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NASA NTRS2015

Human-Robot Interaction

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces affect the human's ability to perform tasks effectively and efficiently when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. For efficient and effective remote navigation of a rover, a human operator needs to be aware of the robot's environment. However, during teleoperation, operators may get information about the environment only through a robot's front-mounted camera causing a keyhole effect. The keyhole effect reduces situation awareness which may manifest in navigation issues such as higher number of collisions, missing critical aspects of the environment, or reduced speed. One way to compensate for the keyhole effect and the ambiguities operators experience when they teleoperate a robot is adding multiple cameras and including the robot chassis in the camera view. Augmented reality, such as overlays, can also enhance the way a person sees objects in the environment or in camera views by making them more visible. Scenes can be augmented with integrated telemetry, procedures, or map information. Furthermore, the addition of an exocentric (i.e., third-person) field of view from a camera placed in the robot's environment may provide operators with the additional information needed to gain spatial awareness of the robot. Two research studies investigated possible mitigation approaches to address the keyhole effect: 1) combining the inclusion of the robot chassis in the camera view with augmented reality overlays, and 2) modifying the camera frame of reference. The first study investigated the effects of inclusion and exclusion of the robot chassis along with superimposing a simple arrow overlay onto the video feed of operator task performance during teleoperation of a mobile robot in a driving task. In this study, the front half of the robot chassis was made visible through the use of three cameras, two side-facing and one forward-facing. The purpose of the second study was to compare operator performance when teleoperating a robot from an egocentric-only and combined (egocentric plus exocentric camera) view. Camera view parameters that are found to be beneficial in these laboratory experiments can be implemented on NASA rovers and tested in a real-world driving and navigation scenario on-site at the Johnson Space Center.

Sandor, Aniko↗

DOE OSTI2025

Creating Apptainer Workflows with Docker-Compose-like Utilities

Creating Apptainer Workflows with Docker-Compose-like Utilities In this presentation, I will explore the utilization of a tool called process-compose, inspired by docker-compose, to create Apptainer-based services. This approach allows for easy deployment and management of fully containerized applications on High Performance Computing (HPC) systems without requiring elevated privileges. Benefits to the Ecosystem: By incorporating process-compose and Apptainer, I aim to address several key challenges in the HPC ecosystem: Simplified Workflow Management: Process-compose provides a user-friendly interface for defining and managing complex containerized application services, reducing the setup time and lowering the barrier to entry for new users. Enhanced Portability: Apptainer ensures that containerized applications can run consistently across different HPC environments, promoting greater portability and reducing compatibility issues. Process-compose is also a single binary that does not need to be installed by admin level users. Community Driven Solutions: This approach aligns with the goals of the High Performance Software Foundation (HPSF) to advance community-driven solutions. By sharing our experiences and insights, I hope to foster collaboration and innovation within the HPC community. Increased Productivity: The combination of process-compose and Apptainer streamlines the serve deployment process, allowing researchers and developers to focus more on their scientific work rather than the intricacies of system or service administration. Through this presentation, attendees will gain valuable insights into the practical implementation of containerized workflows on HPC systems, learn about the benefits of using process-compose and Apptainer, and understand how these tools can contribute to a more efficient HPC ecosystem.

97 - MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Influence of sulfide on diazotrophic growth of the methanogen Methanococcus maripaludis and its implications for the origin of nitrogenase

Abstract Methanogens inhabit euxinic (sulfide-rich) or ferruginous (iron-rich) environments that promote the precipitation of transition metals as metal sulfides, such as pyrite, reducing metal or sulfur availability. Such environments have been common throughout Earth’s history raising the question as to how anaerobes obtain(ed) these elements for the synthesis of enzyme cofactors. Here, we show a methanogen can synthesize molybdenum nitrogenase metallocofactors from pyrite as the source of iron and sulfur, enabling nitrogen fixation. Pyrite-grown, nitrogen-fixing cells grow faster and require 25-fold less molybdenum than cells grown under euxinic conditions. Growth yields are 3 to 8 times higher in cultures grown under ferruginous relative to euxinic conditions. Physiological, transcriptomic, and geochemical data indicate these observations are due to sulfide-promoted metal limitation, in particular molybdenum. These findings suggest that molybdenum nitrogenase may have originated in a ferruginous environment that titrated sulfide to form pyrite, facilitating the availability of sufficient iron, sulfur, and molybdenum for cofactor biosynthesis.

59 BASIC BIOLOGICAL SCIENCES↗

NASA NTRS1969

Thermal radiation shields for piping in vacuum environments

System of thermal radiation shielding reduces radiant heat transfer in vacuum installations containing piping which carries working fluids. Method employs successive layers of spacers and rolled metal shields which are easily installed or removed, expedites efficient removal of entrapped gases, and adapts easily to small pipings.

