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

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NASA NTRS2011

A Phobos-Deimos Mission as an Element of the NASA Mars Design Reference Architecture 5.0

NASA has conducted a series of mission studies over the past 25 years examining the eventual exploration of the surface of Mars by humans. The latest version of this evolutionary series of design reference missions/architectures - Design Reference Architecture 5 or DRA-5 - was completed in 2007. This paper examines the implications of including a human mission to explore the moons of Mars and teleoperate robots in various locations, but not to land the human crews on Mars, as an element of this reference architecture. Such a mission has been proposed several times during this same 25 year evolution leading up to the completion of DRA-5 primarily as a mission of testing the in-space vehicles and operations while surface vehicles and landers are under development. But such a precursor or test mission has never been explicitly included as an element of this Architecture. This paper will first summarize the key features of the DRA-5 to provide context for the remainder of the assessment. This will include a description of the in-space vehicles that would be the subject of a shakedown test during the Mars orbital mission. A decision tree will be used to illustrate the factors that will be analyzed, and the sequence in which they will be addressed, for this assessment. The factors that will be analyzed include the type of interplanetary transfer orbit (opposition class versus conjunction class), the type of parking orbit (circular versus elliptical), and the type of propulsion technology (high thrust chemical versus nuclear thermal rocket). The manner in which each of these factors impacts an individual mission will be described. In addition to the direct impact of these factors, additional considerations impacting crew health and overall programmatic outcomes will be discussed. Numerical results for each of the factors in the decision tree will be grouped with derived qualitative impacts from crew health and programmatic consideration. These quantitative and qualitative results will be summarized in a pros/cons table as a summary for this analysis.

Hoffman, Stephen J.↗
NASA NTRS2008

Robots Explore the Farthest Reaches of Earth and Space

"We were the first that ever burst/Into that silent sea," the title character recounts in Samuel Taylor Coleridge s opus Rime of the Ancient Mariner. This famous couplet is equally applicable to undersea exploration today as surface voyages then, and has recently been applied to space travel in the title of a chronicle of the early years of human space flight ("Into That Silent Sea: Trailblazers of the Space Era, 1961-1965"), companion to the +n the Shadow of the Moon book and movie. The parallel is certainly fitting, considering both fields explore unknown, harsh, and tantalizingly inhospitable environments. For starters, exploring the Briny Deep and the Final Frontier requires special vehicles, and the most economical and safest means for each employ remotely operated vehicles (ROVs). ROVs have proven the tool of choice for exploring remote locations, allowing scientists to explore the deepest part of the sea and the furthest reaches of the solar system with the least weight penalty, the most flexibility and specialization of design, and without the need to provide for sustaining human life, or the risk of jeopardizing that life. Most NASA probes, including the historic Voyager I and II spacecraft and especially the Mars rovers, Spirit and Opportunity, feature remote operation, but new missions and new planetary environments will demand new capabilities from the robotic explorers of the future. NASA has an acute interest in the development of specialized ROVs, as new lessons learned on Earth can be applied to new environments and increasingly complex missions in the future of space exploration.

Source record↗
NASA NTRS2008

Martian Dust Simulator

The Martian Dust Simulator (MDS) was designed to investigate the contamination effects of Martian soil and rock on the performance and function of flight-like microvalves and flight-like filters located within the Sample Analysis at Mars (SAM) instrument suite. The SAM instrument suite, which houses over fifty percent of the science payload, is located on-board the Mars exploration rover. The mission objective of the Mars Science Laboratory Rover is to determine the past, present, and future habitability of Mars. It will serve as a robot geologist, traveling the Mars surface for a period of one Martian year (equivalent to two earth years). The microvalves were designed as a conduit to control the flow of Martian gas to the science instruments. If exposed to particle sizes greater than half a micron, both the science instruments and science equipment, including forty-seven microvalves, could experience performance degradation. As a result, filters were used at various gas inlets to protect flight hardware from particulate degradation. Additionally, the filters serve as the only interface between the Martian environment and the mechanisms within SAM. The MDS operates at 7 Torr (0.135 psi) with a gas flow rate of 0 to 20 m/s. Iron (III) Oxide was the only dust particle specimen used, although several others were initially considered (i.e. JSC-Mars-1, Corundum Powder (Al2O3), Hydrated Sulfate, and Belville (Basalt)). The overarching goal of the MDS is to demonstrate that the Mars exploration program is adequately designed and prepared for the Martian mission environment.

