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NASA NTRS1990

The NASA Telerobotics Research Program

An account is given to NASA efforts in the development of space telerobotics, which encompass mission analyses, core technology research, systems-integration testbed evaluations, ground-based demonstrations, and flight experiments. Space telerobotics applications encompass (1) The Space Shuttle Satellite Servicing System, (2) the Space Shuttle Orbiter's Remote Manipulator System, (3) the Space Station Freedom's Flight Telerobotics Servicer, Mobile Servicing Center, and Japanese Experiment Module, and (4) planetary rovers. A fundamental role is being played by NASA-Marshall, which possesses a Teleoperator and Robotics Evaluation Facility.

Stephenson, R. Rhoads↗

NASA NTRS2016

Automation of Flight Software Regression Testing

NASA is developing the Space Launch System (SLS) to be a heavy lift launch vehicle supporting human and scientific exploration beyond earth orbit. SLS will have a common core stage, an upper stage, and different permutations of boosters and fairings to perform various crewed or cargo missions. Marshall Space Flight Center (MSFC) is writing the Flight Software (FSW) that will operate the SLS launch vehicle. The FSW is developed in an incremental manner based on "Agile" software techniques. As the FSW is incrementally developed, testing the functionality of the code needs to be performed continually to ensure that the integrity of the software is maintained. Manually testing the functionality on an ever-growing set of requirements and features is not an efficient solution and therefore needs to be done automatically to ensure testing is comprehensive. To support test automation, a framework for a regression test harness has been developed and used on SLS FSW. The test harness provides a modular design approach that can compile or read in the required information specified by the developer of the test. The modularity provides independence between groups of tests and the ability to add and remove tests without disturbing others. This provides the SLS FSW team a time saving feature that is essential to meeting SLS Program technical and programmatic requirements. During development of SLS FSW, this technique has proved to be a useful tool to ensure all requirements have been tested, and that desired functionality is maintained, as changes occur. It also provides a mechanism for developers to check functionality of the code that they have developed. With this system, automation of regression testing is accomplished through a scheduling tool and/or commit hooks. Key advantages of this test harness capability includes execution support for multiple independent test cases, the ability for developers to specify precisely what they are testing and how, the ability to add automation, and the ability of the harness and cases to be executed continually. This test concept is an approach that can be adapted to support other projects.

Tashakkor, Scott B.↗

NASA NTRS2022

Testing Mars 2020 Flight Software and Hardware in the Surface System Development Environment

The Mars 2020 (M2020) Perseverance Rover is NASA's most advanced planetary rover mission to date. It includes a novel Sample Caching Subsystem (SCS) which will collect rock cores for possible future return to Earth, as well as an improved mobility system with enhanced autonomous navigation which will enable it to traverse faster and farther than prior rovers. The development of both systems required extensive flight software and flight hardware testing. To support this testing, we developed the Surface System Development Environment (SSDEV) and used it for a wide variety of testing. SSDEV is a bundled subset of M2020 Flight Software which runs on commercially available Linux computers and can be combined with multiple backend options for simulation and hardware control. The SSDEV architecture enabled our teams to perform much more testing of flight software and flight hardware than would have otherwise been possible. As a secondary benefit, the SSDEV-based test campaigns also helped our teams enter the operations phase of the mission with greater readiness of operations products and tools. In this paper, we summarize the motivation for SSDEV, provide an overview of the SSDEV architecture, list several examples of how SSDEV was used, and summarize lessons learned. SSDEV is not a substitute for integrated testing with flight-like avionics, but it enabled substantially more testing than would have otherwise been possible and also provided some unique benefits. We recommend architectures like SSDEV to future projects that need to perform extensive hardware and software testing using a limited set of flight-like avionics.

