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NASA NTRS1996

An Overview of Controls and Flying Qualities Technology on the F/A-18 High Alpha Research Vehicle

The NASA F/A-18 High Alpha Research Vehicle (HARV) has been the flight test bed of a focused technology effort to significantly increase maneuvering capability at high angles of attack. Development and flight test of control law design methodologies, handling qualities metrics, performance guidelines, and flight evaluation maneuvers are described. The HARV has been modified to include two research control effectors, thrust vectoring, and actuated forebody strakes in order to provide increased control power at high angles of attack. A research flight control system has been used to provide a flexible, easily modified capability for high-angle-of-attack research controls. Different control law design techniques have been implemented and flight-tested, including eigenstructure assignment, variable gain output feedback, pseudo controls, and model-following. Extensive piloted simulation has been used to develop nonlinear performance guide-lines and handling qualities criteria for high angles of attack. This paper reviews the development and evaluation of technologies useful for high-angle-of-attack control. Design, development, and flight test of the research flight control system, control laws, flying qualities specifications, and flight test maneuvers are described. Flight test results are used to illustrate some of the lessons learned during flight test and handling qualities evaluations.

Pahle, Joseph W.↗

NASA NTRS1999

A Methodology for Investigating Adaptive Postural Control

Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of overt goals. It follows that an essential characteristic of postural behavior is the effective maintenance of the orientation and stability of the sensory and motor "platforms" (e.g., head or shoulders) over variations in the human, the environment and the task. This general skill suggests that individuals should be sensitive to the functional consequences of body configuration and stability. In other words, individuals should perceive the relation between configuration, stability, and performance so that they can adaptively control their interaction with the surroundings. Human-environment interactions constitute robust systems in that individuals can maintain the stability of such interactions over uncertainty about and variations in the dynamics of the interaction. Robust interactions allow individuals to adopt orientations and configurations that are not optimal with respect to purely energetic criteria. Individuals can tolerate variation in postural states, and such variation can serve an important function in adaptive systems. Postural variability generates stimulation which is "textured" by the dynamics of the human-environment system. The texture or structure in stimulation provides information about variation in dynamics, and such information can be sufficient to guide adaption in control strategies. Our method were designed to measure informative patterns of movement variability.

McDonald, P. V.↗

NASA NTRS2000

Cleaning at the Edge of Science: NASA's Genesis Mission

As part of NASA's continuing exploration of the origins of our solar system, the California Institute of Technology, Jet Propulsion Laboratory, Lockheed Martin Astronautics, Los Alamos National Laboratory, and the Johnson Space Center are working together to develop the Genesis mission to return solar matter for analysis in terrestrial laboratories. These samples will be used to define a baseline for the chemical and isotopic composition of the solar nebula. Deviations from the baseline resulted as the solar system evolved; thus, providing a tracer for materials incorporated into meteorites, comets and planetary bodies. These differences represent "fossil residues" that provide invaluable insight into how the solar nebula evolved to form the planets. We cannot collect a sample of the Sun as we would for a planet; fortunately, solar material comes to us in the form of the solar wind. Ultrapure materials will be exposed at the Earth-Sun L1, outside the Earth's magnetic influence, where solar wind nuclei will be captured for 2 years before returning to Earth in January 2001. The key challenge to obtaining a good sample of solar wind, uncontaminated by terrestrial atoms, is a clean collection surface in a clean sample canister and clean facilities with which to handle the samples for allocation and future reference. The Johnson Space Center QSQ is responsible for contamination control for the mission, for ensuring the cleanliness of collection surfaces and providing a clean environment for their subsequent handling. The level of cleanliness required is high; at the time of analysis (after sample return), the surface contamination by C, N, O must each be less than 10(exp 15) atoms per centimeter squared and for elements other than C, N, O, the number of atoms per centimeter squared of each surface contaminant shall not exceed the estimated solar wind fluence of the species (varies by element between U at approx. 10 (exp 4) atoms per centimeter squared to Fe, Si, Mg, and Ne at approx. 10(exp 12), atoms per centimeter squared). Typical spacecraft assembly is done in class 10,000 cleanrooms. The final cleaning and reintegration of the Genesis payload canister as well as all sample material handling will be done within a class 10 cleanroom using Dryden suits to protect the collector materials from any human debris. Each component is unique, no standard size, shape, material, or precleaning history. We are developing new final cleaning techniques utilizing ultra-pure water to minimize molecular residues on the hardware components.

