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NASA NTRSDate not supplied

Exploration Extravehicular Mobility Unit (xEMU) 11 Foot Vacuum Chamber Upgrades Test Results

The Exploration Extravehicular Mobility Unit (xEMU) uncrewed 11 foot vacuum chamber testing evaluated the capabilities of the 11 foot vacuum chamber facility to support advanced spacesuit testing. The government reference design xEMU spacesuit provided a high-fidelity test article to demonstrate 11 foot vacuum chamber capabilities which included: gas loading of the chamber at varying simulated metabolic rates and open loop suit abort operations, Intravehicular Activity (IVA) vacuum access, consumables recharge, IVA vehicle-provided thermal loop cooling, and IVA vehicle-provided power. To demonstrate the xEMU airlock operations transitioning from IVA to EVA conditions without a test subject in the suit, test support equipment was developed to remotely actuate both the Exploration, Servicing, and Cooling Umbilical (ESCU) and the vacuum access umbilical. This test also evaluated the performance of the Exploration Portable Life Support System (xPLSS) at vacuum conditions. Data was collected and analyzed for carbon dioxide (CO2) scrubbing performance of the Rapid Cycle Amine (RCA) swingbed, for thermal regulation performance of the Suit Water Membrane Evaporator (SWME), and for sensor performance across the xPLSS. This paper will detail the findings of the testing performed with these upgrades which discussed previously laid out in ICES-2025-342.

Robert F Marsch↗

NASA NTRSDate not supplied

Exploration Extravehicular Mobility Unit 11 Foot Vacuum Chamber Upgrades Test Results

Robert Marsch↗

NASA NTRS1988

Design guidelines for remotely maintainable equipment

The quantity and complexity of on-orbit assets will increase significantly over the next decade. Maintaining and servicing these costly assets represent a difficult challenge. Three general methods are proposed to maintain equipment while it is still in orbit: an extravehicular activity (EVA) crew can perform the task in an unpressurized maintenance area outside any space vehicle; an intravehicular activity (IVA) crew can perform the maintenance in a shirt sleeve environment, perhaps at a special maintenance work station in a space vehicle; or a telerobotic manipulator can perform the maintenance in an unpressurized maintenance area at a distance from the crew (who may be EVA, IVA, or on the ground). However, crew EVA may not always be possible; the crew may have other demands on their time that take precedence. In addition, the orbit of the tasks themselves may be impossible for crew entry. Also crew IVA may not always be possible as option for equipment maintenance. For example, the equipment may be too large to fit through the vehicle airlock. Therefore, in some circumstances, the third option, telerobotic manipulation, may be the only feasible option. Telerobotic manipulation has, therefore, an important role for on-orbit maintenance. It is not only used for the reasons outlined above, but also used in some cases as backup to the EVA crew in an orbit that they can reach.

Clarke, Margaret M.↗

NASA NTRS1990

Long term life support for space exploration

A general strategy for the development of life-support systems is discussed in terms of present and future requirements for NASA exploration missions. A general life-support strategy is delineated for both intravehicular activity (IVA) and extravehicular activity (EVA) for lunar and Mars transfer vehicles, Mars habitats, and pressurized rovers. The baseline capability presented corresponds to the systems needs for the Space Station Freedom permanently manned capability and the Shuttle Extended Duration Orbiter. Design guidelines and system design goals are given for IVA life support with an emphasis on closed-loop systems, and the design prerogatives for EVA include a minimum time to transition between IVA and EVA, and minimum resitriction for human activity.

Rummel, John D.↗

NASA NTRS2001

[Cosmochemical Studies]

