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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1991

Mars Observer as a precursor to intensive exploration of Mars

The Mars Observer Mission, to be launched by the United States in September 1992, is designed to perform an extended orbital study of the Martian surface, atmosphere, climate, and gravitational and magnetic fields using a spacecraft in Mars orbit for one Martian year. This information will add to the global data base that is necessary for increasing scientific understanding of Mars, as well as for planning the next stages of intensive exploration of the planet. Future missions will progress from more specific robotic exploration to eventual human exploration, and will require progressively more detailed engineering information. Mars Observer will provide key basic data including planet shape, gravity field, geodetic framework, topography, characteristics of the surface, atmospheric profiles, dust content of the atmosphere, and wind field. Special data products for engineering purposes could be obtained from the currently planned data return, and additional engineering data could be returned by augmentation to the basic Mars Observer's operation.

Cunningham, Glenn E.↗

NASA NTRS1989

An international Mars exploration program

The scientific reasons for a Mars exploration program are reviewed, and the robotic phase of such a program is examined. The functions and requirements of the rovers, surface stations and penetrators are addressed, as are those of the imaging and communications orbiters. The navigational functions which support the aerocapture and landing vehicles are examined.

Rea, Donald G.↗

NASA NTRS2006

Radioisotope Power Systems for In-situ Exploration of Titan and Venus

This viewgraph presentation reviews the timeline for the robotic in situ investigation of Titan and Venus, and the use of radioisotope power systems in this exploration. The atmospheric and surface conditions of both sites are reviewed. The presentation also examines the conceptual design of the Venus Mobile Explorer and the Titan orbiter and in situ explorer. After this the presentation reviews the radioisotope power systems for each of the vehicles, with some explanation of the different requirements based on the vastly different environments that they would be investigating

mission concepts↗

NASA NTRS2009

Lunar Mapping and Modeling Project

Noble, Sarah K.↗

NASA NTRS2009

The Lunar Mapping and Modeling Project

Noble, Sarah K.↗

NASA NTRS2009

Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) has been created to manage the development of a suite of lunar mapping and modeling products that support the Constellation Program (CxP) and other lunar exploration activities, including the planning, design, development, test and operations associated with lunar sortie missions, crewed and robotic operations on the surface, and the establishment of a lunar outpost. The information provided through LMMP will assist CxP in: planning tasks in the areas of landing site evaluation and selection, design and placement of landers and other stationary assets, design of rovers and other mobile assets, developing terrain-relative navigation (TRN) capabilities, and assessment and planning of science traverses. The project draws on expertise from several NASA and non-NASA organizations (MSFC, ARC, GSFC, JPL, CRREL US Army Cold Regions Research and Engineering Laboratory, and the USGS). LMMP will utilize data predominately from the Lunar Reconnaissance Orbiter, but also historical and international lunar mission data (e.g. Apollo, Lunar Orbiter, Kaguya, Chandrayaan-1), as available and appropriate, to meet Constellation s data needs. LMMP will provide access to this data through a single intuitive and easy to use NASA portal that transparently accesses appropriately sanctioned portions of the widely dispersed and distributed collections of lunar data, products and tools. Two visualization systems are being developed, a web-based system called Lunar Mapper, and a desktop client, ILIADS, which will be downloadable from the LMMP portal. LMMP will provide such products as local and regional imagery and DEMs, hazard assessment maps, lighting and gravity models, and resource maps. We are working closely with the LRO team to prevent duplication of efforts and to ensure the highest quality data products. While Constellation is our primary customer, LMMP is striving to be as useful as possible to the lunar science community, the lunar commercial community, the lunar education and public outreach (E/PO) community, and anyone else interested in accessing or utilizing lunar data. A beta version of the portal and visualization systems is expected to be released in late 2009, with a version 1 release planned for early 2011.

Noble, Sarah K.↗

NASA NTRS2010

The Lunar Mapping and Modeling Project

The Lunar Mapping and Modeling Project (LMMP) is managing a suite of lunar mapping and modeling tools and data products that support lunar exploration activities, including the planning, de-sign, development, test, and operations associated with crewed and/or robotic operations on the lunar surface. Although the project was initiated primarily to serve the needs of the Constellation program, it is equally suited for supporting landing site selection and planning for a variety of robotic missions, including NASA science and/or human precursor missions and commercial missions such as those planned by the Google Lunar X-Prize participants. In addition, LMMP should prove to be a convenient and useful tool for scientific analysis and for education and public out-reach (E/PO) activities.