Stansbery, Eileen K.↗

NASA NTRS1999

A Framework for Dynamic Constraint Reasoning Using Procedural Constraints

Many complex real-world decision and control problems contain an underlying constraint reasoning problem. This is particularly evident in a recently developed approach to planning, where almost all planning decisions are represented by constrained variables. This translates a significant part of the planning problem into a constraint network whose consistency determines the validity of the plan candidate. Since higher-level choices about control actions can add or remove variables and constraints, the underlying constraint network is invariably highly dynamic. Arbitrary domain-dependent constraints may be added to the constraint network and the constraint reasoning mechanism must be able to handle such constraints effectively. Additionally, real problems often require handling constraints over continuous variables. These requirements present a number of significant challenges for a constraint reasoning mechanism. In this paper, we introduce a general framework for handling dynamic constraint networks with real-valued variables, by using procedures to represent and effectively reason about general constraints. The framework is based on a sound theoretical foundation, and can be proven to be sound and complete under well-defined conditions. Furthermore, the framework provides hybrid reasoning capabilities, as alternative solution methods like mathematical programming can be incorporated into the framework, in the form of procedures.

Jonsson, Ari K.↗

NASA NTRS1999

Bring'em Back Alive or at Least Carefully

Within the next decade, the world's space agencies plan to launch a variety of robotic spacecraft that will return samples from the surface of Mars, the tail of a comet, the nucleus of a comet, the surface of an asteroid, and the solar wind. Most of these places are not considered likely spots for life, but any mission returning from a location with the potential for harboring life will require special containment and handling because of the possible inclusion of living entities within returned samples. In its 1997 report on sample return from Mars, the Space Studies Board of the National Research Council (NRC) noted that the only risk of significant adverse effects would be from returning a replicating organism. Furthermore, the report noted: 'While the probability of returning a replicating biological entity in a sample from Mars' is judged to be low and the risk of pathogenic or ecological effects is lower still, the risk is not zero. Therefore, it is reasonable that NASA adopt a prudent approach, erring on the side of caution and safety when dealing with returned samples. More recently, a 1998 NRC report on small solar system bodies (asteroids, comets, planetary satellites, and interplanetary dust) recommended a similarly cautious approach for samples returned from anywhere else within the solar system that could have environmental conditions conducive for harboring life. We have not detected life elsewhere in the solar system, at least not yet. Nonetheless, the rationale behind the conservative approach to sample handling is similar to the environmental, health, and safety measures taken on Earth when transporting or handling infectious agents or importing non-native organisms to a new area. Better safe than sorry.

Race, Margaret S.↗

NASA NTRS2002

A Draft Protocol for Detecting Possible Biohazards in Martian Samples Returned to Earth

In preparation for missions to Mars that will involve the return of samples, it is necessary to prepare for the safe receiving, handling, testing, distributing, and archiving of martian materials here on Earth. Previous groups and committees have studied selected aspects of sample return activities, but a specific protocol for handling and testing of returned -=1 samples from Mars remained to be developed. To refine the requirements for Mars sample hazard testing and to develop criteria for the subsequent release of sample materials from precautionary containment, NASA Planetary Protection Officer, working in collaboration with CNES, convened a series of workshops to produce a Protocol by which returned martian sample materials could be assessed for biological hazards and examined for evidence of life (extant or extinct), while safeguarding the samples from possible terrestrial contamination. The Draft Protocol was then reviewed by an Oversight and Review Committee formed specifically for that purpose and composed of senior scientists. In order to preserve the scientific value of returned martian samples under safe conditions, while avoiding false indications of life within the samples, the Sample Receiving Facility (SRF) is required to allow handling and processing of the Mars samples to prevent their terrestrial contamination while maintaining strict biological containment. It is anticipated that samples will be able to be shipped among appropriate containment facilities wherever necessary, under procedures developed in cooperation with international appropriate institutions. The SRF will need to provide different types of laboratory environments for carrying out, beyond sample description and curation, the various aspects of the protocol: Physical/Chemical analysis, Life Detection testing, and Biohazard testing. The main principle of these tests will be described and the criteria for release will be discussed, as well as the requirements for the SRF and its personnel.

