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Impact of End Effector Technology on Telemanipulation Performance

Generic requirements for end effector design are briefly summarized as derived from generic functional and operational requirements. Included is a brief summary of terms and definitions related to end effector technology. The second part contains a brief overview of end effector technology work as JPL during the past ten years, with emphasis on the evolution of new mechanical, sensing and control capabilities of end effectors. The third and major part is devoted to the description of current end effector technology. The ongoing work addresses mechanical, sensing and control details with emphasis on mechanical ruggedness, increased resolution in sensing, and close electronic and control integration with overall telemanipulator control system.

A K Bejczy

NASA Agile Community of Practice 2024-2026 Report

This 2024-2026 report provides a summary of the products and activities executed by the NASA Agile Community of Practice (CoP) during its second and third years. Building on the foundation established in its inaugural year, the CoP continued to advance Agile values and principles across NASA centers. The report highlights key initiatives, including specialized framework training, AI integration in Agile toolkits, and active participation in agency-wide project management and systems engineering workshops.

Agile

Improvement of Odor Control for the UWMS Hard-Sided Fecal Canister and the Alternate Fecal Canister

On longer range exploration missions, the mass and volume of critical hardware and consumables required to support crew will pose a big stowage challenge. This includes the hardware for the collection and storage of human metabolic solid waste. The amount of stowage needed for this hardware both before (empty) and after (full) use will be a significant burden on the overall spacecraft habitable volume, layout, and design. To help with this challenge, the National Aeronautics and Space Administration (NASA) Mars Campaign Office (MCO) Logistics Reduction (LR) Portfolio has developed a collapsible canister for the collection and containment of fecal deposits. The Alternate Fecal Canister (AFC) is a collapsible alternative to the exploration toilet Hard-sided Fecal Canister (HFC). The AFC in its empty state has a volumetric benefit to smaller vehicles on longer missions. The current designs for HFC and AFC were tested with human fecal material for odor containment at White Sands Test Facility (WSTF) where the tests on both were unsuccessful. The source of the lack of containment was isolated to a gasket used on both HFC and AFC. The gasket used was found to be open cell in design. This paper provides a summary of the materials selection and testing process to identify a replacement gasket material with the intention to replace the gaskets on both existing units as well as incorporate it into the designs going forward for future builds for exploration. Details will be provided on the design of the canisters interface with the odor bacteria lid which led to the selection of the thickness of the desired replacement. Finally, the paper will provide an update on the testing in advance of a return to WSTF for final testing and detail plans to complete testing and perform a demonstration on ISS with UWMS.

Toilet

Control of an Axisymmetric Jet Using Vortex Generators

The results of an experimental investigation on the effect of vortex generators, in the form of small tabs at the nozzle exit on the evolution of a jet, are reported in this paper. Primarily tabs of triangular shape are considered, and the effect is studied up to a jet Mach number of 1.8. Each tab is found to produce a dominant pair of counter-rotating streamwise vortices having a sense of rotation opposite to that expected from the wrapping of the boundary layer. This results in an inward indentation of the mixing layer into the core of the jet. A triangular-shaped tab with its apex leaning downstream, referred to as a delta tab, is found to be the most effective in producing such vortices, with a consequential large influence on the overall jet evolution. Two delta tabs, spaced 180 deg apart, completely bifurcate the jet. Four delta tabs stretch the mixing layer into four 'fingers,' resulting in a significant increase in the jet mixing downstream. For six delta tabs the mixing layer distortion settles back to a three finger configuration through an interaction of the streamwise vortices. The tabs are found to be equally effective in jets with turbulent or laminar initial boundary layers. Two sources of streamwise vorticity are postulated for the flow under consideration. One is the upstream 'pressure hill,' generated by the tab, which constitutes the main contributor of vorticity to the dominant pair. Another is due to vortex filaments shed from the sides of the tab and reoriented downstream by the mean shear of the mixing layer. Depending on the orientation of the tab, the latter source can produce a vortex pair having a sense of rotation opposite to that of the dominant pair. In the case of the delta tab, vorticity from the two sources add, explaining the strong effect in that configuration.

