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Computer system evolution requirements for autonomous checkout of exploration vehicles

This study, now in its third year, has had the overall objective and challenge of determining the needed hooks and scars in the initial Space Station Freedom (SSF) system to assure that on-orbit assembly and refurbishment of lunar and Mars spacecraft can be accomplished with the maximum use of automation. In this study automation is all encompassing and includes physical tasks such as parts mating, tool operation, and human visual inspection, as well as non-physical tasks such as monitoring and diagnosis, planning and scheduling, and autonomous visual inspection. Potential tasks for automation include both extravehicular activity (EVA) and intravehicular activity (IVA) events. A number of specific techniques and tools have been developed to determine the ideal tasks to be automated, and the resulting timelines, changes in labor requirements and resources required. The Mars/Phobos exploratory mission developed in FY89, and the Lunar Assembly/Refurbishment mission developed in FY90 and depicted in the 90 Day Study as Option 5, have been analyzed in detailed in recent years. The complete methodology and results are presented in FY89 and FY90 final reports.

Davis, Tom↗

Columbia Accident Investigation Board. Volume One

The Columbia Accident Investigation Board's independent investigation into the February 1, 2003, loss of the Space Shuttle Columbia and its seven-member crew lasted nearly seven months. A staff of more than 120, along with some 400 NASA engineers, supported the Board's 13 members. Investigators examined more than 30,000 documents, conducted more than 200 formal interviews, heard testimony from dozens of expert witnesses, and reviewed more than 3,000 inputs from the general public. In addition, more than 25,000 searchers combed vast stretches of the Western United States to retrieve the spacecraft's debris. In the process, Columbia's tragedy was compounded when two debris searchers with the U.S. Forest Service perished in a helicopter accident. This report concludes with recommendations, some of which are specifically identified and prefaced as 'before return to flight.' These recommendations are largely related to the physical cause of the accident, and include preventing the loss of foam, improved imaging of the Space Shuttle stack from liftoff through separation of the External Tank, and on-orbit inspection and repair of the Thermal Protection System. The remaining recommendations, for the most part, stem from the Board's findings on organizational cause factors. While they are not 'before return to flight' recommendations, they can be viewed as 'continuing to fly' recommendations, as they capture the Board's thinking on what changes are necessary to operate the Shuttle and future spacecraft safely in the mid- to long-term. These recommendations reflect both the Board's strong support for return to flight at the earliest date consistent with the overriding objective of safety, and the Board's conviction that operation of the Space Shuttle, and all human space-flight, is a developmental activity with high inherent risks.

SPACE SHUTTLE COLUMBIA↗

Neck afferent involvement in cardiovascular control during movement

It is well established that labyrinth and neck afferent information contributes to the regulation of somatomotor function during movement and changes in posture. There is also convincing evidence that the vestibular system participates in the modulation of sympathetic outflow and cardiovascular function during changes in posture, presumably to prevent orthostatic hypotension. However, the labyrinth organs do not provide any signals concerning body movements with respect to the head. In contrast, the neck receptors, particularly muscle spindles, are well located and suited to provide information about changes in body position with respect to the head and vestibular signals. Studies in the cat suggest that neck afferent information may modulate the vestibulosympathetic reflex responses to head-neck movements. There is some evidence in the cat to suggest involvement of low threshold mechanoreceptors. However, human studies do not indicate that low threshold mechanoreceptors in the neck modulate cardiovascular responses. The human studies are consistent with the studies in the cat in that they demonstrate the importance of otolith activation in mediating cardiovascular and sympathetic responses to changes in posture. This paper briefly reviews the current experimental evidence concerning the involvement of neck afferent information in the modulation of cardiovascular control during movement and changes in posture.

