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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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NASA NTRS1991

Autonomous rough terrain navigation - Lessons learned

Because of light-time delays, a planetary rover located on Mars or beyond will probably need to be able to navigate autonomously, in order to do significant exploration. Recent work at JPL has explored several different autonomous navigation strategies. This work includes highly deliberative methods that require large amounts of computation and internal storage but yield very planful behavior to more reactive systems that require less resources but whose behavior is more difficult to model. This paper briefly presents these methods, the results from experiments both in simulation and in the field, and some conclusions on the value of different approaches, and their possible impact on the structure of the robot and the mission architecture.

Miller, David P.↗
NASA NTRS2005

NASA Tech Briefs, September 2005

Topivs include: Diamond-Coated Carbon Nanotubes for Efficient Field Emission; Improved Anode Coatings for Direct Methanol Fuel Cells; Advanced Ablative Insulators and Methods of Making Them; PETIs as High-Temperature Resin-Transfer-Molding Materials; Stable Polyimides for Terrestrial and Space Uses; Low-Density, Aerogel-Filled Thermal-Insulation Tiles; High-Performance Polymers Having Low Melt Viscosities; Nonflammable, Hydrophobic Aerogel Composites for Insulation; Front-Side Microstrip Line Feeding a Raised Antenna Patch; Medium-Frequency Pseudonoise Georadar; Facilitating Navigation Through Large Archives; Program for Weibull Analysis of Fatigue Data; Comprehensive Micromechanics-Analysis Code - Version 4.0; Component-Based Visualization System; Software for Engineering Simulations of a Spacecraft; LabVIEW Interface for PCI-SpaceWire Interface Card; Path Following with Slip Compensation for a Mars Rover; International Space Station Electric Power System Performance Code-SPACE; Software for Automation of Real-Time Agents, Version 2; Software for Optimizing Plans Involving Interdependent Goals; Computing Gravitational Fields of Finite-Sized Bodies; Custom Sky-Image Mosaics from NASA's Information Power Grid; ANTLR Tree Grammar Generator and Extensions; Generic Kalman Filter Software; Alignment Stage for a Cryogenic Dilatometer; Rugged Iris Mechanism; Treatments To Produce Stabilized Aluminum Mirrors for Cryogenic Uses; Making AlNx Tunnel Barriers Using a Low-Energy Nitrogen-Ion Beam; Making Wide-IF SIS Mixers with Suspended Metal-Beam Leads; Sol-Gel Glass Holographic Light-Shaping Diffusers; Automated Counting of Particles To Quantify Cleanliness; Phase Correction for GPS Antenna with Nonunique Phase Center; Compact Infrasonic Windscreen; Broadband External-Cavity Diode Laser; High-Efficiency Solar Cells Using Photonic-Bandgap Materials; Generating Solid Models from Topographical Data; Computationally Lightweight Air-Traffic-Control Simulation; Spool Valve for Switching Air Flows Between Two Beds; Partial Model of Insulator/ Insulator Contact Charging; Asymmetric Electrostatic Radiation Shielding for Spacecraft; and Reusable Hybrid Propellant Modules for Outer-Space Transport.

