Results for “COTS Parts” — Page 13

NASA NTRSDate not supplied

To the Die Smartly: Heavy Ion Testing of PEMs on COTS Boards Through the Plastic

Seven commercial off the shelf (COTS) boards containing electronic devices (all in plastic packages, PEMS), under consideration for use in a spacecraft subsystem, were exposed to beams of very high energy ions at the National Superconducting Cyclotron Laboratory (MSU). The ion energies were high enough that an entire board could be exposed in air, and it could still penetrate through the plastic and reach the silicon die. A total of about 300 runs were made, and for each, the LET of the ion entering the silicon die had to be determined, based on the thickness of the plastic lid and the thickness of overlaying materials (e.g., aluminum degraders). Single event latchup (SEL) and functional interrupt (SEFI) were determined during each run, the SEFI by means of simple programs being continuously written to and read from the boards to monitor functionality, while each part was being exposed to the heavy ions.

Wert, J. L.↗

NASA NTRS2014

Post-Flight Test Results of Acousto-Optic Modulator Devices Subjected to Space Exposure

The objective of the Materials International Space Station Experiment (MISSE) is to study the performance of novel materials when subjected to the synergistic effects of the harsh space environment for several months. MISSE missions provide an opportunity for developing space qualifiable materials. Several laser and lidar components were sent by NASA Langley Research Center (LaRC) as a part of the MISSE 7 mission. The MISSE 7 module was transported to the international space station (ISS) via STS 129 mission that was launched on Nov 16, 2009. Later, the MISSE 7 module was brought back to the earth via the STS 134 that landed on June 1, 2011. The MISSE 7 module that was subjected to exposure in a space environment for more than one and a half years included fiber laser, solid-state laser gain materials, detectors, and semiconductor laser diode. Performance testing of these components is now progressing. In this paper, the results of performance testing of a laser diode module sent by NASA Langley Research Center on MISSE 7 mission will be discussed. This paper will present the comparison of pre-flight and post-flight performance of two different COTS acousto-optic modulator (AOM) devices. Post-flight measurements indicate that these two devices did not undergo any significant performance degradation.

Prasad, Narasimha S.↗

NASA NTRS2010

Evaluation of Fairchild's Gate Drive Optocoupler, Type FOD3150, Under Wide Temperature Operation

An optocoupler is a semiconductor device that is used to transfer a signal between different parts of a circuit that need to be electrically isolated from one another - for example, where a high voltage is to be switched with a low voltage control signal. Optocouplers often can be used in place of relays. These optocouplers utilize an infrared LED (light emitting diode) and a photodetector such as a silicon controlled rectifier or photosensitive silicon diode for the transfer of the electronic signal between components of a circuit by means of a short optical transmission channel. For maximum coupling, the wave-length responses of the LED and the detector should be very similar. In switch-mode power supply applications, optocouplers offer advantages over transformers by virtue of simpler circuit design, reduced weight, and DC coupling capability. The effects of extreme temperature exposure and thermal cycling on the performance of a commercial-off-the-shelf (COTS) optocoupler, Fairchild FOD3150, were evaluated in this work. This 1.0 A output current, high noise immunity gate drive optocoupler utilizes an aluminum gallium arsenide (AlGaAs) LED, is capable of driving most 800V/20A IGBT/MOSFETs, and is suited for fast switching in motor control inverter applications and high performance power systems. Some of the specifications of the isolator chip are listed. The device was evaluated in terms of output response, output rise (t(sub r)) and fall times (t(sub f)), and propagation delays (using a 50% level between input and output during low to high (t(sub PLH)) and high to low (t(sub PLH)) transitions). The output supply current was also obtained. These parameters were recorded at various test temperatures between -190 C and +110 C.

