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Lunabotics Robotic Mining Competition for Universities

Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Administration (NASA) “Lunabotics” Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous 80 kg mass lightweight excavator, called a “lunabot”, which can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an overburden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar regolith simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote mission control center or operate it autonomously. This presentation will summarize the results of the Lunabotics Robotic Mining Competitions held in May 2022. Each year, since 2010, over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 6,000 university students have been part of the on-site competition at KSC, and many are employed in the space sector today with thriving careers. Even more students and the public were engaged via internet broadcasting and social networking media. Examples of how this translates to hiring opportunities for commercial sponsors will also be discussed. Overall, this competition has proven to be popular with multi-disciplinary university senior design classes and a valuable tool for NASA and academia in educating and inspiring the next generation of space engineers.

Lunabotics↗

NASA NTRS2011

On Using Exponential Parameter Estimators with an Adaptive Controller

Typical adaptive controllers are restricted to using a specific update law to generate parameter estimates. This paper investigates the possibility of using any exponential parameter estimator with an adaptive controller such that the system tracks a desired trajectory. The goal is to provide flexibility in choosing any update law suitable for a given application. The development relies on a previously developed concept of controller/update law modularity in the adaptive control literature, and the use of a converse Lyapunov-like theorem. Stability analysis is presented to derive gain conditions under which this is possible, and inferences are made about the tracking error performance. The development is based on a class of Euler-Lagrange systems that are used to model various engineering systems including space robots and manipulators.

Patre, Parag↗

NASA NTRS2018

Integration of Information Management System, Workflow and Computational Tools Enabling Multiscale Modeling Within an ICME Paradigm

With the increased emphasis on reducing the cost and time to market of new materials, the need for analytical tools that enable the virtual design and optimization of materials throughout their processing - internal structure - property - performance envelope, along with the capturing and storing of the associated material and model information across its lifecycle, has become critical. This need is also fueled by the demands for higher efficiency in material testing; consistency, quality and traceability of data; product design; engineering analysis; as well as control of access to proprietary or sensitive information. Fortunately, material information management systems and physics-based multiscale modeling methods have kept pace with the growing user demands. Herein, recent efforts to develop a set of Python functions that exchange information between NASA GRC's Integrated multiscale Micromechanics Analysis Code (ImMAC) software toolset and its Integrated Computational Materials Engineering (ICME), Granta MI® database schema is presented. The goal is to enable seamless coupling between both test data and simulation data, which is captured and tracked automatically within Granta MI®, with full model pedigree information. These tools, and this type of linkage, are foundational to realizing the full potential of ICME, in which materials processing, microstructure, properties, and performance are coupled to enable application-driven design and optimization of materials and structures.

multiscale modeling; Micromechanics; Computational↗

NASA NTRS2020

Patch Plate Materials Compatibility Assessment

Lunar dust proved to be a greater problem during the Apollo missions than was originally anticipated. The highly angular, charged dust particles stuck to seals, radiators, and visors; clogged mechanisms; and abraded space suits. As reported by Apollo 12 astronaut Pete Conrad "We must have had more than a hundred hours suited work with the same equipment, and the wear was not as bad on the training suits as it is on these flight suits in just the eight hours we were out.". Dust clinging to surfaces was also transport-ed into habitable spaces leading to lung and eye irritation of the astronauts. The Apollo astronauts were on the Lunar surface less than 24 hours and experienced many dust related problems. With the Artemis program, we are planning longer stays on the surface, with more activities that have the potential to put the astronauts and equipment in contact with greater quantities of Lunar dust. The success of these missions will depend on our understanding of material interactions with Lunar dust and the development of ways to mitigate dust effects in cases where exposure to dust will lead to failure of components, unacceptable loss of power or thermal control, unacceptable loss of visibility, or health issues. Through the Lunar Surface In-novation Initiative (LSII), we are initiating a Patch Plate Materials Compatibility Assessment project. The overall goal of the three year project is to develop passive approaches to mitigate Lunar dust adhesion to surfaces for technologies that are currently at TRL levels 2-3 to bring them to TRL level 5 through ground-based assessment, culminating in a demonstration flight experiment on a Commercial Lunar Payload Services (CLPS) lander in 2022-2023. This paper discusses the detailed technical objectives and approach for this project. References: Gaier, J.R. "The Effects of Lunar Dust on EVA Systems During the Apollo Missions," NASA/TM-2005-213610/REV1, (2005), Apollo 12 Technical Crew Debriefing, December 1, 1969, pp. 10-54.

