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NASA NTRSDate not supplied

Synthetic Failure Mode Generation for Resilience Analysis and Failure Mechanism Discovery

Traditional risk-based design processes seek to mitigate operational hazards by manually identifying possible faults and corresponding mitigation strategies—a tedious process which critically relies on the designer’s limited knowledge. Resilience-based design, on the other hand, seeks to embody generic hazard-mitigating properties in the system to mitigate unknown hazards, often by modelling the system's response to potential hazardous events. This work adapts this approach to the traditional risk-based design process to synthetically generate hazardous modes, by representing them as a unique combination of internal component health-states which can then be injected and simulated in a model of the system failure dynamics. The design process may then reduce the risk of unknown internal hazards by iteratively mitigating the effects of these modes. The performance of this approach is evaluated in a model of an autonomous rover, where cluster analysis shows that elaborating the space of synthetic faults in the drive system using this approach uncovers a wider range of possible hazardous trajectories and failure consequences within each trajectory. However, this increase in hazard information comes at a high computational expense, highlighting the need for advanced, efficient methods to search and sample the hazard space.

Simulation↗
NASA NTRS2011

Crew Field Notes: A New Tool for Planetary Surface Exploration

The Desert Research and Technology Studies (DRATS) field tests of 2010 focused on the simultaneous operation of two rovers, a historical first. The complexity and data volume of two rovers operating simultaneously presented significant operational challenges for the on-site Mission Control Center, including the real time science support function. The latter was split into two "tactical" back rooms, one for each rover, that supported the real time traverse activities; in addition, a "strategic" science team convened overnight to synthesize the day's findings, and to conduct the strategic forward planning of the next day or days as detailed in [1, 2]. Current DRATS simulations and operations differ dramatically from those of Apollo, including the most evolved Apollo 15-17 missions, due to the advent of digital technologies. Modern digital still and video cameras, combined with the capability for real time transmission of large volumes of data, including multiple video streams, offer the prospect for the ground based science support room(s) in Mission Control to witness all crew activities in unprecedented detail and in real time. It was not uncommon during DRATS 2010 that each tactical science back room simultaneously received some 4-6 video streams from cameras mounted on the rover or the crews' backpacks. Some of the rover cameras are controllable PZT (pan, zoom, tilt) devices that can be operated by the crews (during extensive drives) or remotely by the back room (during EVAs). Typically, a dedicated "expert" and professional geologist in the tactical back room(s) controls, monitors and analyses a single video stream and provides the findings to the team, commonly supported by screen-saved images. It seems obvious, that the real time comprehension and synthesis of the verbal descriptions, extensive imagery, and other information (e.g. navigation data; time lines etc) flowing into the science support room(s) constitute a fundamental challenge to future mission operations: how can one analyze, comprehend and synthesize -in real time- the enormous data volume coming to the ground? Real time understanding of all data is needed for constructive interaction with the surface crews, and it becomes critical for the strategic forward planning process.

Horz, Friedrich↗
NASA NTRS2011

High Level Architecture Distributed Space System Simulation for Simulation Interoperability Standards Organization Simulation Smackdown

Modeling and Simulation plays a very important role in mission design. It not only reduces design cost, but also prepares astronauts for their mission tasks. The SISO Smackdown is a simulation event that facilitates modeling and simulation in academia. The scenario of this year s Smackdown was to simulate a lunar base supply mission. The mission objective was to transfer Earth supply cargo to a lunar base supply depot and retrieve He-3 to take back to Earth. Federates for this scenario include the environment federate, Earth-Moon transfer vehicle, lunar shuttle, lunar rover, supply depot, mobile ISRU plant, exploratory hopper, and communication satellite. These federates were built by teams from all around the world, including teams from MIT, JSC, University of Alabama in Huntsville, University of Bordeaux from France, and University of Genoa from Italy. This paper focuses on the lunar shuttle federate, which was programmed by the USRP intern team from NASA JSC. The shuttle was responsible for provide transportation between lunar orbit and the lunar surface. The lunar shuttle federate was built using the NASA standard simulation package called Trick, and it was extended with HLA functions using TrickHLA. HLA functions of the lunar shuttle federate include sending and receiving interaction, publishing and subscribing attributes, and packing and unpacking fixed record data. The dynamics model of the lunar shuttle was modeled with three degrees of freedom, and the state propagation was obeying the law of two body dynamics. The descending trajectory of the lunar shuttle was designed by first defining a unique descending orbit in 2D space, and then defining a unique orbit in 3D space with the assumption of a non-rotating moon. Finally this assumption was taken away to define the initial position of the lunar shuttle so that it will start descending a second after it joins the execution. VPN software from SonicWall was used to connect federates with RTI during testing and the Smackdown event. HLA software from Pitch Technology and MAK Technology were used to edit and extend FOM and provide HLA services for federation execution. The SISO Smackdown event for 2011 was held in Boston, Massachusetts. The federation execution lasted for one hour, and the event was very successful in catching the attention of university students and faculties.

