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NASA NTRS2018

Development of an Inflatable Airlock for a Deep Space Gateway

Inflatable structures technology utilizes high-strength fabric materials and internal pressure to create a stiffened pressure vessel that can replace traditional metallic primary structure in a habitable spacecraft. The flexibility of fabric structures allows them to be compactly stowed for launch and expanded in space, providing significant launch volume savings. The unique construction and design flexibility of these structures can be customized for a variety of uses in space including landing bags, decelerators, long duration in-space and planetary surface habitats, and even airlocks. An airlock is often a required component of a crewed spacecraft to allow for maintenance and human exploration outside of the vehicle. Airlock designs in use today rely on complex hatches and seals connected by metallic walls. Recent developments towards the design of an inflatable airlock structure show feasibility and a significant launch volume savings over a traditional metallic design. This paper will provide a high-level summary of these projects and the current state-of-the-art in inflatable airlock development with additional references and detail about previous and on-going research, providing guidance for the design of a softgoods airlock system. The use of inflatables in space has been in development since the 1960’s for both habitats and airlocks. The first ever EVA was conducted by the USSR in 1965 using an inflatable airlock known as the Volga. This airlock was attached to the Voskhod 2 spacecraft and turned the vehicle into a dual chamber airlock. The airlock was successfully deployed, used and jettisoned after Alexey Leonov’s historic spacewalk. Additional work on human-rated inflatable structures was not continued until the late 1990’s when NASA-JSC led an effort to demonstrate these structures as feasible long-term pressurized elements with the TransHab project. The technology developed and pioneered during this project led to multiple patents and proven feasibility that inflatables could be used for large habitable structures. Following TransHab, Bigelow Aerospace continued the development of inflatable structures with technical support from NASA. This partnership eventually led to the successful flight certification, launch, attachment and deployment of the Bigelow Expandable Activities Module (BEAM) on the ISS in 2016. Inflatable and expandable airlock structures have undergone various detailed feasibility studies and testing for over 15 years, most notably with the Advanced Inflatable Airlock (AIA), Dual-Chamber Hybrid Inflatable Suitlock (DCIS), Minimalistic Advanced Soft Hatch (MASH), and Lightweight External Inflatable Airlock (LEIA). During this time, full-scale articles have been built and pressure-tested, and mock-ups and demonstrators have been constructed and evaluated. During the 2001-2003 timeframe, the AIA concept was matured through requirements development, conceptual design, subscale and full-scale engineering breadboards subjecting various test articles to deployment and pressure testing up to four times operating pressure. These tests proved the feasibility of successful deployment and structural integrity of an inflatable crewlock. Additional testing was performed in the ensuing years, as funding permitted, to further refine additional structural and deployment concepts and to understand the EVA crewmember interfaces, hatches and EVA support equipment interfaces that would be required for a fully functioning airlock. This work resulted in a refinement of the structural requirements and an accounting of the systems needed in an inflatable airlock. In 2014, the MASH project developed an ultra-lightweight airlock concept with a fabric hatch that utilized a unique pressure vessel shape to minimize structural loads around a linear seal. The concept uses an automated zipper-like seal that allows for crew egress/ingress. Most of the development work on the project thus far has focused on the design, analysis and testing of the primary structure and the zipper-like seal system is in the preliminary stages of development with a successful proof-of-concept test. As part of the 2017 LEIA effort, studies were conducted on EVA crewmember interfaces on the inside of an inflatable airlock. These efforts included the design of an internal secondary structure and placement of handholds and foot restraints to enable hatch opening, closing and translation through the airlock. Structural design, analysis and testing was completed on several secondary structure candidates. Crew interface testing was also completed using an inflatable crewlock mockup and the JSC Active Response Gravity Offload System (ARGOS) to simulate the movement of an EVA crewmember through an inflatable crewlock in microgravity. The results of these tests helped demonstrate the feasibility of utilizing an inflatable structure as an airlock and informed the required volume, hatch size, and configuration and location of translation aids for crewmembers in a microgravity crewlock. The ISS Quest airlock uses a dual-chamber design with isolated compartments known as the equipment-lock and the crewlock. The equipment-lock houses the Servicing, Performance and Checkout Equipment (SPCE) items (suit batteries, consumables, etc.) while the crewlock has limited internal hardware and is the nominally depressurized compartment during US EVAs. While inflatable dual chamber airlocks have been studied, the current state of the art emphasizes an inflatable crewlock-type structure attached to a rigid equipment-lock type or habitat structure. Since a large portion of the hardware in the equipment-lock are rigid components and connectors that are installed on the ground - and an inflatable structure does not achieve full structural capabilities until pressurized in space - a depressurized fabric structure cannot provide the capabilities of a full equipment-lock. The use of an inflatable as a crewlock, however, provides all the required capabilities for EVA operations in a small launch package that offers significant volume savings over a metallic crewlock. The functions of a traditional equipment lock, including the SPCE, could be provided by a spacecraft’s habitat module or node and not necessarily in a separate equipment lock. An inflatable crewlock would be attached to the vehicle and launched in a packed and compressed state, saving volume under the launch shroud and mass for the overall airlock element compared to a rigid crewlock. Work is currently underway to continue development of an inflatable airlock with a variety of focus areas including the consideration of crew-induced loads and interfaces, the design and development of an internal sub-structure to provide translation aids and restraints, the thermal considerations of a fabric shell depressurized during an EVA, the micrometeorite environment in deep space, and the packaging and deployment of an inflatable airlock.