Much of our research involves the chemical characterization of iron meteorites, and discussion of their origins. Wasson (1999a) used an extensive set of data on irons from the magmatic group IIIAB (including planimetric determinations of S in 23 irons) to show that the irons in this group can be modeled as mixtures of equilibrium solid and melt, and that the inferred fraction of trapped melt varies widely, from a few per cent to >80 per cent. The main group pallasites are closely related to the IIIAB irons. Wasson et al. (1999) described massive chromite in the Brenham pallasite and discussed possible formation mechanisms and implications for D(sub Cr). Sugiura et al. (2000) reported concentration and isotopic data for N and C in IIIE irons, and also showed that these are resolved from IIIAB irons on Ga-Au and Co-Au diagrams. Wasson and Richardson (2001) analyzed 45 irons from group IVA, also a magmatic group, and demonstrated that important insights are gained by comparisons with the IIIAB data set; the initial D(sub ir), D(sub Au), and D(sub As) values were all substantially lower in IVA than in IIIAB, apparently because the initial S (and P) contents were much (approximately equals 6x) lower in the IVA magma than in the IIIAB magma. Wasson and Kallemeyn (2001) carried out a new, comprehensive evaluation of IAB and closely related irons including those formerly called IIICD; they found that there are five "satellite" subgroups showing compositional trends parallel to those in IAB. The Birch et al. (2001) paper describes Willow Grove, a new volatile-poor, Ni-rich ungrouped iron that is closely related to Tishomingo, and possibly, as suggested for the IAB irons, the product of impact melting.

Wasson, John T.↗

NASA NTRS2006

AERCam Autonomy: Intelligent Software Architecture for Robotic Free Flying Nanosatellite Inspection Vehicles

The NASA Johnson Space Center has developed a nanosatellite-class Free Flyer intended for future external inspection and remote viewing of human spacecraft. The Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam) technology demonstration unit has been integrated into the approximate form and function of a flight system. The spherical Mini AERCam Free Flyer is 7.5 inches in diameter and weighs approximately 10 pounds, yet it incorporates significant additional capabilities compared to the 35-pound, 14-inch diameter AERCam Sprint that flew as a Shuttle flight experiment in 1997. Mini AERCam hosts a full suite of miniaturized avionics, instrumentation, communications, navigation, power, propulsion, and imaging subsystems, including digital video cameras and a high resolution still image camera. The vehicle is designed for either remotely piloted operations or supervised autonomous operations, including automatic stationkeeping, point-to-point maneuvering, and waypoint tracking. The Mini AERCam Free Flyer is accompanied by a sophisticated control station for command and control, as well as a docking system for automated deployment, docking, and recharge at a parent spacecraft. Free Flyer functional testing has been conducted successfully on both an airbearing table and in a six-degree-of-freedom closed-loop orbital simulation with avionics hardware in the loop. Mini AERCam aims to provide beneficial on-orbit views that cannot be obtained from fixed cameras, cameras on robotic manipulators, or cameras carried by crewmembers during extravehicular activities (EVA s). On Shuttle or International Space Station (ISS), for example, Mini AERCam could support external robotic operations by supplying orthogonal views to the intravehicular activity (IVA) robotic operator, supply views of EVA operations to IVA and/or ground crews monitoring the EVA, and carry out independent visual inspections of areas of interest around the spacecraft. To enable these future benefits with minimal impact on IVA operators and ground controllers, the Mini AERCam system architecture incorporates intelligent systems attributes that support various autonomous capabilities. 1) A robust command sequencer enables task-level command scripting. Command scripting is employed for operations such as automatic inspection scans over a region of interest, and operator-hands-off automated docking. 2) A system manager built on the same expert-system software as the command sequencer provides detection and smart-response capability for potential system-level anomalies, like loss of communications between the Free Flyer and control station. 3) An AERCam dynamics manager provides nominal and off-nominal management of guidance, navigation, and control (GN&C) functions. It is employed for safe trajectory monitoring, contingency maneuvering, and related roles. This paper will describe these architectural components of Mini AERCam autonomy, as well as the interaction of these elements with a human operator during supervised autonomous control.

Fredrickson, Steven E.↗

NASA NTRS2006

Mars Technology Program: Planetary Protection Technology Development

This slide presentation reviews the development of Planetary Protection Technology in the Mars Technology Program. The goal of the program is to develop technologies that will enable NASA to build, launch, and operate a mission that has subsystems with different Planetary Protection (PP) classifications, specifically for operating a Category IVb-equivalent subsystem from a Category IVa platform. The IVa category of planetary protection requires bioburden reduction (i.e., no sterilization is required) The IVb category in addition to IVa requirements: (i.e., terminal sterilization of spacecraft is required). The differences between the categories are further reviewed.