Patterson, Richard↗

NASA NTRS2022

Electrical Ground Support Equipment for the Sampling Caching System of the Mars 2020 Rover

In this work we describe in detail the architecture, design, testing and operation of the Electrical Ground Support Equipment (EGSE) “Blue Box” used to test and validate the Sampling Caching System (SCS) of the Mars 2020 Perseverance rover. The Blue Box architecture is centered around COTS motor controllers and COTS input-output modules communicating over an EtherCAT bus. A custom, low-level safety subsystem ensures no harm can be done to the flight articles. The modular architecture of the EGSE reduces cost and complexity while expediting assembly time. The Blue Box drives the 19 actuators of the SCS which span the main robotic arm, the corer system, the internal sample handling arm, the sample tube sealing system and the gas dust removal tool; mimicking the Rover Motor Control Assembly (RMCA). Due to the limited availability of RMCA’s, the EGSE enabled and performed the bulk of testing activities for SCS. The majority of the SCS actuators are composed of a 3-phase DC brushless motors, hall sensors for commutation, dual resolvers for output angular measurement, brakes, heaters and platinum thermistors. Additionally, the EGSE read 12 strain gauges forming part of a force torque sensor, and switches used for external positioning references. Over the 3-year span of the V&V campaign for the SCS, over 32 EGSE systems were built, tested and deployed to test venues at JPL and externally. The EGSE tested several families of the SCS subsystem, ranging from engineering units, life test units and two flight units. Test venues that this EGSE supported included lab benches, ultra-clean cleanrooms, ATLO facilities, and thermal vacuum chambers. Together with the test software systems, SSDEV and SSDEV-ECAT, the Blue Box EGSE enabled the team to efficiently test flight hardware and flight software together. We go over the safety features and fault management techniques employed to protect flight hardware. The effects of the long, 50-feet, EGSE harnesses on motor performance, EMI, electrical noise, and motor control performance are explained. Mitigations to these unwanted effects, including shielding strategy and inductance compensation, are summarized. We go over an excerpt of notable anomalies that this EGSE suffered through its operation, along with investigations and resolutions. Lessons learned, areas of improvement as part of future work, and recommendations for future implementations for similar EGSE’s, are shared.

Levine, Dan↗

NASA NTRS2022

Metrics for Flight Operations: Application to Europa Clipper Tour Selection

Objective measures are ubiquitous in the formulation, design and implementation of deep space missions. Tour durations, flyby altitudes, propellant budgets, power consumption, and other metrics are essential to developing and managing NASA missions. But beyond the simple metrics of cost and workforce, it has been difficult to identify objective, quantitative measures that assist in evaluating choices made during formulation or implementation phases in terms of their impact on flight operations. As part of the development of the Europa Clipper Mission system, a set of operations metrics have been defined along with the necessary design information and software tooling to calculate them. We have applied these methods and metrics to help assess the impact to the flight team on the six options for the Clipper Tour that are currently being vetted for selection in the fall of 2021. To generate these metrics, the Clipper MOS team first designed the set of essential processes by which flight operations will be conducted, using a standard approach and template to identify (among other aspects) timelines for each process, along with their time constraints (e.g., uplinks for sequence execution). Each of the resulting 50 processes is documented in a common format and concurred by stakeholders. Process timelines were converted into generic schedules and workforce-loaded using COTS scheduling software, based on the inputs of the process authors and domain experts. Custom code was generated to create an operations schedule for a specific portion of Clipper's prime mission, with instances of a given process scheduled based on specific timing rules (e.g., process X starts once per week on Thursdays) or relative to mission events (e.g., sequence generation process begins on a Monday, at least three weeks before each Europa closest approach). Over a 5-month period, and for each of six Clipper candidate tours, the result was a 20,000+ line, workforce-loaded schedule that documents all of the process-driven work effort at the level of individual roles, along with a significant portion of the level-of-effort work. Post-processing code calculated the absolute and relative number of work hours during a nominal 5 day / 40 hour work week, the work effort during 2nd and 3rd shift, as well as 1st shift on weekends. The resultant schedules and shift tables were used to generate objective measures that can be related to both human factors and to operational risk and showed that Clipper tours which utilize 6:1 resonant (21.25 day) orbits instead of 4:1 resonant (14.17 day) orbits during the first dozen or so Europa flybys are advantageous to flight operations. A similar approach can be extended to assist missions in more objective assessments of a number of mission issues and trades, including tour selection and spacecraft design for operability.