Zuray, Monica↗
NASA NTRS2010

Human Health and Performance Considerations for Exploration of Near-Earth Asteroids

This presentation will describe the human health and performance issues that are anticipated for the human exploration of near-Earth asteroids (NEA). Humans are considered a system in the design of any such deep-space exploration mission, and exploration of NEA presents unique challenges for the human system. Key factors that define the mission are those that are strongly affected by distance and duration. The most critical of these is deep-space radiation exposure without even the temporary shielding of a nearby large planetary body. The current space radiation permissible exposure limits (PEL) restrict mission duration to 3-10 months depending on age and gender of crewmembers and stage of the solar cycle. Factors that affect mission architecture include medical capability; countermeasures for bone, muscle, and cardiovascular atrophy during continuous weightlessness; restricted food supplies; and limited habitable volume. The design of a habitat that can maintain the physical and psychological health of the crew and support mission operations with limited intervention from Earth will require an integrated research and development effort by NASA s Human Research Program, engineering, and human factors groups. Limited abort and return options for an NEA mission are anticipated to have important effects on crew psychology as well as influence medical supplies and training requirements of the crew. Other important factors are those related to isolation, confinement, communication delays, autonomous operations, task design, small crew size, and even the unchanging view outside the windows for most of the mission. Geological properties of the NEA will influence design of sample handling and containment, and extravehicular activity capabilities including suit ports and tools. A robotic precursor mission that collects basic information on NEA surface properties would reduce uncertainty about these aspects of the mission as well as aid in design of mission architecture and exploration tasks.

Kundrot, Craig↗
NASA NTRS1991

A perception and manipulation system for collecting rock samples

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.

Choi, T.↗
NASA NTRS2005

An Overview of Wind-Driven Rovers for Planetary Exploration

The use of in-situ propulsion is considered enabling technology for long duration planetary surface missions. Most studies have focused on stored energy from chemicals extracted from the soil or the use of soil chemicals to produce photovoltaic arrays. An older form of in-situ propulsion is the use of wind power. Recent studies have shown potential for wind driven craft for exploration of Mars, Titan and Venus. The power of the wind, used for centuries to power wind mills and sailing ships, is now being applied to modern land craft. Efforts are now underway to use the wind to push exploration vehicles on other planets and moons in extended survey missions. Tumbleweed rovers are emerging as a new type of wind-driven science platform concept. Recent investigations by the National Aeronautics and Space Administration (NASA) and Jet Propulsion Laboratory (JPL) indicate that these light-weight, mostly spherical or quasi-spherical devices have potential for long distance surface exploration missions. As a power boat has unique capabilities, but relies on stored energy (fuel) to move the vessel, the Tumbleweed, like the sailing ships of the early explorers on earth, uses an unlimited resource the wind to move around the surface of Mars. This has the potential to reduce the major mass drivers of robotic rovers as well as the power generation and storage systems. Jacques Blamont of JPL and the University of Paris conceived the first documented Mars wind-blown ball in 1977, shortly after the Viking landers discovered that Mars has a thin CO2 atmosphere with relatively strong winds. In 1995, Jack Jones, et al, of JPL conceived of a large wind-blown inflated ball for Mars that could also be driven and steered by means of a motorized mass hanging beneath the rolling axis of the ball. A team at NASA Langley Research Center started a biomimetic Tumbleweed design study in 1998. Wind tunnel and CFD analysis were applied to a variety of concepts to optimize the aerodynamic characteristics of the Tumbleweed Rovers. Bare structures, structures carrying sails and a tumbleweed plant (of the Salsola genus) were tested in Langley's wind tunnels. Thomas Estier of the Swiss Federal Institute of Technology developed a memory metal collapsible structure, the Windball. Numerous other researchers have also suggested spherical rovers.

Hajos, Gregory A.↗
NASA NTRS2007

Lithium Iron Phosphate Cell Performance Evaluations for Lunar Extravehicular Activities

