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Dual Glovebox Thermal Vacuum Chamber: Testing Capabilities for Spacesuit Arms and Gloves

The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station, the Crew and Thermal Systems Division at NASA JSC was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms in a simulated space environment versus testing with a full suit. The Dual Glove Box (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 10^-5 Torr with roughing and cryogenic pumps, and a wide range of shroud temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater plates. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through the development of 2 temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.

Extravehicular Activity (EVA) suits↗

NASA NTRS1994

UIT: Ultraviolet surface photometry of the spiral galaxy M74 (NGC 628)

Ultraviolet photometry, obtained from Ultraviolet Imaging Telescope (UIT) images at 1520 A (far-UV; magnitudes m(152)) and 2490 A (near-UV; magnitudes m(249)), of the spiral galaxy M74 (NGC 628) is compared with H-alpha, R, V, and B surface photometry and with models. M74's surface brightness profiles have a central peak with an exponential falloff; the exponential scale lengths of the profiles increase with decreasing wavelength for the broad-band images. The slope of the continuum-subtracted H-alpha profile is intermediate between those of far-UV and near-UV profiles, consistent with the related origins of H-alpha and UV emission in extreme Population I material. M74's color profiles all become bluer with increasing radius. The (m(152) - m(249)) color as measured by UIT averages near 0.0 (the color of an A0 star) over the central 20 sec radius and decreases from approximately -0.2 to approximately -0.4 from 20 sec to 200 sec. The spiral arms are the dominant component of the surface photometry colors; interarm regions are slightly redder. In the UV, M74's nuclear region resembles its disk/spiral arm material in colors and morphology, unlike galaxies such as M81. No UV 'bulge' is apparent. The m(152) - m(249) colors and models of M74's central region clearly demonstrate that there is no significant population of O or B stars present in the central 10 sec. M74's UV morphology and (m(152) - m(249)) color profiles are similar to those of M33, although M74 is approximately 0.5 mag redder. M81 has a smooth UV bulge which is much redder than the nuclear regions of M74 and M33. M74 is approximately 0.4 mag bluer than M81 in its outer disk, although M81 has bright UV sources only in spiral arms more than 5 kpc from its center. We investigate possible explanations for the color profiles of the galaxies and the differences among the galaxies: abundances; reddening due to internal dust; interplanetary magnetic field (IMF) variations, and the history of formation of the dominant generations of stars. Abundance and IMF variations do not produce large enough m(152) - m(249) or UV - V color differences. Comparing model UV/optical colors with those of M74 shows that M74's disk has undergone significant star formation over the past 500 Myr, and that either the star-formation history or the extinction varies systematically across M74's disk. Comparison of M74, M33, and M81 (UV - V) colors shows that M74 colors range from the bluest of M33's colors to the bluest of M81's. The failure of reddening models to cover the range of colors, and the known abundance range in such material, leads to the conclusion that star-formation history varies significantly as a function of radius in these galaxies, and that such variation is required to explain the range of colors observed in M74, M33, and M81.

Cornett, Robert H.↗

DOE OSTI2021

History of and Aftermath from the Withdrawal of the Intermediate-Range Nuclear Forces Treaty

On February 1, 2019, the United States and Russia withdrew from the three-decades old Intermediate-Range Nuclear Forces (INF) treaty. Events precipitating the withdrawal were allegations by both the United States and Russia of a variety of treaty violations. Until that point, the treaty had been a centerpiece of arms control and a key agreement of the global security architecture. The absence of such a pillar has the potential destabilize the status quo of arms control, creating significant uncertainty in global nuclear stability and security. In this paper, we present a historical review as overture to an analysis on the impacts of this development on force structure. This analysis examines the changes in U.S., Russian, and Chinese nuclear forces which may occur as a result of the treaty's demise. The article concludes with commentary on potential actions to preserve stability in a post-INF world.