Sarrel, Marc↗

NASA NTRS2013

Study and Sub-System Optimization of Propulsion and Drive Systems for the Large Civil TiltRotor (LCTR2) Rotorcraft

In a series of study tasks conducted as a part of NASA's Fundamental Aeronautics Program, Rotary Wing Project, Boeing and Rolls-Royce explored propulsion, drive, and rotor system options for the NASA Large Civil Tilt Rotor (LCTR2) concept vehicle. The original objective of this study was to identify engine and drive system configurations to reduce rotor tip speed during cruise conditions and quantify the associated benefits. Previous NASA studies concluded that reducing rotor speed (from 650 fps hover tip speed) during cruise would reduce vehicle gross weight and fuel burn. Initially, rotor cruise speed ratios of 54% of the hover tip speed were of most interest during operation at cruise air speed of 310 ktas. Interim results were previously reported1 for cruise tip speed ratios of 100%, 77%, and 54% of the hover tip speed using engine and/or gearbox features to achieve the reduction. Technology levels from commercial off-the-shelf (COTS), through entry-in-service (EIS) dates of 2025 and 2035 were considered to assess the benefits of advanced technology on vehicle gross weight and fuel burn. This technical paper presents the final study results in terms of vehicle sizing and fuel burn as well as Operational and Support (O&S) costs. New vehicle sizing at rotor tip speed reduced to 65% of hover is presented for engine performance with an EIS 2035 fixed geometry variable speed power turbine. LCTR2 is also evaluated for missions range cases of 400, 600, 800, 1000, and 1200 nautical miles and cruise air speeds of 310, 350 and 375 ktas.

Robuck, Mark↗

NASA NTRS2010

Web Design for Space Operations: An Overview of the Challenges and New Technologies Used in Developing and Operating Web-Based Applications in Real-Time Operational Support Onboard the International Space Station, in Astronaut Mission Planning and Mission Control Operations

The International Space Station (ISS) Operations Planning Team, Mission Control Centre and Mission Automation Support Network (MAS) have all evolved over the years to use commercial web-based technologies to create a configurable electronic infrastructure to manage the complex network of real-time planning, crew scheduling, resource and activity management as well as onboard document and procedure management required to co-ordinate ISS assembly, daily operations and mission support. While these Web technologies are classified as non-critical in nature, their use is part of an essential backbone of daily operations on the ISS and allows the crew to operate the ISS as a functioning science laboratory. The rapid evolution of the internet from 1998 (when ISS assembly began) to today, along with the nature of continuous manned operations in space, have presented a unique challenge in terms of software engineering and system development. In addition, the use of a wide array of competing internet technologies (including commercial technologies such as .NET and JAVA ) and the special requirements of having to support this network, both nationally among various control centres for International Partners (IPs), as well as onboard the station itself, have created special challenges for the MCC Web Tools Development Team, software engineers and flight controllers, who implement and maintain this system. This paper presents an overview of some of these operational challenges, and the evolving nature of the solutions and the future use of COTS based rich internet technologies in manned space flight operations. In particular this paper will focus on the use of Microsoft.s .NET API to develop Web-Based Operational tools, the use of XML based service oriented architectures (SOA) that needed to be customized to support Mission operations, the maintenance of a Microsoft IIS web server onboard the ISS, The OpsLan, functional-oriented Web Design with AJAX

