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NASA NTRS2011

The Space Medicine Exploration Medical Condition List

Exploration Medical Capability (ExMC) is an element of NASA s Human Research Program (HRP). ExMC's goal is to address the risk of the "Inability to Adequately Recognize or Treat an Ill or Injured Crewmember." This poster highlights the approach ExMC has taken to address this risk. The Space Medicine Exploration Medical Condition List (SMEMCL) was created to define the set of medical conditions that are most likely to occur during exploration space flight missions. The list was derived from the International Space Station Medical Checklist, the Shuttle Medical Checklist, in-flight occurrence data from the Lifetime Surveillance of Astronaut Health, and NASA subject matter experts. The list of conditions was further prioritized for eight specific design reference missions with the assistance of the ExMC Advisory Group. The purpose of the SMEMCL is to serve as an evidence-based foundation for the conditions that could affect a crewmember during flight. This information is used to ensure that the appropriate medical capabilities are available for exploration missions.

Watkins, Sharmi↗
NASA NTRS2011

Scotty, I Need More Power - The Fission System Gateway to Abundant Power for Exploration

In planning and in crisis, electrical power has been a key consideration when humans venture into space. Since the 1950's, nuclear fission (splitting of atoms) power has been a logical alternative in both fact and fiction, due to its ability to provide abundant power with high energy density, reliability, and immunity to severe environments. Bringing space fission power to a state of readiness for exploration has depended on clearing the hurdle of technology readiness demonstration. Due to the happy coincidence of heritage from prior space fission development efforts such as the Prometheus program, foresight from NASA's Exploration Mission Systems Directorate in the mid-2000's, and relative budget stability through the late 2000's, National Aeronautics and Space Administration (NASA) and Department of Energy (DOE), with their industry partners, are poised to push through to this objective. Hardware for a 12 kWe non-nuclear Fission Power System Technology Demonstration Unit is being fabricated now on a schedule that will enable a low-cost demonstration of technology readiness in the mid-2010s, with testing beginning as early as 2012. With space fission power system technology demonstrated, exploration mission planners will have the flexibility to respond to a broad variety of missions and will be able to provide abundant power so that future explorers will, in planning or crisis, have the power they need when they most need it.

Palac, Donald T.↗
NASA NTRS2011

Life Support and Habitation Systems: Crew Support and Protection for Human Exploration Missions Beyond Low Earth Orbit

The National Aeronautics and Space Administration (NASA) has recently expanded its mission set for possible future human exploration missions. With multiple options there is interest in identifying technology needs across these missions to focus technology investments. In addition to the Moon and other destinations in cis-lunar space, other destinations including Near Earth Objects and Mars have been added for consideration. Recently, technology programs and projects have been re-organizing to better meet the Agency s strategic goals and address needs across these potential future missions. Life Support and Habitation Systems (LSHS) is one of 10 Foundational Domains as part of the National Aeronautics and Space Administration s Exploration Technology Development Program. The chief goal of LSHS is to develop and mature advanced technologies to sustain human life on missions beyond Low Earth Orbit (LEO) to increase reliability, reduce dependency on resupply and increase vehicle self-sufficiency. For long duration exploration missions, further closure of life support systems is of interest. Focus includes key technologies for atmosphere revitalization, water recovery, waste management, thermal control and crew accommodations. Other areas of focus include technologies for radiation protection, environmental monitoring and fire protection. The aim is to recover additional consumable mass, reduce requirements for power, volume, heat rejection, crew involvement, and meet exploration vehicle requirements. This paper provides a brief description of the LSHS Foundational Domain as defined for fiscal year 2011.

