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At least 1,369 records · Page 76

Development and Deployment of Robonaut 2 to the International Space Station

The development of the Robonaut 2 (R2) system was a joint endeavor with NASA and General Motors, producing robots strong enough to do work, yet safe enough to be trusted to work near humans. To date two R2 units have been produced, designated as R2A and R2B. This follows more than a decade of work on the Robonaut 1 units that produced advances in dexterity, tele-presence, remote supervision across time delay, combining mobility with manipulation, human-robot interaction, force control and autonomous grasping. Design challenges for the R2 included higher speed, smaller packaging, more dexterous fingers, more sensitive perception, soft drivetrain design, and the overall implementation of a system software approach for human safety, At the time of this writing the R2B unit was poised for launch to the International Space Station (ISS) aboard STS-133. R2 will be the first humanoid robot in space, and is arguably the most sophisticated robot in the world, bringing NASA into the 21st century as the world's leader in this field. Joining the other robots already on ISS, the station is now an exciting lab for robot experiments and utilization. A particular challenge for this project has been the design and certification of the robot and its software for work near humans. The 3 layer software systems will be described, and the path to ISS certification will be reviewed. R2 will go through a series of ISS checkout tests during 2011. A taskboard was shipped with the robot that will be used to compare R2B's dexterous manipulation in zero gravity with the ground robot s ability to handle similar objects in Earth s gravity. R2's taskboard has panels with increasingly difficult tasks, starting with switches, progressing to connectors and eventually handling softgoods. The taskboard is modular, and new interfaces and experiments will be built up using equipment already on ISS. Since the objective is to test R2 performing tasks with human interfaces, hardware abounds on ISS and the crew will be involved to help select tasks that are dull, dirty or dangerous. Future plans for R2 include a series of upgrades, evolving from static IVA (Intravehicular Activity) operations, to mobile IVA, then EVA (Extravehicular Activity).

Ambrose, Robert O.↗

The Heliopause Electrostatic Rapid Transit System (HERTS) Design, Trades, and Analyses Performed in the First Year of a Two Year Investigation

The Heliopause Electrostatic Rapid Transit System (HERTS)1 was one of the seven total Phase II NASA Innovative Advanced Concepts (NIAC) that was down-selected in 2015 for continued funding and research. In Phase I we learned that a spacecraft propelled by an Electric Sail (E-Sail) can travel great astronomical distances, such as to the Heliopause region of the solar system (approx.100 to 120 AU) in approximately one quarter of the time (10 years) versus the time it took the Voyager spacecraft launched in 1977 (36 years). The current work within the Phase II NIAC effort builds upon the work that was done in the Phase I NIAC and is focused on: 1) Testing of plasma interaction with a charged wire in a unique MSFC test chamber, 2) Development of a Particle-in-Cell (PIC) models that are validated in the plasma testing and used to extrapolate to the E-Sail propulsion system design. 3) Further down select of a wire deployment and control approach from those narrowed down in the Phase I effort. This paper will document the findings to date (June, 2016) of the above focused areas.

Wiegmann, Bruce M.↗

8.4 M Deep Space Habitat– Medical Bay Concept Design and Human Factors Engineering Analysis

Maintaining crew health throughout long duration deep space missions presents significant new design challenges. Since communication with Earth will be limited and it is not possible to return in the event of a medical emergency it is critical that medical care on a deep space mission be as autonomous as possible. The goal of this project was to design and assess a medical system concept for the Deep Space Habitat Concept Demonstrator derived from the core stage of the Space Launch System. The Medical Bay was designed as a primary location to support the medical care of4 crew members on a1000-daymission. It includes workspace, stowage, and direct access to all necessary medical equipment and supplies. A Human Factors Engineering Analysis was conducted to test ergonomic effectiveness and system requirement compliance. This initial design will continue to be used by the Human Factors Engineering Team and the Advanced Concepts Office at NASA’s Marshall Spaceflight Center for further demonstration, analysis, and design conception for deep space travel.

Mary Claire Mancl↗

Development of Advanced Lightweight Polymeric Foam Thermal Protection for Space Launch Vehicles

Lightweight thermal protective materials are essential for temperature regulation during ascent of space launch vehicles, especially for expendable launch vehicles and cryogenic propellant tanks. Among the lightest thermal protective materials commonly in use is polymeric foam, in the form of pour foam or spray-on foam insulation (SOFI). Foam processing is rapid, can accommodate large-scale or small-scale challenging geometries easily, and can be used in a climate controlled or non-climate-controlled setting. Application systems can be fixed or portable. Use-temperatures of foam range from cryogenic to those that will ablate the material.

