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NASA NTRSDate not supplied

LSMS–L35, Miniature Crane for Payload Offloading and Manipulation: Development, and Application

The Lightweight Surface Manipulation System (LSMS) is a robotic agent for autonomous surface construction activities on planetary surfaces, that was designed at NASA Langley Research Center and has over a decade of research and development. The LSMS is a key component to achieving many goals of the NASA Artemis program. The LSMS is lightweight, structurally efficient system that can be easily packaged for launch and deployment on-surface, capable of a suite of surface activities enabled by modular end-effectors at the wrist. The focus of recent development work has been on using the LSMS for payload offloading and handling from lunar landers. Discussed in the paper is the development of the LSMS-L35 hardware (35 kg wrist lifting capacity on the lunar surface), designed to integrate with a Commercial Lunar Payload Services (CLPS) lander to offload payloads to the surface. The LSMS-L35 hardware development is part of a larger effort to enable autonomous payload handling and manipulation.

Iok M. Wong↗

NASA NTRS2002

In-Vessel Composting of Simulated Long-Term Missions Space-Related Solid Wastes

Reduction and stabilization of solid wastes generated during space missions is a major concern for the Advanced Life Support - Resource Recovery program at the NASA, Kennedy Space Center. Solid wastes provide substrates for pathogen proliferation, produce strong odor, and increase storage requirements during space missions. A five periods experiment was conducted to evaluate the Space Operation Bioconverter (SOB), an in vessel composting system, as a biological processing technology to reduce and stabilize simulated long-term missions space related solid-wastes (SRSW). For all periods, SRSW were sorted into components with fast (FBD) and slow (SBD) biodegradability. Uneaten food and plastic were used as a major FBD and SBD components, respectively. Compost temperature (C), CO2 production (%), mass reduction (%), and final pH were utilized as criteria to determine compost quality. In period 1, SOB was loaded with a 55% FBD: 45% SBD mixture and was allowed to compost for 7 days. An eleven day second composting period was conducted loading the SOB with 45% pre-composted SRSW and 55% FBD. Period 3 and 4 evaluated the use of styrofoam as a bulking agent and the substitution of regular by degradable plastic on the composting characteristics of SRSW, respectively. The use of ceramic as a bulking agent and the relationship between initial FBD mass and heat production was investigated in period 5. Composting SRSW resulted in an acidic fermentation with a minor increase in compost temperature, low CO2 production, and slightly mass reduction. Addition of styrofoam as a bulking agent and substitution of regular by biodegradable plastic improved the composting characteristics of SRSW, as evidenced by higher pH, CO2 production, compost temperature and mass reduction. Ceramic as a bulking agent and increase the initial FBD mass (4.4 kg) did not improve the composting process. In summary, the SOB is a potential biological technology for reduction and stabilization of mission space-related solid wastes. However, the success of the composting process may depend of the physical characteristics (particle size, porosity, structure, texture) of the SBD components which would require pre-processing of solid wastes before placing them in the SOB.

Rodriguez-Carias, Abner A.↗

NASA NTRS1988

Radio properties of the highly polarized, quiescent quasar OI 287

The highly polarized, quiescent quasar OI 287 has been observed with high resolution at 2 cm and 6 cm in an effort to determine the origin of some of the object's peculiar properties. The results seem to rule out the classification of OI 287 as a blazar. Extrapolation of the radio core spectrum to midinfrared wavelengths fails to predict the infrared flux by at least an order of magnitude. This supports the conclusion that the infrared emission and the radio emission do not originate in the same synchrotron-emitting component. The high optical polarization could be related to possible broad absorption lines in the unobserved UV regime, or it could be caused by reflection into the line of sight by scattering agents distributed in a thin disk.

Ulvestad, James S.↗

NASA NTRS2020

Machine Learning For Planetary Mining Applications

Robotic mining could prove to be an efficient method of mining resources for extended missions on the Moon or Mars. One component of robotic mining is scouting an area for resources to be mined by other robotic systems. Writing controllers for scouting can be difficult due to the need for fault tolerance, inter-agent cooperation, and agent problem solving. Reinforcement learning could solve these problems by enabling the scouts to learn to improve their performance over time. This work is divided into two sections, with each section addressing the use of machine learning in this domain. The first contribution of this work focuses on the application of reinforcement learning to mining mission analysis. Various mission parameters were modified and control policies were learned. Then agent performance was used to assess the effect of the mission parameters on the performance of the mission. The second contribution of this work explores the potential use of reinforcement learning to learn a controller for the scouts. Through learning, these scouts would improve their ability to map their surroundings over time.

