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NASA NTRS2010

Assessing Space Exploration Technology Requirements as a First Step Towards Ensuring Technology Readiness for International Cooperation in Space Exploration

Advancing critical and enhancing technologies is considered essential to enabling sustainable and affordable human space exploration. Critical technologies are those that enable a certain class of mission, such as technologies necessary for safe landing on the Martian surface, advanced propulsion, and closed loop life support. Others enhance the mission by leading to a greater satisfaction of mission objectives or increased probability of mission success. Advanced technologies are needed to reduce mass and cost. Many space agencies have studied exploration mission architectures and scenarios with the resulting lists of critical and enhancing technologies being very similar. With this in mind, and with the recognition that human space exploration will only be enabled by agencies working together to address these challenges, interested agencies participating in the International Space Exploration Coordination Group (ISECG) have agreed to perform a technology assessment as an important step in exploring cooperation opportunities for future exploration mission scenarios. "The Global Exploration Strategy: The Framework for Coordination" was developed by fourteen space agencies and released in May 2007. Since the fall of 2008, several International Space Exploration Coordination Group (ISECG) participating space agencies have been studying concepts for human exploration of the moon. They have identified technologies considered critical and enhancing of sustainable space exploration. Technologies such as in-situ resource utilization, advanced power generation/energy storage systems, reliable dust resistant mobility systems, and closed loop life support systems are important examples. Similarly, agencies such as NASA, ESA, and Russia have studied Mars exploration missions and identified critical technologies. They recognize that human and robotic precursor missions to destinations such as LEO, moon, and near earth objects provide opportunities to demonstrate the technologies needed for Mars mission. Agencies see the importance of assessing gaps and overlaps in their plans to advance technologies in order to leverage their investments and enable exciting missions as soon as practical. They see the importance of respecting the ability of any agency to invest in any technologies considered interesting or strategic. This paper will describe the importance of developing an appropriate international strategy for technology development and ideas for effective mechanisms for advancing an international strategy. This work will both inform and be informed by the development of an ISECG Global Exploration Roadmap and serve as a concrete step forward in advancing the Global Exploration Strategy.

Laurini, Kathleen C.↗
NASA NTRS2023

Lunanet Position, Navigation, and Timing Services and Signals, Enabling the Future of Lunar Exploration

The International Space Exploration Coordination Group established in 2018 the 3rd edition of the Global Exploration Roadmap (ISECG, 2018) that aims to achieve Mars human surface activities and identifies the exploration of the Moon as a critical intermediate step. A supplement covering updates on surface exploration scenarios was released in 2020 (ISECG, 2020). The Artemis Accords (NASA Artemis, 2020), first signed in October 2020, now includes over two dozen nations, in an agreement on the principles for best practices, including interoperability. In September 2022 the National Aeronautics and Space Administration (NASA) introduced the Moon to Mars Objectives highlighting recurring tenets of collaboration with international and industry partners and interoperability, along with infrastructure objectives for Position, Navigation, and Timing (PNT). The successful Artemis 1 mission paved the way to the ambitious plans to establish a sustainable human presence on the Moon. Just a few months after Artemis 1 launch (NASA, 2022), iSpace HAKUTO-R Mission1 (iSpace, 2022) launched, being the first-ever mission launched by a commercial launch service provider aiming to land on the lunar surface. The NASA Artemis program plans initial crewed landings and surface traverses in 2025, supported by the Lunar Gateway. Regular launches will follow to build the lunar systems for a sustained presence as presented in the Artemis Plan (NASA Artemis Plan, 2020), (NASA, 2022). NASA’s contracts with commercial providers through the Commercial Lunar Payload Services program (CLPS, (NASA, n.d.)) will deliver science and technology demonstration missions to the Moon starting in November 2023. The European Space Agency (ESA) Argonaut (ESA Argonaut, 2022) program plans to have recurrent missions to bring payloads to the lunar surface, supporting lunar exploration. These are just a few examples of planned missions that will target Earth’s natural satellite in the next decade, with forecasts of tens of missions per year (NSR, 2022), (Euroconsult, 2020). The large number of missions and the complexity of landing and operating are expected to demand a change of paradigm from the current Earth-based communication and navigation services, that may be combined with onboard sensors. In recent years, several agencies have proposed to deploy cislunar communication and navigation services to support lunar missions (NASA LCRNS, 2022), (ESA Moonlight, 2022), (JAXA, 2022)). All these proposals seek to deploy service-providing satellites in lunar orbit to ease the user missions’ operations. The PNT services objective is to support all types of lunar users (e.g.: orbiters, landers, ascent vehicles, surface crew, rovers, and deployed science payloads). At the same time, NASA and ESA initiated an effort to define a common framework to ensure interoperability among different service providers: the LunaNet framework. The LunaNet Interoperability Specification (NASA and ESA, 2023) covers communication, PNT, and auxiliary services, by establishing a common set of requirements to ensure interoperability. This conference contribution will present the LunaNet PNT services, focusing on the Lunar Augmented Navigation Service (LANS) that would be provided by a system that resembles the Global Navigation Satellite System (GNSS) concept on Earth: constellations of satellites broadcasting a radio navigation signal synchronized to a common reference clock, with augmentations to accommodate users’ needs in an environment away from Earth. This paper includes a description of the high-level LANS concept, and the basic principles defined to ensure interoperability. In addition, it will describe the common S-band PNT Augmented Forward Signal (AFS) and common messages to be adopted for compliance with the LunaNet framework, and the justification of the selected approach.