Nall, M.↗

NASA NTRS2011

Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations

We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.

multi-agent collaboration↗

NASA NTRS1997

Gondola Design for Venus Deep-Atmosphere Aerobot Operations

Aerobots are AEROnautical RoBOTS with autonomous navigation capabilities. An aerobot mission has been proposed for exploration of the upper atmosphere through the near-surface regions of venus.

Venus↗

NASA NTRS2014

Evolution of the Scope and Capabilities of Uplink Support Software for Mars Surface Operations

In January of 2004 both of the Mars Exploration Rover spacecraft landed safely, initiating daily surface operations at the Jet Propulsion Laboratory for what was anticipated to be approximately three months of mobile exploration. The longevity of this mission, still ongoing after ten years, has provided not only a tremendous return of scientific data but also the opportunity to refine and improve the methodology by which robotic Mars surface missions are commanded. Since the landing of the Mars Science Laboratory spacecraft in August of 2012, this methodology has been successfully applied to operate a Martian rover which is both similar to, and quite different from, its predecessors. For MER and MSL, daily uplink operations can be most broadly viewed as converting the combined interests of both the science and engineering teams into a spacecraft-safe set of transmittable command files. In order to accomplish these ends a discrete set of mission-critical software tools were developed which not only allowed for conformation to established JPL standards and practices but also enabled innovative technologies specific to each mission. Although these primary programs provided the requisite capabilities for meeting the high-level goals of each distinct phase of the uplink process, there was little in the way of secondary software to support the smooth flow of data from one phase to the next. In order to address this shortcoming a suite of small software tools was developed to aid in phase transitions, as well as to automate some of the more laborious and error-prone aspects of uplink operations. This paper describes the evolution of this software suite, from its initial attempts to merely shorten the duration of the operator's shift, to its current role as an indispensable tool enforcing workflow of the uplink operations process and agilely responding to the new and unexpected challenges of missions which can, and have, lasted many years longer than originally anticipated.

CoUGAR↗

NASA NTRS1993

Lunar surface operations. Volume 3: Robotic arm for lunar surface vehicle

A robotic arm for a lunar surface vehicle that can help in handling cargo and equipment, and remove obstacles from the path of the vehicle is defined as a support to NASA's intention to establish a lunar based colony by the year 2010. Its mission would include, but not limited to the following: exploration, lunar sampling, replace and remove equipment, and setup equipment (e.g. microwave repeater stations). Performance objectives for the robotic arm include a reach of 3 m, accuracy of 1 cm, arm mass of 100 kg, and lifting capability of 50 kg. The end effectors must grip various sizes and shapes of cargo; push, pull, turn, lift, or lower various types of equipment; and clear a path on the lunar surface by shoveling, sweeping aside, or gripping the obstacle present in the desired path. The arm can safely complete a task within a reasonable amount of time; the actual time is dependent upon the task to be performed. The positioning of the arm includes a manual backup system such that the arm can be safely stored in case of failure. Remote viewing and proximity and positioning sensors are incorporated in the design of the arm. The following specific topic are addressed in this report: mission and requirements, system design and integration, mechanical structure, modified wrist, structure-to-end-effector interface, end-effectors, and system controls.

Shields, William↗

NASA NTRS2006

Launching to the Moon, Mars, and Beyond

The U.S. Vision for Space Exploration, announced in 2004, calls on NASA to finish constructing the International Space Station, retire the Space Shuttle, and build the new spacecraft needed to return to the Moon and go on the Mars. By exploring space, America continues the tradition of great nations who mastered the Earth, air, and sea, and who then enjoyed the benefits of increased commerce and technological advances. The progress being made today is part of the next chapter in America's history of leadership in space. In order to reach the Moon and Mars within the planned timeline and also within the allowable budget, NASA is building upon the best of proven space transportation systems. Journeys to the Moon and Mars will require a variety of vehicles, including the Ares I Crew Launch Vehicle, the Ares V Cargo Launch Vehicle, the Orion Crew Exploration Vehicle, and the Lunar Surface Access Module. What America learns in reaching for the Moon will teach astronauts how to prepare for the first human footprints on Mars. While robotic science may reveal information about the nature of hydrogen on the Moon, it will most likely tale a human being with a rock hammer to find the real truth about the presence of water, a precious natural resource that opens many possibilities for explorers. In this way, the combination of astronauts using a variety of tools and machines provides a special synergy that will vastly improve our understanding of Earth's cosmic neighborhood.

