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NASA NTRS2005

Expanding the Use of Time-Based Metering: Multi-Center Traffic Management Advisor

Time-based metering is an efficient air traffic management alternative to the more common practice of distance-based metering (or "miles-in-trail spacing"). Despite having demonstrated significant operational benefit to airspace users and service providers, time-based metering is used in the United States for arrivals to just nine airports and is not used at all for non-arrival traffic flows. The Multi-Center Traffic Management Advisor promises to bring time-based metering into the mainstream of air traffic management techniques. Not constrained to operate solely on arrival traffic, Multi-Center Traffic Management Advisor is flexible enough to work in highly congested or heavily partitioned airspace for any and all traffic flows in a region. This broader and more general application of time-based metering is expected to bring the operational benefits of time-based metering to a much wider pool of beneficiaries than is possible with existing technology. It also promises to facilitate more collaborative traffic management on a regional basis. This paper focuses on the operational concept of the Multi-Center Traffic Management Advisor, touching also on its system architecture, field test results, and prospects for near-term deployment to the United States National Airspace System.

Landry, Steven J.↗
NASA NTRS2004

Evaluation of Open-Source Hard Real Time Software Packages

Reliable software is, at times, hard to find. No piece of software can be guaranteed to work in every situation that may arise during its use here at Glenn Research Center or in space. The job of the Software Assurance (SA) group in the Risk Management Office is to rigorously test the software in an effort to ensure it matches the contract specifications. In some cases the SA team also researches new alternatives for selected software packages. This testing and research is an integral part of the department of Safety and Mission Assurance. Real Time operation in reference to a computer system is a particular style of handing the timing and manner with which inputs and outputs are handled. A real time system executes these commands and appropriate processing within a defined timing constraint. Within this definition there are two other classifications of real time systems: hard and soft. A soft real time system is one in which if the particular timing constraints are not rigidly met there will be no critical results. On the other hand, a hard real time system is one in which if the timing constraints are not met the results could be catastrophic. An example of a soft real time system is a DVD decoder. If the particular piece of data from the input is not decoded and displayed to the screen at exactly the correct moment nothing critical will become of it, the user may not even notice it. However, a hard real time system is needed to control the timing of fuel injections or steering on the Space Shuttle; a delay of even a fraction of a second could be catastrophic in such a complex system. The current real time system employed by most NASA projects is Wind River's VxWorks operating system. This is a proprietary operating system that can be configured to work with many of NASA s needs and it provides very accurate and reliable hard real time performance. The down side is that since it is a proprietary operating system it is also costly to implement. The prospect of replacing this somewhat costly implementation is the focus of one of the SA group s current research projects. The explosion of open source software in the last ten years has led to the development of a multitude of software solutions which were once only produced by major corporations. The benefits of these open projects include faster release and bug patching cycles as well as inexpensive if not free software solutions. The main packages for hard real time solutions under Linux are Real Time Application Interface (RTAI) and two varieties of Real Time Linux (RTL), RTLFree and RTLPro. During my time here at NASA I have been testing various hard real time solutions operating as layers on the Linux Operating System. All testing is being run on an Intel SBC 2590 which is a common embedded hardware platform. The test plan was provided to me by the Software Assurance group at the start of my internship and my job has been to test the systems by developing and executing the test cases on the hardware. These tests are constructed so that the Software Assurance group can get hard test data for a comparison between the open source and proprietary implementations of hard real time solutions.

Mattei, Nicholas S.↗
NASA NTRS2005

Nuclear Radiation Fields on the Mars Surface: Risk Analysis for Long-term Living Environment

Mars, our nearest planet outward from the sun, has been targeted for several decades as a prospective site for expanded human habitation. Background space radiation exposures on Mars are expected to be orders of magnitude higher than on Earth. Recent risk analysis procedures based on detailed dosimetric techniques applicable to sensitive human organs have been developed along with experimental data regarding cell mutation rates resulting from exposures to a broad range of particle types and energy spectra. In this context, simulated exposure and subsequent risk for humans in residence on Mars are examined. A conceptual habitat structure, CAD-modeled with duly considered inherent shielding properties, has been implemented. Body self-shielding is evaluated using NASA standard computerized male and female models. The background environment is taken to consist not only of exposure from incident cosmic ray ions and their secondaries, but also include the contribution from secondary neutron fields produced in the tenuous atmosphere and the underlying regolith.