Li, Zuqun↗
NASA NTRS2006

Multijunction Solar Cell Technology for Mars Surface Applications

Solar cells used for Mars surface applications have been commercial space qualified AM0 optimized devices. Due to the Martian atmosphere, these cells are not optimized for the Mars surface and as a result operate at a reduced efficiency. A multi-year program, MOST (Mars Optimized Solar Cell Technology), managed by JPL and funded by NASA Code S, was initiated in 2004, to develop tools to modify commercial AM0 cells for the Mars surface solar spectrum and to fabricate Mars optimized devices for verification. This effort required defining the surface incident spectrum, developing an appropriate laboratory solar simulator measurement capability, and to develop and test commercial cells modified for the Mars surface spectrum. This paper discusses the program, including results for the initial modified cells. Simulated Mars surface measurements of MER cells and Phoenix Lander cells (2007 launch) are provided to characterize the performance loss for those missions. In addition, the performance of the MER rover solar arrays is updated to reflect their more than two (2) year operation.

Mars solar cell↗
NASA NTRS1994

Martian environmental simulation for a deployable lattice mast

The Mars Pathfinder mission (formerly Mars Environmental Survey or MESUR) is scheduled for launch in December 1996 and is designed to place a small lander on the surface of Mars. After impact, the lander unfolds to expose its solar panels and release a miniature rover. Also on board is the Imager for Mars Pathfinder (IMP) binocular camera which is elevated by a deployable mast to obtain a panoramic view of the landing area. The design of this deployable mast is based on similar designs which have a long and successful flight history. In the past when this type of self-deployable mast has been used, a rate limiter has been incorporated to control the speed of deployment. In this application, to reduce weight and complexity, it was proposed to eliminate the rate limiter so that the mast would deploy without restraint. Preliminary tests showed that this type of deployment was possible especially if the deployed length was relatively short, as in this application. Compounding the problem, however, was the requirement to deploy the mast at an angle of up to 30 degrees from vertical. The deployment process was difficult to completely analyze due to the effects of gravitational and inertial loads on the mast and camera during rapid extension. Testing in a realistic manner was imperative to verify the system performance. A deployment test was therefore performed to determine the maximum tilt angle at which the mast could reliably extend and support the camera on Mars. The testing of the deployable mast requires partial gravity compensation to simulate the smaller force of Martian gravity. During the test, mass properties were maintained while weight properties were reduced. This paper describes the testing of a deployable mast in a simulated Martian environment as well as the results of the tests.

Warden, Robert M.↗
NASA NTRS2006

Laboratory Simulated Acid-Sulfate Weathering of Basaltic Materials: Implications for Formation of Sulfates at Meridiani Planum and Gusev Crater, Mars

