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Using Virtual Reality for Worksite Analysis

NASA Marshall Space Flight Center (MSFC) Human Factors Engineering (HFE) Team is implementing virtual reality (VR) and motion capture (MoCap) into HFE analyses of various projects through its Virtual Environments Lab (VEL). This complements the long history of analyses completed using mockups. These techniques are being implemented for; (1) Concept of development of Deep Space Habitats (DSH), (2) Design and analyses for NASA’s Space Launch System (SLS). VR utilization in the VEL will push the design to be better formulated before mockups are constructed, saving budget and time.

Andrews, Tanya↗

Deep Space Habitability Design Guidelines Based on the NASA NextSTEP Phase 2 Ground Test Program

This report summarizes habitation design guidelines for deep space habitats, which were derived from the NASA Next Space Technologies for Exploration Partnerships (NextSTEP) Phase 2 Habitat Ground Test Program. All data presented in this document have been contractor-deidentified and approved for public release. The report prioritizes capabilities and recommends allocating those capabilities to either the Habitation and Logistics Outpost (HALO) or the International Habitat (I-Hab). A review of the design guidelines is presented in the main body of the report, along with a list of the 170 specific design guidelines with references to the specific data sources from which they were derived.

Gernhardt, Michael↗

In-Situ Navigation and Timing Services for the Human Mars Landing Site Part 1: System Concept

In [1] and [2], we introduce a new geometric trilateration method that simultaneously performs absolute positioning and relative positioning. The relative position is derived from a “differencing” function of two raw-range measurements between a known reference point and of the target from a navigation satellite, thereby eliminating most of the common errors like atmospheric delays, ephemeris errors, and instrument delays in real-time. In the Mars environment this “error-cancellation” function greatly reduces the need to perform extensive orbit determination (OD) of the navigation satellites like the Earth’s GPS, and only requires occasional tracks from the Earth’s large-aperture deep space antennas to perform OD’s. Leveraging on this scheme, we propose a low-cost, low-maintenance regional navigation satellite system architecture that provides in-situ navigation and timing services for robotic and human missions in the vicinity of a Mars landing site. This architecture is built upon the proposed Mars relay network infrastructure, and a number of notional Mars orbiting and surface missions in the human exploration era of Mars. We assume two areostationary Mars relay orbiters that have continuous line-of-sight visibility with the Mars landing site, a Deep Space Habitat (DSH) in an inclined 48-hour circular orbit, and a surface communication lander that could serve as the reference point. These orbiting and surface infrastructure elements broadcast GPS-like ranging signals and other ephemeris information to the mission users. With one or more additional orbiters in areosynchronous orbits that trace around a figure-8 path, a regional navigation satellite system can be realized that provides in-situ course absolute localization and precision relative localization and timing services to the users in the vicinity of a Mars landing site. This paper describes the system concept of the proposed Mars regional navigation satellite system.

Lee, Charles↗

Recommendations Emerging from an Analysis of NASA's Deep Space Communications Capacity