45 MILITARY TECHNOLOGY, WEAPONRY, AND NATIONAL DEF↗

NASA NTRS2008

Propulsive Maneuver Design for the 2007 Mars Phoenix Lander Mission

On May 25, 2008, the Mars Phoenix Lander (PHX) successfully landed in the northern planes of Mars in order to continue and complement NASA's "follow the water" theme as its predecessor Mars missions, such as Mars Odyssey (ODY) and Mars Exploration Rovers, have done in recent years. Instruments on the lander, through a robotic arm able to deliver soil samples to the deck, will perform in-situ and remote-sensing investigations to characterize the chemistry of materials at the local surface, subsurface, and atmosphere. Lander instruments will also identify the potential history of key indicator elements of significance to the biological potential of Mars, including potential organics within any accessible water ice. Precise trajectory control and targeting were necessary in order to achieve the accurate atmospheric entry conditions required for arriving at the desired landing site. The challenge for the trajectory control maneuver design was to meet or exceed these requirements in the presence of spacecraft limitations as well as other mission constraints. This paper describes the strategies used, including the specialized targeting specifically developed for PHX, in order to design and successfully execute the propulsive maneuvers that delivered the spacecraft to its targeted landing site while satisfying the planetary protection requirements in the presence of flight system constraints.

FPC↗

NASA NTRS1973

Science aspects of a remotely controlled Mars surface roving vehicle.

Particular attention is given to aspects pertinent to teleoperation, remote control, onboard control, and man-machine relationships in carrying out scientific operations with such a vehicle. It is assumed that landed operations would comprise one Martian year and that the traverse would extend across an area approximately 500 km wide. The mission is assumed to be planned for the early 1980s. Its objective is to obtain data which will aid in answering a number of questions regarding the history of the solar system, the formation of Mars, and the evolution of life on Mars. A series of candidate rover payloads is proposed to meet the requirements. The smallest payload includes a TV camera, a general-purpose manipulator arm, a crusher and siever, an X-ray diffractometer-spectrometer, a gravimeter, a magnetometer, meteorological instruments, and a radio transponder.

Choate, R.↗

NASA NTRS2002

STS-110 Flight Day 6 Highlights

On the sixth day of the STS-110 mission, Mission Specialists Jerry Ross and Lee Morin are seen in the second extravehicular activity (EVA) of this mission to the International Space Station (ISS). The video opens with the two astronauts preparing for the EVA, which will be Ross' eighth, thereby making him the most experienced space-walker in history. This pair of astronauts has been dubbed the Silver Team, largely because they both have grandchildren. As Ross and Morin prepare for the EVA by breathing pure oxygen and experiencing reduced pressure, Mission Specialist Ellen Ochoa maneuvers the robotic arm towards the hatch of the Space Shuttle Atlantis. There is video footage of the astronauts exiting the hatch and preparing their tools and work areas. During this EVA the astronauts will install two tripod-like struts, which will serve as structural attachments between the S-0 truss segment and the Destiny Laboratory Module. While the construction takes place, helmet mounted cameras on the spacesuits provide live video of the astronauts at work, most often using a pistol grip tool used as an electric ratcheting-type drill to loosen and tighten bolts. Following the installation of the struts, Ross and Morin remove the draglinks and keelpins that had functioned to hold the S0 truss structure securely in Atlantis' payload bay during the launch sequence of the mission. They move these to temporary storage positions, bolted on the outside of the ISS. They then install an umbilical system that will provide power to the Mobile Transporter (MT).