Source record↗
NASA NTRS2009

Rover Slip Validation and Prediction Algorithm

A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

Yen, Jeng↗
NASA NTRS2013

Enigma Version 12

Enigma Version 12 software combines model building, animation, and engineering visualization into one concise software package. Enigma employs a versatile user interface to allow average users access to even the most complex pieces of the application. Using Enigma eliminates the need to buy and learn several software packages to create an engineering visualization. Models can be created and/or modified within Enigma down to the polygon level. Textures and materials can be applied for additional realism. Within Enigma, these models can be combined to create systems of models that have a hierarchical relationship to one another, such as a robotic arm. Then these systems can be animated within the program or controlled by an external application programming interface (API). In addition, Enigma provides the ability to use plug-ins. Plugins allow the user to create custom code for a specific application and access the Enigma model and system data, but still use the Enigma drawing functionality. CAD files can be imported into Enigma and combined to create systems of computer graphics models that can be manipulated with constraints. An API is available so that an engineer can write a simulation and drive the computer graphics models with no knowledge of computer graphics. An animation editor allows an engineer to set up sequences of animations generated by simulations or by conceptual trajectories in order to record these to highquality media for presentation. Enigma Version 12 Lyndon B. Johnson Space Center, Houston, Texas 28 NASA Tech Briefs, September 2013 Planetary Protection Bioburden Analysis Program NASA's Jet Propulsion Laboratory, Pasadena, California This program is a Microsoft Access program that performed statistical analysis of the colony counts from assays performed on the Mars Science Laboratory (MSL) spacecraft to determine the bioburden density, 3-sigma biodensity, and the total bioburdens required for the MSL prelaunch reports. It also contains numerous tools that report the data in various ways to simplify the reports required. The program performs all the calculations directly in the MS Access program. Prior to this development, the data was exported to large Excel files that had to be cut and pasted to provide the desired results. The program contains a main menu and a number of submenus. Analyses can be performed by using either all the assays, or only the accountable assays that will be used in the final analysis. There are three options on the first menu: either calculate using (1) the old MER (Mars Exploration Rover) statistics, (2) the MSL statistics for all the assays, or This software implements penetration limit equations for common micrometeoroid and orbital debris (MMOD) shield configurations, windows, and thermal protection systems. Allowable MMOD risk is formulated in terms of the probability of penetration (PNP) of the spacecraft pressure hull. For calculating the risk, spacecraft geometry models, mission profiles, debris environment models, and penetration limit equations for installed shielding configurations are required. Risk assessment software such as NASA's BUMPERII is used to calculate mission PNP; however, they are unsuitable for use in shield design and preliminary analysis studies. The software defines a single equation for the design and performance evaluation of common MMOD shielding configurations, windows, and thermal protection systems, along with a description of their validity range and guidelines for their application. Recommendations are based on preliminary reviews of fundamental assumptions, and accuracy in predicting experimental impact test results. The software is programmed in Visual Basic for Applications for installation as a simple add-in for Microsoft Excel. The user is directed to a graphical user interface (GUI) that requires user inputs and provides solutions directly in Microsoft Excel workbooks. This work was done by Shannon Ryan of the USRA Lunar and Planetary Institute for Johnson Space Center. Further information is contained in a TSP (see page 1). MSC- 24582-1 Micrometeoroid and Orbital Debris (MMOD) Shield Ballistic Limit Analysis Program Lyndon B. Johnson Space Center, Houston, Texas Commercially, because it is so generic, Enigma can be used for almost any project that requires engineering visualization, model building, or animation. Models in Enigma can be exported to many other formats for use in other applications as well. Educationally, Enigma is being used to allow university students to visualize robotic algorithms in a simulation mode before using them with actual hardware.

Shores, David↗
NASA NTRS2013

Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

terramechanics↗
NASA NTRS2018

Fuel Cell Model Validation with Power Module Test Data

The AES Modular Power Systems (AMPS) Fuel Cell team at the NASA Glenn Research Center (GRC) has created a Microsoft Excel model of a regenerative fuel cell (RFC) system for potential lunar and Martian applications. Due to some limitations of this model, including the ability to predict transient effects in the thermal and fluidic performance of the system, a system-level transient thermal/fluids model was desired. GT-SUITE is a transient multi-physics simulation tool that is popular in the automotive industry and has a built-in template for proton exchange membrane (PEM) fuel cells. However, terrestrial fuel cells used in the automotive industry vary significantly from aerospace fuel cells. A validation effort was undertaken to compare GT SUITE model results to actual data collected during the 2015 AMPS (Advanced Exploration Systems (AES) Modular Power Systems) Power Module Demonstration in which the AMPS team used a PEM fuel cell system to power a 478 kilogram rover assembly at the Dunes test site located at GRC. The purpose of the model was to evaluate the efficacy of using GT SUITE to model a non-flow through PEM fuel cell system. The validation effort examined electrochemical performance including fuel cell stack voltage and power supplied, the thermal performance of the stack namely stack temperature and heat rejection rates, and the fluidic performance of the system including pressures, reactant consumption, and water production rates.