Barta, Daniel J.↗
NASA NTRS2004

Cooperative Lander-Surface/Aerial Microflyer Missions for Mars Exploration

Concepts are being investigated for exploratory missions to Mars based on Bioinspired Engineering of Exploration Systems (BEES), which is a guiding principle of this effort to develop biomorphic explorers. The novelty lies in the use of a robust telecom architecture for mission data return, utilizing multiple local relays (including the lander itself as a local relay and the explorers in the dual role of a local relay) to enable ranges ~10 to 1,000 km and downlink of color imagery. As illustrated in Figure 1, multiple microflyers that can be both surface or aerially launched are envisioned in shepherding, metamorphic, and imaging roles. These microflyers imbibe key bio-inspired principles in their flight control, navigation, and visual search operations. Honey-bee inspired algorithms utilizing visual cues to perform autonomous navigation operations such as terrain following will be utilized. The instrument suite will consist of a panoramic imager and polarization imager specifically optimized to detect ice and water. For microflyers, particularly at small sizes, bio-inspired solutions appear to offer better alternate solutions than conventional engineered approaches. This investigation addresses a wide range of interrelated issues, including desired scientific data, sizes, rates, and communication ranges that can be accomplished in alternative mission scenarios. The mission illustrated in Figure 1 offers the most robust telecom architecture and the longest range for exploration with two landers being available as main local relays in addition to an ephemeral aerial probe local relay. The shepherding or metamorphic plane are in their dual role as local relays and image data collection/storage nodes. Appropriate placement of the landing site for the scout lander with respect to the main mission lander can allow coverage of extremely large ranges and enable exhaustive survey of the area of interest. In particular, this mission could help with the path planning and risk mitigation in the traverse of the long-distance surface explorer/rover. The basic requirements of design and operation of BEES to implement the scenarios are discussed. Terrestrial applications of such concepts include distributed aerial/surface measurements of meteorological events, i.e., storm watch, seismic monitoring, reconnaissance, biological chemical sensing, search and rescue, surveillance, autonomous security/ protection agents, and/or delivery and lateral distribution of agents (sensors, surface/subsurface crawlers, clean-up agents). Figure 2 illustrates an Earth demonstration that is in development, and its implementation will illustrate the value of these biomorphic mission concepts.

Thakoor, Sarita↗
NASA NTRS2011

Why Should Humans Explore a Near Earth Asteroid and What Factors Drive the Medical Risks?

The National Aeronautics and Space Administration (NASA) is currently considering plans for the human exploration of a Near Earth Asteroid (NEA). Reasons for undertaking the human exploration of a NEA include increasing the scientific understanding of the origins of our solar system, and developing technology for the exploration of more distant destinations such as Mars. Most mission scenarios have a duration on the order of several months or a year, most of which is spent in transit to and from the NEA. The choice of a particular NEA destination determines the mission duration and guides the types of exploration activities that can be performed on and near the NEA. NASA s Human Research Program (HRP) has identified short and long-term health risks associated with such missions and begun characterizing the level of risk. Some risk drivers are well known from missions to low Earth orbit and the Moon (e.g., the limited mass, volume, and power available for the medical care system). Other factors emerge as major drivers for NEA missions. Some are fundamental characteristics of the mission parameters (e.g., mission duration, distance) and others are strongly dependent on the specifics of how the mission is implemented (e.g., isolation and confinement). Careful consideration of these factors will be required for safe and effective missions to NEAs.

Kundrot, Craig E.↗
NASA NTRS2011

Strategic Implications of Human Exploration of Near-Earth Asteroids

The current United States Space Policy [1] as articulated by the White House and later confirmed by the Congress [2] calls for [t]he extension of the human presence from low-Earth orbit to other regions of space beyond low-Earth orbit will enable missions to the surface of the Moon and missions to deep space destinations such as near-Earth asteroids and Mars. Human exploration of the Moon and Mars has been the focus of numerous exhaustive studies and planning, but missions to Near-Earth Asteroids (NEAs) has, by comparison, garnered relatively little attention in terms of mission and systems planning. This paper examines the strategic implications of human exploration of NEAs and how they can fit into the overall exploration strategy. This paper specifically addresses how accessible NEAs are in terms of mission duration, technologies required, and overall architecture construct. Example mission architectures utilizing different propulsion technologies such as chemical, nuclear thermal, and solar electric propulsion were formulated to determine resulting figures of merit including number of NEAs accessible, time of flight, mission mass, number of departure windows, and length of the launch windows. These data, in conjunction with what we currently know about these potential exploration targets (or need to know in the future), provide key insights necessary for future mission and strategic planning.