Source record↗

NASA NTRS2005

Update on Rover Sequencing and Visualization Program

The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

Cooper, Brian↗

NASA NTRS1985

A software toolbox for robotics

A method for programming cooperating manipulators, which is guided by a geometric description of the task to be performed, is given. For this a suitable language must be used and a method for describing the workplace and the objects in it in geometric terms. A task level command language and its implementation for concurrently driven multiple robot arm is described. The language is suitable for driving a cell in which manipulators, end effectors, and sensors are controlled by their own dedicated processors. These processors can communicate with each other through a communication network. A mechanism for keeping track of the history of the commands already executed allows the command language for the manipulators to be event driven. A frame based world modeling system is utilized to describe the objects in the work environment and any relationships that hold between these objects. This system provides a versatile tool for managing information about the world model. Default actions normally needed are invoked when the data base is updated or accessed. Most of the first level error recovery is also invoked by the database by utilizing the concepts of demons. The package can be utilized to generate task level commands in a problem solver or a planner.

Sanwal, J. C.↗

NASA NTRS2008

Enhanced Reporting of Mars Exploration Rover Telemetry

Mars Exploration Rover Enhanced Telemetry Extraction and Reporting System (METERS) is software that generates a human-readable representation of the state of the mobility and arm-related systems of the Mars Exploration Rover (MER) vehicles on each Martian solar day (sol). Data are received from the MER spacecraft in multiple streams having various formats including text messages, sparsely-sampled engineering quantities, images, and individual motor-command histories.

Maimone, Mark W.↗

NASA NTRS2002

STS-110 Flight Day 7 Highlights

On the seventh day of STS-110, Mission Specialists Steven Smith and Rex Walheim are shown preparing for their second extravehicular activity (EVA) and the third of the mission, with the assistance of Mission Specialist Jerry Ross. Following this mission, Ross and Smith will be the first and second most experienced spacewalkers, respectively, in history. A camera mounted on the Space Shuttle Atlantis shows footage of the International Space Station. While Smith and Walheim are on EVA, Mission Specialists Ross and Lee Morin will provide choreography from inside the Atlantis crew cabin, Pilot Stephen Frick will operate the robotic arm, and Commander Mike Bloom will control the cameras on the robotic arm. Smith and Walheim are shown exiting the airlock hatch and then installing an PFR (Portable Foot Restraint) on the end of the robotic arm, from which much of the work will be done. Following the switching off of a circuit breaker, the main EVA task of rewiring umbilical cables that provide power, commands, and video is begun. These cables will be connected to the Mobile Transporter's (MT) robotic arm. The MT, an external transportation system which runs on rails, is seen with a helmet mounted camera as the astronauts work to release bolts that had served to secure the MT during launch. After a final check of the umbilical connections mated, the Umbilical Reconfiguration Panel is fitted over the cables, and the astronauts make their way to the airlock hatch.

Source record↗

NASA NTRS2022

How do we get robots to take self-portraits on Mars? – Perseverance-Ingenuity and Curiosity selfies

The Perseverance rover landed in Jezero crater,Mars, on 18 February 2021. It carried with it a technologydemonstration, the Ingenuity helicopter, which hasdemonstrated the first controlled, powered flight on anotherplanet. This paper describes how an iconic, April 2021 imageof the Perseverance rover with the Ingenuity helicopter wasdesigned and executed as the rover was getting ready todeploy the helicopter. WATSON is a camera mounted at theend of the rover’s robotic arm and was used to acquire theself-portrait. WATSON is designed to take close up picturesof rocks and regolith on Mars but can also provide views ofthe terrain. A single image covers a small portion of thescene. In order to a create a mosaic covering the full roverand helicopter, 62 WATSON images were acquired. To allowthe images to be mosaicked together, the camera needs to bekept in the same spot. The robotic arm has five degrees offreedom for motion; small changes in orientation can requiresignificant repositioning of the robotic arm joints. Todocument this, a movie of the arm motion was acquired bythe rover’s mast-mounted left navigation camera pointed atthe WATSON and robotic arm while it was simultaneouslymoving to acquire the selfie. For the first time, we alsocaptured the sound of the arm motion as it was acquiring theselfie. In the case of the Perseverance selfie with the Ingenuity helicopter, we also had to think about how toposition the rover with respect to the helicopter and fit theselfie acquisition into the helicopter prime mission timeline.This paper also describes the history of NASA Mars roverselfies.