Model Validation↗
NASA NTRS2006

The 2004 NASA Aerospace Battery Workshop

Topics covered include: Super NiCd(TradeMark) Energy Storage for Gravity Probe-B Relativity Mission; Hubble Space Telescope 2004 Battery Update; The Development of Hermetically Sealed Aerospace Nickel-Metal Hydride Cell; Serial Charging Test on High Capacity Li-Ion Cells for the Orbiter Advanced Hydraulic Power System; Cell Equalization of Lithium-Ion Cells; The Long-Term Performance of Small-Cell Batteries Without Cell-Balancing Electronics; Identification and Treatment of Lithium Battery Cell Imbalance under Flight Conditions; Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers; Cell Over Voltage Protection and Balancing Circuit of the Lithium-Ion Battery; Lithium-Ion Battery Electronics for Aerospace Applications; Lithium-Ion Cell Charge Control Unit; Lithium Ion Battery Cell Bypass Circuit Test Results at the U.S. Naval Research Laboratory; High Capacity Battery Cell By-Pass Switches: High Current Pulse Testing of Lithium-Ion; Battery By-Pass Switches to Verify Their Ability to Withstand Short-Circuits; Incorporation of Physics-Based, Spatially-Resolved Battery Models into System Simulations; A Monte Carlo Model for Li-Ion Battery Life Projections; Thermal Behavior of Large Lithium-Ion Cells; Thermal Imaging of Aerospace Battery Cells; High Rate Designed 50 Ah Li-Ion Cell for LEO Applications; Evaluation of Corrosion Behavior in Aerospace Lithium-Ion Cells; Performance of AEA 80 Ah Battery Under GEO Profile; LEO Li-Ion Battery Testing; A Review of the Feasibility Investigation of Commercial Laminated Lithium-Ion Polymer Cells for Space Applications; Lithium-Ion Verification Test Program; Panasonic Small Cell Testing for AHPS; Lithium-Ion Small Cell Battery Shorting Study; Low-Earth-Orbit and Geosynchronous-Earth-Orbit Testing of 80 Ah Batteries under Real-Time Profiles; Update on Development of Lithium-Ion Cells for Space Applications at JAXA; Foreign Comparative Technology: Launch Vehicle Battery Cell Testing; 20V, 40 Ah Lithium Ion Polymer Battery for the Spacesuit; Low Temperature Life-Cycle Testing of a Lithium-Ion Battery for Low-Earth-Orbiting Spacecraft; and Evaluation of the Effects of DoD and Charge Rate on a LEO Optimized 50 Ah Li-Ion Aerospace Cell.

Source record↗
NASA NTRS2016

Experimental Evaluation of the Scale Model Method to Simulate Lunar Vehicle Dynamics

As compared to driving on Earth, the presence of lower gravity and uneven terrain on planetary bodies makes high speed driving difficult. In order to maintain ground contact and control vehicles need to be designed with special attention to dynamic response. The challenge of maintaining control on the Moon was evident during high speed operations of the Lunar Roving Vehicle (LRV) on Apollo 16, as at one point all four tires were off the ground; this event has been referred to as the Lunar Grand Prix. Ultimately, computer simulation should be used to examine these phenomena during the vehicle design process; however, experimental techniques are required for the validation and elucidation of key issues. The objectives of this study were to evaluate the methodology for developing a scale model of a lunar vehicle using similitude relationships and to test how vehicle configuration, six or eight wheel pods, and local tire compliance, soft or stiff, affect the vehicles dynamic performance. A wheel pod consists of a drive and steering transmission and wheel. The Lunar Electric Rover (LER), a human driven vehicle with a pressurized cabin, was selected as an example for which a scale model was built. The scaled vehicle was driven over an obstacle and the dynamic response was observed and then scaled to represent the full-size vehicle in lunar gravity. Loss of ground contact, in terms of vehicle travel distance with tires off the ground, was examined. As expected, local tire compliance allowed ground contact to be maintained over a greater distance. However, switching from a six-tire configuration to an eight-tire configuration with reduced suspension stiffness had a negative effect on ground contact. It is hypothesized that this was due to the increased number or frequency of impacts. The development and testing of this scale model provided practical lessons for future low-gravity vehicle development.