Streamwise Vorticity

Dynamic analysis of a photovoltaic power system with battery storage capability

A photovolataic power system with a battery storage capability is analyzed. A dual battery current control concept is proposed, which enables the battery to either supply or accept power depending upon system environment and load conditions. A simulation of the power system, including the battery current control, is developed and evaluated. The evaulation demonstrate the visbility of the battery control concept of switch the battery from a charge to discharge mode and back as required by load and environmental conditions. An acceptable system operation is demonstrated over the entire insolation range. Additionally, system sensitivity, bandwidth, and damping characteristics of the battery control are shown to be acceptable for a projected hardware implementation.

Merrill, W. C.

Improvement of Odor Control for the UWMS Hard-Sided Fecal Canister and the Alternate Fecal Canister

On longer range exploration missions, the mass and volume of critical hardware and consumables required to support crew will pose a big stowage challenge. This includes the hardware for the collection and storage of human metabolic solid waste. The amount of stowage needed for this hardware both before (empty) and after (full) use will be a significant burden on the overall spacecraft habitable volume, layout, and design. To help with this challenge, the National Aeronautics and Space Administration (NASA) Mars Campaign Office (MCO) Logistics Reduction (LR) Portfolio has developed a collapsible canister for the collection and containment of fecal deposits. The Alternate Fecal Canister (AFC) is a collapsible alternative to the exploration toilet Hard-sided Fecal Canister (HFC). The AFC in its empty state has a volumetric benefit to smaller vehicles on longer missions. The current designs for HFC and AFC were tested with human fecal material for odor containment at White Sands Test Facility (WSTF) where the tests on both were unsuccessful. The source of the lack of containment was isolated to a gasket used on both HFC and AFC. The gasket used was found to be open cell in design. This paper provides a summary of the materials selection and testing process to identify a replacement gasket material with the intention to replace the gaskets on both existing units as well as incorporate it into the designs going forward for future builds for exploration. Details will be provided on the design of the canisters interface with the odor bacteria lid which led to the selection of the thickness of the desired replacement. Finally, the paper will provide an update on the testing in advance of a return to WSTF for final testing and detail plans to complete testing and perform a demonstration on ISS with UWMS.

ECLSS

Preliminary Plan for A Shuttle Coherent Atmospheric Lidar Experiment (SCALE)

A study has been completed to define a Shuttle experiment that solves the most crucial scientific and engineering problems involved in building a satellite Doppler wind profiler for making global wind measurements. The study includes: (1) a laser study to determine the feasibility of using the existing NOAA Windvan laser in the Space Shuttle spacecraft; (2) a preliminary optics and telescope design; (3) an accommodations study including power, weight, thermal, and control system requirements; and (4) a flight trajectory and operations plan designed to accomplish the required scientific and engineering goals. The experiment will provide much-needed data on the global distribution of atmospheric aerosols and demonstrate the technique of making wind measurements from space, including scanning the laser beam and interpreting the data. Engineering accomplishments will include space qualification of the laser, development of signal processing and lag angle compensation hardware and software, and telescope and optics design. All of the results of this limited Spacelab experiment will be directly applicable to a complete satellite wind profiler for the Earth Observation System/Space Station or other free-flying satellite.

D Fitzjarrald

Spacecraft Fire Safety Predictions using Verified Saffire Model

A model developed using Fire Dynamics Simulator (FDS) that aimed to determine the effect of a fire in a spacecraft was validated by data collected during the Saffire campaign. The model used inlet and outlet temperatures and CO 2 concentrations of the Saffire payload where fire spread was taking place to determine the amount of heat and combustion products that made it into Northrop Grumman’s Cygnus vehicle. The model was then validated using six remote sensors in various places in the vehicle, as well as a far field device (FFD) in the open zenith section that was representative of average vehicle values. The current work focuses on using the model to predict fire safety scenarios. One simulation aimed to determine the fate of HCl, which sticks to surfaces. The model prediction showed that the HCl was removed from the atmosphere rapidly. This compared well against the FFD data in the Saffire VI campaign event where a bottle of 5% HCl was released into the vehicle. An additional simulation where the Environmental Control and Life Support System (ECLSS) was shut off once the FFD reached 5 ppm of HCl showed that HCl stayed in the atmosphere considerably longer. Continuing the simulation with the ECLSS activated and after temperatures returned to their initial conditions, resulted in a rapid removal of HCL similar to that observed in the original HCl release scenario model. Finally, a simulation that used the heat release rate from a lithium-ion battery test to determine the effect it would have on a spacecraft was performed. This simulation used a heat addition rate that is considerably higher than what was determined from the burning of solid fuels in the Saffire campaign and hence produced a non-trivial temperature increase in more locations within the vehicle.

