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NASA NTRS2000

CNES-NASA Studies of the Mars Sample Return Orbiter Aerocapture Phase

A Mars Sample Return (MSR) mission has been proposed as a joint CNES (Centre National d'Etudes Spatiales) and NASA effort in the ongoing Mars Exploration Program. The MSR mission is designed to return the first samples of Martian soil to Earth. The primary elements of the mission are a lander, rover, ascent vehicle, orbiter, and an Earth entry vehicle. The Orbiter has been allocated only 2700 kg on the launch phase to perform its part of the mission. This mass restriction has led to the decision to use an aerocapture maneuver at Mars for the orbiter. Aerocapture replaces the initial propulsive capture maneuver with a single atmospheric pass. This atmospheric pass will result in the proper apoapsis, but a periapsis raise maneuver is required at the first apoapsis. The use of aerocapture reduces the total mass requirement by approx. 45% for the same payload. This mission will be the first to use the aerocapture technique. Because the spacecraft is flying through the atmosphere, guidance algorithms must be developed that will autonomously provide the proper commands to reach the desired orbit while not violating any of the design parameters (e.g. maximum deceleration, maximum heating rate, etc.). The guidance algorithm must be robust enough to account for uncertainties in delivery states, atmospheric conditions, mass properties, control system performance, and aerodynamics. To study this very critical phase of the mission, a joint CNES-NASA technical working group has been formed. This group is composed of atmospheric trajectory specialists from CNES, NASA Langley Research Center and NASA Johnson Space Center. This working group is tasked with developing and testing guidance algorithms, as well as cross-validating CNES and NASA flight simulators for the Mars atmospheric entry phase of this mission. The final result will be a recommendation to CNES on the algorithm to use, and an evaluation of the flight risks associated with the algorithm. This paper will describe the aerocapture phase of the MSR mission, the main principles of the guidance algorithms that are under development, the atmospheric entry simulators developed for the evaluations, the process for the evaluations, and preliminary results from the evaluations.

Fraysse, H.↗

NASA NTRS2014

Testing Mars Exploration Rover-Inspired Operational Strategies for Semi-Autonomous Rovers on the Moon Ii: the GeoHeuristic Operational Strategies Test in Alaska

We used MER-derived semi-autonomous rover science operations strategies to determine best practices suitable for remote semi-autonomous lunar rover geology. Two field teams studied two glacial moraines as analogs for potential ice-bearing lunar regolith. At each site a Rover Team commanded a human rover to execute observations based on common MER sequences; the resulting data were used to identify and characterize targets of interest. A Tiger Team followed the Rover Team using traditional terrestrial field methods, and the results of the two teams were compared. Narrowly defined goals that can be addressed using cm-scale or coarser resolution may be met sufficiently by the operational strategies adapted from MER survey mode. When reconnaissance is the primary goal, the strategies tested are necessary but not sufficient. Further, there may be a set of optimal observations for such narrowly defined, hypothesis-driven science goals, such that collecting further data would result in diminishing returns. We confirm results of previous tests that indicated systematic observations might improve efficiency during strategic planning, and improve science output during data analysis. This strategy does not markedly improve the rate at which a science team can ingest data to feed back into tactical decision-making. Other methods should be tested to separate the strategic and tactical processes, and to build in time for data analysis.

MER↗

NASA NTRS2003

Preliminary Design and Analysis of the GIFTS Instrument Pointing System

The Geosynchronous Imaging Fourier Transform Spectrometer (GIFTS) Instrument is the next generation spectrometer for remote sensing weather satellites. The GIFTS instrument will be used to perform scans of the Earth s atmosphere by assembling a series of field-of- views (FOV) into a larger pattern. Realization of this process is achieved by step scanning the instrument FOV in a contiguous fashion across any desired portion of the visible Earth. A 2.3 arc second pointing stability, with respect to the scanning instrument, must be maintained for the duration of the FOV scan. A star tracker producing attitude data at 100 Hz rate will be used by the autonomous pointing algorithm to precisely track target FOV s on the surface of the Earth. The main objective is to validate the pointing algorithm in the presence of spacecraft disturbances and determine acceptable disturbance limits from expected noise sources. Proof of concept validation of the pointing system algorithm is carried out with a full system simulation developed using Matlab Simulink. Models for the following components function within the full system simulation: inertial reference unit (IRU), attitude control system (ACS), reaction wheels, star tracker, and mirror controller. With the spacecraft orbital position and attitude maintained to within specified limits the pointing algorithm receives quaternion, ephemeris, and initialization data that are used to construct the required mirror pointing commands at a 100 Hz rate. This comprehensive simulation will also aid in obtaining a thorough understanding of spacecraft disturbances and other sources of pointing system errors. Parameter sensitivity studies and disturbance analysis will be used to obtain limits of operability for the GIFTS instrument. The culmination of this simulation development and analysis will be used to validate the specified performance requirements outlined for this instrument.