Viso, M.↗

NASA NTRS2002

Program Instrumentation and Trace Analysis

Several attempts have been made recently to apply techniques such as model checking and theorem proving to the analysis of programs. This shall be seen as a current trend to analyze real software systems instead of just their designs. This includes our own effort to develop a model checker for Java, the Java PathFinder 1, one of the very first of its kind in 1998. However, model checking cannot handle very large programs without some kind of abstraction of the program. This paper describes a complementary scalable technique to handle such large programs. Our interest is turned on the observation part of the equation: How much information can be extracted about a program from observing a single execution trace? It is our intention to develop a technology that can be applied automatically and to large full-size applications, with minimal modification to the code. We present a tool, Java PathExplorer (JPaX), for exploring execution traces of Java programs. The tool prioritizes scalability for completeness, and is directed towards detecting errors in programs, not to prove correctness. One core element in JPaX is an instrumentation package that allows to instrument Java byte code files to log various events when executed. The instrumentation is driven by a user provided script that specifies what information to log. Examples of instructions that such a script can contain are: 'report name and arguments of all called methods defined in class C, together with a timestamp'; 'report all updates to all variables'; and 'report all acquisitions and releases of locks'. In more complex instructions one can specify that certain expressions should be evaluated and even that certain code should be executed under various conditions. The instrumentation package can hence be seen as implementing Aspect Oriented Programming for Java in the sense that one can add functionality to a Java program without explicitly changing the code of the original program, but one rather writes an aspect and compiles it into the original program using the instrumentation. Another core element of JPaX is an observation package that supports the analysis of the generated event stream. Two kinds of analysis are currently supported. In temporal analysis the execution trace is evaluated against formulae written in temporal logic. We have implemented a temporal logic evaluator on finite traces using the Maude rewriting system from SRI International, USA. Temporal logic is defined in Maude by giving its syntax as a signature and its semantics as rewrite equations. The resulting semantics is extremely efficient and can handle event streams of hundreds of millions events in few minutes. Furthermore, the implementation is very succinct. The second form of even stream analysis supported is error pattern analysis where an execution trace is analyzed using various error detection algorithms that can identify error-prone programming practices that may potentially lead to errors in some different executions. Two such algorithms focusing on concurrency errors have been implemented in JPaX, one for deadlocks and the other for data races. It is important to note, that a deadlock or data race potential does not need to occur in order for its potential to be detected with these algorithms. This is what makes them very scalable in practice. The data race algorithm implemented is the Eraser algorithm from Compaq, however adopted to Java. The tool is currently being applied to a code base for controlling a spacecraft by the developers of that software in order to evaluate its applicability.

Havelund, Klaus↗

NASA NTRS2003

Package for Interactive Analysis of Line Emission (Analysis of UV-X-Ray High-Resolution Emission Spectra)

PINTofALE is an IDL based package to analyze high-resolution grating spectra. The first version was made available to the public on 3 February 2001. Since then we have carried out numerous changes, and the current release is version 1.5, released on 9 October 2002. The changes include upgrades to handle higher versions of IDL, the new version of the CHIANTI database (v4), major enhancements in user-friendliness, improved handling of response matrices, the ability to handle 24-bit color, access to the Atomic Plasma Emission Database (APED), and beta releases of Markov Chain Monte Carlo (MCMC) based DEM fitting routines. Plans for the future include: inclusion of MCMC techniques in the fitting programs, enhanced graphics capabilities, an overhaul of the line and continuum database structure, and bug fixes. In September 2002, we hired a data analyst (LiWei Lin) to work on PINTofALE. Mr.Lin is concentrating on incorporating MCMC as well as simpler Monte-Carlo techniques, fast RMF convolution, etc., into the code base, as well as reviewing the existing documentation and searching for bugs. A detailed description of the package, together with fairly detailed documentation, example walks-throughs, and downloadable tar files, are available on-line from http://hea-www. harvard.edu/PINTofALE/

Kashyap, Vinay↗

NASA NTRSDate not supplied

Commanding Constellations (Pipeline Architecture)

Providing ground command software for constellations of spacecraft is a challenging problem. Reliable command delivery requires a feedback loop; for a constellation there will likely be an independent feedback loop for each constellation member. Each command must be sent via the proper Ground Station, which may change from one contact to the next (and may be different for different members). Dynamic configuration of the ground command software is usually required (e.g. directives to configure each member's feedback loop and assign the appropriate Ground Station). For testing purposes, there must be a way to insert command data at any level in the protocol stack. The Pipeline architecture described in this paper can support all these capabilities with a sequence of software modules (the pipeline), and a single self-identifying message format (for all types of command data and configuration directives). The Pipeline architecture is quite simple, yet it can solve some complex problems. The resulting solutions are conceptually simple, and therefore, reliable. They are also modular, and therefore, easy to distribute and extend. We first used the Pipeline architecture to design a CCSDS (Consultative Committee for Space Data Systems) Ground Telecommand system (to command one spacecraft at a time with a fixed Ground Station interface). This pipeline was later extended to include gateways to any of several Ground Stations. The resulting pipeline was then extended to handle a small constellation of spacecraft. The use of the Pipeline architecture allowed us to easily handle the increasing complexity. This paper will describe the Pipeline architecture, show how it was used to solve each of the above commanding situations, and how it can easily be extended to handle larger constellations.

