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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS2012

Automating Mid- and Long-Range Scheduling for NASA's Deep Space Network

NASA has recently deployed a new mid-range scheduling system for the antennas of the Deep Space Network (DSN), called Service Scheduling Software, or S(sup 3). This system is architected as a modern web application containing a central scheduling database integrated with a collaborative environment, exploiting the same technologies as social web applications but applied to a space operations context. This is highly relevant to the DSN domain since the network schedule of operations is developed in a peer-to-peer negotiation process among all users who utilize the DSN (representing 37 projects including international partners and ground-based science and calibration users). The initial implementation of S(sup 3) is complete and the system has been operational since July 2011. S(sup 3) has been used for negotiating schedules since April 2011, including the baseline schedules for three launching missions in late 2011. S(sup 3) supports a distributed scheduling model, in which changes can potentially be made by multiple users based on multiple schedule "workspaces" or versions of the schedule. This has led to several challenges in the design of the scheduling database, and of a change proposal workflow that allows users to concur with or to reject proposed schedule changes, and then counter-propose with alternative or additional suggested changes. This paper describes some key aspects of the S(sup 3) system and lessons learned from its operational deployment to date, focusing on the challenges of multi-user collaborative scheduling in a practical and mission-critical setting. We will also describe the ongoing project to extend S(sup 3) to encompass long-range planning, downtime analysis, and forecasting, as the next step in developing a single integrated DSN scheduling tool suite to cover all time ranges.

scheduling↗
NASA NTRS2013

Geolab Results from Three Years of Analog Mission Tests

GeoLab is a prototype glovebox for geological sample examination that was, until November 2012, fully integrated into NASA's Deep Space Habitat Analog Testbed [1,2]. GeoLab allowed us to test science operations related to contained sample examination during simulated exploration missions. The facility, shown in Figure 1 and described elsewhere [1-4], was designed for fostering the development of both instrument technology and operational concepts for sample handling and examination during future missions [3-5]. Even though we recently deintegrated the glovebox from the Deep Space Habitat (Fig. 2), it continues to provide a high-fidelity workspace for testing instruments that could be used for sample characterization. As a testbed, GeoLab supports the development of future science operations that will enhance the early scientific returns from exploration missions, and will help ensure selection of the best samples for Earth return.

Evans, Cindy A.↗
NASA NTRS2008

The Application of the Human Engineering Modeling and Performance Laboratory for Space Vehicle Ground Processing Tasks at Kennedy Space Center

The introduction of United Space Alliance's Human Engineering Modeling and Performance Laboratory began in early 2007 in an attempt to address the problematic workspace design issues that the Space Shuttle has imposed on technicians performing maintenance and inspection operations. The Space Shuttle was not expected to require the extensive maintenance it undergoes between flights. As a result, extensive, costly resources have been expended on workarounds and modifications to accommodate ground processing personnel. Consideration of basic human factors principles for design of maintenance is essential during the design phase of future space vehicles, facilities, and equipment. Simulation will be needed to test and validate designs before implementation.