Dumbacher, Daniel L.↗

NASA NTRS2006

Antenna Technologies for Future NASA Exploration Missions

NASA s plans for the manned exploration of the moon and Mars will rely heavily on the development of a reliable communications infrastructure on the surface and back to Earth. Future missions will thus focus not only on gathering scientific data, but also on the formation of the communications network. In either case, unique requirements become imposed on the antenna technologies necessary to accomplish these tasks. For example, surface activity applications such as robotic rovers, human extravehicular activities (EVA), and probes will require small size, lightweight, low power, multi-functionality, and robustness for the antenna elements being considered. Trunk-line communications to a centralized habitat on the surface and back to Earth (e.g., surface relays, satellites, landers) will necessitate wide-area coverage, high gain, low mass, deployable antennas. Likewise, the plethora of low to high data rate services desired to guarantee the safety and quality of mission data for robotic and human exploration will place additional demands on the technology. Over the past year, NASA Glenn Research Center has been heavily involved in the development of candidate antenna technologies with the potential for meeting these strict requirements. This technology ranges from electrically small antennas to phased array and large inflatable structures. A summary of this overall effort is provided, with particular attention being paid to small antenna designs and applications. A discussion of the Agency-wide activities of the Exploration Systems Mission Directorate (ESMD) in forthcoming NASA missions, as they pertain to the communications architecture for the lunar and Martian networks is performed, with an emphasis on the desirable qualities of potential antenna element designs for envisioned communications assets. Identified frequency allocations for the lunar and Martian surfaces, as well as asset-specific data services will be described to develop a foundation for viable antenna technologies which might address these requirements and help guide future technology development decisions.

Miranda, Felix A.↗

NASA NTRS2009

Ares V: New Opportunities for Scientific Payloads

What if scientists and payload planners had access to three to five times the volume and five to nine times the mass provided by today's launch vehicles? This simple question can lead to numerous exciting possibilities, all involving NASA's new Ares V cargo launch vehicle now on the drawing board. Multiple scientific fields and payload designers have that opportunity with the Ares V cargo launch vehicle, being developed at NASA as the heavy-lift component of the U.S. Space Exploration Policy. When the Ares V begins flying late next decade, its capabilities will significantly exceed the 1960s-era Saturn V or the current Space Shuttle, while it benefits from their engineering, manufacturing, and infrastructure heritage. It will send more crew and cargo to more places on the lunar surface than Apollo and provide ongoing support to a permanent lunar outpost. Moreover, it will restore a strategic heavy-lift U.S. asset, which can support human and robotic exploration and scientific ventures for decades to come. Assessment of astronomy payload requirements since Spring 2008 has indicated that Ares V has the potential to support a range of payloads and missions. Some of these missions were impossible in the absence of Ares V's capabilities. Collaborative design/architecture inputs, exchanges, and analyses have already begun between scientists and payload developers. A 2008 study by a National Research Council (NRC) panel, as well as analyses presented by astronomers and planetary scientists at two weekend conferences in 2008, support the position that Ares V has benefit to a broad range of planetary and astronomy missions. This early dialogue with Ares V engineers is permitting the greatest opportunity for payload/transportation/mission synergy and the least financial impact to Ares V development. In addition, independent analyses suggest that Ares V has the opportunity to enable more cost-effective mission design.