Beegle, Luther↗

DOE OSTI2020

Three new symbiotic crabs of the genus Glassella Campos & Wicksten, 1997 from Atlantic and Gulf of Mexico coasts of Florida, USA (Decapoda: Brachyura: Pinnotheridae)

Abstract New species of the pinnotherid crab genus GlassellaCampos & Wicksten, 1997 are described from western Atlantic waters along the east and west coasts of Florida, with the generic assignment of one being provisional. Glassella chaneyin. sp., Glassella martinin. sp., and Glassella taylorin. sp., all morphologically resemble the long-known species G. floridana (Rathbun, 1918) and overlap part of its distributional range, there occupying similar habitats and at least sometimes found with similar hosts. While genomic DNA sequencing has previously established the generic assignment of G. floridana, small sizes and suboptimal preservation histories of specimens representing the three new species have rendered all sequencing attempts unsuccessful, and thus not allowed their inclusion in molecular phylogenetic analyses. To facilitate present morphological comparisons, a rediagnosis of G. floridana was undertaken, and previously published illustrations were augmented, the latter now including figures of its previously undescribed male first gonopod and gonopodal plate. Comparisons of G. floridana to the three new species reveal striking diagnostic differences between all four species in their male first gonopods and varied configurations in the gonopodal plate or its probable homologs. These characters support the otherwise established separation of G. floridana from its congeners on the basis of its more strongly armed flexor margins of the fourth and fifth pereopods. In G. taylorin. sp., representing the smallest known member of Glassella, development of the third maxilliped and male first gonopod is so exceptional as to suggest the species may warrant eventual assignment to a separate genus.

Marine & Freshwater Biology↗

NASA NTRS1994

An analysis of cost overruns on defense acquisition contracts

This article examines the history of cost overruns reported on 64 completed defense contracts. Its purpose is to formally test the observation of the Under Secretary. Results confirm the observation at the 95 percent level of confidence, and were generally insensitive to the contract type (price, cost), the contract phase (development, production), the type of weapon system (air, ground, sea), and the armed forces service (Air Force, Army, Navy) that managed the contract. After a review of terminology, concepts, and related research for those unfamiliar with the area, the methodology, results, and managerial implications are described.

Christensen, David S.↗

NASA NTRS1992

Controlled motion in an elastic world. Research project: Manipulation strategies for massive space payloads

The flexibility of the drives and structures of controlled motion systems are presented as an obstacle to be overcome in the design of high performance motion systems, particularly manipulator arms. The task and the measure of performance to be applied determine the technology appropriate to overcome this obstacle. Included in the technologies proposed are control algorithms (feedback and feed forward), passive damping enhancement, operational strategies, and structural design. Modeling of the distributed, nonlinear system is difficult, and alternative approaches are discussed. The author presents personal perspectives on the history, status, and future directions in this area.

Book, Wayne J.↗

NASA NTRS1993

Controlled motion in an elastic world

Book, Wayne J.↗

DOE OSTI2026

Warped and Hooked: Mapping the Magellanic Clouds in Three Dimensions Using Red Clump Stars