Woodbury, Sarah K.↗
NASA NTRS2013

Microgravity Drill and Anchor System

This work is a method to drill into a rock surface regardless of the gravitational field or orientation. The required weight-on-bit (WOB) is supplied by a self-contained anchoring mechanism. The system includes a rotary percussive coring drill, forming a complete sampling instrument usable by robot or human. This method of in situ sample acquisition using micro - spine anchoring technology enables several NASA mission concepts not currently possible with existing technology, including sampling from consolidated rock on asteroids, providing a bolt network for astronauts visiting a near-Earth asteroid, and sampling from the ceilings or vertical walls of lava tubes and cliff faces on Mars. One of the most fundamental parameters of drilling is the WOB; essentially, the load applied to the bit that allows it to cut, creating a reaction force normal to the surface. In every drilling application, there is a minimum WOB that must be maintained for the system to function properly. In microgravity (asteroids and comets), even a small WOB could not be supported conventionally by the weight of the robot or astronaut. An anchoring mechanism would be needed to resist the reactions, or the robot or astronaut would push themselves off the surface and into space. The ability of the system to anchor itself to a surface creates potential applications that reach beyond use in low gravity. The use of these anchoring mechanisms as end effectors on climbing robots has the potential of vastly expanding the scope of what is considered accessible terrain. Further, because the drill is supported by its own anchor rather than by a robotic arm, the workspace is not constrained by the reach of such an arm. Yet, if the drill is on a robotic arm, it has the benefit of not reflecting the forces of drilling back to the arm s joints. Combining the drill with the anchoring feet will create a highly mobile, highly stable, and highly reliable system. The drilling system s anchor uses hundreds of microspine toes that independently find holes and ledges on a rock to create an anchor. Once the system is anchored, a linear translation mechanism moves the drill axially into the surface while maintaining the proper WOB. The linear translation mechanism is composed of a ball screw and stepper motor that can translate a carriage with high precision and applied load. The carriage slides along rails using self-aligning linear bearings that correct any axial misalignment caused by bending and torsion. The carriage then compresses a series of springs that simultaneously transmit the load to the drill along the bit axis and act as a suspension that compensates for the vibration caused by percussive drilling. The drill is a compacted, modified version of an off-the-shelf rotary percussive drill, which uses a custom carbide-tipped coring bit. By using rotary percussive drilling, the drill time is greatly reduced. The percussive action fractures the rock debris, which is removed during rotation. The final result is a 0.75-in. (.1.9- cm) diameter hole and a preserved 0.5- in. (.1.3-cm) diameter rock core. This work extends microspine technology, making it applicable to astronaut missions to asteroids and a host of robotic sampling concepts. At the time of this reporting, it is the first instrument to be demonstrated using microspine anchors, and is the first self-contained drill/anchor system to be demonstrated that is capable of drilling in inverted configurations and would be capable of drilling in microgravity.

Parness, Aaron↗
NASA NTRS2013

Model-based Robotic Dynamic Motion Control for the Robonaut 2 Humanoid Robot

Robonaut 2 (R2), an upper-body dexterous humanoid robot, has been undergoing experimental trials on board the International Space Station (ISS) for more than a year. R2 will soon be upgraded with two climbing appendages, or legs, as well as a new integrated model-based control system. This control system satisfies two important requirements; first, that the robot can allow humans to enter its workspace during operation and second, that the robot can move its large inertia with enough precision to attach to handrails and seat track while climbing around the ISS. This is achieved by a novel control architecture that features an embedded impedance control law on the motor drivers called Multi-Loop control which is tightly interfaced with a kinematic and dynamic coordinated control system nicknamed RoboDyn that resides on centralized processors. This paper presents the integrated control algorithm as well as several test results that illustrate R2's safety features and performance.

Badger, Julia M.↗
NASA NTRS2014

Development Context Driven Change Awareness and Analysis Framework

Recent work on workspace monitoring allows conflict prediction early in the development process, however, these approaches mostly use syntactic differencing techniques to compare different program versions. In contrast, traditional change-impact analysis techniques analyze related versions of the program only after the code has been checked into the master repository. We propose a novel approach, De- CAF (Development Context Analysis Framework), that leverages the development context to scope a change impact analysis technique. The goal is to characterize the impact of each developer on other developers in the team. There are various client applications such as task prioritization, early conflict detection, and providing advice on testing that can benefit from such a characterization. The DeCAF framework leverages information from the development context to bound the iDiSE change impact analysis technique to analyze only the parts of the code base that are of interest. Bounding the analysis can enable DeCAF to efficiently compute the impact of changes using a combination of program dependence and symbolic execution based approaches.