Drake, Bret G.↗
NASA NTRS2011

Near-Earth Objects: Targets for Future Human Exploration, Solar System Science, Resource Utilization, and Planetary Defense

U.S. President Obama stated on April 15, 2010 that the next goal for human spaceflight will be to send human beings to a near-Earth asteroid by 2025. Given this direction from the White House, NASA has been involved in studying various strategies for near-Earth object (NEO) exploration in order to follow U.S. Space Exploration Policy. This mission would be the first human expedition to an interplanetary body beyond the Earth-Moon system and would prove useful for testing technologies required for human missions to Mars and other Solar System destinations. Missions to NEOs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific investigations of these primitive objects. In addition, the resulting scientific investigations would refine designs for future extraterrestrial resource extraction and utilization, and assist in the development of hazard mitigation techniques for planetary defense. This presentation will discuss some of the physical characteristics of NEOs and review some of the current plans for NEO research and exploration from both a human and robotic mission perspective.

Abell, Paul A.↗
NASA NTRS2011

Concept Design of High Power Solar Electric Propulsion Vehicles for Human Exploration

Human exploration beyond low Earth orbit will require enabling capabilities that are efficient, affordable and reliable. Solar electric propulsion (SEP) has been proposed by NASA s Human Exploration Framework Team as one option to achieve human exploration missions beyond Earth orbit because of its favorable mass efficiency compared to traditional chemical propulsion systems. This paper describes the unique challenges associated with developing a large-scale high-power (300-kWe class) SEP vehicle and design concepts that have potential to meet those challenges. An assessment of factors at the subsystem level that must be considered in developing an SEP vehicle for future exploration missions is presented. Overall concepts, design tradeoffs and pathways to achieve development readiness are discussed.

Hoffman, David J.↗
NASA NTRS2012

The Near-Earth Object Human Space Flight Accessible Targets Study (NHATS) List of Near-Earth Asteroids: Identifying Potential Targets for Future Exploration

Over the past several years, much attention has been focused on the human exploration of near-Earth asteroids (NEAs). Two independent NASA studies examined the feasibility of sending piloted missions to NEAs [1, 2], and in 2009, the Augustine Commission identified NEAs as high profile destinations for human exploration missions beyond the Earth-Moon system [3]. More recently the current U.S. presidential administration directed NASA to include NEAs as destinations for future human exploration with the goal of sending astronauts to a NEA in the mid to late 2020s. This directive became part of the official National Space Policy of the United States of America as of June 28, 2010 [4]. Detailed planning for such deep space exploration missions and identifying potential NEAs as targets for human spaceflight requires selecting objects from the ever growing list of newly discovered NEAs. Hence NASA developed and implemented the Near-Earth Object (NEO) Human Space Flight (HSF) Accessible Target Study (NHATS), which identifies potential candidate objects on the basis of defined dynamical trajectory performance constraints.

Abell, Paul A.↗
NASA NTRS2012

Finding Near-Earth Asteroid (NEA) Destinations for Human Exploration: Implications for Astrobiology

