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Review of Exploration Systems Development (ESD) Integrated Hazard Development Process: Volume 2 - Appendices

The Chief Engineer of the Exploration Systems Development (ESD) Office requested that the NASA Engineering and Safety Center (NESC) perform an independent assessment of the ESD's integrated hazard development process. The focus of the assessment was to review the integrated hazard analysis (IHA) process and identify any gaps/improvements in the process (e.g. missed causes, cause tree completeness, missed hazards). This document contains the outcome of the NESC assessment.

Smiles, Michael D.↗

Establishing a Disruptive New Capability for NASA to Fly UAV's into Hazardous Conditions

A 2015 NASA Aeronautics Mission "Seedling" Proposal is described for a Severe-Environment UAV (SE-UAV) that can perform in-situ measurements in hazardous atmospheric conditions like lightning, volcanic ash and radiation. Specifically, this paper describes the design of a proof-of-concept vehicle and measurement system that can survive lightning attachment during flight operations into thunderstorms. Elements from three NASA centers draw together for the SE-UAV concept. 1) The NASA KSC Genesis UAV was developed in collaboration with the DARPA Nimbus program to measure electric field and X-rays present within thunderstorms. 2) A novel NASA LaRC fiber-optic sensor uses Faraday-effect polarization rotation to measure total lightning electric current on an air vehicle fuselage. 3) NASA AFRC's state-of-the-art Fiber Optics and Systems Integration Laboratory is envisioned to transition the Faraday system to a compact, light-weight, all-fiber design. The SE-UAV will provide in-flight lightning electric-current return stroke and recoil leader data, and serve as a platform for development of emerging sensors and new missions into hazardous environments. NASA's Aeronautics and Science Missions are interested in a capability to perform in-situ volcanic plume measurements and long-endurance UAV operations in various weather conditions. (Figure 1 shows an artist concept of a SE-UAV flying near a volcano.) This paper concludes with an overview of the NASA Aeronautics Strategic Vision, Programs, and how a SE-UAV is envisioned to impact them. The SE-UAV concept leverages high-value legacy research products into a new capability for NASA to fly a pathfinder UAV into hazardous conditions, and is presented in the SPIE DSS venue to explore teaming, collaboration and advocacy opportunities outside NASA.

Ely, Jay↗

Simulations of the Hazard Detection System for Approach Trajectories of the Morpheus Lunar Lander

The Hazard Detection System is part of a suite of sensors and algorithms designed to autonomously land a vehicle on unknown terrain while avoiding any hazards. This paper describes the simulations built to predict the performance of the Hazard Detection System to support flight testing onboard the Morpheus Lander testbed at the Kennedy Space Center. The paper describes a hardware-in-the-loop simulation that was used to predict system performance under nominal operating conditions, and also a Monte Carlo simulation to predict command timing performance bounds under a wide range of varying conditions.

Monte Carlo↗

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

Robertson, Edward A.↗

Precision Landing and Hazard Avoidance Doman

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

Robertson, Edward A.↗

Optimal Fragmentation and Dispersion of Hazardous Near-Earth Objects

The complex problem of protecting the Earth from the possibility of a catastrophic impact by a hazardous near-Earth object (NEO) has been recently reassessed in [1]. In a letter on NEOs from the White House Office of Science and Technology Policy (OSTP) to the U.S. Senate and Congress in 2010, the White House OSTP strongly recommended that NASA take the lead in conducting research activities for NEO detection, characterization, and deflection technologies. Furthermore, President Obama's new National Space Policy specifically directs NASA to "pursue capabilities, in cooperation with other departments, agencies, and commercial partners, to detect, track, catalog, and characterize NEOs to reduce the risk of harm to humans from an unexpected impact on our planet." The Planetary Defense Task Force of the NASA Advisory Council also recommended that the NASA Office of the Chief Technologist (OCT) begin efforts to investigate asteroid deflection techniques. With national interest growing in the United States, the NEO threat detection and mitigation problem was recently identified as one of NASA's Space Technology Grand Challenges. An innovative solution to NASA's NEO Impact Threat Mitigation Grand Challenge problem was developed through a NIAC Phase I study (9/16/11 - 9/15/12), and it will be further investigated for a NIAC Phase II study (9/10/12 - 9/9/14). Various NEO deflection technologies, including nuclear explosions, kinetic impactors, and slow-pull gravity tractors, have been proposed and examined during the past two decades. Still, there is no consensus on how to reliably deflect or disrupt hazardous NEOs in a timely manner. It is expected that the most probable mission scenarios will have a mission lead time much shorter than 10 years, so the use of nuclear explosives becomes the most feasible method for planetary defense. Direct intercept missions with a short warning time will result in arrival closing velocities of 10-30 kilometers per second with respect to the target asteroid. Given such a large arrival delta V requirement, a rendezvous mission to the target asteroid is infeasible with existing launch vehicles. Furthermore, state-of-the-art penetrating subsurface nuclear explosion technology limits the penetrator's impact velocity to less than approximately 300 meters per second because higher impact velocities prematurely destroy the nuclear fuzing mechanisms. Therefore, significant advances in hypervelocity nuclear interceptor/ penetrator technology must be achieved to enable a last-minute nuclear disruption mission with intercept velocities as high as 30 kilometers per second. Consequently, a HAIV (Hypervelocity Asteroid Intercept Vehicle) mission architecture (Figure 1.1), which blends a hypervelocity kinetic impactor with a subsurface nuclear explosion for optimal fragmentation and dispersion of hazardous NEOs, has been developed through a Phase I study, and it will be further developed and validated through a Phase II study.