Review↗

A Mars Sample Return Sample Handling System

We present a sample handling system, a subsystem of the proposed Dragon landed Mars Sample Return (MSR) mission [1], that can return to Earth orbit a significant mass of frozen Mars samples potentially consisting of: rock cores, subsurface drilled rock and ice cuttings, pebble sized rocks, and soil scoops. The sample collection, storage, retrieval and packaging assumptions and concepts in this study are applicable for the NASA's MPPG MSR mission architecture options [2]. Our study assumes a predecessor rover mission collects samples for return to Earth to address questions on: past life, climate change, water history, age dating, understanding Mars interior evolution [3], and, human safety and in-situ resource utilization. Hence the rover will have "integrated priorities for rock sampling" [3] that cover collection of subaqueous or hydrothermal sediments, low-temperature fluidaltered rocks, unaltered igneous rocks, regolith and atmosphere samples. Samples could include: drilled rock cores, alluvial and fluvial deposits, subsurface ice and soils, clays, sulfates, salts including perchlorates, aeolian deposits, and concretions. Thus samples will have a broad range of bulk densities, and require for Earth based analysis where practical: in-situ characterization, management of degradation such as perchlorate deliquescence and volatile release, and contamination management. We propose to adopt a sample container with a set of cups each with a sample from a specific location. We considered two sample cups sizes: (1) a small cup sized for samples matching those submitted to in-situ characterization instruments, and, (2) a larger cup for 100 mm rock cores [4] and pebble sized rocks, thus providing diverse samples and optimizing the MSR sample mass payload fraction for a given payload volume. We minimize sample degradation by keeping them frozen in the MSR payload sample canister using Peltier chip cooling. The cups are sealed by interference fitted heat activated memory alloy caps [5] if the heating does not affect the sample, or by crimping caps similar to bottle capping. We prefer cap sealing surfaces be external to the cup rim to prevent sample dust inside the cups interfering with sealing, or, contamination of the sample by Teflon seal elements (if adopted). Finally the sample collection rover, or a Fetch rover, selects cups with best choice samples and loads them into a sample tray, before delivering it to the Earth Return Vehicle (ERV) in the MSR Dragon capsule as described in [1] (Fig 1). This ensures best use of the MSR payload mass allowance. A 3 meter long jointed robot arm is extended from the Dragon capsule's crew hatch, retrieves the sample tray and inserts it into the sample canister payload located on the ERV stage. The robot arm has capacity to obtain grab samples in the event of a rover failure. The sample canister has a robot arm capture casting to enable capture by crewed or robot spacecraft when it returns to Earth orbit

Wilson, David↗

A Distributed Simulation-to-Flight Framework to Support Investigating Trust/Trustworthiness in Multi-Agent Systems

As autonomous systems continue to grow both in use and complexity, the necessity for robust and extensible simulation-to-flight frameworks is paramount for establishing an effective architecture for autonomous systems. Hardware test flights are time-consuming and cost prohibitive during early system design and development. Simulation environments can be useful tools to accelerate algorithm development and testing. However, transitions from simulation to flight (sim-to-flight) can be challenging, unless systems are designed with this transition in mind and with the necessary capabilities built into the architecture and framework. One of the objectives of Autonomy Teaming and TRAjectories for Complex Trusted Operational Reliability (ATTRACTOR) was to design and develop a distributed mixed-reality simulation environment to begin establishing a basis for certification of autonomous systems via research into trust and trustworthiness. ATTRACTOR’s objective was to construct computational concepts of trustworthiness and justifiable trust in multi-agent autonomous teams, to inform future certification of safety-critical and time-critical autonomous systems in aviation. In this paper, we present an autonomous systems architecture and development framework paired with a persistent distributed modeling and simulation (ModSim) environment for test and evaluation of autonomous systems. They were designed under ATTRACTOR in order to measure and establish trustworthiness and trust in single-and multi-agent human-machine systems whether these machines are fixed-wing general aviation, rotary-wing Unmanned Aerial Vehicles (UAVs), ground rovers, or even spacecraft. The Autonomous Entity Operational Network (AEON) framework enables autonomous system development with an easily extensible collection of libraries and plug-n-play nodes facilitated by the Data Distribution Service (DDS) communication protocol standard. The Baseline Environment for Autonomous Modeling (BEAM) simulation environment is a distributed mixed-reality Unity™-based environment built around the same DDS communication paradigm allowing for easy integration with AEON-based autonomous applications, enabling sim-to-flight with minimal configuration changes. Using AEON and BEAM, source code that runs in simulation ports directly to hardware and has successfully flown in the National Airspace System (NAS) at NASA LaRC many times over the lifetime of ATTRACTOR.

