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NASA NTRS1994

The NASA Ames Closed Environmental Research Chamber: Present Status

The Closed Environmental Research Chamber (CERC) at the NASA Ames Research Center was created to investigate both components and complete systems for life support of advanced space exploration missions. This facility includes a Main Chamber, an Airlock, a Sample Transfer Lock, a Vacuum System, an Air Recompression System, a dedicated control room and a pit area for housing supporting and environmental control systems. The Main Chamber provides 310 sq ft of internal working/living space on two levels. It is planned that the CERC will be a human-rated facility for habitation simulation under mass balance closure conditions. The internal pressure will be variable over the range of 14.7 psia to 5 psia with accompanying capability for variation in atmosphere composition to maintain the oxygen partial pressure at 160 mm Hg. The CERC will be provided with a core set of primary life support subsystems for temperature and humidity control, C02 removal and trace contaminant control. Interfacing with external life support technology test b~ds with be provided, along with connection to centralized, microprocessor-based data acquisition and control systems. This paper will discuss the current status of the CERC facility and show how it is being used to address the advanced technology requirements necessary to implement an integrated working and living environment for a planetary habitat. In particular, it will be shown how the CERC, along with a human-powered centrifuge, a planetary terrain simulator and advanced displays and a virtual reality capability will work together to develop and demonstration applicable technologies for future planetary habitats. Artificial intelligence and expert system programming techniques will be used extensively to provide an automated environment for a 4-person crew. There will be several robotic mechanisms performing exploration tasks external to the habitat that will be controlled through the virtual environment to provide representative workloads for the crew. Finally, there will be a discussion of how effective are innovative new multidisciplinary test facilities to the investigation of the wide range of human and machine problems inherent in exploration missions.

Gross, Anthony R.↗

NASA NTRSDate not supplied

ISRU Pilot Excavator - Development of Autonomous Excavation Algorithms

The ISRU Pilot Excavator (IPEx) is a Space Technology Mission Directorate (STMD) Game Changing Development (GCD) project to develop a robotic excavator to demonstrate excavation of up to 10 metric tons of lunar regolith. IPEx is based on the Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator developed at NASA Kennedy Space Center (KSC) and utilizes a counter rotating bucket drum concept to balance excavation forces for use on reduced gravity planetary bodies. To take advantage of the counter rotating bucket drum mechanism, work is being done to develop new autonomous excavation strategies and algorithms. Referred to as “Auto-dig”, these algorithms will allow IPEx to excavate, drive, and deliver its target mass of 10 metric tons of lunar regolith during an 11-day mission semi-autonomously. Due to bandwidth and latency constraints teleoperation will be kept to a minimum, with operators periodically confirming and verifying the excavator’s high-level tasks and operations. While the work to develop optimized autodig solutions is ongoing at KSC, early tests have yielded interesting results that have led to the discovery of additional risks that need to be mitigated in autonomous excavation. Testing has also encouraged the development of new software and visualization tools that provide real-time insight into excavation loads during operation, allowing faster development and helping build better intuition to the excavation process. These tools will help in the pursuit to develop fully optimized digging algorithms that are robust enough to handle hazards such as rocks or irregular terrain.

B. C. Buckles↗

NASA NTRS2015

Extravehicular Activity and Planetary Protection

The first human mission to Mars will be the farthest distance that humans have traveled from Earth and the first human boots on Martian soil in the Exploration EVA Suit. The primary functions of the Exploration EVA Suit are to provide a habitable, anthropometric, pressurized environment for up to eight hours that allows crewmembers to perform autonomous and robotically assisted extravehicular exploration, science/research, construction, servicing, and repair operations on the exterior of the vehicle, in hazardous external conditions of the Mars local environment. The Exploration EVA Suit has the capability to structurally interface with exploration vehicles via next generation ingress/egress systems. Operational concepts and requirements are dependent on the mission profile, surface assets, and the Mars environment. This paper will discuss the effects and dependencies of the EVA system design with the local Mars environment and Planetary Protection. Of the three study areas listed for the workshop, EVA identifies most strongly with technology and operations for contamination control.