Fire Safety

2005 NASA Seal/Secondary Air System Workshop

The 2005 NASA Seal/Secondary Air System workshop covered the following topics: (i) Overview of NASA’s new Exploration Initiative program aimed at exploring the Moon, Mars, and beyond; (ii) Overview of the NASA-sponsored Propulsion 21 Project; (iii) Overview of NASA Glenn’s seal project aimed at developing advanced seals for NASA’s turbomachinery, space, and reentry vehicle needs; (iv) Reviews of NASA prime contractor, vendor, and university advanced sealing concepts including tip clearance control, test results, experimental facilities, and numerical predictions; and (v) Reviews of material development programs relevant to advanced seals development. Turbine engine studies have shown that reducing high-pressure turbine (HPT) blade tip clearances will reduce fuel burn, lower emissions, retain exhaust gas temperature margin, and increase range. Several organizations presented development efforts aimed at developing faster clearance control systems and associated technology to meet future engine needs. The workshop also covered several programs NASA is funding to develop technologies for the Exploration Initiative and advanced reusable space vehicle technologies. NASA plans on developing an advanced docking and berthing system that would permit any vehicle to dock to any on-orbit station or vehicle. Seal technical challenges (including space environments, temperature variation, and seal-on-seal operation) as well as plans to develop the necessary “androgynous” seal technologies were reviewed. Researchers also reviewed tests completed for the shuttle main landing gear door seals.

Hypersonic

Recirculating and Sub-Atmospheric Rapid Cycle Amine Swing Bed Testing at Various Metabolic Profiles, Temperatures, and Half-Cycle Times

Sixty years since the first spacewalk, NASA’s Extravehicular Mobility Unit (xEMU) exploration space suit has undergone numerous design improvements and iterations. As commercial manufacturers develop next-generation systems to support increasingly complex missions, including Moon-to-Mars architecture prototyping and the design of the Martian Portable Life Support System (PLSS), material selection and individual subunit testing under realistic metabolic and pressure conditions are paramount. To determine whether a reusable carbon dioxide (CO 2 ) scrubber design and adsorbent can be utilized in new suit configurations, an all-encompassing test rig is required to compare existing and newly developed technologies. The test rig must be capable of sub-atmospheric testing, calibrated humid CO 2 dosing, and facilitation of the evaluation of sorbents across a wide range of operational requirements. Recently, XploSafe has developed an Extravehicular Mobility Unit (xEMU) testing rig specifically designed to explore CO 2 and humidity control materials for spacesuits. This closed-loop recirculating swing bed (Rapid Cycle Amine Test Rig) was utilized to compare adsorbent utility across a wide range of xEMU operating conditions. Following successful testing with Xplo-SA9T over multiple simulated eight-hour Extravehicular Activity (EVA) tests, improvements to the test stand were considered. Regeneration vacuum supply within the test rig was updated to more closely resemble space vacuum, theoretically increasing half-cycle timing. An improved water vapor delivery system was incorporated to dose a wider calibrated range of humidity over both short and long-duration EVAs. A range of metabolic profiles between 800 and 3000 BTU/h were tested, and the corresponding average CO 2 steady-states were compared. The effect of dosing temperature at the adsorbent bed inlet between 10 and 40 ̊C and the corresponding CO 2 removal efficiency was also evaluated.