Change Awareness↗
NASA NTRS2014

NASA Tech Briefs, June 2014

Topics include: Real-Time Minimization of Tracking Error for Aircraft Systems; Detecting an Extreme Minority Class in Hyperspectral Data Using Machine Learning; KSC Spaceport Weather Data Archive; Visualizing Acquisition, Processing, and Network Statistics Through Database Queries; Simulating Data Flow via Multiple Secure Connections; Systems and Services for Near-Real-Time Web Access to NPP Data; CCSDS Telemetry Decoder VHDL Core; Thermal Response of a High-Power Switch to Short Pulses; Solar Panel and System Design to Reduce Heating and Optimize Corridors for Lower-Risk Planetary Aerobraking; Low-Cost, Very Large Diamond-Turned Metal Mirror; Very-High-Load-Capacity Air Bearing Spindle for Large Diamond Turning Machines; Elevated-Temperature, Highly Emissive Coating for Energy Dissipation of Large Surfaces; Catalyst for Treatment and Control of Post-Combustion Emissions; Thermally Activated Crack Healing Mechanism for Metallic Materials; Subsurface Imaging of Nanocomposites; Self-Healing Glass Sealants for Solid Oxide Fuel Cells and Electrolyzer Cells; Micromachined Thermopile Arrays with Novel Thermo - electric Materials; Low-Cost, High-Performance MMOD Shielding; Head-Mounted Display Latency Measurement Rig; Workspace-Safe Operation of a Force- or Impedance-Controlled Robot; Cryogenic Mixing Pump with No Moving Parts; Seal Design Feature for Redundancy Verification; Dexterous Humanoid Robot; Tethered Vehicle Control and Tracking System; Lunar Organic Waste Reformer; Digital Laser Frequency Stabilization via Cavity Locking Employing Low-Frequency Direct Modulation; Deep UV Discharge Lamps in Capillary Quartz Tubes with Light Output Coupled to an Optical Fiber; Speech Acquisition and Automatic Speech Recognition for Integrated Spacesuit Audio Systems, Version II; Advanced Sensor Technology for Algal Biotechnology; High-Speed Spectral Mapper; "Ascent - Commemorating Shuttle" - A NASA Film and Multimedia Project DVD; High-Pressure, Reduced-Kinetics Mechanism for N-Hexadecane Oxidation; Method of Error Floor Mitigation in Low-Density Parity-Check Codes; X-Ray Flaw Size Parameter for POD Studies; Large Eddy Simulation Composition Equations for Two-Phase Fully Multicomponent Turbulent Flows; Scheduling Targeted and Mapping Observations with State, Resource, and Timing Constraints;

Source record↗
NASA NTRS2014

Development Context Driven Change Awareness and Analysis Framework

Recent work on workspace monitoring allows conflict prediction early in the development process, however, these approaches mostly use syntactic differencing techniques to compare different program versions. In contrast, traditional change-impact analysis techniques analyze related versions of the program only after the code has been checked into the master repository. We propose a novel approach, DeCAF (Development Context Analysis Framework), that leverages the development context to scope a change impact analysis technique. The goal is to characterize the impact of each developer on other developers in the team. There are various client applications such as task prioritization, early conflict detection, and providing advice on testing that can benefit from such a characterization. The DeCAF framework leverages information from the development context to bound the iDiSE change impact analysis technique to analyze only the parts of the code base that are of interest. Bounding the analysis can enable DeCAF to efficiently compute the impact of changes using a combination of program dependence and symbolic execution based approaches.

Sarma, Anita↗
NASA NTRS2013

Humanoid Robot

A humanoid robot includes a torso, a pair of arms, two hands, a neck, and a head. The torso extends along a primary axis and presents a pair of shoulders. The pair of arms movably extend from a respective one of the pair of shoulders. Each of the arms has a plurality of arm joints. The neck movably extends from the torso along the primary axis. The neck has at least one neck joint. The head movably extends from the neck along the primary axis. The head has at least one head joint. The shoulders are canted toward one another at a shrug angle that is defined between each of the shoulders such that a workspace is defined between the shoulders.

Linn, Douglas M.↗
NASA NTRS2014

Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

Robotics↗
NASA NTRS2014

Structural-Thermal-Optical-Performance (STOP) Model Development and Analysis of a Field-widened Michelson Interferometer

