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Third Annual Workshop on Space Operations Automation and Robotics (SOAR 1989)

Papers presented at the Third Annual Workshop on Space Operations Automation and Robotics (SOAR '89), hosted by the NASA Lyndon 8. Johnson Space Center at Houston, Texas, on July 25-27, 1989, are documented herein. During the three days, approximately 100 technical papers were presented by experts from NASA, the USAF, universities, and technical companies. Also held were panel discussions on Air Force/NASA AI Overview and Expert System Verification and Validation. Tutorial sessions included Neural Networks; Theory and Application of Back Propagation; Verification and Validation of Expert Systems/ Evaluation of Expert System Tools; and Technical Environment for Modular Architectures for Robotics in Space; and are not documented herein. Technical topics addressed included intelligent systems, robotics, human factors, and environment.

Knowledge representation

Preliminary Evaluation of Joint Electricity-Hydrogen Concept of Operations

An initial thermal power dispatch (TPD) concept of operations was evaluated that couples a nuclear power plant to a nearby hydrogen production plant. GSE Systems’ generic pressurized water reactor full-scope simulator was modified with a TPD model comprised of a thermal power extraction and delivery system. A prototype human-system interface (HSI) was developed to interact with the TPD model and allow participants to execute the basic operating scenarios for normal operations. Four retired operators performed the evaluation, and due to COVID-19 travel restrictions, the original in-person experimental design was restructured to support a remote participator evaluation using a web meeting platform. Data from operator feedback, observations from the research team, and quantitative survey responses revealed that the initial TPD concept of operations is feasible. The operators were comfortable with the engineered system and HSI and could manage it without adverse impacts to reactor power, plant safety, or equipment. Findings are discussed in terms of both the TPD system design and HSI performance.

human factors

What to Do Until the Money Runs Out: A Refinement Framework for Cognitive Engineering in the Real World

A case study is presented to illustrate some of the problems of applying cognitive science to complex human-machine systems. Disregard for facts about human cognition often undermines the safety, reliability, and cost-effectiveness of complex systems. Yet single-point methods (for example, better user-interface design), whether rooted in computer science or in experimental psychology, fall far short of addressing systems-level problems in a timely way using realistic resources. A model-based methodology is proposed for organizing and prioritizing the cognitive engineering effort, focusing appropriate expertise on major problems first, then moving to more sophisticated refinements if time and resources permit. This case study is based on a collaborative effort between the Human Factors Division at NASA-Ames and the Spaceborne Imaging Radar SIR-C/X-Band Synthetic Aperture Radar (SIR-C/X-SAR) Project at the Jet Propulsion Laboratory (JPL), California institute of Technology. The first SIR-C/X-SAR Shuttle mission flew successfully in April, 1994. A series of such missions is planned to provide radar data to study Earth's ecosystems, climatic and geological processes, hydrologic cycle, and ocean circulation. In addition to JPL and NASA personnel, the SIR-C/X-SAR operations team included Scientists and engineers from the German and Italian space agencies.

Shafto, Michael G.

Introduction to the Special Issue on Advanced Air Mobility Noise: Predictions, Measurements and Perception

This Special Issue focuses on noise associated with Advanced Air Mobility (AAM), an emerging class of predominantly electric distributed-propulsion aircraft designed for urban and regional transportation. As these vehicles move toward certification and deployment, noise has become a central challenge for regulatory approval and public acceptance, particularly due to operations in densely populated areas and at low altitudes. The 24 contributions in this issue address three key aspects of AAM noise: prediction, measurement, and human perception. Prediction studies span a wide range of modeling fidelities, from high-resolution simulations to improved semi-analytical approaches, and examine complex aeroacoustic mechanisms including rotor interactions, turbulence ingestion, and broadband noise generation. Measurement studies, largely at model scale, provide new insights into tonal and broadband noise characteristics across configurations and operating conditions, while supporting model validation. Perception-focused contributions investigate annoyance, sound quality metrics, and auralization, emphasizing the role of context and operational factors in shaping human response. Together, these works highlight the interdisciplinary nature of AAM noise research and the need for integrated approaches to enable quieter vehicle design.