Moon↗
NASA NTRS2022

Simulated Excavation Environment for Lunar Operations

With new pushes to reach and establish long term presences on both the Moon and Mars, significant effort has begun to develop methods of In-Situ Resource Utilization. Many of these methods involve excavation and manipulation of local regolith and, at this time, many of these missions are in the early planning phases. As such, simulations provide both an inexpensive and relatively easy method to perform high level proofs of concept and mission overviews along with an environment to perform machine learning for rovers and other robots. The Simulated Excavation Environment for Lunar Operations (SEELO) was born out of this need for consolidated capabilities. SEELO seeks to provide accurate life mission environments and regolith interaction mechanics while remaining lightweight enough to run in faster than real-time. These combined features allow SEELO to be used for mission planning purposes that offer an environment for lunar robots to perform Machine Learning on moving, digging, and various other activities. Using the Real-Time Development Platform (Unity) to utilize regolith excavation models created by Intelligent Capabilities Enhanced-Regolith Advanced Surface Systems Operations Robot and lunar surface data collected by NASA’s Lunar Reconnaissance Orbiter, SEELO has been able to provide NASA with a tool to plan, train, and even devise lunar missions.

Michael DuPuis↗
NASA NTRS2004

Lunar and Planetary Science XXXV: Mars: Wind, Dust Sand, and Debris

The session "Mars: Wind, Dust Sand, and Debris" included: Mars Exploration Rovers: Laboratory Simulations of Aeolian Interactions; Thermal and Spectral Analysis of an Intracrater Dune Field in Amazonis Planitia; How High is that Dune? A Comparison of Methods Used to Constrain the Morphometry of Aeolian Bedforms on Mars; Dust Devils on Mars: Scaling of Dust Flux Based on Laboratory Simulations; A Close Encounter with a Terrestrial Dust Devil; Interpretation of Wind Direction from Eolian Features: Herschel Crater, Mars Erosion Rates at the Viking 2 Landing Site; Mars Dust: Characterization of Particle Size and Electrostatic Charge Distributions; Simple Non-fluvial Models of Planetary Surface Modification, with Application to Mars; Comparison of Geomorphically Determined Winds with a General Circulation Model: Herschel Crater, Mars; Analysis of Martian Debris Aprons in Eastern Hellas Using THEMIS; Origin of Martian Northern Hemisphere Mid-Latitude Lobate Debris Aprons; Debris Aprons in the Tempe/Mareotis Region of Mars;and Constraining Flow Dynamics of Mass Movements on Earth and Mars.

Source record↗
NASA NTRS2006

Anomalistic Disturbance Torques during the Entry Phase of the Mars Exploration Rover Missions: A Telemetry and Mars-Surface Investigation

Shortly after landing on Mars, post-flight analysis of the "Spirit" entry data suggested that the vehicle experienced large, anomalistic oscillations in angle-of-attack starting at about M=6. Similar analysis for "Opportunity " found even larger oscillations starting immediately after maximum dynamic pressure at M=14. Where angles-of-attack of 1-2 degrees were expected from maximum dynamic pressure to drogue deployment, the reconstructions suggested 4 to 9 degrees. The next Mars lander, 2007 Phoenix project, was concerned enough to recommend further exploration of the anomalies. Detailed analysis of "Opportunity" data found significant anomalies in the hypersonic aerodynamic torques. The analysis showed that these torques were essentially fixed in the spinning vehicle. Nearly a year after landing, the "Oportunity" rover took pictures of its aeroshell on the surface, which showed that portions of the aeroshell thermal blanket assembly still remained. This blanket assembly was supposed to burn off very early in the entry. An analysis of the aeroshell photographs led to an estimate of the aerodynamic torques that the remnants could have produced. A comparison of two estimates of the aerodynamic torque perturbations (one extracted from telemetry data and the other from Mars surface photographs) showed exceptional agreement. Trajectory simulations using a simple data derived torque perturbation model provided rigid body motions similar to that observed during the "Opportunity" entry. Therefore, the case of the anomalistic attitude behavior for the "Opportunity" EDL is now considered closed and a suggestion is put forth that a similar event occurred for the "Spirit" entry as well.

