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NASA NTRSDate not supplied

Measurements of Silicosis Factors in Lunar and Martian Simulants

Simulants are geologically complex materials that are developed to represent the physical and/or compositional characteristics of a planetary surface (e.g., a naturally occurring soil or regolith). There are dozens of commercially available simulants that have been developed over the years; each simulant exhibits unique physical, chemical, and mineralogical characteristics. Simulants are derived from either natural or synthetic sources (i.e., “feedstocks”) of glass, minerals, and rocks. These feedstock components are processed by crushing, pulverizing, melting, etc., and then combined in the appropriate proportions to represent a particular site, surface, or region (e.g., Lunar Highlands Regolith). The process of creating simulants therefore requires the mechanical breakdown and reincorporation of feedstock components which may contain crystalline silica minerals such as quartz, cristobalite, and tridymite. Certain crystalline silica particles of the respirable fraction (<10 μm in diameter) are of great concern; chronic and acute exposure to these respirable crystalline silica (RCS) can lead to permanent damage and scarring of lung tissue, incurable lung diseases (i.e., silicosis), lung cancer, COPD (chronic obstructive pulmonary disease), and kidney disease. Planetary simulants are used extensively as test materials in the in scientific and engineering communities (e.g., testing of dust mitigation technologies, in-situ resource utilization, rover mobility, hardware, soft goods etc.). As such, this assessment was developed to serve as a guide for simulant users, local Safety and Occupational Health professionals, and Industrial Hygienists to evaluate the risk of silicosis across a wide variety of Lunar and Martian simulants. The goal of these works is to ensure that those working with simulant can do so safely and with an informed understanding of potential health risks.

Lunar↗
NASA NTRSDate not supplied

Simulated Lunar Gravity Testing of VIPER Loop Heat Pipe

NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) mission consists of a rover designed to explore the lunar south pole. One of the main challenges faced by the rover during the lunar polar exploration is the adverse thermal environment. Temperatures can fluctuate more than a 100°C between day and night; potentially dropping to −246°C in permanent shadow regions. To maintain the rover components within temperature limits, VIPER’s Thermal Management System (TMS) relies heavily on Loop Heat Pipes (LHPs). To assist the design of the thermal management system, an Engineering Design Unit (EDU) LHP has been tested in several opportunities under thermal vacuum (TVAC) environment. Of particular interest was the LHP performance in lunar gravity. To that end, the EDU LHP was tested at the nominal orientation within the rover assembly, vertical, and inclined such that the gravitational component acting on the LHP evaporator and condenser was 1/6g (lunar gravity is 1/6 of Earth gravity) when compared to the vertical configuration. This paper will examine the LHP conductance as one the key parameters to assess the effect of the gravity on the LHP performance.

Loop Heat Pipe↗
NASA NTRS2003

Mars Mission Surface Operation Simulation Testing of Lithium-Ion Batteries

The objectives of this program are to 1) Assess viability of using lithium-ion technology for future NASA applications, with emphasis upon Mars landers and rovers which will operate on the planetary surface; 2) Support the JPL 2003 Mars Exploration Rover program to assist in the delivery and testing of a 8 AHr Lithium-Ion battery (Lithion/Yardney) which will power the rover; 3) Demonstrate applicability of using lithium-ion technologyfor future Mars applications: Mars 09 Science Laboratory (Smart Lander) and Future Mars Surface Operations (General). Mission simulation testing was carried out for cells and batteries on the Mars Surveyor 2001 Lander and the 2003 Mars Exploration Rover.

Smart, M. C.↗
NASA NTRS2022

How to Build a Rover: An Overview of the Mars 2020 Mission’s Vehicle System Testbed