Mars Technology Program↗

NASA NTRS2015

Robonaut 2 - Building a Robot on the International Space Station

In 2010, the Robonaut Project embarked on a multi‐phase mission to perform technology demonstrations on‐board the International Space Station (ISS), showcasing state of the art robotics technologies through the use of Robonaut 2 (R2). This phased approach implements a strategy that allows for the use of ISS as a test bed during early development to both demonstrate capability and test technology while still making advancements in the earth based laboratories for future testing and operations in space. While R2 was performing experimental trials onboard the ISS during the first phase, engineers were actively designing for Phase 2, Intra‐Vehicular Activity (IVA) Mobility, that utilizes a set of zero‐g climbing legs outfitted with grippers to grasp handrails and seat tracks. In addition to affixing the new climbing legs to the existing R2 torso, it became clear that upgrades to the torso to both physically accommodate the climbing legs and to expand processing power and capabilities of the robot were required. In addition to these upgrades, a new safety architecture was also implemented in order to account for the expanded capabilities of the robot. The IVA climbing legs not only needed to attach structurally to the R2 torso on ISS, but also required power and data connections that did not exist in the upper body. The climbing legs were outfitted with a blind mate adapter and coarse alignment guides for easy installation, but the upper body required extensive rewiring to accommodate the power and data connections. This was achieved by mounting a custom adapter plate to the torso and routing the additional wiring through the waist joint to connect to the new set of processors. In addition to the power and data channels, the integrated unit also required updated electronics boards, additional sensors and updated processors to accommodate a new operating system, software platform, and custom control system. In order to perform the unprecedented task of building a robot in space, extensive practice sessions and meticulous procedures were required. Since crew training time is at a premium, the R2 team took a skills‐based training approach to ensure the astronauts were proficient with a basic skill set while refining the detailed procedures over several practice sessions and simulations. In addition to the crew activities, meticulous ground procedures were required in order to upgrade firmware on the upper body motor drivers. The new firmware for the IVA mobility unit needed to be deployed using the old software system. This also provided an opportunity to upgrade the upper body joints with new software and allowed for limited insight into the success of the updates. Complete verification that the updated firmware was successfully loaded was not confirmed until the rewiring of the upper body torso was complete.

Diftler, Myron↗

NASA NTRS1972

Application of ecological, geological and oceanographic ERTS-1 imagery to Delaware's coastal resources planning

The author has identified the following significant events. Coastal vegetation species appearing in the ERTS-1 image taken of the Southern Coast of Delaware, during orbit 333 on August 16, 1972, have been correlated with ground truth vegetation maps, and imagery obtained from high altitude RB-57 and U-2 overflights. The vegetation maps of the entire Delaware Coast were prepared using data collected on foot, in small boats, and from low altitude aircraft. Multispectral analysis of high altitude RB-57 and U-2 photographs indicated that five vegetation species could be clearly discriminated from 60,000 feet altitude, including: (1) salt marsh cord grass (Spartina alterniflora); (2) salt marsh hay and spike grass (Spartina patens and Distichlis spicata); (3) reed grass (Phragmites communis); (4) high tide bush and sea myrtle (Iva species and Baccharus halimifolia); and (5) a group of fresh water species found in impounded areas built to attract water fowl. Major Spartina alterniflora and Spartina patens communities within the tidal marshes can be identified in the ERTS-1 imagery. Phragmites, and other species however, occur in smaller, more dispersed groupings and are difficult to discriminate within the resolution capability of the ERTS-1 scanner. Similarly, major impounded areas, built to attract water fowl can be detected; however, mosquito drainage ditches, covering many of Delaware's marshes, are too narrow and not long enough to be resolved by ERTS-1 sensors. High-marsh and dune communities dominated by high tide bush (Iva frutescens) and sea myrtle (Baccharus halimifolia) can be distinguished from adjacent maritime forest and beach grass communities.

