Distances; Hands-Free Transcranial Color Doppler Probe; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Developing Physiologic Models for Emergency Medical Procedures Under Microgravity; PMA-Linked Fluorescence for Rapid Detection of Viable Bacterial Endospores; Portable Intravenous Fluid Production Device for Ground Use; Adaptation of a Filter Assembly to Assess Microbial Bioburden of Pressurant Within a Propulsion System; Multiplexed Force and Deflection Sensing Shell Membranes for Robotic Manipulators; Whispering Gallery Mode Optomechanical Resonator; Vision-Aided Autonomous Landing and Ingress of Micro Aerial Vehicles; Self-Sealing Wet Chemistry Cell for Field Analysis; General MACOS Interface for Modeling and Analysis for Controlled Optical Systems; Mars Technology Rover with Arm-Mounted Percussive Coring Tool, Microimager, and Sample-Handling Encapsulation Containerization Subsystem; Fault-Tolerant, Real-Time, Multi-Core Computer System; Water Detection Based on Object Reflections; SATPLOT for Analysis of SECCHI Heliospheric Imager Data; Plug-in Plan Tool v3.0.3.1; Frequency Correction for MIRO Chirp Transformation Spectroscopy Spectrum; Nonlinear Estimation Approach to Real-Time Georegistration from Aerial Images; Optimal Force Control of Vibro-Impact Systems for Autonomous Drilling Applications; Low-Cost Telemetry System for Small/Micro Satellites; Operator Interface and Control Software for the Reconfigurable Surface System Tri-ATHLETE; and Algorithms for Determining Physical Responses of Structures Under Load.

Source record↗

DOE OSTI2023

Field Campaign Guidelines

This document establishes a common set of guidelines for the Atmospheric Radiation Measurement (ARM) Climate Research Facility for planning, executing, and closing out field campaigns. The steps that guide individual field campaigns are described in the Field Campaign Tracking System and are specifically tailored to meet the scope of each field campaign.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2020

Multibody Based Digital Astronaut Dynamics Simulation

BACKGROUND: This study provides the Software, Robotics, & Simulation Division at the NASA Johnson Space Center with a verification tool for multibody dynamics simulation requiring human motion. The motivation stems from current studies of several Vibration Isolation & Stabilization(VIS)system designs that attenuate the moments and forces which would be transmitted to a spacecraft during an exercise. A multibody dynamics model for a proposed VIS was available previously[1], therefore modeling of the VIS was not needed for this work. The interest here is in creating the multibody dynamics model of an astronaut in motion which may be utilized independently or while attached to a mechanism. An existing simulation [2] that utilizes OpenSim [3,4] and an in-house multibody dynamics package (MBDyn) [5] is used in order to verify the astronaut model. The main advantage this model will have over the existing simulation is that everything will be processed in one tool. METHODS AND RESULTS: Creating the simulation required; estimation of Body Segment Inertial Parameters (BSIP),a multibody model of the human-VIS system, joint acceleration profiles, and input files for MBDyn, which is used for this analysis. The scaling factors provided by Dumas et al. [6] are utilized in estimating the BSIP. Anthropometric data are used for estimating these parameters, the Anthropometric Survey of US Army Personnel (ANSUR II) [7] was the source. The astronaut model consists of 15 bodies, 14 joints and 32 degrees of freedom, with the dynamics topology generated using the center of mass locations and anthropometric data. MBDyn has an option for prescribed joint motion (PJM), which requires joint acceleration data as input. The joint angle data is first obtained from a motion capture system and then processed through code that has been created to generate approximate joint acceleration profiles. The topology tree for the astronaut model begins at the right foot up to the pelvis where there is one branch for going down the left leg and another for the torso. The torso branch leads to branches for the arms and a leaf body for the head/neck segment. For attachment to the VIS, the heel of the right foot is connected to the VIS platform through a fixed joint, resembling a foot restraint. The left foot does not attach to the platform in order to prevent a system with a closed loop. Topology and symmetry of the astronaut model were verified through kinematic analysis. Further verification of the forces and moments transmitted to the VIS were verified against the existing simulation. There was a satisfactory level of agreement when testing a simple motion, for example, rocking back and forth. Full exercise motions are to be tested soon. The main outcome has been a novel application of MBDyn for biomechanics modeling that is now available for dynamic simulations involving human motion. The estimation of BSIP was another useful result of this study, requiring only 15 inputs for generating mass properties of a theoretical astronaut model. Expansion on this work is possible by going through an alternative route in obtaining the joint motion data. Instead of high-tech and often expensive motion capture systems, an individual may watch videos with high focus and at a slow motion for each individual segment in order to determine the initial and final time and angle for that specific degree of freedom. Synthetic trajectories may also be created if there is no video reference available.