Wai, Dennis↗

NASA NTRS2019

Thermal Development of a Commercial off the Shelf (COTS) Camera for Exploration Upper Stage (EUS)

NASA’s Flight Imagery Launch Monitoring Real-time System (FILMRS) cameras were originally developed for the Space Launch System (SLS) Core Stage. These Commercial Off the Shelf (COTS) cameras have been redesigned and reduced by an order of magnitude in size for the Exploration Upper Stage (EUS). The change in thermal environment has led to the application of various passive thermal control methods and the addition of a heater option. This paper will give a summary of the design and development test effort associated with adapting the COTS camera for the demands of the space environment and associated thermal mitigations applied as the project prepares to complete the design. The application of this camera for other space systems is discussed.

Hernandez, Deborah↗

NASA NTRS2020

SISO Space Reference FOM - Tools and Testing

The Simulation Interoperability Standards Organization (SISO) Space Reference Federation Object Model (SpaceFOM) version 1.0 is nearing completion. Earlier papers have described the use of the High Level Architecture (HLA) in Space simulation as well as technical aspects of the SpaceFOM. This paper takes a look at different SpaceFOM tools and how they were used during the development and testing of the standard.The first organizations to develop SpaceFOM-compliant federates for SpaceFOM development and testing were NASA's Johnson Space Center (JSC), the University of Calabria (UNICAL), and Pitch Technologies.JSC is one of NASA's lead centers for human space flight. Much of the core distributed simulation technology development, specifically associated with the SpaceFOM, is done by the NASA Exploration Systems Simulations (NExSyS) team. One of NASA's principal simulation development tools is the Trick Simulation Environment. NASA's NExSyS team has been modifying and using Trick and TrickHLA to help develop and test the SpaceFOM.The System Modeling And Simulation Hub Laboratory (SMASH-Lab) at UNICAL has developed the Simulation Exploration Experience (SEE) HLA Starter kit, that has been used by most SEE teams involved in the distributed simulation of a Moon base. It is particularly useful for the development of federates that are compatible with the SpaceFOM. The HLA Starter Kit is a Java based tool that provides a well-structured framework to simplify the formulation, generation, and execution of SpaceFOM-compliant federates.Pitch Technologies, a company specializing in distributed simulation, is utilizing a number of their existing HLA tools to support development and testing of the SpaceFOM. In addition to the existing tools, Pitch has developed a few SpaceFOM specific federates: Space Master for managing the initialization, execution and pacing of any SpaceFOM federation; EarthEnvironment, a simple Root Reference Publisher; and Space Monitor, a graphical tool for monitoring reference frames and physical entities.Early testing of the SpaceFOM was carried out in the SEE university outreach program, initiated in SISO. Students were given a subset of the FOM, that was later extended. Sample federates were developed and frameworks were developed or adapted to the early FOM versions.As drafts of the standard matured, testing was performed using federates from government, industry, and academia. By mixing federates developed by different teams the standard could be tested with respect to functional correctness, robustness and clarity.These frameworks and federates have been useful when testing and verifying the design of the standard. In addition to this, they have since formed a starting point for developing SpaceFOM-compliant federations in several projects, for example for NASA, ESA as well as SEE.

Möller, Björn↗

NASA NTRS2019

Building Booster Separation Aerodynamic Databases for Artemis II

NASA’s Artemis II mission will mark the return of humans to near-lunar space for the first time since Apollo. Shortly after launch on the Space Launch System (SLS), a critical phase of ascent occurs when 16 small rockets fire to push the boosters away from the core. Minimizing the risk of failure during separation requires the construction of multiple 13-dimensional databases, including perturbations in position, flight conditions, and engine thrust. The SLS Computational Fluid Dynamics team used NASA’s FUN3D flow solver on the Pleiades and Electra supercomputers to run 5,780 simulations at nominal conditions and over 8,000 simulations with a core stage engine failure to generate the databases needed to verify the booster separation system for Artemis II.

