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Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon 8. Johnson Space Center at Houston, Texas, on July 25-27, 1989, are documented herein. During the three days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA AI Overview and Expert System Verification and Validation. Tutorial sessions included Neural Networks; Theory and Application of Back Propagation; Verification and Validation of Expert Systems/ Evaluation of Expert System Tools; and Technical Environment for Modular Architectures for Robotics in Space; and are not documented herein. Technical topics addressed included intelligent systems, robotics, human factors, and environment.

Knowledge representation

Engineering the Interface: Advanced Surface Technologies for Lunar Dust Management and Equipment Longevity

Through the Artemis program, NASA intends to develop a sustainable human foothold on the Moon, ultimately paving the way for crewed exploration of Mars. The Moon's hostile environment poses numerous obstacles, including exposure to radiation, temperature extremes, micrometeoroid threats, and particularly the persistent problem of lunar dust. Lunar dust impacts nearly every aspect of surface operations through adhesion and abrasion mechanisms, with contamination from anthropogenic activities (landing, rovers) far outweighing natural phenomena. Multiple adhesion pathways contribute to surface contamination in the lunar environment, including van der Waals forces, electrostatic forces, chemical reaction, and magnetic forces from elemental iron deposits. Sharp asperities from micrometeoroid bombardment and atmospheric absence increase interaction potential and enable mechanical interlocking. Low cohesion between dust particles exacerbates these challenges, as minimal interaction potential between dust and nearby surfaces overcomes particle cohesion, causing contamination. Lunar dust adhesion mitigation technologies can be categorized as either active, requiring external energy, or passive, relying on intrinsic material properties. Ultrasonic and electrodynamic technologies have been developed to the highest technology readiness level for active approaches. Passive strategies primarily focus on surface chemistry and topography modifications. At NASA Langley Research Center, approaches include surface migration agents to reduce surface energy, topographical modification using laser ablation patterning, and tailored surface conductivity to reduce intrinsic adhesion force. Performance has been evaluated using custom-built ultrasonic and centrifuge instruments. Plume-surface interactions from lunar landers can propel micrometer-sized particles at velocities up to 1000 m s-1.8 These particles pose risks to landers, habitats and infrastructure, leading to erosion, degradation, and reduced component lifespan. A panel recovered from Surveyor III was determined to have been severely abraded because of lunar dust displaced from the Apollo 12 lunar module that landed 160 m away. The performance of metallic surfaces has been evaluated via high velocity single particle impact using the laser-induced project impact test (LIPIT) facility at the University of Utah. Peridynamics modeling, a form of continuum mechanics that uses a nonlocal approach enabling greater simulation capabilities of crack initiation and fracture, has also been utilized to gain greater insight into material response during impact events. Lunar dust contamination challenges extend to power generation systems and moving equipment. Cables, rotation stages, and other mechanisms may experience limited range of motion and reduced lifetime due to dust infiltration. NASA Langley Research Center has evaluated traditional aerospace alloys, softgoods, wear resistant ceramics, and several polymer and polymer composite materials. Test methods have included traditional techniques like Taber abrasion testing, as well as designed test configurations developed in the DUSTE (dust, ultraviolet radiation, and space thermal environmental) chamber that reproduce mechanism functions in operational environment. Beyond laboratory experiments, several flight experiments have been conducted. Materials were exposed to the low Earth orbit environment on the Materials International Space Station Experiment (MISSE) and to the lunar surface environment through the Aegis Aerospace Regolith Adherence Characterization (RAC) payload and the Honeybee Robotics PlanetVac payload. Determining lunar dust's impact on surface exploration and habitation requires comprehensive experimental and computational capabilities combined with lessons learned from initial lunar activities. Identifying the greatest environmental challenges and developing mitigation technologies provides the clearest path toward successfully, expeditiously, and efficaciously completing NASA's mission. This presentation will discuss ongoing efforts at NASA Langley Research Center and collaborator contributions to these critical objectives.

Surface Engineering

The Effects of Lunar Dust on EVA Systems During the Apollo Missions

Mission documents from the six Apollo missions that landed on the lunar surface have been studied in order to catalog the effects of lunar dust on Extra-Vehicular Activity (EVA) systems, primarily the Apollo surface space suit. It was found that the effects could be sorted into nine categories: vision obscuration, false instrument readings, dust coating and contamination, loss of traction, clogging of mechanisms, abrasion, thermal control problems, seal failures, and inhalation and irritation. Although simple dust mitigation measures were sufficient to mitigate some of the problems (i.e., loss of traction) it was found that these measures were ineffective to mitigate many of the more serious problems (i.e., clogging, abrasion, diminished heat rejection). The severity of the dust problems were consistently underestimated by ground tests, indicating a need to develop better simulation facilities and procedures.

