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NASA NTRS2018

Multi-Operator Multi-UAV (MOMU) Control: Exploring the Influence of Sensor Tools and Playbook Task Delegation

New concepts of operations for Unmanned Aerial Vehicles (UAVs) will require a change from the current 2:1 operator to vehicle crew configuration. One particular control paradigm, largely driven by logistics, manpower, and training burdens, as well as the desire to force multiply, involves a single operator simultaneously managing multiple UAVs. This mode of operations has shown to significantly increase cognitive workload and decrease situation awareness, as operators are required to simultaneously attend to multiple sources of information. One potential way to mitigate potential drawbacks of multi-vehicle control by a single operator is to migrate to a multi-operator multi-UAV (MOMU) crew configuration, whereby M operators control N (> M) vehicles. This type of crew configuration can be organized in several ways to dynamically manage cognitive workload, match operator qualifications and skills to mission requirements, increase utilization of available assets, and thereby achieve maximum force multiplication. The present experiment examined task performance in a simulated MOMU environment and evaluated the potential benefits of sensor management aids ("Tools") as well as integrated sensor and flight automation ("Plays") compared to a fully manual condition ("Manual"). Tools support the operator by facilitating rapid understanding and management of sensor information, while the Plays support the operator by offloading/automating subtasks. Six pairs of participants were recruited for this study and tasked with sharing a pool of UAVs in order to conduct reconnaissance, surveillance, and target acquisition (RSTA) missions in adjacent Areas of Operation (AOs). Participants were given four tasks to accomplish, in order of priority: 1) prosecute High Value Targets (HVTs); 2) identify / track targets (military vehicles); 3) identify / mark civilian vehicles; and 4) respond to chat messages. Performance on the mission tasks was measured in terms of accuracy and reaction time. A composite mission score was also calculated using a payoff matrix that weighted each task according to priority. The results indicate that Playbook demonstrated better performance overall with higher accuracy rates and the highest composite score compared to Tools and Manual. The implications of these results to supporting future MOMU concepts of operations is discussed.

Playbook↗

NASA NTRSDate not supplied

ISS Payload Operations Training During the COVID-19 Pandemic: Impacts and Solutions

Introduction: The onset and the protracted duration of the COVID-19 pandemic brought a dramatic and rapid transformation to almost every aspect of humanity in 2020. The world’s space agencies and their missions were not immune to the unpredictable and wide-sweeping changes. One discipline principally affected was mission operations and the various groups supporting that critical function. Mission support teams, especially for complex and crewed missions like the International Space Station (ISS) were forced to rapidly rethink how and where control center staff performed their vital work. Operations training – an essential element to mission ops, had unique hurdles to overcome. Operations training is responsible for preparing astronaut crews for their scientific missions, providing recurring proficiency and currency material to flight controllers, as well as ensuring new team members are ready to join their colleagues on console. Every element of training was impacted by COVID restrictions. From orientation and introductory classes for new controllers, training for scientists and payload developers, to simulations and advanced lessons, critical On the Job Training (OJT) and final evaluations; all aspects faced new challenges. Operations trainers at NASA’s Marshall Space Flight Center (MSFC) in Huntsville, Alabama, were forced to rethink, retool, and become more efficient with trainees and training resources in order to continue supporting payload operations on the ISS. Impacts and Barriers to Operations Training: The pandemic started in the United States in early March 2020. Immediately, NASA mandated that the support for ISS real-time operations was critical. As a result, physical access to the ISS Payload Operations Center was restricted to only those people supporting console operations. Thus, use of on-site NASA facilities and any trainer to trainee face-to-face interaction was not authorized. Trainers and trainees had to quickly shift to 100% remote learning. In the short term, this was not a problem since NASA had already prepared Information Technology (IT) resources that facilitated remote access to mission resources like classes, documents and teleconferences. However, instructors quickly discovered the classes that they were accustomed to delivering in a large classroom environment did not translate well to remote teaching. The lack of non-verbal communication with the class became a major barrier to instruction. Another significant hurdle to operations training was the mandate that all simulations could only be held remotely. The logistics of planning and executing even small simulations proved to be challenging, almost impossible, due to IT technology and public internet limitations. With simulations essentially stopped, as well as the restrictions on most OJT training, trainees were essentially stopped in their advancement towards certification. An additional barrier that had to be overcome was the formal documentation of the curriculum objectives. Even though NASA had been deliberately transitioning to electronic documents for years, some organizations were still relying on “pen and ink” documents to formalize training completion. The logistics of implementing secure and controlled e-signature documents in a standardized, NASA approved format had to be addressed. Lesson Learned and Efficiencies: Once the various limitations were identified, ISS trainers at MSFC discussed, proposed, and prioritized new options and techniques. Transitioning to all electronic learning materials and certifications was a relevantly easy fix. Teaching courses to large and diverse groups took additional shifts in the NASA training paradigm. Likewise, methods and procedures for preparing astronauts for their missions were forced to be revised. Simulation supervisors and their teams were also forced to find more efficient techniques to provide realistic training experience. Communication and approvals from management was essential. In every case, the ISS payload operations instructors found novel and efficient solutions to all functions listed above. This paper will discuss the factors and solutions payloads operations trainers found to keep scientific research on the ISS flying forward to mission success.