TPS↗

The New Millenium Program: Serving Earth and Space Sciences

NASA has exciting plans for space science and Earth observations during the next decade. A broad range of advanced spacecraft and measurement technologies will be needed to support these plans within the existing budget and schedule constraints. Many of these technology needs are common to both NASA's Office of Earth Science (OES) and Office of Space Sciences (OSS). Even though some breakthrough technologies have been identified to address these needs, project managers have traditionally been reluctant to incorporate them into flight programs because their inherent development risk. To accelerate the infusion of new technologies into its OES and OSS missions, NASA established the New Millennium Program (NMP). This program analyzes the capability needs of these enterprises, identifies candidate technologies to address these needs, incorporates advanced technology suites into validation flights, validates them in the relevant space environment, and then proactively infuses the validated technologies into future missions to enhance their capabilities while reducing their life cycle cost. The NMP employs a cross-enterprise Science Working Group, the NASA Enterprise science and technology roadmaps to define the capabilities needed by future Earth and Space science missions. Additional input from the science community is gathered through open workshops and peer-reviewed NASA Research Announcement (NRAs) for advanced measurement concepts. Technology development inputs from the technology organizations within NASA, other government agencies, federally funded research and development centers (FFRDC's), U.S. industry, and academia are sought to identify breakthrough technologies that might address these needs. This approach significantly extends NASA's technology infrastructure. To complement other flight test programs that develop or validate of individual components, the NMP places its highest priority on system-level validations of technology suites in the relevant space environment. This approach is not needed for all technologies, but it is usually essential to validate advanced system architectures or new measurement concepts. The NMP has recently revised its processes for defining candidate validation flights, and selecting technologies for these flights. The NMP now employs integrated project formulation teams, 'Which include scientists, technologists, and mission planners, to incorporate technology suites into candidate validation flights. These teams develop competing concepts, which can be rigorously evaluated prior to selection for flight. The technology providers for each concept are selected through an open, competitive, process during the project formulation phase. If their concept is selected for flight, they are incorporated into the Project Implementation Team, which develops, integrates, tests, launches, and operates the technology validation flight. Throughout the project implementation phase, the Implementation Team will document and disseminate their validation results to facilitate the infusion of their validated technologies into future OSS and OES science missions. The NMP has successfully launched its first two Deep Space flights for the OSS, and is currently implementing its first two Earth Orbiting flights for the OES. The next OSS and OES flights are currently being defined. Even though these flights are focused on specific Space Science and Earth Science themes, they are designed to validate a range of technologies that could benefit both enterprises, including advanced propulsion, communications, autonomous operations and navigation, multifunctional structures, microelectronics, and advanced instruments. Specific examples of these technologies will be provided in our presentation. The processes developed by the NMP also provide benefits across the Space and Earth Science enterprises. In particular, the extensive, nation-wide technology infrastructure developed by the NMP enhances the access to breakthrough technologies for both enterprises.

Li, Fuk K.↗

Results of an Advanced Development Zero Boil-Off Cryogenic Propellant Storage Test

A zero boil-off (ZBO) cryogenic propellant storage concept was recently tested in a thermally relevant low-earth orbit environment, an important development in the effort to apply this concept to flight projects. Previous efforts documented the benefits of ZBO for launch vehicle upper stages in a low-earth orbit (LEO). Central to that analysis is a ZBO Cryogenic Analysis Tool that estimates the performance of each component and the ZBO system. This test is essential to the validation of that tool, and was the first flight representative configuration tested in a thermally representative environment. The test article was comprised of a spherical 1.4 m diameter insulated propellant tank, with a submerged mixer, a cryogenic heat pipe, flight design cryocooler, and a radiator. All were enclosed in a thermal shroud and inserted into and tested in a vacuum chamber that simulated an LEO thermal environment. Thermal and pressure control tests were performed at sub-critical LN2 temperatures and approximately 2 atmospheres pressure. The cold side of the ZBO system performed well. In particular, the heat pipe performed better than expected, which suggests that the cryocooler could be located further from the tank than anticipated, i.e. on a spacecraft bus, while maintaining the desired efficiency. Also, the mixer added less heat than expected. The tank heating rate through the insulation was higher than expected; also the temperatures on the cryocooler hot side were higher than planned. This precluded the cryocooler from eliminating the boil-off. The results show the cryocooler was successful at removing 6.8 W of heat at approximately 75 K and 150 W of input power, with a heat rejection temperature of 311 K. The data generated on the ZBO components is essential for the upgrade of the ZBO Cryogenic Analysis Tool to more accurately apply the concept to future missions.