Zomkowski, Paul P.↗

NASA NTRS2013

Aquarius' Object-Oriented, Plug and Play Component-Based Flight Software

The Aquarius mission involves a combined radiometer and radar instrument in low-Earth orbit, providing monthly global maps of Sea Surface Salinity. Operating successfully in orbit since June, 2011, the spacecraft bus was furnished by the Argentine space agency, Comision Nacional de Actividades Espaciales (CONAE). The instrument, built jointly by NASA's Caltech/JPL and Goddard Space Flight Center, has been successfully producing expectation-exceeding data since it was powered on in August of 2011. In addition to the radiometer and scatterometer, the instrument contains an command & data-handling subsystem with a computer and flight software (FSW) that is responsible for managing the instrument, its operation, and its data. Aquarius' FSW is conceived and architected as a Component-based system, in which the running software consists of a set of Components, each playing a distinctive role in the subsystem, instantiated and connected together at runtime. Component architectures feature a well-defined set of interfaces between the Components, visible and analyzable at the architectural level (see [1]). As we will describe, this kind of an architecture offers significant advantages over more traditional FSW architectures, which often feature a monolithic runtime structure. Component-based software is enabled by Object-Oriented (OO) techniques and languages, the use of which again is not typical in space mission FSW. We will argue in this paper that the use of OO design methods and tools (especially the Unified Modeling Language), as well as the judicious usage of C++, are very well suited to FSW applications, and we will present Aquarius FSW, describing our methods, processes, and design, as a successful case in point.

Component Architecture↗

NASA NTRS2000

Rovers as Geological Helpers for Planetary Surface Exploration

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Stoker, Carol↗

NASA NTRS1993

Manned Space-laboratories Control Center (MSCC) operations concept

The initiation of the (German-) nationally funded control center for manned spaceflight operations triggered by the invitation of President Reagan to ESA, Japan, and Canada in 1984 to join the International Space Station Freedom Program is recalled. The requirements for a Manned Space-Laboratories Control Center (MSCC) as defined at the beginning of the planning and construction process in 1987 and the resulting modifications during the various programmatic scenario changes on NASA and ESA side between 1987 and now are presented. The validity of the original requirements with respect to the current scenario, which asks for a logical evolution from the execution of the D-2 mission in January 1993 via the European Columbus Precursor flights (in particular the E-1 mission) towards Columbus Attached Laboratory (APM)-operations by the end of this century are discussed. The resulting tasks of the MSCC for the various missions, the current configuration, and the ensuing operations concept leading from a more centralized concept for D-2 towards a decentralized payload operations concept for the APM and the implications with respect to European and International interfaces are presented. The planned Columbus MSCC facility architecture and its expected modifications introduced by the ESA Ministerial Conference in Munich (Nov. 1991) and follow-on discussions are briefly addressed. The last chapter outlines the planned services to be provided by the MSCC to the decentralized User (experimenter) community. Issues like decentralized mission planning on executional level, command validation, data flow coordination, archiving services, and telescience capabilities are highlighted from a MSCC point of view.