While NASA’s Mars rover Perseverance continues to make groundbreaking achievements on the Red Planet, its twin is hard at work here on Earth. The Operational Perseverance Twin for the Integration of Mechanisms and Instruments Sent to Mars, or OPTIMISM, is the Mars 2020 Vehicle System Testbed (VSTB) rover operated by NASA Jet Propulsion Laboratory (JPL) in Pasadena, California. OPTIMISM’s home is the JPL Mars Yard; an outdoor field with red soil that simulates the terrain encountered by Perseverance. The VSTB is a full-scale engineering model of the flight rover, serving a number of functions to ensure mission operations can continue smoothly and on schedule. The VSTB possesses instrumentation, computers, mechanisms, cameras, and a Mobility subsystem that are nearly identical to its extraterrestrial twin. Its high fidelity allows the rover to be a highly effective tool to fully test system functionality and performance prior to commanding the flight rover. The early stages of building OPTIMISM began a few months prior to Perseverance departing JPL for Cape Canaveral, FL in early 2020. Electrical integration of the flight system avionics, and compatibility checkouts of the electrical ground support equipment ensured that the foundation of the electrical system was operational and in place. Next, the internal harnessing was installed and compatibility checks of the rover instrumentation and mechanisms were performed to confirm the system was prepared for full buildup. Finally, mechanical assembly of the rover chassis with its external components completed the integration of the system before it was moved to the Mars Yard for its initial phase of testing to perform verification & validation (V&V) of the Mobility subsystem requirements. By the time Perseverance landed at Jezero Crater in February 2021, the first phase of VSTB operations was underway. Surface guidance, navigation, and control (SGNC) testing for the Mobility subsystem ensured functionality and performance requirements were met for various capabilities such as visual odometry (VO), mapping, and automatic navigation (AutoNav). Subsequent integration of the robotic arm (RA) onto the VSTB enabled the V&V campaign for surface sampling operations (SSO) to commence. As the mission’s engineering operations (EO) have gotten underway, the VSTB has been utilized for an array of purposes including troubleshooting software anomalies, and performing dry-runs for first time activities (FTAs) prior to sending the commands to Perseverance. OPTIMISM will continue to serve mission critical functions as long as Perseverance is roving the Red Planet.

Rojas, Jose Trujillo↗
NASA NTRS2018

A Low Cost Thermal Control Method for Testing in a Mars Environment

Due to the unique thermal vacuum testing requirements for a Mars Rover instrument, NASA Goddard developed a low cost, high fidelity thermal control system utilizing Thermal Electric Coolers (TECs) combined with a heat rejection fluid loop to actively control 8 independent payload thermal boundary zones in a simulated Mars pressure vacuum chamber with a Carbon Dioxide atmosphere. These zones could control instrument components to a specific temperature as a function of time to simulate exact temporal flight boundary predictions.The Mars Organic Molecule Analyzer (MOMA) instrument is a dual source (pyrolysis gas chromatograph and laser desorption) mass spectrometer (MS) based package that detects and characterizes organic molecules, as part of ESA's 2020 ExoMars Rover mission to seek the signs of life on Mars.Due to the unique thermal vacuum testing requirements for a Mars Rover instrument, NASA Goddard developed a low cost, high fidelity thermal control system utilizing Thermal Electric Coolers (TECs) combined with a heat rejection fluid loop to actively control 8 independent payload thermal boundary zones in a simulated Mars pressure vacuum chamber with a Carbon Dioxide atmosphere. These zones could control instrument components to a specific temperature as a function of time to simulate exact temporal flight boundary predictions.The Mars Organic Molecule Analyzer (MOMA) instrument is a dual source (pyrolysis gas chromatograph and laser desorption) mass spectrometer (MS) based package that detects and characterizes organic molecules, as part of ESA's 2020 ExoMars Rover mission to seek the signs of life on Mars.

MOMA↗
NASA NTRS2019

Astrobiology Survey of a Lava Cave at Lava Beds National Monument by a Rover Carrying a Remote Sensing Instrument Payload