Acid-sulfate weathering of basaltic materials is a candidate formation process for the sulfate-rich outcrops and rocks at the MER rover Opportunity and Spirit landing sites. To determine the style of acid-sulfate weathering on Mars, we weathered basaltic materials (olivine-rich glassy basaltic sand and plagioclase feldspar-rich basaltic tephra) in the laboratory under different oxidative, acid-sulfate conditions and characterized the alteration products. We investigated alteration by (1) sulfuric-acid vapor (acid fog), (2) three-step hydrothermal leaching treatment approximating an open system and (3) single-step hydrothermal batch treatment approximating a "closed system." In acid fog experiments, Al, Fe, and Ca sulfates and amorphous silica formed from plagioclase-rich tephra, and Mg and Ca sulfates and amorphous silica formed from the olivine-rich sands. In three-step leaching experiments, only amorphous Si formed from the plagioclase-rich basaltic tephra, and jarosite, Mg and Ca sulfates and amorphous silica formed from olivine-rich basaltic sand. Amorphous silica formed under single-step experiments for both starting materials. Based upon our experiments, jarosite formation in Meridiani outcrop is potential evidence for an open system acid-sulfate weathering regime. Waters rich in sulfuric acid percolated through basaltic sediment, dissolving basaltic phases (e.g., olivine) and forming jarosite, other sulfates, and iron oxides. Aqueous alteration of outcrops and rocks on the West Spur of the Columbia Hills may have occurred when vapors rich in SO2 from volcanic sources reacted with basaltic materials. Soluble ions from the host rock (e.g., olivine) reacted with S to form Ca-, Mg-, and other sulfates along with iron oxides and oxyhydroxides.

Golden, D. C.↗
NASA NTRS2022

A Rideshare Tensegrity Rover Concept to Explore Titan’s Lands and Oceans

The Tension Adjustable Network for Deploying Entry Membrane (TANDEM) concept is a phase II NASA Innovative Advanced Concepts (NIAC) project. One of the goals for this project was to extend the application of tensegrity-based rovers to a rideshare concept for a Titan mission. This report provides preliminary details of the TANDEM concept for Titan. System analyses of the entry vehicle were performed and compared to data from the Huygens mission to Titan. The entry aeroshell was based on Huygens and Stardust aeroshells. Modeling, simulation and design of the tensegrity deployment were performed using a nonlinear optimization form-finding algorithm. Lastly, a neuroevolution-based machine learning control strategy was applied, which produced efficient rolling locomotion gaits.

tensegrity↗
NASA NTRS2019

Dust Abrasion Damage on Martian Solar Arrays: Experimental Investigation and Opportunity Rover Performance Analysis

Here we investigate the effects of erosion and weathering that occur on III-V cover-glass interconnected cells (CICs) after exposure to Mars dust storm conditions. The durability of these materials in a Martian environment is not well characterized so we perform analogous experimentation. To replicate the dust impingement, test coupons were placed in an enclosure and sandblasted with Mars dust simulant. We show the J-V response dependency on both incident angle and exposure times. We find that the simulated Martian dust storm often results in damage to the anti-reflective coating and subsequent reduced short circuit current. Reduction in the open circuit voltage is observed, likely caused by structural damage to the crystal lattice after CIC fracture. We employ data-driven modeling to determine a performance degradation rate that is consistent with zero within uncertainty. We also quantify the soiling contribution and power degradation of the photovoltaic cells on Mars through analysis of 4.95 Martian years of report-out power conditions from the Opportunity rover. We find that atmospheric dust suspended due to a weather event does not result in instantaneous settled dust on the PV cells. We calculate via autocorrelation function that the dust settling rate is approximately 21 Sols from atmospheric dust suspension. The findings presented here deliver a realistic approximation for the insolation values and subsequent PV power expected over time on the Martian surface thus informing future dust abatement systems.

McMillon-Brown, Lyndsey↗
NASA NTRS2019

Dust Abrasion Damage on Martian Solar Arrays: Experimental Investigation and Opportunity Rover Performance Analysis

Here we investigate the effects of erosion and weathering that occur on III-V cover-glass interconnected cells (CICs) after exposure to Mars dust storm conditions. The durability of these materials in a Martian environment is not well characterized so we perform analogous experimentation. To replicate the dust impingement, test coupons were placed in an enclosure and sandblasted with Mars dust simulant. We show the J-V response dependency on both incident angle and exposure times. We find that the simulated Martian dust storm often results in damage to the anti-reflective coating and subsequent reduced short circuit current. Reduction in the open circuit voltage is observed, likely caused by structural damage to the crystal lattice after CIC fracture. We employ data-driven modeling to determine a performance degradation rate that is consistent with zero within uncertainty. We also quantify the soiling contribution and power degradation of the photovoltaic cells on Mars through analysis of 4.95 Martian years of report-out power conditions from the Opportunity rover. We find that atmospheric dust suspended due to a weather event does not result in instantaneous settled dust on the PV cells. We calculate via autocorrelation function that the dust settling rate is approximately 21 Sols from atmospheric dust suspension. The findings presented here deliver a realistic approximation for the insolation values and subsequent PV power expected over time on the Martian surface thus informing future dust abatement systems.