Buffington, J. A.↗

NASA NTRS2015

The Asteroid Redirect Mission (ARM)

The National Aeronautics and Space Administration (NASA) is developing a robotic mission to visit a large near-Earth asteroid (NEA), collect a multi-ton boulder from its surface, and redirect it into a stable orbit around the Moon. Once returned to cislunar space in the mid-2020s, astronauts will explore the boulder and return to Earth with samples. This Asteroid Redirect Mission (ARM) is part of NASA's plan to advance the technologies, capabilities, and spaceflight experience needed for a human mission to the Martian system in the 2030s. Subsequent human and robotic missions to the asteroidal material would also be facilitated by its return to cislunar space. Although ARM is primarily a capability demonstration mission (i.e., technologies and associated operations), there exist significant opportunities to advance our knowledge of small bodies in the synergistic areas of science, planetary defense, asteroidal resources and in-situ resource utilization (ISRU), and capability and technology demonstrations. In order to maximize the knowledge return from the mission, NASA is organizing an ARM Investigation Team, which is being preceded by the Formulation Assessment and Support Team. These teams will be comprised of scientists, technologists, and other qualified and interested individuals to help plan the implementation and execution of ARM. An overview of robotic and crewed segments of ARM, including the mission requirements, NEA targets, and mission operations, will be provided along with a discussion of the potential opportunities associated with the mission.

Abell, Paul↗

NASA NTRS1987

Experiments in Planetary and Related Sciences and the Space Station

Numerous workshops were held to provide a forum for discussing the full range of possible experiments, their science rationale, and the requirements on the Space Station, should such experiments eventually be flown. During the workshops, subgroups met to discuss areas of common interest. Summaries of each group and abstracts of contributed papers as they developed from a workshop on September 15 to 16, 1986, are included. Topics addressed include: planetary impact experimentation; physics of windblown particles; particle formation and interaction; experimental cosmochemistry in the space station; and an overview of the program to place advanced automation and robotics on the space station.

Greeley, Ronald↗

NASA NTRS1990

Sparse distributed memory overview

The Sparse Distributed Memory (SDM) project is investigating the theory and applications of massively parallel computing architecture, called sparse distributed memory, that will support the storage and retrieval of sensory and motor patterns characteristic of autonomous systems. The immediate objectives of the project are centered in studies of the memory itself and in the use of the memory to solve problems in speech, vision, and robotics. Investigation of methods for encoding sensory data is an important part of the research. Examples of NASA missions that may benefit from this work are Space Station, planetary rovers, and solar exploration. Sparse distributed memory offers promising technology for systems that must learn through experience and be capable of adapting to new circumstances, and for operating any large complex system requiring automatic monitoring and control. Sparse distributed memory is a massively parallel architecture motivated by efforts to understand how the human brain works. Sparse distributed memory is an associative memory, able to retrieve information from cues that only partially match patterns stored in the memory. It is able to store long temporal sequences derived from the behavior of a complex system, such as progressive records of the system's sensory data and correlated records of the system's motor controls.

Raugh, Mike↗

NASA NTRS1991

A perception and manipulation system for collecting rock samples

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.

Choi, T.↗

NASA NTRS1994

Terrain modelling and motion planning for an autonomous exploration rover

To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions.

Richard, F.↗

NASA NTRS2013

Faxing Structures to the Moon: Freeform Additive Construction System (FACS)

Using the highly articulated All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robotic mobility system as a precision positioning tool, a variety of print head technologies can be used to 3D print large-scale in-situ structures on planetary surfaces such as the moon or Mars. In effect, in the same way CAD models can be printed in a 3D printer, large-scale structures such as walls, vaults, domes, berms, paving, trench walls, and other insitu derived elements can be FAXed to the planetary surface and built in advance of the arrival of crews, supplementing equipment and materials brought from earth. This paper discusses the ATHLETE system as a mobility / positioning platform, and presents several options for large-scale additive print head technologies, including tunable microwave "sinterator" approaches and in-situ concrete deposition. The paper also discusses potential applications, such as sintered-in-place habitat shells, radiation shielding, road paving, modular bricks, and prefabricated construction components.