Benjamin N Kelley↗

Updated Human Mars Ascent Vehicle Concept in Support of NASA’s Strategic Analysis Cycle 2021

The NASA Artemis program has brought significant change to the agency’s human exploration strategy over the last several years. The human exploration of Mars remains an ultimate objective of the overall human exploration strategy. However, how the agency intends to execute initial human exploration of Mars has shifted to better align with current policy. These changes find their way into the design of key architecture elements, such as the Mars Ascent Vehicle (MAV). Of the numerous changes in the conceptual human Mars architecture, two in particular have had significant impact on the design of the human MAV: the desire for minimal surface infrastructure for initial human Mars missions, and technology investment timelines in support of initial human missions to Mars. The first leads to a surface mission architecture targeting a 30-day surface duration with two crewmembers. The second drives out in-situ resource utilization (ISRU) from the initial sortie. As a result, the reference MAV design for initial human Mars missions in the Human Exploration and Operations Mission Directorate’s Strategic Analysis Cycle 2021 (SAC21) is based around supporting the return of 2 crew from the surface of Mars, without surface ISRU. This has led to several design changes since 2019, when details of a reference human MAV were last published. The MAV concept for SAC21 consists of a two-stage vehicle capable of supporting two crew for 84 hours. This duration is derived from a baseline ascent trajectory targeting an apoapsis rendezvous with the habitation element in a nominal 5-sol Mars aggregation orbit. With the goal of minimizing technology investments for the initial surface sortie removing ISRU from the trade space, the MAV must now be landed either fully loaded with propellant, or with some portion of the propellant off-loaded. Landing a partially-fueled MAV will require additional surface assets to perform robotic propellant transfer on the surface of Mars from a pre-emplaced propellant depot. Furthermore, cryogenic fluid management and storage for extended duration with no losses represents additional technology investment that would have to be made to support cryogenic-based propellant concepts that have been the baseline in past architectures. As a result, the SAC21 architecture utilizes a storable propellant-based MAV propulsion system to minimize these potential technology investments incurred by cryogenic-based propulsion systems. Recent efforts also focused on evaluating the sensitivity of key design parameters, such as landing site latitude, elevation, and local atmospheric conditions. All play a large role in determining the predicted propellant requirements of the MAV. Understanding their potential impacts is important because of the rippling effects of changes to the MAV design on other architecture elements, such as entry, descent, landing, and transportation systems. Results indicate up to +2% to -4% wet mass variation due to landing site latitude, with higher latitudes greater than 70 degrees North resulting in greater than 6% wet mass increases. The MAV saw reduced impact due to atmospheric design parameters, which only accounting for -0.6% to +0.4% wet mass variation.

Douglas J. Trent↗

Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.

use cases↗

NASA's Current Earth Science Program

NASA's Earth science program is a scientific endeavor whose goal is to provide long-term understanding of the Earth as an integrated system of land, water, air and life. A highly developed scientific knowledge of the Earth system is necessary to understand how the environment affects humanity, and how humanity may be affecting the environment. The remote sensing technologies used to gather the global environmental data used in such research also have numerous practical applications. Current applications of remote sensing data demonstrate their practical benefits in areas such as the monitoring of crop conditions and yields, natural disasters and forest fires; hazardous waste clean up; and tracking of vector-borne diseases. The long-term availability of environmental data is essential for the continuity of important research and applications efforts. NASA's Earth observation program has undergone many changes in the recent past.