Tim Ray↗

NASA NTRS2003

Neural Flight Control System

The Neural Flight Control System (NFCS) was developed to address the need for control systems that can be produced and tested at lower cost, easily adapted to prototype vehicles and for flight systems that can accommodate damaged control surfaces or changes to aircraft stability and control characteristics resulting from failures or accidents. NFCS utilizes on a neural network-based flight control algorithm which automatically compensates for a broad spectrum of unanticipated damage or failures of an aircraft in flight. Pilot stick and rudder pedal inputs are fed into a reference model which produces pitch, roll and yaw rate commands. The reference model frequencies and gains can be set to provide handling quality characteristics suitable for the aircraft of interest. The rate commands are used in conjunction with estimates of the aircraft s stability and control (S&C) derivatives by a simplified Dynamic Inverse controller to produce virtual elevator, aileron and rudder commands. These virtual surface deflection commands are optimally distributed across the aircraft s available control surfaces using linear programming theory. Sensor data is compared with the reference model rate commands to produce an error signal. A Proportional/Integral (PI) error controller "winds up" on the error signal and adds an augmented command to the reference model output with the effect of zeroing the error signal. In order to provide more consistent handling qualities for the pilot, neural networks learn the behavior of the error controller and add in the augmented command before the integrator winds up. In the case of damage sufficient to affect the handling qualities of the aircraft, an Adaptive Critic is utilized to reduce the reference model frequencies and gains to stay within a flyable envelope of the aircraft.

Gundy-Burlet, Karen↗

NASA NTRS2002

Evaluation of Flying Qualities and Guidance Displays for an Advanced Tilt-Wing STOL Transport Aircraft in Final Approach and Landing

A piloted simulation was performed on the Vertical Motion Simulator at NASA Ames Research Center to evaluate flying qualities of a tilt-wing Short Take-Off and Landing (STOL) transport aircraft during final approach and landing. The experiment was conducted to assess the design s handling qualities, and to evaluate the use of flightpath-centered guidance for the precision approach and landing tasks required to perform STOL operations in instrument meteorological conditions, turbulence, and wind. Pilots rated the handling qualities to be satisfactory for all operations evaluated except those encountering extreme crosswinds and severe windshear; even in these difficult meteorological conditions, adequate handling qualities were maintained. The advanced flight control laws and guidance displays provided consistent performance and precision landings.

Frost, Chad R.↗

NASA NTRS2005

Thermal Catalytic Oxidation of Airborne Contaminants by a Reactor Using Ultra-Short Channel Length, Monolithic Catalyst Substrates

Contaminated air, whether in a crewed spacecraft cabin or terrestrial work and living spaces, is a pervasive problem affecting human health, performance, and well being. The need for highly effective, economical air quality processes spans a wide range of terrestrial and space flight applications. Typically, air quality control processes rely on absorption-based processes. Most industrial packed-bed adsorption processes use activated carbon. Once saturated, the carbon is either dumped or regenerated. In either case, the dumped carbon and concentrated waste streams constitute a hazardous waste that must be handled safely while minimizing environmental impact. Thermal catalytic oxidation processes designed to address waste handling issues are moving to the forefront of cleaner air quality control and process gas decontamination processes. Careful consideration in designing the catalyst substrate and reactor can lead to more complete contaminant destruction and poisoning resistance. Maintenance improvements leading to reduced waste handling and process downtime can also be realized. Performance of a prototype thermal catalytic reaction based on ultra-short waste channel, monolith catalyst substrate design, under a variety of process flow and contaminant loading conditions, is discussed.