Apollo Lunar Module↗

NASA NTRSDate not supplied

Development of ARGOS (Active Response Gravity Offload System) Offloading Assessments and Methodology for Lunar EVA Simulations

The Active Response Gravity Offload System (ARGOS) at NASA Johnson Space Center (JSC) is an analog environment that can offload pressurized suited subjects for various reduced gravity simulations. The suit is suspended from a robotic overhead crane by a cable connected to the suit via a gimbal with an adjustable pivot point (i.e. offload attachment). There has been increased interest in providing planetary pressurized suited training at ARGOS in preparation for lunar missions. Determination of the appropriate gimbal pivot point location for a given subject is vital for a high-fidelity functional lunar simulation. Interactions between the pivot point location and human-spacesuit center of gravity (CG) can result in righting moments that may lead to artificially stable or unrealistically challenging configurations. Changing the pivot point location is time consuming and repeated adjustment can result in loss of valuable pressurized suited time. This paper aims to share knowledge obtained from the offloading characterization efforts during pressurized suited testing at ARGOS and document the ongoing process to define an appropriate pivot point location through iterative quantitative and qualitative assessments. Human-spacesuit CG locations for the ARGOS lunar simulation were estimated using a 3D body scan and density model combined with spacesuit hardware CAD and specifications. Early pilot testing of the gimbal revealed that setting the pivot point coincident with the modeled CG location was not always possible due to the current gimbal design, and small pivot point shifts had noticeable effects on subject stability. Fourteen subjects performed a series of CG-related tasks in the Exploration Extravehicular Mobility Unit (xEMU) to assess simulation characteristics. Through iterative testing, this task list evolved to streamline the process needed to efficiently identify a suitable pivot point for a given subject. The developed methodology will be critical for pivot point selection during astronaut training in the ARGOS environment.

Sarah L. Jarvis↗

NASA NTRSDate not supplied

Scaling Climbing Collaborative Mobile Manipulators (C2M2) for Outfitting a Tall Lunar Tower (TLT) and Truss Structures

In-space and planetary truss structures like the Tall Lunar Tower (TLT) can greatly benefit from truss climbing collaborative mobile manipulators (C-CMMs) for outfitting and other servicing tasks. Mobile robotic systems traversing these structures will allow for improved access to the structure for placing equipment and routing cables after the structure has been assembled. The robotic system described in the proposed paper is designed to provide access to the structure through collaborative mobile robotics. The paper will provide a method to constrain the design of such a robot via the geometry of the truss structure and the controlling joint torques across various gaits. The focus of the design is on a six-degree of freedom (DOF) robot arranged with two-DOF at each end and at the center. The variable features of this system are the actuators and the length of the links connecting the two-DOF modules. The result of the analysis is a link sizing range which the robot can be designed within to ensure functionality on the truss structure. A C-CMM will be designed using the scaling utility and several constructed to demonstrate operating both independently and collaboratively.

in-space assembly↗

NASA NTRS2011

Managing Science Operations During Planetary Surface: The 2010 Desert RATS Test

Desert Research and Technology Studies (Desert RATS) is a multi-year series of hardware and operations tests carried out annually in the high desert of Arizona on the San Francisco Volcanic Field. Conducted since 1997, these activities are designed to exercise planetary surface hardware and operations in conditions where long-distance, multi-day roving is achievable. Such activities not only test vehicle subsystems through extended rough-terrain driving, they also stress communications and operations systems and allow testing of science operations approaches to advance human and robotic surface capabilities. Desert RATS is a venue where new ideas can be tested, both individually and as part of an operation with multiple elements. By conducting operations over multiple yearly cycles, ideas that make the cut can be iterated and tested during follow-on years. This ultimately gives both the hardware and the personnel experience in the kind of multi-element integrated operations that will be necessary in future human planetary exploration.

Eppler, Dean B.↗

NASA NTRS2011

Environmental Signatures for Habitability: What to Measure and How to Rank the Habitability Potential of Mars