Asteroid↗

Approach-Phase Precision Landing with Hazard Relative Navigation: Terrestrial Test Campaign Results of the Morpheus/ALHAT Project

The Morpheus Project began in late 2009 as an ambitious e ort code-named Project M to integrate three ongoing multi-center NASA technology developments: humanoid robotics, liquid oxygen/liquid methane (LOX/LCH4) propulsion and Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) into a single engineering demonstration mission to be own to the Moon by 2013. The humanoid robot e ort was redirected to a deploy- ment of Robonaut 2 on the International Space Station in February of 2011 while Morpheus continued as a terrestrial eld test project integrating the existing ALHAT Project's tech- nologies into a sub-orbital ight system using the world's rst LOX/LCH4 main propulsion and reaction control system fed from the same blowdown tanks. A series of 33 tethered tests with the Morpheus 1.0 vehicle and Morpheus 1.5 vehicle were conducted from April 2011 - December 2013 before successful, sustained free ights with the primary Vertical Testbed (VTB) navigation con guration began with Free Flight 3 on December 10, 2013. Over the course of the following 12 free ights and 3 tethered ights, components of the ALHAT navigation system were integrated into the Morpheus vehicle, operations, and ight control loop. The ALHAT navigation system was integrated and run concurrently with the VTB navigation system as a reference and fail-safe option in ight (see touchdown position esti- mate comparisons in Fig. 1). Flight testing completed with Free Flight 15 on December 15, 2014 with a completely autonomous Hazard Detection and Avoidance (HDA), integration of surface relative and Hazard Relative Navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman lter software, and landing within 2 meters of the VTB GPS-based navigation solution at the safe landing site target. This paper describes the Mor- pheus joint VTB/ALHAT navigation architecture, the sensors utilized during the terrestrial ight campaign, issues resolved during testing, and the navigation results from the ight tests.

Crain, Timothy P.↗

Characterization of Rapid Charging Events Due to Sheath Capacitance and Impact on the International Space Station Plasma Hazard Process

During an Extravehicular Activity (EVA), if the Extravehicular Mobility Unit (EMU) makes galvanic contact with the International Space Station (ISS), a negative Floating Potential (FP) can lead to an arcing hazard when it exceeds -45.5 V, and a positive FP can produce a DC current high enough to stimulate the astronaut’s muscles (5 mA), and also cause a hazard. The Boeing Space Environments team developed and utilizes a Plasma Interaction Model (PIM) in order to calculate the ISS FP based on the plasma environment, ISS velocity, geomagnetic field, solar array and ISS orientation, and solar array regulation to support EVA planning operations. Presently, the model excludes the sheath capacitance, resulting in the total potential drop being across the dielectric surface of the vehicle. Data from the Floating Potential Measurement Unit (FPMU) show this assumption to be generally true. However, Rapid Charging Events (RCE) are often observed in the FPMU data at eclipse exit when the electron number density, Ne, is low (less than 5(sub e)10 m (exp-3)). During these events, the FP can rise more than 40 V in one to five seconds. There is then a relaxation phase where the FP drops back to the normal FP values. The PIM model is not capable of producing these RCEs. It was thought that the inclusion of the sheath in PIM could improve the charging predictions, particularly as related to RCEs. A parametric study was performed to determine what portion of the measured FP is across the sheath for a range of Ne experienced by the ISS, and if the inclusion of the sheath in PIM is necessary. Results show that the potential drop across the sheath is negligible at times when the N(sub e) is greater than 1(sub e)11 m-3. However, there appears to be a transitional region between 1(sub e)10 m(exp -3) and 1(sub e)11 m(exp -3) where the sheath capacitance becomes more significant. During those conditions the potential drop across the sheath can be larger than the potential drop across the dielectric for short periods (1-5 seconds). These results agree remarkably well with measurements made by the FPMU. The inclusion of the sheath explains why high charging measurements occur when the Ne is low at eclipse exit and even times when the solar arrays are not a significant driver (i.e., potentials often rise as the ISS flies through spread-F). Results also show that the RCEs are not a safety concern because the potential drop across the dielectric surface does not exceed -45.5 V. In that case, the EMU would not arc. This gives high confidence in the low probability of an arcing hazard occurring.