Spagnuolo, A. C.↗

NASA NTRS1970

Saturn S-2 base environment for flight evaluation

Computer program reduces base region flight data to isothermal and cold wall conditions and predicts instrument readings before and after flight. The flight data is made appropriate for nominal J-2 engine combustion. This program is used for any five-engined stage with center engine fixed.

Georgatsos, F. D.↗

NASA NTRS1987

Active vibration control in microgravity environment

An active control process to reduce vibration transmitted from the Space Station structure to the vibration sensitive payload is evaluated. A low-friction air-bearing table is used to approximate zero gravity in the horizontal plane. An analog control system is described which activates calibrated air jets when displacement of the test mass is sensed. The air jet control system is found to introduce an effective damping factor in controlling the oscillatory response. The air-jet control system is designed such that the thrust force produces less than 10 to the -5th g acceleration of the payload. An analytical model has verified the amount of damping in addition to flow parameters such as the pressure drop across the valve and the air flow rate.

Gerhold, C. H.↗

NASA NTRS2019

MEDLI2 Flight Heat Flux Sensor Environment and Planetary Protection Testing

Mars 2020 will fly the Mars Entry, Descent, and Landing Instrumentation II (MEDLI2) sensor suite consisting of a total of seventeen instrumented thermocouple sensor plugs, eight pressure transducers, two total heat flux sensors, and one radiometer embedded in the thermal protection system (TPS). Of the MEDLI2 instrumentation, eleven instrumented thermocouple plugs and seven pressure transducers will be installed on the heatshield of the Mars 2020 vehicle while the rest will be installed on the backshell. The goal of the MEDLI2 instrumentation is to directly inform the large performance uncertainties that contribute to the design and validation of a Mars entry system. A better understanding of the entry environment and TPS performance could lead to reduced design margins enabling greater payload mass-fraction and smaller landing ellipses. The MEDLI2 total heat flux sensors and radiometer are new instruments that were not flown on the Mars Science Laboratory mission. These sensors directly measure the surface heat flux and radiation at specific backshell locations. The total heat flux sensors use a Schmidt-Boelter sensing element. The radiometer version uses a sapphire window placed over the Schmidt-Boelter sensing element to separate the radiative component of the total heat flux. MEDLI2 recently planned and executed protoflight environmental testing as well planetary protection measures on the flight and flight-spare total heat flux sensors and radiometers. This testing is required to provide confidence in the performance of the flight-lot sensors when exposed to flight-like environments, and to reduce the risk of biological contamination on the planet of Mars with microbes from Earth.

MEDLI2 FLIGHT HEAT FLUX SENSOR ENVIRONMENT AND PLA↗

DOE OSTI2026

Brewer Recreational Facility Energy Modernization Project (Final Technical Report)

The project replaced a thirty-four-year-old metal halide lighting system on the City's primary athletic field with new energy efficient LED lighting, significantly reducing operating and maintenance cost while providing a safer environment, additional recreational opportunities, improved energy efficiency, and reduced light spillover.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRSDate not supplied

Biological Space Radiation Countermeasures to Enable Long Duration Exploration Missions

NASA’s career radiation limit for astronauts is 600 mSv. Currently planned missions beyond low Earth orbit (LEO) will expose crew to at least double that amount of radiation (for Mars missions). Therefore, to enable long duration exploration, countermeasures need to be deployed to reduce the long-term health outcomes of space radiation exposure. Limitations to the ability of spacecraft to shield against the high energy charged particles of the space radiation environment necessitate alternative methods to reduce overall space radiation risk for carcinogenesis. Recent successes in the arenas of Acute Radiation Syndrome (ARS) and clinical radiotherapy have demonstrated the efficacy of compound-based/biologicals in reducing the detrimental long term health outcomes associated with space radiation exposure. In recent years, the Space Radiation Element has funded the investigation of several such compounds including Avasopasem Manganese, CDDO-Me, Metformin, and γ-tocotrienol. The demonstrated efficacy of these compounds in reducing carcinogenesis, central nervous system, and cardiovascular disease risks demonstrate the need for, and potential benefit of, a robust countermeasure identification and development program with an initial starting suite of compounds available to validate others. The authors would also like to present highlights of a recent Space Radiation Element sponsored issue of Life Sciences in Space Research entitled “Breaking the Limit” on this specific topic.