Kehr, Joachim↗

NASA NTRS2008

Control Architecture for Robotic Agent Command and Sensing

Control Architecture for Robotic Agent Command and Sensing (CARACaS) is a recent product of a continuing effort to develop architectures for controlling either a single autonomous robotic vehicle or multiple cooperating but otherwise autonomous robotic vehicles. CARACaS is potentially applicable to diverse robotic systems that could include aircraft, spacecraft, ground vehicles, surface water vessels, and/or underwater vessels. CARACaS incudes an integral combination of three coupled agents: a dynamic planning engine, a behavior engine, and a perception engine. The perception and dynamic planning en - gines are also coupled with a memory in the form of a world model. CARACaS is intended to satisfy the need for two major capabilities essential for proper functioning of an autonomous robotic system: a capability for deterministic reaction to unanticipated occurrences and a capability for re-planning in the face of changing goals, conditions, or resources. The behavior engine incorporates the multi-agent control architecture, called CAMPOUT, described in An Architecture for Controlling Multiple Robots (NPO-30345), NASA Tech Briefs, Vol. 28, No. 11 (November 2004), page 65. CAMPOUT is used to develop behavior-composition and -coordination mechanisms. Real-time process algebra operators are used to compose a behavior network for any given mission scenario. These operators afford a capability for producing a formally correct kernel of behaviors that guarantee predictable performance. By use of a method based on multi-objective decision theory (MODT), recommendations from multiple behaviors are combined to form a set of control actions that represents their consensus. In this approach, all behaviors contribute simultaneously to the control of the robotic system in a cooperative rather than a competitive manner. This approach guarantees a solution that is good enough with respect to resolution of complex, possibly conflicting goals within the constraints of the mission to be accomplished by the vehicle(s).

Huntsberger, Terrance↗

NASA NTRS2017

Osiris-REx Spacecraft Current Status and Forward Plans

The NASA New Frontiers OSIRIS-REx spacecraft executed a flawless launch on September 8, 2016 to begin its 23-month journey to near-Earth asteroid (101955). The primary objective of the OSIRIS-REx mission is to collect and return to Earth a pristine sample of regolith from the asteroid surface. The sampling event will occur after a two-year period of remote sensing that will ensure a high probability of successful sampling of a region on the asteroid surface having high science value and within well-defined geological context. The OSIRIS-REx instrument payload includes three high-resolution cameras (OCAMS), a visible and near-infrared spectrometer (OVIRS), a thermal imaging spectrometer (OTES), an X-ray imaging spectrometer (REXIS), and a laser altimeter (OLA). As the spacecraft follows its nominal outbound-cruise trajectory, the propulsion, power, communications, and science instruments have undergone basic functional tests, with no major issues. Outbound cruise science investigations include a search for Earth Trojan asteroids as the spacecraft approaches the Sun-Earth L4 Lagrangian point in February 2017. Additional instrument checkouts and calibrations will be carried out during the Earth gravity assist maneuver in September 2017. During the Earth-moon flyby, visual and spectral images will be acquired to validate instrument command sequences planned for Bennu remote sensing. The asteroid Bennu remote sensing campaign will yield high resolution maps of the temperature and thermal inertia, distributions of major minerals and concentrations of organic matter across the asteroid surface. A high resolution 3d shape model including local surface slopes and a high-resolution gravity field will also be determined. Together, these data will be used to generate four separate maps that will be used to select the sampling site(s). The Safety map will identify hazardous and safe operational regions on the asteroid surface. The Deliverability map will quantify the accuracy with which the navigation team can deliver the spacecraft to and from specific sites on the asteroid surface. The Sampleability map quantifies the regolith properties, providing an estimation of how much material would be sampled at different points on the surface. The final Science Value map synthesizes the chemical, mineralogical, and geological, observations to identify the areas of the asteroid surface with the highest science value. Here, priority is given to organic, water-rich regions that have been minimally altered by surface processes. Asteroid surface samples will be acquired with a touch-and-go sample acquisition system (TAGSAM) that uses high purity pressurized N2 gas to mobilize regolith into a stainless steel canister. Although the mission requirement is to collect at least 60 g of material, tests of the TAGSAM routinely exceeded 300 g of simulant in micro-gravity tests. After acquiring the sample, the spacecraft will depart Bennu in 2021 to begin its return journey, with the sample return capsule landing at the Utah Test and Training Range on September 23, 2023. The OSIRIS-REx science team will carry out a series of detailed chemical, mineralogical, isotopic, and spectral studies that will be used to determine the origin and history of Bennu and to relate high spatial resolution sample studies to the global geological context from remote sensing. The outline of the sample analysis plan is described in a companion abstract.