The current number of known potential NEA targets for HSF is limited to those objects whose orbital characteristics are similar to that of the Earth. This is due to the projected capabilities of the exploration systems currently under consideration and development at NASA. However, NEAs with such orbital characteristics often have viewing geometries that place them at low solar elongations and thus are difficult to detect from the vicinity of Earth. While ongoing ground-based surveys and data archives maintained by the NEO Program Observation Program Office and the Minor Planet Center (MPC) have provided a solid basis upon which to build, a more complete catalog of the NEO population is required to inform a robust and sustainable HSF exploration program. Since all the present NEO observing assets are currently confined to the vicinity of the Earth, additional effort must be made to provide capabilities for detection of additional HSF targets via assets beyond Earth orbit. A space-based NEO survey telescope located beyond the vicinity of the Earth, has considerable implications for planetary science and astrobiology. Such a telescope will provide foundational knowledge of our Solar System small body population and detect targets of interest for both the HSF and scientific communities. Data from this asset will yield basic characterization data on the NEOs observed (i.e., albedo, size determination, potential for volatiles and organics, etc.) and help down select targets for future HSF missions. Ideally, the most attractive targets from both HSF and astrobiology perspectives are those NEAs that may contain organic and volatile materials, and which could be effectively sampled at a variety of locations and depths. Presented here is an overview of four space-based survey concepts; any one of which after just a few years of operation will discover many highly accessible NEO targets suitable for robotic and human exploration. Such a space-based survey mission will reveal incredible returns for several disciplines including: exploration, in situ resource utilization, planetary defense, and science. Of particular, interest to the scientific

Landis, Rob↗
NASA NTRS2012

Progress Made in Lunar In-Situ Resource Utilization Under NASA's Exploration Technology and Development Program

Incorporation of In-Situ Resource Utilization (ISRU) and the production of mission critical consumables for 9 propulsion, power, and life support into mission architectures can greatly reduce the mass, cost, and risk of missions 10 leading to a sustainable and affordable approach to human exploration beyond Earth. ISRU and its products can 11 also greatly affect how other exploration systems are developed, including determining which technologies are 12 important or enabling. While the concept of lunar ISRU has existed for over 40 years, the technologies and systems 13 had not progressed much past simple laboratory proof-of-concept tests. With the release of the Vision for Space 14 Exploration in 2004 with the goal of harnessing the Moon.s resources, NASA initiated the ISRU Project in the 15 Exploration Technology Development Program (ETDP) to develop the technologies and systems needed to meet 16 this goal. In the five years of work in the ISRU Project, significant advancements and accomplishments occurred in 17 several important areas of lunar ISRU. Also, two analog field tests held in Hawaii in 2008 and 2010 demonstrated 18 all the steps in ISRU capabilities required along with the integration of ISRU products and hardware with 19 propulsion, power, and cryogenic storage systems. This paper will review the scope of the ISRU Project in the 20 ETDP, ISRU incorporation and development strategies utilized by the ISRU Project, and ISRU development and 21 test accomplishments over the five years of funded project activity.

Sanders, Gerald B.↗
NASA NTRS2012

National Aeronautics and Space Administration (NASA) Environmental Control and Life Support (ECLS) Capability Roadmap Development for Exploration

NASA is considering a number of future human space exploration mission concepts. Although detailed requirements and vehicle architectures remain mostly undefined, near-term technology investment decisions need to be guided by the anticipated capabilities needed to enable or enhance the mission concepts. This paper describes a roadmap that NASA has formulated to guide the development of Environmental Control and Life Support Systems (ECLSS) capabilities required to enhance the long-term operation of the International Space Station (ISS) and enable beyond-Low Earth Orbit (LEO) human exploration missions. Three generic mission types were defined to serve as a basis for developing a prioritized list of needed capabilities and technologies. Those are 1) a short duration micro gravity mission; 2) a long duration transit microgravity mission; and 3) a long duration surface exploration mission. To organize the effort, ECLSS was categorized into three major functional groups (atmosphere, water, and solid waste management) with each broken down into sub-functions. The ability of existing, flight-proven state-of-the-art (SOA) technologies to meet the functional needs of each of the three mission types was then assessed. When SOA capabilities fell short of meeting the needs, those "gaps" were prioritized in terms of whether or not the corresponding capabilities enable or enhance each of the mission types. The resulting list of enabling and enhancing capability gaps can be used to guide future ECLSS development. A strategy to fulfill those needs over time was then developed in the form of a roadmap. Through execution of this roadmap, the hardware and technologies needed to enable and enhance exploration may be developed in a manner that synergistically benefits the ISS operational capability, supports Multi-Purpose Crew Vehicle (MPCV) development, and sustains long-term technology investments for longer duration missions. This paper summarizes NASA s ECLSS capability roadmap development process, findings, and recommendation

