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NASA NTRS2020

Investigating Relationships Between Geochemistry and Physical Grain Characteristics Along a Glacio-Fluvial-Aeolian Sediment Transport Pathway Using µXRF

Iceland’s basaltic volcanic rocks and glacial, fluvial, and aeolian landscapes resemble those studied on Mars, which makes it an ideal location to study the evolution of basaltic landscapes, the weathering and alteration of basaltic sediments in cold and wet environments, and the generation of a basaltic sedimentary record. The SAND-E: Semi-Autonomous Navigation for Detrital Environments project examines physical and chemical changes in sediments transported through basaltic fluvial and aeolian environments, and tests operational scenarios, which include a drone and a robotic rover instrumented with autonomous terrain analysis software. As part of the SAND-E project, we examined a glacial outwash plain at Skjaldbreiðauhraun, in SW Iceland. This study uses micro X-ray fluorescence (μXRF) to examine the chemical and physical properties of unconsolidated sediment-size fractions from 710 μm to < 63 μm along a downstream transect from a glacial sourced watershed. μXRF is ideally suited for this task because it maps elemental distributions at sub-grain scales thereby allowing a direct correlation between grainsize, grain shape, and chemistry. It is also a good analog technique for the Mars 2020 mission equipped with the PIXL (Planetary Instrument for X-ray Lithochemistry) that will be deployed at Jezero Crater, Mars.

Champion, E.↗

NASA NTRS2020

Decorrelation Stretches (DCS) of Visible Images as a Tool for Sedimentary Provenance Investigations on Earth and Mars

The surface of Mars exhibits vast expanses of mafic sediments and ancient sedimentary rocks that record signals of climate and environment. To decipher the paleoenvironments, the sediment sources and transport histories must be con-strained, but it is not well known how physical fractionation and aqueous alteration affect mafic sediments during glacial, eolian, and fluvial processes. Semi-Autonomous Navigation for Detrital Environments (SAND-E), a NASA Planetary Science and Technology through Analog Research (PSTAR) project, bridges this gap through studies of sediment-grain properties and mineralogy in the glacio-XRD)-derived mineralogies.

Sinha, P.↗

NASA NTRS2020

Dust from Mars-Analog Plains (Iceland): Physico-Compositional Properties as a Function of Grain-Size Fraction

Dust is a key component of the geological and climatic systems of Earth and Mars. On Mars, dust is ubiquitous. It coats rocks and soils, and, in the atmosphere, it interacts strongly with solar and thermal radiation. Yet, key questions remain about the genesis and fate of martian dust, as well as its sources, composition, and properties. We collected wind-blown dust from basaltic plains in SW Iceland at Skjaldbreiðauhraun that represent a geologic Mars-analog environment. Icelandic dust differs from the typical continental sources (e.g. Sahara, Asia) because of its basaltic volcanogenic origin, which is similar to Mars. Dust collection took place in July of 2019 as a complementary project to the SAND-E: Semi-Autonomous Navigation for Detrital Environments project. Here we report preliminary analyses of this Mars-analog dust material, with the goal of understanding the processes that control the physico-chemical proper-ties of the different grain-size fractions.

Nachon, Marion↗

NASA NTRS2020

Sediment Sorting and Rounding in a Basaltic Glacio-Fluvio-Aeolian Environment: Ϸhórisjökull Glacier, Iceland

Sediments and sedimentary rocks preserve a rich history of environment and climate. Identifying these signals requires an understanding of the physical and chemical processes that have affected sedimentary deposits [1]. Such processes include sorting and rounding during transport and chemical alteration through weathering and diagenesis. Although these processes have long been studied in quartz-dominated sedimentary systems [2], a lack of studies of basaltic sedimentary systems limits our interpretations of the environment and climate where mafic source rocks dominate, such as on Mars [3,4]. As part of the SAND-E: Semi-Autonomous Navigation for Detrital Environments project [5], which uses robotic operations to examine physical and chemical changes to sediments in basaltic glacio-fluvialaeolian environments, this research studies changes in sorting and rounding of fluvial-aeolian sediments along a glacier-proximal-to-glacier-distal transect in the outwash-plain of the Ϸόrisjökull glacier in SW Iceland (Fig. 1)

Mason, K. G.↗

NASA NTRSDate not supplied

Value Proposition, Strategic Framework, and Capability Needs for In-Space Assembly

