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NASA NTRS1994

The Nomad Explorer assembly assist vehicle: An architecture for rapid global extraterrestrial base infrastructure establishment

Traditional concepts of lunar bases describe scenarios where components of the bases are landed on the lunar surface, one at a time, and then put together to form a complete stationary lunar habitat. Recently, some concepts have described the advantages of operating a mobile or 'roving' lunar base. Such a base vastly improves the exploration range from a primary lunar base. Roving bases would also allow the crew to first deploy, test, operationally certify, and then regularly maintain, service, and evolve long life-cycle facilities like observatories or other science payload platforms that are operated far apart from each other across the extraterrestrial surface. The Nomad Explorer is such a mobile lunar base. This paper describes the architectural program of the Nomad Explorer, its advantages over a stationary lunar base, and some of the embedded system concepts which help the roving base to speedily establish a global extraterrestrial infrastructure. A number of modular autonomous logistics landers will carry deployable or erectable payloads, service, and logistically resupply the Nomad Explorer at regular intercepts along the traverse. Starting with the deployment of science experiments and telecommunication networks, and the manned emplacement of a variety of remote outposts using a unique EVA Bell system that enhances manned EVA, the Nomad Explorer architecture suggests the capability for a rapid global development of the extraterrestrial body. The Moon and Mars are candidates for this 'mission oriented' strategy. The lunar case is emphasized in this paper.

Thangavelu, Madhu↗

NASA NTRS1999

Biomorphic Explorers Leading Towards a Robotic Ecology

This paper presents viewgraphs of biomorphic explorers as they provide extended survival and useful life of robots in ecology. The topics include: 1) Biomorphic Explorers; 2) Advanced Mobility for Biomorphic Explorers; 3) Biomorphic Explorers: Size Based Classification; 4) Biomorphic Explorers: Classification (Based on Mobility and Ambient Environment); 5) Biomorphic Flight Systems: Vision; 6) Biomorphic Glider Deployment Concept: Larger Glider Deploy/Local Relay; 7) Biomorphic Glider Deployment Concept: Balloon Deploy/Dual Relay; 8) Biomorphic Exlplorer: Conceptual Design; 9) Biomorphic Gliders; and 10) Applications.

Thakoor, Sarita↗

NASA NTRS1999

Biomorphic Explorers

This paper presents, in viewgraph form, the first NASA/JPL workshop on Biomorphic Explorers for future missions. The topics include: 1) Biomorphic Explorers: Classification (Based on Mobility and Ambient Environment); 2) Biomorphic Flight Systems: Vision; 3) Biomorphic Explorer: Conceptual Design; 4) Biomorphic Gliders; 5) Summary and Roadmap; 6) Coordinated/Cooperative Exploration Scenario; and 7) Applications. This paper also presents illustrations of the various biomorphic explorers.

Thakoor, Sarita↗

NASA NTRS2000

Artificial Gravity as a Multi-System Countermeasure for Exploration Class Space Flight Missions

NASA's vision for space exploration includes missions of unprecedented distance and duration. However, during 30 years of human space flight experience, including numerous long-duration missions, research has not produced any single countermeasure or combination of countermeasures that is completely effective. Current countermeasures do not fully protect crews in low-Earth orbit, and certainly will not be appropriate for crews journeying to Mars and back over a three-year period. The urgency for exploration-class countermeasures is compounded by continued technical and scientific successes that make exploration class missions increasingly attractive. The critical and possibly fatal problems of bone loss, cardiovascular deconditioning, muscle weakening, neurovestibular disturbance, space anemia, and immune compromise may be alleviated by the appropriate application of artificial gravity (AG). However, despite a manifest need for new countermeasure approaches, concepts for applying AG as a countermeasure have not developed apace. To explore the utility of AG as a multi-system countermeasure during long-duration, exploration-class space flight, eighty-three members of the international space life science and space flight community met earlier this year. They concluded unanimously that the potential of AG as a multi-system countermeasure is indeed worth pursuing, and that the requisite AG research needs to be supported more systematically by NASA. This presentation will review the issues discussed and recommendations made.