The environmental signatures for habitability are not necessarily biosignatures, even though on Earth, they are definitive proof of habitability. It is the constant overprint of the chemical signatures of life that makes it difficult to recognize the chemical and physical properties of a potentially habitable environment as distinct from an inhabited one. Mars Science Laboratory (MSL) will soon embark on a mission to Mars to assess its past or present habitability, so it is useful to examine how we measure habitability on Earth and prepare for how that approach may differ for Mars. This exercise includes: (a) articulation of fundamental assumptions about habitability, (b) an inventory of factors that affect habitability, (c) development of metrics, measurement approach and implementation, and (d) a new classification scheme for planetary habitability that goes beyond the binary "yes" or "no." There may be dozens of factors that affect habitability and they can be weighted as a function of specific environment. However a robotic, in situ investigation even on Earth has constraints that prevent the measurement of every environmental factor, so metrics must be reduced to the most relevant subset, given available time, cost, technical feasibility and scientific importance. Many of the factors could be measured with a combination of orbital data and the MSL payload. We propose that, at a minimum, a designation of high habitability potential requires the following conditions be met: (a) thermally stable with respect to extremes and frequency of fluctuation, (b) has more than one energy source, (c) sufficient chemical diversity to make compounds with covalent and hydrogen bonding, (d) can moderate ionizing radiation enough to allow a stable or evolving pool of organic molecules, (e) must have water or other high quality polar solvent, (f) must be able to renew chemical resources (e.g., plate tectonics, volcanism or something else we haven't envisioned). A measurement approach we have taken to measure habitability on Earth is : 1. Study remote sensing data, maps, etc. 2. Decide how big an area to measure. 3. Determine the spatial sampling rate. 4. Determine the temporal sampling rate. 5. Determine the order of measurements 6. Decide where to begin measurements 7. Select locations at field site and proceed While science drives each of the steps, there are additional constraints, e.g., technical, time, cost, safety (risk). This approach is also executable on Mars. Measurement of past habitability is more challenging both for Earth and Mars where access to the past means subsurface access and confrontation with unknowns about preservation of the martian past. Some environments preserve evidence of past habitability better than others, and this is where selection of the landing site to maximize the preservation potential of habitability indicators will be key. Mars presents an opportunity to discover transitional states between habitable or not, and we offer a ranking scale for planetary habitability with Mars as the second test subject: CLASS ONE Uninhabitable and likely has never been so CLASS TWO Has a high potential but no confirmed observation of life (as defined above) CLASS THREE Inhabited (we find life) 3-A Globally inhabited 3-B Primitive life; early in its evolution, but not yet globally established 3-C Exists only in refugia -- planet heading toward class four CLASS FOUR Post-habitable (there once was life, but now it's gone) MSL provides an opportunity to carefully investigate the habitability of at least one site on Mars and it will reveal much about the possible states of planetary habitability

Conrad, Pamela G.↗

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 NTRS2003

NASA Tech Briefs, October 2003

Topics covered include: Cryogenic Temperature-Gradient Foam/Substrate Tensile Tester; Flight Test of an Intelligent Flight-Control System; Slat Heater Boxes for Thermal Vacuum Testing; System for Testing Thermal Insulation of Pipes; Electrical-Impedance-Based Ice-Thickness Gauges; Simulation System for Training in Laparoscopic Surgery; Flasher Powered by Photovoltaic Cells and Ultracapacitors; Improved Autoassociative Neural Networks; Toroidal-Core Microinductors Biased by Permanent Magnets; Using Correlated Photons to Suppress Background Noise; Atmospheric-Fade-Tolerant Tracking and Pointing in Wireless Optical Communication; Curved Focal-Plane Arrays Using Back-Illuminated High-Purity Photodetectors; Software for Displaying Data from Planetary Rovers; Software for Refining or Coarsening Computational Grids; Software for Diagnosis of Multiple Coordinated Spacecraft; Software Helps Retrieve Information Relevant to the User; Software for Simulating a Complex Robot; Software for Planning Scientific Activities on Mars; Software for Training in Pre-College Mathematics; Switching and Rectification in Carbon-Nanotube Junctions; Scandia-and-Yttria-Stabilized Zirconia for Thermal Barriers; Environmentally Safer, Less Toxic Fire-Extinguishing Agents; Multiaxial Temperature- and Time-Dependent Failure Model; Cloverleaf Vibratory Microgyroscope with Integrated Post; Single-Vector Calibration of Wind-Tunnel Force Balances; Microgyroscope with Vibrating Post as Rotation Transducer; Continuous Tuning and Calibration of Vibratory Gyroscopes; Compact, Pneumatically Actuated Filter Shuttle; Improved Bearingless Switched-Reluctance Motor; Fluorescent Quantum Dots for Biological Labeling; Growing Three-Dimensional Corneal Tissue in a Bioreactor; Scanning Tunneling Optical Resonance Microscopy; The Micro-Arcsecond Metrology Testbed; Detecting Moving Targets by Use of Soliton Resonances; and Finite-Element Methods for Real-Time Simulation of Surgery.