Perception

High-density Boron Nitride Nanotube Composites via Surfactant-stabilized Lyotropic Liquid Crystals for Enhanced Space Radiation Shielding

Despite significant technological advancements in space exploration, human space travel and colonization remain limited by the health risks associated with space radiation. Boron nitride nanotubes (BNNTs) have been proposed as an advanced material for space applications due to their high specific strength and efficient radiation shielding capabilities. However, the practical implementation of BNNTs has been slow, primarily due to technological challenges in fabricating structural materials incorporating BNNTs. In this study, a method is presented for fabricating high-density BNNT films that are mechanically robust, exhibit high thermal conductivity, and effectively attenuate space radiation. The key advancement enabling high-density BNNT films is the successful preparation of BNNT liquid crystals (LCs), achieved through the strategic use of a commercial dodecylbenzenesulfonic acid surfactant. This surfactant ensures exceptional BNNT stability in aqueous dispersion, even at concentrations exceeding the LC phase transition threshold. Simulations, estimating the equivalent radiation dose to the human body in space, indicate that a high-density BNNT film with a surface density of 50 g cm−2 reduces the total dose equivalent rate by 56% compared to zero shielding. This enhancement would allow astronauts to extend their mission duration on the lunar surface by a factor of two.

Young-Kyeong Kim

Fifth Annual Workshop on Space Operations Applications and Research (Soar 1991), Volume 1

More than 110 papers were presented at this Symposium, sponsored by the U.S. Air Force Phillips Laboratory, the University of Houston-Clear Lake, and NASA JSC. The technical areas covered were Intelligent Systems, Automation and Robotics, Human Factors and Life Sciences, and Environmental Interactions. The U.S. Air Force and NASA programmatic overviews and panel discussions were also held in each technical area. These proceedings, along with the comments and suggestions made by the panelists and keynote speakers, will be used in assessing the progress made in joint USAF/NASA projects and activities. Furthermore, future collaborative/joint programs will also be identified. The symposium proceedings includes papers covering various disciplines presented by experts from NASA, the Air Force, universities, and industry.

Mars missions

Recent Developments in Safe Lithium Ion Battery Design for Human Space Flight

This presentation provides an overview of EVA batteries and introduces the concept of designing lithium ion batteries that resist the propagation of a single cell catastrophic failure. Thermal runaway initiation methods are briefly discussed, and the safe performance of the resulting designs is summarized. Approached in an incremental fashion, each subsequent battery design is introduced, ending with a current development for the Exploration EVA spacesuit. Challenges in achieving safe design performance with limited internal volume are briefly discussed and forward work is identified. Video examples of both propagating and non-propagating designs are included.

lithium ion

The Relevance of the VIPER Mission to NASA’s Artemis Human Exploration of the Moon

NASA has ambitious plans to send astronaut crews to the south polar region of the Moon and explore this lunar terrain with humans for the first time through a series of Artemis missions. Artemis will provide economic benefits, drive technological advancement, and inspire the next generation of explorers. Simultaneously, Artemis presents a unique opportunity for humans to conduct high-priority planetary science in situ in the south polar region of the Moon. Prior to human exploration, landed robotic precursor investigations can provide valuable information to reduce risk and maximize discovery and productivity of subsequent crewed missions. NASA’s Volatiles Investigating Polar Exploration Rover (VIPER) is a robotic mission designed to explore and characterize the lunar south polar region prior to crewed Artemis landed missions. VIPER is designed to explore multiple thermal regimes to characterize the lunar polar environment and regolith properties, and to explore for surface and subsurface ices. Each of these objectives are key for both scientific investigation and to detect and assess volatile deposits to support in situ resource utilization (ISRU) and a sustained human presence on the Moon. VIPER would also operate with a real-time mission operations architecture with relevance and feed-forward to Artemis crewed operations on the lunar surface. VIPER would provide key information regarding the lunar environment, scientific exploration, technologies, and real-time operations to optimize the valuable surface exploration time of Artemis crew members while simultaneously reducing risk to crew and increasing health and human safety on the lunar surface.