Khan, Ahmed↗

NASA NTRS2012

Porous Foam Based Wick Structures for Loop Heat Pipes

As part of an effort to identify cost efficient fabrication techniques for Loop Heat Pipe (LHP) construction, NASA Goddard Space Flight Center's Cryogenics and Fluids Branch collaborated with the U.S. Naval Academy s Aerospace Engineering Department in Spring 2012 to investigate the viability of carbon foam as a wick material within LHPs. The carbon foam was manufactured by ERG Aerospace and machined to geometric specifications at the U.S. Naval Academy s Materials, Mechanics and Structures Machine Shop. NASA GSFC s Fractal Loop Heat Pipe (developed under SBIR contract #NAS5-02112) was used as the validation LHP platform. In a horizontal orientation, the FLHP system demonstrated a heat flux of 75 Watts per square centimeter with deionized water as the working fluid. Also, no failed start-ups occurred during the 6 week performance testing period. The success of this study validated that foam can be used as a wick structure. Furthermore, given the COTS status of foam materials this study is one more step towards development of a low cost LHP.

Silk, Eric A.↗

NASA NTRS2013

Post-Flight Test Results of Seed Laser Module Subjected to Space Exposure

The objective of the Materials International Space Station Experiment (MISSE) is to study the performance of novel materials when subjected to the synergistic effects of the harsh space environment for several months. MISSE missions provide an opportunity for developing space qualifiable materials. Several laser and lidar components were sent by NASA Langley Research Center (LaRC) as a part of the MISSE 7 mission. The MISSE 7 module was transported to the international space station (ISS) via STS 129 mission that was launched on Nov 16, 2009. Later, the MISSE 7 module was brought back to the earth via the STS 134 that landed on June 1, 2011. The MISSE 7 module that was subjected to exposure in space environment for more than one and a half year included fiber laser, solid-state laser gain materials, detectors, and semiconductor laser diode. Performance testing of these components is now progressing. In this paper, the results of performance testing of a laser diode module sent by NASA Langley Research Center on MISSE 7 mission will be discussed. This paper will present the comparison of pre-flight and post-flight performance curves and discuss the effect of space exposure on the laser diode module. Preliminary findings on output power measurements show that the COTS laser diode characteristics did not undergo any significant performance degradation.

Prasad, Narasimha S.↗

NASA NTRS2021

Acceleration Factors for Reliability Assessment of Polymer Tantalum Capacitors

Using polymer tantalum capacitors in Hi-Rel systems requires an assessment of the reliability characteristics of the parts. For this assessment, tantalum capacitors are typically subjected to reliability testing at temperatures and voltages exceeding their specified values, and the failure rate (FR) — or the probability of failure during use conditions — is calculated based on voltage and temperature acceleration factors. In this work, various types and lots of polymer tantalum capacitors have been tested at highly accelerated life test (HALT) conditions and the acceleration factors have been determined using different techniques. It has been shown that the behavior of capacitors under HALT conditions can be described based on the time-dependent dielectric breakdown (TDDB) model, which explains the presence of infant mortality (IM) and wear-out failures using the same failure mechanisms and allows for an assessment of the acceleration factors. The difference in acceleration factors obtained using exponential and power models is discussed. Analysis shows that with proper derating, screening, and qualification testing, the reliability of frameless Hi-Rel COTS polymer tantalum capacitors is adequate for space missions.

Alex Eidelman↗

NASA NTRS2021

Acceleration Factors for Reliability Assessment of Polymer Tantalum Capacitors

Using polymer tantalum capacitors in Hi-Rel systems requires an assessment of the reliability characteristics of the parts. For this assessment, tantalum capacitors are typically subjected to reliability testing at temperatures and voltages exceeding their specified values, and the failure rate (FR) — or the probability of failure during use conditions — is calculated based on voltage and temperature acceleration factors. In this work, various types and lots of polymer tantalum capacitors have been tested at highly accelerated life test (HALT) conditions and the acceleration factors have been determined using different techniques. It has been shown that the behavior of capacitors under HALT conditions can be described based on the time-dependent dielectric breakdown (TDDB) model, which explains the presence of infant mortality (IM) and wear-out failures using the same failure mechanisms and allows for an assessment of the acceleration factors. The difference in acceleration factors obtained using exponential and power models is discussed. Analysis shows that with proper derating, screening, and qualification testing, the reliability of frameless Hi-Rel COTS polymer tantalum capacitors is adequate for space missions.

