Search NASA⌕ Search

SEARCH · Search NASA

Results for “Extreme Environments Testing”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS2014

Advances in Current Rating Techniques for Flexible Printed Circuits

Twist Capsule Assemblies are power transfer devices commonly used in spacecraft mechanisms that require electrical signals to be passed across a rotating interface. Flexible printed circuits (flex tapes, see Figure 2) are used to carry the electrical signals in these devices. Determining the current rating for a given trace (conductor) size can be challenging. Because of the thermal conditions present in this environment the most appropriate approach is to assume that the only means by which heat is removed from the trace is thru the conductor itself, so that when the flex tape is long the temperature rise in the trace can be extreme. While this technique represents a worst-case thermal situation that yields conservative current ratings, this conservatism may lead to overly cautious designs when not all traces are used at their full rated capacity. A better understanding of how individual traces behave when they are not all in use is the goal of this research. In the testing done in support of this paper, a representative flex tape used for a flight Solar Array Drive Assembly (SADA) application was tested by energizing individual traces (conductors in the tape) in a vacuum chamber and the temperatures of the tape measured using both fine-gauge thermocouples and infrared thermographic imaging. We find that traditional derating schemes used for bundles of wires do not apply for the configuration tested. We also determine that single active traces located in the center of a flex tape operate at lower temperatures than those on the outside edges.

Hayes, Ron↗
NASA NTRS2019

Characterizing Early Damage Evolution in CMCs

Silicon carbide / silicon carbide ceramic matrix composites (SiC/SiC CMCs) are structural ceramics that are well-suited for the extreme environment conditions of space and aerospace applications largely due to their low weight, creep resistance, damage tolerance, and high specific strength. In CMCs, the initiation and accumulation of damage depends on characteristics of the constituent landscape including porosity, interfacial properties, and geometric distribution of CMC constituents. In order to accurately predict the lifetimes of these advanced composites, it is critical to understand the evolution of damage and to characterize which early damage mechanisms subsequently lead to crack coalescence and macroscopic failure. In this study, SiC/SiC minicomposites are characterized through an experimental approach combining acoustic emission (AE) with tensile testing in-SEM (scanning electron microscope), in order to examine early damage initiation (below the proportional limit) and its evolution at room temperature. The approach provides insight into the relative activity of early damage mechanisms in CMCs at both the surface and subsurface levels and sheds light on the impact of fabrication choices on the evolution of damage to final failure. The potential application of this combined approach towards the characterization of damage in SiC/SiC CMCs under more complex testing conditions will also be discussed.

damage evolution↗
NASA NTRS2011

Development of an Extreme High Temperature n-type Ohmic Contact to Silicon Carbide

We report on the initial demonstration of a tungsten-nickel (75:25 at. %) ohmic contact to silicon carbide (SiC) that performed for up to fifteen hours of heat treatment in argon at 1000 C. The transfer length method (TLM) test structure was used to evaluate the contacts. Samples showed consistent ohmic behavior with specific contact resistance values averaging 5 x 10-4 -cm2. The development of this contact metallization should allow silicon carbide devices to operate more reliably at the present maximum operating temperature of 600 C while potentially extending operations to 1000 C. Introduction Silicon Carbide (SiC) is widely recognized as one of the materials of choice for high temperature, harsh environment sensors and electronics due to its ability to survive and continue normal operation in such environments [1]. Sensors and electronics in SiC have been developed that are capable of operating at temperatures of 600 oC. However operating these devices at the upper reliability temperature threshold increases the potential for early degradation. Therefore, it is important to raise the reliability temperature ceiling higher, which would assure increased device reliability when operated at nominal temperature. There are also instances that require devices to operate and survive for prolonged periods of time above 600 oC [2, 3]. This is specifically needed in the area of hypersonic flight where robust sensors are needed to monitor vehicle performance at temperature greater than 1000 C, as well as for use in the thermomechanical characterization of high temperature materials (e.g. ceramic matrix composites). While SiC alone can withstand these temperatures, a major challenge is to develop reliable electrical contacts to the device itself in order to facilitate signal extraction