Cook, Joshua↗

NASA NTRS2006

Integrated Vehicle Health Management (IVHM) for Aerospace Systems

To achieve NASA's ambitious Integrated Space Transportation Program objectives, aerospace systems will implement a variety of new concept in health management. System level integration of IVHM technologies for real-time control and system maintenance will have significant impact on system safety and lifecycle costs. IVHM technologies will enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. IVHM also has the potential to reduce, or even eliminate many of the costly inspections and operations activities required by current and future aerospace systems. This presentation will describe the array of NASA programs participating in the development of IVHM technologies for NASA missions. Future vehicle systems will use models of the system, its environment, and other intelligent agents with which they may interact. IVHM will be incorporated into future mission planners, reasoning engines, and adaptive control systems that can recommend or execute commands enabling the system to respond intelligently in real time. In the past, software errors and/or faulty sensors have been identified as significant contributors to mission failures. This presentation will also address the development and utilization of highly dependable sohare and sensor technologies, which are key components to ensure the reliability of IVHM systems.

Baroth, Edmund C.↗

NASA NTRS1988

Airborne and spaceborne lasers for terrestrial geophysical sensing; Proceedings of the Meeting, Los Angeles, CA, Jan. 14, 15, 1988

The present conference on airborne and spaceborne remote sensing laser applications discusses topics in atmospheric and geophysical sciences-related sensors, lidar and DIAL component and subsystem technologies, and coherent laser experiments and semiconductor laser technologies. Attention is given to airborne lidar measurement of aerosols, a ground-based injection-locked pulsed TEA laser for wind measurements, chemical/biological agent standoff detection methods, lidars for wind shear erosion, laser tuning to selected gas absorption lines in the atmosphere, the NASA lidar-in-space technology experiment, and the Laser Atmospheric Wind Sounder.

Allario, Frank↗

NASA NTRS2013

Ion Exchange Technology Development in Support of the Urine Processor Assembly

The urine processor assembly (UPA) on the International Space Station (ISS) recovers water from urine via a vacuum distillation process. The distillation occurs in a rotating distillation assembly (DA) where the urine is heated and subjected to sub-ambient pressure. As water is removed, the original organics, salts, and minerals in the urine become more concentrated and result in urine brine. Eventually, water removal will concentrate the urine brine to super saturation of individual constituents, and precipitation occurs. Under typical UPA DA operating conditions, calcium sulfate or gypsum is the first chemical to precipitate in substantial quantity. During preflight testing with ground urine, the UPA achieved 85% water recovery without precipitation. However, on ISS, it is possible that crewmember urine can be significantly more concentrated relative to urine from ground donors. As a result, gypsum precipitated in the DA when operating at water recovery rates at or near 85%, causing the failure and subsequent re14 NASA Tech Briefs, September 2013 placement of the DA. Later investigations have demonstrated that an excess of calcium and sulfate will cause precipitation at water recovery rates greater than 70%. The source of the excess calcium is likely physiological in nature, via crewmembers' bone loss, while the excess sulfate is primarily due to the sulfuric acid component of the urine pretreatment. To prevent gypsum precipitation in the UPA, the Precipitation Prevention Project (PPP) team has focused on removing the calcium ion from pretreated urine, using ion exchange resins as calcium removal agents. The selectivity and effectiveness of ion exchange resins are determined by such factors as the mobility of the liquid phase through the polymer matrix, the density of functional groups, type of functional groups bound to the matrix, and the chemical characteristics of the liquid phase (pH, oxidation potential, and ionic strength). Previous experience with ion exchange resins has demonstrated that the most effective implementation for an ion exchange resin is a cartridge, or column, in which the resin is contained. Based on the results of equilibrium and sub-scale dynamic column testing, a possible solution for mitigating the calcium precipitation issue on the ISS has been identified. From an original pool of 13 ion exchange resins, two candidates have been identified that demonstrate substantial calcium removal on the sub-scale. The dramatic reduction in resin performance from published calcium uptake demonstrates the need for thorough evaluation of resins at the low pH and strong oxidizing environment present in the UPA. Chemical variations in the influent (calcium concentrations and pretreatment dosing) appear to have a noticeable impact on the calcium capacity of the resin. Low calcium concentrations and high pretreatment dosing will likely result in a decrease in calcium capacity. Conversely, low pre trea t - ment dosing will likely result in an increase in calcium capacity. In contrast, investigations at a variety of flow rates, length-to-diameter ratios, resin volumes, and flow regimes (continuous versus pulsed) show that changes in physical parameters do not have substantial impacts on resin performance in the very low specific velocity ranges of interest. This result is particularly useful because most commercial applications at higher specific velocities do show a relatively strong relationship between flow and capacity. The lack of a strong relationship will allow more flexibility in the implementation of an ion exchange bed for flight. Verification of subscale tests with flight-scale resin beds is recommended prior to implementation in the on-orbit UPA.