Alex Eidelman↗

NASA NTRS2009

Assessment of SOI AND Gate, Type CHT-7408, for Operation in Extreme Temperature Environments

Electronic parts based on silicon-on-insulator (SOI) technology are finding widespread applications due to their ability to operate in harsh environments and the benefits they offer as compared to their silicon counterparts. Due to their construction, they are tailored for high temperature operation and show good tolerance to radiation events. In addition, their inherent design lessens the formation of parasitic junctions, thereby reducing leakage currents, decreasing power consumption, and enhancing speed. These devices are typically rated in temperature capability from -55 C to about +225 C, and their characteristics over this temperature range are documented in data sheets. Since electronics in some of NASA space exploration missions are required to operate under extreme temperature conditions, both cold and hot, their characteristic behavior within the full temperature spectrum must be determined to establish suitability for use in space applications. The effects of extreme temperature exposure on the performance of a new commercial-off-the-shelf (COTS) SOI AND gate device were evaluated in this work. The high temperature, quad 2-inputs AND gate device, which was recently introduced by CISSOID, is fabricated using a CMOS SOI process. Some of the specifications of the CHT-7408 chip are listed in a table. By supplying a constant DC voltage to one gate input and a 10 kHz square wave into the other associated gate input, the chip was evaluated in terms of output response, output rise (t(sub r)) and fall times (tf), and propagation delays (using a 50% level between input and output during low to high (tPLH) and high to low (tPHL) transitions). The supply current of the gate circuit was also obtained. These parameters were recorded at various test temperatures between -195 C and +250 C using a Sun Systems environmental chamber programmed at a temperature rate of change of 10 C/min. In addition, the effects of thermal cycling on this chip were determined by exposing it to a total of 12 cycles between -195 C and +250 C. Following the cycling activity, measurements were performed again at the test temperatures of -195 C, +21 C, and +250 C.

Patterson, Richard↗

NASA NTRSDate not supplied

Polar Resources Ice Mining Experiment-1 (PRIME-1) NASA’s First Polar Drilling and Volatiles Detection Mission

The US Administration announced in 2019 that NASA would return to the Moon where it would seek to establish a sustainable lunar presence. In Situ Resource Utilization (ISRU) is needed to sustain and grow hu-man surface exploration and it is therefore a vital part of ensuring this bold endeavor. ISRU requires ground-truth on physical, mineral, and volatile characteristics of the resources. Water, a key and game-changing resource, exists in the polar regions of the Moon. Learning to harvest and use this resource first requires understanding where the resource is abundantly located and on what scales. Harvested water, which is usable for life support and fuel, must be identified, quantified, and assessed for its mining feasibility. The project goal for PRIME-1 is to develop a flight-ready instrumentation package that can assess the volatiles at a polar lunar landing location. PRIME-1 is the combination of two instruments; Mass Spectrometer observing lunar operations (MSolo) and The Regolith and Ice Drill for Exploring New Terrain (TRIDENT). TRIDENT is an 1-meter augering drill capable of bringing incremental lunar regolith samples to the surface for volatile analysis. MSolo is a modified, commercial-off-the-shelf (COTS) mass spectrometer capable of qualifying and quantifying atomic species in the 1-100 amu range, including isotopic differentiation. These two lunar flight instruments operating together make up the PRIME-1 instrument suite. PRIME-1 intends to fly on and operate from a static lunar lander acquired by the NASA Commercial Lunar Payload Services (CLPS) acquisition process. The PRIME-1 payload suite was selected to fly on Intuitive Machines Nova-C lander, and is currently targeting a late Fall 2023 landing attempt.