Lithium-ion battery cells are being evaluated for their ability to provide primary power and energy storage for NASA s future Exploration missions. These missions include the Orion Crew Exploration Vehicle, the Ares Crew Launch Vehicle Upper Stage, Extravehicular Activities (EVA, the advanced space suit), the Lunar Surface Ascent Module (LSAM), and the Lunar Precursor and Robotic Program (LPRP), among others. Each of these missions will have different battery requirements. Some missions may require high specific energy and high energy density, while others may require high specific power, wide operating temperature ranges, or a combination of several of these attributes. EVA is one type of mission that presents particular challenges for today s existing power sources. The Portable Life Support System (PLSS) for the advanced Lunar surface suit will be carried on an astronaut s back during eight hour long sorties, requiring a lightweight power source. Lunar sorties are also expected to occur during varying environmental conditions, requiring a power source that can operate over a wide range of temperatures. Concepts for Lunar EVAs include a primary power source for the PLSS that can recharge rapidly. A power source that can charge quickly could enable a lighter weight system that can be recharged while an astronaut is taking a short break. Preliminary results of Al23 Ml 26650 lithium iron phosphate cell performance evaluations for an advanced Lunar surface space suit application are discussed in this paper. These cells exhibit excellent recharge rate capability, however, their specific energy and energy density is lower than typical lithium-ion cell chemistries. The cells were evaluated for their ability to provide primary power in a lightweight battery system while operating at multiple temperatures.

Reid, Concha↗
NASA NTRS2016

Moon Age and Regolith Explorer (MARE) Mission Design and Performance

The moon’s surface last saw a controlled landing from a U.S. spacecraft on December 11, 1972 with Apollo 17. Since that time, there has been an absence of methodical in-situ investigation of the lunar surface. In addition to the scientific value of measuring the age and composition of a relatively young portion of the lunar surface near Aristarchus Plateau, the Moon Age and Regolith Explorer (MARE) proposal provides the first U.S. soft lunar landing since the Apollo Program and the first ever robotic soft lunar landing employing an autonomous hazard detection and avoidance system, a system that promises to enhance crew safety and survivability during a manned lunar (or other) landing. This report focuses on the mission design and performance associated with the MARE robotic lunar landing subject to mission and trajectory constraints.

Condon, Gerald L.↗
NASA NTRS2016

Summary of the Results from the Lunar Orbiter Laser Altimeter after Seven Years in Lunar Orbit

In June 2009 the Lunar Reconnaissance Orbiter (LRO) spacecraft was launched to the Moon. The payload consists of 7 science instruments selected to characterize sites for future robotic and human missions. Among them, the Lunar Orbiter Laser Altimeter (LOLA) was designed to obtain altimetry, surface roughness, and reflectance measurements. The primary phase of lunar exploration lasted one year, following a 3-month commissioning phase. On completion of its exploration objectives, the LRO mission transitioned to a science mission. After 7 years in lunar orbit, the LOLA instrument continues to map the lunar surface. The LOLA dataset is one of the foundational datasets acquired by the various LRO instruments. LOLA provided a high-accuracy global geodetic reference frame to which past, present and future lunar observations can be referenced. It also obtained high-resolution and accurate global topography that were used to determine regions in permanent shadow at the lunar poles. LOLA further contributed to the study of polar volatiles through its unique measurement of surface brightness at zero phase, which revealed anomalies in several polar craters that may indicate the presence of water ice. In this paper, we describe the many LOLA accomplishments to date and its contribution to lunar and planetary science.

LRO↗
NASA NTRS2018

Integrated Planning and Execution for a Self-Reliant Mars Rover

Planetary rovers exploring the surface of Mars face a challenging operational environment that requires close cooperation between deliberative planning and behavioral execution in order to most efficiently leverage the robot’s capabilities into science value returned to earth. The Self-Reliant Rovers project envisions future rover missions that require only occasional high-level direction from human controllers to successfully conduct detailed in-situ studies of its Martian environs. To achieve this high degree of autonomy, this work leverages a spectrum of planning and execution techniques that allow the rover to respond appropriately to both opportunity and adversity it encounters. Small perturbations are accommodated at first by behavioral adaptation, with more and more extensive disruptions handled in turn by executive administration of plan flexibility, heuristic-guided plan repair strategies, and finally comprehensive replanning from science campaign goals. The integrated system has been deployed and tested on a terrestrial rover in an environment and under scenarios that anticipate those faced by future Mars rovers. This paper recounts complexities of planning and execution coordination faced in the rover domain and the practical solutions employed to address them. Particular emphasis is given to lessons from the field and foibles ripe for remedy by future advances in planning and execution research.

Gaines, Daniel↗
NASA NTRSDate not supplied

2024 Nasa Lunabotics University Competition: Site Preparation With Bulk Regolith

Lunabotics provides accredited in-stitutions of higher learning students (vocational-technical, college, university) an opportunity to apply the NASA systems engineering process to design and build a prototype robot. This robot would be capable of performing the proposed operations on the Lunar sur-face in support of future Artemis mission goals. Lunabotics features a systems engineering design challenge to engage students in the next phase of hu-man space exploration supporting the Artemis missions. This two-semester event encourages students to design and build an autonomous or telerobotic robot designed to traverse the simulated Lunar surface and complete the assigned construction tasks. The number of teams accepted into this challenge is not predetermined but is based on the scores and overall quality of the Project Management Plans received and other factors.