James R Gaier

The Effects of Lunar Dust on EVA Systems During the Apollo Missions

Mission documents from the six Apollo missions that landed on the lunar surface have been studied in order to catalog the effects of lunar dust on Extra-Vehicular Activity (EVA) systems, primarily the Apollo surface space suit. It was found that the effects could be sorted into nine categories: vision obscuration, false instrument readings, dust coating and contamination, loss of traction, clogging of mechanisms, abrasion, thermal control problems, seal failures, and inhalation and irritation. Although simple dust mitigation measures were sufficient to mitigate some of the problems (i.e., loss of traction) it was found that these measures were ineffective to mitigate many of the more serious problems (i.e., clogging, abrasion, diminished heat rejection). The severity of the dust problems were consistently underestimated by ground tests, indicating a need to develop better simulation facilities and procedures.

James R Gaier

Global Characterization of Polygonally Fractured Terrain on Venus and Implications for a Climate Change Origin

On Earth, polygonal fractures with spacings of 1-100 cm form in lava flows that cool slowly under isotropic stress conditions. On Venus, polygonal fractures are observed with typical fracture spacings of 1-2 km, covering regions 10s to 100s of km across. These features have been proposed to form via cooling of lava flows or above subsurface intrusions, or due to surface cooling caused by climate change. A watershed algorithm was modified to search the entire Magellan image database autonomously for terrains with polygonal fractures. Here we characterize the 204 polygon terrains found using this method (including over 170 newly identified regions) with respect to size, morphology, stratigraphy, and geologic setting. These results are used to examine different models of origin.

S. E. Smrekar

Three-Dimensional, Multi-Phase Unsteady Flow of Water Undergoing Multiple Flow Regimes (Free Surface, Droplet, and Fluid Film)

Upgrades to the Mobile Launcher Rainbird nozzles were implemented for the Artemis II launch to increase water flow rates and improve the mobile launcher deck water coverage while minimizing the water throw distance to avoid impacting the Space Launch System (SLS) rocket nozzles. This analysis describes the use of a three-dimensional, multi-phase, free surface transient computational fluid dynamics (CFD) model to simulate the water flowing out through the Rainbird nozzle and ensure compliance with current Artemis requirements. Flow rates, pressures, velocities, nozzle throw distances and coverage areas were analyzed to ensure that system requirements are met. The completed results were used to make necessary modifications to the Ignition Overpressure Protection and Sound Suppression (IOP/SS) system Rainbird design by reshaping the nozzle used in the system.

CFD

Advancing Wildfire Monitoring with TEMPO and ML tools: Hourly Smoke and Fire‑Front Mapping and Near‑Surface NO₂ Predictions

Wildfires impose substantial impacts on communities and regions downwind of wildfire smoke. We present a TEMPO‑enabled workflow that generates value‑added Level‑3 smoke‑plume masks and fire‑front maps for large wildfires, such as 2024 Park Fire, using the self‑supervised deep learning system SIT‑FUSE, along with near‑surface NO₂ predictions produced by a foundation model (Microsoft Aurora). We conclude by outlining a roadmap for expanding these capabilities to additional Western U.S. wildfire events and for delivering actionable tools to stakeholders. This open-source, reproducible workflow provides a scalable framework for cross-agency wildfire monitoring to overcome traditional limitations in smoke-cloud discrimination and air-quality forecasting by incorporating TEMPO data and beyond.

Xiaohua Pan

Marshall Space Flight Center CFD Overview

Computational Fluid Dynamics (CFD) activities at Marshall Space Flight Center (MSFC) have been focused on hardware specific and research applications with strong emphasis upon benchmark validation. The purpose here is to provide insight into the MSFC CFD related goals, objectives, current hardware related CFD activities, propulsion CFD research efforts and validation program, future near-term CFD hardware related programs, and CFD expectations. The current hardware programs where CFD has been successfully applied are the Space Shuttle Main Engines (SSME), Alternate Turbopump Development (ATD), and Aeroassist Flight Experiment (AFE). For the future near-term CFD hardware related activities, plans are being developed that address the implementation of CFD into the early design stages of the Space Transportation Main Engine (STME), Space Transportation Booster Engine (STBE), and the Environmental Control and Life Support System (ECLSS) for the Space Station. Finally, CFD expectations in the design environment will be delineated.