Paloski, William H.↗

NASA NTRS2000

Scouts: Using Numbers to Explore Mars In Situ

Mars is a planet with a complex geologic history involving fluvial, volcanic, aeolian, atmospheric, and impact processes. Many critical questions about Mars are still heatedly debated within the scientific community and we still have much to discover. The current Mars exploration philosophy involves remote observation of the planet from orbit and intensive in situ study of a few sites on the surface. Orbital data provides a global picture while in situ investigations provide detailed knowledge at a single location. Mars Scouts are proposed to provide access to multiple locations on Mars. They address the emerging program needs of exploring the diversity of the planet globally in ways that cannot be achieved from orbit. The goal of the Scout is to find a way to investigate many locations on the surface of Mars in an affordable and efficient manner. We have only visited three locations on the surface of Mars, which have very similar characteristics. Increased numbers allows more types of locations to be investigated. The hallmarks of Scouts are numbers and access. Thus the capability of a single Scout will be limited. The science return from a single Scout will be significantly less than from a large science lander or an orbiting spacecraft. Scouts rely on their numbers to collectively provide a substantial increase in our knowledge of Mars. Scouts potentially serve two purposes in the Mars exploration architecture. First, Scouts are a science exploration tool. They provide access to places on Mars we currently can't explore because program focus, surface roughness, elevation, or latitude that we know are scientifically interesting. Scouts can react to new discoveries and evolving ideas about Mars. They can be used to test theories which until proven would not warrant the investment of a large lander. Second, Scouts enable better large scale missions by providing ground truth of remote sensing data and allowing us to "know" sites in advance before sending large landers and sample return missions. This increases the probability of success for these expensive missions both from safety and science return stand-points.

Blaney, D. L.↗

NASA NTRS2002

New Approaches for Exploration Beyond Low Earth Orbit

Through the work of the NASA Exploration Team (NEXT), innovations in mission architectures have been developed. Missions beyond low Earth orbit have been dramatically simplified through new combinations in the application of advanced technologies and mission design. These concepts enable a stepping stone approach to discovery driven, technology enabled exploration. The architectures have evolved from the interest in easily reaching the poles of the moon, to take advantage of the water ice that is believed to exist in the permanently dark craters. The Polar Regions also have areas that are consistently sunlit, providing a constant source of power. By staging these missions from the Earth-Moon Lagrange point, L1, other sites on the lunar surface can be reached as easily as the polar sites. Through studying this approach to lunar exploration, and combining new trajectory approaches the staging of other missions from L1 has begun to look attractive. The possibilities of missions include the assembly and maintenance of arrays of telescopes for emplacement at the Earth-Sun L2, and travel to Mars. The resulting numbers and masses of vehicles required are greatly reduced. Vehicle design concepts are developed for proof of concept, to validate mission approaches and understand the value of new technologies. The stepping stone approach employs an incremental buildup of capabilities; allowing for decision points on exploration objectives. It enables testing of technologies to achieve greater reliability and understanding of costs for the next steps in exploration.

Cooke, D. R.↗

NASA NTRS2004

New Thematic Solar System Exploration Products for Scientists and Educators

The next several years are an exciting time in the exploration of the solar system. NASA and its international partners have a veritable armada of spaceships heading out to the far reaches of the solar system. We'll send the first spacecraft beyond our solar system into interstellar space. We'll launch our first mission to Pluto and the Kuiper Belt and just our second to Mercury (the first in 30 years). We'll continue our intensive exploration of Mars and begin our detailed study of Saturn and its moons. We'll visit asteroids and comets and bring home pieces of the Sun and a comet. This is truly an unprecedented period of exploration and discovery! To facilitate access to information and to provide the thematic context for these missions NASA s Solar System Exploration Program and Solar System Exploration Education Forum have developed several products.

Lowes, Lesile↗

NASA NTRS2004

Low Gravity Materials Science Research for Space Exploration

On January 14, 2004, the President of the United States announced a new vision for the United States civil space program. The Administrator of the National Aeronautics and Space Administration (NASA) has the responsibility to implement this new vision. The President also created a Presidential Commission 'to obtain recommendations concerning implementation of the new vision for space exploration.' The President's Commission recognized that achieving the exploration objectives would require significant technical innovation, research, and development in focal areas defined as 'enabling technologies.' Among the 17 enabling technologies identified for initial focus were advanced structures; advanced power and propulsion; closed-loop life support and habitability; extravehicular activity system; autonomous systems and robotics; scientific data collection and analysis; biomedical risk mitigation; and planetary in situ resource utilization. The Commission also recommended realignment of NASA Headquarters organizations to support the vision for space exploration. NASA has aggressively responded in its planning to support the vision for space exploration and with the current considerations of the findings and recommendations from the Presidential Commission. This presentation will examine the transformation and realignment activities to support the vision for space exploration that are underway in the microgravity materials science program. The heritage of the microgravity materials science program, in the context of residence within the organizational structure of the Office of Biological and Physical Research, and thematic and sub-discipline based research content areas, will be briefly examined as the starting point for the ongoing transformation. Overviews of future research directions will be presented and the status of organizational restructuring at NASA Headquarters, with respect to influences on the microgravity materials science program, will be discussed. Additional information is included in the original extended abstract.