John R Tidwell

Coma Physics of an Interstellar Object: JWST Spatial-Spectral Mapping of 3I/ATLAS

We report a survey of molecular emission from cometary volatiles using the James Webb Space Telescope (JWST) toward interstellar object 3I/ATLAS carried out on UT 2025 December 22 and 23 at a heliocentric distance (\rh{}) of $2.37-2.41$ au. These measurements of CO, \ce{CO2}, \ce{H2O}, \ce{CH3OH}, and \ce{CH4} sampled molecular chemistry in 3I/ATLAS as it receded from its encounter with our Sun and entered the vicinity of the \ce{H2O} ice line --- the region between \rh{} = $2-3$ au where the temperature becomes too low for H$_2$O to vigorously sublime and CO and \ce{CO2} begin to control the overall activity. CO was the most abundant molecule, followed by \ce{H2O} and \ce{CO2}, whose molecular abundances with respect to CO were $(40.5\pm3.1)\%$ and ($41.6\pm0.3)\%$, respectively. This work presents spatial-spectral maps of column density and rotational temperature as a function of distance from the nucleus for all detected species. The spatial distributions of both quantities were highly anisotropic for the apolar species in the coma of 3I/ATLAS, yet were more nearly symmetric for the polar molecules. These results demonstrate how volatiles were segregated in the nucleus ices of 3I/ATLAS and reveal heating and cooling mechanisms in its coma. Derived maps of the ortho-to-para ratio (OPR) for \ce{H2O} were flat with increasing distance from the nucleus and consistent with a coma-averaged value $\mathrm{OPR}=2.7\pm0.2$, slightly less than the expected equilibrium value of three.

Nathan X Roth

Overview 1993: Chemical propulsion at CSTAR

Chemical Propulsion at CSTAR continues to expand its activities and areas of interest. Several new initiatives are being developed which are extensions of, or replacements for, earlier projects. One current focus is on reassessing promising engine cycles and the enabling technologies for implementing them. These engine cycles which include advanced hybrids, and staged combustion cycles have the use of oxygen as a working fluid and coolant in common. Oxygen is used as a turbine drive gas, tank pressurant and as a cooling medium for combustion devices. CSTAR has interest in the propellant feed systems for advanced rocket engines, including propellant conditioning and tank pressurization, gas generators, and turbomachinery. CSTAR's interests also include propellant injection into the main chamber. These aspects of rocket propulsion embody a diverse range of technical disciplines and technologies, critical to the pursuit of low cost space access. The chemical propulsion program at CSTAR includes active projects investigating hybrid rocket engine oxygen feed systems, hybrid rocket injectors, gas fed hybrid rocket combustion, elements of main injectors for staged combustion devices. CSTAR is actively seeking industrial partners interested in joint participation in one or more phases of the analyses, design, development and application of propulsion technologies and related technical disciplines.

William H. Knuth

Enabling Mission Flexibility to Battery Driven Deep Space Endeavors With Generalized Battery-Health-Monitoring Using Physics-Based and Data-Driven Reduced-Order Models

The needs and requirements for an electrochemical energy storage for deep space exploration is well explored. It is often understood that different mission sites and environmental conditions require different battery chemistries or technologies. Additionally, various engineering solutions are deployed to overcome specific chemical challenges. One often overlooked need is the “health” monitoring of an electrochemical storage system. The term generalized health monitoring, as envisioned in this work, refers to the monitoring of various aspects such as electrode health, electrolyte health, reaction pathway health, cooling system health, sensor health, and BMS health [1]. Generalized health monitoring allows mission leads, engineers, and scientists to incorporate flexibility in mission designs, make on-the-fly mission changes, and extend the duration of science missions. Moreover, it enables automation and data-driven decision-making without compromising safety and performance. Recently, our group developed a hierarchy of thermal reduced-order models (TROM) by combining a physics-based modeling approach and data-driven model reduction techniques applied to flight data [2]. The resulting TROMs were found to be not only accurate but also identifiable from the flight data. Consequently, the coefficient of variance of the model parameters is small over the course of hundreds of flights, allowing for monitoring the parameter evolution trajectories as the battery ages and degrades. These parameters constitute the metrics of the generalized health of a battery. Monitoring their evolution allows such models to be used for anomaly detection and prognostics, improving early detection of abnormal behavior and thus enabling timely maintenance, longer battery life, and enhanced battery safety. For this presentation, the practicality of the thermal model will be validated on a pack of 14cells under various topology configurations such as 1S14P, 2P7S, 7S2P, and 1P14S. It is well known that manufacturing and non-uniform aging lead to variability in the performance of a cell, which is exacerbated by cell balancing during active load. Additionally, in extreme scenarios, the paramount objective is to complete the mission, regardless of the stresses on the battery. Topology-induced balancing issues further stress the battery. The goal of this study is to determine if the noise (identifiability) in the reduced-order thermal model parameters is sensitive to topology, cell spacing, cooling strategy, and manufacturing or age variability. The variability in cells is considered by assuming a multimodal distribution for microscopic parameters of a cell (such as porosity, tortuosity, reaction kinetics, volumetric thermal conductivity, and volumetric heat capacity). The compounded effect of manufacturing variability, topological selection, cooling strategies, and cell balancing ages each cell in a battery differently. The study aims to clarify whether the challenge in extracting maximum information depends on the minimum number of sensors or models used for data extraction.