McMillon-Brown, Lyndsey↗
NASA NTRS2005

Outflow Channels Influencing Martian Climate: Global Circulation Model Simulations with Emplaced Water

The existence of surface water on Mars in past geologic epochs is inferred on the basis of geomorphologic interpretation of spaceflight images, and is supported by the recent Mars Odyssey identification of ice-rich soils [1]. The Mars Exploration Rovers have provided further chemical evidence for past surface hydrologic activity [2]. One issue is whether this water-rich climate ever existed in a steady state, or whether it was triggered by catastrophic events such as large impacts [3], and/ or catastrophic outburst floods, the topic of consideration here.

Santiago, D. L.↗
NASA NTRS2025

South Pole Lunar Lighting Studies for Driving Exploration on the Lunar Surface

NASA’s Artemis lunar missions will face new exploration challenges due to inherently low sun angles in the lunar south pole region. Whereas the Apollo missions were afforded sunlight for approximately 8 to 50-degrees above the horizon, sunlight for the next lunar missions will only be 1 to 2-degrees about the horizon. With this low angle, long shadows and high contrasts of light and dark areas will be faced by the crew and remote teleop operators while exploring the lunar surface. With this in mind, NASA developed an integrated virtual Lighting and Navigation Simulation to understand these challenges. Two studies have been conducted in this Lunar South Pole environment to evaluate the effects of natural and artificial lighting on driving and navigating a lunar rover across the surface. Early NASA studies, such as this, are used to aid in developing techniques and explore concepts of operations to promote mission success and crew safety. In the Phase One development evaluation, six astronauts were teleported to ten different lighting conditions. For each location, drivers were to drive to an imaginary target approximately 200-meters straight ahead and provide subjective feedback on their ability to drive under the given lighting conditions. Phase Two, a more operational study, four astronauts and a remote operator tested five different Artemis lunar mission scenarios. Results indicated sun direction at such low angles, especially when driving a high speed, can severely impact the crew’s ability to safely drive the rover. In the up-sun situation, with the sun directly in the driver’s eyes and compounded long shadows, the consistent preference among drivers was to initiate a tacking strategy of approximately +/- 20 to 30-degrees to improve visibility. This maneuver does require more time and rover energetics. Conversely, driving down-sun required the crew to tack as well to avoid the shadow of rover blocking the terrain. Less appreciated is how the surrounding landscape is lit. Traveling into shadowed areas, especially while facing a lit terrain beyond the shadowed area, drivers enter at their own risk due to pupil contraction making artificial lights useless. Additionally, the constant transitioning between dark and light areas are mentally taxing to the crew and natural navigational references such as the stars are invisible and therefore unusable. Slope and depth magnitude are very difficult hazards to judge when approaching a shadowed crater. This naturally leads to slower driving speeds than originally anticipated. As for observing scientifically interesting features, assessing them accurately varies greatly by the lighting condition. In most cases, the task can be completed, but the strategy is to use the sun to one’s advantage. Crew workload distribution in the cockpit for driving operations was split amongst crew. The driver primarily focused attention on visual terrain (80%) but referenced displays approximately 20% of the time, while the co-pilot/navigator generally provided directional cues to the driver. These natural lighting conditions present significant challenges for safe rover operations; however, early studies having given investigators a “first-look” into understanding of how operating on the South Lunar Pole can be accomplished.