plasma environment↗

NASA SPLICE Project: Developing the Next Generation Hazard Detection System

The SPLICE project is continuing NASA's efforts to develop precision landing GN&C technologies for future lander missions. One of those technologies is the next generation Hazard Detection System (HDS), which consists of a new Hazard Detection LIDAR and Hazard Detection Algorithms. The HDS is a modular system that will be adapted to fit specific mission needs in the future. This abstract presents the design approach and current challenges for the SPLICE HDS.

Restrepo, Carolina↗

Pedestal Hazard Abatement and Soil Removal Construction Completion Report for Launch Complex 34, Solid Waste Management Unit CC054, Cape Canaveral Space Force Station, Florida

This Construction Completion Report summarizes the activities associated with implementation of an interim measure (IM) for hazard abatement of the Launch Pedestal and soil removal at Launch Complex 34 (LC34), Cape Canaveral Space Force Station, Florida. The purpose of the hazard abatement IM was to mitigate any continuing source of contamination associated with residual paint on the Launch Pedestal that contained polychlorinated biphenyls (PCBs). Sampling determined that residual PCB concerns were limited to the steel elements on the top-side of the Pedestal, which included the torus ring, feed pipe, down pipes, pipe straps and shields, remaining steel cover plates and bolts, and railing support steel. The IM also mitigated the potential spread of contamination to surrounding areas by removing fallen metal fragments from the concrete launch pad, as well as soil from trenches on the launch pad where PCB-containing paint chips may have accumulated prior to or during Pedestal hazard abatement activities.

Complex 34↗

A Scalable Framework for Post Fire Debris Flow Hazard Assessment Using Satellite Precipitation Data

Wildfire is a global phenomenon that has dramatic effects on erosion and flood potential. On steep slopes, burned areas are more likely to experience significant overland flow during heavy rainfall leading to post fire debris flows (PFDFs). Previous work establishes methods for PFDF hazard assessment, often relying on regional-scale parameterizations with in-situ rainfall measurements to categorize hazard as a function of meteorological and surface properties. We present a globally scalable approach to extend the benefit these models provide to new areas. Our new model relies on publicly available satellite-based inputs with a global extent to provide first order hazard assessments of recently burned areas. Our results show it is possible to identify the conditions relevant for PFDF-initiation processes across a variety of physiographic settings. Improvements to satellite borne rainfall intensity data and increased availability of PFDF occurrence data worldwide are expected to enhance model skill and applicability further.

Wildfire↗

The 28 November 2020 Landslide, Tsunami, and Outburst Flood – A Hazard Cascade Associated With Rapid Deglaciation at Elliot Creek, British Columbia, Canada

We describe and model the evolution of a recent landslide, tsunami, outburst flood, and sediment plume in the southern Coast Mountains, British Columbia, Canada. On November 28, 2020, about 18 million m3 of rock descended 1,000 m from a steep valley wall and traveled across the toe of a glacier before entering a 0.6 km2 glacier lake and producing >100-m high run-up. Water overtopped the lake outlet and scoured a 10-km long channel before depositing debris on a 2-km2 fan below the lake outlet. Floodwater, organic debris, and fine sediment entered a fjord where it produced a 60+km long sediment plume and altered turbidity, water temperature, and water chemistry for weeks. The outburst flood destroyed forest and salmon spawning habitat. Physically based models of the landslide, tsunami, and flood provide real-time simulations of the event and can improve understanding of similar hazard cascades and the risk they pose. Plain Language Summary Glacier retreat exposes unstable slopes that can suddenly fail. We describe and model one such event with far-reaching consequences. The landslide mass (50 million tonnes, equivalent to the combined mass of all Canadian automobiles) entered and suddenly drained a 0.6-km2 alpine lake in the southern Coast Mountains of British Columbia. Displaced water destroyed salmon-spawning habitat over a distance of 8.5 km and created a plume of sediment and organic matter more than 60 km from the head of the fjord into which the floodwaters discharged. Physically based models are able to simulate the hazard cascade, and such models could be used to improve hazard and risk assessments of these events under future climate change.

