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We describe ongoing efforts to integrate and coordinate space and marine assets to enable autonomous response to dynamic ocean phenomena such as algal blooms, eddies, and currents. Thus far we have focused on the use of remote sensing assets (e.g. satellites) but future plans include expansions to use a range of in-situ sensors such as gliders, autonomous underwater vehicles, and buoys/moorings.
Experimental evolution (EE) involves iteratively exposing a microbial community to specific stressors to study its response to changes in environment over time. EE work is commonly done manually in the laboratory, but, when there are many environmental variables to measure and adjust, it is highly labor intensive, prone to human error, and challenging to scale. Single-purpose automated continuous culturing chambers exist, but implement only limited stressor types. A more general-purpose design is desirable. The BeING Lab at Ames Research Center created the prototype Automated Adaptive Directed Evolution Chamber (AADEC) to address these problems, beginning with Escherichia coli tolerance of short-wave ultraviolet (UV-C) radiation and of temperature. In newer versions, AADEC monitors microbial activity and can adjust the UV-C and temperature levels automatically. An optical density measurement is used to determine how many cells are present in the growth medium—over time, this corresponds to how many survive and reproduce. Oxidation-reduction potential provides information on consumed metabolic energy, and pH and electrical conductivity on metabolic products. Dissolved oxygen content is used to determine aerobic vs anaerobic growth. A Raspberry Pi computer processes all this data to set the UV-C stressor level. AADEC’s auxiliary systems include peristaltic pumps to change media and agitation to counteract cell settling. These actuators can also act as additional stressors. With the Raspberry Pi monitoring sensors and adjusting actuators in real time, AADEC takes measurements and controls the environment much more accurately than can be done with a manual EE implementation. The third and latest AADEC iteration is the first to simplify design and usage with circuits on PCBs and the ability to pre-program experimental protocols. Still planned is expansion to a multi-well design for the study of varying cell cultures in parallel, which will enable researchers to retain and re-inoculate cultures exhibiting the desired trait most strongly while flushing out others. AADEC’s special capabilities make it a valuable tool for studying life under multiple stressors, enabling scientists to replicate changes in climate on microbes for study in a lab setting.
NASA is going to the Moon. And it will don a new spacesuit when it reaches its destination. NASA is partnering with industry to build the spacesuit and supporting systems (i.e., surface mobility tools) that astronauts will use on the Moon, starting with Artemis III. The Johnson Space Center’s (JSC) Extravehicular Activity and Human Surface Mobility Program (EHP) is managing this effort, and the U.S. Spacesuit Knowledge Capture (SKC) Program is expanding its scope to help. For 15 years, the SKC Program has collected, archived, and disseminated decades of spacesuit-related knowledge, as appropriate, to help NASA scientists, technicians, and engineers support space exploration. The SKC Program captures its knowledge by hosting and recording subject-matter expert (SME) lectures, interviews, and workshops. It also collects retired SMEs’ reports, drawings, and schematics containing legacy spacesuit knowledge. To build a technically capable spacesuit essential for future lunar exploration, spacesuit professionals borrowed much of their knowledge from legacy Extravehicular Activity (EVA) spacesuits. Most of the SKC Program’s captured knowledge has focused on legacy and current spacesuits. To support EHP, the SKC Program is expanding its knowledge capture focus beyond the spacesuit and will seek to collect knowledge from other pertinent topics (e.g., Lunar Terrain Vehicle and EVA tools). In 2007, the SKC Program began as an independent source, without funding. As demand for capturing essential spacesuit knowledge increased, consequently, the SKC Program’s funding increased. Expansion of the SKC Program was evident in 2019, when it seized the opportunity to capture the Exploration Extravehicular Mobility Unit (xEMU) buildup at JSC. In 2021, its collaboration with the xEMU Technical Community of Practice facilitated training and knowledge sharing with the xEMU team. In 2022, the SKC Program began supporting EHP. This paper describes the SKC Program’s expansive evolution, plans to support EHP, and more.
The purpose of this report is to summarize the state of knowledge and outline the planned work in divergence-based/neural networks approach to the problem of passive ranging derived from optical flow. Work in this and closely related areas is reviewed in order to provide the necessary background for further developments. New ideas about devising a monocular passive-ranging system are then introduced. It is shown that image-plan divergence is independent of image-plan location with respect to the focus of expansion and of camera maneuvers because it directly measures the object's expansion which, in turn, is related to the time-to-collision. Thus, a divergence-based method has the potential of providing a reliable range complementing other monocular passive-ranging methods which encounter difficulties in image areas close to the focus of expansion. Image-plan divergence can be thought of as some spatial/temporal pattern. A neural network realization was chosen for this task because neural networks have generally performed well in various other pattern recognition applications. The main goal of this work is to teach a neural network to derive the divergence from the imagery.
The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].