LunaNet↗
NASA NTRS2023

LunaNet Position, Navigation, and Timing Services and Signal, Enabling the Future of Lunar Exploration

The International Space Exploration Coordination Group established in 2018 the 3rd edition of the Global Exploration Roadmap (ISECG, 2018) that aims to achieve Mars human surface activities and identifies the exploration of the Moon as a critical intermediate step. A supplement covering updates on surface exploration scenarios was released in 2020 (ISECG, 2020). The Artemis Accords (NASA Artemis, 2020), first signed in October 2020, now includes over two dozen nations, in an agreement on the principles for best practices, including interoperability. September 2022 introduced the National Aeronautics and Space Administration’s (NASA) Moon to Mars Objectives highlighting recurring tenets of collaboration with international and industry partners and interoperability, along with infrastructure objectives for Position, Navigation, and Timing (PNT). The successful Artemis 1 mission paved the way to the ambitious plans to establish a sustainable human presence on the Moon. Just a few months after Artemis 1 launch (NASA, 2022), iSpace HAKUTO-R Mission1 (iSpace, 2022) launched, being the first-ever commercial mission, launched by a commercial launch service provider, aiming to land on the lunar surface. The NASA Artemis programme plans initial crewed landings and traverses in 2025, supported by the Lunar Gateway, followed by regular launches to build the lunar systems (NASA Artemis Plan, 2020), (NASA, 2022). NASA’s contracts with Commercial Lunar Payload Services (CLPS, (NASA, n.d.)) to deliver science and technology to the Moon, with launches starting in November 2023. The European Space Agency (ESA) Argonaut (ESA Argonaut, 2022) programme plans to have recurrent missions to bring payloads to the lunar surface, supporting lunar exploration. These are just a few examples of planned missions that will target the Earth’s natural satellite in the next decade, with forecasts of tens of missions per year (NSR, 2022), (Euroconsult, 2020). The large number of missions and the complexity of landing and operating are expected to demand a change of paradigm from the current Earth-based communication and navigation services. In recent years, several agencies have proposed to deploy cislunar communication and navigation services to support lunar missions (NASA LCRNS, 2022), (ESA Moonlight, 2022), (JAXA, 2022)). All these proposals seek to deploy service-providing satellites in lunar orbit to ease the user missions’ operations. The PNT services objective is to support all types of lunar users (e.g.: orbiters, landers, ascent vehicles, and surface crew and rovers). At the same time, NASA and ESA initiated an effort to define a common framework to ensure interoperability among different service providers: the LunaNet framework. The LunaNet Interoperability Specification (NASA and ESA, 2023) covers communication, PNT, and auxiliary services, by establishing a common set of requirements to ensure interoperability. This conference contribution will present the LunaNet PNT services, focusing on the Lunar Augmented Navigation Service (LANS) that resembles the Global Navigation Satellite System (GNSS) concept on Earth: constellations of satellites broadcasting a radio navigation signal synchronized to a common reference clock, with augmentations to accommodate users’ needs in an environment away from Earth. This includes a description of the high-level LANS concept and the basic principles defined to ensure interoperability. In addition, it will describe the common S-band PNT Augmented Forward Signal (AFS) and common messages to be adopted for compliance with the LunaNet framework, and the justification of the selected approach.

