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The Mars Exploration Rovers (MER'03), Spirit and Opportunity, represent the state of the art in rover operations on Mars. This paper presents validation experiments of different visual tracking algorithms using the rover's navigation camera.
NASA's Mars Science Laboratory (MSL) rover mission is planning to make use of advanced software technologies in order to support fulfillment of its ambitious science objectives. The mission plans to adopt the Mission Data System (MDS) as the mission software architecture, and plans to make significant use of on-board autonomous capabilities for the rover software.
HE Evolvable Mars Campaign (EMC) is developing the plans and systems needed for a robust, evolutionary strategy to explore cis-lunar space, the Mars sphere of influence (including the moons of Mars), and the surface of Mars. Recently, the emphasis of NASA's plans has changed to focus on the prolonged pioneering of space, rather than focusing on a single crewed mission as the ultimate goal. A sustainable, pioneering vision of space would include in-situ resource utilization (ISRU) in multiple forms and at multiple destinations: atmospheric capture of Mars CO2 and/or volatiles for consumables and propellants, regolith for bulk and refined materials, and in-situ manufacturing at the Moon, Mars, and other bodies. These resources would enable a reduction in the logistical needs from Earth for future missions, thus preparing the way for a sustained presence on Mars. Although the EMC initially relies only on propellant production for the Mars ascent vehicle via ISRU, one of its primary objectives is to prospect at every EMC destination to understand the potential for ISRU; this will permit true pioneering to be enabled after the first crew arrives at Mars. Recent and ongoing analysis has considered the possible prospecting measurements that can be performed at the asteroid returned to cis-lunar space by the Asteroid Robotic Redirect Mission (ARRM), at the lunar surface, at Phobos and Deimos, and on the surface of Mars to identify available resources for future use. These opportunities will be available on missions currently in the Evolvable Mars Campaign construct, and will also facilitate the testing and demonstration of resource acquisition, processing, storage, and useage technologies that can play a role in later missions. This analysis has also led to the identification of several objectives that should be targeted during the missions building up to and including the initial crewed missions. These objectives are mapped to strategies for incorporating ISRU to support resource cycle closure and reduce mass requirements from Earth. This analysis has yielded engineering constraints, based on ISRU, that impact the evaluation of landing sites for missions to the surface of Mars. The terrain of a particular site must be sufficiently flat to permit ISRU systems, as well as ancillary systems such as power and propellant storage tanks, to be landed, moved into position, set up, and operated. Water must be accessible in a form that can be acquired via ISRU, in quantities that align with demands. The chosen method of acquiring and processing water should align with the available resources at a particular site, and that site must have sufficient quantities to meet the requirements (based on crew consumables and propellant demands). Lower altitude landing sites are preferred, as the increase in density can facilitate carbon dioxide acquisition from the atmosphere. Another preference is for sites with a greater ability to move regolith for civil engineering purposes; for example, this would be conducive to both bulk regolith uses (such as the manufacture of berms), and processed regolith uses (such as microwave sintering).
This report is intended to help NASA program and project managers incorporate Glenn Research Center Small Business Innovation Research/Small Business Technology Transfer (SBIR)/(STTR) technologies into NASA Human Exploration and Operations Mission Directorate (HEOMD) programs and projects. Other Government and commercial project managers can also find this useful. Introduction Incorporating Small Business Innovation Research (SBIR)-developed technology into NASA projects is important, especially given the Agency's limited resources for technology development. The SBIR program's original intention was for technologies that had completed Phase II to be ready for integration into NASA programs, however, in many cases there is a gap between Technology Readiness Levels (TRLs) 5 and 6 that needs to be closed. After SBIR Phase II projects are completed, the technology is evaluated against various parameters and a TRL rating is assigned. Most programs tend to adopt more mature technologies-at least TRL 6 to reduce the risk to the mission rather than adopt TRLs between 3 and 5 because those technologies are perceived as too risky. The gap between TRLs 5 and 6 is often called the "Valley of Death" (Figure 1), and historically it has been difficult to close because of a lack of funding support from programs. Several papers have already suggested remedies on how to close the gap (Refs. 1 to 4).
