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NASA NTRS2020

Challenges of Mars Sample Return Lander Entry, Descent, and Landing

The proposed Mars Sample Return (MSR) campaign would be perhaps the most ambitious robotic mission ever attempted in space exploration. The notional cam-paign consists of three Flagship-class missions operating in cooperation for over a decade in order to return samples of the Martian surface and atmosphere to Earth for analysis. The Mars 2020 rover, scheduled to launch in July 2020, will cache samples and place them on the surface for possible return. The second mission would be a Sample Return Lander (SRL) that consists of a small Sample Fetch Rover (SFR) to gather the samples, a Sample Transfer Arm (STA) to load the samples into a Mars Ascent Vehicle (MAV), and the MAV itself to launch the samples into orbit around Mars. The third mission would be an Earth Return Or-biter (ERO) designed to rendezvous and capture the Orbiting Sample (OS), return to Earth, and separate the Earth Entry Vehicle (EEV) for Entry, Descent, and Landing (EDL) at a location to be determined. This paper will focus on the SRL mission concept, specifically the EDL phase. Given the ambitious SRL sample re-trieval baseline surface mission, including a rocket launch of the samples into Mars orbit, it is estimated that the EDL system may be required to deliver as much as 2100 kg of dry mass to the surface. This represents an approximate 20-25% in-crease in mass capability over previous landed Mars missions. Additionally, there is a high probability that SRL would have to land very close to the samples on the surface to expedite retrieval operations; therefore, Pin Point Landing (PPL) accu-racy may be required. To address these challenges, promising EDL configuration augmentations were studied to include larger forebody/higher drag entry capsules, hypersonic/supersonic inflatable/non-inflatable aerodynamic decelerators, hypersonic trim tabs, ballute drag devices, larger parachutes, higher Mach and higher dynamic pressure parachute deployments, lower parachute deployment altitudes having shorter chute timelines necessitating more efficient terrain sensor strategies, and ad-ditional fuel for longer powered descent diverts to the target landing site. Over-arching the entire trade study was an attempt to stay as close to the experience base of past successful missions as possible to reduce implementation cost and risk. This paper will discuss the entire SRL EDL trade study in detail. The information presented about the potential MSR campaign is pre-decisional and is provided for planning and discussion purposes only.

Ivanov, Mark C.↗

NASA NTRS2020

System Design for Near-Global Imaging of Triton

We propose a near-term low-cost mission to perform imaging of over 80% of the surface of Neptune’s moon Triton during a single flyby. To accomplish this we take advantage of Triton’s 141 hr orbit period and design narrow-angle and wide-angle cameras to image over the wide range of distances and lighting con-ditions. Of particular interest in this paper is the process for high-resolution im-aging as the range to the surface comes toward closest approach. To perform this, we traded a time-delay integration camera design with a slew-and-settle full-frame imager, and decided on the latter implementation. This required a high-performance attitude control system to cover the full disk in the allotted time, so a number of mosaic designs were iterated with simulated ADCS capa-bilities until a system design was established that showed appropriate margins. This paper describes the system design, including mission design summary, camera design summary, mosaicking pattern options, timelines, and detailed ADCS performance simulations showing slew and settle and pointing stability.

Frazier, William↗

NASA NTRS2019

Solar Power System and Radioisotope Thermoelectric Generation Technologies at Jupiter-Saturn-Uranus Environments: New Insights and Paradigms