Clinton, R. G., Jr.↗

NASA NTRS2004

The Science Goals of NASA's Exploration Initiative

The recently released policy directive, "A Renewed Spirit of Discovery: The President's Vision for U. S. Space Exploration," seeks to advance the U. S. scientific, security and economic interest through a program of space exploration which will robotically explore the solar system and extend human presence to the Moon, Mars and beyond. NASA's implementation of this vision will be guided by compelling questions of scientific and societal importance, including the origin of our Solar System and the search for life beyond Earth. The Exploration Roadmap identifies four key targets: the Moon, Mars, the outer Solar System, and extra-solar planets. First, a lunar investigation will set up exploration test beds, search for resources, and study the geological record of the early Solar System. Human missions to the Moon will serve as precursors for human missions to Mars and other destinations, but will also be driven by their support for furthering science. The second key target is the search for past and present water and life on Mars. Following on from discoveries by Spirit and Opportunity, by the end of the decade there will have been an additional rover, a lander and two orbiters studying Mars. These will set the stage for a sample return mission in 2013, increasingly complex robotic investigations, and an eventual human landing. The third key target is the study of underground oceans, biological chemistry, and their potential for life in the outer Solar System. Beginning with the arrival of Cassini at Saturn in July 2004 and a landing on Titan in 2006, the next decade will see an extended investigation of the Jupiter icy moons by a mission making use of Project Prometheus, a program to develop space nuclear power and nuclear-electric propulsion. Finally, the search for Earth-like planets and life includes a series of telescopic missions designed to find and characterize extra-solar planets and search them for evidence of life. These missions include HST and Spitzer, operating now; Kepler, SIM, JWST, and TPF, currently under development; and the vision missions, Life Finder and Planet Imager, which will possibly be constructed in space by astronauts.

Gardner, Jonathan P.↗

NASA NTRS2004

Transitioning a Fundamental Research Program to Align with the NASA Exploration Initiative-Perspectives from Microgravity Combustion Science and Fluid Physics

A new Vision for Space Exploration was announced earlier this year by U.S. President George W. Bush. NASA has evaluated on-going programs for strategic alignment with this vision. The evaluation proceeded at a rapid pace and is resulting in changes to the scope and focus of experimental research that will be conducted in support of the new vision. The existing network of researchers in the physical sciences - a highly capable, independent, and loosely knitted community - typically have shared conclusions derived from their work within appropriate discipline-specific peer reviewed journals and publications. The initial result of introducing this Vision for Space Exploration has been to shift research focus from a broad coverage of numerous, widely varying topics into a research program focused on a nearly-singular set of supporting research objectives to enable advances in space exploration. Two of these traditional physical science research disciplines, Combustion Science and Fluid Physics, are implementing a course adjustment from a portfolio dominated by "Fundamental Science Research" to one focused nearly exclusively on supporting the Exploration Vision. Underlying scientific and engineering competencies and infrastructure of the Microgravity Combustion Science and Fluid Physics disciplines do provide essential research capabilities to support the contemporary thrusts of human life support, radiation countermeasures, human health, low gravity research for propulsion and materials and, ultimately, research conducted on the Moon and Mars. A perspective on how these two research disciplines responded to the course change will be presented. The relevance to the new NASA direction is provided, while demonstrating through two examples how the prior investment in fundamental research is being brought to bear on solving the issues confronting the successful implementation of the exploration goals.

Sutliff, Thomas J.↗

NASA NTRS2005

Strategic Research Partnerships for Exploration

NASA s Space Product Development Program has completed a significant transformation from an industry driven program focused on the commercial use of space, to a NASA space exploration driven program focused on providing research and technologies for space exploration through leveraged research partnerships. Initiated in 1985 under the NASA Office of Commercial Programs, the Space Product Development Program and associated Research Partnership Centers have worked with private industry to fulfill the NASA objective of ". . .enabling io the maximum extent possible the fullest commercial use of space." In 2001, the program began to place greater emphasis on dual use activities. In particular, those activities that enable commercial use of space, while at the Same time fulfill a NASA mission need. With the President s exploration, announcement in January 2004, the transformation of the Space Product Development program further focused on NASA exploration requirements. The Program s experience in successfully assisting industry with technology maturation is now being utilized by the Agency to affordably develop the technologies needed for sustainable human and robotic space exploration.