Miller, S. K. R.↗

NASA NTRS1984

Understanding a technical language: A schema-based approach

Workers in many job categories tend to develop technical languages, which are restricted subjects of natural language. A better knowledge of these retrictions provides guidelines for the design of the restricted languages of interactive systems. Accordingly, a technical language used by air-traffic controllers in their communications with pilots was studied. A method of analysis is presented that allows the schemata underlying each category of messages to be identified. This schematic knowledge was implemented in programs, which assume that the goal-oriented aspect of technical languages (and particularly the restricted domain of discourse) limits the processes and the data necessary in order to understand the messages (monosemy, limited vocabulary, evocation of the schemata by some command words, absence of syntax). The programs can interpret, and translate into sequences of action, the messages emitted by the controllers.

Falzon, P.↗

NASA NTRS1988

Advancements in water vapor electrolysis technology

The paper describes a technology development program whose goal is to develop water vapor electrolysis (WVE) hardware that can be used selectively as localized topping capability in areas of high metabolic activity without oversizing the central air revitalization system on long-duration manned space missions. The WVE will be used primarily to generate O2 for the crew cabin but also to provide partial humidity control by removing water vapor from the cabin atmosphere. The electrochemically based WVE interfaces with cabin air which is controlled in the following ranges: dry bulb temperature of 292 to 300 K; dew point temperature of 278 to 289 K; relative humidity of 25 to 75 percent; and pressure of 101 + or - 1.4 kPa. Design requirements, construction details, and results for both single-cell and multicell module testing are presented, and the preliminary sizing of a multiperson subsystem is discussed.

Chullen, Cinda↗

NASA NTRS1988

The 30-GHz monolithic receive module

The fourth year progress is described on a program to develop a 27.5 to 30 GHz GaAs monolithic receive module for spaceborne-communication antenna feed array applications, and to deliver submodules for experimental evaluation. Program goals include an overall receive module noise figure of 5 dB, a 30 dB RF to IF gain with six levels of intermediate gain control, a five bit phase shifter, and a maximum power consumption of 250 mW. Submicron gate length single and dual gate FETs are described and applied in the development of monolithic gain control amplifiers and low noise amplifiers. A two-stage monolithic gain control amplifier based on ion implanted dual gate MESFETs was designed and fabricated. The gain control amplifier has a gain of 12 dB at 29 GHz with a gain control range of over 13 dB. A two-stage monolithic low noise amplifier based on ion implanted MESFETs which provides 7 dB gain with 6.2 dB noise figure at 29 GHz was also developed. An interconnected receive module containing LNA, gain control, and phase shifter submodules was built using the LNA and gain control ICs as well as a monolithic phase shifter developed previously under this program. The design, fabrication, and evaluation of this interconnected receiver is presented. Progress in the development of an RF/IF submodule containing a unique ion implanted diode mixer diode and a broadband balanced mixer monolithic IC with on-chip IF amplifier and the initial design of circuits for the RF portion of a two submodule receiver are also discussed.

Bauhahn, P.↗

NASA NTRS1990

NASA systems autonomy demonstration project: Advanced automation demonstration of Space Station Freedom thermal control system

The NASA Systems Autonomy Demonstration Project (SADP) was initiated in response to Congressional interest in Space station automation technology demonstration. The SADP is a joint cooperative effort between Ames Research Center (ARC) and Johnson Space Center (JSC) to demonstrate advanced automation technology feasibility using the Space Station Freedom Thermal Control System (TCS) test bed. A model-based expert system and its operator interface were developed by knowledge engineers, AI researchers, and human factors researchers at ARC working with the domain experts and system integration engineers at JSC. Its target application is a prototype heat acquisition and transport subsystem of a space station TCS. The demonstration is scheduled to be conducted at JSC in August, 1989. The demonstration will consist of a detailed test of the ability of the Thermal Expert System to conduct real time normal operations (start-up, set point changes, shut-down) and to conduct fault detection, isolation, and recovery (FDIR) on the test article. The FDIR will be conducted by injecting ten component level failures that will manifest themselves as seven different system level faults. Here, the SADP goals, are described as well as the Thermal Control Expert System that has been developed for demonstration.