Mitchell, Julie↗

NASA NTRS1993

Flame-Retardant Diaminobenzenes Containing Phosphorus

Diamines polymerized with dianhydrides or diacyl halides to produce fire-resistant polymers. Properties of polymers useful as matrices in laminated composite-material aircraft structural components that resist fire and exhibit desirable mechanical properties as high tensile strength. Diamines used as encapsulating or potting compounds when reacted with epoxy resins. Free phosphonic acids, byproducts of synthesis of diamines used as complexing agents to extract metals from aqueous solutions or as corrosion inhibitors for metals.

Kourtides, Demetrius A.↗

NASA NTRSDate not supplied

Simulating Micrometeoroid Bombardment on Mercury: Identifying New Space Weathering Features in the Laboratory

Airless bodies are continually exposed to the harsh interplanetary space environment, causing the alteration of their surfaces through a process known as space weathering (SW). SW is dominated by solar wind irradiation and micrometeoroid bombardment, which together alter the spectral, microstructural, and chemical characteristics of grains on the surface of airless bodies. The effects of SW are variable and depend on the heliocentric distance and the initial composition of the planetary surface, among other factors. On the Moon and S- type asteroids, it is well established that SW darkens and reddens the surface of these bodies and attenuates absorption bands across the Vis-NIR wavelengths. These spectral effects are largely the result of the production of metallic Fe nanoparticles (npFe). However, Mercury’s SW environment is unique compared to the Moon and S-type asteroids. Mercury is a geochemical endmember, with a surface composition low in Fe (<2 wt.%) and enriched in volatile components, including regions of the surface hypothesized to contain up to 4 wt.% graphite in the low reflectance material (LRM). In fact, the presence of graphite on Mercury has been hypothesized to act as a reducing agent for silicates during SW to produce Si-bearing Fe-rich metal. In addition, its location in the solar system exposes Mercury to an extreme SW environment, with the surface of the planet experiencing an intense solar wind flux and higher flux and velocity of micrometeoroid impactors compared to the Moon and S-type asteroids. The effects that such harsh SW has on materials with the unique compositional characteristics of Mercury are not well constrained. To better understand SW at Mercury, we must investigate these processes in the laboratory. Here, we present the results of our analyses of the spectral, microstructural and chemical characteristics of Mercury analog samples irradiated by pulsed laser to simulate the short duration, high temperature events associated with micrometeoroid impacts.

Nick Bott↗

NASA NTRS1990

Building distributed rule-based systems using the AI Bus

The AI Bus software architecture was designed to support the construction of large-scale, production-quality applications in areas of high technology flux, running heterogeneous distributed environments, utilizing a mix of knowledge-based and conventional components. These goals led to its current development as a layered, object-oriented library for cooperative systems. This paper describes the concepts and design of the AI Bus and its implementation status as a library of reusable and customizable objects, structured by layers from operating system interfaces up to high-level knowledge-based agents. Each agent is a semi-autonomous process with specialized expertise, and consists of a number of knowledge sources (a knowledge base and inference engine). Inter-agent communication mechanisms are based on blackboards and Actors-style acquaintances. As a conservative first implementation, we used C++ on top of Unix, and wrapped an embedded Clips with methods for the knowledge source class. This involved designing standard protocols for communication and functions which use these protocols in rules. Embedding several CLIPS objects within a single process was an unexpected problem because of global variables, whose solution involved constructing and recompiling a C++ version of CLIPS. We are currently working on a more radical approach to incorporating CLIPS, by separating out its pattern matcher, rule and fact representations and other components as true object oriented modules.