Source record↗

NASA NTRS2013

Surface Navigation Using Optimized Waypoints and Particle Swarm Optimization

The design priority for manned space exploration missions is almost always placed on human safety. Proposed manned surface exploration tasks (lunar, asteroid sample returns, Mars) have the possibility of astronauts traveling several kilometers away from a home base. Deviations from preplanned paths are expected while exploring. In a time-critical emergency situation, there is a need to develop an optimal home base return path. The return path may or may not be similar to the outbound path, and what defines optimal may change with, and even within, each mission. A novel path planning algorithm and prototype program was developed using biologically inspired particle swarm optimization (PSO) that generates an optimal path of traversal while avoiding obstacles. Applications include emergency path planning on lunar, Martian, and/or asteroid surfaces, generating multiple scenarios for outbound missions, Earth-based search and rescue, as well as human manual traversal and/or path integration into robotic control systems. The strategy allows for a changing environment, and can be re-tasked at will and run in real-time situations. Given a random extraterrestrial planetary or small body surface position, the goal was to find the fastest (or shortest) path to an arbitrary position such as a safe zone or geographic objective, subject to possibly varying constraints. The problem requires a workable solution 100% of the time, though it does not require the absolute theoretical optimum. Obstacles should be avoided, but if they cannot be, then the algorithm needs to be smart enough to recognize this and deal with it. With some modifications, it works with non-stationary error topologies as well.

Birge, Brian↗

NASA NTRS2013

NASA Tech Briefs, November 2013

Topics include: Cryogenic Liquid Sample Acquisition System for Remote Space Applications; 5 Spatial Statistical Data Fusion (SSDF); GPS Estimates of Integrated Precipitable Water Aid Weather Forecasters; Integrating a Microwave Radiometer into Radar Hardware for Simultaneous Data Collection Between the Instruments; Rapid Detection of Herpes Viruses for Clinical Applications; High-Speed Data Recorder for Space, Geodesy, and Other High-Speed Recording Applications; Datacasting V3.0; An All-Solid-State, Room-Temperature, Heterodyne Receiver for Atmospheric Spectroscopy at 1.2 THz; Stacked Transformer for Driver Gain and Receive Signal Splitting; Wireless Integrated Microelectronic Vacuum Sensor System; Fabrication Method for LOBSTER-Eye Optics in <110> Silicon; Compact Focal Plane Assembly for Planetary Science; Fabrication Methods for Adaptive Deformable Mirrors; Visiting Vehicle Ground Trajectory Tool; Workflow-Based Software Development Environment; Mobile Thread Task Manager; A Kinematic Calibration Process for Flight Robotic Arms; Magnetostrictive Alternator; Bulk Metallic Glasses and Composites for Optical and Compliant Mechanisms; Detection of Only Viable Bacterial Spores Using a Live/Dead Indicator in Mixed Populations; and Intravenous Fluid Generation System.

Source record↗

NASA NTRS2018

Integrated Planning and Execution for a Self-Reliant Mars Rover

Planetary rovers exploring the surface of Mars face a challenging operational environment that requires close cooperation between deliberative planning and behavioral execution in order to most efﬁciently leverage the robot’s capabilities into science value returned to earth. The Self-Reliant Rovers project envisions future rover missions that require only occasional high-level direction from human controllers to successfully conduct detailed in-situ studies of its Martian environs. To achieve this high degree of autonomy, this work leverages a spectrum of planning and execution techniques that allow the rover to respond appropriately to both opportunity and adversity it encounters. Small perturbations are accommodated at ﬁrst by behavioral adaptation, with more and more extensive disruptions handled in turn by executive administration of plan ﬂexibility, heuristic-guided plan repair strategies, and ﬁnally comprehensive replanning from science campaign goals. The integrated system has been deployed and tested on a terrestrial rover in an environment and under scenarios that anticipate those faced by future Mars rovers. This paper recounts complexities of planning and execution coordination faced in the rover domain and the practical solutions employed to address them. Particular emphasis is given to lessons from the ﬁeld and foibles ripe for remedy by future advances in planning and execution research.

Gaines, Daniel↗