Charles, Leslie Bermann↗

Using XML and Java Technologies for Astronomical Instrument Control

Traditionally, instrument command and control systems have been highly specialized, consisting mostly of custom code that is difficult to develop, maintain, and extend. Such solutions are initially very costly and are inflexible to subsequent engineering change requests, increasing software maintenance costs. Instrument description is too tightly coupled with details of implementation. NASA Goddard Space Flight Center, under the Instrument Remote Control (IRC) project, is developing a general and highly extensible framework that applies to any kind of instrument that can be controlled by a computer. The software architecture combines the platform independent processing capabilities of Java with the power of the Extensible Markup Language (XML), a human readable and machine understandable way to describe structured data. A key aspect of the object-oriented architecture is that the software is driven by an instrument description, written using the Instrument Markup Language (IML), a dialect of XML. IML is used to describe the command sets and command formats of the instrument, communication mechanisms, format of the data coming from the instrument, and characteristics of the graphical user interface to control and monitor the instrument. The IRC framework allows the users to define a data analysis pipeline which converts data coming out of the instrument. The data can be used in visualizations in order for the user to assess the data in real-time, if necessary. The data analysis pipeline algorithms can be supplied by the user in a variety of forms or programming languages. Although the current integration effort is targeted for the High-resolution Airborne Wideband Camera (HAWC) and the Submillimeter and Far Infrared Experiment (SAFIRE), first-light instruments of the Stratospheric Observatory for Infrared Astronomy (SOFIA), the framework is designed to be generic and extensible so that it can be applied to any instrument. Plans are underway to test the framework with other types of instruments, such as remote sensing earth science instruments.

Ames, Troy↗

The Biosphere: A Decadal Vision

This paper focuses on biosphere-climate interactions including the influences of human activities. Recognizing this is only one aspect of biospheric processes, this places an emphasis of those biogeochemical processes that have a profound effect on numerous other aspects of the biosphere and the services it provides, services which are critical to sustaining life on Earth. And, the paper will focus on the various scientific aspects of assessing the availability of fresh water, including its sensitivity to climate variance and land use changes. Finally, this paper hopes to emphasize the potential role that greatly expanded space observations and interactive modeling can play in developing our understanding of Earth and its the living systems.

Peterson, David L.↗

Neuromuscular activation patterns during treadmill walking after space flight

Astronauts adopt a variety of neuromuscular control strategies during space flight that are appropriate for locomoting in that unique environment, but are less than optimal upon return to Earth. We report here the first systematic investigation of potential adaptations in neuromuscular activity patterns associated with postflight locomotion. Astronaut-subjects were tasked with walking on a treadmill at 6.4 km/h while fixating a visual target 30 cm away from their eyes after space flights of 8-15 days. Surface electromyography was collected from selected lower limb muscles and normalized with regard to mean amplitude and temporal relation to heel strike. In general, high correlations (more than 0.80) were found between preflight and postflight activation waveforms for each muscle and each subject: however relative activation amplitude around heel strike and toe off was changed as a result of flight. The level of muscle cocontraction and activation variability, and the relationship between the phasic characteristics of the ankle musculature in preparation for toe off also were altered by space flight. Subjects also reported oscillopsia during treadmill walking after flight. These findings indicate that, after space flight, the sensory-motor system can generate neuromuscular-activation strategies that permit treadmill walking, but subtle changes in lower-limb neuromuscular activation are present that may contribute to increased lower limb kinematic variability and oscillopsia also present during postflight walking.

Flight Experiment↗

Effects of heavy ions on visual function and electrophysiology of rodents: the ALTEA-MICE project

ALTEA-MICE will supplement the ALTEA project on astronauts and provide information on the functional visual impairment possibly induced by heavy ions during prolonged operations in microgravity. Goals of ALTEA-MICE are: (1) to investigate the effects of heavy ions on the visual system of normal and mutant mice with retinal defects; (2) to define reliable experimental conditions for space research; and (3) to develop animal models to study the physiological consequences of space travels on humans. Remotely controlled mouse setup, applied electrophysiological recording methods, remote particle monitoring, and experimental procedures were developed and tested. The project has proved feasible under laboratory-controlled conditions comparable in important aspects to those of astronauts' exposure to particle in space. Experiments are performed at the Brookhaven National Laboratories [BNL] (Upton, NY, USA) and the Gesellschaft fur Schwerionenforschung mbH [GSI]/Biophysik (Darmstadt, FRG) to identify possible electrophysiological changes and/or activation of protective mechanisms in response to pulsed radiation. Offline data analyses are in progress and observations are still anecdotal. Electrophysiological changes after pulsed radiation are within the limits of spontaneous variability under anesthesia, with only indirect evidence of possible retinal/cortical responses. Immunostaining showed changes (e.g. increased expression of FGF2 protein in the outer nuclear layer) suggesting a retinal stress reaction to high-energy particles of potential relevance in space. c2004 COSPAR. Published by Elsevier Ltd. All rights reserved.