Meeroff, Jamie G.↗

NASA NTRSDate not supplied

Development of Two High-Energy Bus ‘Cores’

For several years the TechEdSat flight series (TES-n), developed by the Nano Orbital Workshop (NOW) group at NASA Ames, has relied upon an in-house developed unit to serve both EPS (Electrical Power System) and C&DH (Command and Data Handling) roles along with low data-rate telemetry functions, i.e., serving as the ‘core’ of the spacecraft bus. This ‘core’ has a considerable task given the rapid cadence of the TES program and the typically low-TRL of payloads; configurability and compatibility are key to prevent mission-specific hardware. However, at only 15 watts the current core has become insufficient to support the program’s growing missions and increasingly demanding payloads. To this end, the NOW program is developing new cores to support two TES mission classes: a single-PCB ‘MiniCore’ designed to support 80-watt missions 6U or smaller in LEO, and a three-PCB, radiation-tolerant ‘StackCore’ designed to support 6U and larger missions over 500 watts in LEO and beyond. The ‘MiniCore’ design consists of three main segments: a processor-agnostic C&DH, a software-configured EPS, and a backup low data-rate radio. The design philosophy was to enable rapid-manufacture in a turbulent supply chain, hence the design consists of COTS parts with a focus on those able to be drop-in replaced with radiation-tolerant versions when demanded by the mission. As a single PC-104 sized circuit board, power density and ease of integration also dominated design, demanding the use of modern features such as single-point USB-C for easy charging and monitoring of the spacecraft on the ground. The ‘MiniCore’ can support 80 watts of load, 140 watt-hours of storage, and over 20 watts of optimized solar generation with extensive power monitoring throughout. The ‘MiniCore’ supports one battery pack, six solar-panels, six loads, five actuators, Iridium SBD, and an internal 802.15.4 network. Additionally, the processor-agnostic design can accept any PJRC Teensy 3.x or Adafruit Feather microcontroller unit to enable processor scaling with mission requirements or environment. It is expected a development unit of this design will be completed before conference. The ‘StackCore’ design consists of three stacked PC-104 sized circuit boards: one dedicated to power generation and storage, one dedicated to power distribution, and one dedicated to C&DH tasks. This delineation is necessary to support the transition from highly integrated ICs to discrete analog circuitry, enabling a primarily analog control power system able to operate without software in a radiation environment with finer monitoring compared to the ‘MiniCore’ design. The planned base architecture supports over 500 watts of load, 250 watt-hours of storage, and over 80 watts of optimized solar generation. The power distribution board allows for the use of daughter cards hosting custom converters or interfaces for payloads, in addition to the software-configured supplies used on the ‘MiniCore’. This core stack will be managed by a Vorago ARM M4 microcontroller and support the same wireless communications as the ‘MiniCore’, with optional integration of a NOW S-band radio and attitude determination sensors for ‘black box’ functionality. It is expected the prototype will still be in development during conference.

Avery Brock↗

NASA NTRS2012

Development Status of the Fission Power System Technology Demonstration Unit

This paper summarizes the progress that has been made in the development of the Fission Power System Technology Demonstration Unit (TDU). The reactor simulator core and Annular Linear Induction Pump have been fabricated and assembled into a test loop at the NASA Marshall Space Flight Center. A 12 kWe Power Conversion Unit (PCU) is being developed consisting of two 6 kWe free-piston Stirling engines. The two 6 kWe engines have been fabricated by Sunpower Inc. and are currently being tested separately prior to integration into the PCU. The Facility Cooling System (FCS) used to reject convertor waste heat has been assembled and tested at the NASA Glenn Research Center (GRC). The structural elements, including a Buildup Assembly Platform (BAP) and Upper Truss Structure (UTS) have been fabricated, and will be used to test cold-end components in thermal vacuum prior to TDU testing. Once all components have been fully tested at the subsystem level, they will be assembled into an end-to-end system and tested in thermal vacuum at GRC.

