NASA's Science Rover for MUSES-C
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rover asteroid robot vehicle↗
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A~1 Kilogram Asteroid Exploration Rover
Recent advances in microtechnology and mobile robotics have made it feasible to create extremely small automated or remote-controlled vehicles which open new application frontiers.
kilogram asteroid exploration rover↗
Human Exploration Using Real-Time Robotic Operations (HERRO)- Crew Telerobotic Control Vehicle (CTCV) Design
The HERRO concept allows real time investigation of planets and small bodies by sending astronauts to orbit these targets and telerobotically explore them using robotic systems. Several targets have been put forward by past studies including Mars, Venus, and near Earth asteroids. A conceptual design study was funded by the NASA Innovation Fund to explore what the HERRO concept and it's vehicles would look like and what technological challenges need to be met. This design study chose Mars as the target destination. In this way the HERRO studies can define the endpoint design concepts for an all-up telerobotic exploration of the number one target of interest Mars. This endpoint design will serve to help planners define combined precursor telerobotics science missions and technology development flights. A suggested set of these technologies and demonstrator missions is shown in Appendix B. The HERRO concept includes a crewed telerobotics orbit vehicle as well three Truck rovers, each supporting two teleoperated geologist robots Rockhounds (each truck/Rockhounds set is landed using a commercially launched aeroshell landing system.) Options include a sample ascent system teamed with an orbital telerobotic sample rendezvous and return spacecraft (S/C) (yet to be designed). Each truck rover would be landed in a science location with the ability to traverse a 100 km diameter area, carrying the Rockhounds to 100 m diameter science areas for several week science activities. The truck is not only responsible for transporting the Rockhounds to science areas, but also for relaying telecontrol and high-res communications to/from the Rockhound and powering/heating the Rockhound during the non-science times (including night-time). The Rockhounds take the place of human geologists by providing an agile robotic platform with real-time telerobotics control to the Rockhound from the crew telerobotics orbiter. The designs of the Truck rovers and Rockhounds will be described in other publications. This document focuses on the CTCV design.
Oleson, Steven R.↗
Near Earth Asteroid Human Mission Possibilities Using Nuclear Thermal Rocket (NTR) Propulsion
The NTR is a proven technology that generates high thrust and has a specific impulse (Isp (is) approximately 900 s) twice that of today's best chemical rockets. During the Rover and NERVA (Nuclear Engine for Rocket Vehicle Applications) programs, twenty rocket reactors were designed, built and ground tested. These tests demonstrated: (1) a wide range of thrust; (2) high temperature carbide-based nuclear fuel; (3) sustained engine operation; (4) accumulated lifetime; and (5) restart capability - all the requirements needed for a human mission to Mars. Ceramic metal fuel was also evaluated as a backup option. In NASA's recent Mars Design reference Architecture (DRA) 5.0 study, the NTR was selected as the preferred propulsion option because of its proven technology, higher performance, lower launch mass, versatile vehicle design, simple assembly, and growth potential. In contrast to other advanced propulsion options, NTP requires no large technology scale-ups. In fact, the smallest engine tested during the Rover program - the 25 klbf 'Pewee' engine is sufficient for a human Mars mission when used in a clustered engine configuration. The 'Copernicus crewed NTR Mars transfer vehicle design developed for DRA 5.0 has significant capability that can enable reusable '1-year' round trip human missions to candidate near Earth asteroids (NEAs) like 1991 JW in 2027, or 2000 SG344 and Apophis in 2028. A robotic precursor mission to 2000 SG344 in late 2023 could provide an attractive Flight Technology Demonstration of a small NTR engine that is scalable to the 25 klbf-class engine used for human missions 5 years later. In addition to the detailed scientific data gathered from on-site inspection, human NEA missions would also provide a valuable 'check out' function for key elements of the NTR transfer vehicle (its propulsion module, TransHab and life support systems, etc.) in a 'deep space' environment prior to undertaking the longer duration Mars orbital and landing missions that would follow. The initial mass in low Earth orbit required for a mission to Apophis is approximately 323 t consisting of the NTR propulsion module ((is) approximately 138 t), the integrated saddle truss and LH2 drop tank assembly ((is) approximately 123 t), and the 6-crew payload element ((is) approximately 62 t). The later includes a multi-mission Space Excursion Vehicle (MMSEV) used for close-up examination and sample gathering. The total burn time and required restarts on the three 25 klbf 'Pewee-class' engines operating at Isp (is) approximately 906 s, are approximately 76.2 minutes and 4, respectively, well below the 2 hours and 27 restarts demonstrated on the NERVA eXperimental Engine, the NRX-XE. The paper examines the benefits, requirements and characteristics of using NTP for the above NEA missions. The impacts on vehicle design of HLV payload volume and lift capability, crew size, and reusability are also quantified.