Schultz, Roger D.↗

NASA NTRS2005

Control Algorithms and Simulated Environment Developed and Tested for Multiagent Robotics for Autonomous Inspection of Propulsion Systems

The NASA Glenn Research Center and academic partners are developing advanced multiagent robotic control algorithms that will enable the autonomous inspection and repair of future propulsion systems. In this application, on-wing engine inspections will be performed autonomously by large groups of cooperative miniature robots that will traverse the surfaces of engine components to search for damage. The eventual goal is to replace manual engine inspections that require expensive and time-consuming full engine teardowns and allow the early detection of problems that would otherwise result in catastrophic component failures. As a preliminary step toward the long-term realization of a practical working system, researchers are developing the technology to implement a proof-of-concept testbed demonstration. In a multiagent system, the individual agents are generally programmed with relatively simple controllers that define a limited set of behaviors. However, these behaviors are designed in such a way that, through the localized interaction among individual agents and between the agents and the environment, they result in self-organized, emergent group behavior that can solve a given complex problem, such as cooperative inspection. One advantage to the multiagent approach is that it allows for robustness and fault tolerance through redundancy in task handling. In addition, the relatively simple agent controllers demand minimal computational capability, which in turn allows for greater miniaturization of the robotic agents.

Wong, Edmond↗

NASA NTRS1991

The AI Bus architecture for distributed knowledge-based systems

The AI Bus architecture is layered, distributed object oriented framework developed to support the requirements of advanced technology programs for an order of magnitude improvement in software costs. The consequent need for highly autonomous computer systems, adaptable to new technology advances over a long lifespan, led to the design of an open architecture and toolbox for building large scale, robust, production quality systems. The AI Bus accommodates a mix of knowledge based and conventional components, running on heterogeneous, distributed real world and testbed environment. The concepts and design is described of the AI Bus architecture and its current implementation status as a Unix C++ library or reusable objects. Each high level semiautonomous agent process consists of a number of knowledge sources together with interagent communication mechanisms based on shared blackboards and message passing acquaintances. Standard interfaces and protocols are followed for combining and validating subsystems. Dynamic probes or demons provide an event driven means for providing active objects with shared access to resources, and each other, while not violating their security.

Schultz, Roger D.↗

NASA NTRS1998

Enhanced Detection of Vibrio Cholerae in Oyster Homogenate Based on Centrifugal Removal of Inhibitory Agents

The disease cholera, caused by Vibrio cholerae, has been associated with consumption of contaminated seafood, including raw oysters. Detection of V. cholerae in foods typically involves blending the oysters, diluting the homogenate in alkaline peptone water (APW), overnight enrichment, and isolation on selective agar. Unfortunately, the oyster homogenate must be diluted to large volumes because lower dilutions inhibit the growth of V. cholerae. The goals of this study were to develop an alternative to large dilutions and to evaluate the basis for the inhibition observed in lower dilutions of oyster homogenates. Centrifugation of oyster homogenates at 10,000 x g for 15 min, followed by enrichment of the resulting pellet in APW, was found to eliminate the inhibition of V. cholerae growth. Inhibition appears not to be due to competing microflora but to a component(s) released when V. cholerae grows in the presence of oyster homogenate. The inhibitory component(s) kills the V. cholerae after the cell concentration reaches > 10(exp 8) cells/mL, rather than initially preventing their growth. The pH also declines from 8.0 to 5.5 during this period; however, the pH decline by itself appears not to cause V. cholerae death. Seven strains of V. cholerae (01 and non-01) and two strains of V. vulnificus were susceptible to the inhibitory agent(s). However, other Vibrio and non-Vibrio species tested were not inhibited by the oyster homogenates. Based on digestion of oyster homogenates with pronase, trypsin and lipase, the inhibitory reaction involves a protein(s). In a preliminary trial with oyster homogenate seeded with 1 cfu/g of V. cholerae, the modified centrifugation technique detected a slightly higher percentage of samples at a 1:10 dilution than the standard FDA Bacteriological Analytical Method (BAM) detected in uncentrifuged oyster homogenate at a 1:100 dilution. V. cholerae in seeded samples could also be detected more frequently by the modified centrifugation method than by PCR at a 1:10 dilution.