During 2016-2017, NASA’s Space Communications and Navigation (SCaN) Office chartered a study of Deep Space Network (DSN) communications capacity relative to projected future-mission demand over the next 30 years. In this paper, we briefly describe the methodology used to analyze capacity vs. demand over such a broad timeframe, summarize key findings emerging from the analysis, and discuss the associated recommendations. Performing the analysis entailed: identifying key factors shaping the anticipated future mission set, identifying several alternative future mission set scenarios consistent with these factors, and then analyzing each mission set scenario in terms of required antenna capacity, downlink and uplink capabilities, and spectrum as a function of time. On the basis of these aggregate requirements, DSN loading simulations were then conducted that examined how well each of the postulated mission sets could load up onto the the DSN’s “in-plan” architecture. To the extent that capacity shortfalls emerged during these baseline simulations, architectural solutions to the shortfalls were then postulated and tested via additional simulations. In general, the trend analyses and baseline loading simulations indicated a significant progression in challenges over the next three decades. In the current decade, the DSN appeared to be operating very close to capacity. The first human exploration mission and its secondary payload launch opportunities for cubesats traveling beyond GEO contributed to this loading. As a consequence, the main challenge appeared to be managing peak assetcontention periods. In the next decade, the DSN continued to operate close to capacity but also began transitioning to more frequent human mission support. Upgrading for, and operating, a human-rated system while continuing to meet robotic mission customer requirements emerged as the key challenge. In the 2030’s and beyond, simulations suggested a need for fundamentally new capability and capacity. The high data rates and long link distances characteristic of human Mars exploration drove requirements far beyond what is currently “in plan.” The key challenge then became determining the most cost-effective combination of RF and optical assets for communicating with the postulated human Mars assets while still providing for the needs of all the other missions across the solar system. Various link budget, visibility, and loading analyses ultimately suggested that the human Mars exploration demands of the 2030’s could best be addressed with two cross-linked RF-optical areostationary relays (or an areostationary relay and deep space habitat) providing a dual “trunk link” to an array of 2-to-3 additional 34m beam waveguide antennas and an ~8.5m optical antenna at each DSN Complex. The dual “trunk link” would enable the same amount of total data return to Earth as a single trunk link at twice the data rate, but with only half the required array size on the ground, assuming use of Multiple Spacecraft Per Antenna (MSPA) techniques. MSPA techniques, including a Multiple Uplink Per Antenna (MUPA) technique currently under investigation, also showed promise for reducing asset contention in the decades prior to human Mars exploration.

Lee, Carlyn-Ann↗

Logistics Reduction: RFID Enabled Autonomous Logistics Management (REALM) (LR-REALM)

The Advanced Exploration Systems (AES) Logistics Reduction (LR) project Radio-frequency identification (RFID) Enabled Autonomous Logistics Management (REALM) task focuses on the subset of autonomous logistics management functions pertaining to automated localization and inventory of all physical assets pertaining to, or within, a vehicle utilizing RFID technologies. REALM technology can provide detailed data to enable autonomous operations such as automated crew procedure generation and robotic interaction with logistics and deep space habitats; this is especially of value where communication delays with Earth drive the need for self-reliance. The REALM project will conduct a series of ISS technology demonstrations. The first ISS demonstration, REALM-1, started in February 2017 and was completed at the end of FY19 when it was transitioned to the ISS program for sustaining operations. The second ISS demonstration, REALM-2, started late2019 and will continue for at least one year.

NASA TechPort↗

Down-Selection of Four Common Habitat Variants

The Common Habitat is a large habitat developed as an alternative architecture study, not part of the current NASA baseline, that uses the SLS core stage liquid oxygen tank as its primary structure. It has a gravity-independent internal architecture, such that identical units can be used on the lunar surface, Mars surface, and in microgravity. In developing the habitat, two key architectural questions emerged. Should the internal layout use a vertical or horizontal orientation of the tank? Should the crew size be four or eight? This led to the design of four variants: a four-crew horizontal, four-crew vertical, eight-crew horizontal, and eight-crew vertical. The four-crew variants use a shortened version of the tank while the eight-crew variants use the entire tank. The primary consideration applied for down-selection is the crew experience living and working in the habitat, inclusive of crew productivity, well-being, and survivability. Based on this consideration, a series of seven assessments were performed to compare the variants. This analysis was performed as an unfunded, volunteer activity leveraging civil servants across multiple field centers, most with expertise working in various Artemis teams. Additionally, the evaluation was limited to the use of CAD models, images, and spreadsheet data, with no resources available for mockups or Virtual Reality. A logistics analysis developed a standard logistics module and then estimated how much stowage could be carried onboard each Common Habitat and how many logistics modules are required by each variant for a given mission duration. It also considered the amounts of water to be stored in each variant. A functional analysis identified and compared the living and working functions across the habitats, ranking them relative to each other. A crew time assessment first estimated the total crew time, building a weekly crew timeline for both four and eight-person crews. It then allocated time to activities linked to living and working functions, comparing how much time was available for each function in each variant. A science productivity assessment developed a relative metric using crew time, science stowage, and assumed rates of experiment consumables use to analytically compare the four variants. It also comparatively ranked the habitats with respect to a number of subjective parameters and a workstation acceptability rating. A maintenance capacity assessment identified and compared eleven generic maintenance capabilities across the variants and also ranked them for their predicted ability to complete twelve fabrication, maintenance, and repair scenarios. A contingency responsiveness analysis examined twelve serious in-flight contingencies. For each scenario, the number of crew needed to respond were predicted and acceptability of various aspects of contingency response were evaluated, comparing the variants against each other. Finally, in a habitability assessment, 120 habitability characteristics reflecting 13 major categories were evaluated for each habitat. These results were compared to identify the most acceptable habitat in each category. Ultimately, the data favored the horizontal orientation over the vertical and an eight-person crew over four. Implications of selecting this variant are discussed, including specific architectural challenges that result from the use of the full tank.