Creech, Steve↗

NASA NTRS2006

Mobile Robot for Exploring Cold Liquid/Solid Environments

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Bergh, Charles↗

NASA NTRS2000

Surface Systems R&D in NASA's Planetary Exploration Program

This paper reports on activities being supported by the Surface Systems Thrust of the NASA Cross Enterprise Technology Development Program, a research program whithin the NASA office of Space Science.

robotics planetary exploration↗

NASA NTRS2006

Lunar Relay Satellite Network for Space Exploration: Architecture, Technologies and Challenges

NASA is planning a series of short and long duration human and robotic missions to explore the Moon and then Mars. A key objective of these missions is to grow, through a series of launches, a system of systems infrastructure with the capability for safe and sustainable autonomous operations at minimum cost while maximizing the exploration capabilities and science return. An incremental implementation process will enable a buildup of the communication, navigation, networking, computing, and informatics architectures to support human exploration missions in the vicinities and on the surfaces of the Moon and Mars. These architectures will support all space and surface nodes, including other orbiters, lander vehicles, humans in spacesuits, robots, rovers, human habitats, and pressurized vehicles. This paper describes the integration of an innovative MAC and networking technology with an equally innovative position-dependent, data routing, network technology. The MAC technology provides the relay spacecraft with the capability to autonomously discover neighbor spacecraft and surface nodes, establish variable-rate links and communicate simultaneously with multiple in-space and surface clients at varying and rapidly changing distances while making optimum use of the available power. The networking technology uses attitude sensors, a time synchronization protocol and occasional orbit-corrections to maintain awareness of its instantaneous position and attitude in space as well as the orbital or surface location of its communication clients. A position-dependent data routing capability is used in the communication relay satellites to handle the movement of data among any of multiple clients (including Earth) that may be simultaneously in view; and if not in view, the relay will temporarily store the data from a client source and download it when the destination client comes into view. The integration of the MAC and data routing networking technologies would enable a relay satellite system to provide end-to-end communication services for robotic and human missions in the vicinity, or on the surface of the Moon with a minimum of Earth-based operational support.

Bhasin, Kul B.↗

NASA NTRS2010

Integration of In-Situ Resource Utilization Into Lunar/Mars Exploration Through Field Analogs

The NASA project to develop In-Situ Resource Utilization (ISRU) technologies, in partnership with commercial and international collaborators, has achieved full system demonstrations of oxygen production using native regolith simulants. These demonstrations included robotic extraction of material from the terrain, sealed encapsulation of material in a pressurized reactor; chemical extraction of oxygen from the material in the form of water, and the electrolysis of water into oxygen and hydrogen for storage and reuse. These successes have provided growing confidence in the prospects of ISRU oxygen production as a credible source for critical mission consumables in preparation for and during crewed missions to the moon and other destinations. Other ISRU processes, especially relevant to early lunar exploration scenarios, have also been shown to be practical, including the extraction of subsurface volatiles, especially water, and the thermal processing of surface materials for civil engineering uses and for thermal energy storage. This paper describes these recent achievements and current NASA ISRU development and demonstration activity. The ability to extract and process resources at the site of exploration into useful products such as propellants, life support and power system consumables; and radiation and rocket exhaust plume debris shielding, known as In-Situ Resource Utilization or ISRU, has the potential to significantly reduce the launch mass, risk, and cost of robotic and human exploration of space. The incorporation of ISRU into missions can also significantly influence technology selection and system development in other areas such as power, life support, and propulsion. For example. the ability to extract or produce large amounts of oxygen and/or water in-situ could minimize the need to completely close life support air and water processing system cycles, change thermal and radiation protection of habitats, and influence propellant selection for ascent vehicles and surface propulsive hoppers. While concepts and even laboratory work on evaluating and developing ISRU techniques such as oxygen extraction from lunar regolith have been going on since before the Apollo 11 Moon landing, no ISRU system has ever flown in space, and only recently have ISRU technologies been developed at a scale and at a system level that is relevant to actual robotic and human mission applications. Because ISRU hardware and systems have never been demonstrated or utilized before on robotic or human missions, architecture and mission planners and surface system hardware developers are hesitant to rely on ISRU products and services that are critical to mission and system implementation success. To build confidence in ISRU systems for future missions and assess how ISRU systems can best influence and integrate with other surface system elements, NASA, with international partners, are performing analog field tests to understand how to take advantage of ISRU capabilities and benefits with the minimum of risk associated with introducing this game-changing approach to exploration. This paper will describe and review the results of four analog field tests (Moses Lake in 6/08, Mauna Kea in 11/08. Flagstaff in 9/09; and Mauna Kea in 1/10) that have begun the process of integrating ISRU into robotic and human exploration systems and missions, and propose future ISRU-related analog field test activities that can be performed in collaboration with international space agencies.

Sanders, Gerald B.↗