Enabling the commercial development of space is key to the future colonization of space and key to a viable space exploration program. Without commercial development following in the footsteps of exploration it is difficult to justify and maintain public interest in the efforts. NASA's exploration program has suffered from the lack of a good commercial economic strategy for decades. Only small advances in commercial space have moved forward, and only up to Earth orbit with the commercial satellite industry. A way to move beyond this phase is to begin the establishment of human commercial activities in space in partnership with the human exploration program. In 2007 and 2008, the authors researched scenarios to make space exploration and commercial space development more feasible as part of their graduate work in the Space Architecture Program at the Sasakawa International Center for Space Architecture at the University of Houston, Houston, Texas. Through this research it became apparent that the problems facing future colonization are much larger than the technology being developed or the international missions that our space agencies are pursuing. These issues are addressed in this paper with recommendations for space exploration, commercial development, and space policy that are needed to form a strategic plan for human expansion into space. In conclusion, the authors found that the current direction in space as carried out by our space agencies around the world is definitely needed, but is inadequate and incapable of resolving all of the issues that inhibit commercial space development. A bolder vision with strategic planning designed to grow infrastructures and set up a legal framework for commercial markets will go a long way toward enabling the future colonization of space.
We review here the progress of the Variability of the American MOnsoon Systems (VAMOS) extremes working group since it was formed in February of 2010. The goals of the working group are to 1) develop an atlas of warm-season extremes over the Americas, 2) evaluate existing and planned simulations, and 3) suggest new model runs to address mechanisms and predictability of extremes. Substantial progress has been made in the development of an extremes atlas based on gridded observations and several reanalysis products including Modern Era Retrospective-Analysis for Research and Applications (MERRA) and Climate Forecast System Reanalysis (CFSR). The status of the atlas, remaining issues and plans for its expansion to include model data will be discussed. This includes the possibility of adding a companion atlas based on station observations based on the software developed under the World Climate Research Programme (WCRP) Expert Team on Climate Change. Detection and Indices (ETCCDI) activity. We will also review progress on relevant research and plans for the use and validation of the atlas results.
The NASA Kennedy Space Center (KSC) and the Air Force Eastern Range (ER) use data from two cloud-to-ground (CG) lightning detection networks, the Cloud-to-Ground Lightning Surveillance System (CGLSS) and the U.S. National Lightning Detection Network (NLDN), and a volumetric mapping array, the lightning detection and ranging II (LDAR II) system: These systems are used to monitor and characterize lightning that is potentially hazardous to launch or ground operations and hardware. These systems are not perfect and both have documented missed lightning events when compared to the existing lightning surveillance system at Launch Complex 39B (LC39B). Because of this finding it is NASA's plan to install a lightning surveillance system around each of the active launch pads sharing site locations and triggering capabilities when possible. This paper shows how the existing lightning surveillance system at LC39B has performed in 2011 as well as the plan for the expansion around all active pads.
This report is concerned primarily with the increase in carbon monoxide concentrations and hydrocarbon concentrations induced by the projected increased traffic that would be associated with the parking facilities planned to support the expansion of Busch Gardens (Virginia) planned for the summar of 1976. Of primary concern is the integrated effect of the increased traffic that will be handled by existing facilities and an enlarged parking lot across the highway from the main Busch Garden attraction.
Estimates of thermal coefficients of the rates of technology assimilation processes was made. Consideration of such processes as vegetation and soil recovery and pollution assimilation indicates that these processes proceed ten to several hundred times more slowly in earth's cold regions than in temperate regions. It was suggested that these differential assimilation rates are important data in planning for technological expansion in Arctic regions.
The basic objectives of the study were to subject a set of runway configurations to cost analysis and to develop a dynamic programming model which would enable an airport to economically match the ground capacity to its air traffic demand. Quantitative differences in the capacity of runway configurations result from the various aircraft/aircraft and aircraft/air-system interactions. A problem formulation and solution procedure is presented which is intended to be a meaningful technique for the long-range planning of runway expansion programs.
Implementation of the thermal protection system on the external tank used with the Space Shuttle requires application of various materials over large areas, to well-defined tolerances. This paper describes a minicomputer-based system developed to control the process tooling used for this task. The process requirements and the resultant hardware/software system are discussed. The results to date and plans for future expansion are outlined.
Presented here is an analysis of the data collected for a large number of Hawaiian lava tubes on the islands of Oahu, Molokai, and Hawaii. The results are extrapolated to lunar conditions. It is argued that lava tubes that formed on the Earth and the Moon are relatively stable over time, as illustrated by the ridigity of the Hawaiian prehistoric lava tubes as well as the historic tubes located in the bombing range near Mauna Loa. These natural structures should be considered for use in planning for the expansion and advanced stages of the future manned lunar base.