Habitability↗

Functional Volume Assessment of an Early Version of the Mars Transit Habitat

During the summer of 2020, the NASA Mars Architecture Team (MAT) conducted a functional volume assessment of the Transit Habitat (TH). The TH has evolved substantially since that time and the current TH does not share the same internal configuration, but the insights gained from the assessment remain relevant. In virtually all architectures involving chemical, electric, or nuclear propulsion, the majority of the crew mission is spent aboard the TH. The Earth to Mars transit durations may vary from architecture to architecture, but all are on the order of hundreds of days, regardless of whether an opposition or conjunction class trajectory is selected, and regardless of whether the propulsion system is chemical, electric, or nuclear. Thus, the TH must provide capabilities appropriate to a very long duration. So, despite significant changes in the current Mars architecture over the past few years, this evaluation still provides useful recommendations in the form of habitability guidance that can be applied to current and future TH concepts. This assessment had six primary objectives: provide a sanity check to the BOC-derived TH layout; understand if we can fit the hardware and functional tasks in the volume; provide a high-level assessment of how aggressive the layout is; generate a list of challenges or assumptions necessary to make it work; generate a list of future work to refine understanding; and identify proposed requirements. All of this information is critical to drive habitat sizing studies and key architecture decisions. It was clear that a human-in-the-loop (HITL) evaluation of some kind would be necessary, but several challenges were immediately identified. The most information could be gleaned from a Desert Research and Technology Studies (DRATS) type of mission operations test (MOT), but the TH concept was too low fidelity to construct the type of prototype necessary to conduct a MOT, nor were their financial resources to do so. The next best option – and really the one most appropriate for the BOC’s stage of maturity – is a Virtual Reality (VR) walk-through evaluation. However, NASA was in a shutdown state due to the COVID-19 pandemic and the VR labs were inaccessible. As a result, a tabletop evaluation was created, using .jpg imagery from the ECM CAD model along with Excel-based datasheets. High-level crew living and working functions within the habitat were identified for evaluation. Questionnaires using Likert scales assessed acceptability of habitat functions and sim quality – the degree to which the function was represented in CAD. This enabled the evaluation to be conducted by personnel working remotely. Each function was evaluated individually along with several overarching habitability parameters and vehicle subsystems. The results of this evaluation are discussed, including methodological challenges and rating challenges. Acceptability results are discussed for functions that the participants were able to rate and participant comments for functions that could not be related are also described. Final conclusions are described, including challenges or assumptions needed to make the TH design acceptable, future work needed to refine understanding of the TH, and proposed habitat requirements based on test data.