Messenger, Scott↗

NASA NTRSDate not supplied

Advances in Autonomous Communications and Operations: Tes-N Series

Advances in nanosat subsystems over the past decade have taken the CubeSat standard from a communication-limited educational tool to a powerful platform enabling space research. The potential for autonomous operations may greatly increase the capability of downlinking even larger data sets. This is enabled through miniaturization of software-defined radio/cognitive communication solutions and a rapidly growing number of ground stations and satellite network crosslinks. The TechEdSat-n orbital flight series is currently demonstrating experiments using cognitive communication concepts including User Initiated Service (UIS) and High-rate Delay Tolerant Networks (HDTN), which show a significant step toward improved capability. At the core of this is the use of the Iridium L-band Short Burst Data (SBD) modems, pioneered by TES-n for space applications. SBD enables unique rapid command, control, and scheduling to initiate the UIS and HDTN protocols. This occurs by performing GPS-assisted on-orbit ephemeris determination, enabling negotiation with high bandwidth ground assets to repeatedly downlink over a specific commercial or government-owned ground station. The technique is RF band-agnostic and may be extended to higher bandwidth stations and SDRs. This may also include free-space optical communication, through both laser and omnidirectional LEDs, which can provide an attractive protocol for downlinking very large datasets over far fewer ground stations. In addition, this may be extended to lunar applications for such future concepts as LunaNet, whereby scheduling and cognitive technologies can assist in greatly improving Earth downlink capabilities with ground stations which will see greater competition for usage. Lastly, the NASA Communication Service Program (CSP), intended to eventually replace the NASA Tracking and Data Relay Satellite System (TDRSS) will also demonstrate the feasibility of commercially-provided satellite communication capabilities. All of these combined advances, including large advances in on-board computation on small platforms, will result in more remarkable data processing capability – yielding even more as of yet unknown discoveries.

Autonomy↗

NASA NTRS2010

A Densified Liquid Methane Delivery System for the Altair Ascent Stage

The Altair Lunar Lander is currently carrying options for both cryogenic and hypergolic ascent stage propulsion modules. The cryogenic option uses liquid methane and liquid oxygen to propel Altair from the lunar surface back to rendezvous with the Orion command module. Recent studies have determined that the liquid methane should be densified by subcooling it to 93 K in order to prevent over-pressurization of the propellant tanks during the 210 day stay on the lunar surface. A trade study has been conducted to determine the preferred method of producing; loading, and maintaining the subcooled, densified liquid methane onboard Altair from a ground operations perspective. The trade study took into account the limitations in mass for the launch vehicle and the mobile launch platform as well as the historical reliability of various components and their thermal efficiencies. Several unique problems were encountered, namely delivering a small amount of a cryogenic propellant to a flight tank that is positioned over 350 ft above the launch pad as well as generating the desired delivery temperature of the methane at 93 K which is only 2.3 K above the methane triple point of 90.7 K. Over 20 methods of subcooled liquid methane production and delivery along with the associated system architectures were investigated to determine the best solutions to the problem. The top four cryogenic processing solutions were selected for further evaluation and detailed thermal modeling. This paper describes the results of the preliminary trade analysis of the 20 plus methane densification methods considered. The results of the detailed analysis will be briefed to the Altair Project Office and their propulsion team as well as the Ground Operations Project Office before the down-select is made between cryogenic and hypergolic ascent stages in August 2010.

Tomsik, Thomas M.↗

NASA NTRS2007

Noise-Canceling Helmet Audio System

A prototype helmet audio system has been developed to improve voice communication for the wearer in a noisy environment. The system was originally intended to be used in a space suit, wherein noise generated by airflow of the spacesuit life-support system can make it difficult for remote listeners to understand the astronaut s speech and can interfere with the astronaut s attempt to issue vocal commands to a voice-controlled robot. The system could be adapted to terrestrial use in helmets of protective suits that are typically worn in noisy settings: examples include biohazard, fire, rescue, and diving suits. The system (see figure) includes an array of microphones and small loudspeakers mounted at fixed positions in a helmet, amplifiers and signal-routing circuitry, and a commercial digital signal processor (DSP). Notwithstanding the fixed positions of the microphones and loudspeakers, the system can accommodate itself to any normal motion of the wearer s head within the helmet. The system operates in conjunction with a radio transceiver. An audio signal arriving via the transceiver intended to be heard by the wearer is adjusted in volume and otherwise conditioned and sent to the loudspeakers. The wearer s speech is collected by the microphones, the outputs of which are logically combined (phased) so as to form a microphone- array directional sensitivity pattern that discriminates in favor of sounds coming from vicinity of the wearer s mouth and against sounds coming from elsewhere. In the DSP, digitized samples of the microphone outputs are processed to filter out airflow noise and to eliminate feedback from the loudspeakers to the microphones. The resulting conditioned version of the wearer s speech signal is sent to the transceiver.