ISS Operations↗

NASA NTRS2014

Re-Engineering the ISS Payload Operations Control Center During Increased Utilization and Critical Onboard Events

With an increase in utilization and hours of payload operations being executed onboard the International Space Station (ISS), upgrading the NASA Marshall Space Flight Center (MSFC) Huntsville Operations Support Center (HOSC) ISS Payload Control Area (PCA) was essential to gaining efficiencies and assurance of current and future payload health and science return. PCA houses the Payload Operations Integration Center (POIC) responsible for the execution of all NASA payloads onboard the ISS. POIC Flight Controllers are responsible for the operation of voice, stowage, command, telemetry, video, power, thermal, and environmental control in support of ISS science experiments. The methodologies and execution of the PCA refurbishment were planned and performed within a four-month period in order to assure uninterrupted operation of ISS payloads and minimal impacts to payload operations teams. To vacate the PCA, three additional HOSC control rooms were reconfigured to handle ISS real-time operations, Backup Control Center (BCC) to Mission Control in Houston, simulations, and testing functions. This involved coordination and cooperation from teams of ISS operations controllers, multiple engineering and design disciplines, management, and construction companies performing an array of activities simultaneously and in sync delivering a final product with no issues that impacted the schedule. For each console operator discipline, studies of Information Technology (IT) tools and equipment layouts, ergonomics, and lines of sight were performed. Infusing some of the latest IT into the project was an essential goal in ensuring future growth and success of the ISS payload science returns. Engineering evaluations led to a state of the art Video Wall implementation and more efficient ethernet cabling distribution providing the latest products and the best solution for the POIC. These engineering innovations led to cost savings for the project. Constraints involved in the management of the project included executing over 450 crew-hours of ISS real-time payload operations including a major onboard communications upgrade, SpaceX un-berth, a Soyuz launch, roll-out of ISS live video and interviews from the POIC, annual BCC certification and hurricane season, and ISS simulations and testing. Continuous ISS payload operations were possible during the PCA facility modifications with the reconfiguration of four control rooms and standup of two temporary control areas. Another major restriction to the project was an ongoing facility upgrade that included a NASA Headquarters mandated replacement of all electrical and mechanical systems and replacement of an external generator. These upgrades required a facility power outage during the PCA upgrades. The project also encompassed console layout designs and ordering, amenities selections and ordering, excessing of old equipment, moves, disposal of old IT equipment, camera installations, facility tour re-schedules, and contract justifications. These were just some of the tasks needed for a successful project. This paper describes the logistics and lessons learned in upgrading a control center capability in the middle of complex real-time operations. Combining the efficiencies of controller interaction and new technology infusion were prime drivers for this upgrade to handle the increased utilization of science research on ISS. The success of this project could not jeopardize the current operations while these facility upgrades occurred.

Dudley, Stephanie R. B.↗

NASA NTRS2018

Operability Engineering for the Europa Clipper Mission: Formulation Phase Results and Lessons

Operability is an important factor in both success and cost of space missions, but is difficult to quantify, and can suffer if not considered as part of early formulation and design. The Europa Clipper mission has taken a deliberate approach to infusing operability into the concepts and designs since early in the formulation phase. This paper reports on that approach to operability and the results thus far, as the Europa Clipper mission approaches its Preliminary Design Review. Definitions for operability and its various aspects are presented along with a description of the engineering and organizational approach taken to infusing operability into designs. A number of examples of operability requirements are shown, and key examples of trade studies and design decisions are described, along with influence on outcomes motivated by operability considerations. We find that support from management, empowerment of a cross-discipline Operability Working Group, consistent tracking of operability aspects over time, and broad infusion and participation in operability considerations are all significant factors in implementing operability. In particular, thoughtful and deliberate consideration of operability criteria has led to design decisions that include proper consideration of concerns related to the mission operations phase, and seem likely to provide better science results and mission outcomes.

Huh, Shin M.↗

NASA NTRS2023

Launch Complex 34, SWMU CCO542022 DNAPL Source Zone Operations, Maintenance, and Monitoring, Site-Wide Long-Term Monitoring, and Hot Spot 6 Air Sparge System Annual Performance Monitoring Report Cape Canaveral Space Force Station, Florida