Tolson, Robert H.↗
NASA NTRSDate not supplied

Fluid-Structure Interaction Simulations of the ASPIRE SR03 Supersonic Parachute Flight Test

Research into parachute performance continues to be a source of significant investment from the National Aeronautics and Space Administration to mitigate risks and to enable a variety of exploration missions, including landing on Mars as well as returning to Earth. The cost of flight tests to certify any changes to the current state-of-the-art parachute designs limits the development of next generation parachute systems. Fluid-structure interaction simulations could help accelerate this process once validated. The Launch, Ascent, and Vehicle Aerodynamics team is developing the capability to perform such fluid-structure interaction simulations by coupling a higher-order Cartesian immersed boundary computational fluid dynamics solver with adaptive mesh refinement to a finite element structural dynamics solver in space and time. We continue the effort to validate this tool with the Advanced Supersonic Parachute Inflation Research Experiments SR03 flight test featuring a strengthened parachute akin to the Mars 2020 mission that landed the Perseverance rover on Mars, and a higher freestream dynamic pressure prior to inflation. The effect of the flow conditions’ angle of attack and of the initial parachute shape are quantified. The impact of relaxing modeling assumptions with regards to radial stiffeners on the parachute canopy is also investigated. Results demonstrate improvements in agreement with the pull force recorded during the SR03 flight test as the initial conditions of the flow and parachute are brought closer to those experienced in flight, and further improved when the radial stiffener modeling assumptions are relaxed.

ESM↗
NASA NTRSDate not supplied

Fluid-Structure Interaction Simulations of the ASPIRE SR03 Supersonic Parachute Flight Test

Research into parachute performance continues to be a source of significant investment from the National Aeronautics and Space Administration to mitigate risks and to enable a variety of exploration missions, including landing on Mars as well as returning to Earth. The cost of flight tests to certify any changes to the current state-of-the-art parachute designs limits the development of next generation parachute systems. Fluid-structure interaction simulations could help accelerate this process once validated. The Launch, Ascent, and Vehicle Aerodynamics team is developing the capability to perform such fluid-structure interaction simulations by coupling a higher-order Cartesian immersed boundary computational fluid dynamics solver with adaptive mesh refinement to a finite element structural dynamics solver in space and time. We continue the effort to validate this tool with the Advanced Supersonic Parachute Inflation Research Experiments SR03 flight test featuring a strengthened parachute akin to the Mars 2020 mission that landed the Perseverance rover on Mars, and a higher freestream dynamic pressure prior to inflation. The effect of the flow conditions’ angle of attack and of the initial parachute shape are quantified. The impact of relaxing modeling assumptions with regards to radial stiffeners on the parachute canopy is also investigated. Results demonstrate improvements in agreement with the pull force recorded during the SR03 flight test as the initial conditions of the flow and parachute are brought closer to those experienced in flight, and further improved when the radial stiffener modeling assumptions are relaxed.

ESM↗
NASA NTRS2013

Advanced Methods for Determining Prediction Uncertainty in Model-Based Prognostics with Application to Planetary Rovers

Prognostics is centered on predicting the time of and time until adverse events in components, subsystems, and systems. It typically involves both a state estimation phase, in which the current health state of a system is identified, and a prediction phase, in which the state is projected forward in time. Since prognostics is mainly a prediction problem, prognostic approaches cannot avoid uncertainty, which arises due to several sources. Prognostics algorithms must both characterize this uncertainty and incorporate it into the predictions so that informed decisions can be made about the system. In this paper, we describe three methods to solve these problems, including Monte Carlo-, unscented transform-, and first-order reliability-based methods. Using a planetary rover as a case study, we demonstrate and compare the different methods in simulation for battery end-of-discharge prediction.

prognosis↗
NASA NTRSDate not supplied

Using Degradation Modeling to Identify Fragile Operational Conditions in Human- and Component-driven Resilience Assessment