Bagdigian, Robert M.↗
NASA NTRS2012

Inspiring the Next Generation of Explorers: Scientist Involvement in the Expedition Earth and Beyond Program

Scientists, science experts, graduate and even undergraduate student researchers have a unique ability to inspire the next generation of explorers. These science, technology, engineering, and mathematics (STEM) experts can serve as role models for students and can help inspire them to consider future STEM-related careers. They have an exceptional ability to instill a sense of curiosity and fascination in the minds of students as they bring science to life in the classroom. Students and teachers are hungry for opportunities to interact with scientists. They feel honored when these experts take time out of their busy day to share their science, their expertise, and their stories. The key for teachers is to be cognizant of opportunities to connect their students with scientists. For scientists, the key is to know how to get involved, to have options for participation that involve different levels of commitment, and to work with educational specialists who can help facilitate their involvement. The Expedition Earth and Beyond (EEAB) Program, facilitated by the Astromaterials Research and Exploration Science (ARES) Directorate at the NASA Johnson Space Center, is an Earth and planetary science education program designed to inspire, engage, and educate teachers and students by getting them actively involved with NASA exploration, discovery, and the process of science. One of the main goals of the program is to facilitate student research in the classroom. The program uses astronaut photographs, provided through the ARES Crew Earth Observations (CEO) payload on the International Space Station (ISS) as the hook to help students gain an interest in a research topic. Student investigations can focus on Earth or involve comparative planetology. Student teams are encouraged to use additional imagery and data from Earth or planetary orbital spacecraft, or ground-based data collection tools, to augment the astronaut photography dataset. A second goal of the program is to provide opportunities for meaningful connections between scientists and classrooms. To do this, EEAB offers multiple opportunities for scientist involvement. One opportunity involves having scientists work as mentors for student teams conducting research. These student teams, ranging from grades 4 through 12, are able to obtain guidance, suggestions, and input from STEM experts as they conduct a research investigation. Another opportunity for scientist involvement is participation in Classroom Connection Distance Learning (DL) events. These DL events entail interactive and engaging presentations that enable STEM experts to share their expertise with students and teachers (grades 3 through 12) from all across the nation. A third opportunity for scientist involvement involves participation in virtual student team science presentations. Student teams have the opportunity to share their research and results by presenting it to science experts through the use of WebEx, an easy-to-use online conferencing tool. The impact STEM experts have on students in today s classrooms is powerful. They serve as role models to these students, and they open students eyes to a potential career path they may not have known existed otherwise. The more scientists and STEM experts we can connect with students, the greater the impact we can make as we strive to inspire and prepare our nation s next generation of explorers.

Graff, Paige↗
NASA NTRS2012

Exploration Space Suit Architecture and Destination Environmental-Based Technology Development