LunaNet↗
NASA NTRS2016

NASA Virtual Institutes: International Bridges for Space Exploration

NASA created the first virtual institute, the NASA Astrobiology Institute (NAI), in 2009 with an aim toward bringing together geographically disparate and multidisciplinary teams toward the goal of answering broad questions in the then-new discipline of astrobiology. With the success of the virtual institute model, NASA then created the NASA Lunar Science Institute (NLSI) in 2008 to address questions of science and human exploration of the Moon, and then the NASA Aeronautics Research Institute (NARI) in 2012 which addresses key questions in the development of aeronautics technologies. With the broadening of NASA's human exploration targets to include Near Earth Asteroids and the moons of Mars as well as the Moon, the NLSI morphed into the Solar System Exploration Research Virtual Institute (SSERVI) in 2012. SSERVI funds domestic research teams to address broad questions at the intersection of science and human exploration, with the underlying principle that science enables human exploration, and human exploration enables science. Nine domestic teams were funded in 2014 for a five-year period to address a variety of different topics, and nine international partners (with more to come) also work with the U.S. teams on a variety of topics of mutual interest. The result is a robust and productive research infrastructure that is not only scientifically productive but can respond to strategic topics of domestic and international interest, and which develops a new generation of researchers. This is all accomplished with the aid of virtual collaboration technologies which enable scientific research at a distance. The virtual institute model is widely applicable to a range of space science and exploration problems.

SSERVI↗
NASA NTRS2008

On-Site Fabrication Infrastructure to Enable Efficient Exploration and Utilization of Space

Unlike past one-at-a-time mission approaches, system-of-systems infrastructures will be needed to enable ambitious scenarios for sustainable future space exploration and utilization. So what do we do when we get to the moon for sustainable exploration. On-site fabrication infrastructure will be needed to support habitat structure development, tools and mechanical part fabrication, as well as repair and replacement of ground support and space mission hardware such as life support items, vehicle components and crew systems. The on-site fabrication infrastructure will need the In Situ Fabrication and Repair (ISFR) element, which is working in conjunction with the In Situ Resources Utilization (ISRU) element, to live off the land. The ISFR element has worked closely with the ISRU element in the past year to assess the ability of using lunar regolith as a viable feedstock for fabrication material. Preliminary work has shown promise and the ISFR Element will continue to concentrate on this activity. Fabrication capabilities have been furthered with the process certification effort that, when completed, will allow for space-qualified hardware to be manufactured. Materials being investigated include titanium and aluminum alloys as well as lunar regolith simulants with binders. This paper addresses the latest advancements made in the fabrication of infrastructures that support efficient, affordable, reliable infrastructures for both space exploration systems and logistics; infrastructures that allow sustained, affordable and highly effective operations on the Moon and beyond.

Howell, Joe T.↗
NASA NTRS2009

Spacesuit Cooling on the Moon and Mars

NASA is planning to return to the moon and then explore Mars. A permanent base at the south pole of the moon will be the test bed for Mars. At the moon base, two crewmembers are expected to conduct Extravehicular Activity (EVA) six days every week. Current spacesuits are cooled by the sublimation of water ice into vacuum. A single 7 hour EVA near the lunar equator in daylight can expend up to 5 kilograms of water. Because of the high cost of transporting spacesuit cooling water to the moon, the water for one EVA could cost hundreds of thousands of dollars. The lunar south pole and Mars have low surface temperatures that make cooling much easier than at the lunar equator. Alternate cooling methods and keeping to cool environments can reduce or eliminate the loss of water for spacesuit cooling. If cooling water is not needed, a recycling life support system can provide all the required crew water and oxygen without transporting additional water from Earth.