Nall, Mark↗

NASA NTRS2005

Research Opportunities Supporting the Vision for Space Exploration from the Transformation of the Former Microgravity Materials Science Program

The Microgravity Materials Science Program established a strong research capability through partnerships between NASA and the scientific research community. With the announcement of the vision for space exploration, additional emphasis in strategic materials science areas was necessary. The President's Commission recognized that achieving its exploration objectives would require significant technical innovation, research, and development in focal areas defined as "enabling technologies." Among the 17 enabling technologies identified for initial focus were: advanced structures, advanced power and propulsion; closed-loop life support and habitability; extravehicular activity systems; autonomous systems and robotics; scientific data collection and analysis, biomedical risk mitigation; and planetary in situ resource utilization. Mission success may depend upon use of local resources to fabricate a replacement part to repair a critical system. Future propulsion systems will require materials with a wide range of mechanical, thermophysical, and thermochemical properties, many of them well beyond capabilities of today's materials systems. Materials challenges have also been identified by experts working to develop advanced life support systems. In responding to the vision for space exploration, the Microgravity Materials Science Program aggressively transformed its research portfolio and focused materials science areas of emphasis to include space radiation shielding; in situ fabrication and repair for life support systems; in situ resource utilization for life support consumables; and advanced materials for exploration, including materials science for space propulsion systems and for life support systems. The purpose of this paper is to inform the scientific community of these new research directions and opportunities to utilize their materials science expertise and capabilities to support the vision for space exploration.

Clinton, R. G., Jr.↗

NASA NTRS2004

The Robotic Lunar Exploration Program (RLEP): An Introduction to the Goals, Approach, and Architecture

The Vision for Space Exploration calls for undertaking lunar exploration activities to enable sustained human and robotic exploration of Mars and beyond, including more distant destinations in the solar system. In support of this vision, the Robotic Lunar Exploration Program (RLEP) is expected to execute a series of robotic missions to the Moon, starting in 2008, in order to pave the way for further human space exploration. This paper will give an introduction to the RLEP program office, its role and its goals, and the approach it is taking to executing the charter of the program. The paper will also discuss candidate architectures that are being studied as a framework for defining the RLEP missions and the context in which they will evolve.

Watzin, James G.↗

NASA NTRS2005

Capability 9.1 Exploration

The exploration challenge are: To build an efficient, cost effective exploration infrastructure, To coordinate exploration robots & crews from multiple. earth sites to accomplish science and exploration objectives. and To maximize self-sufficiency of the lunar/planetary exploration team.

Eckelkamp, Rick↗

NASA NTRS2005

Advanced Sensors for NASA's Exploration Missions

This paper presents a variety of advanced sensors needed for NASA's space exploration. The topics include: 1) The vision of the President of the United States of America for Space Exploration; 2) The report of the President's Commission on Implementation of United States Space Exploration Policy; 3) Exploration Systems Interim Report; 4) Major areas of sensor needs; 5) Classes of material; and 6) Variety of Sensors for Space Exploration.

Lal, Ravindra B.↗

NASA NTRS2005

Rendezvous and Docking for Space Exploration

To achieve the exploration goals, new approaches to exploration are being envisioned that include robotic networks, modular systems, pre-positioned propellants and in-space assembly in Earth orbit, Lunar orbit and other locations around the cosmos. A fundamental requirement for rendezvous and docking to accomplish in-space assembly exists in each of these locations. While existing systems and technologies can accomplish rendezvous and docking in low earth orbit, and rendezvous and docking with crewed systems has been successfully accomplished in low lunar orbit, our capability must extend toward autonomous rendezvous and docking. To meet the needs of the exploration vision in-space assembly requiring both crewed and uncrewed vehicles will be an integral part of the exploration architecture. This paper focuses on the intelligent application of autonomous rendezvous and docking technologies to meet the needs of that architecture. It also describes key technology investments that will increase the exploration program's ability to ensure mission success, regardless of whether the rendezvous are fully automated or have humans in the loop.