An integrated Structural-Thermal-Optical-Performance (STOP) model was developed for a field-widened Michelson interferometer which is being built and tested for the High Spectral Resolution Lidar (HSRL) project at NASA Langley Research Center (LaRC). The performance of the interferometer is highly sensitive to thermal expansion, changes in refractive index with temperature, temperature gradients, and deformation due to mounting stresses. Hand calculations can only predict system performance for uniform temperature changes, under the assumption that coefficient of thermal expansion (CTE) mismatch effects are negligible. An integrated STOP model was developed to investigate the effects of design modifications on the performance of the interferometer in detail, including CTE mismatch, and other three- dimensional effects. The model will be used to improve the design for a future spaceflight version of the interferometer. The STOP model was developed using the Comet SimApp'TM' Authoring Workspace which performs automated integration between Pro-Engineer®, Thermal Desktop®, MSC Nastran'TM', SigFit'TM', Code V'TM', and MATLAB®. This is the first flight project for which LaRC has utilized Comet, and it allows a larger trade space to be studied in a shorter time than would be possible in a traditional STOP analysis. This paper describes the development of the STOP model, presents a comparison of STOP results for simple cases with hand calculations, and presents results of the correlation effort to bench-top testing of the interferometer. A trade study conducted with the STOP model which demonstrates a few simple design changes that can improve the performance seen in the lab is also presented.

Scola, Salvatore J.↗
NASA NTRS2013

Accuracy Analysis and Validation of the Mars Science Laboratory (MSL) Robotic Arm

The Mars Science Laboratory (MSL) Curiosity Rover is currently exploring the surface of Mars with a suite of tools and instruments mounted to the end of a five degree-of-freedom robotic arm. To verify and meet a set of end-to-end system level accuracy requirements, a detailed positioning uncertainty model of the arm was developed and exercised over the arm operational workspace. Error sources at each link in the arm kinematic chain were estimated and their effects propagated to the tool frames.A rigorous test and measurement program was developed and implemented to collect data to characterize and calibrate the kinematic and stiffness parameters of the arm. Numerous absolute and relative accuracy and repeatability requirements were validated with a combination of analysis and test data extrapolated to the Mars gravity and thermal environment. Initial results of arm accuracy and repeatability on Mars demonstrate the effectiveness of the modeling and test program as the rover continues to explore the foothills of Mount Sharp.

rovers↗
NASA NTRS2015

Space in Space: Designing for Privacy in the Workplace

Privacy is cultural, socially embedded in the spatial, temporal, and material aspects of the lived experience. Definitions of privacy are as varied among scholars as they are among those who fight for their personal rights in the home and the workplace. Privacy in the workplace has become a topic of interest in recent years, as evident in discussions on Big Data as well as the shrinking office spaces in which people work. An article in The New York Times published in February of this year noted that "many companies are looking to cut costs, and one way to do that is by trimming personal space". Increasingly, organizations ranging from tech start-ups to large corporations are downsizing square footage and opting for open-office floorplans hoping to trim the budget and spark creative, productive communication among their employees. The question of how much is too much to trim when it comes to privacy, is one that is being actively addressed by the National Aeronautics and Space Administration (NASA) as they explore habitat designs for future space missions. NASA recognizes privacy as a design-related stressor impacting human health and performance. Given the challenges of sustaining life in an isolated, confined, and extreme environment such as Mars, NASA deems it necessary to determine the acceptable minimal amount for habitable volume for activities requiring at least some level of privacy in order to support optimal crew performance. Ethnographic research was conducted in 2013 to explore perceptions of privacy and privacy needs among astronauts living and working in space as part of a long-distance, long-duration mission. The allocation of space, or habitable volume, becomes an increasingly complex issue in outer space due to the costs associated with maintaining an artificial, confined environment bounded by limitations of mass while located in an extreme environment. Privacy in space, or space in space, provides a unique case study of the complex notions of privacy, the impact of design and others on achieving it, and the sensemaking that occurs when privacy is less than expected. The findings show that privacy is not just a personal, individual need but is also a need that is shared among teams and groups. Moreover, the case of space in space reveals the influence the design of the built and social environments have on privacy needs and on achieving privacy. When the level of privacy is less than expected, sensemaking occurs and the lack of privacy is dealt with by means of absencing the present. creating new social norms, and "making space" by manipulating the spatial, temporal, material aspects of the lived experience. Although the Mars habitat study represents an extreme case of privacy in the workplace, lessons learned from outer space are applicable to life in the Earth-bound workplace. A mini-case study was conducted to evaluate office space at the headquarters of a major American airline that illustrates the usefulness of building unexpected bridges between the unknown, unfamiliar Mars habitat and the everyday workplace. The comparative studies reveal insight into the interconnected, social nature of the spatial, temporal, and material aspects of the lived experience and how users of the habitat and office workspace view privacy, self, and others through an embodied, design interaction.