Plachta, David↗

Diii-D Research Advancing The Physics Basis For Optimizing The Tokamak Approach To Fusion Energy

DIII-D physics research addresses critical challenges for operation of ITER and the next generation of fusion energy devices. This is done through a focus on innovations to provide solutions for high performance long pulse operation, coupled with fundamental plasma physics understanding and model validation, to drive scenario development by integrating high performance core and boundary plasmas. Substantial increases in off-axis current drive efficiency from an innovative top launch system for EC power, and in pressure broadening for Alfven eigenmode control from a co-/counter-Ip steerable off-axis neutral beam, all improve the prospects for optimization of future long pulse/steady state high performance tokamak operation. Fundamental studies into the modes that drive the evolution of the pedestal pressure profile and electron vs. ion heat flux validate predictive models of pedestal recovery after ELMs. Understanding the physics mechanisms of ELM control and density pumpout by 3D magnetic perturbation fields leads to confident predictions for ITER and future devices. Validated modeling of high-Z shattered pellet injection for disruption mitigation, runaway electron dissipation, and techniques for disruption prediction and avoidance including machine learning, give confidence in handling disruptivity for future devices. With this physics understanding and suite of actuators, a high poloidal beta optimized-core scenario with an internal transport barrier that projects nearly to Q=10 in ITER at 9 MA was coupled to a detached divertor, and a near Super H-mode optimized-pedestal scenario with co-Ip beam injection, was coupled to a radiative divertor. The Hybrid core scenario was achieved directly, without the need for internal flux pumping, using off-axis current drive actuators, and a controller to avoid mode locking and disruptions in the ITER baseline scenario, based on plasma response to probing 3D fields, was demonstrated. Finally innovative tokamak operation using a negative triangularity shape showed many attractive features for future pilot plant operation.

Fenstermacher, M.↗

HEAO - Signature of a successful space science program

The HEAO (High Energy Astronomy Observatory) Program consists of three large automated scientific observatories launched between 1977 and 1979 to observe from near-earth orbit stellar X-ray and gamma-ray sources and to measure incoming cosmic ray particles. The HEAO-2 and HEAO-3 spacecraft are expected to exceed their design lifetimes by a factor of three, as did HEAO-1, which operated for 18 months. All three missions are considered successful in that target dates have essentially been met, launch and flight operations have been relatively smooth, instrumentation has performed well, and there have been no cost overruns. The paper lists ten factors contributing to the missions' success, among them a thorough definition before program start, commonality of spacecraft design, redundancy of mission critical equipment, ample design margins, and tight control of system changes. Specific mission parameters are included in the paper as well as the technological advances engendered by the HEAO Program in such areas as high-resolution X-ray optics and solid-state spectrometry.

Speer, F. A.↗

The Copernicus project

The Copernicus spacecraft, to be launched on May 4, 2009, is designed for scientific exploration of the planet Pluto. The main objectives of this exploration is to accurately determine the mass, density, and composition of the two bodies in the Pluto-Charon system. A further goal of the exploration is to obtain precise images of the system. The spacecraft will be designed for three axis stability control. It will use the latest technological advances to optimize the performance, reliability, and cost of the spacecraft. Due to the long duration of the mission, nominally 12.6 years, the spacecraft will be powered by a long lasting radioactive power source. Although this type of power may have some environmental drawbacks, currently it is the only available source that is suitable for this mission. The planned trajectory provides flybys of Jupiter and Saturn. These flybys provide an opportunity for scientific study of these planets in addition to Pluto. The information obtained on these flybys will supplement the data obtained by the Voyager and Galileo missions. The topics covered include: (1) scientific instrumentation; (2) mission management, planning, and costing; (3) power and propulsion system; (4) structural subsystem; (5) command, control, and communication; and (6) attitude and articulation control.