Jennifer L Heldmann

Spatially Refined Satellite Gravimetry Captures Human Signatures in Global Terrestrial Water Storage Trends

Human activities have directly altered the water cycle through water management, aquifer pumping, agricultural irrigation, and land use change. Although satellite gravimetry has transformed global hydrological research, its coarse resolution limits attribution of freshwater change to human activities at many management-relevant scales. Here we assessed global terrestrial water storage (TWS) trends from April 2002 to November 2025 using “stacked” regression of Level-1B intersatellite ranging data, which leverages temporal information and variability to dramatically improve effective spatial resolution relative to standard approaches. We combined this refined product with rigorous uncertainty analysis, autocorrelation-robust geostatistical methods, and literature assessment to evaluate TWS trend associations with land and water use, climate variability, and glacial mass loss. We identified TWS trend hotspots exhibiting significant spatial associations with anthropogenic 40 drivers, including groundwater and surface-water irrigation, rainfed agriculture, deforestation, and reservoir impoundment. Across these regions, cumulative TWS losses (3,122 Gt) substantially exceeded gains (2,432 Gt). Compared with traditional regression of monthly mascons, our approach yielded regional trend magnitudes that are on average 33% larger, revealing that global freshwater depletion, particularly from groundwater pumping, is considerably more acute than previously estimated. Multivariate regression models show that humans account for a significant share of the spatial variability in TWS trends on every non-polar continent except Australia. We detected localized TWS gains linked to rainfed agriculture, surface water irrigation, and reservoir filling that were unresolved in earlier gravimetric studies. The methodology provides a foundation for future gravity missions to independently track decadal freshwater change with unprecedented spatial fidelity.

groundwater

Vasomotion in Human Fingers

Introduction: We describe methods by which vasomotion can be recorded in awake and anesthetized human subjects without significant interference from other spontaneous vascular oscillations. Methods: In three separate studies, we used photoplethysmography (PPG) to record vasomotion in fingertips. In Study 1, we induced chemical sympathectomy in the studied hand of 11 awake subjects who received intravenous dexmedetomidine infusions. In Study 2, we administered four progressively increasing intravenous dexmedetomidine infusions to 16 awake volunteers. In Study 3, we recorded vasomotion simultaneously from 6 fingers of 7 patients who were under dexmedetomidine-based anesthesia. Five-minute epochs of PPG recordings that displayed slow vascular oscillations were analyzed for frequency and amplitude. Results: In Study 1, vasomotion frequencies were 0.025 ± 0.008 Hz. In Study 2, vasomotion frequencies were 0.033 ± 0.006 Hz, and 0.032 ± 0.008 Hz during the two highest dexmedetomidine infusion steps. In Study 3, vasomotion frequencies ranged from 0.020 to 0.037 Hz and were observed in all 6 fingers, with no synchrony between the six fingers. Conclusion: The vascular oscillations we observed without significant interference from other spontaneous oscillations are independent of neural activity (Study 1), local in nature (Study 3), and associated with alpha-2-adrenoceptor activation, consistent with known properties of vasomotion.

Cardiovascular System & Cardiology

Statistical Uncertainty of Inhalation Dose Coefficients: Impact of Particle Deposition in ICRP 66 Human Respiratory Tract Model