Machula, M. F.↗

NASA NTRS2006

NASA Space Exploration Logistics Workshop Proceedings

As NASA has embarked on a new Vision for Space Exploration, there is new energy and focus around the area of manned space exploration. These activities encompass the design of new vehicles such as the Crew Exploration Vehicle (CEV) and Crew Launch Vehicle (CLV) and the identification of commercial opportunities for space transportation services, as well as continued operations of the Space Shuttle and the International Space Station. Reaching the Moon and eventually Mars with a mix of both robotic and human explorers for short term missions is a formidable challenge in itself. How to achieve this in a safe, efficient and long-term sustainable way is yet another question. The challenge is not only one of vehicle design, launch, and operations but also one of space logistics. Oftentimes, logistical issues are not given enough consideration upfront, in relation to the large share of operating budgets they consume. In this context, a group of 54 experts in space logistics met for a two-day workshop to discuss the following key questions: 1. What is the current state-of the art in space logistics, in terms of architectures, concepts, technologies as well as enabling processes? 2. What are the main challenges for space logistics for future human exploration of the Moon and Mars, at the intersection of engineering and space operations? 3. What lessons can be drawn from past successes and failures in human space flight logistics? 4. What lessons and connections do we see from terrestrial analogies as well as activities in other areas, such as U.S. military logistics? 5. What key advances are required to enable long-term success in the context of a future interplanetary supply chain? These proceedings summarize the outcomes of the workshop, reference particular presentations, panels and breakout sessions, and record specific observations that should help guide future efforts.

deWeek, Oliver↗

NASA NTRS2005

Robotic and Human-Tended Collaborative Drilling Automation for Subsurface Exploration

Future in-situ lunar/martian resource utilization and characterization, as well as the scientific search for life on Mars, will require access to the subsurface and hence drilling. Drilling on Earth is hard - an art form more than an engineering discipline. Human operators listen and feel drill string vibrations coming from kilometers underground. Abundant mass and energy make it possible for terrestrial drilling to employ brute-force approaches to failure recovery and system performance issues. Space drilling will require intelligent and autonomous systems for robotic exploration and to support human exploration. Eventual in-situ resource utilization will require deep drilling with probable human-tended operation of large-bore drills, but initial lunar subsurface exploration and near-term ISRU will be accomplished with lightweight, rover-deployable or standalone drills capable of penetrating a few tens of meters in depth. These lightweight exploration drills have a direct counterpart in terrestrial prospecting and ore-body location, and will be designed to operate either human-tended or automated. NASA and industry now are acquiring experience in developing and building low-mass automated planetary prototype drills to design and build a pre-flight lunar prototype targeted for 2011-12 flight opportunities. A successful system will include development of drilling hardware, and automated control software to operate it safely and effectively. This includes control of the drilling hardware, state estimation of both the hardware and the lithography being drilled and state of the hole, and potentially planning and scheduling software suitable for uncertain situations such as drilling. Given that Humans on the Moon or Mars are unlikely to be able to spend protracted EVA periods at a drill site, both human-tended and robotic access to planetary subsurfaces will require some degree of standalone, autonomous drilling capability. Human-robotic coordination will be important, either between a robotic drill and humans on Earth, or a human-tended drill and its visiting crew. The Mars Analog Rio Tinto Experiment (MARTE) is a current project that studies and simulates the remote science operations between an automated drill in Spain and a distant, distributed human science team. The Drilling Automation for Mars Exploration (DAME) project, by contrast: is developing and testing standalone automation at a lunar/martian impact crater analog site in Arctic Canada. The drill hardware in both projects is a hardened, evolved version of the Advanced Deep Drill (ADD) developed by Honeybee Robotics for the Mars Subsurface Program. The current ADD is capable of 20m, and the DAME project is developing diagnostic and executive software for hands-off surface operations of the evolved version of this drill. The current drill automation architecture being developed by NASA and tested in 2004-06 at analog sites in the Arctic and Spain will add downhole diagnosis of different strata, bit wear detection, and dynamic replanning capabilities when unexpected failures or drilling conditions are discovered in conjunction with simulated mission operations and remote science planning. The most important determinant of future 1unar and martian drilling automation and staffing requirements will be the actual performance of automated prototype drilling hardware systems in field trials in simulated mission operations. It is difficult to accurately predict the level of automation and human interaction that will be needed for a lunar-deployed drill without first having extensive experience with the robotic control of prototype drill systems under realistic analog field conditions. Drill-specific failure modes and software design flaws will become most apparent at this stage. DAME will develop and test drill automation software and hardware under stressful operating conditions during several planned field campaigns. Initial results from summer 2004 tests show seven identifi distinct failure modes of the drill: cuttings-removal issues with low-power drilling into permafrost, and successful steps at executive control and initial automation.

Glass, Brian↗