The Space Science and Technology (S&T) Partnership Forum was established in 2015 to identify synergistic efforts and technologies across the government, with a focus on key pervasive and game-changing technologies across government space agencies in order to more efficiently and effectively manage S&T resources. As principal partners of the interagency S&T Partnership Forum, the U.S. Air Force (USAF), the National Aeronautics and Space Administration (NASA), and the National Reconnaissance Office (NRO) identified and prioritized several S&T collaboration topic areas. Autonomous and semi-autonomous in-space assembly (iSA) is the focus of the topic area that NASA, under the direction of the Office of Chief Technologist, is currently coordinating among the S&T principal partners and affiliate partners, such as the Defense Advanced Research Projects Agency (DARPA) and the U.S. Naval Research Laboratory (NRL). The S&T iSA facilitation and analysis team, led by NASA, collected data from the participating agencies on their current developments, activities, and needs in the area of in-space assembly. This paper provides an overview of the S&T iSA facilitation and analysis team’s efforts in establishing the value proposition and strategic framework for interagency collaboration in iSA within the partnership as a foundation to deliver value and achieve iSA topic objectives across government space agencies. Further, this paper describes the early products of these efforts in the definition of the iSA capabilities, design drivers, and stakeholder goals to facilitate dialogue within the partnership and the larger community.

Phillip A Williams↗

NASA NTRS2021

Teleoperation and Visualization Interfaces for Remote Intervention in Space

Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.

space robotics↗

NASA NTRSDate not supplied

An Approach for Identifying IASMS Services, Functions, and Capabilities From Data Sources

Assuring safety in the NAS with the inclusion of new entrants that are part of Advanced Air Mobility (AAM) will require overcoming unique safety challenges that result from combining innovative technologies with novel airspace concepts for moving people and cargo using semi-autonomous/autonomous vehicles. Overcoming these AAM safety assurance challenges is the focus of the In-time Aviation Safety Management System (IASMS). The IASMS Concept of Operations (ConOps) describes an interconnected set of services, functions, and capabilities (SFCs)designed to manage operational risks, identify unknown risks, and inform system design to mitigate risk. This paper describes a broad approach for identifying SFCs involving technology trends in research, assessment of known and unknown risks in safety reports, and causal and contributing factors in aviation accidents and incidents. This approach leverages these sources to identify potential SFCs that enable the Monitor, Assess, and Mitigate (M-A-M)functionality that represents the enabling framework of the IASMS.

Kyle Ellis↗

NASA NTRSDate not supplied

ISRU Pilot Excavator - Development of Autonomous Excavation Algorithms

The ISRU Pilot Excavator (IPEx) is a Space Technology Mission Directorate (STMD) Game Changing Development (GCD) project to develop a robotic excavator to demonstrate excavation of up to 10 metric tons of lunar regolith. IPEx is based on the Regolith Advanced Surface Systems Operations Robot (RASSOR) excavator developed at NASA Kennedy Space Center (KSC) and utilizes a counter rotating bucket drum concept to balance excavation forces for use on reduced gravity planetary bodies. To take advantage of the counter rotating bucket drum mechanism, work is being done to develop new autonomous excavation strategies and algorithms. Referred to as “Auto-dig”, these algorithms will allow IPEx to excavate, drive, and deliver its target mass of 10 metric tons of lunar regolith during an 11-day mission semi-autonomously. Due to bandwidth and latency constraints teleoperation will be kept to a minimum, with operators periodically confirming and verifying the excavator’s high-level tasks and operations. While the work to develop optimized autodig solutions is ongoing at KSC, early tests have yielded interesting results that have led to the discovery of additional risks that need to be mitigated in autonomous excavation. Testing has also encouraged the development of new software and visualization tools that provide real-time insight into excavation loads during operation, allowing faster development and helping build better intuition to the excavation process. These tools will help in the pursuit to develop fully optimized digging algorithms that are robust enough to handle hazards such as rocks or irregular terrain.

B. C. Buckles↗

NASA NTRS2021

Exploration Medical Capability Clinical Decision Support System Concept of Operations

