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NASA NTRS1994

NASA Telerobotics Technology Highlights

The goal of the NASA Telerobotics Program, part of the overall research program of the Office of Advanced Concepts and Technology, is to develop the technology in space-borne systems which enables new space tasks in Eath-orbiting satellite and platform servicing; robotic tending of science payloads and instruments; and planetary surface exploration, scientific sampling, and in-situ analysis. Our objective is that by 2004, 50 percent of the EVA-required operations on orbit and on planetary surfaces may be conducted via remote operation.

robotics exploration robotics↗

NASA NTRS2018

Scientific Hybrid Realtiy Environments (SHyRE): Bringing Field Work into the Laboratory

The use of analog environments in preparing for future planetary surface exploration is key in ensuring we both understand the processes shaping other planetary surfaces as well as develop the technology, systems, and concepts of operations necessary to operate in these geologic environments. While conducting fieldwork and testing technology in relevant terrestrial field environments is crucial in this development, it is often the case that operational testing requires a time-intensive iterative process that is hampered by the rigorous conditions (e.g. terrain, weather, location, etc.) found in most field environments. Additionally, field deployments can be costly and must be scheduled months in advance, therefore limiting the testing opportunities required to investigate and compare science operational concepts to only once or twice per year.

SHyRE↗

NASA NTRS2002

Robots and Humans in Planetary Exploration: Working Together?

Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

Landis, Geoffrey A.↗

NASA NTRS2006

Suited for Space

This viewgraph presentation describes the basic functions of space suits for EVA astronauts. Space suits are also described from the past, present and future space missions. The contents include: 1) Why Do You Need A Space Suit?; 2) Generic EVA System Requirements; 3) Apollo Lunar Surface Cycling Certification; 4) EVA Operating Cycles for Mars Surface Missions; 5) Mars Surface EVA Mission Cycle Requirements; 6) Robustness Durability Requirements Comparison; 7) Carry-Weight Capabilities; 8) EVA System Challenges (Mars); 9) Human Planetary Surface Exploration Experience; 10) NASA Johnson Space Center Planetary Analog Activities; 11) Why Perform Remote Field Tests; and 12) Other Reasons Why We Perform Remote Field Tests.

Kosmo, Joseph J.↗

NASA NTRS1992

The challenges and benefits of lunar exploration

Three decades into the Space Age, the United States is experiencing a fundamental shift in space policy with the adoption of a broad national goal to expand human presence and activity beyond Earth orbit and out into the Solar System. These plans mark a turning point in American space exploration, for they entail a shift away from singular forays to a long-term, evolutionary program of exploration and utilization of space. No longer limited to the technical and operational specifics of any one vehicle or any one mission plan, this new approach will involve a fleet of spacecraft and a stable of off-planet research laboratories, industrial facilities, and exploration programs. The challenges inherent in this program are immense, but so too are the benefits. Central to this new space architecture is the concept of using a lunar base for in-situ resource utilization, and for the development of planetary surface exploration systems, applicable to the Moon, Mars, and other planetary bodies in the Solar System. This paper discusses the technical, economic, and political challenges involved in this new approach, and details the latest thinking on the benefits that could come from bold new endeavors on the final frontier.

Cohen, Aaron↗

NASA NTRS2006

Software Architecture of Sensor Data Distribution In Planetary Exploration

Data from mobile and stationary sensors will be vital in planetary surface exploration. The distribution and collection of sensor data in an ad-hoc wireless network presents a challenge. Irregular terrain, mobile nodes, new associations with access points and repeaters with stronger signals as the network reconfigures to adapt to new conditions, signal fade and hardware failures can cause: a) Data errors; b) Out of sequence packets; c) Duplicate packets; and d) Drop out periods (when node is not connected). To mitigate the effects of these impairments, a robust and reliable software architecture must be implemented. This architecture must also be tolerant of communications outages. This paper describes such a robust and reliable software infrastructure that meets the challenges of a distributed ad hoc network in a difficult environment and presents the results of actual field experiments testing the principles and actual code developed.