Deep Space Exploration↗
NASA NTRS2019

Command and Control System Automated Testing

The Kennedy Space Center (KSC) has developed its own Command and Control System for the launch of the Space Launch System (SLS) and Orion capsule. The Command and Control System (CCS) is used by console engineers for the launch and system checkout of aerospace vehicles. The CCS allows console engineers to read data from the flight hardware on the launch pad and from the ground control systems and allows console engineers to issue commands, like opening a valve, to the flight hardware and ground control systems. The CCS needs to interact with thousands of devices and hardware controllers for the spacecraft and ground systems, receive data from these devices, distribute the data to console engineers in real-time, and allow console engineers to issue commands to manipulate hardware on the launch pad. The system needs to be robust, fault tolerant, responsive, and fast. In order to keep up with the pace of development of the CCS, a Test Automation System (TAS) is needed to validate the integrity of the system as a whole along with its individual components. Automated tests allow for faster development time, since tests can be ran through a Continuous Integration system and allow developers to check their code faster. Currently, the different modules, classes, and functions that make up the CCS are tested at the unit level, and the system level, with all the modules working together. My project was to implement a system for the data protocol layer of the Command Control System to be tested as a complete functional unit, with all of its classes and functions working together, but independent of the other modules of the CCS.

Automated TestingTest Automation↗
NASA NTRSDate not supplied

Where is the Human in the Loop? Human Factors Analysis of Extended Visual Line of Sight Unmanned Aerial System Operations within a Remote Operations Environment

Many envisioned technological and conceptual innovations focus on allocating more functions to automation, relegating the human as an afterthought if not a nuisance. Yet, until complete autonomy is realized, the human will remain “in the loop”. The National Aeronautics and Space Administration is supporting research for the development and maturation of automated technologies and architectures for the future of advanced air mobility. Standing up a remote operations center used to control, manage, and monitor multiple highly automated vehicles is an important step towards realizing the advanced air mobility vision. At the National Aeronautics and Space Administration’s Langley Research Center, a remote operation center exists and has been tested using humans piloting simulated vehicles. In this paper, we explore the human element within live flight operations that rely on increasingly automated technologies. Four ground control station operators performed multiple live flight operations. We employed a naturalistic approach and relied on qualitative data such as interviews and discussions with subject matter experts to help facilitate discovery. The present work evaluates the functions that the human and the automation had during the live operations, lists psychological constructs that may have promoted or reduced task performance, and provides recommendations on design of the remote operations environment and training of future ground control station operators.