M. Geertsema↗

Clear Lake Volcanic Field Disasters: Creating a Deformation Record Using InSAR to Assess Hazards and Detect Volcanic Unrest in Clear Lake Volcanic Field

Clear Lake Volcanic Field (CLVF) in northern California is at a high threat potential for volcanic hazards. Eruptions leading to increased seismic activity could result in silicic domes, cinder cones, and flows that would be dangerous to the residential areas near the volcanic field. Remotely sensed Earth observations can reveal volcanic processes in the subsurface, which are essential to the timely monitoring of potential volcanic activity. In particular, Sentinel-1 C-band Synthetic Aperture Radar (C-SAR) and Digital Elevation Model (DEM) data capture relative surface deformation at unprecedented high spatial and temporal resolutions. Leveraging C-SAR and DEMs, we conducted interferometric analysis from January 2016 to December 2023. Our results demonstrate 1) the mean surface displacement velocity of the Clear Lake Volcanic Field is measured to undergo 5 to 10-centimeter scale deformation and shows a strong relationship with the surrounding faults, 2) apparent seasonal differences in rates of surface change, and 3) seismic activity associated with the geyser geothermal field has a strong association with cumulative surface displacement, with active fault zones having 2 to 5 cm of additional displacement. Results indicate that deformation is linked to deep pressure sources causing stresses on the surficial environment that should be considered in hazard mitigation. This study provides a baseline of historic deformation, aiding hazard analysts in communication efforts and streamlining decision-making for potential risks to region residents.

remote sensing↗

Standalone Hazard Evaluation and Refinement From Instrument Findings (S.H.E.R.I.F.)

The Standalone Hazard Evaluation From Instrument Findings or SHERIF is a set of novel algorithms and associated framework designed to support the generation of Digital Elevation Maps (DEMs) from multiple LiDAR scans and perform Hazard Detection (HD) and Safe Site Selection with minimal input from other onboard systems. SHERIF can employ several techniques to perform Point Cloud registration(PCR) on disparate LiDAR scans of a planetary surface to generate a DEM which evolves over the course of a trajectory, with a flow designed to enable robustness. The framework also supports a variety of Hazard Detection and Safe Site Selection algorithms which can be run on the evolving DEM being produced. SHERIF features a robust and modular construction, allowing the user a high degree of flexibility in selecting and implementing whichever PCR and HD/SSL algorithms they may prefer, while maintaining the data products and sensor independence of the core SHERIF framework. SHERIF was recently tested in a hardware in the loop simulation at NASA JSC.

Entry Descent and Landing Guidance Navigation Cont↗

Do Better Satellite Precipitation Algorithms Improve Landslide Hazard Assessment?

Satellites make it possible to estimate precipitation in near real time. Given the challenges of achieving global coverage by other means, these data are used widely. However, few systems for landslide hazard assessment rely on satellite precipitation estimates. This could be due in part to perceptions of accuracy, although latency, spatial resolution, and other factors may also be important. We test whether recent changes to data streams from the Global Precipitation Measurement mission (GPM) have improved its potential for use in landslide prediction. Specifically, we examine data produced by the Integrated Multi-satellitERetrievals for the GPM (IMERG) algorithm, which was upgraded to version 7 this year. IMERG relies upon other algorithms, including the Goddard Profiling Algorithm (GPROF) and the GPM Combined Radar-Radiometer Algorithm (CORRA). Many changes have been made during the switch from IMERG version 6 to version 7. These include upgrading CORRA and GPROF to version 7, to improve the accuracy of precipitation in frozen, mountainous, and coastal areas. The measured intensity of some storms has been enhanced with a new algorithm, the Scheme for Histogram Adjustment with Ranked Precipitation Estimates in the Neighborhood. Combined with many others, these changes to IMERG should improve its utility for landslide hazard assessment in a variety of contexts. To test this idea, we retrain the global Landslide Hazard Assessment for Situational Awareness (LHASA) model twice—first with data from IMERG version 6B and second with 7B. Since current daily rainfall is the most important variable in determining outcomes predicted by LHASA, it should reflect changes made to that input. First, we grid the landslides at a daily, thirty-arcsecond resolution. This serves as the response variable. At each of these sites current and antecedent rainfall are extracted, along with antecedent snow mass and soil moisture, slope, and PGA. In addition, one million grid cells are selected at random points to represent conditions under which landslides (probably) do not occur. After merging these data, we hold back 20% of the dataset for validation purposes and train a machine-learning model with the rest. We assess both the model’s overall ability to identify landslides and its ability to predict specific large landslide disasters.