Power system selection for outer planet destinations, such as Jupiter, Saturn, and Uranus and beyond, is complex, involving and dependent on many interdisciplinary factors such as power system mass, specific power, cost, mechanical and electrical integration, and natural radiation environment. Low solar irradiance at Jupiter, Saturn, and Uranus systems (i.e., 50, 15, and 4 W/m2 , respectively) makes solar power systems challenging in mechanical / electrical integration and accommodating radiation environments. More costly radioisotope thermoelectric generator (RTG) systems can help proposed missions overcome radiation environment and spacecraft control challenges at Jupiter, Saturn, and Uranus. NASA’s Jet Propulsion Laboratory (JPL) has recently made significant strides in demonstrating high-efficiency, radiation-hard solar cell technologies for low-irradiance, low-temperature (LILT) applications, and high-efficiency thermoelectric (TE) materials and modules for higher-specific-power RTGs. Stateof-art multi-junction solar cells now routinely demonstrate high efficiencies of 30-34% at LILT (9.5AU and -165°C), making solar arrays a viable option for many near-term Saturn mission concepts. Emerging technologies like LILToptimized solar cells have recently demonstrated even higher efficiencies of 37% at 9.5AU and -165°C and 30% lower mass than the state-of-art, offering the prospect of ~3W/kg array-level, end-of-life specific powers under Saturn conditions. Having already demonstrated the tremendous utility of RTGs on Mars and in deep-space missions (e.g., Galileo at Jupiter, New Horizons at Pluto), NASA is now developing and demonstrating new TE materials and modules (e.g., skutterudites, La3-x Te4, and Zintls) for increasing RTG specific power (up to >8.5 W/kg), which strongly impacts an RTG’s mass, fuel utilization, and modularity in the power system trade domain. New accomplishments in both areas highlight the renewed requisite for updated comparisons and trade-offs in power output, specific power and mass, cost, mechanical and electrical integration, new technology timelines, and natural radiation impacts between new LILT-optimized photovoltaic technologies and next-generation RTG technologies. This work discusses and demonstrates how new LILT-based technologies are now allowing one to consider and design solar power systems for Saturn orbit and beyond, and are changing the potential cost-mass trade-offs between emerging solar power technologies and newly-envisioned RTG technologies. Key updated system mass and cost trade-offs between high-performance LILT solar technologies and new RTG technologies are presented, reinforcing and refining power selection criteria supporting possible future NASA deep-space science and exploration missions to Mars, the Jupiter system (Europa, Ganymede), the Saturn system (Titan, Enceladus), Uranus, and beyond. Key trade-offs in other above-mentioned interdisciplinary factors between these two power technologies are also discussed.

Bairstow, Brian K.↗

NASA NTRS2021

Practical Operational Readiness Gambits: Operations Training Simulations for the Curiosity Rover

The Mars Science Laboratory team had been puttingin effort to make a Training Venue to allow for parallel shadowtactical operations for trainees to actively work alongside theprime tactical operations personnel without affecting operations,since staffing constraints and shortened operations timelineswere straining the tactical process in supporting operationstrainees in the traditional way. The COVID- 19 Pandemic presentedfurther challenges in continuing on-console training forMSL operations trainees. The MSL operations team switched tofully remote operations, thus hampering the direct mentorshipa trainee would normally receive while on site at JPL. TheMars 2020 training team had developed a concept for roveroperations training simulations based on Johnson Space Center’sextensive simulations training program for astronauts andflight controllers. The MSL team borrowed this idea, and implementedthese training simulations which are called PracticalOperational Readiness Gambits (PORGs). The PORGs so farhave focused on the Science Planner and Rover Planner roles,which are two crucial roles in tactical operations that engagein key interactions throughout a shift. PORGs are based onactual sol scenarios that have occurred on Mars and follow thetactical operations process and timeline as closely as possible.However, unlike an operations shift, PORGs can slow down orpause to allow for more mentoring time. PORGs can focus onparticular skills to test the trainees on their understanding ofa concept. PORGs increase in complexity with each scenario toease the trainees into more typical tactical operations workloads.As more trainees join the MSL operations team, more roles arebeing incorporated into PORGs. There are plans to incorporatecertified operations personnel into PORGs to practice anomalyresponse situations. PORGs have become an essential part of theMSL operations training program and will continue even afterthe return to on-site operations at JPL.

Gajeway, Jocelyn↗

NASA NTRSDate not supplied

Reference Surface Activities for Crewed Mars Mission Systems and Utilization

This paper describes the current reference being used by NASA for the surface exploration portion of a human Mars mission architecture, documented in HEOMD-415. (It is important to note that no decisions have been made by NASA regarding human Mars mission objectives, durations, or architectures, and this document is intended to aid in analysis of options.) The HEOMD-415 report details constraints and considerations in planning daily activity timelines for crewed exploration on Mars. This work was done for the purpose of estimating how much time during each martian sol might be available for exploration activities, (also referred to as utilization activities in this document), after accounting for time needed for crew and equipment care. The report describes activities, on a sol-by-sol basis, for a surface exploration mission with a total duration of 30 sols on the surface. At the conclusion of this description, the total amount of time used in the activities is presented, summarized into relevant mission planning categories. In addition, the amount of time used specifically for extravehicular activities (EVAs) is gathered in a tabular form, showing the amount of time by sol and by crewmember that resulted from this analysis. As future analyses related to this surface mission are conducted, these summary results will be updated and revisions of the document will be released.