Perry, J. L.↗

NASA NTRS2006

Demonstration of an Ice Contamination Effects Flight Training Device

The development of a piloted flight simulator called the Ice Contamination Effects Flight Training Device (ICEFTD) was recently completed. This device demonstrates the ability to accurately represent an iced airplane s flight characteristics and is utilized to train pilots in recognizing and recovering from aircraft handling anomalies that result from airframe ice formations. The ICEFTD was demonstrated at three recent short courses hosted by the University of Tennessee Space Institute. It was also demonstrated to a group of pilots at the National Test Pilot School. In total, eighty-four pilots and flight test engineers from industry and the regulatory community spent approximately one hour each in the ICEFTD to get a "hands on" lesson of an iced airplane s reduced performance and handling qualities. Additionally, pilot cues of impending upsets and recovery techniques were demonstrated. The purpose of this training was to help pilots understand how ice contamination affects aircraft handling so they may apply that knowledge to the operations of other aircraft undergoing testing and development. Participant feedback on the ICEFTD was very positive. Pilots stated that the simulation was very valuable, applicable to their occupations, and provided a safe way to explore the flight envelope. Feedback collected at each demonstration was also helpful to define additional improvements to the ICEFTD; many of which were then implemented in subsequent demonstrations

Ratvasky, Thomas P.↗

NASA NTRS2006

The K9 On-Board Rover Architecture

This paper describes the software architecture of NASA Ames Research Center s K9 rover. The goal of the onboard software architecture team was to develop a modular, flexible framework that would allow both high- and low-level control of the K9 hardware. Examples of low-level control are the simple drive or pan/tilt commands which are handled by the resource managers, and examples of high-level control are the command sequences which are handled by the conditional executive. In between these two control levels are complex behavioral commands which are handled by the pilot, such as drive to goal with obstacle avoidance or visually servo to a target. This paper presents the design of the architecture as of Fall 2000. We describe the state of the architecture implementation as well as its current evolution. An early version of the architecture was used for K9 operations during a dual-rover field experiment conducted by NASA Ames Research Center (ARC) and the Jet Propulsion Laboratory (JPL) from May 14 to May 16, 2000.

Bresina, John L.↗

NASA NTRS2006

Comanche Helmet-Mounted Display Heading-Tape Simulation

The Aeroflightdynamics Directorate (AMRDEC) conducted a simulation to assess the performance associated with a Contact Analog, world-referenced heading tape as implemented on the Comanche Helmet Integrated Display Sight System (HIDSS) when compared with a Compressed heading tape similar to that specified by the former Military Standard (MIL-STD) 1295. Six experienced pilots flew three modified Aeronautical Design Standards (ADS)-33 maneuvers (Hover Turn, Bob-up, Transient Turn) and a precision traffic pattern in the NASA Vertical Motion Simulator (VMS). Analysis of the pilot objective performance data and subjective handling qualities ratings (HQRs) showed the following: Compressed symbology in the Velocity Stabilization (VelStab) flight mode generally produced the most precise performances over Contact Analog symbology with respect to the heading, altitude, position, and time criteria specified for the maneuvers tested. VelStab outperformed the Automatic Flight Control System (AFCS) on all maneuvers achieving desired performance on most maneuvers for both symbol sets. Performance in the AFCS mode was generally desirable to adequate for heading and altitude and did not meet adequate standards for hover position and time for the Hover Turn and Bob-up maneuvers. VelStab and AFCS performance were nearly the same for the Transient Turn. Pilot comments concerning the Contact Analog heading-tape implementation were generally unfavorable in spite of the achieved levels of performance. HQRs showed Compressed symbology in the VelStab flight mode produced the lowest mean HQR, encompassing mixed ratings of satisfactory handling and needing improvement. All other symbology/flight-mode combinations yielded higher HQRs, which characterized opinions that deficiencies in aircraft handling due to HMD symbology would need improvement. Contact Analog heading tape and other symbology require improvement, especially when operating in the AFCS mode. NASA-TLX rated Compressed symbology in the VelStab flight mode as the least demanding on resources, closely followed by ratings for Contact Analog in the VelStab mode. In a similar pattern, TLX ratings for maneuvers completed in the AFCS mode yielded a higher level of resource demand with even slighter differences between Contact Analog and Compressed symbology sets. Further research should be conducted where objective data and subjective HQR ratings indicate a need for improvement. The areas requiring attention are those where the symbology implementation, the flight control system, or a combination of both caused workload to reach an objectionable level where adequate performance was either difficult to achieve or unachievable. These areas are clearly identified in this report. Symbology that received negative HQR comments by a majority of pilots should also be examined. The summary of pilot comments can be found in appendix A. Additional simulation trials should be considered to address the identified issues.