MSolo↗

NASA NTRSDate not supplied

Polar Resources Ice Mining Experiment-1 (PRIME-1) NASA’s First Polar Drilling and Volatiles Detection Mission

The US Administration announced in 2019 that NASA would return to the Moon where it would seek to establish a sustainable lunar presence. In Situ Resource Utilization (ISRU) is needed to sustain and grow hu-man surface exploration and it is therefore a vital part of ensuring this bold endeavor. ISRU requires ground-truth on physical, mineral, and volatile characteristics of the resources. Water, a key and game-changing resource, exists in the polar regions of the Moon. Learning to harvest and use this resource first requires understanding where the resource is abundantly located and on what scales. Harvested water, which is usable for life support and fuel, must be identified, quantified, and assessed for its mining feasibility. The project goal for PRIME-1 is to develop a flight-ready instrumentation package that can assess the volatiles at a polar lunar landing location. PRIME-1 is the combination of two instruments; Mass Spectrometer observing lunar operations (MSolo) and The Regolith and Ice Drill for Exploring New Terrain (TRIDENT). TRIDENT is an 1-meter augering drill capable of bringing incremental lunar regolith samples to the surface for volatile analysis. MSolo is a modified, commercial-off-the-shelf (COTS) mass spectrometer capable of qualifying and quantifying atomic species in the 1-100 amu range, including isotopic differentiation. These two lunar flight instruments operating together make up the PRIME-1 instrument suite. PRIME-1 intends to fly on and operate from a static lunar lander acquired by the NASA Commercial Lunar Payload Services (CLPS) acquisition process. The PRIME-1 payload suite was selected to fly on Intuitive Machines Nova-C lander, and is currently targeting a late Fall 2023 landing attempt.

MSolo↗

NASA NTRS2022

Night Sky Testing of the Lunar Flashlight Star Tracker

Lunar Flashlight (LF) is a 6U, 14 kg spacecraft being built by the NASA Jet Propulsion Laboratory (JPL). The mission will use IR laser technology to search for volatiles and surface water ice deposits in the permanently shadowed regions (PSR) of the moon in preparation for future human lunar exploration. The fine pointing provided by the Guidance, Navigation and Control (GNC) system is crucial for the spacecraft to successfully reach the moon, enter a lunar orbit, and acquire scientific data. At the center of the GNC system’s ability to determine the spacecraft’s attitude is a star tracker. The LF star tracker is a commercial-off-the-shelf (COTS) unit built into the integrated GNC system provided by Blue Canyon Technologies. Blue Canyon tested the star tracker in a lab environment for basic functionality and attitude estimation capabilities; upon delivery of the hardware to JPL, further testing with a real night sky was desired to determine expected in-flight operational characteristics. JPL maintains the Table Mountain Facility with its suite of ground telescopes, including a 0.6m telescope with an equatorial mount. This stable platform provided a highly accurate method of providing slews and attitude holds akin to what the spacecraft will perform in flight. Therefore, by analyzing the data from these representative night-sky ground tests performed in March, 2021, it is possible to acquire expected flight performance of the star tracker, particularly in regard to the ability of the star tracker to maintain lock on the starfield during planned maneuver types. This paper presents the various tests that have been performed to ensure that the LF star tracker will function as part of the overall GNC system and integrated spacecraft once launched. Test data is included for several key tests, and a path forward towards future integration and testing at the spacecraft level is described.