Lee, Charles↗

NASA NTRS1992

Virtual reality and planetary exploration

Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

Mcgreevy, Michael W.↗

NASA NTRSDate not supplied

Medical Lessons Learned from the Exploration Atmospheres Study

Background: The National Aeronautics and Space Administration’s (NASA) Exploration Atmospheres study (EA) was done to evaluate alternative cabin atmospheres for future spacecraft designs and planetary surface exploration of the Moon, Mars and beyond. Deep space exploration involves creating habitats and environments safe for human occupancy and means to explore the outside environment (extravehicular activities, EVA). In order to validate alternative atmospheres and pre-spacewalk procedures, the EA study was conducted to evaluate factors such as hypoxia risks, denitrogenation protocols, food limitations, medications, and the impact of other factors on human performance. Overview: Space travel is constrained by mass, volume, power and the cost of vehicle development, which creates tradeoffs in various capabilities, including breathing gasses. Higher atmospheric pressure in a vehicle means more gas, and a stronger containment vessel/habitat; while lower pressure requires higher oxygen partial pressure, which may increase fire risk. NASA’s EA study evaluated a proposed alternative cabin environment (8.2 psia, 34% Oxygen), for future spacecraft habitat, and planetary EVAs. EA included both a 3-day and a 11-day trial. These trials included a depressurization and saturation to 8.2psi at 34% O2 with additional depresses to 4.3 psia at 85% O2 for simulated EVAs, (1 EVA during the 3-day and 5 during the 11-day trials). Discussion: Planning for and executing the medical monitoring and response plan for a trial of this scope was a huge undertaking with no prior practice to fall back on. Food obstacles, sleeping issues, medications, joint injury, equipment limitations, medical privacy, multiple cases of decompression sickness, and even a COVID outbreak among the support team proved challenging. Conclusion: Testing of this nature is an essential part NASA’s preparation for the upcoming Lunar Artemis missions. As spaceflight transitions beyond low earth orbit, to planetary, even more trials of this nature will be required to learn what are the optimal atmospheric and associated operational constraints to maintain the optimal health of the crew and achieve mission objectives.

R Sanders↗

NASA NTRS1990

Early surface habitation elements for planetary exploration missions

Rigid pressure vessel concepts appropriate for initial, crew-supporting exploration activities on planetary surfaces are discussed and compared. The problem of early exploration crew support is first bounded and outlined. The studied trade-space spans five crew sizes from 4 to 12, and three diameters of module structure from 4.4 to 10 m. Other considerations of gravity, orientation, structure and topology are also used as parameters. The paper illustrates application of a technique which uses interpolation across a field of point-designs to yield trade results. Methods to reduce the option set from 1480 to 30 are presented. Reproducible evaluation criteria are explained and applied, to enable selecting the most promising candidates. A final concept is synthesized for further study use, and presented via configuration drawings and weight statements. It is a 7.6 m diameter module, with two floors running lengthwise and a cross-sectioning pressure bulkhead. Versions for four, six and perhaps eight people can be landed fully integrated on the moon.

Sherwood, Brent↗

NASA NTRS2007

Assessment of SOI Devices and Circuits at Extreme Temperatures

Electronics designed for use in future NASA space exploration missions are expected to encounter extreme temperatures and wide thermal swings. Such missions include planetary surface exploration, bases, rovers, landers, orbiters, and satellites. Electronics designed for such applications must, therefore, be able to withstand exposure to extreme temperatures and to perform properly for the duration of mission. The Low Temperature Electronics Program at the NASA Glenn Research Center focuses on research and development of electrical devices, circuits, and systems suitable for applications in deep space exploration missions and aerospace environment. Silicon-On-Insulator (SOI) technology has been under active consideration in the electronics industry for many years due to the advantages that it can provide in integrated circuit (IC) chips and computer processors. Faster switching, less power, radiationtolerance, reduced leakage, and high temp-erature capability are some of the benefits that are offered by using SOI-based devices. A few SOI circuits are available commercially. However, there is a noticeable interest in SOI technology for different applications. Very little data, however, exist on the performance of such circuits under cryogenic temperatures. In this work, the performance of SOI integrated circuits, evaluated under low temperature and thermal cycling, are reported. In particular, three examples of SOI circuits that have been tested for operation at low at temperatures are given. These circuits are SOI operational amplifiers, timers and power MOSFET drivers. The investigations were carried out to establish a baseline on the functionality and to determine suitability of these circuits for use in space exploration missions at cryogenic temperatures. The findings are useful to mission planners and circuit designers so that proper selection of electronic parts can be made, and risk assessment can be established for such circuits for use in space missions.