Briggs, Maxwell H.↗

NASA NTRS2012

Development Status of the Fission Power System Technology Demonstration Unit

Briggs, Maxwell H.↗

NASA NTRS2012

Marshall Space Flight Center Materials and Processes Laboratory

Marshall?s Materials and Processes Laboratory has been a core capability for NASA for over fifty years. MSFC has a proven heritage and recognized expertise in materials and manufacturing that are essential to enable and sustain space exploration. Marshall provides a "systems-wise" capability for applied research, flight hardware development, and sustaining engineering. Our history of leadership and achievements in materials, manufacturing, and flight experiments includes Apollo, Skylab, Mir, Spacelab, Shuttle (Space Shuttle Main Engine, External Tank, Reusable Solid Rocket Motor, and Solid Rocket Booster), Hubble, Chandra, and the International Space Station. MSFC?s National Center for Advanced Manufacturing, NCAM, facilitates major M&P advanced manufacturing partnership activities with academia, industry and other local, state and federal government agencies. The Materials and Processes Laborato ry has principal competencies in metals, composites, ceramics, additive manufacturing, materials and process modeling and simulation, space environmental effects, non-destructive evaluation, and fracture and failure analysis provide products ranging from materials research in space to fully integrated solutions for large complex systems challenges. Marshall?s materials research, development and manufacturing capabilities assure that NASA and National missions have access to cutting-edge, cost-effective engineering design and production options that are frugal in using design margins and are verified as safe and reliable. These are all critical factors in both future mission success and affordability.

Tramel, Terri L.↗

NASA NTRS2016

NASA's Space Launch Transitions: From Design to Production

NASA's Space Launch System (SLS) successfully completed its Critical Design Review (CDR) in 2015, a major milestone on the journey to an unprecedented era of exploration for humanity. CDR formally marked the program's transition from design to production phase just four years after the program's inception and the first such milestone for a human launch vehicle in 40 years. While challenges typical of a complex development program lie ahead, CDR evaluators concluded that the design is technically and programmatically sound and ready to press forward to Design Certification Review (DCR) and readiness for launch of Exploration Mission 1 (EM-1) in the 2018 timeframe. SLS is prudently based on existing propulsion systems, infrastructure and knowledge with a clear, evolutionary path as required by mission needs. In its initial configuration, designated Block I, SLS will a minimum of 70 metric tons (t) of payload to low Earth orbit (LEO). It can evolve to a 130 t payload capacity by upgrading its engines, boosters, and upper stage, dramatically increasing the mass and volume of human and robotic exploration while decreasing mission risk, increasing safety, and simplifying ground and mission operations. CDR was the central programmatic accomplishment among many technical accomplishments that will be described in this paper. The government/industry SLS team successfully test fired a flight-like five-segment solid rocket motor, as well as seven hotfire development tests of the RS-25 core stage engine. The majority of the major test article and flight barrels, rings, and domes for the core stage liquid oxygen, liquid hydrogen, engine section, intertank, and forward skirt were manufactured at NASA's Michoud Assembly Facility. Renovations to the B-2 test stand for stage green run testing were completed at NASA Stennis Space Center. Core stage test stands are rising at NASA Marshall Space Flight Center. The modified Pegasus barge for core stage transportation from manufacturing to testing and launch sites was delivered. The Interim Cryogenic Propulsion System test article was also completed. This paper will discuss these and other technical and programmatic successes and challenges over the past year and provide a preview of work ahead before the first flight of this new capability.

Askins, Bruce↗

NASA NTRS2020

Evolution of the Preliminary Fault Management Architecture and Design for the Psyche Mission