Mars↗

NASA NTRSDate not supplied

NASA HAT Lab Activities

The principles and reasons for employing Human Autonomy Teaming is discussed. Application of these techniques to multi-vehicle control is described. In several operational environments from small drone delivery to air taxi to autonomous cargo, many companies will need technologies that will allow for the operation of an unmanned aircraft (UAS or eVTOL) by a small crew of individuals that are located in a remote network operations center. That is, Multiple operators supervising an increasing Number of vehicles (M:N). This will require a new control/supervisory paradigm where the supervisors team with automation to achieve their joint tasks; Human Autonomy Teaming (HAT). This task will follow the HAT philosophy and tenants (e.g., trust, bi-directional communication, pilot directed interfaces). It will also develop and employ specific HAT tools (e.g., playbook, working agreements, predictive timeline displays, transparent interfaces to build trust).

multi-vehicle control↗

NASA NTRSDate not supplied

VERNE: Revealing the Mysteries and Histories of Venus

Introduction: The three Venus missions that were recently selected for upcoming flight (VERITAS, DAVINCI+, and EnVision) will be incredibly valuable to our understanding of Venus’ history, geology, and atmosphere. However, even once completed, key gaps in our knowledge of Venus, and more generally the formation and active processes on rocky, Earth-like planets, will still persist. Remaining questions include 1) how global intrinsic magnetic fields might be maintained on rocky worlds, and how they could then go extinct, and 2) what role atmospheric sulfur chemistry plays in climates of Earth-like planets, which is an increasingly timely subject as Earth’s own atmospheric sulfur content is climbing due to human activity. These questions require in-situ observations from Venus’ cloud deck, at the altitudes at which the UV absorber exists. The Venus Environment Research and Novel Exploration (VERNE) mission will address these questions with an aerial platform that will drift around the equatorial region of the planet for 9 days. VERNE will collect data to determine the identity of the mysterious UV absorber, while also taking magnetic field measurements over the tesserae, the regions on Venus that are most likely to retain remanent crustal magnetization, in order to understand the potential role of a past intrinsically-generated global magnetic field on Venus. Mission Objectives: The two major science objectives that drive the VERNE mission are: 1) Determine the identity of the Venusian unknown ultraviolet absorber(s). First observed approximately a century ago [1], the composition of Venus’ ultraviolet (UV) absorber is one of the oldest mysteries in Venus atmospheric chemistry [2,3]. While several candidate UV absorbers (mostly sulfur species) have been proposed, no consensus has been reached on its composition and its specific interactions with the atmosphere. Determining the identity of the UV absorber will aid climate models by showing how and where incident solar energy is absorbed by the atmosphere and make progress towards understanding the chemical and energetic processes taking place above Venus’ upper cloud deck [4]. 2) Determine if Venus retains evidence of a past, internally-generated magnetic field. While Venus does not currently have an intrinsically-generated magnetic field, evidence for the existence of a past field on Venus and a timeline of its decay will fill in a more holistic picture of the evolution of Venus’ geological record and atmosphere. As the oldest geologic units on the surface, Venus’ tesserae may still have remanent crustal magnetization signatures within the rocky composition [5]. In any case, the signatures detected will provide insight into Venus’ past geological and core dynamo activity. Mission Summary: VERNE includes a 3-part flight system made up of 1) an entry system with a HEEET (Heatshield for Extreme Entry Environment Technology) aeroshell, 2) an orbiter for data relay, and 3) an in-situ balloon and gondola. After entry into Venus’ atmosphere, the balloon will be deployed within the upper cloud deck, at an altitude of 62 km, over a tesserae region. The in-situ data collection will last for the duration of 2 full circumnavigations of the planet, which will take ~9 days. Instrumentation Suite: The four instruments that comprise VERNE’s instrument payload will enable the identification of the unknown UV absorber and the detection of remanent crustal magnetization if it exists in the tesserae. The proposed instrument suite cycle during mission operations is shown in Fig. 1. The four instruments are described below: 1) Adams (ion neutral mass spectrometer) has a range of 18-257 AMU and will detect and distinguish the mixing ratios of O₂, H₂O, H₂SO₄, S, S₂, S₃, S₄, S₅, S₆, S₇, S₈, SO, SO₂, OSSO, SO₃, Cl₂, FeCl₃ and other trace sulfur and organic species. The spatial (longitudinal) and temporal (day/night) variations will be observed throughout 2 circumnavigations with a sample cadence of 12 minutes. 2) Shelley (nephelometer) will determine the size distribution of the aerosols (0.4 to 36 um) in the atmosphere. With a size resolution of <0.7 um, it can determine which mode of H2SO4 is present and characterize the large (>30 um) organic particles previously detected by the Venera and Galileo missions [6,7]. 3) Herbert (UV imager) will measure UV radiance at 283 nm (the wavelength of SO2 absorption) and 365 nm (the unknown part of the absorber). UV images will be taken concurrently with the INMS and nephelometer to correlate UV absorption with abundances of the UV absorber species. 4) Vonnegut (magnetometer) has a range of >600 nT and a precision and accuracy of 1 nT. If magnetized by a past field, the crust may have retained a magnetization of up to 3 A/m2 [5]. With a noise floor of 10 nT, the magnetometer will be able to detect RCM from an altitude of 62 km, even if the thickness of the magnetized crust is just 1 km (Fig. 2). Mission Concept Design: VERNE will be launched with a mass of 3300 kg in an intermediate-high performance class vehicle with a 4-m fairing. The 475-day mission includes 466 days for the cruise, coasting, and orbit initialization phases before entry, descent, and balloon deployment. During the 9-day science phase, the aerial platform will make 2 circumnavigations of the planet at an altitude of 62 km. The INMS and the nephelometer will acquire data for 2 hours during the daytime and nighttime during each circumnavigation, while the UV imager will be on for the duration of the daytime, and the magnetometer will be operational throughout the entirety of the science phase. Data will be stored and processed with the JPL-designed Sphinx command and data handling system. Data will be sent from the balloon to the orbiter using an S-band relay link, stored on the orbiter, and then forwarded to Earth where it will be received by the DSN. Conclusion: VERNE will fill key gaps in our understanding of the history and ongoing processes related to the geology and atmosphere of Venus and rocky worlds in general. Even with adequate flight system contingencies and expected costs below the $900M New Frontiers cost cap, VERNE is not without its risks and challenges. Further trade spaces to explore include 1) using solely battery power vs. including solar panels to increase the mission duration and 2) investigating the use of lightweight materials and 3D-printed structures to reduce the gondola mass, among others. Acknowledgments: We would like to thank the JPL Planetary Science Summer School, especially our mentors Troy Hudson, Karl Mitchell, and Leslie Lowes, as well as our Team-X study lead Al Nash and the members of Team-X. We’d additionally like to thank our review panel for asking insightful questions and providing valuable feedback. References: [1] Ross, F. E. (1928) Astrophysical J., 68, 57-92. [2] Rossow, W. B. et al. (1980) J. Geophysical Research, 85, 8107-8128. [3] Pinto, J. P. et al. (2021) Nature Communications, 12, 175. [4] Titov, D. V. et al. (2007) Cosmic Research, 21, 401. [5] O’Rourke, J. et al. (2019) Geophysical Research Lett., 46, 5768–5777. [6] Limaye, S. S. et al. (2018) Astrobiology, 18(9), 1181-1198. [7] Grinspoon, D. H. et al. (2013) Planetary and Space Sci., 41(7), 515-542. [8] Parker, R. L. (2003) J. Geophysical Research, 108, 5006. *The cost information contained in this document is of a budgetary and planning nature and is intended for informational purposes only. It does not constitute a commitment on the part of JPL and/or Caltech.