Dominick, Jeffrey↗

NASA NTRS1992

Space environmental effects on polymers and composites

The response of polymers and polymer-based composites to the space environment is being investigated. A wide range of materials are covered in this study, including elastometer seals for Space Station Freedom, polymer films for thermal control, and composites for space structural elements. Space environmental agents of concern include atomic oxygen, thermal cycling, space debris impacts, UV, charged particles and other forms of high-energy radiation. This ambitious project is potentially a multi-year research effort and the success of such a project could be expected to have a profound impact on the design of future space-based structures. The research goal of this first Summer is to identify the priority areas of research and to carry out the initial phase task so that a collaborative research can proceed smoothly and fruitfully in the near future.

Jang, Bor Z.↗

NASA NTRS2005

Fluid Distribution for In-space Cryogenic Propulsion

The ultimate goal of this task is to enable the use of a single supply of cryogenic propellants for three distinct spacecraft propulsion missions: main propulsion, orbital maneuvering, and attitude control. A fluid distribution system is sought which allows large propellant flows during the first two missions while still allowing control of small propellant flows during attitude control. Existing research has identified the probable benefits of a combined thermal management/power/fluid distribution system based on the Solar Integrated Thermal Management and Power (SITMAP) cycle. Both a numerical model and an experimental model are constructed in order to predict the performance of such an integrated thermal management/propulsion system. This research task provides a numerical model and an experimental apparatus which will simulate an integrated thermal/power/fluid management system based on the SITMAP cycle, and assess its feasibility for various space missions. Various modifications are done to the cycle, such as the addition of a regeneration process that allows heat to be transferred into the working fluid prior to the solar collector, thereby reducing the collector size and weight. Fabri choking analysis was also accounted for. Finally the cycle is to be optimized for various space missions based on a mass based figure of merit, namely the System Mass Ratio (SMR). -. 1 he theoretical and experimental results from these models are be used to develop a design code (JETSIT code) which is able to provide design parameters for such a system, over a range of cooling loads, power generation, and attitude control thrust levels. The performance gains and mass savings will be compared to those of existing spacecraft systems.

Lear, William↗

NASA NTRS2007

Development of Training Programs to Optimize Planetary Ambulation

Astronauts experience disturbances in functional mobility following their return to Earth due to adaptive responses that occur during exposure to the microgravity conditions of space flight. Despite significant time spent performing in-flight exercise routines, these training programs have not been able to mitigate postflight alterations in postural and locomotor function. Therefore, the goal of our two inter-related projects (NSBRI-ground based and ISS flight study, "Mobility") is to develop and test gait training programs that will serve to optimize functional mobility during the adaptation period immediately following space flight, thereby improving the safety and efficiency of planetary ambulation. The gait training program entails manipulating the sensory conditions of treadmill exercise to systematically challenge the balance and gait control system. This enhances the overall adaptability of locomotor function enabling rapid reorganization of gait control to respond to ambulation in different gravitational environments. To develop the training program, we are conducting a series of ground-based studies evaluating the training efficacy associated with variation in visual flow, body loading, and support surface stability during treadmill walking. We will also determine the optimal method to present training stimuli within and across training sessions to maximize both the efficacy and efficiency of the training procedure. Results indicate that variations in both visual flow and body unloading during treadmill walking leads to modification in locomotor control and can be used as effective training modalities. Additionally, the composition and timing of sensory challenges experienced during each training session has significant impact on the ability to rapidly reorganize locomotor function when exposed to a novel sensory environment. We have developed the capability of producing support surface variation during gait training by mounting a treadmill on a six-degree-of-freedom motion device. This hardware development will allow us to evaluate the efficacy of this type of training in conjunction with variation in visual flow and body unloading.