This Annual Performance Monitoring Report (PMR) for the Dense Non-Aqueous Phase Liquid (DNAPL) Source Zone (DSZ), Site-Wide Long-Term Monitoring (LTM), and Hot Spot (HS) 6 Air Sparge (AS) System presents the results of Year 13 operation of the hydraulic containment (HC) Interim Measure (IM), the results of performance monitoring direct-push technology (DPT) sampling and monitoring well sampling conducted in the DSZ, results of the biennial site-wide LTM event, and the results of operations and performance sampling of the HS 6 AS IM at Launch Complex 34 (LC34), located at Cape Canaveral Space Force Station (CCSFS), Florida. This site has been designated Solid Waste Management Unit (SWMU) CC054 under the Kennedy Space Center (KSC) Resource Conservation and Recovery Act (RCRA) Corrective Action Program. For the site-wide biennial LTM event, a total of 55 monitoring wells were sampled for volatile organic compounds (VOCs) in February 2023 and one well was sampled for polychlorinated biphenyls (PCBs) in December 2022. One well planned for VOC sampling was found to be destroyed and could not be sampled (CW0002). The LTM wells are screened in two lithologic zones: Layer 1 (0 to 25 feet below land surface [bls]) and Layer 2 (25 to 30 ft bls), and are located in the outlying areas of LC34 to monitor groundwater conditions within the Low-Concentration Plume (LCP), defined as concentrations exceeding Groundwater Cleanup Target Levels (GCTLs), and the High-Concentration Plume (HCP), defined as concentrations exceeding Natural Attenuation Default Concentrations (NADCs). Results from the biennial sampling event indicated overall plume stability and delineation for the plume, which extends over 300 acres. The operational period for Year 13 of the HCS was from April 1, 2022 to March 31, 2023. Operational runtime for the system was 90 percent during Year 13, with downtime events attributed to planned maintenance, system repairs, and power outages. As of March 31, 2023, a total of 313,673,241 cumulative gallons of groundwater containing 88,337 pounds of VOCs have been removed by the HCS. Influent concentrations of trichloroethene (TCE) have decreased since startup from approximately 280,000 μg/L (January 2010) to 12,000 μg/L (March 2023). During the reporting period, all effluent concentrations from the HCS (aqueous and vapor) were below regulatory reporting limits, indicating the system continues to operate as intended. Performance monitoring was conducted in December 2022 within the DSZ to evaluate TCE contamination. Groundwater samples were collected via DPT at nine locations, consistent with previous events between 2017 and 2021. Full vertical profile sampling was completed at each DPT from 8 to 98 feet bls, at 5-foot intervals. The DPT performance monitoring results are summarized in this PMR. The results revealed TCE remains at concentrations greater than 11,000 μg/L in the DSZ (1-percent solubility, indicative of DNAPL) at eight of the nine DPT locations and at depths ranging from 8 to 98 feet bls. In addition to DPT sampling, groundwater samples were collected from deep monitoring wells in the DSZ area (Layers 7 and 8) in December 2022 to verify vertical delineation. Layer 7/8 monitoring well results were non-detect in December 2022, with exception of three wells (IW0162, IW043D2, and IW044D2), where TCE, cis-1,2-dichloroethene (cDCE), and/or vinyl chloride (VC) were detected above GCTLs. These wells are screened 105 to 115 feet bls, which is below the existing recovery well capture zone. TCE was first detected in IW0162 in December 2021 and has since been sampled at least monthly to monitor TCE concentrations. The maximum TCE concentration during this operational period was 15,000 μg/L at IW0162 in March 2023. Because of the increased TCE concentrations in this well, a new recovery well (RW21D), screened 86 to 106 feet bls, was installed in January 2023 and incorporated into existing HCS operations. The HS 6 AS IM was initiated in 2018 with 160 AS wells, and expanded in 2019 with an additional 140 AS wells. Quarterly performance monitoring was reduced to semi-annual in 2020. The HS 6 AS system remained operational during the reporting period covered under this report. The results of the HS 6 system operation and semi-annual performance monitoring are summarized in this report. Semi-annual monitoring results collected in April and October 2022 show concentrations of contaminants of concern (cDCE, trans-1,2-dichloroethene, and vinyl chloride) are generally decreasing and not impacting the surface water drainage canal, indicating the HS 6 IM is meeting objectives. A Phase Two Expansion of the HS 6 AS IM was recently completed. As of the date of this report, the expansion became operational in August 2023 and the first quarter of monitoring was conducted in November 2023. Details of the construction, start-up, and performance monitoring will be included in a future Annual PMR. Overall, the tasks associated with Year 13 operation of the HC IM, operation of the HS 6 AS IM, and biennial site-wide sampling were performed in accordance with recommendations included in the previous 2021 LC34 (Year 12) annual report. Evaluation of results from the HC IM and HS 6 IM show that these systems are operating as designed and meeting performance objectives. Results from the site-wide biennial LTM program also show that the overall network of monitoring wells is adequate to continue monitoring plume-wide conditions.