H Alpert↗

NASA NTRS2021

System Validation on the Europa Clipper mission in Early Implementation Phase

NASA’s next flag-ship mission - Europa Clipper, will embark on a journey to Jupiter’s icy moon Europa in 2024 to assess its environment and habitability with a highly capable spacecraft. Post Jupiter-Orbit-Insertion, the spacecraft will be commanded to perform intricate, yet meticulously planned Europa flybys to perform science investigations using a suite of instruments, while withstanding Jupiter’s harsh radiation environment. The success of this mission is dependent on a well-coordinated project and its elements such as the flight hardware and software, the ground support and mission operations teams, procedures and other cross-cutting elements. The Europa Clipper project needs to ensure that these elements are realized at a reasonable confidence level prior to launch and other mission critical events. System Validation test and analysis activities exercise and confirm the integrity of the system of all project elements in the expected flight environment with reasonable stressing conditions. These activities go beyond system design requirements verification and are driven by validation objectives that describe the end-to-end functional and operational capabilities required during nominal and off-nominal flight-like scenarios and critical events. The challenges associated with validating that the Europa Clipper project as a whole can function and perform correctly to meet the intended mission objectives with the as-delivered capabilities of all of its elements are daunting. This paper discusses the systematic methodology established in the early implementation phase of the Europa Clipper project for developing System Validation activities and their validation objectives, and addressing any validation-related challenges on the project. Approaches include decomposition of mission objectives using activity timelines in the Mission Design plan for developing nominal scenarios, use of fault trees for exploring off-nominal cases and system boundaries, and use of Model-based Systems Engineering (MBSE) tools for planning and prioritizing these activities.