Bloomberg, J. J.↗

NASA NTRS2012

Planetary Lake Lander - A Robotic Sentinel to Monitor a Remote Lake

The Planetary Lake Lander Project is studying the impact of rapid deglaciation at a high altitude alpine lake in the Andes, where disrupted environmental, physical, chemical, and biological cycles result in newly emerging natural patterns. The solar powered Lake Lander robot is designed to monitor the lake system and characterize both baseline characteristics and impacts of disturbance events such as storms and landslides. Lake Lander must use an onboard adaptive science-on-the-fly approach to return relevant data about these events to mission control without exceeding limited energy and bandwidth resources. Lake Lander carries weather sensors, cameras and a sonde that is winched up and down the water column to monitor temperature, dissolved oxygen, turbidity and other water quality parameters. Data from Lake Lander is returned via satellite and distributed to an international team of scientists via web-based ground data systems. Here, we describe the Lake Lander Project scientific goals, hardware design, ground data systems, and preliminary data from 2011. The adaptive science-on-the-fly system will be described in future papers.

Pedersen, Liam↗

NASA NTRS2017

Pairwise Trajectory Management (PTM): Concept Overview

Jones, Kenneth M.↗

NASA NTRS2017

Lighting the Way to Mars

Transforming the Martian atmosphere into something suitable for plant life would require a scientific feat that we currently do not possess the means to achieve, but indoor agriculture with LEDs could be just the alternative. Previous research has shown that light recipes provided by LEDs can alter the growth and nutrition of a plant based on wavelengths emitted, and crops grown in space aboard the International Space Station would respond similarly. By testing various LED light recipes such as ratios of red, green, blue (RGB) wavelengths, along with white (W) and far red (FR) on flight approved crops, harvest data were analyzed for trends to determine best light conditions for plant growth. Crops of Outredgeous Lettuce, Tokyo Bekana Chinese cabbage, and Mizuna were grown for 28 days with harvests on 14, 21, and 28 days after planting. By collecting fresh mass, shoot dimensions, chlorophyll estimates, leaf areanumber, and dry mass, the overall differences per light treatment were compared. For Outredgeous lettuce, a recipe of W+FR LEDs yielded increases in biomass and size compared to RB LEDs alone. However, the RB recipe resulted in smaller plants with higher concentrations in phytonutrients. Overall, the RGB + FR treatment with ratios similar to sunlight provided a promising balance of optimized biomass, size, and nutrient content. The Chinese cabbage, which was grown under various ratios of W and B light, showed no differences between recipes, and exhibited similar physiological responses regardless of the light recipes that were tested. The Mizuna studies are still ongoing. Crops for ISS chambers and astronaut consumption are targeted based on biomass, physiology, and for human psychological benefit. The goal of this research is to provide light recipe recommendations for space crops that have been thoroughly tested on the ground. These results will serve a major benefit for astronauts growing crops in the Advanced Plant Habitat currently in orbit aboard the ISS. Future research studies include using LEDs to mimic and provide the solar spectrum in a controlled environment to take the next step in further optimizing crops for space.

Barnwell, Payton L.↗

NASA NTRS2018

Pairwise Trajectory Management (PTM): Concept Description and Documentation

Pairwise Trajectory Management (PTM) is an Interval Management (IM) concept that utilizes airborne and ground-based capabilities to enable the implementation of airborne pairwise spacing capabilities in oceanic regions. The goal of PTM is to use airborne surveillance and tools to manage an "at or greater than" inter-aircraft spacing. Due to the accuracy of Automatic Dependent Surveillance-Broadcast (ADS-B) information and the use of airborne spacing guidance, the minimum PTM spacing distance will be less than distances a controller can support with current automation systems that support oceanic operations. Ground tools assist the controller in evaluating the traffic picture and determining appropriate PTM clearances to be issued. Avionics systems provide guidance information that allows the flight crew to conform to the PTM clearance issued by the controller. The combination of a reduced minimum distance and airborne spacing management will increase the capacity and efficiency of aircraft operations at a given altitude or volume of airspace. This document provides an overview of the proposed application, a description of several key scenarios, a high level discussion of expected air and ground equipment and procedure changes, a description of a NASA human-machine interface (HMI) prototype for the flight crew that would support PTM operations, and initial benefits analysis results. Additionally, included as appendices, are the following documents: the PTM Operational Services and Environment Definition (OSED) document and a companion "Future Considerations for the Pairwise Trajectory Management (PTM) Concept: Potential Future Updates for the PTM OSED" paper, a detailed description of the PTM algorithm and PTM Limit Mach rules, initial PTM safety requirements and safety assessment documents, a detailed description of the design, development, and initial evaluations of the proposed flight crew HMI, an overview of the methodology and results of PTM pilot training requirements focus group and human-in-the-loop testing activities, and the PTM Pilot Guide.