Brooke M Anderson↗
NASA NTRS2004

Discrimination And Biophysical Characterization Of Brazilian Cerrado Physiognomies With Eo-1 Hyperspectral Hyperion

The savanna, typically found in the sub-tropics and seasonal tropics, are the dominant vegetation biome type in the southern hemisphere, covering approximately 45% of the South America. In Brazil, the savanna, locally known as "cerrado," is the most intensely stressed biome with both natural environmental pressures (e.g., the strong seasonality in weather, extreme soil nutrient impoverishment, and widespread fire occurrences) and rapid/aggressive land conversions (Skole et al., 1994; Ratter et al., 1997). Better characterization and discrimination of cerrado physiognomies are needed in order to improve understanding of cerrado dynamics and its impact on carbon storage, nutrient dynamics, and the prospect for sustainable land use in the Brazilian cerrado biome. Satellite remote sensing have been known to be a useful tool for land cover and land use mapping (Rougharden et al., 1991; Hansen et al., 2000). However, attempts to discriminate and classify Brazilian cerrado using multi-spectral sensors (e.g., Landsat TM) and/or moderate resolution sensors (e.g., NOAA AVHRR NDVI) have often resulted in a limited success due partly to small contrasts depicted in their multiband, spectral reflectance or vegetation index values among cerrado classes (Seyler et al., 2002; Fran a and Setzer, 1998). In this study, we aimed to improve discrimination as well as biophysical characterization of the Brazilian cerrado physiognomies with hyperspectral remote sensing. We used Hyperion, the first satellite-based hyperspectral imager, onboard the Earth Observing-1 (EO-1) platform.

Miura, Tomoaki↗
NASA NTRS2005

Broadband Noise Reduction of a Low-Speed Fan Noise Using Trailing Edge Blowing

An experimental proof-of-concept test was conducted to demonstrate reduction of rotor-stator interaction noise through the use of rotor-trailing edge blowing. The velocity deficit from the viscous wake of the rotor blades was reduced by injecting air into the wake from a continuous trailing edge slot. Hollow blades with interior guide vanes create flow channels through which externally supplied air flows from the blade root to the trailing edge. A previous paper documented the substantial tonal reductions of this Trailing Edge Rotor Blowing (TERB) fan. This report documents the broadband characteristics of TERB. The Active Noise Control Fan (ANCF), located at the NASA Glenn Research Center, was used as the proof-of-concept test bed. Two-component hotwire data behind the rotor, unsteady surface pressures on the stator vane, and farfield directivity acoustic data were acquired at blowing rates of 1.1, 1.5, and 1.8 percent of the total fan mass flow. The results indicate a substantial reduction in the rotor wake turbulent velocity and in the stator vane unsteady surface pressures. Based on the physics of the noise generation, these indirect measurements indicate the prospect of broadband noise reduction. However, since the broadband noise generated by the ANCF is rotor-dominated, any change in the rotor-stator interaction broadband noise levels is barely distinguishable in the farfield measurements.

Sutliff, Daniel L.↗
NASA NTRS2005

Materials on the International Space Station - Forward Technology Solar Cell Experiment