Akin, Jonie↗
NASA NTRS2009

The Phoenix Mars Lander Robotic Arm

The Phoenix Mars Lander Robotic Arm (RA) has operated for over 150 sols since the Lander touched down on the north polar region of Mars on May 25, 2008. During its mission it has dug numerous trenches in the Martian regolith, acquired samples of Martian dry and icy soil, and delivered them to the Thermal Evolved Gas Analyzer (TEGA) and the Microscopy, Electrochemistry, and Conductivity Analyzer (MECA). The RA inserted the Thermal and Electrical Conductivity Probe (TECP) into the Martian regolith and positioned it at various heights above the surface for relative humidity measurements. The RA was used to point the Robotic Arm Camera to take images of the surface, trenches, samples within the scoop, and other objects of scientific interest within its workspace. Data from the RA sensors during trenching, scraping, and trench cave-in experiments have been used to infer mechanical properties of the Martian soil. This paper describes the design and operations of the RA as a critical component of the Phoenix Mars Lander necessary to achieve the scientific goals of the mission.

Bonitz, Robert↗
NASA NTRS2017

Aseptic Handling of the MOMA Mass Spectrometer After Dry Heat Microbial Reduction

Mars Organic Molecule Analyzer Mass Spectrometer (MOMA-MS) is an instrument in the larger MOMA instrument suite for the European Space Agency (ESA) ExoMars 2020 Rover. As a life-detection instrument on a Mars landing mission, MOMA-MS has very stringent Planetary Protection (PP) bioburden requirements. Within the MOMA instrument suite, the hardware surfaces of the sample path must be cleaned to a level of 0.03 spore/sq m. To meet this requirement, a process called Dry Heat Microbial Reduction (DHMR) is used to decrease the number of viable spores by 4 orders of magnitude. Before DHMR, the hardware is handled using standard cleanroom practices, while after DHMR, all sample path surfaces must be handled aseptically when exposed. Aseptic handling of the sample path involves a number of strategies and protocols including working only in an aseptic ISO class 5 work space, limiting the amount of time of exposure, using sterile garmenting with sterile gloves, and using sterile tools. Before work begins, the aseptic workspace will be tested for bioburden and particle fallout, and all tools that will contact sample path surfaces must be sterilized. During the exposure activity, sterile garments will be worn, sterile tools will be handled in a 2 person set up so that the operator touches only the sterile tool and not the exterior surfaces of the sterile pouch, and the environment will be monitored with active and passive fallout for bioburden and particle levels. Any breach in the planetary protection cleanliness can necessitate repeating DHMR, which not only has significant cost and schedule implications, it also become a risk to hardware that is not rated for repeated long exposures to high temperatures.

Life Detection↗
NASA NTRS2017

Digital Human Modeling

The development of models to represent human characteristics and behaviors in human factors is broad and general. The term "model" can refer to any metaphor to represent any aspect of the human; it is generally used in research to mean a mathematical tool for the simulation (often in software, which makes the simulation digital) of some aspect of human performance and for the prediction of future outcomes. This section is restricted to the application of human models in physical design, e.g., in human factors engineering. This design effort is typically human interface design, and the digital models used are anthropometric. That is, they are visual models that are the physical shape of humans and that have the capabilities and constraints of humans of a selected population. They are distinct from the avatars used in the entertainment industry (movies, video games, and the like) in precisely that regard: as models, they are created through the application of data on humans, and they are used to predict human response; body stresses workspaces. DHM enable iterative evaluation of a large number of concepts and support rapid analysis, as compared with use of physical mockups. They can be used to evaluate feasibility of escape of a suited astronaut from a damaged vehicle, before launch or after an abort (England, et al., 2012). Throughout most of human spaceflight, little attention has been paid to worksite design for ground workers. As a result of repeated damage to the Space Shuttle which adversely affected flight safety, DHM analyses of ground assembly and maintenance have been developed over the last five years for the design of new flight systems (Stambolian, 2012, Dischinger and Dunn Jackson, 2014). The intent of these analyses is to assure the design supports the work of the ground crew personnel and thereby protect the launch vehicle. They help the analyst address basic human factors engineering questions: can a worker reach the task site from the work platform provided; can she or he see the task site; can she or he control tools, which, if dropped, might damage the system? Figure 7.3.1 provides an example of such analysis for a future NASA launch vehicle. [figure 7.3.1 here] In-space systems for operation by astronauts have long been targets for DHM analysis, given the focus on mission success and concerns for astronaut safety. Figure 7.3.2 illustrates the analysis of the design to support astronaut tasks for an International Space Station glovebox. [Figure 7.3.2 here] Use by