F N Matari↗

NASA NTRS1992

Structured analysis and modeling of complex systems

The Aircrew Evaluation Sustained Operations Performance (AESOP) facility at Brooks AFB, Texas, combines the realism of an operational environment with the control of a research laboratory. In recent studies we collected extensive data from the Airborne Warning and Control Systems (AWACS) Weapons Directors subjected to high and low workload Defensive Counter Air Scenarios. A critical and complex task in this environment involves committing a friendly fighter against a hostile fighter. Structured Analysis and Design techniques and computer modeling systems were applied to this task as tools for analyzing subject performance and workload. This technology is being transferred to the Man-Systems Division of NASA Johnson Space Center for application to complex mission related tasks, such as manipulating the Shuttle grappler arm.

Strome, David R.↗

NASA NTRS2001

Robonaut: A Robotic Astronaut Assistant

NASA's latest anthropomorphic robot, Robonaut, has reached a milestone in its capability. This highly dexterous robot, designed to assist astronauts in space, is now performing complex tasks at the Johnson Space Center that could previously only be carried out by humans. With 43 degrees of freedom, Robonaut is the first humanoid built for space and incorporates technology advances in dexterous hands, modular manipulators, lightweight materials, and telepresence control systems. Robonaut is human size, has a three degree of freedom (DOF) articulated waist, and two, seven DOF arms, giving it an impressive work space for interacting with its environment. Its two, five fingered hands allow manipulation of a wide range of tools. A pan/tilt head with multiple stereo camera systems provides data for both teleoperators and computer vision systems.

Ambrose, Robert O.↗

NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗

NASA NTRS1991

US automated rendezvous and capture capabilities review. Remote umbilical system abstract

This document will describe the technology developed at Kennedy Space Center (KSC) to demonstrate automatic tracking, docking, and mating of umbilical systems. Specifically the use of a real time six degree of freedom (6DOF) target tracking vision system, (developed by Adaptive Automation, Inc. under contract to KSC), is discussed in detail. The paper describes the use of mechanical compliance in the docking, mating, and tracking-after-mating operations. The vision system computes six coordinates that define the position and orientation of a three dimensional target using data from a single CCD camera. The camera is mounted on a 6DOF robot arm. After target coordinates are computed, they are transmitted to a supervisory computer which controls the robot motion in real time. Details of the image processing algorithms, image processing hardware, and target configuration used in the vision system are discussed in the paper. The motion of the space vehicle relative to the service structure after mating led us to the development of a compliant system that allows enough displacement of the target relative to the camera so that tracking after mating may continue. This reduces internal stresses between flight and ground hardware.

Delcastillo, Eduardo Lopez↗

NASA NTRS1998

Comparison of measurements by the NASA/GSFC scanning raman lidar and the DOE/ARM CART raman lidar

Latent heat transfer through evaporation and condensation of water vapor is the most important energy transport mechanism in the atmosphere. In addition, water vapor is the most active greenhouse gas. Any global warming scenario must take accurate account of the spatial and temporal variation of water vapor in order to account for both of these effects. Due to the great importance of water vapor in atmospheric radiation studies, specific intensive operations periods (IOPs) have been hosted by the Department of Energy's Atmospheric Radiation Measurements (ARM) program. One of the goals of these IOPs has been to determine the quality of and explain any discrepancies among a wide variety of water vapor measuring instruments. Raman lidar systems developed by NASA/Goddard Space Flight Center and DOE/Sandia National Laboratories have participated in the two Water Vapor IOPs (WVIOPs) held at the Southern Great Plains (SGP) Cloud and Radiation Testbed Site (CART) site during 1996 (WVIOP1) and 1997 (WVIOP2). Detailed comparisons of these two systems is ongoing but this effort has already resulted in numerous improvements in design and data analysis for both lidar systems.

Whiteman, David↗

NASA NTRS1993

Spiral density waves resonantly excited by a rapidly rotating bar

Recent observations at millimeter wavelengths have revealed bar-spiral structures in the central regions of several nearby spiral galaxies. Moreover, new infrared data and even COBE data seem to support the idea that there is a bar in the central regions of the Milky Way. All of these new findings have rekindled the interest in bar-driven spirals again. First, the mechanism that is responsible for exciting the spiral density waves near the resonances is reviewed, and then a theory to account for the highly nonlinear behavior of the gas associated with the waves is presented. The new results have again demonstrated that the 3 kpc arm phenomenon can be reproduced by a rapidly rotating bar in the galactic center. Similarly, in terms of the resonance excitation mechanism, the recent high-resolution radio observations of the bar-spiral structure in the central regions of nearby galaxies can be explained.