The Psyche Mission presents the first opportunity toexplore the largest metal asteroid in the solar system, (16)Psyche, which is believed to be the exposed core of a largerplanetesimal that was stripped of its rocky mantle throughmultiple collisions during early solar system formation. Themission was selected in January 2017 for a 2022 launch as partof NASA’s Discovery Program and is uniquely enabled by theintegration of a Solar Electric Propulsion (SEP) Chassisdelivered by Maxar Space Solutions with JPL’s core deepspace avionics, flight software, and fault managementarchitectures. One of the key design tasks is the development ofa fault management system capable of being responsive to theunique elements of the combined JPL and Maxar spacecraftarchitecture. This new design leverages the strengths of eachorganization, with Maxar delivering its well-proven highvoltage power bus and low-thrust electric propulsionsubsystem from its GEO communications satellite product line,and JPL delivering its deep space mission expertise and thehardware and software most critical to deep space missiondesign. The development of a robust low-thrust mission andthe integration of design philosophies and hardware from twoorganizations is not without its challenges though.A key challenge in the development of the Psyche faultmanagement architecture and design is in the integration ofdesign philosophies and hardware from JPL and Maxar. Atthe architecture level, Maxar GEO communications satellitesare developed under the premise of highly responsive groundin the loop for the resolution of anomalies, and theimplementation takes a fail-operational approach to minimizedown time for its customers. In contrast, a deep space missionmust be able to maintain safety with long periods of groundcommunication outage. Additionally, with no time-criticalevents after launch, the Psyche spacecraft will generally failsafe in the presence of anomalous conditions; specialconsideration is being given to this approach, however, tominimize the loss of electric propulsion thrust time, which iscritical to low-thrust missions. At the hardware level, thedetailed definition of interfaces between JPL and Maxarhardware presents a unique challenge in the development andflowdown of fault management requirements, the developmentand implementation of fault monitors and responses, and thedevelopment and verification of fault containment boundaries.This paper describes the evolution of the Psyche faultmanagement architecture and design from the concept studyinto the preliminary design phase, with a focus on the uniquechallenges associated with flying GEO communicationssatellite hardware in deep space, implementing a robust lowthrust mission, and the integration of design philosophies andhardware from JPL and Maxar. Details regarding how thesechallenges are addressed in the fault management design inorder to maximize heritage, leverage the strengths of eachorganization, and minimize risk across the design are alsodiscussed.

Marsh, Danielle↗

NASA NTRS2013

Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

Spaceflight computing is a key resource in NASA space missions and a core determining factor of spacecraft capability, with ripple effects throughout the spacecraft, end-to-end system, and mission. Onboard computing can be aptly viewed as a "technology multiplier" in that advances provide direct dramatic improvements in flight functions and capabilities across the NASA mission classes, and enable new flight capabilities and mission scenarios, increasing science and exploration return. Space-qualified computing technology, however, has not advanced significantly in well over ten years and the current state of the practice fails to meet the near- to mid-term needs of NASA missions. Recognizing this gap, the NASA Game Changing Development Program (GCDP), under the auspices of the NASA Space Technology Mission Directorate, commissioned a study on space-based computing needs, looking out 15-20 years. The study resulted in a recommendation to pursue high-performance spaceflight computing (HPSC) for next-generation missions, and a decision to partner with the Air Force Research Lab (AFRL) in this development.

use cases↗

NASA NTRS2014

ERA Advanced Core Compressor Technology Program

As part of the NASA Integrated Systems Research Program, Environmentally Responsible Aviation Project, NASA GRC and GE Aviation have partnered to investigate the technology barriers associated with improved fuel economy of large gas turbine engines. Crucial to improving fuel economy is the increase in Pressure Ratio (PR) of the core compressor. General Electric is in the process of defining new advanced technology engine concepts and related engine architectures for both commercial and military subsonic and supersonic flight applications. These new concepts and architectures offer the potential of providing substantial improvements in mission fuel burn, emissions, and noise levels relative to SOTA engines and support the needs and goals of future Air force, Navy, and NASA aircraft systems. A key aspect of many of these new engine concepts is an ultra high pressure ratio core compressor. Current SOTA engines such as the GENx utilize a 23:1 class pressure ratio core compressor to achieve an overall pressure ratio in the 50:1 class. Future engines with overall pressure ratios in the 70– 80:1 class will need core compressors with pressure ratios in the 30:1 class. These single spool, ultra high pressure ratio compressors will have inherent challenges. The goal of this work is to provide a dedicated component test vehicle to study the very challenging compressor front stage performance and operability issues that arise in these aggressive machines. With a view to providing highly detailed aerodynamic data that will provide, subject to the rights restrictions for test data afforded under NASA Contract NNC10BA06B/NNC10TA64T, an industry standard data set for CFD validation.