Dischinger, H. Charles, Jr.↗
NASA NTRS2018

Aseptic Operations for Post DHMR Processing of MOMA Mass Spectrometer

Mars Organic Molecule Analyzer - Mass Spectrometer (MOMA-MS) is an instrument in the MOMA instrument suite for the European Space Agency (ESA) ExoMars 2020 Rover. The rover is Planetary Protection Mission Category IVb, the first IVb mission since the Viking missions in the 1970s. Within the sample path of the MOMA instrument suite, the hardware surfaces of the must be sanitized to a level of less than 0.03 spore/m sq. To meet this requirement, the MS sample path was subjected to Dry Heat Microbial Reduction (DHMR) to decrease the number of viable spores by 4 orders of magnitude from a measured 88 spores/m sq to 0.009 spores/m sq. Before DHMR, the hardware is handled using standard cleanroom practices. After DHMR, planetary protection filters protect the sample path for most of integration, but when sample path exposure is required, aseptic operations are instituted and exposure times are kept to an absolute minimum. The surface area of exposure is also taken into account to determine safe exposure times. Before work begins, the ISO class 5 aseptic workspace is cleaned and tested for surface and airborne bioburden, and all tools that will contact or be used near sample path surfaces are sterilized. During the exposure activity, sterile garments are worn, sterile gloves are changed as often as necessary, and the environment is monitored with active and passive fallout for bioburden and real time airborne particle counts. Sterile tools are handled by a two person team so that the operator touches only the tool and not the exterior surfaces of the sterilization pouch, and a sterile operating field is established as a safe place to organize tools or parts during the aseptic operations. In cases where aseptic operations are not feasible, localized DHMR is used after exposure. Any breach in the planetary protection cleanliness can necessitate repeating instrument level DHMR, which not only has significant cost and schedule implications, it also become a risk to hardware that is not rated for repeated long exposures to high temperatures.

Spacecraft Design↗
NASA NTRS2017

Optimal Transport Based Control of Granular Imaging System in Space

"Orbiting Rainbows” is a paradigm for creating a space-based observatory (telescope) from confined and aligned granular media. The overall objective is to construct a very large and lightweight aperture in space using a cloud of micron-sized particles held in position and aligned by the application of external electromagnetic fields, thus alleviating the extreme expense of deploying and stabilizing large monolithic telescopes by reducing the mass of the primary aperture. Adaptive optics techniques for wavefront stabilization and computational imaging techniques are then used to remove the optical noise from the scattering reflections of the granular medium, and finally producing clean images within the diffraction limit. In this paper, we address one of the key challenges of this new paradigm, namely controlling the position and orientation of the granules or particles so that the cloud of particles achieves the desired shape of an ultra-lightweight telescope and points into the right orientation. A further complication arises due to the fact that the particles do not have any onboard actuators. A number of external electric-field-based actuators are used to control all the particles simultaneously. Moreover, the number of actuators are orders-of-magnitude smaller than the number of particles, making this system largely under-actuated. Since the cloud of particles in any plausible configuration can be modeled as a probability distribution over the workspace, we formulate this control challenge as an optimal transport problem and then show that our optimal transport based control law drives the cloud of particles from any initial distribution to the desired position distribution (optical surface) and angular distribution (polarization state). Simulation results demonstrate the effectiveness of our approach.

Bandyopadhyay, Saptarshi↗