Yuan, Chi↗

NASA NTRS1994

NSSDC provides network access to key data via NDADS

The National Space Science Data Center (NSSDC) is making a growing fraction of its most customer-desirable data electronically accessible via both the local and wide area networks. NSSDC is witnessing a great increase in its data dissemination owing to this network accessibility. To provide its customers the best data accessibility, the NSSDC makes data available from a nearline, mass storage system, the NSSDC Data Archive and Dissemination Service (NDADS). The NDADS, the initial version was made available in January 1992, is a customized system of hardware and software that provides users access to the nearline data via ANONYMOUS FTP, an e-mail interface (ARMS), and a C-based software library. In January 1992, the NDADS registered 416 requests for 1,957 files. By December of 1994, NDADS had been populated with 800 gigabytes of electronically accessible data and had registered 1458 requests for 20,887 files. In this report we describe the NDADS system, both hardware and software. Later in the report, we discuss some of the lessons that were learned as a result of operating NDADS, particularly in the area of ingest and dissemination.

Behnke, Jeanne↗

DOE OSTI2021

Developing and Testing a Novel Stochastic Ice Microphysics Parameterization for Cloud and Climate Models Using ARM Field Campaign Data (Final Progress Report)

The major goals of this project were: 1) to use field campaign measurements from DOE’s Atmospheric Radiation Measurement (ARM) program to characterize variability of important parameters describing properties of ice particles in the atmosphere; 2) based on this observational analysis, to develop a parameterization scheme for weather and climate models that stochastically varies these parameters, and implement the new scheme into a weather model called the Weather Research and Forecasting model (WRF); 3) to use WRF coupled with the new stochastic scheme to simulate ARM field campaign thunderstorm cases and analyze how accounting for this parameter variability affects the model simulations. This work was performed jointly between the National Center for Atmospheric Research, University of Oklahoma, and University of Utah. To accomplish these goals, we extended an approach previously developed to characterize the variability in the size distribution of ice particles to parameters that are explicitly represented in models (i.e., relationships between ice particle mass and size, and between particle fall velocity and size). Our project was, to our knowledge, the first to apply observationally-constrained estimates of this parameter variability describing mass-size and fall velocity-size in a modeling framework. Our results showed efficacy of the approach, evaluated using ARM observations. Similarly, to our knowledge, work in this project was the first to propose and evaluate in detail a stochastic approach for unresolved turbulent mixing in high-resolution model simulations against detailed, benchmark large eddy simulations and ARM observations. Results showed some promising behavior, particularly with increased mixing and dilution of air in thunderstorm cores with surrounding environmental air, bringing the stochastic simulations closer to the benchmark large eddy simulations; however, results were somewhat degraded using stochastic mixing compared to observations from the AMIE/DYNAMO field campaign. This project also further refined and applied a modeling methodology called “piggybacking” that can robustly separate dynamical and thermodynamic impacts of model changes, and comparison studies of different models based on cases developed from ARM observations. Finally, this project directly supported three graduate students who completed their PhDs as well as a postdoctoral research fellow.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS1997

A Study of the Stellar Population in Selected SO Galaxies

The goal of this program was to observe at least two SO galaxies with abnormal colors in the blue and clear optical signatures of dust and gas. The galaxies NGC 2217 and NGC 1808 were observed at least in one of the IUE cameras (1200-200 and 2000-3200 A) during the 13th episode, using the 4 US1 shifts assigned to this program. The galaxy NGC 2217 had been found to be part of a subgroup of SO galaxies with external gas rotating in retrograde motion with respect to the stars. This galaxy is a face-on object with indications of large amount of gas, quite rare for a SO galaxy. We observed this object on three different occasions with IUE at different positions of the large aperture (spacecraft roll angle) with respect to the nuclear region. These exposures allowed us to take full advantage of the spatial resolution of IUE by mapping nuclear and bulge region of this galaxy. We found that the data point to a marginally earlier stellar population toward the central region. The UV light as a whole is dominated by a late-type stellar population of principally G and K stars. The almost face-on view of this galaxy appears optically thick to UV light. It is conceivable that in analogy to out own Galaxy, the stellar populations weakly detected in NGC 2217, are mostly halo and late-type stars in the center with an increasing contribution of dust and early stellar populations (so far undetected) as we move outward along the faint spiral arms. This result is contrary to our initial expectation, since the counterrotating gas does not appear to be enhancing star formation in this galaxy. Even more interesting were the observations of NGC 1808; galaxy which has been classified, with a handful of other objects, both as a starburst and Seyfert galaxy. Attachment: 'The White-Dwarf Companions of 56 Persei and HR 3643.'