L A Schutzenhofer

Advancing the Oxygen Generation Assembly Design to Increase Reliability and Reduce Costs for a Future Long Duration Mission

The state-of-the-art Oxygen Generation Assembly (OGA) has been reliably producing breathing oxygen for the crew aboard the International Space Station (ISS) for over eight years. Lessons learned from operating the ISS OGA have led to proposing incremental improvements to advance the baseline design for use in a future long duration mission. These improvements are intended to reduce system weight, crew maintenance time and resupply mass from Earth while increasing reliability. The proposed improvements include replacing the cell stack membrane material, deleting the nitrogen purge equipment, replacing the hydrogen sensors, deleting the wastewater interface, replacing the hydrogen dome and redesigning the cell stack power supply. The development work to date will be discussed and forward work will be outlined. Additionally, a redesigned system architecture will be proposed.

Kevin C Takada

Simulating the Lunar Thermal Environment for the Surface-Deployed LEMS Artemis III TVAC Test

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. Presented is the system thermal vacuum test plan and configuration to validate the thermal control system performance in a flight-like environment. The test will measure the nighttime heat leaks for the bus and 18 seismometers to ensure lunar night survival and operability.

Thermal

Simulating the Lunar Thermal Environment for the Surface-Deployed LEMS Artemis III TVAC Test

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. Presented is the system thermal vacuum test plan and configuration to validate the thermal control system performance in a flight-like environment. The test will measure the nighttime heat leaks for the bus and 18 seismometers to ensure lunar night survival and operability.

Thermal

Simulating the Lunar Thermal Environment for the Surface-Deployed LEMS Artemis III TVAC Test

The Lunar Environment Monitoring Station (LEMS) is an autonomous, survive-the lunar-night seismic suite to be deployed on the Lunar surface by the Artemis III crew and designed to operate continuously for two years. It will see the extremes of the Lunar south pole thermal environment where surface temperatures range from -200°C to +20°C and where nighttime duration is at least 354 hours. Given power and mass constraints, the thermal system is limited to 2.5 Watts of heat during the lunar night. Presented is the system thermal vacuum test plan and configuration to validate the thermal control system performance in a flight-like environment. The test will measure the nighttime heat leaks for the bus and 18 seismometers to ensure lunar night survival and operability.

TVAC

First N 2 Profile for Venus’ Deep Lower Atmosphere

We present the first N 2 profile for Venus’ deep lower atmosphere (<15 km) and a constrained isotopic composition for cloud N 2 [1]. This work directly addresses unresolved questions for Venus using legacy observations. Prior to this work, there were no reported measurements for N 2 abundances at <15 km and the isotopic composition remained unconstrained [2]. The N 2 parameters are critical to understanding the evolution and thermal properties of the atmosphere [3-7]. Our N 2 results were obtained by re-analysis of data acquired in 1978 by the Pioneer Venus Large Probe Neutral Mass Spectrometer (LNMS) [8]. The archived mass spectra from 64.2 to 0.2 km were treated using the analytical procedures specifically developed for the LNMS [9-11]. Judicious peak fitting permitted disambiguation of (A) N 2 + and CO + at 28 u and (B) 14 N 15 N+, 13 CO + , and C 2 H 5 + at 29 u. Quality controls included comparing the (A) LNMS CO + /CO 2 + ratios to the NIST database and literature and (B) fitted counts for CO + to the expected counts of CO + calculated from C 18 O + and 13 CO + using the LNMS 16 O/ 18 O and 12 C/ 13 C ratios (obtained from CO 2 ). Our results show that N 2 is uniformly mixed across the deep lower atmosphere between ~0.2 and 15 km (2.49 ± 0.10 v%). In contrast, N 2 is non-uniformly mixed across the sub-cloud atmosphere and clouds (~15–59 km), where N 2 abundances increase by ~ 2-fold between ~15 km (2.45 ± 0.32 v%) and ~59-51 km (5.21 ± 0.18 v%). Using the cloud data, we also obtained a constrained 15 N/ 14 N ratio (2.93×10 -3 ± 0.13×10 -3 ) and δ 15 N value (-204 ± 35‰). Thus, the LNMS results [1] suggest that (A) the atmosphere is unstable at <15 km, (B) N 2 is not well-mixed >15 km, and (C) the cloud δ 15 N falls between Earth and the solar wind [12, 13]. Comparisons of the N 2 abundances and isotopic compositions for nitrogen, carbon, and oxygen to other Venus measurements will be discussed.