Wang, Xu↗

NASA NTRS2016

Enabling International Data Relay at Mars

The most commonly used mode of communications be-tween Earth and a Mars surface mission is ultra-high fre-quency (UHF) radio relay via a Mars orbiter. There are four orbiters and two surface rovers operating at Mars and by October there should be five orbiters and three landers or rovers. There has been some collaboration between ESA’s Mars Express orbiter and NASA’s rovers, but 2016 is when Mars relay becomes fully international. In October, ESA will deliver the ExoMars Trace Gas Orbiter (TGO) and En-try, Descent, and Landing (EDL) Demonstrator Module (EDM) lander to Mars. The ExoMars program includes both ESA and ROSCOSMOS, with NASA participation (the Electra UHF transceiver on TGO). NASA orbiters will pro-vide relay for EDM and future ESA Mars landers and rov-ers. TGO will provide relay for NASA's current and future surface assets (as Mars Express will continue to do). Inter-national collaboration is enabled in several steps. At the in-struction of the space agencies, the Mars mission projects negotiate and write a “Service Agreement.” This describes at a high level how a new Mars orbiter would operate with its corresponding surface missions or how a new surface mis-sion would operate with its corresponding orbiters. It in-cludes the roles of the different projects, how the new mis-sion would communicate with existing or planned missions, the general flow of data and commands, and the capabilities or requirements of the new mission. After completing the Service Agreement, the projects write Interface Control Doc-uments (ICDs), each of which describes data and command flow in greater detail and quantitative aspects of the relay link and operations timeline between an orbiter and a cor-responding lander/rover. Interfaces and operations are test-ed before a new mission arrives at Mars. Once at Mars, a new orbiter performs some “practice” relay contacts with its partners. For a new lander (e.g. EDM), relay operations gen-erally begin before atmospheric entry at Mars, with record-ing of the UHF relay signal from the lander (including open-loop wide-bandwidth recording) as it enters and traverses Mars’s atmosphere and lands on its surface. After Mars EDL or orbit injection, each relay contact is negotiat-ed and scheduled using the Mars Relay Operations Service (MaROS). This paper describes the international approach to develop inter-agency agreements, inter-project interfaces, and specifics of how MaROS is used in actual relay opera-tions between international partners.

Winton, Alistair J.↗

NASA NTRS2020

InSight Robotic Arm Testing Activities for HP3 Mole Anomaly Recovery on Mars

The InSight lander’s Heat Flow and Physical Properties Package (HP3) was deployed on Mars in February 2019and began attempting to penetrate to its target depth range of3-5 meters shortly thereafter. However, the mole’s downwardprogress stopped after only 35 cm of penetration. In response,the project convened an Anomaly Response Team (ART) andsince then has been attempting to diagnose the problem andassist the mole using the tools available on Mars. The key assetused in this effort has been the Instrument Deployment System(IDS), which includes two cameras and a robotic InstrumentDeployment Arm (IDA). Since the IDS was originally intendedonly to deploy InSight’s primary instruments to the Martiansurface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to bedeveloped on a short timeline. The HP3 Mole ART first focusedon gathering all observable data on Mars about the state ofthe mole and Support Structure Assembly (SSA), as well asthe physical properties of the Martian regolith. This includedusing the robotic arm to point the IDC at the SSA duringdiagnostic hammering attempts to observe motion of the SSAand science tether. Images taken during these attempts revealedsome motion of the SSA, but no apparent change in mole depth.At JPL, the IDS and Testbed teams re-created the hardwareconfiguration on Mars based on limited knowledge of the mole’sstate. They devised and tested techniques to use the roboticarm and cameras to accomplish previously untested activitieson Mars, including imaging the HP3, using the IDA to interactwith the terrain, and using the IDA to move the SSA awayfrom the partially-embedded mole. The team executed the morepromising techniques on Mars. After diagnostic hammering onMars, the team decided to move the SSA to gain visibility ofthe mole’s configuration and access to the soil around the mole.After developing the technique and practicing the maneuver inthe InSight testbed, the team lifted the SSA on Mars and placedit behind the mole. This revealed a pit surrounding the nowexposed mole, observations of which provided essential cluesfor determining the root cause of the mole’s lack of progress.The IDS and Testbed teams altered the testbed to match thesituation on Mars. They devised IDA techniques to determinethe Martian soil properties and assist the mole’s descent. Theytested these techniques in the testbed and executed the more978-1-7281-2734-7/20/$31.00 c 2021 IEEE. Copyright 2020 CaliforniaInstitute of Technology. U.S. Government sponsorship acknowledged.promising ones on Mars. These include using the robotic arm toalter the regolith near the mole and to push on the mole while ithammers. This paper discusses the anomaly resolution testing inthe testbed at JPL, describes how the IDS team prepared for theanomaly recovery activities on Mars, and provides preliminaryresults of the efforts to assist the HP3 mole on Mars.