This paper continues forward where EVA Space Suit Architecture: Low Earth Orbit Vs. Moon Vs. Mars [1] left off in the development of a space suit architecture that is modular in design and could be reconfigured prior to launch or during any given mission depending on the tasks or destination. This paper will address the space suit system architecture and technologies required based upon human exploration extravehicular activity (EVA) destinations, and describe how they should evolve to meet the future exploration EVA needs of the US human space flight program.1, 2, 3 In looking forward to future US space exploration to a space suit architecture with maximum reuse of technology and functionality across a range of mission profiles and destinations, a series of exercises and analyses have provided a strong indication that the Constellation Program (CxP) space suit architecture is postured to provide a viable solution for future exploration missions4. The destination environmental analysis presented in this paper demonstrates that the modular architecture approach could provide the lowest mass and mission cost for the protection of the crew given any human mission outside of low-Earth orbit (LEO). Additionally, some of the high-level trades presented here provide a review of the environmental and non-environmental design drivers that will become increasingly important the farther away from Earth humans venture. This paper demonstrates a logical clustering of destination design environments that allows a focused approach to technology prioritization, development, and design that will maximize the return on investment, independent of any particular program, and provide architecture and design solutions for space suit systems in time or ahead of need dates for any particular crewed flight program in the future. The approach to space suit design and interface definition discussion will show how the architecture is very adaptable to programmatic and funding changes with minimal redesign effort such that the modular architecture can be quickly and efficiently honed into a specific mission point solution if required. Additionally, the modular system will allow for specific technology incorporation and upgrade as required with minimal redesign of the system.

Hill, Terry R.↗
NASA NTRS2012

Environmental Controls and Life Support System (ECLSS) Design for a Multi-Mission Space Exploration Vehicle (MMSEV)

Engineers at Johnson Space Center (JSC) are developing an Environmental Control and Life Support System (ECLSS) design for the Multi-Mission Space Exploration Vehicle (MMSEV). The purpose of the MMSEV is to extend the human exploration envelope for Lunar, Near Earth Object (NEO), or Deep Space missions by using pressurized exploration vehicles. The MMSEV, formerly known as the Space Exploration Vehicle (SEV), employs ground prototype hardware for various systems and tests it in manned and unmanned configurations. Eventually, the system hardware will evolve and become part of a flight vehicle capable of supporting different design reference missions. This paper will discuss the latest MMSEV ECLSS architectures developed for a variety of design reference missions, any work contributed toward the development of the ECLSS design, lessons learned from testing prototype hardware, and the plan to advance the ECLSS toward a flight design.

Stambaugh, Imelda↗
NASA NTRS2012

NASA's Space Launch System: A Flagship for Exploration Beyond Earth's Orbit

The National Aeronautics and Space Administration s (NASA) Space Launch System (SLS) Program, managed at the Marshall Space Flight Center, is making progress toward delivering a new capability for exploration beyond Earth orbit in an austere economic climate. This fact drives the SLS team to find innovative solutions to the challenges of designing, developing, fielding, and operating the largest rocket in history. To arrive at the current SLS plan, government and industry experts carefully analyzed hundreds of architecture options and arrived at the one clear solution to stringent requirements for safety, affordability, and sustainability over the decades that the rocket will be in operation. This paper will explore ways to fit this major development within the funding guidelines by using existing engine assets and hardware now in testing to meet a first launch by 2017. It will explain the SLS Program s long-range plan to keep the budget within bounds, yet evolve the 70 metric ton (t) initial lift capability to 130-t lift capability after the first two flights. To achieve the evolved configuration, advanced technologies must offer appropriate return on investment to be selected through a competitive process. For context, the SLS will be larger than the Saturn V that took 12 men on 6 trips for a total of 11 days on the lunar surface over 4 decades ago. Astronauts train for long-duration voyages on the International Space Station, but have not had transportation to go beyond Earth orbit in modern times, until now. NASA is refining its mission manifest, guided by U.S. Space Policy and the Global Exploration Roadmap. Launching the Orion Multi-Purpose Cargo Vehicle s first autonomous certification flight in 2017, followed by a crewed flight in 2021, the SLS will offer a robust way to transport international crews and the air, water, food, and equipment they need for extended trips to asteroids, Lagrange Points, and Mars. In addition, the SLS will accommodate high-priority science experiments. SLS affordability initiatives include streamlining interfaces, applying risk-based insight into contracted work, centralizing systems engineering and integration, and nurturing a learning culture that continually benchmarks its performance against successful ventures. As this paper will explain, the SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by harnessing business and technological innovations to deliver sustainable solutions for space exploration.