Evans, Laura J.↗
NASA NTRS2000

A Human Factors Evaluation of a Methodology for Pressurized Crew Module Acceptability for Zero-Gravity Ingress of Spacecraft

This project aimed to develop a methodology for evaluating performance and acceptability characteristics of the pressurized crew module volume suitability for zero-gravity (g) ingress of a spacecraft and to evaluate the operational acceptability of the NASA crew return vehicle (CRV) for zero-g ingress of astronaut crew, volume for crew tasks, and general crew module and seat layout. No standard or methodology has been established for evaluating volume acceptability in human spaceflight vehicles. Volume affects astronauts'ability to ingress and egress the vehicle, and to maneuver in and perform critical operational tasks inside the vehicle. Much research has been conducted on aircraft ingress, egress, and rescue in order to establish military and civil aircraft standards. However, due to the extremely limited number of human-rated spacecraft, this topic has been un-addressed. The NASA CRV was used for this study. The prototype vehicle can return a 7-member crew from the International Space Station in an emergency. The vehicle's internal arrangement must be designed to facilitate rapid zero-g ingress, zero-g maneuverability, ease of one-g egress and rescue, and ease of operational tasks in multiple acceleration environments. A full-scale crew module mockup was built and outfitted with representative adjustable seats, crew equipment, and a volumetrically equivalent hatch. Human factors testing was conducted in three acceleration environments using ground-based facilities and the KC-135 aircraft. Performance and acceptability measurements were collected. Data analysis was conducted using analysis of variance and nonparametric techniques.

Sanchez, Merri J.↗
NASA NTRS2012

Advanced Model for Extreme Lift and Improved Aeroacoustics (AMELIA)

With the very recent advent of NASA's Environmentally Responsible Aviation Project (ERA), which is dedicated to designing aircraft that will reduce the impact of aviation on the environment, there is a need for research and development of methodologies to minimize fuel burn, emissions, and reduce community noise produced by regional airliners. ERA tackles airframe technology, propulsion technology, and vehicle systems integration to meet performance objectives in the time frame for the aircraft to be at a Technology Readiness Level (TRL) of 4-6 by the year of 2020 (deemed N+2). The proceeding project that investigated similar goals to ERA was NASA's Subsonic Fixed Wing (SFW). SFW focused on conducting research to improve prediction methods and technologies that will produce lower noise, lower emissions, and higher performing subsonic aircraft for the Next Generation Air Transportation System. The work provided in this investigation was a NASA Research Announcement (NRA) contract #NNL07AA55C funded by Subsonic Fixed Wing. The project started in 2007 with a specific goal of conducting a large-scale wind tunnel test along with the development of new and improved predictive codes for the advanced powered-lift concepts. Many of the predictive codes were incorporated to refine the wind tunnel model outer mold line design. The large scale wind tunnel test goal was to investigate powered lift technologies and provide an experimental database to validate current and future modeling techniques. Powered-lift concepts investigated were Circulation Control (CC) wing in conjunction with over-the-wing mounted engines to entrain the exhaust to further increase the lift generated by CC technologies alone. The NRA was a five-year effort; during the first year the objective was to select and refine CESTOL concepts and then to complete a preliminary design of a large-scale wind tunnel model for the large scale test. During the second, third, and fourth years the large-scale wind tunnel model design would be completed, manufactured, and calibrated. During the fifth year the large scale wind tunnel test was conducted. This technical memo will describe all phases of the Advanced Model for Extreme Lift and Improved Aeroacoustics (AMELIA) project and provide a brief summary of the background and modeling efforts involved in the NRA. The conceptual designs considered for this project and the decision process for the selected configuration adapted for a wind tunnel model will be briefly discussed. The internal configuration of AMELIA, and the internal measurements chosen in order to satisfy the requirements of obtaining a database of experimental data to be used for future computational model validations. The external experimental techniques that were employed during the test, along with the large-scale wind tunnel test facility are covered in great detail. Experimental measurements in the database include forces and moments, and surface pressure distributions, local skin friction measurements, boundary and shear layer velocity profiles, far-field acoustic data and noise signatures from turbofan propulsion simulators. Results and discussion of the circulation control performance, over-the-wing mounted engines, and the combined performance are also discussed in great detail.