Automation

NASA Alternative Orion Small Cell Battery Design Support

The NASA Orion Crew Module Reference Design was produced to address large scale thermal runaway (TR) hazard with specific safety controls for the Orion Spacecraft. The design presented provides the description of a full scale battery design reference for implementation as a drop in replacement to meet all spacecraft energy requirements with compatible 120 Vdc electrical and mechanical interface using small cell technology (18650) packaging. The 32V SuperBrick incorporates unique support features and an electrical bus bar arrangement that allows cells negative can insertion into heat sink that is compressively coupled to the battery enclosure to promote good thermal management. The housing design also provides an internal flame suppression "filter tray" and positive venting path internal to the enclosure to allow hot effluent ejecta to escape in the event of single cell TR. Virtual cells (14P Banks) that are supported to provide cell spacing with interstitial materials to prevent side can failures that can produce cell to cell TR propagation. These features were successfully test in four separate TR run with the full scale DTA1 test article in February 2016. Successfully Completed Test Objectives - Four separate TR test runs with Full-Scale DTA1 housing with Two SuperBricks, Two SuperBrick Emulators All Tests resulted in "clean" gas with less than 6 C rise at Battery vent All Tests resulted in less than 2 C temperature rise on cold-plate outlet All Tests resulted in less than 6 psi pressure rise in the battery housing Test Run 1 -One neighbor cell TR, highest remaining neighbor 139 C. Ejecta shorted to bus caused prolonged additional heating, One shorted cell did experience TR after 12 minutes, remaining cells had adequate thermal margin Test Run 2 - No cell to cell propagation, highest neighbor cell 112 C; Test Run 3 - No cell to cell propagation, highest neighbor cell 96 C; Test Run 4 - No cell to cell propagation, highest neighbor cell 101 C; Primary TR testing and analysis were completed and reviewed for endorsement by NASA Engineering and Safety Center team members. All Key Test Objectives were met and the small cell design alternative was demonstrated and selected to be a feasible drop in replacement for the MPCV Orion CM Battery for EM2 mission.

Haynes, Chuck

Ranger Spacecraft

The thermal-control philosophy of the spacecraft currently under development by the Jet Propulsion Laboratory is design by passive means to maintain all components within the tolerances specified by cognizant engineers. Due to the complexity of the configurations, calculations are) of necessity, fairly generalized and final design is based upon tests in an environmental chamber. The Ranger series spacecraft is designed with a basic structure which is common to all models, with additional hardware to suit the individual mission. This basic structure of Rangers A-1 and A-2 is seen as the hexagonal instrument section, the erectable solar panels, the movable antenna, and the omniantenna. The Ranger A-1 and A-2 configuration is for engineering tests and space-exploration, with the scientific instrumentation isolation requirement dictating the spread-out design. The spacecraft stands 12 feet high, weighs 700 to 800 pounds, and has an internal power of 150 watts. Rangers A-3, A-4, and A-5 are designed to rough land a capsule on the moon. For these, a capsule and retrorocket replace the scientific instruments, occupying the space inside the tower structure. The spacecraft must survive many environments. Chronologically they are: 1) Folded configuration inside an aerodynamic shroud on the pad. 2) Thermal flux from shroud aerodynamically heated during boost phase. 3) Coasting up to 30 minutes attached to Agena stage after booster and shroud are separated. 4) Agena stage burning. 5) Coasting and tumbling after separation from Agena until it passes from earth's shadow. 6) Upon reaching sunlight, panels open and begin sun acquisition. 7) Antenna seeks earth after spacecraft locks onto sun. 8) Space phase- "steady state" with vehicle's vertical axis locked on sun, communicating with earth. The philosophy is to design for the sun-acquired mode, making allowances for the transient conditions.