The Clinical Decision Support (CDS) project supports the Exploration Medical Capability (ExMC) Element of the Human Research Program (HRP). Specifically, the CDS project addresses the ExMC gap, Medical-701: Enhance medical capabilities within an exploration medical system. For long-duration, deep space missions, computational and data resources will play an important role in maintaining crew health, wellness and performance where the crew will need to be more self-reliant as we enter a new era in space exploration to return to the moon and explore Mars. These ambitious goals will require significant change in in-flight medical care due to constraints on mass, volume, power, crew time, skills reduction over time and medical evacuation capabilities. These constraints make it absolutely necessary to develop transformative solutions using new technologies. Unlike the current paradigm for crew health in low-Earth orbit missions that rely on constant communication with Mission Control, the deep space missions will experience communication delays and possibly, no communications for finite periods of time. Hence, crew health management will benefit from analytics’ capabilities to augment decision support. A comprehensive, multi-functional on-board clinical decision support system (CDSS) will help crews assess and diagnose conditions, decide appropriate responses, and guide the provision of tailored and evidence-based treatments, while reflecting contextual factors and constraints. The context may include present and historical data, viable diagnostic equipment, available supplies and medications, and vehicle and environmental health. Communication time with ground-based personnel is delayed or non-existent during significant portions of the mission so the crew will need to autonomously respond to health, performance and medical situations, particularly those that are unplanned. The CDSS must also provide additional capabilities as complex as training for an emergency situation while augmenting non-expert practitioner skillsets if the Crew Medical Officer (CMO) is incapacitated, and as routine as facilitating delayed communication with flight surgeons on the ground. The CDSS must connect complex issues involving health, wellness, task performance and environmental domains. Furthermore, CDSS functionality will focus on semi-autonomous and autonomous decision-making by the crew that is necessary to address challenges in executing a self-contained medical system that enables health care without assistance from ground clinical experts. The document, ExMC CDSS Architecture Recommendation, (HRP- 48032) establishes a description of the envisioned CDSS architecture. The analytics, descriptive or advanced, contained in a CDSS will interface with the integrated crew health and performance architecture that provides the appropriate data sets. The aim of the CDS project is to develop requirements for a CDSS through a series of test-bed prototype developments and demonstrations.

HRP↗

NASA NTRS2023

Compliant Behaviors for Supervised and Autonomous Robotic Operations

The demands of traditional industrial robotics differ significantly from those of remote, supervised operations in hostile environments, such as operations in space. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. PTWL was tested on a variety of quasi-static and dynamic tasks that may be useful for future space operations. Results demonstrate that PTWL is a powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Joseph D. Cressman↗

NASA NTRS2022

IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations

Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.

Elmquist, Asher↗

NASA NTRS2023

Compliant Robotic Behaviors for Satellite Servicing

The demands of traditional industrial robotics differ significantly from those of space robotics. While industry requires robots that can perform repetitive tasks with precision and speed, the space environment needs robots to cope with uncertainties, dynamics, and communication delays or interruptions, similar to human astronauts. These demands make a well-suited application for compliant robotics and behavior-based programming. Pose Target Wrench Limiting (PTWL) is a compliant behavior paradigm developed specifically to meet these demands. PTWL controls a robot by moving a virtual attractor to a target pose. The attractor applies virtual forces, based on stiffness and damping presets, to an underlying admittance controller. Guided by virtual forces, the robot will follow the attractor until safety conditions are violated or success criteria are met. We tested PTWL on a variety of quasi-static tasks that may be useful for future space operations. Our results demonstrate that PTWL is an extremely powerful tool. It makes teleoperation easy and safe for a wide range of quasi-static tasks. It also facilitates the creation of semi-autonomous state machines that can reliably complete complex tasks with minimal human intervention.

Compliance↗

NASA NTRSDate not supplied

CO2-Based Manufacturing System for Recombinant Protein Production

Space biomanufacturing is a potential In Situ Resource Utilization (ISRU) strategy to provide critical consumables and products while minimizing the launched mass for long-duration, deep space missions. On Earth, the primary biological conversion of CO 2 to biomass is through photosynthesis, and sugars from photosynthetic organisms are used as feedstocks for microbial biomanufacturing. The efficiency of non-biological reduction of CO 2 to organic molecules, such as acetate or ethanol, has greatly increased in recent years. We are designing a biomanufacturing system to rely on electrochemical CO 2 conversion products for carbon substrates to support microbial growth and production of recombinant proteins. The preliminary design includes a gas-permeable membrane bioreactor with dry salts that are rehydrated and mixed with the carbon source to support growth of bacteria or yeast. The system architecture has a partially automated bioprocessing system to concentrate biomass and purify recombinant protein. This system is designed to operate semi-autonomously with minimal crew intervention. The specific use-case scenario is to produce a thermal stable carbonic anhydrase to increase the efficiency of a proposed liquid amine CO 2 removal subsystem of an environmental control and life-support system (ECLSS) on Mars.