Borowski, Stanley↗
Developing a Fault Management Guidebook for Nasa's Deep Space Robotic Missions
NASA designs and builds systems that achieve incredibly ambitious goals, as evidenced by the Curiosity rover traversing on Mars, the highly complex International Space Station orbiting our Earth, and the compelling plans for capturing, retrieving and redirecting an asteroid into a lunar orbit to create a nearby a target to be investigated by astronauts. In order to accomplish these feats, the missions must be imbued with sufficient knowledge and capability not only to realize the goals, but also to identify and respond to off-nominal conditions. Fault Management (FM) is the discipline of establishing how a system will respond to preserve its ability to function even in the presence of faults. In 2012, NASA released a draft FM Handbook in an attempt to coalesce the field by establishing a unified terminology and a common process for designing FM mechanisms. However, FM approaches are very diverse across NASA, especially between the different mission types such as Earth orbiters, launch vehicles, deep space robotic vehicles and human spaceflight missions, and the authors were challenged to capture and represent all of these views. The authors recognized that a necessary precursor step is for each sub-community to codify its FM policies, practices and approaches in individual, focused guidebooks. Then, the sub-communities can look across NASA to better understand the different ways off-nominal conditions are addressed, and to seek commonality or at least an understanding of the multitude of FM approaches. This paper describes the development of the "Deep Space Robotic Fault Management Guidebook," which is intended to be the first of NASA's FM guidebooks. Its purpose is to be a field-guide for FM practitioners working on deep space robotic missions, as well as a planning tool for project managers. Publication of this Deep Space Robotic FM Guidebook is expected in early 2015. The guidebook will be posted on NASA's Engineering Network on the FM Community of Practice website so that it will be available to all NASA projects. Future plans for subsequent guidebooks for the other NASA sub-communities are proposed.
Fesq, Lorraine M.↗
NASA's Space Launch System: Positioning Assets for Tele-Robotic Operations
The National Aeronautics and Space Administration (NASA) is designing and developing America's most capable launch vehicle to support high-priority human and scientific exploration beyond Earth's orbit. The Space Launch System (SLS) will initially lift 70 metric tons (t) on its first flights, slated to begin in 2017, and will be evolved after 2021 to a full 130-t capability-larger than the Saturn V Moon rocket. This superior lift and associated volume capacity will support game-changing exploration in regions that were previously unattainable, being too costly and risky to reach. On the International Space Station, astronauts are training for long-duration missions to asteroids and cis-martian regions, but have not had transportation out of Earth's orbit - until now. Simultaneously, productive rovers are sending scientists - and space fans - unprecedented information about the composition and history of Mars, the planet thought to be most like Earth. This combination of experience and information is laying the foundation for future missions, such as those outlined in NASA's "Mars Next Decade" report, that will rely on te1e-robotic operations to take exploration to the next level. Within this paradigm, NASA's Space Launch System stands ready to manifest the unique payloads that will be required for mission success. Ultimately, the ability to position assets - ranging from orbiters, to landers, to communication satellites and surface systems - is a critical step in broadening the reach of technological innovation that will benefit all Earth's people as the Space Age unfolds. This briefing will provide an overview of how the Space Launch System will support delivery of elements for tele-robotic operations at destinations such as the Moon and Mars, which will synchronize the human-machine interface to deliver hybrid on-orbit capabilities. Ultimately, telerobotic operations will open entirely new vistas and the doors of discovery. NASA's Space Launch System will be a safe, affordable, and sustainable platform for these purposes and more.