Subsonic Fixed Wing↗
NASA NTRS2013

MSL's Widgets: Adding Rebustness to Martian Sample Acquisition, Handling, and Processing

Mars Science Laboratory's (MSL) Sample Acquisition Sample Processing and Handling (SA-SPaH) system is one of the most ambitious terrain interaction and manipulation systems ever built and successfully used outside of planet earth. Mars has a ruthless environment that has surprised many who have tried to explore there. The robustness widget program was implemented by the MSL project to help ensure the SA-SPaH system would be robust enough to the surprises of this ruthless Martian environment. The robustness widget program was an effort of extreme schedule pressure and responsibility, but was accomplished with resounding success. This paper will focus on a behind the scenes look at MSL's robustness widgets: the particle fun zone, the wind guards, and the portioner pokers.

particle fun zone (PFZ)↗
NASA NTRSDate not supplied

Digital Twins and Living Models at NASA

The idea of a “digital twin” was born at NASA in the 1960s as a “living model” of the Apollo mission. In response to Apollo 13’s oxygen tank explosion and subsequent damage to the main engine, NASA employed multiple simulators to evaluate the failure and extended a physical model of the vehicle to include digital components. This “digital twin” was the first of its kind, allowing for a continuous ingestion of data to model the events leading to up to the accident for forensic analysis and exploration of next steps. Fast forward half a century and NASA, along with others in the aerospace community, continues to develop and utilize high-fidelity digital models of physical systems and components as well as the extreme environments in which they operate. NASA aims to travel further and stay longer in space as we realize the Artemis program, taking us from the moon to Mars by establishing a sustainable presence on the Moon to prepare for missions to Mars. We will no longer be able to rely on constant connectivity with an asset nor be in-the-loop for on-demand human intervention in the event of an anomaly. Further, the importance of digital twins is increasing as we seek alternatives for certification of structures so large that they cannot be fully evaluated in existing test facilities and autonomous systems that are not deterministic. The idea of a digital twin is not a new one. What is new is the scale, ordinality, and non-deterministic nature of the models that are critical to achieving NASA’s goals. Their number and autonomy from each other as well as the reference system is suggestive of a changing ecosystem, returning us the idea of a living model.

Digital Twin↗
NASA NTRSDate not supplied

Smooth Particle Hydrodynamic Code Predictions for Meteoroid Damage to Thermal Protection Systems Shielded By Composite Structures

Interplanetary spacecraft are exposed to meteoroid fluxes with characteristics far exceeding the physical simulation capabilities of test facilities for predicting the likelihood that a meteoroid will penetrate a spacecraft’s critical systems. Accurate risk predictions are crucial to ensuring that important interplanetary missions, such as sample returns, can survive years of exposure to the meteoroid environment and safely reenter the Earth’s atmosphere with their scientific cargo. In this paper, we summarize a series of meteoroid impact damage computational simulations into two types of spacecraft composite protective structures using the Smooth Particle Hydrodynamics Code. We consider the effects of both meteoric materials and non-meteoric materials on a shielded forebody thermal protection system (TPS) for an extreme entry environment and on an unshielded aftbody TPS that is similar to the material covering the space shuttle’s external tank.