Studying failure events shows that many high-impact events result from the complex interactions between precipitating failure events and degraded operational conditions. Often, when a system is put in operations, unforeseen practical realities (e.g., maintenance and/or workforce availability) lead the system to be operated in configurations outside its envisioned nominal range. However, design-time failure models often assume that the failure events are initiated in an idealized, nominal state of system operation, resulting in an incomplete assessment of future risk. To solve this, this paper develops a framework to consider degraded operational performance in scenario-based resilience models which uses a corresponding model of performance degradation to determine the values of deteriorated model parameters in the resilience model. This framework is demonstrated on a remotely-piloted rover to determine the (individual and combined) effect of drive-train wear and operator fatigue on the resilience of the rover to drive-train faults. This demonstration showed the substantial impact that degradation has on resilience, highlighting the need to account for degradation in resilience models–specifically, unconsidered degradation can lead to overestimates of resilience (and thus underestimates of safety margin) and because resilience can degrade prior to visible unreliability, which can lead to an operational environment with a high propensity for high-impact unforeseen failure events.

resilience↗
NASA NTRSDate not supplied

Validation of Decompression Sickness Risk Mitigation Protocols for Planetary Spaceflight Missions

BACKGROUND: Apollo missions used a 100% O2 cabin atmosphere which effectively eliminated the risk of decompression sickness (DCS) during extravehicular activity (EVA) on the moon. NASA’s future missions to the moon and Mars are expected to use nitrox gas mixtures of up to 34% O2, 66% N2, which will reduce flammability risk compared with Apollo, but will necessitate Oxygen prebreathe prior to EVA to reduce DCS risk to acceptable levels. Prebreathe protocols used on the space shuttle and International Space Station are validated for microgravity EVAs, but the significantly increased risk of DCS during equivalent ambulatory EVAs make these protocols inapplicable to planetary EVA. An “exploration atmosphere” of 56.5 kPa (8.2 psia), 34% O2, 66% N2 has been recommended by NASA as a compromise that balances prebreathe duration, hypoxia, and flammability risk, assuming a 29.6 kPa (4.3 psi) spacesuit. However, this atmosphere may not be used for vehicles that do not support frequent EVA, and with commercial providers and international providers expected to provide landers, pressurized rovers, habitats, and spacesuits, different combinations of vehicle and spacesuit atmospheres are possible and will each require validated prebreathe protocols. OVERVIEW: Key components of a multi-year strategic roadmap include: 1) Establish hypobaric chamber facility capable of supporting 8-person EVA prebreathe validation tests at saturation atmospheres up to 36% O2; 2) validate an EVA physical workload simulation for use during prebreathe validation testing; 3) validate the recommended “exploration atmosphere” prebreathe protocol; 4) validate prebreathe protocols for additional atmospheric combinations that bound the most likely potential operating ranges of future vehicles and spacesuits; and 5) update DCS risk estimation models based on results of prebreathe validation studies. DISCUSSION: Details and data from completion of the first two steps of the strategic roadmap will be presented; the third step is currently underway, with pilot results provided in a companion presentation. Steps four and five will require a multi-year series of chamber tests; collaborations are being pursued.

Andrew F. J. Abercromby↗
NASA NTRS2003

Evaluation of Human vs. Teleoperated Robotic Performance in Field Geology Tasks at a Mars Analog Site

Exploration mission designers and planners have costing models used to assess the affordability of given missions - but very little data exists on the relative science return produced by different ways of exploring a given region. Doing cost-benefit analyses for future missions requires a way to compare the relative field science productivity of spacesuited humans vs. virtual presence/teleoperation from a nearby habitat or orbital station, vs. traditional terrestrial-controlled rover operations. The goal of this study was to define science-return metrics for comparing human and robotic fieldwork, and then obtain quantifiable science-return performance comparisons between teleoperated rovers and spacesuited humans. Test runs with a simulated 2015-class rover and with spacesuited geologists were conducted at Haughton Crater in the Canadian Arctic in July 2002. Early results imply that humans will be 1-2 orders of magnitude more productive per unit time in exploration than future terrestrially-controlled robots.

Glass, B.↗