Advanced Air Mobility↗
NASA NTRSDate not supplied

Where is the Human in the Loop? Human Factors Analysis of Extended Visual Line of Sight Unmanned Aerial System Operations within a Remote Operations Environment

Many envisioned technological and conceptual innovations focus on allocating more functions to automation, relegating the human as an afterthought if not a nuisance. Yet, until complete autonomy is realized, the human will remain “in the loop”. The National Aeronautics and Space Administration is supporting research for the development and maturation of automated technologies and architectures for the future of advanced air mobility. Standing up a remote operations center used to control, manage, and monitor multiple highly automated vehicles is an important step towards realizing the advanced air mobility vision. At the National Aeronautics and Space Administration’s Langley Research Center, a remote operation center exists and has been tested using humans piloting simulated vehicles. In this paper, we explore the human element within live flight operations that rely on increasingly automated technologies. Four ground control station operators performed multiple live flight operations. We employed a naturalistic approach and relied on qualitative data such as interviews and discussions with subject matter experts to help facilitate discovery. The present work evaluates the functions that the human and the automation had during the live operations, lists psychological constructs that may have promoted or reduced task performance, and provides recommendations on design of the remote operations environment and training of future ground control station operators.

Advanced Air Mobility↗
NASA NTRSDate not supplied

Science Capabilities of the Common Habitat

The Common Habitat is the primary habitable element in a conceptual architecture feasibility study for long-duration space exploration with an eight-person crew size. On lunar or planetary surfaces, the Common Habitat forms the core of a Surface Base Camp. In microgravity, the Common Habitat is the core of the Deep Space Exploration Vehicle (DSEV), an in-space transportation spacecraft. The Common Habitat employs a horizontal orientation that is divided internally into a lower deck, mid deck, and upper deck, roughly separating outfitting into individual, work, and group functions. On a planetary surface, the habitat is incorporated into a base camp, located near the south pole in the case of the Moon. The Mars base camp is currently location agnostic. Each base camp is divided into habitation, landing, resource production, and power zones. In microgravity, the habitat is incorporated into the Deep Space Exploration Vehicle, a vessel capable of transporting the crew within the inner solar system. In addition to crew and teleoperated control of external science assets, the Common Habitat employs a suite of life and physical science laboratory systems to enable it to support science investigations across a variety of destination environments, primarily featuring the Moon and Mars, along with the intervening interplanetary space. Other potential destinations include Near Earth Asteroids and Venus and Earth orbits. Located in the aft starboard section of the Common Habitat mid deck, the life science laboratory supports primarily biology and human research. In its baseline configuration, the laboratory includes horizontal work surfaces, freezers, multiple gloveboxes, sample transfer/exposure capability, large instruments, and reconfigurable ISPR-compatible payload bays. The Medical Care Facility and exercise facility can also support life science research. In the aft port section of the mid deck, the physical science laboratory supports physics, chemistry, materials science, geology, and remote sensing (including astrophysics, heliophysics, Earth science, planetary science, and meteorology). It provides a baseline of similar ISPR-compatible payload bays and adds additional freezers, including those for cryogenic sample storage, a remote sensing workstation, more gloveboxes, also with sample transfer/exposure, combustion chambers, fluid mechanics chambers, and a gas chromatograph. It leverages the Command & Control Center for teleoperations of mobile science assets. Both laboratories are highly modular, with the ability to swap out both payloads and instruments on an as-needed basis. The integrated science outfitting of the Common Habitat positions its crew to contribute to all of NASA’s Moon to Mars science objectives and extend human understanding into the inner solar system.

Lunar Suface↗
NASA NTRS1973

Use of a torsional pendulum as a high-pressure gage and determination of viscosity of helium gas at high pressures

Three torsional crystal parameters were examined for suitability in sensing pressure in gases up to 131 million newtons per square meter. The best parameters were found to be the change in crystal decrement at resonance and the change in crystal electrical resistance at resonance. The change in crystal resonant frequency did not appear to be a reliable pressure measuring parameter. Pure argon and pure helium gases were studied for use as working fluids. Helium functioned better over a wider pressure range. Calibration of the gage also provided a measure of the viscosity-density product of the gas as a function of pressure. These data, together with known extrapolated density data, permitted the determination of the viscosity of helium to 131 million N/square meter.