Klemas, V.↗

NASA NTRS1973

Study of space shuttle EVA/IVA support requirements. Volume 2: EVA/IVA tasks, guidelines, and constraints definition

The guidelines for EVA and IVA tasks to be performed on the space shuttle are defined. In deriving tasks, guidelines, and constraints, payloads were first identified from the mission model. Payload requirements, together with man and manipulator capabilities, vehicle characteristics and operation, and safety considerations led to a definition of candidate tasks. Guidelines and constraints were also established from these considerations. Scenarios were established, and screening criteria, such as commonality of EVA and IVA activities, were applied to derive representative planned and unplanned tasks. The whole spectrum of credible contingency situations with a potential requirement for EVA/IVA was analyzed.

Webbon, B. W.↗

NASA NTRS1976

Explanation for the very low Ga and Ge concentrations in some iron meteorite groups

Parallels between the abundance patterns of moderately volatile elements in iron meteorites and ordinary chondrites are pointed out and discussed in relation to condensation processes in the solar nebula. The discussion is centered around a graph in which As, Cu, Ga, Ge to Ni ratios, normalized to CI chondrites, are compared for IVB, IVA, IVB, and IIIAB irons and H-group ordinary chondrites. The patterns suggest that the same volatile loss mechanism was at work for both IVB irons and ordinary chondrites, but was more efficient in the IVB process. A picture for the process at the IVB location is proposed, according to which condensation occurred when temperature decreased rapidly and trace metals condensed as a fine aerosol that was later blown away by a T-Tauri solar storm. Condensation at the H-group location was more complete because of a less rapid temperature decrease, allowing trace metals to diffuse deeper into Fe-Ni grains. Possible ways in which IVA conditions may have differed from IIIAB or H conditions are also proposed and discussed.

Wasson, J. T.↗

NASA NTRS1983

Experimental investigations of trace element fractionation in iron meteorites. II - The influence of sulfur

The partitioning of Ir, Ge, Ga, W, Cr, Au, P, and Ni between solid metal and metallic liquid is investigated as a function of temperature and the S-concentration of the metallic liquid. The partition coefficients for siderophile elements, such as Ir, W, Ga, and Ge, are found to increase by factors of 10-100 as the S-concentration of the metallic liquid increases from 0-30 wt percent. Partition coefficients for other siderophile elements, such as Ni, Au, and P, increase by factors of only 2-3. In contrast, a decrease is seen in the partition coefficients for the more chalcophile element Cr. These experimentally determined coefficients are used in conjunction with a fractional crystallization model to reproduce the geochemical behavior of Ni, P, Au, and Ir during the magmatic evolution of groups IIAB, IIIAB, IVA and IVB iron meteorites. The mean S-concentration for each group increases in the order IVB, IVA, IIIAB, IIAB, which is in accordance with cosmochemical prediction. However, the geochemical behavior of Ge, Ga, W, and Cr cannot be reproduced in an internally consistent way. It is concluded that the magmatic histories of these iron meteorite groups are more complex than has been generally assumed.

Jones, J. H.↗

NASA NTRS1985

DSN frequency and timing system, Mark 4-85

As part of the Deep Space Network (DSN) Mark IVA implementation program, the DSN frequency and timing system is currently undergoing changes. With the implementation of signal processing centers (SPC) at each deep space communications complex (DSCC), major changes to the frequency and timing distribution equipment were necessary. A functional description of the Mark IVA frequency and timing system (FTS) as it exists today and planned capabilities through 1988 is given.

Falin, B. W.↗

NASA NTRS1986

Servicing of user payload equipment in the Space Station pressurized environment

NASA Space Station servicing support facilities will include both pressurized and unpressurized work areas. While the latter will allow astronauts operating in EVAs or aided by robots to accomplish Orbital Replacement Unit (ORU) and instrument changes, tests, assembly, refueling, and repairs, the former will furnish astronauts engaged in work requiring intravehicular activities (IVAs) the ability to enter through an airlock into a module in which they can more carefully service ORUs. Baseline IVA accommodations encompass (1) a staging/assembly area for ORUs brought in from satellites, orbital platforms or attached payloads, (2) a work station for monitoring and control of the external Servicing Bay facility, and (3) a large, laminar flow workbench which would provide highly controlled conditions, as well as (4) a 'glovebox' for delicate servicing and (5) an assortment of hand tools and test equipment.