Jones, Harry W.↗
NASA NTRS2008

International Lunar Network (ILN) Anchor Nodes

This slide presentation reviews what we know about the interior and surface of the moon and the need to establish a robotic set of geophysical monitoring stations on the surface of the Moon for the purpose of providing significant scientific value to the exploration of the Moon. The ILN Anchor Nodes will provide the backbone of the network in a way that accomplishes new science and allows other nodes to be flexible contributors to the network.

Cohen, Barbara A.↗
NASA NTRS2012

Antenna Measurements: Test & Analysis of the Radiated Emissions/Immunity of the NASA/Orion Spacecraft Dart Parachute Simulator & Prototype Capsule - The Crew Exploration Vehicle

For future NASA Manned Space Exploration of the Moon and Mars, a blunt body capsule, called the Orion Crew Exploration Vehicle (CEV), composed of a Crew Module (CM) and a Service Module (SM), with a parachute decent assembly is planned for reentry back to Earth. A Capsule Parachute Assembly System (CPAS) is being developed for preliminary prototype parachute drop tests at the Yuma Proving Ground (YPG) to simulate high-speed reentry to Earth from beyond Low-Earth-Orbit (LEO) and to provide measurements of position, velocity, acceleration, attitude, temperature, pressure, humidity, and parachute loads. The primary and secondary (backup) avionics systems on CPAS also provide mission critical firing events to deploy, reef, and release the parachutes in three stages (extraction, drogues, mains) using mortars and pressure cartridge assemblies. In addition, a Mid-Air Delivery System (MDS) is used to separate the capsule from the sled that is used to eject the capsule from the back of the drop plane. Also, high-speed and high-definition cameras in a Video Camera System (VCS) are used to film the drop plane extraction and parachute landing events. Intentional and unintentional radiation emitted from and received by antennas and electronic devices on/in the CEV capsule, the MDS sled, and the VCS system are being tested for radiated emissions/immunity (susceptibility) ~ (RE/RS). To verify Electromagnetic Compatibility (EMC) of the Orion capsule, Electromagnetic Interference (EMI) measurements are being made inside a semi-anechoic chamber at NASA/JSC on the components of the CPAS system. Measurements are made at 1m from the components-under-test (CUT). In addition, EMI measurements of the integrated CEV system are being made inside a hanger at YPG. These measurements are made in a complete circle, at 30◦ angles or less, around the Orion Capsule, the spacecraft system under-test (SUT). Near-field B-Dot probe measurements on the surface of the Orion capsule are being extrapolated outward to the 1m standard distance for comparison to the MIL-STD radiated emissions limit, and far-field hybrid antenna measurements at 3m are being extrapolated inward to the 1m distance for similar comparisons.

Norgard, John D.↗
NASA NTRS2012

Antenna Measurements: Test & Analysis of the Radiated Emissions from the NASA/Orion Spacecraft - Parachute System Simulator

For future NASA Manned Space Exploration of the Moon and Mars, a blunt body capsule, called the Orion Crew Exploration Vehicle (CEV), composed of a Crew Module (CM) and a Service Module (SM), with a parachute decent assembly is planned for reentry back to Earth. A Capsule Parachute Assembly System (CPAS) is being developed for preliminary parachute drop tests at the Yuma Proving Ground (YPG) to simulate high-speed reentry to Earth from beyond Low-Earth-Orbit (LEO) and to provide measurements of landing parameters and parachute loads. The avionics systems on CPAS also provide mission critical firing events to deploy, reef, and release the parachutes in three stages (extraction, drogues, mains) using mortars and pressure cartridge assemblies. In addition, a Mid-Air Delivery System (MDS) is used to separate the capsule from the sled that is used to eject the capsule from the back of the drop plane. Also, high-speed and high-definition cameras in a Video Camera System (VCS) are used to film the drop plane extraction and parachute landing events. To verify Electromagnetic Compatibility (EMC) of the CPAS system from unintentional radiation, Electromagnetic Interference (EMI) measurements are being made inside a semi-anechoic chamber at NASA/JSC at 1m from the electronic components of the CPAS system. In addition, EMI measurements of the integrated CPAS system are being made inside a hanger at YPG. These near-field B-Dot probe measurements on the surface of a parachute simulator (DART) are being extrapolated outward to the 1m standard distance for comparison to the MIL-STD radiated emissions limit.