T. O. Thostesen

Spacecraft Disposal Rosetta Stone: Parametric Tool for Orbital Lifetime, Disposal, and Cost Assessment

This Technical Memorandum documents a simplified, parametric method for evaluating spacecraft orbital lifetime, disposal compliance, and disposal-related cost impacts during early mission formulation and preliminary design. The method captures the dominant drivers of orbital decay—effective ballistic coefficient, operating altitude, and solar-cycle variability—using conservative bounding assumptions. Solar maximum conditions are used to bound achievable mission lifetime, while solar minimum conditions are used to bound disposal timelines and compliance with orbital debris requirements. A single tabulated dataset provides orbital lifetime under both solar-cycle extremes together with representative disposal ΔV required to ensure compliant disposal, enabling rapid assessment of disposal feasibility, cost sensitivity, and system-level impacts prior to committing to higher-fidelity analyses.

Orbital debris mitigation

Mechanical Design and Operation of a Novel Lunar Environment Structural Test Rig (LESTR)

The Lunar Environment Structural Test Rig (LESTR) was developed to address a critical gap in mechanical property data for metal alloy wire materials under lunar-relevant conditions down to 40 K. Conventional aerospace material databases provide thermophysical properties for bulk metals over a wide temperature range, but validated mechanical and physical property data below 77 K, particularly for small-diameter wires, remain limited and are generally the exception rather than the rule. These conditions are essential for Artemis mission hardware such as shape memory alloy (SMA) rover tires. LESTR’s design requirements were to combine a high-stiffness electrodynamic load frame with closed- cycle cryogenic cooling, high-vacuum capability (10–6 torr), and noncontact optical strain measurement to enable tensile, four-point bend, and fatigue testing of wires or other materials and geometries at temperatures from 40 to 125 K. These considerable requirements were merged with the need to lower the barrier of testing for the end user as measured in terms of cost-per-test cycle, safety improvement, and reduction in upkeep costs associated with state-of-the-art solutions associated with cryomechanical material characterization. The system incorporates modular gripping and alignment fixtures; precision thermal management using cryocoolers and embedded heaters; and integrated instrumentation for displacement, load, temperature, and vacuum control. Calibration procedures establish correlations between tooling and specimen temperature, ensuring accurate thermal conditions across the design envelope unbound by cryofluid conditions in heritage immersion-based test systems. Initial validation tests using Inconel (Special Metals Corp.) wire demonstrated accurate ultimate strength and post-yield behavior. The load frame operation was also verified under representative service conditions, including thermal cycling and prolonged fatigue loading. By generating mechanical property data at ultralow temperatures, LESTR fills a critical gap in existing materials databases and provides a scalable platform for iterative alloy development and durability assessment for planetary hardware. This capability supports NASA’s long-term objectives for surface exploration by enabling design confidence for components operating in extreme cryogenic environments.

LESTR

Research on battery-operated electric road vehicles

Mathematical analysis of battery-operated electric vehicles is presented. Attention is focused on assessing the influence of the battery on the mechanical and dynamical characteristics of dc electric motors with series and parallel excitation, as well as on evaluating the influence of the excitation mode and speed control system on the performance of the battery. The superiority of series excitation over parallel excitation with respect to vehicle performance is demonstrated. It is also shown that pulsed control of the electric motor, as compared to potentiometric control, provides a more effective use of the battery and decreases the cost of recharging.

Varpetian, V. S.