Seibert, Marc A.↗

NASA NTRS2000

Beyond Coordination: Joint Planning and Program Execution. The IHPRPT Materials Working Group

"Partnership is more than just coordination," stated then-Commander of the Air Force Research Laboratory (AFRL), Major General Dick Paul (USAF-Ret), at this year's National Space and Missile Materials Symposium. His comment referred to the example of the joint planning and program execution provided by the Integrated High Payoff Rocket Propulsion Technology (IHPRPT) Materials Working Group (IMWG). Most people agree that fiscal pressures imposed by shrinking budgets have made it extremely difficult to build upon our existing technical capabilities. In times of sufficient budgets, building advanced systems poses no major difficulties. However, with today's budgets, realizing enhanced capabilities and developing advanced systems often comes at an unaffordable cost. Overcoming this problem represents both a challenge and an opportunity to develop new business practices that allow us to develop advanced technologies within the restrictions imposed by current funding levels. Coordination of technology developments between different government agencies and organizations is a valuable tool for technology transfer. However, rarely do the newly developed technologies have direct applicability to other ongoing programs. Technology requirements are typically determined up-front during the program planning stage so that schedule risk can be minimized. The problem with this process is that the costs associated with the technology development are often borne by a single program. Additionally, the potential exists for duplication of technical effort. Changing this paradigm is a difficult process but one that can be extremely worthwhile should the right opportunity arise. The IMWG is one such example where NASA, the DoD, and industry have developed joint requirements that are intended to satisfy multiple program needs. More than mere coordination, the organizations comprising the group come together as partners, sharing information and resources, proceeding from a joint roadmap.

Stropki, Michael A.↗

NASA NTRS2018

Narrowband Propagation Statistics of Aeronautical Mobile-Ground Links in the L- and C-Bands

To provide for the safe integration of unmanned aircraft systems (UAS) into the National Airspace System (NAS), command and control (C2) links must be highly reliable. Hence, protected aviation spectrum is required to support such links for UAS that are integrated into controlled non-segregated airspace. For air-ground (i.e., non-satellite) links, protected aviation spectrum to support C2 links is available in the 960-1164 MHz (L) and 5030-5091 MHz (C) bands. The performance of any C2 system is critically dependent upon the characteristics of the air-ground (AG) channel. Therefore, as part of its UAS Integration in the NAS (UAS in the NAS) project, the U.S. National Aeronautics and Space Administration (NASA) performed a series of air-ground propagation flight tests to collect AG channel data for model development and analysis of potential C2 communications links capable of providing the required reliability. NASA's Glenn Research Center (GRC) conducted an extensive air-ground channel propagation measurement campaign (at altitude) for frequencies in the 960-977 MHz and 5030-5091 MHz ranges, for seven different terrain environments. The measurements were conducted in 2013, and produced the largest set of AG channel data ever gathered to date. This data was subsequently processed to develop models for the AG channel. The statistics collected enabled the derivation of channel model parameters for both narrowband and wideband channels. In order to make the propagation data widely available, the resulting narrowband statistics were processed and submitted to the International Telecommunications Union - Radiocommunication Sector (ITU-R) Study Group 3 Data Banks. Formats for data tables were developed, and tables of the aggregate narrowband propagation statistics for the seven ground site terrain environments were prepared, submitted to, and approved by, the ITU-R Study Group 3. This paper provides brief background on the measurement campaign, collection and processing of data, and development of the narrowband data tables. It further provides examples of the data and its use.

radiofrequency spectrum↗

NASA NTRS2018

Narrowband Propagation Statistics of Aeronautical Mobile-Ground Links in the L- and C-Bands

To provide for the safe integration of unmanned aircraft systems (UAS) into the National Airspace System (NAS), command and control (C2) links must be highly reliable. Hence, protected aviation spectrum is required to support such links for UAS that are integrated into controlled non-segregated airspace. For air-ground (i.e., non-satellite) links, protected aviation spectrum to support C2 links is available in the 960-1164 MHz (L) and 5030-5091 MHz (C) bands. The performance of any C2 system is critically dependent upon the characteristics of the air-ground (AG) channel. Therefore, as part of its UAS Integration in the NAS (UAS in the NAS) project, the U.S. National Aeronautics and Space Administration (NASA) performed a series of air-ground propagation flight tests to collect AG channel data for model development and analysis of potential C2 communications links capable of providing the required reliability. NASA's Glenn Research Center (GRC) conducted an extensive air-ground channel propagation measurement campaign (at altitude) for frequencies in the 960-977 MHz and 5030-5091 MHz ranges, for seven different terrain environments. The measurements were conducted in 2013, and produced the largest set of AG channel data ever gathered to date. This data was subsequently processed to develop models for the AG channel. The statistics collected enabled the derivation of channel model parameters for both narrowband and wideband channels. In order to make the propagation data widely available, the resulting narrowband statistics were processed and submitted to the International Telecommunications Union Radiocommunication Sector (ITU-R) Study Group 3 Data Banks. Formats for data tables were developed, and tables of the aggregate narrowband propagation statistics for the seven ground site terrain environments were prepared, submitted to, and approved by, the ITU-R Study Group 3. This paper provides brief background on the measurement campaign, collection and processing of data, and development of the narrowband data tables. It further provides examples of the data and its use.