Complex 34↗

NASA NTRS1956

Effect of Engine Operating Variables on Combustor-inlet Parameters

Studies of the fundamental processes of combustion are usually concerned with wide ranges of investigation of individual processes. In general, each fundamental combustion process may be studied in an environment that is most suited to its evaluation and possibly unrelated basically to any practical application. The majority of the data presented in volume I of this series concern the fundamental aspects of combustion as functions of the individual occurrence of various contributing processes. In a jet engine, however, the various fundamental combustion processes may occur simultaneously and may interact. Furthermore, the engine environment usually does not permit independent variation of single combustion parameters, since specified operating conditions impose specific values on the parameters. In volume II, data are presented to show the effect of operating conditions on the over-all combustion process in different combustion components. To show the effect of operating conditions, it is necessary to specify the range of these conditions within which combustion components may operate. Therefore, this chapter presents only the operating conditions that might be required in the primary combustors and afterburners of typical current turbojet engines. (Corresponding information on ram-jet engines is presented in ch. xisi.) This chapter is not intended to serve as an explanation of engine operation. The operating conditions of the combustion components are presented in terms of total pressures and temperatures at the primary-combustor and afterburner inlets, reference velocities and outlet total temperatures of the primary combustors, and velocities at the plane of the flameholder in the afterburners. The data are presented to relate the operating regions of typical current turbojet combustion components to flight altitudes, Mach numbers, and modes of engine operation. Specifically, data are presented for the combustion parameters of the primary combustor and afterburner of three turbojet engines having rated compressor total-pressure ratios of 5, 8, and 12 under full-throttle conditions. Operational data for the primary combustor also include part-throttle operation at 70, 80, and 90 percent of rated engine speed and windmifling operation. The range of flight conditions includes altitudes from sea level to 65,000 feet and flight Mach numbers from zero to 1.6.

Jones, A. W.↗

NASA NTRS1992

Operator assistant to support deep space network link monitor and control

Preparing the Deep Space Network (DSN) stations to support spacecraft missions (referred to as pre-cal, for pre-calibration) is currently an operator and time intensive activity. Operators are responsible for sending and monitoring several hundred operator directivities, messages, and warnings. Operator directives are used to configure and calibrate the various subsystems (antenna, receiver, etc.) necessary to establish a spacecraft link. Messages and warnings are issued by the subsystems upon completion of an operation, changes of status, or an anomalous condition. Some points of pre-cal are logically parallel. Significant time savings could be realized if the existing Link Monitor and Control system (LMC) could support the operator in exploiting the parallelism inherent in pre-cal activities. Currently, operators may work on the individual subsystems in parallel, however, the burden of monitoring these parallel operations resides solely with the operator. Messages, warnings, and directives are all presented as they are received; without being correlated to the event that triggered them. Pre-cal is essentially an overhead activity. During pre-cal, no mission is supported, and no other activity can be performed using the equipment in the link. Therefore, it is highly desirable to reduce pre-cal time as much as possible. One approach to do this, as well as to increase efficiency and reduce errors, is the LMC Operator Assistant (OA). The LMC OA prototype demonstrates an architecture which can be used in concert with the existing LMC to exploit parallelism in pre-cal operations while providing the operators with a true monitoring capability, situational awareness and positive control. This paper presents an overview of the LMC OA architecture and the results from initial prototyping and test activities.

Cooper, Lynne P.↗

NASA NTRS2000

New Human-Computer Interface Concepts for Mission Operations

The current climate of budget cuts has forced the space mission operations community to reconsider how it does business. Gone are the days of building one-of-kind control centers with teams of controllers working in shifts 24 hours per day, 7 days per week. Increasingly, automation is used to significantly reduce staffing needs. In some cases, missions are moving towards lights-out operations where the ground system is run semi-autonomously. On-call operators are brought in only to resolve anomalies. Some operations concepts also call for smaller operations teams to manage an entire family of spacecraft. In the not too distant future, a skeleton crew of full-time general knowledge operators will oversee the operations of large constellations of small spacecraft, while geographically distributed specialists will be assigned to emergency response teams based on their expertise. As the operations paradigms change, so too must the tools to support the mission operations team's tasks. Tools need to be built not only to automate routine tasks, but also to communicate varying types of information to the part-time, generalist, or on-call operators and specialists more effectively. Thus, the proper design of a system's user-system interface (USI) becomes even more importance than before. Also, because the users will be accessing these systems from various locations (e.g., control center, home, on the road) via different devices with varying display capabilities (e.g., workstations, home PCs, PDAS, pagers) over connections with various bandwidths (e.g., dial-up 56k, wireless 9.6k), the same software must have different USIs to support the different types of users, their equipment, and their environments. In other words, the software must now adapt to the needs of the users! This paper will focus on the needs and the challenges of designing USIs for mission operations. After providing a general discussion of these challenges, the paper will focus on the current efforts of creatin(y an effective USI for one specific suite of tools, SERS (The Spacecraft Emergency Response System), which has been built to enable lights-out operations. SERS is a Web-based collaborative environment that enables secure distributed fault management.

Fox, Jeffrey A.↗

NASA NTRS2002

A Virtual Mission Operations Center - Collaborative Environment

Development of technologies that enable significant reductions in the cost of space mission operations is critical if constellations, formations, federations and sensor webs, are to be economically feasible. One approach to cost reduction is to infuse automation technologies into mission operations centers so that fewer personnel are needed for mission support. But missions are more culturally and politically adverse to the risks of automation. Reducing the mission risk associated with increased use of automation within a MOC is therefore of great importance. The belief that mission risk increases as more automation is used stems from the fact that there is inherently less direct human oversight to investigate and resolve anomalies in an unattended MOC. The Virtual Missions Operations Center - Collaborative Environment (VMOC-CE) project was launched to address this concern. The goal of the VMOC-CE project is to identify, develop, and infuse technology to enable mission operations between onsite operators and on-call personnel in geographically dispersed locations. VMOC-CE enables missions to more readily adopt automation because off-site operators and engineers can more easily identify, investigate, and resolve anomalies without having to be present in the MOC. The VMOC-CE intent is to have a single access point for all resources used in a collaborative mission operations environment. Team members will be able to interact during spacecraft operations, specifically for resolving anomalies, utilizing a desktop computer and the Internet. Mission operations management can use the VMOC-CE as a tool to participate in and monitor status of anomaly resolution or other mission operations issues. In this paper we present the VMOC-CE project, system capabilities and technologies, operations concept, and results of its pilot in support of the Earth Science Mission Operations System (ESMOS).