Thomas A Stanley↗

Creating a Deformation Time Series Utilizing InSAR to Assess Hazards and Detect Volcanic Unrest in Clear Lake Volcanic Field, California

According to the U.S Geological Survey, the Clear Lake Volcanic Field (CLVF) in northern California is at a high threat potential for volcanic hazards. Eruptions leading to increased seismic activity could result in silicic domes, cinder cones, and flows that would be dangerous to the residential areas near the volcanic field. Remotely sensed Earth observations can reveal volcanic processes in the subsurface, which are essential to the timely monitoring of potential volcanic activity. In particular, Sentinel-1 C-band Synthetic Aperture Radar (C-SAR) and Digital Elevation Model (DEM) data capture relative surface deformation at unprecedented high spatial and temporal resolutions. Leveraging C-SAR and DEMs, we conducted interferometric analysis from January 2016 to December 2023. Our results demonstrate 1) the mean surface displacement velocity of the Clear Lake Volcanic field is measured to undergo 5 to 10-centimeter scale deformation and shows a strong correlation with the surrounding faults, 2) apparent seasonal differences in rates of surface change, and 3) seismic activity associated with the geyser geothermal field has a strong correlation with cumulative surface displacement, with active fault zones having 2 to 5 cm of additional displacement. Results indicate that deformation is linked to deep pressure sources causing stresses on the surficial environment that should be considered in hazard mitigation. This study provides a baseline of historic deformation, aiding hazard analysts in communication efforts and streamlining decision-making for potential risks to region residents.

Ivan Tochimani-Hernandez↗

Advanced Weather Hazard Perception Capabilities for Remotely Piloted Aircraft in Wildland Fire Operations

Weather, specifically winds, are the most variable and least predictable of the weather-related elements that affect wildfire behavior.1 This leads to aviation operations which must deal with increased risks due to dynamic weather factors. Remotely piloted aircraft provide the opportunity to remove human loss of life from these risk consequences and mitigate the overall risks for air operations for fire suppression and dropping of retardant. UAS also allows the opportunity to continue fire suppression with nighttime operations. However, with the use of new technologies in aviation operations comes additional risk factors and the need for remote sensing capabilities to identify and permit navigation around extreme weather conditions, with turbulence being the most unforeseeable. This paper presents advanced concepts for weather hazard perception capabilities for remote pilot operators to include data and display techniques intended for dynamic environments and low altitude operations. This work can support the potential of weather sensing capabilities to create hazard maps to track high-risk weather patterns in mountainous regions. Advanced sensing may provide opportunity to locate extreme turbulence hazards for uninhabited aerial systems (UAS) and decrease the likelihood of flying into unknown weather conditions to enable safe operations to assist in wildfire air support.

Tyler L Willhite↗

(abstract) A Mobile Robot for Remote Response to Incidents Involving Hazardous Materials

This paper will report the status of the Emergency Response Robotics project, a teleoperated mobile robot system being developed at JPL for use by the JPL Fire Department/HAZMAT Team. The project, which began in 1991, has been focused on developing a robotic vehicle which can be quickly deployed by HAZMAT Team personnel for first entry into an incident site. The primary goals of the system are to gain access to the site, locate and identify the hazard, and aid in its mitigation. The involvement of JPL Fire Department/HAZMAT Team personnel has been critical in guiding the design and evaluation of the system. A unique feature of the current robot, called HAZBOT III, is its special design for operation in combustible environments. This includes the use of all solid state electronics, brushless motors, and internal pressurization. Demonstration and testing of the system with HAZMAT Team personnel has shown that teleoperated robots, such as HAZBOT III, can successfully gain access to incident sites locating and identifying hazardous material spills. Work is continuing to enable more complex missions through the addition of appropriate sensor technology and enhancement of the operator interface.

robots teleoperator hazardous materials HAZMAT HAZ↗