Transit Habitat↗

Controllable Multi-Functional Heat Exchanger for Space Applications

Team Spacering will design SpaceRing, a cooling and waste heat recycling system that addresses NASA’s interest for a cooling and power-generating unit in its prototype deep space habitat[1]. The merits of this system are as follows: - Controllable cooling is critical in maintaining a habitable environment and in the functionality of life support systems, powering electronics and other devices in a spacecraft. - Power is expensive to produce in a space environment. Converting wasted thermal energy into electricity will save energy and money for the space station. Space habitation is a highly complex endeavor. Consequently, the SpaceRing must adhere to additional constraints, which include: - Lack of natural fluid or gas convection due to micro-gravity environment - Limited range for heat source and cold sink temperature - Subject to high fluctuations of incoming thermal energy - Minimal weight due to the high cost of transporting items into space After consulting with NASA and experts in thermal studies, several design objectives were identified and are listed below in order of importance: - High cooling capacity - Reliable safety control and alert system - Maximization of energy generation from wasted heat - Optimization of cooling capability and power generation - Long operational life and minimization of maintenance In space, conventional cooling systems utilize passive heat pipe systems for small-scale heat rejection and pumped pipes with heat exchangers for large-scale heat rejection. Thermal power generation in space is mainly achieved by using thermoelectric material that produces electric energy from temperature differentials. We propose a design that combines cooling and thermoelectric power generation. Using a hot pipe connected to a heat source, a cold pipe connected to a radiator, a heat exchanger in contact with both pipes, and a pump in each pipe to move the fluid, we make an active cooling system. The thermoelectric material is inserted in the heat exchanger between the hot and cold pipes to extract energy from the maximum temperature difference coming from the two pipes. It also provides controllable cooling capacity through the use of the thermoelectric material as cooling modules. We have tested our system under target heat source and sink conditions and measured the temperatures and flow rates. Our preliminary results are promising, demonstrating the output of 25 Watts of power on average. We are in the process of running control tests to compare the heat transfer performance without the thermoelectric generators, which is vital in determining whether or not the generators introduce an unacceptable amount of thermal resistance. While some control tests have been run already, the results have been noisy. We have modified our testing environment and data acquisition methods to allow for simple comparison between the control test results and thermoelectric performance results. Lastly, we have modified the heat exchanger design slightly to include acrylic baffles. This will allow the heat to flow through the heat exchanger more efficiently. We have presented our preliminary results to NASA and will deliver the final product by the end of May 2014.

Lee Xiong↗

A Historical Review of Logistics Mass and Crew Time Demands for ISS Operations

Following over 20 years of continuously crewed operations on the International Space Station (ISS), NASA is planning to return to the Moon and eventually send humans to Mars. ISS operations provide vital data to inform mission analysts as NASA prepares for longer and more complex missions with increased mission endurance. Endurance, defined as crewed operating time between cargo deliveries (or crew launch and return to Earth), is an important metric when analyzing mission needs. NASA is developing architectures to support sustained deep-space habitats in cislunar space, the lunar surface, Mars transit, and the surface of Mars. Unlike the ISS, these systems will not be continuously crewed, and unlike the Space Shuttle, these systems will not return to Earth for regular refurbishment between missions. Lunar systems will routinely go through long uncrewed periods between crewed missions. The systems on board will need to survive these dormancy periods with no crew present to provide maintenance. Mars systems will experience significantly longer endurance than past experience. Additionally, the inability to have quick aborts to return to Earth increases the need for system reliability, redundancy, and maintainability, as well as plans for contingency operations. This paper examines the historical logistics and crew time demand for ISS operations and mission objectives and provides an overview of missions to the ISS over its operating history, the mass and items delivered with the missions, and the crew time spent during missions. These parameters provide insight and valuable data to inform logistics and crew time estimates for future long-endurance crewed exploration missions.

Crew Logistics↗

A Historical Review of Logistics Mass and Crew Time Demands for ISS Operations

Following over 20 years of continuously crewed operations on the International Space Station (ISS), NASA is planning to return to the Moon and eventually send humans to Mars. ISS operations provide vital data to inform mission analysts as NASA prepares for longer and more complex missions with increased mission endurance. Endurance, defined as crewed operating time between cargo deliveries (or crew launch and return to Earth), is an important metric when analyzing mission needs. NASA is developing architectures to support sustained deep-space habitats in cislunar space, the lunar surface, Mars transit, and the surface of Mars. Unlike the ISS, these systems will not be continuously crewed, and unlike the Space Shuttle, these systems will not return to Earth for regular refurbishment between missions. Lunar systems will routinely go through long uncrewed periods between crewed missions. The systems on board will need to survive these dormancy periods with no crew present to provide maintenance. Mars systems will experience significantly longer endurance than past experience. Additionally, the inability to have quick aborts to return to Earth increases the need for system reliability, redundancy, and maintainability, as well as plans for contingency operations. This paper examines the historical logistics and crew time demand for ISS operations and mission objectives and provides an overview of missions to the ISS over its operating history, the mass and items delivered with the missions, and the crew time spent during missions. These parameters provide insight and valuable data to inform logistics and crew time estimates for future long-endurance crewed exploration missions.