Brooke Corbett↗
NASA NTRS1997

Space Environment Stability and Physical Properties of New Materials for Space Power and Commercial Applications

Useful and informative results were obtained on virtually all materials investigated. For example, the stability of ITO-based arc-proof transparent coatings was greatly improved by substitution of silicon oxide for magnesium fluoride as a dopant. Research on 'air-doped' ITO films has yielded new insight into their conduction mechanism which will help in further development of these coatings. Some air-doped films were found to be extremely pressure sensitive. This work may lead to improved, low-cost gas sensors and vacuum gauges. Work on another promising transparent arc-proof coating (titanium oxide) was initiated in collaboration with industry. Graphite oxide-like materials were synthesized and tested for possible use in high energy-density batteries and other applications. We also started a high-priority project to find the cause of unexpected environmental damage to the exterior of the Hubble Space Telescope (HST) discovered on a recent Shuttle mission. Materials were characterized before and after exposure to soft x-rays and other threats in ground-based simulators.

Hambourger, Paul D.↗
NASA NTRS1995

Mechanical Properties of Aerogels

Aerogels are extremely low density solids that are characterized by a high porosity and pore sizes on the order of nanometers. Their low thermal conductivity and sometimes transparent appearance make them desirable for applications such as insulation in cryogenic vessels and between double paned glass in solar architecture. An understanding of the mechanical properties of aerogels is necessary before aerogels can be used in load bearing applications. In the present study, the mechanical behavior of various types of fiber-reinforced silica aerogels was investigated with hardness, compression, tension and shear tests. Particular attention was paid to the effects of processing parameters, testing conditions, storage environment, and age on the aerogels' mechanical response. The results indicate that the addition of fibers to the aerogel matrix generally resulted in softer, weaker materials with smaller elastic moduli. Furthermore, the testing environment significantly affected compression results. Tests in ethanol show an appreciable amount of scatter, and are not consistent with results for tests in air. In fact, the compression specimens appeared to crack and begin to dissolve upon exposure to the ethanol solution. This is consistent with the inherent hydrophobic nature of these aerogels. In addition, the aging process affected the aerogels' mechanical behavior by increasing their compressive strength and elastic moduli while decreasing their strain at fracture. However, desiccation of the specimens did not appreciably affect the mechanical properties, even though it reduced the aerogel density by removing trapped moisture. Finally, tension and shear test results indicate that the shear strength of the aerogels exceeds the tensile strength. This is consistent with the response of brittle materials. Future work should concentrate on mechanical testing at cryogenic temperatures, and should involve more extensive tensile tests. Moreover, before the mechanical response of reinforced aerogels can be fully understood, more tests of unreinforced aerogels are necessary. Unreinforced aerogels are of particular use because their birefringent nature allows for visual determination of stress fields during mechanical testing. The success of any future tests depends on the availability of a large supply of quality specimens with well-documented preparation and storage histories.

Parmenter, Kelly E.↗
NASA NTRS2000

Dynamic Capability of an Operating Stirling Convertor

The NASA John H. Glenn Research Center and the US Department of Energy are currently developing a Stirling convertor for use as an advanced spacecraft power system for future NASA deep-space missions. NASA Headquarters has recently identified the Stirling technology generator for potential use as the spacecraft power system for two of NASA's new missions, the Europa Orbiter and the Solar Probe missions (planned for launch in 2006 and 2007 respectively). As part of the development of this power system, a Stirling Technology Demonstration Convertor was vibration tested at NASA John H. Glenn Research Center to verify its survivability and capability of withstanding the harsh dynamic environment typically seen by the spacecraft when it is launched by an expendable launch vehicle. The Technology Demonstration Convertor was fully operational (producing power) during the random vibration testing. The output power of the convertor and other convertor performance indicators were measured during the testing, and these results are discussed in this paper. Numerous accelerometers and force gauges also were used to provide information on the dynamic characteristics of the Technology Demonstration Convertor and as an indication of any possible damage due to the vibration. These measurements will also be discussed in this paper. The vibration testing of the Stirling Technology Demonstration Convertor was extremely successful. The Technology Demonstration Convertor survived all its vibration testing with no structural damage or functional performance degradation. As a result of this testing, the Stirling convertor's capability to withstand vibration has been demonstrated, enabling its usage in future spacecraft power systems.