Elbuluk, Malik↗

NASA NTRS2003

Automation and Robotics for Human Mars Exploration (AROMA)

Automation and Robotics (A&R) systems are a key technology for Mars exploration. All over the world initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. From December 2000 to February 2002 Kayser-Threde GmbH, Munich, Germany lead a study called AROMA (Automation and Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals of this effort is to initiate new developments and to maintain the competitiveness of European industry within this field. c2003 Published by Elsevier Science Ltd.

Space Flight/instrumentation↗

NASA NTRS2011

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Mars Exploration Rover (MER)↗

NASA NTRS2005

Sensor Data Distribution With Robustness and Reliability: Toward Distributed Components Model

In planetary surface exploration mission, sensor data distribution is required in many aspects, for example, in navigation, scheduling, planning, monitoring, diagnostics, and automation of the field tasks. The challenge is to distribute such data in the robust and reliable way so that we can minimize the errors caused by miscalculations, and misjudgments that based on the error data input in the mission. The ad-hoc wireless network on planetary surface is not constantly connected because of the nature of the rough terrain and lack of permanent establishments on the surface. There are some disconnected moments that the computation nodes will re-associate with different repeaters or access points until connections are reestablished. Such a nature requires our sensor data distribution software robust and reliable with ability to tolerant disconnected moments. This paper presents a distributed components model as a framework to accomplish such tasks. The software is written in Java and utilized the available Java Message Services schema and the Boss implementation. The results of field experimentations show that the model is very effective in completing the tasks.

Alena, Richard L.↗

NASA NTRS2005

ALI (Autonomous Lunar Investigator): Revolutionary Approach to Exploring the Moon with Addressable Reconfigurable Technology

Addressable Reconfigurable Technology (ART) based structures: Mission Concepts based on Addressable Reconfigurable Technology (ART), originally studied for future ANTS (Autonomous Nanotechnology Swarm) Space Architectures, are now being developed as rovers for nearer term use in lunar and planetary surface exploration. The architecture is based on the reconfigurable tetrahedron as a building block. Tetrahedra are combined to form space-filling networks, shaped for the required function. Basic structural components are highly modular, addressable arrays of robust nodes (tetrahedral apices) from which highly reconfigurable struts (tetrahedral edges), acting as supports or tethers, are efficiently reversibly deployed/stowed, transforming and reshaping the structures as required.

Clark, P. E.↗

NASA NTRS2023

Developing a Hybrid Space Suit Simulator as a Research Tool for Assessing Extravehicular Activity Relevant Workload