Barnstable, Bob↗

Design and Analysis of Turbines for Space Applications

In order to mitigate the risk of rocket propulsion development, efficient, accurate, detailed fluid dynamics analysis of the turbomachinery is necessary. This analysis is used for component development, design parametrics, performance prediction, and environment definition. To support this requirement, a task was developed at NASAh4arshall Space Flight Center (MSFC) to improve turbine aerodynamic performance through the application of advanced design and analysis tools. There are four major objectives of this task: 1) to develop, enhance, and integrate advanced turbine aerodynamic design and analysis tools; 2) to develop the methodology for application of the analytical techniques; 3) to demonstrate the benefits of the advanced turbine design procedure through its application to a relevant turbine design point; and 4) to verify the optimized design and analysis with testing. The turbine chosen on which to demonstrate the procedure was a supersonic design suitable for a reusable launch vehicle (RLV). The hot gas path and blading were redesigned to obtain an increased efficiency. The redesign of the turbine was conducted with a consideration of system requirements, realizing that a highly efficient turbine that, for example, significantly increases engine weight, is of limited benefit. Both preliminary and detailed designs were considered. To generate an improved design, one-dimensional (1D) design and analysis tools, computational fluid dynamics (CFD), response surface methodology (RSM), and neural nets (NN) were used.

Griffin, Lisa W.↗

JWST Mirror Technology Development Results

Mirror technology is a critical enabling capability for the James Webb Space Telescope (JWST). JWST requires a Primary Mirror Segment Assembly (PMSA) that can survive launch, deploy and align itself to form a 25 square meter collecting area 6.5 meter diameter primary mirror with a 131 nm rms wavefront error at temperatures less than 50K and provide stable optical performance. At the inception of JWST in 1996, such a capability did not exist. A highly successful technology development program was initiated including the Sub-scale Beryllium Mirror Demonstrator (SBMD) and Advanced Mirror System Demonstrator (AMSD) projects. These projects along with flight program activities have matured and demonstrated mirror technology for JWST. Directly traceable prototypes or flight hardware has been built, tested and operated in a relevant environment. This paper summarizes that technology development effort.

Stahl, H. Philip↗

Shock- and Corrosion-Resistant Bearings for Space Mechanisms

Nickel-titanium (NiTi) alloys are an emerging class of materials for rolling element bearing applications that require superior corrosion resistance and/or high load capability. Certain space mechanisms fall into one or both of those categories. Often, due to size and mass considerations, space mechanism systems are limited in torque margin and necessarily require small, precision-instrument bearings with very little frictional drag (i.e., low torque). In addition, space mechanism bearings must survive launch conditions without suffering raceway dents known as brinnelling, which would increase operating torque and reduce overall smoothness. Consequently, a bearing material or design that reduces or eliminates brinnelling under high contact stress conditions would represent a beneficial technology advancement. One specific alloy, nickel-titanium-hafnium (NiTi-Hf), under development for several years at the NASA Glenn Research Center as a bearing material, has the potential to mitigate concerns about brinnelling under extreme load conditions due to its unusually high elastic strain capability. In the present work, a sample of small precision bearings produced with three different ball materials (steel, ceramic, and NiTi-Hf) is subjected to a range of load conditions sufficient to dent the races. The dent depth as a function of load is compared and demonstrates that NiTi-Hf has the potential to increase bearing load capacity from the perspective of brinnelling under severe load conditions; additional testing of full NiTi-Hf bearings demonstrates corrosion resistance superior to that of 440C bearings.

Bearings↗

Quantifying the benefits of improved satellite remote-sensing observations for inverse modeling of NOx and NMVOC emissions