Goodnight, Thomas W.↗
NASA NTRS2011

Coaxial Cables for Martian Extreme Temperature Environments

Work was conducted to validate the use of the rover external flexible coaxial cabling for space under the extreme environments to be encountered during the Mars Science Laboratory (MSL) mission. The antennas must survive all ground operations plus the nominal 670-Martian-day mission that includes summer and winter seasons of the Mars environment. Successful development of processes established coaxial cable hardware fatigue limits, which were well beyond the expected in-flight exposures. In keeping with traditional qualification philosophy, this was accomplished by subjecting flight-representative coaxial cables to temperature cycling of the same depth as expected in-flight, but for three times the expected number of in-flight thermal cycles. Insertion loss and return loss tests were performed on the coaxial cables during the thermal chamber breaks. A vector network analyzer was calibrated and operated over the operational frequency range 7.145 to 8.450 GHz. Even though some of the exposed cables function only at UHF frequencies (approximately 400 MHz), the testing was more sensitive, and extending the test range down to 400 MHz would have cost frequency resolution. The Gore flexible coaxial cables, which were the subject of these tests, proved to be robust and displayed no sign of degradation due to the 3X exposure to the punishing Mars surface operations cycles.

Ramesham, Rajeshuni↗
NASA NTRSDate not supplied

Metallic Environmentally Resistant Coating Rapid Innovation Initiative

Lightweight alloys such as aluminum (Al) and titanium (Ti) are often specified for space systems to minimize mass while maintaining structural integrity [1,2]. Such alloys however, have poor tribological response (high friction and wear), especially in extreme space environments, which becomes worse with the additional presence of lunar regolith. This leads to short lifetimes and premature failures that will ultimately limit long term operations on the lunar surface [2]. This project is addressing this technology gap by developing advanced wear- and radiation-resistant coatings for lightweight parts to extend the life-time and sustainability of both lunar and Martian assets. Ceramics were considered for their high wear resistance, but were rejected because of their low fracture toughness, which would be especially problematic for structural components. The novel and existing coating technologies and deposition methods are being tested in this project. The coating materials are Boron Nitride-Aluminum (BN-Al), Nickle Titanium (NiTi), Aluminum Oxide (AlO3), Ti64 with hBN at 2 and 10 vol percent (Ti-2vol%hBN and Ti-10vol%hBN), and the deposition techniques are high pressure cold-spray (CS) and ambient and vacuum plasma-spray (APS and VPS) [3,4,5]. BN-Al, NiTi, Ti-2vol%hBN, and Ti-10vol%hBN were applied with all three deposition techniques, and AlO3 was applied only using the APS deposition technique. A tungstenite (WS2) film was applied to the NiTi VPS coating. The coating and deposition technique configurations are being tested against several key end-use performance parameters. The parameters include the capabilities of the coatings under wear environments such as regolith simulant, thermal cycling from high (120°C) to cryogenic (-173°C), high vacuum (~10-7 torr), and pre- and post-exposure to ionizing particle radiation. Wear tests include pin on disk, three-body abrasion, and surface erosion by high velocity regolith impacts. The initial down selection is being performed using on virgin and environmental exposure samples using pin on disk and three body abrasion wear tests. From preliminary assessment of this testing, a few configurations were eliminated. Ti-10vol%hBN could not be applied using CS application and NiTi could not be applied using APS or CS application so these configurations did not get tested. Early pin on disk wear tests showed poor wear performance of BN-Al so this coating was eliminated early in the testing process. AlO3 on Al substrate did not survive thermal cycling, but wear testing is continuing for AlO3 on Ti substrate. A more detailed analysis is being con-ducted to further reduce the number of configuration for phase II and III. Phase II testing will include conventionally and additively manufactured substrates with surface erosion testing. In phase III, the coatings will be applied to three mechanism types: channel and slot, ball and socket, and a hinge joint. Each will demonstrate a different type of wear incidence. The mechanisms and their base materials are of direct interest to the end users and infusion points: the Human Landing System (HLS) and the Lunar Surface Innovation Initiative (sustained lunar surface operations). The technology development project is based out of Marshall Space Flight Center, has partnered with Florida International University (Miami, FL) and Plasma Processes (Huntsville, Al), and is supported by a group of NASA mentors from different centers.