This paper describes a space solar cell experiment currently being built by the Naval Research Laboratory (NRL) in collaboration with NASA Glenn Research Center (GRC), and the US Naval Academy (USNA). The experiment has been named the Forward Technology Solar Cell Experiment (FTSCE), and the purpose is to rapidly put current and future generation space solar cells on orbit and provide validation data for these technologies. The FTSCE is being fielded in response to recent on-orbit and ground test anomalies associated with space solar arrays that have raised concern over the survivability of new solar technologies in the space environment and the validity of present ground test protocols. The FTSCE is being built as part of the Fifth Materials on the International Space Station (MISSE) Experiment (MISSE-5), which is a NASA program to characterize the performance of new prospective spacecraft materials when subjected to the synergistic effects of the space environment. Telemetry, command, control, and communication (TNC) for the FTSCE will be achieved through the Amateur Satellite Service using the PCSat2 system, which is an Amateur Radio system designed and built by the USNA. In addition to providing an off-the-shelf solution for FTSCE TNC, PCSat2 will provide a communications node for the Amateur Radio satellite system. The FTSCE and PCSat2 will be housed within the passive experiment container (PEC), which is an approximately 2ft x2ft x 4in metal container built by NASA Langley Research Center (NASA LaRC) as part of the MISSE-5 program. NASA LaRC has also supplied a thin film materials experiment that will fly on the exterior of the thermal blanket covering the PCSat2. The PEC is planned to be transported to the ISS on a Shuttle flight. The PEC will be mounted on the exterior of the ISS by an astronaut during an extravehicular activity (EVA). After nominally one year, the PEC will be retrieved and returned to Earth. At the time of writing this paper, the subsystems of the experiment are being integrated at NRL, and we are preparing to commence environmental testing.

Walters, R. J.↗
NASA NTRS2005

The Development of Fuel Cell Technology for Electric Power Generation - From Spacecraft Applications to the Hydrogen Economy

The fuel cell uses a catalyzed reaction between a fuel and an oxidizer to directly produce electricity. Its high theoretical efficiency and low temperature operation made it a subject of much study upon its invention ca. 1900, but its relatively high life cycle costs kept it as "solution in search of a problem" for its first half century. The first problem for which fuel cells presented a cost effective solution was, starting in the 1960's that of a power source for NASA's manned spacecraft. NASA thus invested, and continues to invest, in the development of fuel cell power plants for this application. However, starting in the mid-1990's, prospective environmental regulations have driven increased governmental and industrial interest in "green power" and the "Hydrogen Economy." This has in turn stimulated greatly increased investment in fuel cell development for a variety of terrestrial applications. This investment is bringing about notable advances in fuel cell technology, but these advances are often in directions quite different from those needed for NASA spacecraft applications. This environment thus presents both opportunities and challenges for NASA's manned space program.

Scott, John H.↗
NASA NTRS2005

Formation of Nanophase Iron in Lunar Soil Simulant for Use in ISRU Studies

For the prospective return of humans to the Moon and the extensive amount of premonitory studies necessary, large quantities of lunar soil simulants are required, for a myriad of purposes from construction/engineering purposes all the way to medical testing of its effects from ingestion by humans. And there is only a limited and precious quantity of lunar soil available on Earth (i.e., Apollo soils) - therefore, the immediate need for lunar soil simulants. Since the Apollo era, there have been several simulants; of these JSC-1 (Johnson Space Center) and MLS-1 (Minnesota Lunar Simulant) have been the most widely used. JSC-1 was produced from glassy volcanic tuff in order to approximate lunar soil geotechnical properties; whereas, MLS-1 approximates the chemistry of Apollo 11 high-Ti soil, 10084. Stocks of both simulants are depleted, but JSC-1 has recently gone back into production. The lunar soil simulant workshop, held at Marshall Space Flight Center in January 2005, identified the need to make new simulants for the special properties of lunar soil, such as nanophase iron (np-Fe(sup 0). Hill et al. (2005, this volume) showed the important role of microscale Fe(sup 0) in microwave processing of the lunar soil simulants JSC-1 and MLS-1. Lunar soil is formed by space weathering of lunar rocks (e.g., micrometeorite impact, cosmic particle bombardment). Glass generated during micrometeorite impact cements rock and mineral fragments together to form aggregates called agglutinates, and also produces vapor that is deposited and coats soil grains. Taylor et al. (2001) showed that the relative amount of impact glass in lunar soil increases with decreasing grain size and is the most abundant component in lunar dust (less than 20 micrometer fraction). Notably, the magnetic susceptibility of lunar soil also increases with the decreasing grain size, as a function of the amount of nanophase-sized Fe(sup 0) in impact-melt generated glass. Keller et al. (1997, 1999) also discovered the presence of abundant np-Fe(sup 0) particles in the glass patinas coating most soil particles. Therefore, the correlation of glass content and magnetic susceptibility can be explained by the presence of the np-Feo particles in glass: small particles contain relatively more np-Fe(sup 0) as glass coatings because the surface area versus mass ratio of the grain size is so increased. The magnetic properties of lunar soil are important in dust mitigation on the Moon (Taylor et al. 2005). Thus material simulating this property is important for testing mitigation methods using electromagnetic field. This np- Fe(sup 0) also produces a unique energy coupling to normal microwaves, such as present in kitchen microwave ovens. Effectively, a portion of lunar soil placed in a normal 2.45 GHz oven will melt at greater than 1200 C before your tea will boil at 100 C, a startling and new discovery reported by Taylor and Meek (2004, 2005). Several methods have been investigated in attempts to make nanophase-sized Feo dispersed within silicate glass; like in the lunar glass. We have been successful in synthesizing such a product and continue to improve on our recipe. We have performed extensive experimentation on this subject to date. Ultimately it will probably be necessary to add this np-Fe(sup 0) bearing silicate glass to lunar soil stimulant, like JSC-1, to actually produce the desired magnetic and microwave coupling properties for use in appropriate ISRU experimentation.