Medina, Barbara↗

NASA NTRS2009

Designing a Better Spacecraft: Assessing Flight Operability of Human Rated Spacecraft

The design of a human rated spacecraft is a complex and costly process requiring the integrated assessment of many individual criteria. Historically, it has been difficult to include in that integrated assessment the design s full impact on the flight operations community and its costs. The unique "operability requirements" have not been well understood, nor has there been a well-defined set of criteria for assessing operability. As a result, flight operations organizations and program managers are often faced with difficult and costly operations phase implementations. In response, the Mission Operations Directorate at NASA s Lyndon B. Johnson Space Center has established a formal technique to evaluate and communicate the operational characteristics of spacecraft system designs for the Constellation Program. This process is not intended to replace or replicate other critical assessments such as risk, reliability and safety assessments. Instead, this new technique adds to the assessment toolset a means to address the concerns and potential cost drivers that are unique to the operational phase of a program and the flight operations community. This paper describes the implementation and application of this "Spacecraft Flight Operability Assessment Scale" in supporting vehicle design efforts. The six key factors of flight operability are defined, with guiding principles and goals stated for each factor. A standardized rating technique provides feedback that is useful to both the operations and program management communities. Sample assessments of legacy spacecraft, including the Space Shuttle and International Space Station systems, are provided to provide real world examples of this technique s application.

Crocker, Alan R.↗

NASA NTRS2011

NASA/MOD Operations Impacts from Shuttle Program

Operations plays a pivotal role in the success of any human spaceflight program. This paper will highlight some of the core tenets of spaceflight operations from a systems perspective and use several examples from the Space Shuttle Program to highlight where the success and safety of a mission can hinge upon the preparedness and competency of the operations team. Further, awareness of the types of operations scenarios and impacts that can arise during human crewed space missions can help inform design and mission planning decisions long before a vehicle gets into orbit. A strong operations team is crucial to the development of future programs; capturing the lessons learned from the successes and failures of a past program will allow for safer, more efficient, and better designed programs in the future. No matter how well a vehicle is designed and constructed, there are always unexpected events or failures that occur during space flight missions. Preparation, training, real-time execution, and troubleshooting are skills and values of the Mission Operations Directorate (MOD) flight controller; these operational standards have proven invaluable to the Space Shuttle Program. Understanding and mastery of these same skills will be required of any operations team as technology advances and new vehicles are developed. This paper will focus on individual Space Shuttle mission case studies where specific operational skills, techniques, and preparedness allowed for mission safety and success. It will detail the events leading up to the scenario or failure, how the operations team identified and dealt with the failure and its downstream impacts. The various options for real-time troubleshooting will be discussed along with the operations team final recommendation, execution, and outcome. Finally, the lessons learned will be summarized along with an explanation of how these lessons were used to improve the operational preparedness of future flight control teams.

Fitzpatrick, Michael↗

NASA NTRS2011

Making Human Spaceflight Practical and Affordable: Spacecraft Designs and their Degree of Operability

As we push toward new and diverse space transportation capabilities, reduction in operations cost becomes increasingly important. Achieving affordable and safe human spaceflight capabilities will be the mark of success for new programs and new providers. The ability to perceive the operational implications of design decisions is crucial in developing safe yet cost competitive space transportation systems. Any human spaceflight program - government or commercial - must make countless decisions either to implement spacecraft system capabilities or adopt operational constraints or workarounds to account for the lack of such spacecraft capabilities. These decisions can benefit from the collective experience that NASA has accumulated in building and operating crewed spacecraft over the last five decades. This paper reviews NASA s history in developing and operating human rated spacecraft, reviewing the key aspects of spacecraft design and their resultant impacts on operations phase complexity and cost. Specific examples from current and past programs - including the Space Shuttle and International Space Station - are provided to illustrate design traits that either increase or increase cost and complexity associated with spacecraft operations. These examples address factors such as overall design performance margins, levels of redundancy, degree of automated failure response, type and quantity of command and telemetry interfaces, and the definition of reference scenarios for analysis and test. Each example - from early program requirements, design implementation and resulting real-time operations experience - to tell the end-to-end "story" Based on these experiences, specific techniques are recommended to enable earlier and more effective assessment of operations concerns during the design process. A formal method for the assessment of spacecraft operability is defined and results of such operability assessments for recent spacecraft designs are provided. Recent experience in applying these techniques to Orion spacecraft development is reviewed to highlight the direct benefits of early operational assessment and collaborative development efforts.