dust mitigation↗
NASA NTRS2007

Using Visual Odometry to Estimate Position and Attitude

A computer program in the guidance system of a mobile robot generates estimates of the position and attitude of the robot, using features of the terrain on which the robot is moving, by processing digitized images acquired by a stereoscopic pair of electronic cameras mounted rigidly on the robot. Developed for use in localizing the Mars Exploration Rover (MER) vehicles on Martian terrain, the program can also be used for similar purposes on terrestrial robots moving in sufficiently visually textured environments: examples include low-flying robotic aircraft and wheeled robots moving on rocky terrain or inside buildings. In simplified terms, the program automatically detects visual features and tracks them across stereoscopic pairs of images acquired by the cameras. The 3D locations of the tracked features are then robustly processed into an estimate of overall vehicle motion. Testing has shown that by use of this software, the error in the estimate of the position of the robot can be limited to no more than 2 percent of the distance traveled, provided that the terrain is sufficiently rich in features. This software has proven extremely useful on the MER vehicles during driving on sandy and highly sloped terrains on Mars.

Maimone, Mark↗
NASA NTRS2017

Solar Arrays for Low-Irradiance Low-Temperature and High-Radiation Environments

This is the Base Period final report DRAFT for the JPL task 'Solar Arrays for Low-Irradiance Low-Temperature and High-Radiation Environments', under Task Plan 77-16518 TA # 21, for NASA's Extreme Environments Solar Power (EESP) project. This report covers the Base period of performance, 7/18/2016 through 5/2/2017.The goal of this project is to develop an ultra-high efficiency lightweight scalable solar array technology for low irradiance, low temperature and high-radiation (LILT/Rad) environments. The benefit this technology will bring to flight systems is a greater than 20 reduction in solar array surface area, and a six-fold reduction in solar array mass and volume. The EESP project objectives are summarized in the 'NRA Goal' column of Table 1. Throughout this report, low irradiance low temperature (LILT) refers to 5AU -125 C test conditions; beginning of life (BOL) refers to the cell state prior to radiation exposure; and end of life (EOL) refers to the test article condition after exposure to a radiation dose of 4e15 1MeV e(-)/cm(exp 2).

Boca, Andreea↗
NASA NTRS1989

Polarity establishment, morphogenesis, and cultured plant cells in space

Plant development entails an orderly progression of cellular events both in terms of time and geometry. There is only circumstantial evidence that, in the controlled environment of the higher plant embryo sac, gravity may play a role in embryo development. It is still not known whether or not normal embryo development and differentiation in higher plants can be expected to take place reliably and efficiently in the micro g space environment. It seems essential that more attention be given to studying aspects of reproductive biology in order to be confident that plants will survive seed to seed to seed in a space environment. Until the time arrives when successive generations of plants can be grown, the best that can be done is utilize the most appropriate systems and begin, piece meal, to accumulate information on important aspects of plant reproduction. Cultured plant cells can play an important role in these activities since they can be grown so as to be morphogenetically competent, and thus can simulate those embryogenic events more usually identified with fertilized eggs in the embryo sac of the ovule in the ovary. Also, they can be manipulated with relative ease. The extreme plasticity of such demonstrably totipotent cell systems provides a means to test environmental effects such as micro g on a potentially free-running entity. The successful manipulation and management of plant cells and propagules in space also has significance for exploitation of biotechnologies in space since such systems, perforce, are an important vehicle whereby many genetic engineering manipulations are achieved.