Alexander, Donita↗

NASA NTRS2004

Design of Hybrid Mobile Communication Networks for Planetary Exploration

The Mobile Exploration System Project (MEX) at NASA Ames Research Center has been conducting studies into hybrid communication networks for future planetary missions. These networks consist of space-based communication assets connected to ground-based Internets and planetary surface-based mobile wireless networks. These hybrid mobile networks have been deployed in rugged field locations in the American desert and the Canadian arctic for support of science and simulation activities on at least six occasions. This work has been conducted over the past five years resulting in evolving architectural complexity, improved component characteristics and better analysis and test methods. A rich set of data and techniques have resulted from the development and field testing of the communication network during field expeditions such as the Haughton Mars Project and NASA Mobile Agents Project.

Alena, Richard L.↗

NASA NTRS2022

Functional Allocation Approach for Separation Assurance for Remotely Piloted Aircraft

A functional analysis framework is employed with the objective of exploring the separation assurance function for the remotely piloted aircraft system. The architecture of the remotely piloted aircraft system—highlighting several of the component systems and the functions resident onboard the remotely piloted aircraft and in the ground control station—is described to provide the context for understanding the complexity of the said system for a detailed functional analysis. The interactions between the agents of the separation assurance function belonging to the air traffic service provider, remotely piloted aircraft system operator and remotely piloted aircraft are described. Separation assurance by air traffic control, remain well clear by the remotely piloted aircraft system and collision avoidance onboard the remotely piloted aircraft are briefly discussed. The functional analysis framework is illustrated by relating the agents to the actions of (a) acquiring the surveillance information, (b) checking for conflicts, (c) creating the solutions for resolving conflicts and (d) implementing the conflict resolution solutions. This example is offered as a template by which a more detailed functional analysis of this and other functions could be developed. The architecture of the remotely piloted aircraft system is described to aid this process.

functional analysis↗

NASA NTRS2022

Functional Allocation Approach for Separation Assurance for Remotely Piloted Aircraft

Functional analysis↗

NASA NTRS2002

Effects of Amine and Anhydride Curing Agents on the VARTM Matrix Processing Properties

To ensure successful application of composite structure for aerospace vehicles, it is necessary to develop material systems that meet a variety of requirements. The industry has recently developed a number of low-viscosity epoxy resins to meet the processing requirements associated with vacuum assisted resin transfer molding (VARTM) of aerospace components. The curing kinetics and viscosity of two of these resins, an amine-cured epoxy system, Applied Poleramic, Inc. VR-56-4 1, and an anhydride-cured epoxy system, A.T.A.R.D. Laboratories SI-ZG-5A, have been characterized for application in the VARTM process. Simulations were carried out using the process model, COMPRO, to examine heat transfer, curing kinetics and viscosity for different panel thicknesses and cure cycles. Results of these simulations indicate that the two resins have significantly different curing behaviors and flow characteristics.

Brian W Grimsley↗

NASA NTRS2016

First Detection of Non-Chlorinated Organic Molecules Indigenous to a Martian Sample

The Sample Analysis at Mars (SAM) instrument onboard Curiosity can perform pyrolysis of martian solid samples, and analyze the volatiles by direct mass spectrometry in evolved gas analysis (EGA) mode, or separate the components in the GCMS mode (coupling the gas chromatograph and the mass spectrometer instruments). In addition, SAM has a wet chemistry laboratory designed for the extraction and identification of complex and refractory organic molecules in the solid samples. The chemical derivatization agent used, N-methyl-N-tert-butyldimethylsilyl- trifluoroacetamide (MTBSTFA), was sealed inside seven Inconel metal cups present in SAM. Although none of these foil-capped derivatization cups have been punctured on Mars for a full wet chemistry experiment, an MTBSTFA leak was detected and the resultant MTBSTFA vapor inside the instrument has been used for a multi-sol MTBSTFA derivatization (MD) procedure instead of direct exposure to MTBSTFA liquid by dropping a solid sample directly into a punctured wet chemistry cup. Pyr-EGA, Pyr-GCMS and Der-GCMS experiments each led to the detection and identification of a variety of organic molecules in diverse formations of Gale Crater.

Freissinet, C.↗