Kim, Junggon↗

NASA NTRS2021

InSight Robotic Arm Testing Activities for HP3 Mole Anomaly Recovery on Mars

The InSight lander’s Heat Flow and Physical Properties Package (HP3 ) was deployed on Mars in February 2019 and began attempting to penetrate to its target depth range of 3-5 meters shortly thereafter. However, the mole’s downward progress stopped after only 35 cm of penetration. In response, the project convened an Anomaly Response Team (ART) and since then has been attempting to diagnose the problem and assist the mole using the tools available on Mars. The key asset used in this effort has been the Instrument Deployment System (IDS), which includes two cameras and a robotic Instrument Deployment Arm (IDA). Since the IDS was originally intended only to deploy InSight’s primary instruments to the Martian surface, new testbed setups, experiments, and operational protocols (e.g., command sequences) were required and had to be developed on a short timeline. The HP3 Mole ART first focused on gathering all observable data on Mars about the state of the mole and Support Structure Assembly (SSA), as well as the physical properties of the Martian regolith. This included using the robotic arm to point the IDC (Instrument Deployment Camera) at the SSA during diagnostic hammering attempts to observe motion of the SSA and science tether. Images taken during these attempts revealed some motion of the SSA, but no apparent change in mole depth. At JPL, the IDS and Testbed teams re-created the hardware configuration on Mars based on limited knowledge of the mole’s state. They devised and tested techniques to use the robotic arm and cameras to accomplish previously untested activities on Mars, including imaging the HP3 , using the IDA to interact with the terrain, and using the IDA to move the SSA away from the partially-embedded mole. The team executed the more promising techniques on Mars. After diagnostic hammering on Mars, the team decided to move the SSA to gain visibility of the mole’s configuration and access to the soil around the mole. After developing the technique and practicing the maneuver in the InSight testbed, the team lifted the SSA on Mars and placed it behind the mole. This revealed a pit surrounding the now exposed mole, observations of which provided essential clues for determining the root cause of the mole’s lack of progress. The IDS and Testbed teams altered the testbed to match the situation on Mars. They devised IDA techniques to determine the Martian soil properties and assist the mole’s descent. They tested these techniques in the testbed and executed the more promising ones on Mars. These include using the robotic arm to alter the regolith near the mole and to push on the mole while it hammers. This paper discusses the anomaly resolution testing in the testbed at JPL, describes how the IDS team prepared for the anomaly recovery activities on Mars, and provides preliminary results of the efforts to assist the HP3 mole on Mars.

Kim, Junggon↗

NASA NTRS2016

The Man-machine Integration Design and Analysis System (MIDAS) Software Training Documentation

This document is a training manual for MIDAS v5 that takes an user through the hardware and software requirements for the MIDAS V5 software, the steps required to download the software, and the steps that a user needs to take to create a MIDAS simulation. The training guide also illustrates how the models interact to generate MIDAS predictions of operator performance along task, workload, and situation awareness timelines and provides the test routines that were conducted to verify the operation of the integrated MIDAS models. The training guide shows the user how the MIDAS task model interacts with and controls an anthropometric model through its use of behavioral primitives. The training documentation also illustrates one approach that has been used to filter and analyze MIDAS output.

Brian F. Gore↗

NASA NTRSDate not supplied

1.9 MWe Nuclear Electric Propulsion-Chemical Propulsion Piloted Mars Opposition Vehicle

To assess ‘quick’ missions to Mars, a study was performed to determine the feasibility of a two-year roundtrip class mission concept of operation that enables boots on Mars in the 2030s. After performing a Phase 1.1 2036 Mars opposition design case, the more difficult 2039 opposition design was pursued. This Phase 1.2 also sought to further refine the concept, building on feasibility, and addressing several challenges brought by independent team reviews. Given the date of 2039, nearer-term technologies, primarily nuclear thermal and nuclear electric were deemed as the most viable for these missions. This paper explores a nuclear electric and chemical combined propulsion approach to achieve the desired mission timeline.