Maisel, J. E.↗
NASA NTRS1976

Stirling cycle engine and refrigeration systems

A Stirling cycle heat engine is disclosed in which displacer motion is controlled as a function of the working fluid pressure P sub 1 and a substantially constant pressure P sub 0. The heat engine includes an auxiliary chamber at the constant pressure P sub 0. An end surface of a displacer piston is disposed in the auxiliary chamber. During the compression portion of the engine cycle when P sub 1 rises above P sub 0 the displacer forces the working fluid to pass from the cold chamber to the hot chamber of the engine. During the expansion portion of the engine cycle the heated working fluid in the hot chamber does work by pushing down on the engine's drive piston. As the working fluid pressure P sub 1 drops below P sub 0 the displacer forces most of the working fluid in the hot chamber to pass through the regenerator to the cold chamber. The engine is easily combinable with a refrigeration section to provide a refrigeration system in which the engine's single drive piston serves both the engine and the refrigeration section.

Higa, W. H.↗
NASA NTRS1977

The LEMMA concept - A new manipulator

The LEMMA is a proposed conceptual design of a remote teleoperator manipulator arm with 6 degrees of freedom, exclusive of the end-effector. The bevel gear arrangement in 4 of the 6 degrees of freedom, together with the concentric-tubular arm configuration, requires a unique and novel drive mechanism. This differential drive assembly, housed in the shoulder, is a self-compensating device and simplifies the matrix solution for the resolved motion rate control system needed to guide the arm in its performances. The article will describe the need for the 6 degrees of freedom as established by the work envelope, the functioning of the differential shoulder drive, the arm and joint configuration, and the anticipated degree of accuracy.

Kersten, L.↗
NASA NTRS1984

A study of the diffuse galactic gamma radiation

The observed diffuse galactic gamma radiation is compared to that predicted from galactic cosmic ray interactions with galactic matter and photons, assuming that on a broad scale the galactic cosmic rays in the plane are correlated with matter density. Recent considerations of the galactic diffuse matter distribution, particularly the molecular hydrogen, the galactic photon density, and a revised cosmic ray galactic scale height, are included. The predictions are compared to the observational gamma ray longitude distributions, the latitude distribution, and energy spectrum, including the COS-B satellite results, and the COS-B background estimate. Considering the uncertainties, the agreement between the theoretical predictions and the gamma ray data seems generally reasonable, suggesting that the general concepts are likely to be correct. Both the results determined here alone and in conjunction with other work calculating source functions assuming only cosmic ray matter contributions indicate no necessity for a significant point source contribution to the diffuse gamma radiation in the energy range being considered (E(gamma)10 MeV).

Fichtel, C. E.↗
NASA NTRS1984

A study of the diffuse galactic gamma radiation

The observed diffuse galactic gamma radiation is compared to that predicted from galactic cosmic ray interactions with galactic matter and photons, assuming that on a broad scale the galactic cosmic rays in the plane are correlated with matter density. Recent considerations of the galactic diffuse matter distribution, particularly the molecular hydrogen, the galactic photon density, and a revised cosmic ray galactic scale height, are included. The predictions are compared to the observational gamma ray longitude distributions, the latitude distribution, and energy spectrum, including the COS-B satellite results, and the COS-B background estimate. Considering the uncertainties, the agreement between the theoretical predictions and the gamma ray data seems generally reasonable, suggesting that the general concepts are likely to be correct. Both the results determined here alone and in conjunction with other work calculating source functions assuming only cosmic ray matter contributions indicate no necessity for a significant point source contribution to the diffuse gamma radiation in the energy range being considered (E(gamma)10 MeV). Previously announced in STAR as N84-18151

Fichtel, C. E.↗
NASA NTRS1985

Spacestation: The next logical step

The concept of a U.S. space station is discussed. The design, how it will work, space laboratory functions, commerce in space, and international cooperation are discussed.

Source record↗
NASA NTRS1985

Diurnal movements of cotton leaves expressed as thermodynamic work and entropy changes

It is pointed out that some important agricultural crops show heliotropic leaf movements. In these species, the proclivity of leaves to orient either perpendicularly or parallel or in some combination of these positions with respect to the sun is controlled by the leaf turgor and the availability of water. Such an orientational response is particularly noticeable for cotton. Schutt et al. (1985) have detailed leaf trajectories using three angles. The present investigation applies the three-angle representation to leaf trajectory mapping and to the calculation of the phase angle 'gamma' between the individual leaf normals and the solar direction. Using gamma, the thermodynamic work and entropy functions are evaluated and used to distinguish between the behavior of water-stressed and well watered cotton canopies.