Crew Logistics↗

Transfer-AE: A novel autoencoder-based impact detection model for structural digital twin

Accurately detecting the location and intensity of impacts is crucial for ensuring structural safety. Currently, AI-based structural impact detection methods are widely used for their excellent detection accuracy. However, their generalization capability is limited by the scenarios present in the training data. Many complex and dangerous impact scenarios are difficult to conduct real-world experiments on to collect sufficient samples. To capture all impact scenarios and fully leverage the advantages of AI-based detection technologies, advanced methods involve combining real-world structural monitoring data with corresponding numerical models to construct digital twins. These methods continuously refine the created numerical models with limited real-world data and provide diverse impact scenarios through numerical model simulations. However, there are inevitable differences between digital models and physical models that are challenging to correct through mechanical means. This discrepancy in data distribution between the two models significantly hinders the application of digital twin technology in impact/event identification tasks. To address this challenge, this study proposes a novel model based on autoencoders, named Transfer-AE. Transfer-AE encodes the common features of digital twins in the latent space to bridge the uncertainty gap at a macro scale between numerical models and physical models and synchronously fits the magnitude and location of the impact load in the decoder. This enables consistent detection results for the same impact event, whether the sample comes from the numerical model or the physical model. Transfer-AE includes two operating modes: Mode 1 has a fixed computational complexity with stable inference speed, but the training cost and difficulty increase with data distribution. Mode 2's computational complexity increases with data distribution, but it has a fixed training cost and speed. In both cases involving the geodesic dome structure simulating a deep space habitat and the IASC-ASCE benchmark structure, Transfer-AE demonstrated the best performance in impact localization and quantification tasks compared to mainstream domain-adaptive transfer models.

Chengjia Han↗

A Dual-Chamber Hybrid Inflatable Suitlock (DCIS) for Planetary Surfaces or Deep Space

The Habitat Demonstration Unit (HDU) Project in conjunction with the NASA Extravehicular Activity (EVA) team has identified a need for a hybrid inflatable and hard shell suitlock that can be used for planetary surface and deep space human exploration missions. Through ongoing analog studies at NASA Desert Research and Technologies Studies (D-RATS) and in NASA's Prototyping Testbed Facility, it has been determined that a compactly stowed, deployable suitlock unit is needed to accommodate advanced EVA egress and ingress operations for various environments with only minor modification.The Dual-Chamber Inflatable Suitlock (DCIS) consists of three hard in-line bulkheads, separating two cylindrical membrane-walled compartments. A dual-compartment suitlock will allow for dust and contaminant control, suit maintenance, and efficient egress / ingress; and the inflatable aspect of the design will allow the unit to stow in a compact package for transport. This paper describes the DCIS functionality, subsystems, and operational scenarios.The novel concepts included in the DCIS are the triple bulkhead, dual-chamber that has one compartment that is continuously pressurized (either at cabin pressure, or may be used for transitional pressure from high-pressure habitats), and a nominal unpressurized second compartment where the suits will be kept for normal operations. The advantages include quicker egress / ingress, capacity for 'shirt sleeve' suit maintenance, and portability of the entire unit.

habitat demonstration unit (HUD)↗

A Safe Haven Concept for the Common Habitat in Moon, Mars, and Transit Environments

The safe haven for the Common Habitat architectures, both the Deep Space Exploration Vehicle and the Moon/Mars surface basecamps, consists of the airlock, logistics modules, and in-space or surface pressurized rovers. These elements are repositioned to dock together and form a secondary habitable environment. The multiple elements that compose the safe haven and its ability to share utilities across docking ports give it multiple subsystem options to sustain the crew. In the safe haven configuration, the two logistics modules dock to the side hatches of the airlock outer chamber, one pressurized rover docks to the outermost airlock hatch, and the second pressurized rover docks to the first. This configuration provides no less than thirty days of habitation for the eight-person crew. It also allows the airlock inner chamber to be used for EVAs to both the exterior surface and the Common Habitat interior, which may have lost pressure during the event that triggered the need for a safe haven. These EVAs enable the crew to work to repair the habitat and restore habitation capability.