We report here on a survey of a lava tube cave by a rover that is instrumented for astrobiology missions. The NASA Ames testbed rover, CaveR, was deployed in Valentine Cave in Lava Beds National Monument (N. CA, USA) during August of 2018. The rover carried an instrument package consisting of Near Infrared and Visible Spectrometer System (NIRVSS) a point spectrometer operating in 1590-3400 nm range, sensitive to H2O and -OH bearing minerals, pyroxenes, and carbonates (Roush, et al 2018); the bore sighted Drill Operations Camera (DOC), a monochrome imager illuminated by LEDs at 410, 540, 640, 740, 905 and 940 nm; a Realsense ™ depth sensor system for 3D model generation; and a high resolution DSLR stereo camera. The payload was mounted on a tiltable instrument platform attached to the left side of the rover. The rover was driven manually in the cave by field operators, following instructions from a remote science operations team, and simulating a mission concept with science-guided autonomy. A simulated mission took place for 3 days with a team of 3 scientists selecting targets and interpreting data from the payload. To begin the mission, the rover drove along one wall of the cave imaging continuously with the Realsense in 20 m cave segments, three total. At the start of each day, the images from a 20m segment and a panorama stitched from them were provided to the science team to examine. The science team used these data to prioritize specific points along the cave wall for the collection of NIRVSS, DOC, and DSLR data. The objective of the data collection was to identify and study putative biological and mineralogical features in the cave. The data were delivered in xGDS, a customized mapping, planning, and data base management software developed at NASA Ames (Lee, et al 2013). Once the targets for further observations were selected, a plan for collecting the observations (positions in the cave and pointing for each requested observation) was constructed using xGDS and delivered to a rover team to execute the science data collection plan. Acquired data were delivered back to the science team for analysis. Preliminary results from the experiment illustrate the utility of the system (rover plus payload) to study the cave geology and mineralogy and its potential for identifying biomineral features.

Wong, Uland↗
NASA NTRS2003

Advantages of Brahms for Specifying and Implementing a Multiagent Human-Robotic Exploration System

We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, all-terrain vehicles, robotic assistant, crew in a local habitat, and mission support team. Software processes ('agents') implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a runtime system Thus, Brahms provides a language, engine, and system builder's toolkit for specifying and implementing multiagent systems.

Clancey, William J.↗
NASA NTRS2005

The Status of Lunar Simulants: Conclusions and Recommendations from the 2005 Lunar Regolith Simulant Materials Workshop

No coordinated program currently exists in the U.S.A to define reference materials to be used as analogs of lunar materials. While such efforts have existed at different times in the past (Apollo Landing Module and Lunar Rover programs and NASA's Space Initiative in the early 1990's), the need for mineral materials chosen to simulate the characteristics of lunar regoliths is a pressing issue that must be addressed today through the collaboration of scientists, engineers and program managers. The 2005 Lunar Regolith Materials Workshop was held at Marshall Space Flight Center in Huntsville, AL on January 24-26,2005 to launch a focused effort of defining the requirements of lunar >simulant materials and make specific recommendations to NASA Headquarters for their production. Nearly 100 scientists and engineers worked during 3 days to accomplish these goals. Their conclusions and recommendations will be presented.

Sibille, L.↗
NASA NTRS1993

Lunar rover navigation concepts

With regard to the navigation of mobile lunar vehicles on the surface, candidate techniques are reviewed and progress of simulations and experiments made up to now are described. Progress that can be made through precursor investigations on Earth is considered. In the early seventies the problem was examined in a series of relevant tests made in the California desert. Meanwhile, Apollo rovers made short exploratory sorties and robotic Lunokhods traveled over modest distances on the Moon. In these early missions some of the required methods were demonstrated. The navigation problem for a lunar traverse can be viewed in three parts: to determine the starting point with enough accuracy to enable the desired mission; to determine the event sequence required to reach the site of each traverse objective; and to redetermine actual positions enroute. The navigator's first tool is a map made from overhead imagery. The Moon was almost completely photographed at moderate resolution by spacecraft launched in the sixties, but that data set provides imprecise topographic and selenodetic information. Therefore, more advanced orbital missions are now proposed as part of a resumed lunar exploration program. With the mapping coverage expected from such orbiters, it will be possible to use a combination of visual landmark navigation and external radio and optical references (Earth and Sun) to achieve accurate surface navigation almost everywhere on the near side of the Moon. On the far side and in permanently dark polar areas, there are interesting exploration targets where additional techniques will have to be used.