deep lower atmosphere

Battery selection for space experiments

This paper will delineate the criteria required for the selection of batteries as a power source for space experiments. Four basic types of batteries will be explored, lead acid, silver zinc, alkaline manganese and nickel cadmium. A detailed description of the lead acid and silver zinc cells while a brief exploration of the alkaline manganese and nickel cadmium will be given. The factors involved in battery selection such as packaging, energy density, discharge voltage regulation, and cost will be thoroughly examined. The pros and cons of each battery type will be explored. Actual laboratory test data acquired for the lead acid and silver zinc cell will be discussed. This data will include discharging under various temperature conditions, after three months of storage and with different types of loads. A description of the required maintenance for each type of battery will be investigated. The lifetime and number of charge/discharge cycles will be discussed.

Francisco, David R.

Engineering and Abuse Testing of Panasonic Lithium-Ion Battery and Cells

This viewgraph presentation reviews the performance testing of Lithium Ion batteries and cells under different conditions of charge and discharge. The tests show that the 0.5 C rate of charge and discharge might be the ideal condition for long term cycling. It reviews the issues of overcharge and overdischarge of the cells. The cells and the battery have adequate protection under both conditions to prevent any catastrophic occurrences. Temperatures above 150 C are required to vent the cells or cause a thermal runaway, Since this situation is non-credible in the cabin of the Space Shuffle or ISS this should not pose a problem. The presentation includes graphs and charts showing the charge and discharge capacities of the battery and also the current and voltage profiles. A view of a circuit board which contains the controlling mechanism for the battery is also shown.

Jeevarajan, Judith A.

Barium Fluoride as a Standard Reference Material for Infrared Refractometry

This work proposes a standard reference material (SRM) for measurements of refractive index in the infrared spectral region (1–12 μm). The purpose of this material is to enable cross-method comparison of refractive index data obtained through minimum deviation, ellipsometry, interferometry, and prism coupling techniques. This will allow vendors and metrology laboratories, regardless of which technique they employ, to certify that their measurements meet required levels of accuracy, precision, and repeatability. Drawing on foundational work by Tilton at the National Bureau of Standards, a figure of merit for candidate SRM materials is outlined, and three materials are selected for further evaluation. Ultimately, barium fluoride is proposed as the most suitable SRM for the infrared spectral region, based on its broad transmission range, chemical and mechanical stability, low temperature dependence of refractive index, and well-characterized dispersion behavior.

Andrew Howe

Space Station battery system design and development

The Space Station Electric Power System will rely on nickel-hydrogen batteries in its photovoltaic power subsystem for energy storage to support eclipse and contingency operations. These 81-Ah batteries will be designed for a 5-year life capability and are configured as orbital replaceable units (ORUs), permitting replacement of worn-out batteries over the anticipated 30-year Station life. This paper describes the baseline design and the development plans for the battery assemblies, the battery ORUs and the battery system. Key elements reviewed are the cells, mechanical and thermal design of the assembly, the ORU approach and interfaces, and the electrical design of the battery system. The anticipated operational approach is discussed, covering expected performance as well as the processor-controlled charge management and discharge load allocation techniques. Development plans cover verification of materials, cells, assemblies and ORUs, as well as system-level test and analyses.

Haas, R. J.

Laboratory Investigations: Low Earth Orbit Environment Chemistry With Spacecraft Surfaces

Long-term space operations that require exposure of material to the low earth orbit (LEO) environment must take into account the effects of this highly oxidative atmosphere on material properties and the possible contamination of the spacecraft surroundings. Ground-based laboratory experiments at Los Alamos using a newly developed hyperthermal atomic oxygen (AO) source have shown that not only are hydrocarbon based materials effected but that inorganic materials such as MoS2 are also oxidized and that thin protective coatings such as Al2O3 can be breached, producing oxidation of the underlying substrate material. Gas-phase reaction products, such as SO2 from oxidation of MoS2 and CO and CO2 from hydrocarbon materials, have been detected and have consequences in terms of spacecraft contamination. Energy loss through gas-surface collisions causing spacecraft drag has been measured for a few select surfaces and has been found to be highly dependent on the surface reactivity.

Jon B Cross