Liu, Yang↗
NASA NTRS2005

Chandra X-Ray Observatory Observations of the Jovian System

Chandra X-ray Observatory (CXO) and XMM-Newton observations of x-rays from the Jovian system have answered questions that arose from early observations with the Einstein and Rosat X-ray Observatories, but in the process of vastly increasing our knowledge of x-ray emission from Jupiter and its environs they have also raised new questions and point to new opportunities for future studies. We will review recent x-ray results on the Jovian system, from the point of view of the CXO, and discuss various questions that have arisen in the course of our studies. We will discuss prospects for more observations in the immediate future, and how they might address open questions. Finally we will briefly describe ways in which an imaging x-ray spectrometer in the vicinity of the Jovian system could provide a wealth of data and results concerning Jupiter's x-ray auroral and disk emission, elemental abundance measurements for the Galilean moons, and detailed studies of x-ray emission from the Io Plasma Torus.

Elsner, R. F.↗
NASA NTRS2005

Replicated Nickel Optics for the Hard-X-Ray Region

Replicated nickel optics has been used extensively in x-ray astronomy, most notable for the XMM/Newton mission. Thc combination of relative ease of fabrication and the inherent stability of full shell optics, make them FIJI attractive approach for medium-resolution, high-throughput applications. MSFC has been developing these optics for use in the hard-x-ray region. Efforts at improving the resolution of these, particularly the very-thin shells required to meet thc weight budget of future missions, will be described together with the prospects for significant improvements down to the 5-arcsec level.

Ramsey, Brian↗
NASA NTRS1949

On Wind Tunnel Tests and Computations Concerning the Problem of Shrouded Propellers

Results of measurements on a shrouded propeller are given. The propeller is designed for the high ratio of advance and high thrust loading. The effect of the shape of propeller and shroud upon the aerodynamic coefficients of the propulsion unit can be seen from the results. The highest efficiency measured is 0.71. The measurements permit the conclusion that the maximum efficiency can be essentially improved by shroud profiles of small chord and thickness. The largest static thrust factor of merit measured reaches according to Bendemann, a value of about zeta = 1.1. By the use of a nose split flap the static thrust for thin shroud profiles with small nose radius can be about doubled. In a separate section numerical investigations of the behavior of shrouded propellers for the ideal case and for the case with energy losses are carried out. The calculations are based on the assumption that the slipstream cross section depends solely on the shape of the shroud and not on the propeller loading. The reliability of this hypothesis is confirmed experimentally and by flow photographs for a shroud with small circulation. Calculation and test are also in good agreement concerning efficiency and static thrust factor of merit. The prospects of applicability for shrouded propellers and their essential advantages are discussed.