Inhaled radioactive materials can pose a long-term health concern, as the material can be incorporated into the body’s metabolic pathways and remain in organs and tissues for extended durations. During the retention period, the radioactive material may localize in a source organ and irradiate adjacent target organs and tissues. Distribution of these materials changes over time, requiring biokinetic modeling to evaluate their movement through various tissues and organs. The evolving distribution depends on multiple inputs characterizing the inhaled material, such as particle size and size distribution, particle density, aspect ratio, specific radionuclide, the chemical form, and solubility. In addition, biological parameters such as breathing rate, breathing type (nasal or nasal/oral), respiratory system morphometry, tidal volume, functional residual capacity, and anatomical dead space all influence material transport. These aerosol properties and physiological characteristics of the respiratory tract jointly define a range of initial conditions that influence the time-dependent distribution of radioactive material. To evaluate both uncertainty in the initial conditions of inhalation exposure and the final output (committed effective dose) from biokinetic models, a Python-based software tool, Radiological Exposure Dose Calculator (REDCAL), was developed to propagate uncertainty within the human respiratory tract model. Focusing on deposition fraction uncertainty, the primary objective was to characterize the initial activity distribution across respiratory regions as a function of anticipated particle sizes and distributions. The impact of the deposition fraction uncertainty was propagated to committed effective dose coefficients for selected radionuclides in a companion publication. For each particle size, a lognormal distribution, characterized by its geometric mean as defined within ICRP Publication 66, serves as the basis for introducing uncertainty into the physical processes governing deposition in various lung regions. Finally, this study addresses the deposition process and examines how uncertainty in deposition mechanisms affects activity distribution in the airways, ultimately presenting the expected range and standard deviation of deposited activity as a function of particle size.

International Commission on Radiological Protectio

NASA Systems Autonomy Demonstration Project: Advanced Automation Demonstration of Space Station Freedom Thermal Control System

The NASA Systems Autonomy Demonstration Project (SADP) was initiated in response to Congressional interest in Space station automation technology demonstration. The SADP is a joint cooperative effort between Ames Research Center (ARC) and Johnson Space Center (JSC) to demonstrate advanced automation technology feasibility using the Space Station Freedom Thermal Control System (TCS) test bed. A model-based expert system and its operator interface were developed by knowledge engineers, AI researchers, and human factors researchers at ARC working with the domain experts and system integration engineers at JSC. Its target application is a prototype heat acquisition and transport subsystem of a space station TCS. The demonstration is scheduled to be conducted at JSC in August, 1989. The demonstration will consist of a detailed test of the ability of the Thermal Expert System to conduct real time normal operations (start-up, set point changes, shut-down) and to conduct fault detection, isolation, and recovery (FDIR) on the test article. The FDIR will be conducted by injecting ten component level failures that will manifest themselves as seven different system level faults. Here, the SADP goals, are described as well as the Thermal Control Expert System that has been developed for demonstration.

Jeffrey Dominick

Acute Exposure to Aerosolized Nanoplastics Modulates Redox-Linked Immune Responses in Human Airway Epithelium

Micro- and nanoplastics (MPs and NPs) are pervasive environmental pollutants detected in aquatic ecosystems, with emerging evidence suggesting their presence in airborne particles generated by water body motion. Inhalation exposure to airborne MPs and NPs remains understudied despite documented links between occupational exposure to these particles and adverse respiratory outcomes, including airway inflammation, oxidative stress, and chronic respiratory diseases. This study explored the effects of acute NP exposure on a fully differentiated 3D human airway epithelial model derived from 14 healthy donors. Airway epithelium was exposed to aerosolized 50 nm polystyrene NPs at concentrations ranging from 2.5 to 2500 µg/mL for three minutes per day over three days. Functional assays revealed no significant alterations in tissue integrity, cell survival, mucociliary clearance, or cilia beat frequency, suggesting intact epithelial function post-exposure. However, cytokine and chemokine profiling identified a significant five-fold increase in CCL3 (MIP-1α), a neutrophilic chemoattractant, in NP-exposed samples compared to controls. This was corroborated by increased neutrophil chemotaxis in response to conditioned media from NP-exposed tissues, indicating a pro-inflammatory neutrophilic response. Conversely, levels of interleukins (IL-21, IL-2, IL-15), CXCL10, and TGF-β were significantly reduced, suggesting immunomodulatory effects that may impair adaptive immune responses and tissue repair mechanisms. These findings demonstrate that short-term exposure to NP-containing aerosols induces a distinct pro-inflammatory response in airway epithelium, characterized by enhanced neutrophil recruitment and reduced secretion of key immune modulators. These findings underscore the potential for aerosolized NPs to induce oxidative and inflammatory stress, raising concerns about their long-term impact on respiratory health and redox regulation.