Biomanufacturing↗

NASA NTRSDate not supplied

Development of a Space Compatible Biomanufacturing System

Recombinant↗

NASA NTRSDate not supplied

Developing a Cybersecurity Architecture for Extensible Traffic Management (xTM)

This paper explores the development of a cybersecurity architecture tailored for Extensible Traffic Management (xTM) to address emerging challenges in managing diverse aerial vehicles within the National Airspace System (NAS). Driven by technological advances and the rise of uncrewed aerial systems (UAS), urban air mobility (UAM), and high-altitude traffic (ETM), the NAS is undergoing a paradigm shift. Traditional air traffic management, reliant on traditional Federal Aviation Administration (FAA) control, will give way to decentralized coordination among autonomous and semi-autonomous systems. The proposed xTM Security Architecture, designed as a high-level framework, focuses on ensuring the confidentiality, integrity, and availability of data and operations in this evolving ecosystem. Utilizing threat modeling, the research identifies potential risks across key flight phases, operations and use cases to offer security control recommendations. Key objectives include analyzing interactions between novel airspace entrants and existing NAS traffic, cataloging vulnerabilities, and developing mitigative strategies to ensure safety, operational stability, and secure data exchanges. This research lays the groundwork for regulatory and industry adaptation, providing critical insights into managing cybersecurity risks in this complex, multi-domain environment.

UAM↗

NASA NTRS2025

Temperature Variation Analysis of the STIM300 Inertial Measurement Unit

A key navigation instrument found on most autonomous and semi-autonomous platforms is the inertial measurement unit (IMU). This type of sensor is a combination of microelectromechanical systems (MEMS) that provide inertial information to the navigation system. Typical MEMS hardware include a gyroscope and an accelerometer (for rates and accelerations, respectively) within a single platform. The Near Earth Asteroid (NEA) Scout mission, slated to launch in October of 2018 (Author’s note: NEA Scout ultimately launch on November 16, 2022), carries an on-board IMU from Sensonor. This particular model has yet to see spaceflight, and questions about its on-orbit reliability remain. Dynamic tests were produced in the summer of 2016 by a visiting faculty member from Arkansas Tech University, Daniel Bullock. During these experiments, concerns about the noise characteristics of the sensor were raised, specifically relating to how temperature fluctuations affected the unit. It was found that the IMU took an extended period of time before reaching an internal steady state temperature. These tests often displayed large temperature variations, making the calculation of noise characteristics, such as bias drift, difficult to attribute entirely to noise. Static and dynamic tests were re-performed under more stringent constraints on temperature. Tests reported herein conclude that the IMU is adequately capable of providing inertial information for the NEA Scout mission.

Ivan Rodrigues Bertaska↗

DOE OSTI2025

Knowledge Transfer Program for International Nuclear Safeguards

Nuclear safeguards were first announced in 1945 by the U.S., Canadian and British governments as a means to exchange scientific information about peaceful uses of atomic energy and prevent the use of nuclear material for weapons. International nuclear safeguards, now under the provision of the International Atomic Energy Agency (IAEA), serves to hold accountable the 140 member countries (States) that have entered into treaties and agreements against the spread of nuclear weapons. Most notably, the IAEA acts as a nuclear materials inspectorate under the global Nuclear Non-Proliferation Treaty, brought about in 1968, that specifies commitments member States make to the world?s non-proliferation regime. The Office of International Nuclear Safeguards (OINS) is part of the National Nuclear Security Administration, a semi-autonomous agency within the U.S. Department of Energy. Within OINS, the Human Capital Development program recognizes the need to build workforce capacity and safeguards expertise. This includes supporting the education and training of younger generations working in international nuclear safeguards. One of the program?s main concerns is core competencies being lost to retirement or attrition and building knowledge retention pipelines from senior to new professionals. One identified core competency is knowledge gained by individuals who have completed IAEA assignments such as missions to member States to conduct safeguards inspections. Such individuals possess unique knowledge, and efforts are being put forth to effectively capture this knowledge within the national laboratories complex. To this end, we report findings from a one-year mentor-mentee knowledge retention program in which an international safeguards subject matter expert imparted knowledge and skills to a willing professional mentee. The knowledge and skills stem from the mentor?s multi-year assignment at the IAEA in Vienna, Austria.

98 - NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL↗

DOE OSTI2025

Intelligent Surrogate Model Development: Boosting Computational Efficiency for Autonomous Control of Advanced Reactors

Advanced reactors promise enhanced safety, greater efficiency, and waste reductions. To fully realize these benefits, it is crucial to address the need for autonomous or semi-autonomous control systems that require fewer operators. This research primarily supports the MARVEL autonomous control system, which requires real-time operation. However, the current RELAP5 reactor thermal hydraulic transient simulation is excessively time-consuming. Therefore, this study aims to leverage deep learning techniques to develop a surrogate model, providing a more efficient and accurate alternative for real-time performance. The model was trained using a combination of one-timestep prediction and scheduled sampling. It was then used for recursive prediction of the reactor state. This developed surrogate model significantly improves computational efficiency, achieving a 12 times acceleration.

46 - INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AN↗