Kruger, W.↗
NASA NTRS2006

A Tether-Based Variable-Gravity Research Facility Concept

The recent announcement of a return to the Moon and a mission to Mars has made the question of human response to lower levels of gravity more important. Recent advances in tether technology spurred by NASA s research in MXER tethers has led to a re-examination of the concept of a variable-gravity research facility (xGRF) for human research in low Earth orbit. Breakthroughs in simplified inertial tracking have made it possible to consider eliminating the despun section of previous designs. This, in turn, improves the prospect of a facility based entirely around a tether, with the human module on one end and a countermass on the other. With such a configuration, propellantless spinup and spindown is also possible based on the conservation of angular momentum from a gravity-gradient configuration to a spinning configuration. This not only saves large amounts of propellant but vastly simplifies crew and consumable resupply operations, since these can now be done in a microgravity configuration. The importance of the science to be obtained and the performance improvements in this new design argue strongly for further investigation.

Sorensen, Kirk↗
NASA NTRS2006

Europa Surface Radiation Environment for Lander Assessment

The Jovian magnetospheric particle environment at Europa's surface is critical to assessment of landed astrobiological experiments in three respects: (1) the landing site must be chosen for the best prospects for detectable organic or inorganic signs of Life, e.g. regions of freshly emergent flows from the subsurface; (2) lander systems must reach the surface through the Jovian magnetospheric environment and operate long enough on the surface to return useful data; (3) lander instrumentation must be capable of detecting signs of life in the context of the local environmental radiation and associated chemistry. The Galileo, Voyager, and Pioneer missions have provided a wealth of data on energetic particle intensities throughout the Jovian magnetosphere including from many flybys of Europa. cumulative radiation dosages for spacecraft enroute to Europa can be well characterized, but knowledge of the surface radiation environment is very limited. Energetic electrons should primarily impact the trailing hemisphere with decreasing intensity towards the center of the leading hemisphere and are the most significant radiation component down to meter depths in the surface regolith due to secondary interactions. Observed surface distribution for sulfates is suggestive of electron irradiation but may have alternative interpretations. Having much-larger magnetic gyroradii than electrons, energetic protons and heavier ions irradiate more of the global surface. The particular orientations of electron, proton, and ion gyromotion would project into corresponding directional (e.g., east-west) anisotropies of particle flu into the surface. Particular topographic features at the landing site may therefore offer shielding from part of the incident radiation.

Cooper, John F.↗
NASA NTRS2006

Evidence for a Binary Companion to the Enigmatic Compact Central Object 1E 1207.4-5209

Located in the supernova remnant G296.5+10.0, 1E 1207.4-5209 is a 0.424 s period X-ray pulsar that exhibits strong absorption lines in its energy spectrum. The physical origin of the spectral features in 1E 1207.4-5209 and more generally, the absence of similar features in other radio-quiet neutron stars remains a mystery. Another, possibly related, anomalous property of 1E 1207.4-5209 is its non-monotonic spin frequency evolution. Zavlin, Pavlov & Sanwal(2004) proposed that the irregular spin-down was caused by either (i) frequent, recurrent glitches, (ii) the presence of a fall-back disk or (iii) a binary companion. Here, we report on a sequence of seven XMM-Newton observations of 1E 1207.4-5209 performed during a 40 day window between 2005 June 22 and July 3 1. Due to unanticipated phase noise, we identified three statistically-acceptable phase-coherent timing solutions with frequency time derivatives of +0.9, -2.6, and +1.6 x 10-12 Hz/s (listed in descending order of significance). We concluded that the local frequency derivative during our XMM-Newton observing campaign differs from the long-term spin-down rate by more than an order of magnitude. This measurement strongly supports the binary interpretation for the observed spin irregularities in 1E 1207.4-5209. We identified a family of orbital solutions that are consistent with our phase-connected solution as well as all archival data. We will discuss possible orbital solutions, prospects for constraining binary parameters with future observations, and consequences for the nature of 1E 1207.4-5209.