Biochemistry & Molecular Biology

Activation dynamics of a water-soluble human mu-opioid receptor

The mu-opioid receptor (MOR), a class A G protein-coupled receptor mediates opioid analgesia and remains a central target for pain therapeutics. While crystal structures of MOR exist, they provide limited insight into the receptor’s dynamic conformational landscape underlying function. Here, we engineered a thermostable water-soluble MOR variant (wsMOR) that retains native-like ligand-binding and activation dynamics. This variant enables high-yield production and detailed solution-phase structural studies that are challenging with membrane-embedded MOR, providing a valuable tool for studying receptor activation and aqueous-phase drug screening. Using a combined computational and experimental approach, we performed long-timescale all-atom molecular dynamics simulations together with neutron scattering and single-molecule FRET, revealing a structurally stable receptor with a diverse ensemble of conformations at different temporal resolutions. In the ligand-free state, wsMOR displayed high conformational flexibility, which decreased upon agonist binding, particularly in transmembrane helix 6, a hallmark of G protein-coupled receptor activation. Positive allosteric modulation and G protein binding further stabilized active-like states. These findings highlight wsMOR’s conformational plasticity across picosecond to millisecond timescales and provide a foundation for structure-guided development of next-generation opioid ligands with improved efficacy and safety.

E, Agyemang [University of Tennessee Knoxville]

NASA Talks: Earth to Mars in 3 Giant Leaps

“Earth to Mars in 3 Giant Leaps” will explain why, despite landing astronauts on the Moon more than 40 years ago, humanity has not yet sent people to Mars. Astronaut Dr. Stan Love will demonstrate that the challenge is not simply building bigger rockets, it is overcoming the immense engineering, logistical, and human obstacles required for a safe round-trip mission to the Red Planet. The first giant leap focuses on Low Earth Orbit, where the International Space Station serves as humanity's laboratory for living and working in space; the second giant leap revisits the Apollo missions to the Moon, illustrating the extraordinary amount of energy required to travel beyond Earth orbit; and the third and greatest leap explores human exploration of Mars.

Stan Love

Overview of Past and Future EVA Suit Testing and Training in Chamber B at NASA JSC

The Crew and Thermal System Division’s Chamber B has received an increase in demand for next generation suit testing. Chamber B is the National Aeronautics and Space Administration (NASA) Johnson Space Center’s only human-rated thermal vacuum (TVAC) chamber. Historically it was used in Gemini, Apollo, Skylab, Shuttle, and the International Space Station (ISS) suit tests. Recently, the chamber has been returned to service with new capabilities for suit testing. In 2023, The Exploration Extravehicular Mobility Unit (xEMU) underwent a 5-day, extensive thermal vacuum test that included both a full-bodied Exploration Pressure Garment Suit (xPGS) as well as a high fidelity Short xEMU. SpaceX has also used the chamber for human-in-the-loop (HITL) qualification and acceptance testing on their flight Polaris Dawn suits for the first-ever commercial extravehicular activity (EVA). Current chamber Manlock B2 upgrades include the support of two test subjects at the same time with updated chamber interface and support systems for the next generation of suits. This paper will discuss the history of spacesuit testing in the chamber, the recent testing for commercial and NASA suits, and upgrades to accommodate new test requirements.

Human-in-the-loop

Form Factors, Grey Bodies and Radiation Conductances (Radks)

With today's analysis tools, large, complex thermal radiation problems are easily solved; But, as with any analytical tool, lack of an understanding of the fundamental equations and technique limitations may leave you with the wrong answer; Whether you are a new engineer or a seasoned veteran, an understanding of the techniques employed by these powerful analysis tools is crucial.

Fluids