LTv↗
NASA NTRS2007

Lunar Resource Utilization: Development of a Reactor for Volatile Extraction from Regolith

The extraction and processing of planetary resources into useful products, known as In- Situ Resource Utilization (ISRU), will have a profound impact on the future of planetary exploration. One such effort is the RESOLVE (Regolith and Environment Science, Oxygen and Lunar Volatiles Extraction) Project, which aims to extract and quantify these resources. As part of the first Engineering Breadboard Unit, the Regolith Volatiles Characterization (RVC) reactor was designed and built at the NASA Glenn Research Center. By heating and agitating the lunar regolith, loosely bound volatiles, such as hydrogen and water, are released and stored in the reactor for later analysis and collection. Intended for operation on a robotic rover, the reactor features a lightweight, compact design, easy loading and unloading of the regolith, and uniform heating of the regolith by means of vibrofluidization. The reactor performance was demonstrated using regolith simulant, JSC1, with favorable results.

Kleinhenz, Julie E.↗
NASA NTRS1990

i-SAIRAS '90; Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space, Kobe, Japan, Nov. 18-20, 1990

The present conference on artificial intelligence (AI), robotics, and automation in space encompasses robot systems, lunar and planetary robots, advanced processing, expert systems, knowledge bases, issues of operation and management, manipulator control, and on-orbit service. Specific issues addressed include fundamental research in AI at NASA, the FTS dexterous telerobot, a target-capture experiment by a free-flying robot, the NASA Planetary Rover Program, the Katydid system for compiling KEE applications to Ada, and speech recognition for robots. Also addressed are a knowledge base for real-time diagnosis, a pilot-in-the-loop simulation of an orbital docking maneuver, intelligent perturbation algorithms for space scheduling optimization, a fuzzy control method for a space manipulator system, hyperredundant manipulator applications, robotic servicing of EOS instruments, and a summary of astronaut inputs on automation and robotics for the Space Station Freedom.

Source record↗
NASA NTRS2006

The Effect of Forebody Geometry on Turbulent Heating and Thermal Protection System Sizing for Future Mars Mission Concepts

Past Mars entry missions have made extensive use of 70° sphere-cone forebody heatshields. This shape was chosen for its aerodynamic stability during direct entry, either ballistic or low L/D trajectories. Historic missions, including Viking in 1976, Pathfinder in1997, and Mars Rover in 2004, have provided a large aerodynamic and aerothermodynamic database for the70° sphere-cone shape that perpetuates continued use for future Mars missions. Using 3D Real-Gas Navier-Stokes simulations, we show that once turbulent heating occupies a significant portion of the mission trajectory, undesirable aerothermodynamic properties arise associated with the 70° sphere-cone heatshield geometry. As an additional consideration, the pitch angle to achieve high L/D of a Mars aerocapture trajectory mitigates the stability justification for the 70° sphere-cone. This suggests that alternative forebody geometries should be considered for future Mars missions.

Aeroheating↗
NASA NTRSDate not supplied

Terrestrial Unmanned Roving Vertical Take-off and Landing (TURVTOL)

As the uses for autonomous rovers and drones has increased with their variability and utility,a fundamental gap has emerged - one which melds multi-modal capabilities into a singular unit. This project aims to fill that gap with the introduction of a multi-modal unmanned vehicle concept that can traverse ground quickly, hop or fly over obstacles and hazardous areas, and operate without the use of GPS or a human in the loop. The 2020 NASA Academy at Langley has developed a first iteration conceptual design of such a vehicle. This design has proven to be feasible through analyses confined to simulated environments.

VTOL↗
NASA NTRS2004

Data Management for Mars Exploration Rovers

Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

Mars missions↗
NASA NTRS2010

Lunar Outpost Life Support Architecture Study Based on a High-Mobility Exploration Scenario

This paper presents results of a life support architecture study based on a 2009 NASA lunar surface exploration scenario known as Scenario 12. The study focuses on the assembly complete outpost configuration and includes pressurized rovers as part of a distributed outpost architecture in both stand-alone and integrated configurations. A range of life support architectures are examined reflecting different levels of closure and distributed functionality. Monte Carlo simulations are used to assess the sensitivity of results to volatile high-impact mission variables, including the quantity of residual Lander oxygen and hydrogen propellants available for scavenging, the fraction of crew time away from the outpost on excursions, total extravehicular activity hours, and habitat leakage. Surpluses or deficits of water and oxygen are reported for each architecture, along with fixed and 10-year total equivalent system mass estimates relative to a reference case. System robustness is discussed in terms of the probability of no water or oxygen resupply as determined from the Monte Carlo simulations.

Lange, Kevin E.↗