Nuclear Electric Propulsion↗

NASA NTRSDate not supplied

Uncrewed Lunar Surface Operations and Support Activities

Sustained human presence on the surface of the Moon and future missions to Mars require increased independence from surface crews and Earth-based mission control to operate efficiently, safely, and reliably. The time for surface crews to perform tasks will be limited. Extravehicular activities by surface personnel are burdensome and time-consuming, even when a continuous human presence on the surface occurs. Identifying and balancing human/automation roles and tasks and infusing automation and autonomy practices early in a system’s lifecycle will be essential to achieve mission objectives. Among these objectives are attaining a sustained human presence, improving performance and mission effectiveness, reducing operations and maintenance (O&M) costs, and ensuring operations that are robust to communication delays. To achieve these objectives, an operational shift toward increased automation and autonomy with less reliance on humans is needed. Uncrewed lunar surface operations and support activities occur when surface crews are not present or are independent of surface crew timeline activities requiring no surface crew oversight or intervention. These uncrewed surface opportunities can also be planned to minimize crew workload that avoids routine maintenance and support tasks, thus maximizing crew exploration time. Uncrewed preparations such as staging and prepositioning equipment and materials before the crew arrives could improve crew task efficiency. Additional opportunities exist to conduct uncrewed science, exploration, and utilization. Uncrewed surface architecture functions can include science and exploration; habitation; launch and landing support; surface communication and navigation; surface power generation and distribution; human surface mobility; lifting, handling, manipulating; excavation, construction, and site preparation; logistics management; maintenance and repair; surface resource utilization; integrated site operations and shared support services (e.g., site scheduling/prioritization, dust mitigation/contamination control, and surface safety). Early robotic lunar surface campaigns will provide information on the availability of resources, such as oxygen and water, and demonstrate surface-based technologies. After the Artemis III human lunar return mission, a series of landers will deliver surface systems, cargo, supplies, science packages, spare parts, and commodities. A balance of crewed and uncrewed surface operations will enable a sustained lunar surface presence at the South Pole of the Moon at a site that will be known as the Artemis Base Camp (ABC). It is envisioned that base camp operations on and around the Moon will then help prepare for the mission durations and activities needed to support the first human mission to Mars. Before long-duration crew missions to the base camp can occur, the necessary surface infrastructure will be pre-deployed and verified operational. Surface assets will be teleoperated and remotely managed from Earth. Additionally, robotic and short-duration crewed missions to the ABC will ensure the site’s merit to achieve long-term science objectives, availability of usable resources, and that terrain, seasonal variations, and illumination conditions are acceptable. ABC will consist of different areas where specific functions and services are rendered, including: • Launch and Landing Area • Habitation Area • Power Production Area • Resource Areas Launch and Landing Area—The launch and landing area will support associated functions for the arrival and departure of vehicles, such as crewed landing and ascent and uncrewed cargo deliveries and offloading. It will evolve from an unimproved site at the beginning of the exploration campaign to a more sustainable landing and launch area that can support repeated arrivals and departures. Initial uncrewed Lunar Terrain Vehicle (LTV) surface operations may include emplacement of navigation beacons and communication equipment, real-time video and photography of landing/liftoff events, and element repositioning, such as portable utility power (PUP) (applicable for other landed assets at other areas). Site preparations, such as surface leveling, soil compaction, and berm/path construction, may be needed for a more sustainable launch and landing area capable of accommodating vehicles that are increasingly more reusable and reduce the effects of plume surface interactions and ejecta impacts on nearby surface assets. During the ABC missions, cargo and logistics will be delivered to the lunar surface via robotic cargo landers before the crew arrives. These shipments, which can arrive in pressurized logistics carriers, will deliver the logistics necessary to support a crewed mission and include items such as food, water, equipment spares, etc. Providing the capability to retrieve, offload, and transport the logistics closer to the ABC site before the arrival of the crew will increase the overall efficiency of crew operations once they arrive. In the sustained phase of exploration, other supporting services may be needed, such as lander propellant servicing, surface power services, commodity refreshes, and additional inspection, maintenance, and repair capabilities, to sustain a cadence of extended personnel stays and cargo arrivals and departures. Habitation Area—Uncrewed support to surface habitation could involve supporting activation and pre-entry operations of the habitat while the crew is in orbit at the Gateway outpost preparing for a surface landing. Surface Habitat (SH) uncrewed operations may include bringing the cabin environment to a habitable temperature and air mix and activating other critical crew support systems. Potential crop production uncrewed tasks in the SH could also include autonomous watering and tending. Additionally, when the crew departs, the SH enters dormancy for the long period of uncrewed operation. A logistical staging area could also be collocated near the SH. If so, staging operations for crew supplies, waste re-location, and recycling operations may be opportunities for uncrewed operations. Power Production Area—The Fission Surface Power (FSP) element and its supporting distribution equipment provide power to surface elements as needed across the ABC to supplement day-to-day operations and survive lunar nights. Uncrewed support of this power system includes any initial LTV-assisted deployments of cables and other distributed equipment, associated electrical connections, and system testing and activation operations. Robotically performing some inspections, maintenance, or repair tasks on the power distribution equipment could reduce the surface crew workload. Resource Area— Uncrewed resource prospecting, mapping, and characterizing possible resource sites is likely to be time-consuming and represents an opportunity for uncrewed operations between crewed missions. Uncrewed mobile equipment operations will be needed in the extreme environments of permanently shadowed locations where resource extractions occur. As In-Situ Resource Utilization (ISRU) pilot plant operations begin, uncrewed surface support activities with available mobile and portable assets (LTV, PUP, etc.) will better support these operations. Any produced commodities can be stored at a centralized storage location for future use. Also associated with these operations is the use of mobile robotic excavators for resource acquisition and robotic/autonomous regolith processing. The waste tailings generated during excavation and regolith processing would also need to be transported and deposited at a dedicated location. Surface assets will continue operating between crew visits to maintain surface capabilities, conduct lunar surface science, technology demonstrations, and public outreach opportunities. Additionally, certain sustaining tasks that would consume valuable crew time could be performed before crew arrival, or after their departure. This capability may offer more affordable options to construct, activate, test, and maintain a broad set of surface assets. Telerobotically operated human surface mobility systems, such as the LTV and Pressurized Rover (PR), can be utilized for various tasks. Surface environmental conditions pose a distinct challenge for all these activities. Surface illumination and localized shadows are one such factor. Night-survival operations could consist of thermal management, battery pre-charging, and load shedding. Some surface systems may hibernate through the night and then awake and continue nominal operations. Uncrewed mobile assets may use a more adaptive approach to optimize their power and operations; one method is to follow the sunlight. Night-survival operations may be initiated remotely by teleoperation, automated, or accomplished by supervised autonomous operation. The ability to pre-deploy and control remote assets in orbit or on Mars before the arrival of the mission crew is a key capability that can be simulated on the moon. The base camp provides a venue where these advanced operational concepts, technologies, and autonomous methods and techniques, including the incorporation of time delays to simulate Earth-Mars latency can be replicated to help buy down future Mars mission risks. This paper will examine the evolution of uncrewed lunar surface operations and support activities. It will also discuss the lunar surface environmental conditions (thermal, lighting, terrain, topography, communications) along with the challenges they pose on uncrewed surface operations, and the performance of these activities with limited to minimal human interaction and/or teleoperation. Since lunar missions include Mars mission analogs, such investigation provides the framework for future uncrewed Mars mission support.