Crocker, Alan R.↗

NASA NTRS2003

Designing Facilities for Collaborative Operations

A methodology for designing operational facilities for collaboration by multiple experts has begun to take shape as an outgrowth of a project to design such facilities for scientific operations of the planned 2003 Mars Exploration Rover (MER) mission. The methodology could also be applicable to the design of military "situation rooms" and other facilities for terrestrial missions. It was recognized in this project that modern mission operations depend heavily upon the collaborative use of computers. It was further recognized that tests have shown that layout of a facility exerts a dramatic effect on the efficiency and endurance of the operations staff. The facility designs (for example, see figure) and the methodology developed during the project reflect this recognition. One element of the methodology is a metric, called effective capacity, that was created for use in evaluating proposed MER operational facilities and may also be useful for evaluating other collaboration spaces, including meeting rooms and military situation rooms. The effective capacity of a facility is defined as the number of people in the facility who can be meaningfully engaged in its operations. A person is considered to be meaningfully engaged if the person can (1) see, hear, and communicate with everyone else present; (2) see the material under discussion (typically data on a piece of paper, computer monitor, or projection screen); and (3) provide input to the product under development by the group. The effective capacity of a facility is less than the number of people that can physically fit in the facility. For example, a typical office that contains a desktop computer has an effective capacity of .4, while a small conference room that contains a projection screen has an effective capacity of around 10. Little or no benefit would be derived from allowing the number of persons in an operational facility to exceed its effective capacity: At best, the operations staff would be underutilized; at worst, operational performance would deteriorate. Elements of this methodology were applied to the design of three operations facilities for a series of rover field tests. These tests were observed by human-factors researchers and their conclusions are being used to refine and extend the methodology to be used in the final design of the MER operations facility. Further work is underway to evaluate the use of personal digital assistant (PDA) units as portable input interfaces and communication devices in future mission operations facilities. A PDA equipped for wireless communication and Ethernet, Bluetooth, or another networking technology would cost less than a complete computer system, and would enable a collaborator to communicate electronically with computers and with other collaborators while moving freely within the virtual environment created by a shared immersive graphical display.

Norris, Jeffrey↗

NASA NTRS2011

Graph Theory Roots of Spatial Operators for Kinematics and Dynamics

Spatial operators have been used to analyze the dynamics of robotic multibody systems and to develop novel computational dynamics algorithms. Mass matrix factorization, inversion, diagonalization, and linearization are among several new insights obtained using such operators. While initially developed for serial rigid body manipulators, the spatial operators and the related mathematical analysis have been shown to extend very broadly including to tree and closed topology systems, to systems with flexible joints, links, etc. This work uses concepts from graph theory to explore the mathematical foundations of spatial operators. The goal is to study and characterize the properties of the spatial operators at an abstract level so that they can be applied to a broader range of dynamics problems. The rich mathematical properties of the kinematics and dynamics of robotic multibody systems has been an area of strong research interest for several decades. These properties are important to understand the inherent physical behavior of systems, for stability and control analysis, for the development of computational algorithms, and for model development of faithful models. Recurring patterns in spatial operators leads one to ask the more abstract question about the properties and characteristics of spatial operators that make them so broadly applicable. The idea is to step back from the specific application systems, and understand more deeply the generic requirements and properties of spatial operators, so that the insights and techniques are readily available across different kinematics and dynamics problems. In this work, techniques from graph theory were used to explore the abstract basis for the spatial operators. The close relationship between the mathematical properties of adjacency matrices for graphs and those of spatial operators and their kernels were established. The connections hold across very basic requirements on the system topology, the nature of the component bodies, the indexing schemes, etc. The relationship of the underlying structure is intimately connected with efficient, recursive computational algorithms. The results provide the foundational groundwork for a much broader look at the key problems in kinematics and dynamics. The properties of general graphs and trees of nodes and edge were examined, as well as the properties of adjacency matrices that are used to describe graph connectivity. The nilpotency property of such matrices for directed trees was reviewed, and the adjacency matrices were generalized to the notion of block weighted adjacency matrices that support block matrix elements. This leads us to the development of the notion of Spatial Kernel Operator SKO kernels. These kernels provide the basis for the development of SKO resolvent operators.

Jain, Abhinandan↗

NASA NTRS2014

An Overview of Current Capabilities and Research Activities in the Airspace Operations Laboratory at NASA Ames Research Center