Perez, M.↗

NASA NTRS1997

Applying Space Technology to Enhance Control of an Artificial Arm

At the present time, myoelectric prostheses perform only one function of the hand: open and close with the thumb, index and middle finger coming together to grasp various shaped objects. To better understand the limitations of the current single-function prostheses and the needs of the individuals who use them, The Institute for Rehabilitation and Research (TIRR), sponsored by the National Institutes of Health (August 1992 - November 1994), surveyed approximately 2500 individuals with upper limb loss. When asked to identify specific features of their current electric prosthesis that needed improvement, the survey respondents overwhelmingly identified the lack of wrist and finger movement as well as poor control capability. Simply building a mechanism with individual finger and wrist motion is not enough. Individuals with upper limb loss tend to reject prostheses that require continuous visual monitoring and concentration to control. Robotics researchers at NASA's Johnson Space Center (JSC) and Rice University have made substantial progress in myoelectric teleoperation. A myoelectric teleoperation system translates signals generated by an able-bodied robot operator's muscles during hand motions into commands that drive a robot's hand through identical motions. Farry's early work in myoelectric teleoperation used variations over time in the myoelectric spectrum as inputs to neural networks to discriminate grasp types and thumb motions. The resulting schemes yielded up to 93% correct classification on thumb motions. More recently, Fernandez achieved 100% correct non-realtime classification of thumb abduction, extension, and flexion on the same myoelectric data. Fernandez used genetic programming to develop functions that discriminate between thumb motions using myoelectric signal parameters. Genetic programming (GP) is an evolutionary programming method where the computer can modify the discriminating functions' form to improve its performance, not just adjust numerical coefficients or weights. Although the function development may require much computational time and many training cases, the resulting discrimination functions can run in realtime on modest computers. These results suggest that myoelectric signals might be a feasible teleoperation medium, allowing an operator to use his or her own hand and arm as a master to intuitively control an anthropomorphic robot in a remote location such as outer space.

Atkins, Diane↗

DOE OSTI2024

Active Reservoir Management Engineering and Evaluation Summary – Brine Extraction and Storage Test Phase II Final Report – Volumes 1-3

The Energy & Environmental Research Center (EERC) conducted a multiyear program over two phases to perform a field study of the potential efficacy of formation water extraction during carbon dioxide (CO 2 ) injection for CO 2 storage as a means of improving efficiency and/or effectiveness. Phase I was a 2-year study on potential methodologies for a field study of pressure management, culminating in site selection and experimental and site design. Phase II was a 7-year effort that involved constructing site facilities, conducting experiments, and evaluating collected field data. The experimental portion was split into two collaborative components, one for the active reservoir management (ARM) experiment and a second component to host and demonstrate potential water treatment technologies appropriate for high-saline brine at the project site. The results of the overall project are expected to benefit future saline storage projects through validation of techniques that may reduce stress on sealing formations, increase storage capacity, and reduce area of review. The following report focuses on the Phase II ARM experimental implementation and results. A second companion report summarizes the results of the high-saline brine demonstrations.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRSDate not supplied

Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station

After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.

Astrobee↗

DOE OSTI2026

Warped and Hooked: Mapping the Magellanic Clouds in Three Dimensions Using Red Clump Stars

The Large Magellanic Cloud (LMC) and Small Magellanic Cloud (SMC) are the Milky Way’s nearest interacting galaxy pair, offering a unique laboratory for studying tidal effects on galactic disks. Despite extensive survey efforts, the 3D geometry of the Magellanic Clouds, particularly the putative warp of the LMC, remains poorly constrained due to incompleteness in their crowded centers and the low stellar density of their peripheries, which demand wide-field coverage. Using red clump (RC) stars as standard candles, corrected for age- and metallicity-dependent population effects with empirically calibrated color–magnitude relations and spatially resolved star formation histories, we construct the most detailed distance map of the Magellanic system to date. Based on ∼2.3 million RC stars from Gaia Data Release 3 combined with modern reddening maps, we measure median heliocentric distances of 50.62 ± 2.32 kpc for the LMC (to ∼23°) and 60.75 ± 2.85 kpc for the SMC (to ∼12°). The maps reveal substructures including the LMC Northern Arm, southern hooks, the Magellanic Bridge, and SMC peripheral overdensities, with refreshed distance estimates. Fitting the LMC disk within 7° yields a global inclination of $i=25\mathop{.}\limits^{^\circ }32\pm 0\mathop{.}\limits^{^\circ }10$ and a line-of-nodes position angle of $\theta = 142\mathop{.}\limits^{^\circ }34\pm 0\mathop{.}\limits^{^\circ }21$. Most strikingly, we find the LMC periphery is warped azimuthally into a U-shaped structure reaching a vertical amplitude of ∼7 kpc at a radius of ∼15 kpc. In future work, we will perform detailed comparisons with live N-body simulations to assess possible formation scenarios for the LMC warp.

79 ASTRONOMY AND ASTROPHYSICS↗