This study aims to demonstrate the benefits of using novel high spatiotemporal retrieval products from newer satellites for top-down emission estimates of nitrogen oxides (NO x ) and non-methane volatile organic compounds (NMVOCs) for the summer of 2019 over the contiguous United States. Recent satellite retrievals have not only advanced spatiotemporal resolution but also greatly reduced error and uncertainty due to reduced noise in the retrievals compared to spaceborne sensors launched in the past. We applied inverse modeling techniques using tropospheric nitrogen dioxide (NO 2 ) and formaldehyde (H-CHO) column retrieval products from the Ozone Monitoring Instrument (OMI) and TROPOspheric Monitoring Instrument (TROPOMI) in conjunction with the Weather Research Forecast and Community Multiscale Air Quality Modeling system (WRF-CMAQ). In order to provide a better representation of background chemical composition and avoid misalignment of emission adjustment, we applied monthly scaling factors for ozone (O 3 ) and CO boundary concentrations in addition to the inclusion of lightning and aviation emissions. Satellite-constrained NO x and NMVOCs posterior emissions showed a mitigated discrepancy between observed and modeled columns. The improvement in the model performance was greater when using TROPOMI, primarily benefiting from reduced errors/biases of the satellite retrievals that enabled us to explore corresponding changes in O 3 concentrations and production sensitivity regimes using the ratio of H-CHO and NO 2 .

remote sensing↗

ARRISTOTLE Simulation Demo

NASA’s Katherine Johnson Independent Verification and Validation (NASA IV&V) Jon McBride Software Testing and Research (JSTAR) laboratory has developed the Advanced Risk Reduction Integrated Software Test and Operations Tri-program Lightweight Environment (ARRISTOTLE). ARRISTOTLE is a digital twin of NASA’s Artemis mission. ARRISTOLE executes the true SLS and Orion flight binaries integrated on a single laptop computer. This demo will showcase the execution of the full Artemis liftoff. Once airborne, an inflight anomaly will be injected, resulting in Orion detaching from the booster. The Launch Abort System (LAS) will safely bring Orion back to earth. The Unity game engine is used to visualize the flyout as flight software executes.

emulation↗

Complementarities of GEO and LEO IR Sounders for Numerical Weather Prediction in an OSSE Framework

Preparations are underway for the United States’ weather satellite program and the expected advancements in the coming decade. Among these changes is the launch of the proposed NOAA/NASA Geostationary eXtended Observations (GeoXO) Sounder (GXS), coordinated with international counterparts, to form a global ring of hyperspectral infrared (IR) sounders. Coincident with the progress of IR sounders from GEO platforms, the future of low Earth orbit (LEO) sounders is being re-envisioned after decades of beneficial impact in numerical weather prediction (NWP) systems. To address questions about the utility of the two platform types in concert, the Global Modeling and Assimilation Office (GMAO) Observing System Simulation Experiment (OSSE) framework was used to examine the roles of GEO and LEO sounders and their impact on forecast error reduction. Overall, inclusion of both types of platforms in the satellite program produces the largest forecast error reduction with LEO sounders having a strong impact on global skill and GEO sounders providing the most benefit on the scale of targeted regions.

Erica McGrath-Spangler↗

DIII-D research advancing the physics basis for optimizing the tokamak approach to fusion energy

DIII-D physics research addresses critical challenges for the operation of ITER and the next generation of fusion energy devices. This is done through a focus on innovations to provide solutions for high performance long pulse operation, coupled with fundamental plasma physics understanding and model validation, to drive scenario development by integrating high performance core and boundary plasmas. Substantial increases in off-axis current drive efficiency from an innovative top launch system for EC power, and in pressure broadening for Alfven eigenmode control from a co-/counter-I p steerable off-axis neutral beam, all improve the prospects for optimization of future long pulse/steady state high performance tokamak operation. Fundamental studies into the modes that drive the evolution of the pedestal pressure profile and electron vs ion heat flux validate predictive models of pedestal recovery after ELMs. Understanding the physics mechanisms of ELM control and density pumpout by 3D magnetic perturbation fields leads to confident predictions for ITER and future devices. Validated modeling of high-Z shattered pellet injection for disruption mitigation, runaway electron dissipation, and techniques for disruption prediction and avoidance including machine learning, give confidence in handling disruptivity for future devices. For the non-nuclear phase of ITER, two actuators are identified to lower the L–H threshold power in hydrogen plasmas. With this physics understanding and suite of capabilities, a high poloidal beta optimized-core scenario with an internal transport barrier that projects nearly to Q = 10 in ITER at ~8 MA was coupled to a detached divertor, and a near super H-mode optimized-pedestal scenario with co-I p beam injection was coupled to a radiative divertor. The hybrid core scenario was achieved directly, without the need for anomalous current diffusion, using off-axis current drive actuators. Also, a controller to assess proximity to stability limits and regulate β N in the ITER baseline scenario, based on plasma response to probing 3D fields, was demonstrated. Finally, innovative tokamak operation using a negative triangularity shape showed many attractive features for future pilot plant operation.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Parametric Weight Comparison of Current and Proposed Thermal Protection System (TPS) Concepts