Woods, P. M.↗
NASA NTRS2006

Single- and Multiple-Objective Optimization with Differential Evolution and Neural Networks

Genetic and evolutionary algorithms have been applied to solve numerous problems in engineering design where they have been used primarily as optimization procedures. These methods have an advantage over conventional gradient-based search procedures became they are capable of finding global optima of multi-modal functions and searching design spaces with disjoint feasible regions. They are also robust in the presence of noisy data. Another desirable feature of these methods is that they can efficiently use distributed and parallel computing resources since multiple function evaluations (flow simulations in aerodynamics design) can be performed simultaneously and independently on ultiple processors. For these reasons genetic and evolutionary algorithms are being used more frequently in design optimization. Examples include airfoil and wing design and compressor and turbine airfoil design. They are also finding increasing use in multiple-objective and multidisciplinary optimization. This lecture will focus on an evolutionary method that is a relatively new member to the general class of evolutionary methods called differential evolution (DE). This method is easy to use and program and it requires relatively few user-specified constants. These constants are easily determined for a wide class of problems. Fine-tuning the constants will off course yield the solution to the optimization problem at hand more rapidly. DE can be efficiently implemented on parallel computers and can be used for continuous, discrete and mixed discrete/continuous optimization problems. It does not require the objective function to be continuous and is noise tolerant. DE and applications to single and multiple-objective optimization will be included in the presentation and lecture notes. A method for aerodynamic design optimization that is based on neural networks will also be included as a part of this lecture. The method offers advantages over traditional optimization methods. It is more flexible than other methods in dealing with design in the context of both steady and unsteady flows, partial and complete data sets, combined experimental and numerical data, inclusion of various constraints and rules of thumb, and other issues that characterize the aerodynamic design process. Neural networks provide a natural framework within which a succession of numerical solutions of increasing fidelity, incorporating more realistic flow physics, can be represented and utilized for optimization. Neural networks also offer an excellent framework for multiple-objective and multi-disciplinary design optimization. Simulation tools from various disciplines can be integrated within this framework and rapid trade-off studies involving one or many disciplines can be performed. The prospect of combining neural network based optimization methods and evolutionary algorithms to obtain a hybrid method with the best properties of both methods will be included in this presentation. Achieving solution diversity and accurate convergence to the exact Pareto front in multiple objective optimization usually requires a significant computational effort with evolutionary algorithms. In this lecture we will also explore the possibility of using neural networks to obtain estimates of the Pareto optimal front using non-dominated solutions generated by DE as training data. Neural network estimators have the potential advantage of reducing the number of function evaluations required to obtain solution accuracy and diversity, thus reducing cost to design.

Rai, Man Mohan↗
NASA NTRS2006

High frequency QRS ECG predicts ischemic defects during myocardial perfusion imaging

Background: Changes in high frequency QRS components of the electrocardiogram (HF QRS ECG) (150-250 Hz) are more sensitive than changes in conventional ST segments for detecting myocardial ischemia. We investigated the accuracy of 12-lead HF QRS ECG in detecting ischemia during adenosine tetrofosmin myocardial perfusion imaging (MPI). Methods and Results: 12-lead HF QRS ECG recordings were obtained from 45 patients before and during adenosine technetium-99 tetrofosmin MPI tests. Before the adenosine infusions, recordings of HF QRS were analyzed according to a morphological score that incorporated the number, type and location of reduced amplitude zones (RAZs) present in the 12 leads. During the adenosine infusions, recordings of HF QRS were analyzed according to the maximum percentage changes (in both the positive and negative directions) that occurred in root mean square (RMS) voltage amplitudes within the 12 leads. The best set of prospective HF QRS criteria had a sensitivity of 94% and a specificity of 83% for correctly identifying the MPI result. The sensitivity of simultaneous ST segment changes (18%) was significantly lower than that of any individual HF QRS criterion (P<0.001). Conclusions: Analysis of 12-lead HF QRS ECG is highly sensitive and specific for detecting ischemic perfusion defects during adenosine MPI stress tests and significantly more sensitive than analysis of conventional ST segments.

Rahman, Atiar↗
NASA NTRS2005

Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Glass, Brian↗