May, Todd↗
NASA NTRS2012

NASA's Space Launch System: A Flagship for Exploration Beyond Earth's Orbit

The National Aeronautics and Space Administration's (NASA) Space Launch System (SLS) Program, managed at the Marshall Space Flight Center, is making progress toward delivering a new capability for exploration beyond Earth orbit in an austere economic climate. This fact drives the SLS team to find innovative solutions to the challenges of designing, developing, fielding, and operating the largest rocket in history. To arrive at the current SLS plan, government and industry experts carefully analyzed hundreds of architecture options and arrived at the one clear solution to stringent requirements for safety, affordability, and sustainability over the decades that the rocket will be in operation. This paper will explore ways to fit this major development within the funding guidelines by using existing engine assets and hardware now in testing to meet a first launch by 2017. It will explain the SLS Program s long-range plan to keep the budget within bounds, yet evolve the 70 metric ton (t) initial lift capability to 130-t lift capability after the first two flights. To achieve the evolved configuration, advanced technologies must offer appropriate return on investment to be selected through a competitive process. For context, the SLS will be larger than the Saturn V that took 12 men on 6 trips for a total of 11 days on the lunar surface over 4 decades ago. Astronauts train for long-duration voyages on the International Space Station, but have not had transportation to go beyond Earth orbit in modern times, until now. NASA is refining its mission manifest, guided by U.S. Space Policy and the Global Exploration Roadmap. Launching the Orion Multi-Purpose Crew Vehicle s (MPCV s) first autonomous certification flight in 2017, followed by a crewed flight in 2021, the SLS will offer a robust way to transport international crews and the air, water, food, and equipment they need for extended trips to asteroids, Lagrange Points, and Mars. In addition, the SLS will accommodate high-priority science experiments. SLS affordability initiatives include streamlining interfaces, applying risk-based insight into contracted work, centralizing systems engineering and integration, and nurturing a learning culture that continually benchmarks its performance against successful ventures. As this paper will explain, the SLS is making measurable progress toward becoming a global infrastructure asset for robotic and human scouts of all nations by harnessing business and technological innovations to deliver sustainable solutions for space exploration.

May, Todd A.↗
NASA NTRS2012

Adaptive Sampling of Time Series During Remote Exploration

This work deals with the challenge of online adaptive data collection in a time series. A remote sensor or explorer agent adapts its rate of data collection in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility (all its datapoints lie in the past) and limited control (it can only decide when to collect its next datapoint). This problem is treated from an information-theoretic perspective, fitting a probabilistic model to collected data and optimizing the future sampling strategy to maximize information gain. The performance characteristics of stationary and nonstationary Gaussian process models are compared. Self-throttling sensors could benefit environmental sensor networks and monitoring as well as robotic exploration. Explorer agents can improve performance by adjusting their data collection rate, preserving scarce power or bandwidth resources during uninteresting times while fully covering anomalous events of interest. For example, a remote earthquake sensor could conserve power by limiting its measurements during normal conditions and increasing its cadence during rare earthquake events. A similar capability could improve sensor platforms traversing a fixed trajectory, such as an exploration rover transect or a deep space flyby. These agents can adapt observation times to improve sample coverage during moments of rapid change. An adaptive sampling approach couples sensor autonomy, instrument interpretation, and sampling. The challenge is addressed as an active learning problem, which already has extensive theoretical treatment in the statistics and machine learning literature. A statistical Gaussian process (GP) model is employed to guide sample decisions that maximize information gain. Nonsta tion - ary (e.g., time-varying) covariance relationships permit the system to represent and track local anomalies, in contrast with current GP approaches. Most common GP models are stationary, e.g., the covariance relationships are time-invariant. In such cases, information gain is independent of previously collected data, and the optimal solution can always be computed in advance. Information-optimal sampling of a stationary GP time series thus reduces to even spacing, and such models are not appropriate for tracking localized anomalies. Additionally, GP model inference can be computationally expensive.

Thompson, David R.↗