aircraft communications↗

DOE OSTI2025

AlloSHP: deconvoluting single homeologous polymorphism for phylogenetic analysis of allopolyploids

Background The genomic and evolutionary study of allopolyploid organisms involves multiple copies of homeologous chromosomes, making their assembly, annotation, and phylogenetic analysis challenging. Bioinformatics tools and protocols have been developed to study polyploid genomes, but sometimes require the assembly of their genomes, or at least the genes, limiting their use. Results We have developed AlloSHP, a command-line tool for detecting and extracting single homeologous polymorphisms (SHPs) from the subgenomes of allopolyploid species. This tool integrates three main algorithms, WGA, VCF2ALIGNMENT and VCF2SYNTENY, and allows the detection of SHPs for the study of diploid-polyploid complexes with available diploid progenitor genomes, without assembling and annotating the genomes of the allopolyploids under study. AlloSHP has been validated on three diploid-polyploid plant complexes, Brachypodium, Brassica, and Triticum-Aegilops, and a set of synthetic hybrid yeasts and their progenitors of the genus Saccharomyces. The results and congruent phylogenies obtained from the four datasets demonstrate the potential of AlloSHP for the evolutionary analysis of allopolyploids with a wide range of ploidy and genome sizes. Conclusions AlloSHP combines the strategies of simultaneous mapping against multiple reference genomes and syntenic alignment of these genomes to call SHPs, using as input data a single VCF file and the reference genomes of the known or closest extant diploid progenitor species. This novel approach provides a valuable tool for the evolutionary study of allopolyploid species, both at the interspecific and intraspecific levels, allowing the simultaneous analysis of a large number of accessions and avoiding the complex process of assembling polyploid genomes.

Allopolyploids↗

NASA NTRS2009

Rocketdyne - Lunar Ascent Engine

The ascent engine was the last one from the moon, and I want to focus on the idea of redundancy and teams in regard to the engine. By teams, I mean teamwork - not just within Rocketdyne. It was teamwork within Rocketdyne; it was teamwork within Grumman; it was teamwork within NASA. These were all important elements leading to the successful development of the lunar excursion module (LEM) engine. Communication, rapid response, and cooperation were all important. Another aspect that went into the development of the ascent engine was the integration of technology and of lessons learned. We pushed all the above, plus technology and lessons learned, into a program, and that led to a successful result. One of the things that I like to think about - again in retrospect - is how it is very "in" now to have integrated product and process teams. These are buzzwords for teamwork in all program phases. That s where you combine a lot of groups into a single organization to get a job done. The ascent engine program epitomized that kind of integration and focus, and because this was the mid- to late-1960s; this was new ground for Rocketdyne, Grumman, and NASA. Redundancy was really a major hallmark of the Apollo Program. Everything was redundant. Once you got the rocket going, you could even lose one of the big F-1 engines, and it would still make it to orbit. And once the first stage separated from the rest of the vehicle, the second stage could do without an engine and still make a mission. This redundancy was demonstrated when an early Apollo launch shut down a J-2 second-stage engine. Actually, they shut down two J-2 engines on that flight. Even the third stage, with its single J-2 engine, was backed up because the first two stages could toss it into a recoverable orbit. If the third stage didn't work, you were circling the earth, and you had time to recover the command module and crew. Remember how on the Apollo 13 flight, there was sufficient system redundancy even when we lost the service module. That was a magnificent effort. TRW Inc. really ought to be proud of their engine for that. (See Slide 2, Appendix I) We had planned for redundancy; we had landed on the moon. However, weight restrictions in the architecture said, "You can t have redundancy for ascent from the moon. You've got one engine. It s got to work. There is no second chance. If that ascent engine doesn't work, you re stuck there." It would not have looked good for NASA. It wouldn't have looked good for the country. There was a letter written that President Richard Nixon would read if the astronauts got stuck on the moon, expressing how sorry we were and so forth. It was a scary letter, really. The ascent engine was an engine that had to work. (See Slide 3, Appendix I).