Lunabotics↗
NASA NTRS2013

Near-Earth Object Exploration and Marco Polo-R

A major goal for NASA's human spaceflight program is to send astronauts to near-Earth asteroids (NEAs) in the coming decades. Missions to NEAs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. However, prior to sending human explorers to NEAs, robotic investigations of these bodies would be required in order to maximize operational efficiency and reduce mission risk. These precursor missions to NEAs would fill crucial strategic knowledge gaps concerning their physical characteristics that are relevant for human exploration of these relatively unknown destinations. Therefore robotic investigations of NEAs, such as ESA's Marco Polo-R sample return mission to 2008 EV5, would allow NASA and its international partners to gain critical operational experience in performing complex tasks (e.g., close proximity operations, surface sample collection, etc.) under microgravity conditions at or near the surface of a potential human destination. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗
NASA NTRS2001

Workshop on Science and the Human Exploration of Mars

The exploration of Mars will be a multi-decadal activity. Currently, a scientific program is underway, sponsored by NASA's Office of Space Science in the United States, in collaboration with international partners France, Italy, and the European Space Agency. Plans exist for the continuation of this robotic program through the first automated return of Martian samples in 2014. Mars is also a prime long-term objective for human exploration, and within NASA, efforts are being made to provide the best integration of the robotic program and future human exploration missions. From the perspective of human exploration missions, it is important to understand the scientific objectives of human missions, in order to design the appropriate systems, tools, and operational capabilities to maximize science on those missions. In addition, data from the robotic missions can provide critical environmental data - surface morphology, materials composition, evaluations of potential toxicity of surface materials, radiation, electrical and other physical properties of the Martian environment, and assessments of the probability that humans would encounter Martian life forms. Understanding of the data needs can lead to the definition of experiments that can be done in the near-term that will make the design of human missions more effective. This workshop was convened to begin a dialog between the scientific community that is central to the robotic exploration mission program and a set of experts in systems and technologies that are critical to human exploration missions. The charge to the workshop was to develop an understanding of the types of scientific exploration that would be best suited to the human exploration missions and the capabilities and limitations of human explorers in undertaking science on those missions.

Duke, M. B.↗
NASA NTRS2017

Robotic Technology Efforts at the NASA/Johnson Space Center

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center's Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of "dull, dirty or dangerous" tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center's newest development areas can provide crew with low mass exercise capability and also augment an astronaut's strength while wearing a space suit. This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center's Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

Diftler, Ron↗
NASA NTRS2017

Robotic Technology Efforts at the NASA/Johnson Space Center

The NASA/Johnson Space Center has been developing robotic systems in support of space exploration for more than two decades. The goal of the Center’s Robotic Systems Technology Branch is to design and build hardware and software to assist astronauts in performing their mission. These systems include: rovers, humanoid robots, inspection devices and wearable robotics. Inspection systems provide external views of space vehicles to search for surface damage and also maneuver inside restricted areas to verify proper connections. New concepts in human and robotic rovers offer solutions for navigating difficult terrain expected in future planetary missions. An important objective for humanoid robots is to relieve the crew of “dull, dirty or dangerous” tasks allowing them more time to perform their important science and exploration missions. Wearable robotics one of the Center’s newest development areas can provide crew with low mass exercise capability and also augment an astronaut’s strength while wearing a space suit.This presentation will describe the robotic technology and prototypes developed at the Johnson Space Center that are the basis for future flight systems. An overview of inspection robots will show their operation on the ground and in-orbit. Rovers with independent wheel modules, crab steering, and active suspension are able to climb over large obstacles, and nimbly maneuver around others. Humanoid robots, including the First Humanoid Robot in Space: Robonaut 2, demonstrate capabilities that will lead to robotic caretakers for human habitats in space, and on Mars. The Center’s Wearable Robotics Lab supports work in assistive and sensing devices, including exoskeletons, force measuring shoes, and grasp assist gloves.

Diftler, Ron↗
NASA NTRS1994

JPL Space Robotics: Present Accomplishments and Future Thrusts

This paper presents and overview of the telerobotic research and development activities underway at the Jet Propulsion Laboratory in support of NASA thrusts in telerobotic servicing of free flying satellites and platforms, planetary exploration, and dual use technologies enhancing both NASA ground applications and commercial competitiveness.

space↗