Levy, Joel↗

NASA NTRS1988

Trace element partitioning between taenite and kamacite - Relationship to the cooling rates of iron meteorites

Instrumental neutron activation analysis (INAA) was used to determine Ni, Co, Cu, Ga, As, Au, W, Re and Ir in taenite lamellae isolated by acid dissolution from eight iron meteorites from groups IA, IIIAB and IVA. Taenite is enriched in Ni, Cu, Ga, As, Au, W, Re and Ir relative to kamacite, whereas taenite is depleted in Co. Taenite/kamacite partition ratios in slowly cooled IAB meteorites are farther from unity than those in rapidly cooled IVA meteorites. Taenite/kamacite partition ratios for Cu, Ir, Au and Co may be sensitive cooling rate indicators.

Rasmussen, Kaare L.↗

NASA NTRS1990

Single launch lunar habitat derived from an NSTS external tank

A concept for using the spent external tank from a National Space Transportation System (NSTS) to derive a lunar habitat is described. The external tank is carried into low Earth orbit where the oxygen tank-intertank subassembly is separated from the hydrogen tank, berthed to Space Station Freedom and the subassembly outfitted as a 12-person lunar habitat using extravehicular activity (EVA) and intravehicular activity (IVA). A single launch of the NSTS orbiter can place the external tank in LEO, provide orbiter astronauts for disassembly of the external tank, and transport the required subsystem hardware for outfitting the lunar habitat. An estimate of the astronauts' EVA and IVA is provided. The liquid oxygen intertank modifications utilize existing structures and openings for man access without compromising the structural integrity of the tank. The modifications include installation of living quarters, instrumentation, and an airlock. Feasibility studies of the following additional systems include micrometeoroid and radiation protection, thermal control, environmental control and life support, and propulsion. The converted lunar habitat is designed for unmanned transport and autonomous soft landing on the lunar surface without need for site preparation. Lunar regolith is used to fill the micrometeoroid shield volume for radiation protection using a conveyer. The lunar habitat concept is considered to be feasible by the year 2000 with the concurrent development of a space transfer vehicle and a lunar lander for crew changeover and resupply.

King, Charles B.↗

NASA NTRS1991

Designing for on-orbit maintenance

The history of conducting maintenance in space is outlined with particular emphasis on Skylab and shuttle missions to develop maintenance concepts for applications to maintaining the Space Station Freedom. In-flight maintenance (IFM) encompasses the activities of the crew alone or with robotic devices inside or outside the pressurized elements. The extravehicular activities (EVAs) and 141 on-orbit intravehicular activities (IVAs) related to space shuttle flights are discussed in terms of task and level of success. Skylab IFM procedures including IVA and EVA are similarly assessed, and two critical issues are identified. Coordination of flight crew, technicians, and other personnel is critical, and the efficient generation, collection, and storage of data is a key to IFM effectiveness. The overriding concern is that design guidelines for IFM learned from other programs are built into the development of technologies for the Space Station Freedom.

Accola, Anne L.↗

NASA NTRS1992

Directions for lunar construction - A derivation of requirements from a construction scenario analysis

This paper provides an initial trade-off study among several lunar construction options available to the Space Exploration Initiative. The relative time effectiveness of Extra-Vehicular Activity (EVA), Intra-Vehicular Activity (IVA), and Earth-based remote control assembly and construction methods are studied. Also considered is whether there is any construction time savings to building roads in advance, or surveying the construction sites with orbiters or rovers in advance. The study was conducted by adding detail to a potentially real scenario - a nuclear power plant - and applying time multipliers for the various control options and terrain alternatives, provided by roboticists among the authors. The authors conclude that IVA is a faster construction method than either EVA or construction conducted remotely from Earth. Surveying proposed sites in advance, with orbiters and rovers, provides a significant time savings through adding to certainty, and therefore may be cost effective. Developing a heavy-lift launch capability and minimizing assembly and construction processes by landing large payloads is probably worthwhile to the degree possible, as construction activities would use a large amount of surface operations time.

Dias, William S.↗