Norgard, John D.↗
NASA NTRS2024

Gateway to the Future: Lessons Learned in Development of the Refueling Systems for NASA's First Lunar Space Station

Developed in collaboration with international and commercial partners, Gateway will be humanity’s first crewed space station around the Moon as a vital component of NASA’s Artemis Program for exploration to the Moon, Mars and beyond. As part of it’s focus on developing a sustainable, long term lunar capability, both Xenon based Solar Electric Propulsion System, as well as bi-propellant Reaction Control System of Gateway are designed to be on-orbit refuelable. Through design studies, numerical modeling, hardware development, and substantial testing, the system architecture has undergone significant changes to meet mission requirements and utilize evolving hardware capabilities between concept formulation and the successful completion of its Critical Design Review. This paper presents key lessons learned during this process, highlighting specific design elements and test results that contribute to a robust and adaptable refueling system for the Gateway.

Christopher Radke↗
NASA NTRSDate not supplied

In-Situ Resource Utilization Options for the Moon and Mars

In-Situ Resource Utilization (ISRU) is key to enabling extended presence at exploration locations. NASA’s focus for ISRU to date has been human exploration locations: the Moon and Mars. Likewise the primary target for ISRU has been the production of mission consumables for propulsion and life support. Producing oxygen alone from minerals on the Moon or atmosphere on Mars can provide the majority of these consumables. However, accessing water at either location allows for full propellant production (fuel and oxidizer) as well as other applications (eg life support). Current and previous study efforts have looked at mission architectures and ISRU mass payback for these options. Studies have also identified gaps in information needed to design effective ISRU hardware and choose best architectures

In-Situ Resource Utilization↗
NASA NTRSDate not supplied

Long -Term Architecture Development For The Moon And M

Developing an enterprise-level architecture encompassing future human-robotic science and exploration at the Moon and Mars requires a visionary approach that ensures NASA is responsive to national priorities and global science and technology advancement objectives. While the initial capabilities needed to return humans to the Moon may be well understood, NASA is still formulating a long-term infrastructure at the Moon and working to narrow the trade space for the first human missions to Mars. This paper will focus on the formulation and current status of engineering and design applications for a long-term and robust lunar architecture that will implement the Artemis Base Camp concept, including pre-formulation activities and elements currently in formulation. Authors will demonstrate how the Moon-to-Mars campaign approach fosters commonality of requirements and standards across individual mission elements, as well as multi-destination systems and operations, to reduce risk and encourage healthy competition in the growing space market. Among the Artemis Base Camp elements discussed will be multiple surface mobility elements, a fixed, anchoring surface habitat, fission surface power, and an in-situ resource development pilot plant. The narrative will clearly illustrate the direct evolution of the base camp elements to a minimal Mars architecture concept, and also outline unique development efforts that will be required in the next decade to make it possible to send humans to the Red Planet as early as the 2030s.