Burke, James D.↗
NASA NTRS2009

Evaluation of IEEE 802.11g and 802.16 for Lunar Surface Exploration Missions Using MACHETE Simulations

In this paper, we investigated the suitability of terrestrial wireless networking technologies for lunar surface exploration missions. Specifically, the scenario we considered consisted of two teams of collaborating astronauts, one base station and one rover, where the base station and the rover have the capability of acting as relays. We focused on the evaluation of IEEE 802.11g and IEEE 802.16 protocols, simulating homogeneous 802.11g network, homogeneous 802.16 network, and heterogeneous network using both 802.11g and 802.16. A mix of traffic flows were simulated, including telemetry, caution and warning, voice, command and file transfer. Each traffic type had its own distribution profile, data volume, and priority. We analyzed the loss and delay trade-offs of these wireless protocols with various link-layer options. We observed that 802.16 network managed the channel better than an 802.11g network due to controlled infrastructure and centralized scheduling. However, due to the centralized scheduling, 802.16 also had a longer delay. The heterogeneous (hybrid) of 802.11/802.16 achieved a better balance of performance in terms of data loss and delay compared to using 802.11 or 802.16 alone.

Segui, John↗
NASA NTRS1988

Experimental simulations of oxidizing conditions and organic decomposition on the surface of Mars

One important scientific objective of a Mars Rover Sample Return mission would be to look for traces of living and extinct life on Mars. An instrument to search for organic carbon may be the simplest instrument that could screen samples which are interesting from a biological point of view. An experimental program is described which would help to understand the nature of the oxidizing soil on Mars and the mechanism responsible for organic degradation on the Martian surface. This is approached by lab simulations of the actual conditions that occur on Mars, particularly the oxidant production by atmospheric photochemistry, and the combined effects of UV light and oxidants in decomposing organic compounds. The results will be used to formulate models of the photochemistry of the atmospheric, the atmosphere-soil interaction, and the diffusion of reactive compounds into the soils. This information will provide insights and constraints on the design of a sampling strategy to search for organic compounds on Mars.

Stoker, C. R.↗
NASA NTRS2013

Mars Science Laboratory Entry Descent and Landing Simulation Using DSENDS

The most recent planetary science mission to Mars is Mars Science Laboratory (MSL) with the Curiosity rover, launched November 26, 2011 and landed at Gale Crater on August 6, 2012. This spacecraft was the first use at Mars of a complete closed-loop Guidance Navigation and Control (GN&C) system, including guided entry with a lifting body that greatly reduces dispersions during the Entry, Descent and Landing (EDL) phase to achieve a 25 km x 20 km landing error relative to the selected Gale Crater landing target. In order to confirm meeting the above landing criteria, high-fidelity simulation of the EDL phase is required. The tool used for 6DOF EDL trajectory verification analysis is Dynamics Simulator for Entry, Descent and Surface landing (DSENDS), which is a high-fidelity simulation tool from JPLs Dynamics and Real-Time Simulation Laboratory for the development, test and operations of aero-flight vehicles. DSENDS inherent capability is augmented for MSL with project-specific models of atmosphere, aerodynamics, sensors and thrusters along with GN&C flight software to enable high-fidelity trajectory simulation. This paper will present the model integration and independent verification experience of the JPL EDL trajectory analysis team.

Mars↗
NASA NTRS2013

Mars Science Laboratory Entry Descent and Landing Simulation Using DSENDS

The most recent planetary science mission to Mars was Mars Science Laboratory (MSL) with the Curiosity rover, launched November 26, 2011 and landed at Gale Crater on August 6, 2012. This spacecraft was the first use at Mars of a complete closed-loop Guidance Navigation and Control (GN&C) system, including guided entry with a lifting body that greatly reduces dispersions during the Entry, Descent and Landing (EDL) phase to achieve a 25 km X 20 km landing error relative to the selected Gale Crater landing target. In order to confirm meeting the above landing criteria, high-fidelity simulation of the EDL phase is required. The tool used for 6DOF EDL trajectory verification analysis is Dynamics Simulator for Entry, Descent and Surface landing (DSENDS), which is a high-fidelity simulation tool from JPLs Dynamics and Real-Time Simulation Laboratory for the development, test and operations of aero-flight vehicles. DSENDS inherent capability is augmented for MSL with project-specific models of atmosphere, aerodynamics, sensors and thrusters along with GN&C flight software to enable high-fidelity trajectory simulation. This paper will present the model integration and independent verification experience of the JPL EDL trajectory analysis team.