Schutt, J. B.↗
NASA NTRS1987

Telerobotic work system: Concept development and evolution

The basic concept of a telerobotic work system (TWS) consists of two dexterous manipulator arms controlled from a remote station. The term telerobotic describes a system that is a combination of teleoperator control and robotic operation. Work represents the function of producing physical changes. System describes the integration of components and subsystems to effectively accomplish the needed mission. Telerobotics reduces exposure to hazards for flight crewmembers and increases their productivity. The requirements for the TWS are derived from both the mission needs and the functional capabilities of existing hardware and software to meet those needs. The development of the TWS is discussed.

Jenkins, Lyle M.↗
NASA NTRS1987

The sensing and perception subsystem of the NASA research telerobot

A useful space telerobot for on-orbit assembly, maintenance, and repair tasks must have a sensing and perception subsystem which can provide the locations, orientations, and velocities of all relevant objects in the work environment. This function must be accomplished with sufficient speed and accuracy to permit effective grappling and manipulation. Appropriate symbolic names must be attached to each object for use by higher-level planning algorithms. Sensor data and inferences must be presented to the remote human operator in a way that is both comprehensible in ensuring safe autonomous operation and useful for direct teleoperation. Research at JPL toward these objectives is described.

Wilcox, B.↗
NASA NTRS1987

Kinematically redundant robot manipulators

Research on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.

Baillieul, J.↗
NASA NTRS1991

Mars habitat

The objective of this study is to develop a conceptual design for a permanently manned, self-sustaining Martian facility, to accommodate a crew of 20 people. The goal is to incorporate the major functions required for long term habitation in the isolation of a barren planet into a thriving ecosystem. These functions include living, working, service, and medical facilities as well as a green house. The main design task was to focus on the internal layout while investigating the appropriate structure, materials, and construction techniques. The general concept was to create a comfortable, safe living environment for the crew members for a stay of six to twelve months on Mars. Two different concepts were investigated, a modular assembly reusable structure (MARS) designated Lavapolis, and a prefabricated space frame structure called Hexamars. Both models take into account factors such as future expansion, radiation shielding, and ease of assembly.

Ayers, Dale↗
NASA NTRS1993

Precision slew/settle technologies for flexible spacecraft

Many spacecraft missions in the next decade will require both a high degree of agility and precision pointing. Agility includes both rotational maneuvering for retargeting and translational motion for orbit adjustment and threat avoidance. The major challenge associated with such missions is the need for control over a wide range of amplitudes and frequencies, ranging from tens of degrees at less than 1 Hz to a few micron radians at hundreds of Hz. TRW's internally funded Precision Control of Agile Spacecraft (PCAS) project is concerned with developing and validating in hardware the tools necessary to successfully complete the combined agile maneuvering/precision pointing missions. Development has been undertaken on a number of fronts for quietly slewing flexible structures. Various methods for designing slew torque profiles have been investigated. Prime candidates for slew/settle scenarios include Inverse Dynamics and Parameterized Function Space. Joint work with Processor Bayo at the University of California, Santa Barbara and Professor Flashner at the University of Southern California has led to promising torque profile design methods. Active and passive vibration suppression techniques also play a key role for rapid slew/settle mission scenarios. Active members with local control loops and passive members with high loss factor viscoelastic material have been selected for hardware verification. Progress in each of these areas produces large gains in the quiet slewing of flexible spacecraft. The main thrust of the effort to date has been the development of a modular testbed for hardware validation of the precision control concepts. The testbed is a slewing eighteen foot long flexible truss. Active and passive members can be interchanged with the baseline aluminum members to augment the inherent damping in the system. For precision control the active members utilize control laws running on a high speed digital structural control processor. Tip and midspan motions of the truss are determined using optical sensors while accelerometers can be used to monitor the motions of other points of interest. Preliminary results indicate that a mix of technologies produces the greatest benefit. For example, shaping the torque profile produces large improvements in slew/settle performance, but without added damping settling times may still be excessive. With the introduction of moderate amounts of damping, slew/settle performance is vastly improved. On the other hand, introducing damping without shaping the torque profile may not yield the desired level of performance.

Manning, R. A.↗