Greg Chavers↗
NASA NTRS2022

FY22 X-Hab: Colorado School of Mines: Planetary Resource & In-Situ Material Habitat Outfitting for Space Exploration (PRISM-HOUSE)

The Colorado School of Mines (CSM) was awarded a project under the Moon to Mars eXploration Systems and Habitation (M2M X-Hab) Academic Innovation Challenge on June 10, 2021 for the proposed Planetary Resource & In-Situ Material Habitat Outfitting for Space Exploration (PRISM-HOUSE) lunar habitat system. The project deliverables have been executed concurrently with coursework in the CSM Space Resources program, specifically for the Space Resources Project I & II classes. A team was established in the fall semester of 2021 and a Systems Engineering process was followed to brainstorm initial concepts, determine objectives, flow down top-level requirements, and identify areas for which the project could best further the understanding of the overall system through targeted detailed design and design evaluation testing. This report summarizes the overall project, as well as specific work completed in the spring semester of 2022. PRISM-HOUSE is a lunar habitat system that is deployed on the lunar surface robotically and supports safe, long-term human occupancy while maximizing the use of in-situ resources and minimizing the mass of supplies and equipment that must be delivered from Earth. In this report, the team provides an overview and description of the objectives, the system, and how the current design was selected from various alternatives, as well as the resulting products of systems engineering tasks such as product and specification trees and flow-down requirements. A review of current risks and planned mitigation are reviewed. Four key PRISM-HOUSE systems are explored: the inflatable Habitat, External Structures & Environmental Protection (ESEP), Human Interior Goods (HIG), and ECLSS & Remote Outfitting (E&RO); for each, the team provides a detailed system description and an overview of analyses performed supporting final design, followed by a review of each Design Evaluation Test (DET) performed and resulting conclusions. The report closes with a suggestion of next steps.

Peter Corwin↗
NASA NTRS2010

Current Status of NASA's Heavy Lift Plans

Numerous studies since the Apollo Program of the 1960s have highlighted the benefits of - and the need for - a national heavy lift launch capability to support human exploration, science, national security, and commercial development of space. NASA's most recent and most refined effort to develop that heavy lift capability is the Ares V. Ares V is a key element of NASA's Constellation Program. It s overall goal s part of approved national space policy is to retire the Space Shuttle and develop its successor, complete the International Space Station, and resume human exploration beyond low Earth orbit (LEO), beginning with exploration of the Moon as a step to other destinations in the Solar System. Ares V s first role is that of cargo vehicle to carry a lunar lander into Earth orbit, rendezvous with astronauts launched on the smaller Ares I crew launch vehicle, and perform the trans lunar injection (TLI) mission to send the mated crew and lander vehicles to the Moon. The design reference missions (DRMs) envisioned for it also include direct lunar cargo flights and a human Mars mission. Although NASA's priority from the start of the Constellation Program to the present has been development of the Ares I and Orion crew vehicle to replace the retiring Shuttle fleet, the Ares team has made significant progress in understanding the performance, design trades, technology needs, mission scenarios, ground and flight operations, cost, and other factors associated with heavy lift development. The current reference configuration was selected during the Lunar Capabilities Concept Review (LCCR) in fall 2008. That design has served since then as a point of departure for further refinements and trades among five participating NASA field centers. Ares V development to date has benefited from progress on the Ares I due to commonality between the vehicles. The Ares I first stage completed a successful firing of a 5-segment solid rocket motor. The Ares I-X launch Numerous studies since the Apollo Program of the 1960s have highlighted the benefits of and the need for - a national heavy lift launch capability to support human exploration, science, national security, and commercial development of space. NASA s most recent and most refined effort to develop that heavy lift capability is the Ares V. Ares V is a key element of NASA s Constellation Program. It s overall goal s part of approved national space policy is to retire the Space Shuttle and develop its successor, complete the International Space Station, and resume human exploration beyond low Earth orbit (LEO), beginning with exploration of the Moon as a step to other destinations in the Solar System. Ares V s first role is that of cargo vehicle to carry a lunar lander into Earth orbit, rendezvous with astronauts launched on the smaller Ares I crew launch vehicle, and perform the trans lunar injection (TLI) mission to send the mated crew and lander vehicles to the Moon. The design reference missions (DRMs) envisioned for it also include direct lunar cargo flights and a human Mars mission. Although NASA s priority from the start of the Constellation Program to the present has been development of the Ares I and Orion crew vehicle to replace the retiring Shuttle fleet, the Ares team has made significant progress in understanding the performance, design trades, technology needs, mission scenarios, ground and flight operations, cost, and other factors associated with heavy lift development. The current reference configuration was selected during the Lunar Capabilities Concept Review (LCCR) in fall 2008. That design has served since then as a point of departure for further refinements and trades among five participating NASA field centers. Ares V development to date has benefited from progress on the Ares I due to commonality between the vehicles. The Ares I first stage completed a successful firing of a 5-segment solid rocket motor. The Ares I-X launch successfully demonstrated in suborbital flighhe ability to assemble, prepare, launch, control and recover the Ares I configuration and compare performance to computer models. Component tests continue on the J-2X engine, which will put both the Ares I and Ares V upper stages into orbit. In addition, more than 100,000 parts have been manufactured or on the assembly line for the first J-2X powerpack and the first two development engines, with hot fire tests to begin in 2011. This paper will further detail the progress to date on the Ares V and planned activities for the remainder of 2010. In addition, the Ares V team has continued its outreach to potential user communities in science and national security. Through the Constellation Program, NASA has amassed an enormous knowledge base in the design, technologies, and operations of heavy lift launch vehicles that will be a national asset for any future launch vehicle decision. This early phase of the design presents the best opportunity to incorporate where possible the insights and needs of other users.