Suited testing time is limited and hard to come by, expensive, and requires a whole team to operate and monitor the suit; however, pressurized spacesuits are not always necessary for initial developmental efforts or assessment of informatics. The Human Physiology, Performance, Protection & Operations Laboratory (H-3PO) at NASA Johnson Space Center (JSC) is developing a Hybrid Space Suit Simulator (HS3) to support characterization of human performance during planetary surface exploration analogs. The primary goal of HS3 is to create a low cost, modular, and unpressurized suit simulator for use as a research tool which provides relevant physical and cognitive workload approximations with EVA-like immersion during planetary extravehicular activity (EVA) simulations. HS3 consists of a soft suit, communication, thermal control, gloves, boots, helmet, and integrated bioinformatics/sensors. The modular design of HS3 allows it to be modified to support test objectives as needed. HS3 enables H-3PO and NASA to complete critical human health and performance testing to address open risks and knowledge gaps in a timely, repeatable, and controlled manner. Four engineering runs were completed with HS3 as a baseline for capability. General workload was assessed while traversing on a passive treadmill and conducting geology tasks. Liquid cooling temperature, suit temperature, and metabolic rates were collected during one extended three-hour engineering run. For the duration of the engineering run the suit temperature was 26.6 ± 1.58 °C while suit humidity was 53.7 ± 5.11 %. Helmet temperature was higher than suit temperature at 27.8 ± 1.58 °C. Helmet humidity was lower than average suit humidity at 50.12 ± 11.3 °C. The liquid cooling temperature remained stable at 22.4 ± 1.62 °C. Resting metabolic rate was 597 ± 88 BTU/hr while metabolic rate increased during traverse tasks at 1500 ± 319 BTU/hr and geology tasks at 921 ± 129 BTU/hr. Following the engineering runs, a characterization study will be conducted. The subjects will perform EVA-like scenarios in both a shirtsleeve only and donned HS3, consisting of EVA task circuit focused on traversing, geological rock sampling, and task board manipulation. The characterization study will provide data capability for implementing HS3 in analog EVA testing environments.

Monica Hew↗

NASA NTRS2011

Evaluation of Robotic Systems to Carry Out Traverse Execution, Opportunistic Science, and Landing Site Evaluation Tasks

This report covers the execution of and results from the activities proposed and approved in Exploration Analogs and Mission Development (EAMD) Field Test Protocol HMP2010: Evaluation of Robotic Systems to carry out Traverse Execution, Opportunistic Science, and Landing Site Evaluation Tasks. The field tests documented in this report examine one facet of a larger program of planetary surface exploration. This program has been evolving and maturing for several years, growing from a broad policy statement with a few specified milestones for NASA to an international effort with much higher fidelity descriptions of systems and operations necessary to accomplish this type of exploration.

Hoffman, Stephen J.↗

NASA NTRS1992

The Extended Mission Rover (EMR)

A key component in ensuring America's status as a leader in the global community is its active pursuit of space exploration. On the twentieth anniversary of Apollo 11, President George Bush challenged the nation to place a man on the moon permanently and to conduct human exploration of Mars in the 21st century. The students of the FAMU/FSU College of Engineering hope to make a significant contribution to this challenge, America's Space Exploration Initiative (SEI), with their participation in the NASA/USRA Advanced Design Program. The project selected by the 1991/1992 Aerospace Design group is the design of an Extended Mission Rover (EMR) for use on the lunar surface. This vehicle will serve as a mobile base to provide future astronauts with a 'shirt-sleeve' living and working environment. Some of the proposed missions are planetary surface exploration, construction and maintenance, hardware setup, and in situ resource experimentation. This vehicle will be put into use in the 2010-2030 time frame.

Shields, W.↗

NASA NTRS2014

3D Additive Construction with Regolith for Surface Systems

Planetary surface exploration on Asteroids, the Moon, Mars and Martian Moons will require the stabilization of loose, fine, dusty regolith to avoid the effects of vertical lander rocket plume impingement, to keep abrasive and harmful dust from getting lofted and for dust free operations. In addition, the same regolith stabilization process can be used for 3 Dimensional ( 3D) printing, additive construction techniques by repeating the 2D stabilization in many vertical layers. This will allow in-situ construction with regolith so that materials will not have to be transported from Earth. Recent work in the NASA Kennedy Space Center (KSC) Surface Systems Office (NE-S) Swamp Works and at the University of Southern California (USC) under two NASA Innovative Advanced Concept (NIAC) awards have shown promising results with regolith (crushed basalt rock) materials for in-situ heat shields, bricks, landing/launch pads, berms, roads, and other structures that could be fabricated using regolith that is sintered or mixed with a polymer binder. The technical goals and objectives of this project are to prove the feasibility of 3D printing additive construction using planetary regolith simulants and to show that they have structural integrity and practical applications in space exploration.

Technology Portfolio System↗