Base camp↗

Functional Volume Assessment of an Early Version of the Mars Transit Habitat

During the summer of 2020, NASA assessed the transit habitat concept that was being used in Mars human exploration architecture studies. This assessment had six primary objectives: (1) provide a sanity check to the transit habitat concept layout; (2) understand if we can fit the hardware and functional tasks in the volume; (3) provide a high-level assessment of how aggressive the layout is; (4) generate a list of challenges or assumptions necessary to make it work; (5) generate a list of future work to refine understanding; and (6) identify proposed requirements. The results of this evaluation are discussed, including methodological challenges and rating challenges. Acceptability results are discussed for functions that the participants were able to rate and participant comments for functions that could not be evaluated are also described. Final conclusions are described, including challenges or assumptions needed to make the transit habitat concept design acceptable, future work needed to refine understanding of the transit habitat concept, and proposed habitat requirements based on test data. While NASA has since moved away from this architecture, the assessment is still useful to inform the design of future transit habitats or other deep space crewed vehicles.

Transit Habitat↗

Radial Internal Material Handling System (RIMS) for Circular Habitat Volumes

A Radial Internal Material Handling System (RIMS) has been developed to service a circular floor area in variable gravity. On planetary surfaces, pressurized human habitable volumes will require a means to carry heavy equipment between various locations within the volume of the habitat, regardless of the partial gravity (Earth, moon, Mars, etc). On the NASA Habitat Demonstration Unit (HDU), a vertical cylindrical volume, it was determined that a variety of heavy items would need to be carried back and forth from deployed locations to the General Maintenance Work Station (GMWS) when in need of repair, and other equipment may need to be carried inside for repairs, such as rover parts and other external equipment. The vertical cylindrical volume of the HDU lent itself to a circular overhead track and hoist system that allows lifting of heavy objects from anywhere in the habitat to any other point in the habitat interior. In addition, the system is able to hand off lifted items to other material handling systems through the side hatches, such as through an airlock. This paper describes the RIMS system which is scalable for application in a variety of circular habitat volumes.

deep space habitats↗

Design Variants of a Common Habitat for Moon and Mars Exploration

The Common Habitat is a long-duration habitat concept based on the Skylab II architecture that leverages a single, multi-destination design applicable to microgravity Mars transit, 1/6 g lunar surface, 3/8 g Mars surface, and 1 g Earth. A trade study for the Common Habitat will address vertical versus horizontal internal orientation and a crew size of four or eight crew. This has resulted in the creation of four variants of the Common Habitat: Four Crew Horizontal Configuration, Four Crew Vertical Configuration, Eight Crew Horizontal Configuration, and Eight Crew Vertical Configuration. Design guidelines that shaped the four configurations are discussed, including: mission duration, destinations/missions, pressure vessel, hatches and docking, subsystems and utilities, lander integration and offloading, and eight-crew extensibility. Functional capabilities for crew-related systems are also discussed, including: private habitation, meal preparation, meal consumption, medical operations, exercise, group socialization and recreation, human waste collection, hygiene, logistics, spacecraft monitoring and commanding, mission planning, robotics and teleoperation, scientific research, maintenance and fabrication, and EVA. Each of the four Common Habitat designs will be presented, with a deck-by-deck description of each workstation, crew station, or subsystem along with an assessment of its degree of compliance with the guidelines and functional capabilities. Finally, forward work will be identified that will down-select a single Common Habitat. This includes multiple analyses that will be performed on the four variants, a down-selection process, and design refinement goals for the selected variant.

Habitability↗