Harmon, Tim↗

NASA NTRS2022

Remote Diagnosis and Operational Response to an In-Flight Failure of the Drill Feed Mechanism Onboard the Mars Science Laboratory Rover

On November 30th, 2016 (Sol 1536 of the mission), the Mars Science Laboratory (MSL) flight operations team commanded the Curiosity rover to drill into a Martian rock to acquire the mission’s 16th rock powder sample. The drilling operation was halted when the drill feed mechanism unexpectedly stalled shortly after disengaging its magnetically-actuated friction brake at the start of a long move to extend the drill bit into contact with the target rock. The drilling campaign was put on hold and later abandoned as diagnostic experimentation revealed a tendency for the actuator to transition in and out of a high-drag state in which the mechanism could not actuate. In the subsequent months, the team conducted a variety of in-flight and ground-based investigations to determine root cause and identify mitigation strategies for continued operation. Mechanism reliability continued to degrade and by June 2017, it became clear that the mechanism could not be relied upon to support drilling operations. The team succeeded in fully extending the feed, enabling the development of new sampling techniques that would not rely on the feed mechanism. The first feed-extended drilling sample was successfully collected on Sol 2057, 521 sols after the initial feed stall. This paper discusses the anomaly investigation process, failure analysis, and feed mechanism operation mitigation strategies. It concludes with key lessons learned about mechanism design, mission architecture, and operational best practices.

Lin, Megan Richardson↗

NASA NTRS1999

Visual-vestibular integration motion perception reporting

Self-orientation and self/surround-motion perception derive from a multimodal sensory process that integrates information from the eyes, vestibular apparatus, proprioceptive and somatosensory receptors. Results from short and long duration spaceflight investigations indicate that: (1) perceptual and sensorimotor function was disrupted during the initial exposure to microgravity and gradually improved over hours to days (individuals adapt), (2) the presence and/or absence of information from different sensory modalities differentially affected the perception of orientation, self-motion and surround-motion, (3) perceptual and sensorimotor function was initially disrupted upon return to Earth-normal gravity and gradually recovered to preflight levels (individuals readapt), and (4) the longer the exposure to microgravity, the more complete the adaptation, the more profound the postflight disturbances, and the longer the recovery period to preflight levels. While much has been learned about perceptual and sensorimotor reactions and adaptation to microgravity, there is much remaining to be learned about the mechanisms underlying the adaptive changes, and about how intersensory interactions affect perceptual and sensorimotor function during voluntary movements. During space flight, SMS and perceptual disturbances have led to reductions in performance efficiency and sense of well-being. During entry and immediately after landing, such disturbances could have a serious impact on the ability of the commander to land the Orbiter and on the ability of all crew members to egress from the Orbiter, particularly in a non-nominal condition or following extended stays in microgravity. An understanding of spatial orientation and motion perception is essential for developing countermeasures for Space Motion Sickness (SMS) and perceptual disturbances during spaceflight and upon return to Earth. Countermeasures for optimal performance in flight and a successful return to Earth require the development of preflight and in-flight training to help astronauts acquire and maintain a dual adaptive state. Despite the considerable experience with, and use of, an extensive set of countermeasures in the Russian space program, SMS and perceptual disturbances remain an unresolved problem on long-term flights. Reliable, valid perceptual reports are required to develop and refine stimulus rearrangements presented in the PAT devices currently being developed as countermeasures for the prevention of motion sickness and perceptual disturbances during spaceflight, and to ensure a less hazardous return to Earth. Prior to STS-8, crew member descriptions of their perceptual experiences were, at best, anecdotal. Crew members were not schooled in the physiology or psychology of sensory perception, nor were they exposed to the appropriate professional vocabulary. However, beginning with the STS-8 Shuttle flight, a serious effort was initiated to teach astronauts a systematic method to classify and quantify their perceptual responses in space, during entry, and after flight. Understanding, categorizing, and characterizing perceptual responses to spaceflight has been greatly enhanced by implementation of that training system.

Harm, Deborah L.↗