The ZEUS long-range VLF arrival time difference lightning detection network now covers both Europe and Africa, and there are plans for further expansion into the western hemisphere. In order to fully optimize and assess ZEUS lightning location retrieval errors and to determine the best placement of future receivers expected to be added to the network, a software package is being developed jointly between the NASA Marshall Space Flight Center (MSFC) and the University of Nevada Las Vegas (UNLV). The software package, called the ZEUS Error Analysis for Lightning (ZEAL), will be used to obtain global scale lightning location retrieval error maps using both a Monte Carlo approach and chi-squared curvature matrix theory. At the core of ZEAL will be an implementation of an Iterative Oblate (IO) lightning location retrieval method recently developed at MSFC. The IO method will be appropriately modified to account for variable wave propagation speed, and the new retrieval results will be compared with the current ZEUS retrieval algorithm to assess potential improvements. In this preliminary ZEAL work effort, we defined 5000 source locations evenly distributed across the Earth. We then used the existing (as well as potential future ZEUS sites) to simulate arrival time data between source and ZEUS site. A total of 100 sources were considered at each of the 5000 locations, and timing errors were selected from a normal distribution having a mean of 0 seconds and a standard deviation of 20 microseconds. This simulated "noisy" dataset was analyzed using the IO algorithm to estimate source locations. The exact locations were compared with the retrieved locations, and the results are summarized via several color-coded "error maps."
This presentation discusses the NASA Armstrong PTERA-SAW flight simulation. The uses of this simulation are to study the aerodynamic effects of moving outer wing panels in flight, develop a flight control system, flight safety analysis, mission planning, flight envelope expansion, and post-flight data analysis.
This paper presents a novel guidance algorithm for spacecraft swarms in an environment cluttered with many obstacles like a debris field or the asteroid belt. The objective of this algorithm is to reconfigure the swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with the obstacles. The agents first use a spherical-expansion-based sampling algorithm to cooperatively explore the workspace and find paths to the desired terminal positions. Using a distributed assignment algorithm, the agents converge on an optimal assignment of the target locations in the desired formation. Then each agent generates a locally optimal trajectory from its current location to its terminal position by solving a sequence of convex optimization problems. As the agent moves along this trajectory, it receives the position of other agents and updates its trajectory to avoid collisions with other agents and the obstacles. Thus the swarm achieves the desired formation in a distributed manner while avoiding collisions. Moreover, this algorithm is computationally efficient, therefore it can be implemented onboard resource-constrained spacecraft. Simulations results show that the proposed distributed algorithm can be used by a spacecraft swarm to reconfigure a desired formation around an asteroid in a collision-free manner.
Two major marketing programs were initiated during 1974: (1) the unlimited search plan, and (2) the sales representative plan for northern California. The unlimited search plan was a six month program designed to offer clients multiple searches for a fixed fee. Although initial response was quite favorable, interest waned, and the plan was not renewed. Expansion and improvement of the on-line retrieval service continued. The ERIC thesaurus was added to the system. This thesaurus is an important acquisition as it gives the user greater flexibility in determining the best strategy for his search. Total terminal output time was reduced with a change to the direct access work file.
Projections indicate that demand for aviation transportation will increase by more than two fold over the next few decades. Timely action is needed to understand and quantify the potential climate impacts of aviation emissions particularly given the sustained lapse over the last several years in U.S. research activities in this area. In response to the stated needs, a group of international experts participated in the Workshop on the Impacts of Aviation on Climate Change during June 7-9, 2006 in Boston, MA. The workshop focus was on the impacts of subsonic aircraft emissions in the UT/LS region and on the potential response of the climate system. The goals of the workshop were to assess and document the present state of scientific knowledge, to identify the key underlying uncertainties and gaps, to identify ongoing and further research needed, to explore the development of climate impact metrics, and to help focus the scientific community on the aviation-climate change research needs. The workshop concluded that the major ways that aviation can affect climate, in agreement with the 1999 assessment by the Intergovernmental Panel on Climate Change (IPCC), are the direct climate effects from CO2 and water vapor emissions, the indirect forcing on climate resulting from changes in the distributions and concentrations of ozone and methane as a primary consequence of aircraft nitrogen oxide (NOx) emissions, the direct effects (and indirect effects on clouds) from emitted aerosols and aerosol precursors, and the climate effects associated with contrails and cirrus cloud formation. The workshop was organized in three subgroups: (1) Effects of aircraft emissions on the UT/LS chemical composition, (2) Effects of water and particle emissions on contrails and on cirrus clouds, and (3) Impacts on climate from aircraft emissions and identification of suitable metrics to measure these impacts. The workshop participants acknowledged the need for focused research specifically to address the uncertainties and gaps in our understanding of current and projected impacts of aviation on climate and to develop metrics to better characterize these impacts. This may entail coordination and/or expansion of existing and planned climate research programs, or new activities. Such efforts should include strong and continuing interactions among the science and aviation communities as well as policymakers to develop well-informed decisions.