Jones, Kenneth M.↗

NASA NTRS2010

Assessing the Health and Performance Risks of Carbon Dioxide Exposures

Carbon dioxide (CO2) is an anthropogenic gas that accumulates in spacecraft to much higher levels than earth-normal levels. Controlling concentrations of this gas to acceptable levels to ensure crew health and optimal performance demands major commitment of resources. NASA has many decades of experience monitoring and controlling CO2, yet we are uncertain of the levels at which subtle performance decrements develop. There is limited evidence from ground-based studies that visual disturbances can occur during brief exposures and visual changes have been noted in spaceflight crews. These changes may be due to CO2 alone or in combination with other known spaceflight factors such as increased intracranial pressure due to fluid shifts. Discerning the comparative contribution of each to performance decrements is an urgent issue if we hope to optimize astronaut performance aboard the ISS. Long-term, we must know the appropriate control levels for exploration-class missions to ensure that crewmembers can remain cooperative and productive in a highly stressful environment. Furthermore, we must know the magnitude of interindividual variability in susceptibility to the adverse effects of CO2 so that the most tolerant crewmembers can be identified. Ground-based studies have been conducted for many years to set exposure limits for submariners; however, these studies are typically limited and incompletely reported. Nonetheless, NASA, in cooperation with the National Research Council, has set exposure limits for astronauts using this limited database. These studies do not consider the interactions of spaceflight-induced fluid shifts and CO2 exposures. In an attempt to discern whether CO2 levels affect the incidence of headache and visual disturbances in astronauts we performed a retrospective study comparing average CO2 levels and the prevalence of headache and visual disturbances. Our goal is to narrow gaps in the risk profile for in-flight CO2 exposures. Such studies can provide no more than partial answers to the questions of environmental interactions, interindividual variability, and optimal control levels. Future prospective studies should involve assessment of astronaut well being using sophisticated measures during exposures to levels of CO2 in the range from 2 to 8 mmHg.

James, John T.↗

NASA NTRS2010

Handling Qualities Prediction of an F-16XL-Based Reduced Sonic Boom Aircraft

A major goal of the Supersonics Project under NASA s Fundamental Aeronautics program is sonic boom reduction of supersonic aircraft. An important part of this effort is development and validation of sonic boom prediction tools used in aircraft design. NASA Dryden s F- 16XL was selected as a potential testbed aircraft to provide flight validation. Part of this task was predicting the handling qualities of the modified aircraft. Due to the high cost of modifying the existing F-16XL control laws, it was desirable to find modifications that reduced the aircraft sonic boom but did not degrade baseline aircraft handling qualities allowing for the potential of flight test without changing the current control laws. This was not a requirement for the initial modification design work, but an important consideration for proceeding to the flight test option. The primary objective of this work was to determine an aerodynamic and mass properties envelope of the F-16XL aircraft. The designers could use this envelope to determine the effect of proposed modifications on aircraft handling qualities.

Cogan, Bruce↗

NASA NTRS2009

Prototype Common Bus Spacecraft: Hover Test Implementation and Results

In order to develop the capability to evaluate control system technologies, NASA Ames Research Center (Ames) began a test program to build a Hover Test Vehicle (HTV) - a ground-based simulated flight vehicle. The HTV would integrate simulated propulsion, avionics, and sensors into a simulated flight structure, and fly that test vehicle in terrestrial conditions intended to simulate a flight environment, in particular for attitude control. The ultimate purpose of the effort at Ames is to determine whether the low-cost hardware and flight software techniques are viable for future low cost missions. To enable these engineering goals, the project sought to develop a team, processes and procedures capable of developing, building and operating a fully functioning vehicle including propulsion, GN&C, structure, power and diagnostic sub-systems, through the development of the simulated vehicle.

Hine, Butler Preston↗