This report is intended to help NASA program and project managers incorporate Small Business Innovation Research/Small Business Technology Transfer (SBIR)/(STTR) technologies into NASA Aeronautics Research Mission Directorate (ARMD) projects. Other Government and commercial projects managers can also find this useful.
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This paper focuses on examining the practice of maturing technology with special emphasis on methods that improve the integration of advanced designs into the development of operational spacecraft missions.
In preparing for the space exploration challenges of the next century, the national aeronautics and space administration (NASA) center for integrated space micro-systems (CISM) is chartered to develop advanced spacecraft systems that can be adapted for a large spectrum of future space missions.
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To gain more insight into the ion-osmotic influence on temperature regulation, the rectal temperature responses of mongrel dogs were measured during one hour of treadmill-running at 1.2 m/sec up a 12 deg slope. Results indicate that as in man, the rise in body temperature during exercise appears to be a regulated process. There is a direct relationship between the rise and equilibrium levels of rectal temperature and the plasma sodium and osmotic concentrations. It remains to be determined if the hypernatremic-osmolality inhibits peripheral blood flow, the panting, salivation response, or both. Some background on previous experiments on resting and exercising dogs and men is recounted.
Past studies on the influence of various metal ions on heat regulation in mammals are reviewed, and results of a study on the effect of Na and citrate in isotonic and hypertonic concentrations on temperature elevation during exercise in dogs are presented. Hypertonic administration of Na before or during treadmill running and dosis of citrate during treadmill running significantly raised core temperature over controls and isotonic cases. Thus the higher the plasma Na-osmotic concentration, the greater the inhibition of heat dissipation.
NASA and NOAA are now sponsoring Advanced Geosynchronous Studies (AGeoS), technology work that will lead to the next generation of space sensors located in geosynchronous orbit. This report briefly describes the initial steps being taken to investigate the high priority geosynchronous measurement needs identified so far.
In preparing for the space exploration challenges of the next century, the National Aeronautics and Space Administration (NASA) Center for Integrated Space Micro-Systems (CISM) is chartered to develop advanced spacecraft systems that can be adapted for a large spectrum of future space missions. Enabling this task are revolutions in the miniaturization of electrical, mechanical, and computational functions. On the other hand, these revolutionary technologies usually have much lower readiness levels than those required by flight projects. The mission of the Advanced Micro Spacecraft (AMS) task in CISM is to bridge the readiness gap between advanced technologies and flight projects. Additional information is contained in the original extended abstract.
The results of a series of tests conducted at the NASA Langley Research Center to evaluate the behavior of an all-composite full-scale wing box are presented. The wing box is representative of a section of a 220-passenger commercial transport aircraft wing box and was designed and constructed by The Boeing Company as part of the NASA Advanced Subsonics Technology (AST) program. The semi-span wing was fabricated from a graphite-epoxy material system with cover panels and spars held together using Kevlar stitches through the thickness. No mechanical fasteners were used to hold the stiffeners to the skin of the cover panels. Tests were conducted with and without low-speed impact damage, discrete source damage and repairs. Up-bending, down-bending and brake roll loading conditions were applied. The structure with non-visible impact damage carried 97% of Design Ultimate Load prior to failure through a lower cover panel access hole.
Brahms is a multi-agent modeling and simulation language and distributed runtime system developed at NASA. It can be used to model and run a simualtion of the distributed work activities of multiple agents, such as humans,robots, and software agents, to coordinate a mission on one or more locations.Brahms is being used to model activities at the Flashline Man Arctic Research Station for possible use in planning Mars missions. The station is located at Haughton Crater, Devon Island, Nutiavut, Arctic Canada.