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Andres Mora Vargas

Publications and source records attributed to Andres Mora Vargas.

14 records
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The Road from Costa Rica to the International Space Station

Astrobee is complex autonomous system comprehending components on board the International Space Station and on Earth. It aims to help scientists and engineers drive innovative research faster as well as becoming the foundation for autonomous systems operating on future un-crewed space stations. I would have not believed I was going to work with Astrobee 10 years ago, let alone when I was a growing up. Being a kid in the mid 80s-90s in Costa Rica was quite different from today. Dreaming of working in space robotics was, unsurprisingly, only a dream. During this presentation, I will talk about the events that helped me navigate through the road that took me from this small Central American country to create maps on a weekly basis for the Astrobee robots in the International Space Station.

Astrobee↗
NASA NTRSDate not supplied

The Road from Costa Rica to the International Space Station

Astrobee is complex autonomous system comprehending components on board the International Space Station and on Earth. It aims to help scientists and engineers drive innovative research faster as well as becoming the foundation for autonomous systems operating on future un-crewed space stations. I would have not believed I was going to work with Astrobee 10 years ago, let alone when I was a growing up. Being a kid in the mid 80s-90s in Costa Rica was quite different from today. Dreaming of working in space robotics was, unsurprisingly, only a dream. During this presentation, I will talk about the events that helped me navigate through the road that took me from this small Central American country to create maps on a weekly basis for the Astrobee robots in the International Space Station.

Astrobee↗
NASA NTRSDate not supplied

Astrobee's Multi-year Activities at the International Space Station's Japanese Experimental Module

The Astrobee free-flying robots recently completed their third successful year of operations, housed in the Japanese Experimental Module (JEM) on the International Space Station. We summarize the three years of operation, giving special attention to JAXA's 1st and 2nd Kibo Robot Programming Challenge (RPC) and the mapping processes and tools that make Astrobees' autonomous operation possible. The JEM is an ever changing, dynamic environment where light settings, cargo, payloads, and crew members constantly move and interact with one another. The 1st JAXA Kibo RPC event, a collaboration between JAXA and NASA, was held in 2020. Students from several countries in the Asia-Pacific region competed in programming challenges with a simulated Astrobee. The finalists were then invited to run their code on an actual Astrobee in the JEM. For the final round, students programmed Astrobee to visit three different locations to obtain data that would instruct the robot to complete a final task with the participation of ISS crew. The first competition was a tremendous success, leading to an equally successful 2nd JAXA Kibo RPC in 2021 with even larger participation. The 3rd JAXA Kibo RPC will occur in 2022 expanding further to incorporate US participants. These activities led to several firsts in Astrobee’s history: operation of an Astrobee free-flying robot without crew supervision in preparation for on-orbit operations, autonomous image acquisition towards updates of the navigation map, non-NASA code running on the robot (both from JAXA and participating students), two heterogeneous free-flying robots from two different space agencies working together (Int-Ball and Astrobee) during the final event in 2020, the first payload using Astrobee, and having Astrobee controlled from a non-NASA location (Tsukuba Space Center). The preparation towards these activities involved constant evaluation of the different components of Astrobee's systems, specially mapping and localization. The paper describes the evolution of these systems such as the improvements made in localization to reduce localization drift by using graph-based optimization instead of the extended Kalman Filter localizer. Additionally, it reports on the mapping process and analysis tools created to validate map consistency across different activities in the constantly changing JEM environment. These enhancements have enabled the Astrobee facility to successfully execute over 100 ISS activities supporting over a dozen researchers and partners around the world.

Astrobee↗
NASA NTRSDate not supplied

BioSentinel: NASA’s First Deep Space Biological Mission

Since Apollo 17 in 1972, NASA has sent no humans or other biological organisms outside of Earth’s protective magnetosphere. NASA’s current Artemis program plans to put astronauts back on the Moon and eventually land human missions on Mars. One of the major challenges to long-duration crewed travel and habitation in deep space is an in-depth understanding of the biological effects of space radiation, often convoluted by the impact of reduced gravity. Such missions will require significant countermeasures, likely both technological and biomedical, to protect organisms from chronic radiation exposure. Small satellite missions like CubeSats can inform these countermeasures by investigating model organisms in relevant space environments. The BioSentinel mission is comprised of four segments developed at NASA Ames Research Center: a 6U CubeSat (1U = 10-cm cube), an ISS payload launched in December 2021 and two ground units, one for the mission’s CubeSat and one for the ISS payload. The last three segments have been operational since January 2022 and serve as experimental controls. BioSentinel’s 6U CubeSat is planned to launch as a secondary payload on the Artemis-1 rocket. It will be deployed on a lunar fly-by trajectory and into a heliocentric orbit. BioSentinel will be the first interplanetary satellite to study the biological response to space radiation outside Low Earth Orbit (LEO) in almost 50 years. BioSentinel is a complete, autonomous spacecraft capable of conducting experiments in deep space. Its 4U BioSensor payload is a fully automated and adaptable platform that can perform biological measurements with a range of microorganisms in multiple space environments, including the ISS, free flyers, and other platforms like the Lunar Gateway and lander vehicles. Once it reaches its orbit, BioSentinel’s CubeSat will measure the DNA damage response to ambient radiation in a model organism, the budding yeast Saccharomyces cerevisiae, which will be compared to information provided by an onboard radiation sensor and to data obtained in LEO (on ISS) and on Earth. Once in interplanetary space, fluidic cards containing desiccated yeast will be activated by growth medium addition at different time points throughout the mission. Growth and metabolic activity will be tracked continuously via optical measurements. This paper describes BioSentinel’s objectives, science, data management, and preliminary results from the ISS segment.

BioSentinel↗