Baker, John↗

NASA NTRSDate not supplied

Risk Classification Modernization

NASA’s risk classification system dates back to an era when every new NASA space mission was a one-of-a-kind build, and the only way to obtain reliability was as a by-product through a combination of reliability analyses, extensive and stringent quality requirements, and extensive testing. Originally, there were very limited commercial capabilities to develop systems to work reliably in space, so NASA considered its own homegrown approach the only recipe for success. This approach involved very detailed and prescriptive piece-part controls and no reliance on (and to some extent a rejection of) any type of commercial practices. Often risk was considered to be the lowest when NASA had the maximum amount of control and prescription, and the highest when commercial practices were largely employed, and these principles drove risk classification in the agency. Over time, however, commercial capabilities grew, and many products became standardized and commercialized, while the agency maintained its tried-and-true approach, paying little attention to the evolution of the commercial sector. This presentation introduces GSFC’s new approach at risk classification, which includes classification of components and full spacecraft, as well as of constellations of spacecraft.

risk↗

NASA NTRSDate not supplied

Risk Classification Modernization

NASA’s risk classification system dates back to an era when every new NASA space mission was a one-of-a-kind build, and the only way to obtain reliability was as a by-product through a combination of reliability analyses, extensive and stringent quality requirements, and extensive testing. Originally, there were very limited commercial capabilities to develop systems to work reliably in space, so NASA considered its own homegrown approach the only recipe for success. This approach involved very detailed and prescriptive piece-part controls and no reliance on (and to some extent a rejection of) any type of commercial practices. Often risk was considered to be the lowest when NASA had the maximum amount of control and prescription, and the highest when commercial practices were largely employed, and these principles drove risk classification in the agency. Over time, however, commercial capabilities grew, and many products became standardized and commercialized, while the agency maintained its tried-and-true approach, paying little attention to the evolution of the commercial sector. This presentation introduces GSFC’s new approach at risk classification, which includes classification of components and full spacecraft, as well as of constellations of spacecraft.

risk↗

NASA NTRS2012

NASA's Robotic Lunar Lander Development Project

Since early 2005, NASA's Robotic Lunar Lander Development (RLLD) office at NASA MSFC, in partnership with the Applied Physics Laboratory (APL), has developed mission concepts and preformed risk-reduction activities to address planetary science and exploration objectives uniquely met with landed missions. The RLLD team developed several concepts for lunar human-exploration precursor missions to demonstrate precision landing and in-situ resource utilization, a multi-node lunar geophysical network mission, either as a stand-alone mission, or as part of the International Lunar Network (ILN), a Lunar Polar Volatiles Explorer and a Mercury lander mission for the Planetary Science decadal survey, and an asteroid rendezvous and landing mission for the Exploration Precursor Robotics Mission (xPRM) office. The RLLD team has conducted an extensive number of risk-reduction activities in areas common to all lander concepts, including thruster testing, propulsion thermal control demonstration, composite deck design and fabrication, and landing leg stability and vibration. In parallel, the team has developed two robotic lander testbeds providing closed-loop, autonomous hover and descent activities for integration and testing of flight-like components and algorithms. A compressed-air test article had its first flight in September 2009 and completed over 150 successful flights. This small test article (107 kg dry/146 kg wet) uses a central throttleable thruster to offset gravity, plus 3 descent thrusters (~37lbf ea) and 6 attitude-control thrusters (~12lbf ea) to emulate the flight system with pulsed operation over approximately 10s of flight time. The test article uses carbon composite honeycomb decks, custom avionics (COTS components assembled in-house), and custom flight and ground software. A larger (206 kg dry/322 kg wet), hydrogen peroxide-propelled vehicle began flight tests in spring 2011 and fly over 30 successful flights to a maximum altitude of 30m. The monoprop testbed also uses a central gravity-canceling thruster and 3 descent thrusters, but has 12 attitude-control thrusters and a maximum flight time of over a minute. The testbed uses aluminum ortho-grid decks, an LN200-1 IMU, Roke Manor Radar Altimeter, Illunis optical cameras, Novatel Pro-Pak GPS truth data system, Pressure transducers & thermocouples for housekeeping, "In-Control" ground system software, and the core Flight Executive (cFE) modular software environment. The peroxide lander testbed is able to accept other sensors and algorithms for testing, both from within NASA and from other customers. Through these activities, the RLLD team has significantly reduced technical risks for all small and medium class robotic landers for the Moon and other airless planetary bodies.

Cohen, Barbara A.↗