The Large Magellanic Cloud (LMC) and Small Magellanic Cloud (SMC) are the Milky Way’s nearest interacting galaxy pair, offering a unique laboratory for studying tidal effects on galactic disks. Despite extensive survey efforts, the 3D geometry of the Magellanic Clouds, particularly the putative warp of the LMC, remains poorly constrained due to incompleteness in their crowded centers and the low stellar density of their peripheries, which demand wide-field coverage. Using red clump (RC) stars as standard candles, corrected for age- and metallicity-dependent population effects with empirically calibrated color–magnitude relations and spatially resolved star formation histories, we construct the most detailed distance map of the Magellanic system to date. Based on ∼2.3 million RC stars from Gaia Data Release 3 combined with modern reddening maps, we measure median heliocentric distances of 50.62 ± 2.32 kpc for the LMC (to ∼23°) and 60.75 ± 2.85 kpc for the SMC (to ∼12°). The maps reveal substructures including the LMC Northern Arm, southern hooks, the Magellanic Bridge, and SMC peripheral overdensities, with refreshed distance estimates. Fitting the LMC disk within 7° yields a global inclination of $i=25\mathop{.}\limits^{^\circ }32\pm 0\mathop{.}\limits^{^\circ }10$ and a line-of-nodes position angle of $\theta = 142\mathop{.}\limits^{^\circ }34\pm 0\mathop{.}\limits^{^\circ }21$. Most strikingly, we find the LMC periphery is warped azimuthally into a U-shaped structure reaching a vertical amplitude of ∼7 kpc at a radius of ∼15 kpc. In future work, we will perform detailed comparisons with live N-body simulations to assess possible formation scenarios for the LMC warp.

79 ASTRONOMY AND ASTROPHYSICS↗

NASA NTRS1997

Cardiovascular responses of snakes to hypergravity

Snakes have provided useful vertebrate models for understanding circulatory adaptation to gravity, attributable to their elongate body shape and evolutionary diversificaton in terms of ecology and behavior. Recently we have studied cardiovascular responses of snakes to hypergravic acceleration forces produced acutely in the head-to-tail direction (+Gz) on a short-arm centrifuge. Snakes were held in a nearly straight position within a horizontal plastic tube and subjected to a linear force gradient during acceleration. Carotid blood flow provided an integrated measure of cardiovascular performance. Thus, cardiovascular tolerance of snakes to stepwise increments of Gz was measured as the caudal Gz force at which carotid blood flow ceased. Tolerance to increasing Gz varies according to adaptive evolutionary history inferred from the ecology and behavior of species. With respect to data for six species we investigated, multiple regression analysis demonstrates that Gz tolerance correlates with gravitational habitat, independently of body length. Relative to aquatic and non-climbing species, carotid blood flow is better maintained in arboreal or scansorial species, which tolerate hypergravic forces of +2 to +3.5 Gz. Additionally, semi-arboreal rat snakes (Elaphe obsoleta) exhibit plasticity of responses to long-term, intermittent +1.5 Gz stress. Compared to non-acclimated controls, acclimated snakes show greater increases of heart rate during head-up tilt or acceleration, greater sensitivity of arterial pressure to circulating catecholamines, higher blood levels of prostaglandin ratios favorable to maintenance of arterial blood pressure, and medial hypertrophy in major arteries and veins. As in other vertebrates, Gz tolerance of snakes is enhanced by acclimation, high arterial pressure, comparatively large blood volume, and body movements. Vascular studies of snakes suggest the importance to acclimation of local responses involving vascular tissue, in addition to centrally mediated responses to fluid shifts.

Review, Tutorial↗

DOE OSTI2022

Document-Based Nuclear Archaeology

Deeper reductions in the nuclear arsenals will require better understanding of historic fissile material management and production. The concept of “nuclear archaeology” has been considered since the 1990s to provide the tools and methods to develop independent production estimates, primarily based on nuclear forensic techniques. Here, we propose to add a framework for reconstructing the history of a nuclear program that complements traditional nuclear archaeology techniques by examining the role of operating records to support such an effort. As a test case, we use the JEEP II reactor, a 2 MW civilian research reactor at Norway’s Institute for Energy Technology (IFE), in operation for more than fifty years, however, recently shut down permanently. We have collected, analyzed, and started to preserve the reactor’s operating records, which exist on both analog and digital media, and to simulate parts of its history using OpenMC/ONIX neutronics calculations. Here, a particular focus of this project has been on digital data curation and preservation to confirm and maintain the integrity, authenticity, and provenance of these records. In developing guidelines for best practices that conform to existing standards for long-term digital preservation and curation, we hope this project can help lay the basis for future nuclear archaeology efforts to support nuclear arms control and disarmament.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