NASA Center JSC↗

Medicine in the Final Frontier Technologies to Enable Autonomous Prolonged (Field) Care in Space

N: The planning and execution of comprehensive “Prolonged Care” strategies are increasingly considered as fundamental operational concepts within the spheres of both military and non-military expeditionary medicine. Numerous advances in recent years have enabled the decentralization of health-related technology that has empowered medical - and even non-medical providers - to offer quality care farther afield and for increasingly extended periods of separation from traditional support structures. However, the operational concepts behind today’s Prolonged Care paradigms are still largely dependent upon external support, including high-bandwidth telemedicine communications technologies (that allow ready access to centralized expertise), robust resupply pathways, and ultimately, on the timely evacuation of the sick and injured. What would happen if none of these support systems were readily available? Extremely remote Prolonged Care is one of the most significant challenges that the National Aeronautics and Space Administration (NASA) faces when preparing to expand human space exploration beyond the International Space Station (ISS) to deep space including the Moon and Mars. Continuous human presence on the International Space Station (ISS) in low Earth orbit for the past 20 years has demonstrated that indeed medical operations can be successfully executed with continuous real-time communications, frequent resupply missions, and the availability of rapid evacuation options. However, as time-distance factors from Earth increase with our pursuit and changing focus towards deep space missions, these resources and capabilities will no longer be available. As a result, space medicine operations will need to become more autonomous and less dependent upon mission support from Earth – requiring our attention and efforts to build robust capabilities that support the ultimate expression of the term “Prolonged Field Care.”

K R Lehnhardt↗

Granger causal inference for climate change attribution

Abstract Climate change detection and attribution (D&A) is concerned with determining the extent to which anthropogenic activities have influenced specific aspects of the global climate system. D&A fits within the broader field of causal inference, the collection of statistical methods that identify cause and effect relationships. There are a wide variety of methods for making attribution statements, each of which require different types of input data and focus on different types of weather and climate events and each of which are conditional to varying extents. Some methods are based on Pearl causality (direct experimental interference) while others leverage Granger (predictive) causality, and the causal framing provides important context for how the resulting attribution conclusion should be interpreted. However, while Granger-causal attribution analyses have become more common, there is no clear statement of their strengths and weaknesses relative to Pearl-causal attribution and no clear consensus on where and when Granger-causal perspectives are appropriate. In this prospective paper, we provide a formal definition for Granger-based approaches to trend and event attribution and a clear comparison with more traditional methods for assessing the human influence on extreme weather and climate events. Broadly speaking, Granger-causal attribution statements can be constructed quickly from observations and do not require computationally-intesive dynamical experiments. These analyses also enable rapid attribution, which is useful in the aftermath of a severe weather event, and provide multiple lines of evidence for anthropogenic climate change when paired with Pearl-causal attribution. Confidence in attribution statements is increased when different methodologies arrive at similar conclusions. Moving forward, we encourage the D&A community to embrace hybrid approaches to climate change attribution that leverage the strengths of both Granger and Pearl causality.