Creech, Steve↗
NASA NTRS2011

ATHLETE: A Cargo-Handling Vehicle for Solar System Exploration

As part of the NASA Exploration Technology Development Program, the Jet Propulsion Laboratory is developing a vehicle called ATHLETE: the All-Terrain Hex-Limbed Extra-Terrestrial Explorer. Each vehicle is based on six wheels at the ends of six multi-degree-of-freedom limbs. Because each limb has enough degrees of freedom for use as a general-purpose leg, the wheels can be locked and used as feet to walk out of excessively soft or other extreme terrain. Since the vehicle has this alternative mode of traversing through or at least out of extreme terrain, the wheels and wheel actuators can be sized for nominal terrain. There are substantial mass savings in the wheel and wheel actuators associated with designing for nominal instead of extreme terrain. These mass savings are comparable-to or larger-than the extra mass associated with the articulated limbs. As a result, the entire mobility system, including wheels and limbs, can be about 25% lighter than a conventional mobility chassis. A side benefit of this approach is that each limb has sufficient degrees-of-freedom to use as a general-purpose manipulator (hence the name "limb" instead of "leg"). Our prototype ATHLETE vehicles have quick-disconnect tool adapters on the limbs that allow tools to be drawn out of a "tool belt" and maneuvered by the limb. A power-take-off from the wheel actuates the tools, so that they can take advantage of the 1+ horsepower motor in each wheel to enable drilling, gripping or other power-tool functions. Architectural studies have indicated that one useful role for ATHLETE in planetary (moon or Mars) exploration is to "walk" cargo off the payload deck of a lander and transport it across the surface. Recent architectural approaches are focused on the concept that the lander descent stage will use liquid hydrogen as a propellant. This is the highest performance chemical fuel, but it requires very large tanks. A natural geometry for the lander is to have a single throttleable rocket engine on the centerline at the bottom, and to have the propellant tanks arranged as compactly as possible around and above that engine, with nearly-straight structural load paths that carry the heavy LO2 tanks as well as the ascent stage or cargo on a top deck. (The requirement for exactly one descent engine stems from the need to avoid symmetry planes in the exhaust plume that can entrain surface particles and loft them up into the system at hypervelocity.) This geometry is especially attractive since abort considerations drive the ascent stage to have as much open space around it as possible, in case the ascent stage needs to fire away from an out-of-control descent stage. These considerations lead to a configuration where the cargo deck of the lander is relatively high off the ground (over 6 meters in current concepts, using a 10-meter diameter launch shroud). These considerations have led some observers to presume that there is a "lander offloading problem". ATHLETE has been demonstrated as a solution to this problem, walking cargo off the high deck. This paper describes the applicability of the ATHLETE concept to exploration of the moon, Mars and even to Near- Earth Objects. Recent field test results for long-range traverse are described, along with plans for testing in the simulated microgravity environment of a NEO.