Krikorian, Abraham D.↗
NASA NTRS2002

An Illumination Modeling System for Human Factors Analyses

Seeing is critical to human performance. Lighting is critical for seeing. Therefore, lighting is critical to human performance. This is common sense, and here on earth, it is easily taken for granted. However, on orbit, because the sun will rise or set every 45 minutes on average, humans working in space must cope with extremely dynamic lighting conditions. Contrast conditions of harsh shadowing and glare is also severe. The prediction of lighting conditions for critical operations is essential. Crew training can factor lighting into the lesson plans when necessary. Mission planners can determine whether low-light video cameras are required or whether additional luminaires need to be flown. The optimization of the quantity and quality of light is needed because of the effects on crew safety, on electrical power and on equipment maintainability. To address all of these issues, an illumination modeling system has been developed by the Graphics Research and Analyses Facility (GRAF) and Lighting Environment Test Facility (LETF) in the Space Human Factors Laboratory at NASA Johnson Space Center. The system uses physically based ray tracing software (Radiance) developed at Lawrence Berkeley Laboratories, a human factors oriented geometric modeling system (PLAID) and an extensive database of humans and environments. Material reflectivity properties of major surfaces and critical surfaces are measured using a gonio-reflectometer. Luminaires (lights) are measured for beam spread distribution, color and intensity. Video camera performances are measured for color and light sensitivity. 3D geometric models of humans and the environment are combined with the material and light models to form a system capable of predicting lighting conditions and visibility conditions in space.

Huynh, Thong↗
NASA NTRS2017

Simulation Based Studies of Low Latency Teleoperations for NASA Exploration Missions

Human exploration of Mars will involve both crewed and robotic systems. Many mission concepts involve the deployment and assembly of mission support assets prior to crew arrival on the surface. Some of these deployment and assembly activities will be performed autonomously while others will be performed using teleoperations. However, significant communications latencies between the Earth and Mars make teleoperations challenging. Alternatively, low latency teleoperations are possible from locations in Mars orbit like Mars' moons Phobos and Deimos. To explore these latency opportunities, NASA is conducting a series of studies to investigate the effects of latency on telerobotic deployment and assembly activities. These studies are being conducted in laboratory environments at NASA's Johnson Space Center (JSC), the Human Exploration Research Analog (HERA) at JSC and the NASA Extreme Environment Mission Operations (NEEMO) underwater habitat off the coast of Florida. The studies involve two human-in-the-loop interactive simulations developed by the NASA Exploration Systems Simulations (NExSyS) team at JSC. The first simulation investigates manipulation related activities while the second simulation investigates mobility related activities. The first simulation provides a simple real-time operator interface with displays and controls for a simulated 6 degree of freedom end effector. The initial version of the simulation uses a simple control mode to decouple the robotic kinematic constraints and a communications delay to model latency effects. This provides the basis for early testing with more detailed manipulation simulations planned for the future. Subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. Subject performance is measured and correlated with three distance-to-target zones of interest. Each zone represents a target distance ranging from beyond 10m in Zone 1, through 1 cm to contact in Zone 5 with a step size factor of 10. Collected data consists of both objective simulation data (time, distance, hand controller inputs, velocity) and subjective questionnaire data. The second simulation provides a simple real-time operator interface with displays and control of a simulated surface rover. The rover traverses a synthetic Mars-like terrain and must be maneuvered to avoid obstacles while progressing to its destination. Like the manipulator simulation, subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. The rover is also operated at three different traverse speeds to assess the correlation between latency and speed. Collected data consisted of both objective simulation data (time, distance, hand controller inputs, braking) and subjective questionnaire data. These studies are exploring relationships between task complexity, operating speeds, operator efficiencies, and communications latencies for low latency teleoperations in support of human planetary exploration. This paper presents early results from these studies along with the current observations and conclusions. These and planned future studies will help to inform NASA on the potential for low latency teleoperations to support human exploration of Mars and inform the design of robotic systems and exploration missions.

Gernhardt, Michael L.↗