The Airspace Operations Laboratory at NASA Ames conducts research to provide a better understanding of roles, responsibilities, and requirements for human operators and automation in future air traffic management (ATM) systems. The research encompasses developing, evaluating, and integrating operational concepts and technologies for near-, mid-, and far-term air traffic operations. Current research threads include efficient arrival operations, function allocation in separation assurance and efficient airspace and trajectory management. The AOL has developed powerful air traffic simulation capabilities, most notably the Multi Aircraft Control System (MACS) that is used for many air traffic control simulations at NASA and its partners in government, academia and industry. Several additional NASA technologies have been integrated with the AOL's primary simulation capabilities where appropriate. Using this environment, large and small-scale system-level evaluations can be conducted to help make near-term improvements and transition NASA technologies to the FAA, such as the technologies developed under NASA's Air Traffic Management Demonstration-1 (ATD-1). The AOL's rapid prototyping and flexible simulation capabilities have proven a highly effective environment to progress the initiation of trajectory-based operations and support the mid-term implementation of NextGen. Fundamental questions about accuracy requirements have been investigated as well as realworld problems on how to improve operations in some of the most complex airspaces in the US. This includes using advanced trajectory-based operations and prototype tools for coordinating arrivals to converging runways at Newark airport and coordinating departures and arrivals in the San Francisco and the New York metro areas. Looking beyond NextGen, the AOL has started exploring hybrid human/automation control strategies as well as highly autonomous operations in the air traffic control domain. Initial results indicate improved capacity, low operator workload, good situation awareness and acceptability for controllers teaming with autonomous air traffic systems. While much research and development needs to be conducted to make such concepts a reality, these approaches have the potential to truly transform the airspace system towards increased mobility, safe and efficient growth in global operations and enabling many of the new vehicles and operations that are expected over the next decades. This paper describes how the AOL currently contributes to the ongoing air transportation transformation.

simulation↗

NASA NTRS2019

Using Science Operations Tools and Methods from NASA for Remote Presence Ocean Exploration on Earth: E/V Nautilus Cruise NA108

NASA Ames' Exploration Ground Data Systems (xGDS) supports rapid scientific decision making by synchronizing information in time and space, including video and still images, scientific instrument data, and science and operations notes in geographic and temporal context. We have deployed xGDS at multiple NASA field analog missions over the past decade.In the last two years, we have participated in SUBSEA, a multi-institution collaborative project. SUBSEA used the research ship E/V Nautilus along with its two remotely operated vehicles (ROVs), Hercules and Argus, to explore deep ocean volcanic vents as an analog for ocean worlds (e.g. Enceladus). This work allowed us to compare the existing oceanographic operations methods and technologies used for ocean exploration with corresponding tools and approaches developed and used at NASA. In the first year of SUBSEA we observed existing remote science operations from the Inner Space Center (ISC). In the second year, we deployed xGDS at ISC to complement existing capabilities with xGDS tools designed to support remote Nautilus science operations from the ISC. During operations, video, ROV position and instrument telemetry were streamed from the ship to the ISC. As the science team watched dive operations, they could annotate the data with observations that were relevant to their work domain. Later, the team members could review the data at their own pace to collaboratively develop a dive plan for the next day, which had to be delivered on a fixed daily schedule.The opportunity to compare operations under different conditions enabled us to make several key observations about conducting remote science and planning operations efficiently: (i) Reviewing data collaboratively and interactively with temporal and spatial context was critical for the remote science team's ability to plan dive operations on the Nautilus. (ii) Science team members were actively engaged with the remote dive operations because they could interact with the collected data and visualize it as they desired. (iii) Being able to replay past events at accelerated speeds, and jump to points in time and spaced based on search results, provided efficient access to critical points of interest in a massive volume of data, so the remote science team could deliver plans on time. SUBSEA (Systematic Underwater Biogeochemical Science and Exploration Analog) is a multi-institution collaboration supported by NASA, NOAA's Office of Exploration Research (OER), the Ocean Exploration Trust (OET) and the University of Rhode Island's Graduate School of Oceanography (GSO). ISC is GSO's telepresence operations facility.

Lees, David S.↗

NASA NTRS2022

Applicability of Digital Flight to the Operations of Self-Piloted Unmanned Aircraft Systems in the National Airspace System

Unmanned Aircraft Systems (UAS) hold great promise for a new era of specialized missions, including personal air transportation, cargo flight operations, aerial surveys, inspections, firefighting and more. The anticipated market growth is significant. To unlock its scalability and incumbent benefits requires a human to oversee multiple flights simultaneously, focusing on multi-vehicle mission management and relinquishing to autonomous systems their active role in controlling the aircrafts’ flight paths. Key to the realization of these scalability benefits is minimally-encumbered access to the National Airspace System (NAS), which poses some unique challenges for self-piloted UAS aircraft operations. These include the requirement for compatibility with existing airspace structures and operations including Visual Flight Rules (VFR) and Instrument Flight Rules (IFR), neither of which were developed to accommodate the unique needs and capabilities of UAS. This paper explores the applicability of Digital Flight to the operations of self-piloted UAS. As proposed by NASA, Digital Flight is a flight operations capability, enabled by a set of cooperative procedures and digital technologies, in which flight operators ensure flight-path safety through automated separation and flight path management in lieu of visual procedures and Air Traffic Control separation services. Flights operating under potentially-forthcoming rules of Digital Flight employ advanced automation technologies, information sharing, connectivity to operational data, and cooperative behaviors through distributed decision-making to maintain safety and achieve mission objectives. Designed for integration with VFR and IFR operations in shared NAS airspace, potentially as a third set of flight rules, Digital Flight may provide the mechanism for UAS operators – and all aircraft operators – to scale and diversify their operations beyond what is achievable under current regulations.