Mark E Lewis↗

NASA NTRSDate not supplied

Battery Key Performance Projections based on Historical Trends and Chemistries

Recent improvements in state-of-the-art (SOA) batteries driven by the automotive sector have led to many electrified aircraft concepts choosing batteries as the preferred energy-storage method. Current SOA batteries are at the point of enabling certain hybrid and all-electric aircraft, particularly small, short range, lower speed aircraft. Higher performance batteries improve aircraft range and can enable larger, higher speed aircraft. In this work, we develop specific energy projections for future electrified aircraft. The projections are developed based on examining historical commercial SOA trends as well as practical limitations of future chemistries. Accurate projections of future specific energy values are important for estimating the timeline for commercial introduction of electrified aircraft. This work estimates nominal cell level specific energies for rechargeable batteries of 489 Wh/kg by 2030, 638 Wh/kg by 2040, and 764 Wh/kg by 2050. More conservative as well as more aggressive estimates are also provided.

Blake Tiede↗

NASA NTRSDate not supplied

m:N Working Group

multi-vehicle control↗

NASA NTRSDate not supplied

Future Operations

multi-vehicle control↗

NASA NTRSDate not supplied

m:N Operations and Future

The principles and reasons for employing Human Autonomy Teaming is discussed. Application of these techniques to multi-vehicle control is described. In several operational environments from small drone delivery to air taxi to autonomous cargo, many companies will need technologies that will allow for the operation of an unmanned aircraft (UAS or eVTOL) by a small crew of individuals that are located in a remote network operations center. That is, Multiple operators supervising an increasing Number of vehicles (M:N).This will require a new control/supervisory paradigm where the supervisors team with automation to achieve their joint tasks; Human Autonomy Teaming (HAT).This task will follow the HAT philosophy and tenants (e.g., trust, bi-directional communication, pilot directed interfaces). It will also develop and employ specific HAT tools (e.g., playbook, working agreements, predictive timeline displays, transparent interfaces to build trust). This presentation discusses the barriers and requirements for future m:N operations.

multi-vehicle control↗