Space Radiation↗

NASA NTRSDate not supplied

Biological Space Radiation Countermeasures to Enable Long Duration Exploration Missions

Space Radiation↗

NASA NTRSDate not supplied

Laser Beam Welding Benchmark Experiments Performed in Reduced Gravity and Vacuum

Laser beam welding (LBW) is affected by the extreme temperatures, reduced pressure, and reduced gravity present in space environments. Gravity and pressure especially influence its melt pool and solidification dynamics. A compact, modular vacuum chamber adaptable to flight platforms from parabolic to orbital currently hosts an experiment to investigate the combined influence of reduced gravity and pressure on LBW. A swappable cartridge contains a rotating platen on which customizable workpieces can be welded under vacuum, greatly increasing experimental throughput. Instrumentation includes weld and thermal cameras observing the process, thermocouples placed on workpieces, accelerometers, and vacuum sensors. Experimental data gathered during the welding process will be combined with post-flight nondestructive evaluation, metallography, and mechanical testing to provide validation datasets for computational modeling. Phase I of this effort involves a parabolic flight campaign in low gravity while an anticipated Phase II would proceed to in-space demonstration to access extended duration microgravity.

in-space welding↗

NASA NTRS2016

NASA ERA Integrated CFD for Wind Tunnel Testing of Hybrid Wing-Body Configuration

The NASA Environmentally Responsible Aviation (ERA) Project explored enabling technologies to reduce impact of aviation on the environment. One project research challenge area was the study of advanced airframe and engine integration concepts to reduce community noise and fuel burn. To address this challenge, complex wind tunnel experiments at both the NASA Langley Research Center's (LaRC) 14'x22' and the Ames Research Center's 40'x80' low-speed wind tunnel facilities were conducted on a BOEING Hybrid Wing Body (HWB) configuration. These wind tunnel tests entailed various entries to evaluate the propulsion-airframe interference effects, including aerodynamic performance and aeroacoustics. In order to assist these tests in producing high quality data with minimal hardware interference, extensive Computational Fluid Dynamic (CFD) simulations were performed for everything from sting design and placement for both the wing body and powered ejector nacelle systems to the placement of aeroacoustic arrays to minimize its impact on vehicle aerodynamics. This paper presents a high-level summary of the CFD simulations that NASA performed in support of the model integration hardware design as well as the development of some CFD simulation guidelines based on post-test aerodynamic data. In addition, the paper includes details on how multiple CFD codes (OVERFLOW, STAR-CCM+, USM3D, and FUN3D) were efficiently used to provide timely insight into the wind tunnel experimental setup and execution.

Computational Fluid Dynamics↗

NASA NTRS2003

Growth Conditions To Reduce Oxalic Acid Content of Spinach

A controlled-environment agricultural (CEA) technique to increase the nutritive value of spinach has been developed. This technique makes it possible to reduce the concentration of oxalic acid in spinach leaves. It is desirable to reduce the oxalic acid content because oxalic acid acts as an anti-nutritive calcium-binding component. More than 30 years ago, an enzyme (an oxidase) that breaks down oxalic acid into CO2 and H2O2 was discovered and found to be naturally present in spinach leaves. However, nitrate, which can also be present because of the use of common nitratebased fertilizers, inactivates the enzyme. In the CEA technique, one cuts off the supply of nitrate and keeps the spinach plants cool while providing sufficient oxygen. This technique provides the precise environment that enables the enzyme to naturally break down oxalate. The result of application of this technique is that the oxalate content is reduced by 2/3 in one week.

Johnson-Rutzke, Corinne↗

NASA NTRS1973

Physical phenomena related to crystal growth in the space environment

The mechanism of crystal growth which may be affected by the space environment was studied. Conclusions as to the relative technical and scientific advantages of crystal growth in space over earth bound growth, without regard to economic advantage, were deduced. It was concluded that the crucibleless technique will most directly demonstrate the unique effects of the greatly reduced gravity in the space environment. Several experiments, including crucibleless crystal growth using solar energy and determination of diffusion coefficients of common dopants in liquid silicon were recommended.

Chu, T. L.↗

NASA NTRS2015

Initial Assesment of Space Launch System Transonic Unsteady Pressure Environment

A series of wind tunnel tests were conducted at the NASA Langley Research Center Transonic Dynamics Tunnel to assess the transonic buffet environment for the Space Launch System (SLS) launch vehicle. An initial test, conducted in 2012, indicated an elevated buffet environment prompting a second test to provide further insight into the buffet phenomena and assess potential solutions to reduce the response levels of these environments. During the course of the test program, eight variants of the SLS-10000 configuration were examined. The effect of these configuration variants on the coefficient of the root-mean-square fluctuation of pressure about the mean as a function of test condition indicates that the maximum fluctuating pressure levels are extremely sensitive to the geometry of the forward attachment of the solid rocket boosters (SRBs) to the SLS Core. The addition of flow fences or changes to the SRB nose cone geometry can alleviate the unsteady pressure environment.