Turpin, Terry↗

NASA NTRS2007

Simple and Efficient Numerical Evaluation of Near-Hypersingular Integrals

Recently, significant progress has been made in the handling of singular and nearly-singular potential integrals that commonly arise in the Boundary Element Method (BEM). To facilitate object-oriented programming and handling of higher order basis functions, cancellation techniques are favored over techniques involving singularity subtraction. However, gradients of the Newton-type potentials, which produce hypersingular kernels, are also frequently required in BEM formulations. As is the case with the potentials, treatment of the near-hypersingular integrals has proven more challenging than treating the limiting case in which the observation point approaches the surface. Historically, numerical evaluation of these near-hypersingularities has often involved a two-step procedure: a singularity subtraction to reduce the order of the singularity, followed by a boundary contour integral evaluation of the extracted part. Since this evaluation necessarily links basis function, Green s function, and the integration domain (element shape), the approach ill fits object-oriented programming concepts. Thus, there is a need for cancellation-type techniques for efficient numerical evaluation of the gradient of the potential. Progress in the development of efficient cancellation-type procedures for the gradient potentials was recently presented. To the extent possible, a change of variables is chosen such that the Jacobian of the transformation cancels the singularity. However, since the gradient kernel involves singularities of different orders, we also require that the transformation leaves remaining terms that are analytic. The terms "normal" and "tangential" are used herein with reference to the source element. Also, since computational formulations often involve the numerical evaluation of both potentials and their gradients, it is highly desirable that a single integration procedure efficiently handles both.

Fink, Patrick W.↗

NASA NTRS2007

Effective Training for Flight in Icing Conditions

Barnhart, Billy P.↗

NASA NTRS2007

Robotics

Lunar robotic functions include: 1. Transport of crew and payloads on the surface of the moon; 2. Offloading payloads from a lunar lander; 3. Handling the deployment of surface systems; with 4. Human commanding of these functions from inside a lunar vehicle, habitat, or extravehicular (space walk), with Earth-based supervision. The systems that will perform these functions may not look like robots from science fiction. In fact, robotic functions may be automated trucks, cranes and winches. Use of this equipment prior to the crew s arrival or in the potentially long periods without crews on the surface, will require that these systems be computer controlled machines. The public release of NASA's Exploration plans at the 2nd Space Exploration Conference (Houston, December 2006) included a lunar outpost with as many as four unique mobility chassis designs. The sequence of lander offloading tasks involved as many as ten payloads, each with a unique set of geometry, mass and interface requirements. This plan was refined during a second phase study concluded in August 2007. Among the many improvements to the exploration plan were a reduction in the number of unique mobility chassis designs and a reduction in unique payload specifications. As the lunar surface system payloads have matured, so have the mobility and offloading functional requirements. While the architecture work continues, the community can expect to see functional requirements in the areas of surface mobility, surface handling, and human-systems interaction as follows: Surface Mobility 1. Transport crew on the lunar surface, accelerating construction tasks, expanding the crew s sphere of influence for scientific exploration, and providing a rapid return to an ascent module in an emergency. The crew transport can be with an un-pressurized rover, a small pressurized rover, or a larger mobile habitat. 2. Transport Extra-Vehicular Activity (EVA) equipment and construction payloads. 3. Transport habitats and power modules over long distances, pre-positioning them for the arrival of crew on a subsequent lander. Surface Handling 1. Offload surface system payloads from the lander, breaking launch restraints and power/data connections. Payloads may be offloaded to a wheeled vehicle for transport. 2. Deploy payloads from a wheeled vehicle at a field site, placing the payloads in their final use site on the ground or mating them with existing surface systems. 3. Support regolith collection, site preparation, berm construction, or other civil engineering tasks using tools and implements attached to rovers. Human-Systems Interaction 1. Provide a safe command and control interface for suited EVA to ride on and drive the vehicles, making sure that the systems are also safe for working near dismounted crew. 2. Provide an effective control system for IV crew to tele-operate vehicles, cranes and other equipment from inside the surface habitats with evolving independence from Earth. .. Provide a supervisory system that allows machines to be commanded from the ground, working across the Earth-Lunar time delays on the order of 5-10 seconds (round trip) to support operations when crew are not resident on the surface. Technology Development Needs 1. Surface vehicles that can dock, align and mate with outpost equipment such as landers, habitats and fluid/power interfaces. 2. Long life motors, drive trains, seals, motor electronics, sensors, processors, cable harnesses, and dash board displays. 3. Active suspension control, localization, high speed obstacle avoidance, and safety systems for operating near dismounted crew. 4. High specific energy and specific power batteries that are safe, rechargeable, and long lived.

Ambrose, Robert O.↗