Risser, Mark D. (ORCID:0000000319561783)↗

Medium-scale to large-scale implementation of cyber-physical human experiments in live traffic

Autonomous Vehicles (AVs) such as cars and trucks are being developed and tested as Cyber-Physical Human systems while the technology improves. Before these systems can achieve full autonomy, some serve as tools in the form of adaptive cruise control. The CIRCLES Consortium investigates the potential for AVs to increase fuel efficiency of highway traffic by smoothing “stop-and-go” traffic waves that result from normal human driving behavior in congestion. We have performed an experiment to evaluate the real world effects of implementing this strategy. A medium-scale experiment was performed on I-24 near Nashville, TN in August 2021. This was a precursor to a larger experiment that will take place November 2022. We examine how the human part of the experiment will change as we scale up from an 11 vehicle test (four AVs) to 100 AVs. There are many solutions to problems of the medium-scale experiment that would be inconvenient, complicate the experience, or not be practicable. The medium-scale experiment involved 11 cars of which four had a custom control algorithm installed to be engaged by the driver. The large-scale experiment will have 100 cars, all with custom control algorithm installed to act on traffic when the controller is engaged. We examine key choices made for the medium experiment, and how some will be different for the large experiment. Our experience performing the medium-scale experiment has made it clear that repeating our methods from this smaller one are inefficient or impossible if used for the large-scale experiment and will be improved.

McQuade, Sean T.↗

Design evaluation in technology assessment: Illustrated by auditory impedance and sound distribution problems

Technology is considered as a culture for changing a physical world and technology assessment questions the inherent cultural capability to modify power and material in support of living organisms. A comprehensive goal-parameter-synthesis-criterion specification is presented as a basis for a rational assessment of technology. The thesis queries the purpose of the assessed problems, the factors considered, the relationships between factors, and the values assigned those factors to accomplish the appropriate purpose. Stationary and sequential evaluation of enviro-organismic systems are delegated to the responsible personalities involved in design; from promoter/designer through contractor to occupant. Discussion includes design goals derived from organismic factors, definitions of human responses which establish viable criteria and relevant correlation models, linking stimulus parameters, and parallel problem-discipline centered design organization. A consistent concept of impedance, as a degradation in the performance of a specified parameter, is introduced to overcome the arbitrary inoperative connotations of terms like noise, discomfort, and glare. Applications of the evaluative specification are illustrated through design problems related to auditory impedance and sound distribution.

Halldane, J. F.↗

Soil conservation applications with C-band SAR

Soil conservation programs are becoming more important as the growing human population exerts greater pressure on this non-renewable resource. Indeed, soil degradation affects approximately 10 percent of Canada's agricultural land with an estimated loss of 6,000 hectares of topsoil annually from Ontario farmland alone. Soil loss not only affects agricultural productivity but also decreases water quality and can lead to siltation problems. Thus, there is a growing demand for soil conservation programs and a need to develop an effective monitoring system. Topography and soil type information can easily be handled within a geographic information system (GIS). Information about vegetative cover type and surface roughness, which both experience considerable temporal change, can be obtained from remote sensing techniques. For further development of the technology to produce an operational soil conservation monitoring system, an experiment was conducted in Oxford County, Ontario which investigated the separability of fall surface cover type using C-band Synthetic Aperture Radar (SAR) data.

Brisco, B.↗

Cold Stowage Flight Systems

The International Space Station (ISS) provides a test bed for researchers to perform science experiments in a variety of fields, including human research, life sciences, and space medicine. Many of the experiments being conducted today require science samples to be stored and transported in a temperature controlled environment. NASA provides several systems which aide researchers in preserving their science. On orbit systems provided by NASA include the Minus Eighty Laboratory freezer for ISS (MELFI), Microgravity Experiment Research Locker Incubator (MERLIN), and Glacier. These freezers use different technologies to provide rapid cooling and cold stowage at different temperature levels on board ISS. Systems available to researchers during transportation to and from ISS are MERLIN, Glacier, and Coldbag. Coldbag is a passive cold stowage system that uses phase change materials. Details of these current technologies will be provided along with operational experience gained to date. With shuttle retirement looming, NASA has protected the capability to provide a temperature controlled environment during transportation to and from the ISS with the use of Glacier and Coldbags, which are compatible with future commercial vehicles including SpaceX's Dragon Capsule, and Orbital s Cygnus vehicle. This paper will discuss the capability of the current cold stowage hardware and how it may continue to support NASA s mission on ISS and in future exploration missions.

Campana, Sharon↗