Burkhart, P. Daniel↗
NASA NTRS2003

Mobile Agents: A Distributed Voice-Commanded Sensory and Robotic System for Surface EVA Assistance

A model-based, distributed architecture integrates diverse components in a system designed for lunar and planetary surface operations: spacesuit biosensors, cameras, GPS, and a robotic assistant. The system transmits data and assists communication between the extra-vehicular activity (EVA) astronauts, the crew in a local habitat, and a remote mission support team. Software processes ("agents"), implemented in a system called Brahms, run on multiple, mobile platforms, including the spacesuit backpacks, all-terrain vehicles, and robot. These "mobile agents" interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. Different types of agents relate platforms to each other ("proxy agents"), devices to software ("comm agents"), and people to the system ("personal agents"). A state-of-the-art spoken dialogue interface enables people to communicate with their personal agents, supporting a speech-driven navigation and scheduling tool, field observation record, and rover command system. An important aspect of the engineering methodology involves first simulating the entire hardware and software system in Brahms, and then configuring the agents into a runtime system. Design of mobile agent functionality has been based on ethnographic observation of scientists working in Mars analog settings in the High Canadian Arctic on Devon Island and the southeast Utah desert. The Mobile Agents system is developed iteratively in the context of use, with people doing authentic work. This paper provides a brief introduction to the architecture and emphasizes the method of empirical requirements analysis, through which observation, modeling, design, and testing are integrated in simulated EVA operations.

Clancey, William J.↗
NASA NTRSDate not supplied

Optimization-Based Parametric Design via High-Fidelity Simulation: Overview + Examples

Design-Build-Test approaches for developing spaceflight hardware are prohibitively time and cost intensive and often lead to suboptimal mechanism designs. Approaches that couple machine learning and high-fidelity physics simulation could eliminate the need for hardware prototyping and dramatically accelerate the engineering design cycle, ultimately reducing cost. This talk presents a modular NASA-developed toolchain to optimize hardware mechanisms in a virtual environment using numerical optimization and multi-body physics simulation and includes example applications related to rigid wheel design for autonomous rovers and computational fluid dynamics.

optimization↗
NASA NTRS2016

Extreme Mapping: Looking for Water on the Moon

There are many challenges when exploring extreme environments. Gathering accurate data to build maps about places that you cannot go is incredibly complex. NASA supports scientists by remotely operating robotic rovers to explore uncharted territories. One potential upcoming mission is to look for water near a lunar pole (the Resource Prospector mission). Learn about the technical hurdles and research steps that NASA takes before the mission. NASA practices on Earth with Mission Analogs which simulate the proposed mission. This includes going to lunar-type landscapes, building field networks, testing out rovers, instruments and operational procedures. NASA sets up remote science back rooms just as there are for actual missions. NASA develops custom Ground Data Systems software to support scientific mission planning and monitoring over variable time delays, and separate commanding software and infrastructure to operate the rovers.

MOON↗
NASA NTRS1975

A manipulator arm for zero-g simulations

A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

Brodie, S. B.↗
NASA NTRS2013

Characterizing the Performance of the Wheel Electrostatic Spectrometer

Insulators need to be discharged after each wheel revolution. Sensor responses repeatable within one standard deviation in the noise of the signal. Insulators may not need to be cleaned after each revolution. Parent Technology- Mars Environmental Compatibility Assessment/Electrometer Electrostatic sensors with dissimilar cover insulators Protruding insulators tribocharge against regolith simulant Developed for use on the scoop for the 2001 Mars Odyssey lander Wheel Electrostatic Spectrometer Embedded electrostatic sensors in prototype Martian rover wheel If successful, this technology will enable constant electrostatic testing on Mars Air ionizing fan used to neutralize the surface charge on cover insulators . WES rolled on JSClA lunar simulant Control experiment -Static elimination not conducted between trials -Capacitor discharged after each experiment Charge neutralization experiment -Static elimination conducted between trials -Capacitor discharged after each experiment. Air ionizing fan used on insulators after each wheel revolution Capacitor discharged after each trial Care was taken to roll WES with same speed/pressure Error bars represent one standard deviation in the noise of e ach sensor

Johansen, Michael R.↗