DFR↗

NASA NTRS2021

Power Operations of the Mars Exploration Rovers

The rovers of the National Aeronautics and Space Administration’s (NASA) Mars Exploration Rovers (MER) project, Spirit (MER-A) and Opportunity (MER-B), safely landed on the surface of Mars three weeks apart during January 2004. Spirit and Opportunity were built and operated by the Jet Propulsion Laboratory (JPL), which is managed by the California Institute of Technology (Caltech) for NASA. Spirit landed at Gusev Crater, 14.8 degrees south of the equator, and operated continuously on the surface of Mars from January 4, 2004 until last contact from Spirit on March 22, 2010. Opportunity landed at Meridiani Planum, a location 2.5 degrees south of the Martian equator. Opportunity operated continuously on the Martian surface from January 25, 2004 until the last received transmission from Opportunity on June 10, 2018. The goal of the MER project was to determine if Mars ever had a habitable environment, in particular, if it ever had water. During their missions, both Spirit and Opportunity found evidence that liquid water once flowed on the surface of Mars. Both Spirit and Opportunity used a 1.33 m2 triple-junction solar array as their power sources. Based on observations of the original Mars rover, the Sojourner rover of the Mars Pathfinder mission that landed on Mars on July 4, 1997, the expectation was that the Martian dust would rapidly accumulate on the solar arrays of Spirit and Opportunity, and that the rovers would not have enough energy to continue operations after 90 Martian days (sols). Instead, due in part to lower dust accumulation rates than expected and numerous dust cleaning events, the Spirit and Opportunity rovers continued to operate on the Martian surface for over 2000 sols (MER-A) and 5000 sols (MER-B), respectively. During this time, the rovers experienced multiple Martian winters and several dust storms. Because the sources of solar array energy loss were known, the solar array energy output offered a method to scientifically estimate the loading and aeolian removal of dust from the solar arrays each sol. The MER Power operations team called this value that they calculated the solar array Dust Factor (DF). Dust Factor was defined as the fraction of sunlight that penetrates the accumulated dust on the surface of the solar array. A Dust Factor of 1.0 would indicate that the solar array was perfectly clean. A Dust Factor of 0.6 would indicate that only 60% of the available sunlight was able to penetrate the accumulated dust on the solar arrays. The MER Power subsystem operations team used the Multi-Mission Power Analysis Tool (MMPAT) to perform these Dust Factor calculations. The MMPAT software tool modeled the behavior of the solar arrays and the batteries as they interacted with the spacecraft power loads over the mission timeline. MMPAT also had knowledge (through telemetry and user inputs) of telemetered Power subsystem voltages and currents, atmospheric opacity (Tau), rover surface location, rover attitude, the planetary tilt and distance of Mars from the sun based on day of year, the instantaneous elevation of the sun based on time of day, temperatures (internal and external), terrain masking, and shadowing (due to the camera mast and antennas). Once all of the known sources of array energy loss are accounted, the remaining difference between the expected array energy and the actual array energy determines the solar array Dust Factor. The assumptions made while determining the Dust Factor are 1) that the single measured atmospheric opacity value (Tau) is constant over the course of the entire sol, 2) there is no measurable solar cell degradation, 3) there are no shorted strings and therefore, 4) all unexpected solar array energy losses are due to accumulated dust on the solar array. Although it cannot provide an absolute measure of dust loading, the determination of solar array Dust Factor provides a useful way of tracking dust accumulation and aeolian dust removal trends on Martian spacecraft. Any spacecraft on the Martian surface is vulnerable to dust, especially solar-powered spacecraft. The Spirit and Opportunity rovers were operational on the Martian surface for much longer than expected due in part to aeolian removal of dust from their solar arrays. The first few dust removal events were a pleasant surprise to the MER operations teams; however, over time a pattern began to arise. In over three Mars Years on the surface, the Power operations team tracked the solar array Dust Factor at Gusev Crater (location of MER-A) and observed that there were several significant dust removal and deposition events in Mars Year (MY) 27, even in the absence of a large dust storm. In MY 28 at Gusev Crater, the large atmospheric opacity (Tau) increase lagged significant dust removal events. Overall at Gusev Crater, there was a pattern of steady dust accumulation on the solar arrays, with a small number of significant dust cleaning events. At Meridiani Planum, where Opportunity rover operated for over seven Mars Years (late MY 26 to mid MY 34), a clear and consistent pattern of dust movement emerged. Meridiani Planum had a predictable, seasonally dependent pattern of gradual and continuous dust accumulation and removal. In summary, this paper explains the reasons for the development of the solar array Dust Factor and how it was used in mission operations. In particular, this paper describes the MMPAT software package, how it models array energy, including the important assumptions, model inputs and sources of error. And finally, this paper will show how the calculated solar array Dust Factor was used at Gusev Crater and Meridiani Planum to predict dust accumulation rates and weather patterns, and the importance of this generated data set for current and future solar- powered missions to Mars, such as the InSight lander and the planned Mars Sample Return rover.

Chin, Keith B.↗