Space Robotics↗
NASA NTRS2006

Experiences in managing the Prometheus Project

Congress authorized NASA?s Prometheus Project in February 2003, with the first Prometheus mission slated to explore the icy moons of Jupiter. The Project had two major objectives: (1) to develop a nuclear reactor that would provide unprecedented levels of power and show that it could be processed safely and operated reliably in space for long-duration, deep-space exploration and (2) to explore the three icy moons of Jupiter - Callisto, Ganymede, and Europa - and return science data that would meet the scientific goals as set forth in the Decadal Survey Report of the National Academy of Sciences. Early in Project planning, it was determined that the development of the Prometheus nuclear powered Spaceship would be complex and require the intellectual knowledge residing at numerous organizations across the country. In addition, because of the complex nature of the Project and the multiple partners, approaches beyond those successfully used to manage a typical JPL project would be needed. This paper1 will describe the key experiences in managing Prometheus that should prove useful for future projects of similar scope and magnitude

nuclear↗
NASA NTRS1999

Space Medicine: A Surgeon's Perspective

For the first four decades of human space flight NASA's priorities in life sciences and medical programs have been preventative medicine (astronaut selection and training); assessment of the physiologic effects of microgravity and other unique aspects of space flight, implementation of countermeasures to protect against adverse effects, and amelioration of these adverse effects. Because most of the U.S. space flight experience has been on short duration missions, the need for medical and diagnostic treatment capabilities have been limited.The first long-term crews will arrive on the International Space Station (ISS) in early 2000. This will usher in a new era, an era of sustained human presence in Low Earth Orbit. One of the principal purposes of the ISS program is to increase the knowledge of the effects of long duration space flight on humans, a pre-requisite to future exploration class missions beyond Low Earth Orbit (e.g., a return to the Moon or an exploration of Mars). Areas of particular interest include protection from radiation, muscle atrophy, bone loss, cardiovascular alterations, immune dysfunction, adverse psychological response to hazards and confinement, and neurovestibular alterations. In addition, long duration space flight requires the development of autonomous medical care capabilities, as the distances involved eliminate the possibility of real-time telemedicine or robotic intervention, and prevent a mission abort and a rapid return to Earth. The objectives of this presentation include: 1. A description of the International Space Station project, including its research facilities and on-orbit medical capabilities; 2. An overview of the physiological and medical problems associated with microgravity in space flight; 3. A review of NASA's biomedical research priorities and ongoing work to develop clinical care capabilities for space flight crews (including surgical interventions) and; 4. An overview of current and proposed research priorities for NASA Research Announcements, NASA Space Biomedical Research Institute, Small Business Innovation Research Grant, and other funding sources.

Dawson, David L.↗
NASA NTRS2000

Aladdin: Exploration and Sample Return from the Moons of Mars

Aladdin is a remote sensing and sample return mission focused on the two small moons of Mars, Phobos and Deimos. Understanding the moons of Mars will help us to understand the early history of Mars itself. Aladdin's primary objective is to acquire well documented, representative samples from both moons and return them to Earth for detailed analyses. Samples arrive at Earth within three years of launch. Aladdin addresses several of NASA's highest priority science objectives: the origin and evolution of the Martian system (one of two silicate planets with satellites) and the composition and nature of small bodies (the building blocks of the solar system). The Aladdin mission has been selected as a finalist in both the 1997 and 1999 Discovery competitions based on the high quality of science it would accomplish. The equivalent of Aladdin's Phase A development has been successfully completed, yielding a high degree of technical maturity. Aladdin uses an innovative flyby sample acquisition method, which has been validated experimentally and does not require soft landing or anchoring. An initial phasing orbit at Mars reduces mission propulsion requirements, enabling Aladdin to use proven, low-risk chemical propulsion with good mass margin. This phasing orbit is followed by a five month elliptical mission during which there are redundant opportunities for acquisition of samples and characterization of their geologic context using remote sensing. The Aladdin mission is a partnership between Brown University, the Johns Hopkins University Applied Physics Laboratory, Lockheed Martin Astronautics, and NASA Johnson Space Center.

Pieters, C.↗