Axial Compressors↗

NASA NTRS2006

Implications of Responsive Space on the Flight Software Architecture

The Responsive Space initiative has several implications for flight software that need to be addressed not only within the run-time element, but the development infrastructure and software life-cycle process elements as well. The runtime element must at a minimum support Plug & Play, while the development and process elements need to incorporate methods to quickly generate the needed documentation, code, tests, and all of the artifacts required of flight quality software. Very rapid response times go even further, and imply little or no new software development, requiring instead, using only predeveloped and certified software modules that can be integrated and tested through automated methods. These elements have typically been addressed individually with significant benefits, but it is when they are combined that they can have the greatest impact to Responsive Space. The Flight Software Branch at NASA's Goddard Space Flight Center has been developing the runtime, infrastructure and process elements needed for rapid integration with the Core Flight software System (CFS) architecture. The CFS architecture consists of three main components; the core Flight Executive (cFE), the component catalog, and the Integrated Development Environment (DE). This paper will discuss the design of the components, how they facilitate rapid integration, and lessons learned as the architecture is utilized for an upcoming spacecraft.

Wilmot, Jonathan↗

NASA NTRS2013

Human and Robotic Space Mission Use Cases for High-Performance Spaceflight Computing

flight computing↗

NASA NTRS2001

Space Fission Propulsion System Development Status

The world's first man-made self-sustaining fission reaction was achieved in 1942. Since then fission has been used to propel submarines, generate tremendous amounts of electricity, produce medical isotopes, and provide numerous other benefits to society. Fission systems operate independently of solar proximity or orientation, and are thus well suited for deep space or planetary surface missions. In addition, the fuel for fission systems (enriched uranium) is virtually non-radioactive. The primary safety issue with fission systems is avoiding inadvertent system start. Addressing this issue through proper system design is straight-forward. Despite the relative simplicity and tremendous potential of space fission systems, the development and utilization of these systems has proven elusive. The first use of fission technology in space occurred 3 April 1965 with the US launch of the SNAP-10A reactor. There have been no additional US uses of space fission systems. While space fission systems were used extensively by the former Soviet Union, their application was limited to earth-orbital missions. Early space fission systems must be safely and affordably utilized if we are to reap the benefits of advanced space fission systems. NASA's Marshall Space Flight Center, working with Los Alamos National Laboratory (LANL), Sandia National Laboratories, and others, has conducted preliminary research related to a Safe Affordable Fission Engine (SAFE). An unfueled core has been fabricated by LANL, and resistance heaters used to verify predicted core thermal performance by closely mimicking heat from fission. The core is designed to use only established nuclear technology and be highly testable. In FY01 an energy conversion system and thruster will be coupled to the core, resulting in an 'end-to-end' nuclear electric propulsion demonstrator being tested using resistance heaters to closely mimic heat from fission. Results of the SAFE test program will be presented. The applicability of a SAFE-powered electric propulsion system to outer planet science missions will also be discussed.

Houts, M.↗

NASA NTRS2002

Alkali Metal Handling Practices at NASA MSFC

NASA Marshall Space Flight Center (MSFC) is NASA s principle propulsion development center. Research and development is coordinated and carried out on not only the existing transportation systems, but also those that may be flown in the near future. Heat pipe cooled fast fission cores are among several concepts being considered for the Nuclear Systems Initiative. Marshall Space Flight Center has developed a capability to handle high-purity alkali metals for use in heat pipes or liquid metal heat transfer loops. This capability is a low budget prototype of an alkali metal handling system that would allow the production of flight qualified heat pipe modules or alkali metal loops. The processing approach used to introduce pure alkali metal into heat pipe modules and other test articles are described in this paper.

Salvail, Patrick G.↗