A parametric weight assessment of advanced metallic panel, ceramic blanket, and ceramic tile thermal protection systems (TPS) was conducted using an implicit, one-dimensional (1 -D) thermal finite element sizing code. This sizing code contained models to ac- count for coatings, fasteners, adhesives, and strain isolation pads. Atmospheric entry heating profiles for two vehicles, the Access to Space (ATS) rocket-powered single-stage-to-orbit (SSTO) vehicle and a proposed Reusable Launch Vehicle (RLV), were used to ensure that the trends were not unique to a particular trajectory. Eight TPS concepts were compared for a range of applied heat loads and substructural heat capacities to identify general trends. This study found the blanket TPS concepts have the lightest weights over the majority of their applicable ranges, and current technology ceramic tiles and metallic TPS concepts have similar weights. A proposed, state-of-the-art metallic system which uses a higher temperature alloy and efficient multilayer insulation was predicted to be significantly lighter than the ceramic tile systems and approaches blanket TPS weights for higher integrated heat loads.

Myers, David E.↗

Growing crops for space explorers on the moon, Mars, or in space

An option in the long-duration exploration of space, whether on the Moon or Mars or in a spacecraft on its way to Mars or the asteroids, is to utilize a bioregenerative life-support system in addition to the physicochemical systems that will always be necessary. Green plants can use the energy of light to remove carbon dioxide from the atmosphere and add oxygen to it while at the same time synthesizing food for the space travelers. The water that crop plants transpire can be condensed in pure form, contributing to the water purification system. An added bonus is that green plants provide a familiar environment for humans far from their home planet. The down side is that such a bioregenerative life-support system--called a controlled environment life-support system (CELSS) in this paper--must be highly complex and relatively massive to maintain a proper composition of the atmosphere while also providing food. Thus, launch costs will be high. Except for resupply and removal of nonrecycleable substances, such a system is nearly closed with respect to matter but open with respect to energy. Although a CELSS facility is small compared to the Earth's biosphere, it must be large enough to feed humans and provide a suitable atmosphere for them. A functioning CELSS can only be created with the help of today's advanced technology, especially computerized controls. Needed are energy for light, possibly from a nuclear power plant, and equipment to provide a suitable environment for plant growth, including a way to supply plants with the necessary mineral nutrients. All this constitutes the biomass production unit. There must also be food preparation facilities and a means to recycle or dispose of waste materials and there must be control equipment to keep the facility running. Humans are part of the system as well as plants and possibly animals. Human brain power will often be needed to keep the system functional in spite of the best computer-driven controls. The particulars of a CELSS facility depend strongly on where it is to be located. The presence of gravity on the Moon and Mars simplifies the design for a facility on those bodies, but a spacecraft in microgravity is a much more challenging environment. One problem is that plants, which are very sensitive to gravity, might not grow and produce food in the virtual absence of gravity. However, the experience with growing super-dwarf wheat in the Russian space station Mir, while not entirely successful because of the sterile wheat heads, was highly encouraging. The plants grew well for 123 days, producing more biomass than had been produced in space before. This was due to the high photon flux available to the plants and the careful control of substrate moisture. The sterile heads were probably due to the failure to remove the gaseous plant hormone, ethylene, from the Mir atmosphere. Since ethylene can easily be removed, it should be possible to grow wheat and other crops in microgravity with the production of viable seeds. On the ground Biosphere-2 taught us several lessons about the design and construction of a CELSS facility, but Bios-3 came much closer to achieving the goals of such a facility. Although stability was never completely reached, Bios-3 was much more stable than Biosphere-2 apparently because every effort was made to keep the system simple and to use the best technology available to maintain control. Wastes were not recycled in Bios-3 except for urine, and inedible plant materials were incinerated to restore CO2 to the atmosphere. Since much meat (about 20% of calories) was imported, closure in the Bios-3 experiments was well below 100%. But then, a practical CELSS on the Moon might also depend on regular resupply from Earth. Several important lessons have been learned from the CELSS research described in this review.

Review↗