Sekula, Martin K.↗

NASA NTRS2016

Human Exploration System Test-Bed for Integration and Advancement (HESTIA) Support of Future NASA Deep-Space Missions

The Engineering Directorate at the NASA - Johnson Space Center is outfitting a 20-Foot diameter hypobaric chamber in Building 7 to support future deep-space Environmental Control & Life Support System (ECLSS) research as part of the Human Exploration System Test-bed for Integration and Advancement (HESTIA) Project. This human-rated chamber is the only NASA facility that has the unique experience, chamber geometry, infrastructure, and support systems capable of conducting this research. The chamber was used to support Gemini, Apollo, and SkyLab Missions. More recently, it was used to conduct 30-, 60-, and 90-day human ECLSS closed-loop testing in the 1990s to support the International Space Station and life support technology development. NASA studies show that both planetary surface and deep-space transit crew habitats will be 3-4 story cylindrical structures driven by human occupancy volumetric needs and launch vehicle constraints. The HESTIA facility offers a 3-story, 20-foot diameter habitat consistent with the studies' recommendations. HESTIA operations follow stringent processes by a certified test team that including human testing. Project management, analysis, design, acquisition, fabrication, assembly and certification of facility build-ups are available to support this research. HESTIA offers close proximity to key stakeholders including astronauts, Human Research Program (who direct space human research for the agency), Mission Operations, Safety & Mission Assurance, and Engineering Directorate. The HESTIA chamber can operate at reduced pressure and elevated oxygen environments including those proposed for deep-space exploration. Data acquisition, power, fluids and other facility resources are available to support a wide range of research. Recently completed HESTIA research consisted of unmanned testing of ECLSS technologies. Eventually, the HESTIA research will include humans for extended durations at reduced pressure and elevated oxygen to demonstrate very high reliability of critical ECLSS and other technologies.

Marmolejo, Jose↗

NASA NTRS2004

Making Precise Resonators for Mesoscale Vibratory Gyroscopes

An alternative approach to the design and fabrication of vibratory gyroscopes is founded on the use of fabrication techniques that yield best results in the mesoscopic size range, which is characterized by overall device dimensions of the order of a centimeter. This approach stands in contradistinction to prior approaches in (1) the macroscopic size range (the size range of conventional design and fabrication, characterized by overall device dimensions of many centimeters) and (2) the microscopic size range [the size range of microelectromechanical systems (MEMS), characterized by overall device dimensions of the order of a millimeter or less]. The mesoscale approach offers some of the advantage of the MEMS approach (sizes and power demands smaller than those of the macroscale approach) and some of the advantage of the macroscale approach (the possibility of achieving relative dimensional precision greater than that of the MEMS approach). Relative dimensional precision is a major issue in the operation of a vibratory gyroscope. The heart of a vibratory gyroscope is a mechanical resonator that is required to have a specified symmetry in a plane orthogonal to the axis about which rotation is to be measured. If the resonator could be perfectly symmetrical, then in the absence of rotation, a free vibration of the resonator could remain fixed along any orientation relative to its housing; that is, the gyroscope could exhibit zero drift. In practice, manufacturing imprecision gives rise to some asymmetry in mass, flexural stiffness or dissipation, resulting in a slight drift or beating motion of an initial vibration pattern that cannot be distinguished from rotation. In the mesoscale approach, one exploits the following concepts: For a given amount of dimensional error generated in manufacturing, the asymmetry and hence the rate-of-rotation drift of the gyroscope can be reduced by increasing the scale. The decrease in asymmetry also reduces coupling of vibrations to the external environment. Mechanical thermal noise and electronic measurement noise and drift can also be reduced by increasing the size of the resonator and its associated sensors.

Yang, Eui-Hyeok↗

NASA NTRS1986

A system for conducting igneous petrology experiments under controlled redox conditions in reduced gravity

The Space Shuttle and the planned Space Station will permit experimentation under conditions of reduced gravitational acceleration offering experimental petrologists the opportunity to study crystal growth, element distribution, and phase chemistry. In particular the confounding effects of macro and micro scale buoyancy-induced convection and crystal settling or floatation can be greatly reduced over those observed in experiments in the terrestrial laboratory. Also, for experiments in which detailed replication of the environment is important, the access to reduced gravity will permit a more complete simulation of processes that may have occurred on asteroids or in free space. A technique that was developed to control, measure, and manipulate oxygen fugacites with small quantities of gas which are recirculated over the sample is described. This system should be adaptable to reduced gravity space experiments requiring redox control. Experiments done conventionally and those done using this technique yield identical results done in a 1-g field.

Williams, R. J.↗