May, Todd A.↗
Nanorovers and Subsurface Explorers for Mars
Recent advances in microtechnology and mobile robotics have made it feasible to create extremely small automated or remote-controlled vehicles which open new application frontiers. One of these possible applications is the use of nanorovers (robotic vehicles with a mass of order one kilogram or less) in planetary exploration. NASA and Japan's Institute of Space and Astronautical Science (ISAS) are cooperating on the first mission to collect samples from the surface of an asteroid and return them to Earth for in-depth study. The ISAS MUSES-C mission will be launched on a Japanese launch vehicle in July 2002 from Japan toward a rendez-vous with the asteroid 1989ML in September 2003. A NASA-provided nanorover will conduct in-situ measurements on the surface. With a mass of about one kilogram, the rover experiment will be a direct descendant of the technology used to build the Sojourner rover. The rover will carry three science instruments: (1) a visible imaging camera, (2) a near-infrared point spectrometer, and (3) an alpha X ray spectrometer. The solar-powered rover will move around the surface of 1989ML collecting imagery data, which are complimentary to the spacecraft investigation. The imaging system will be capable of making surface texture, composition, and morphology measurements at resolutions better than one millimeter. The rover will transmit this data to the spacecraft for relay back to Earth. Due to the microgravity environment on 1989ML, the rover has been designed to right itself in case it flips over. Solar panels on four sides of the rover will ensure that enough power will always be available to the rover to activate the motors needed to turn over. Posable struts will allow the rover to position its chassis such that the camera can be pointed straight down at the surface or straight up at the sky.
Wilcox, Brian H.↗
ATHLETE: Trading Complexity for Mass in Roving Vehicles
This paper describes a scaling analysis of ATHLETE for exploration of the moon, Mars and Near-Earth Asteroids (NEAs) in comparison to a more conventional vehicle configuration. Recently, the focus of human exploration beyond LEO has been on NEAs. A low gravity testbed has been constructed in the ATHLETE lab, with six computer-controlled winches able to lift ATHLETE and payloads so as to simulate the motion of the system in the vicinity of a NEA or to simulate ATHLETE on extreme terrain in lunar or Mars gravity. Test results from this system are described.
robotics↗
HERRO: A Science-Oriented Strategy for Crewed Missions Beyond LEO
This paper presents an exploration strategy for human missions beyond Low Earth Orbit (LEO) and the Moon that combines the best features of human and robotic spaceflight. This "Human Exploration using Real-time Robotic Operations" (HERRO) strategy refrains from placing humans on the surfaces of the Moon and Mars in the near-term. Rather, it focuses on sending piloted spacecraft and crews into orbit around exploration targets of interest, such as Mars, and conducting astronaut exploration of the surfaces using telerobots and remotely controlled systems. By eliminating the significant communications delay with Earth due to the speed of light limit, teleoperation provides scientists real-time control of rovers and other sophisticated instruments, in effect giving them a "virtual presence" on planetary surfaces, and thus expanding the scientific return at these destinations. It also eliminates development of the numerous man-rated landers, ascent vehicles and surface systems that are required to land humans on planetary surfaces. The propulsive requirements to travel from LEO to many destinations with shallow gravity-wells in the inner solar system are quite similar. Thus, a single spacecraft design could perform a variety of missions, including orbit-based surface exploration of the Moon, Mars and Venus, and rendezvous with Near Earth Asteroids (NEAs), as well as Phobos and Deimos. Although HERRO bypasses many of the initial steps that have been historically associated with human space exploration, it opens the door to many new destinations that are candidates for future resource utilization and settlement. HERRO is a first step that takes humans to exciting destinations beyond LEO, while expanding the ability to conduct science within the inner solar system.
Schmidt, George R.↗
Human Exploration Science Office (KX) Overview
The Human Exploration Science Office supports human spaceflight, conducts research, and develops technology in the areas of space orbital debris, hypervelocity impact technology, image science and analysis, remote sensing, imagery integration, and human and robotic exploration science. NASA's Orbital Debris Program Office (ODPO) resides in the Human Exploration Science Office. ODPO provides leadership in orbital debris research and the development of national and international space policy on orbital debris. The office is recognized internationally for its measurement and modeling of the debris environment. It takes the lead in developing technical consensus across U.S. agencies and other space agencies on debris mitigation measures to protect users of the orbital environment. The Hypervelocity Impact Technology (HVIT) project evaluates the risks to spacecraft posed by micrometeoroid and orbital debris (MMOD). HVIT facilities at JSC and White Sands Test Facility (WSTF) use light gas guns, diagnostic tools, and high-speed imagery to quantify the response of spacecraft materials to MMOD impacts. Impact tests, with debris environment data provided by ODPO, are used by HVIT to predict risks to NASA and commercial spacecraft. HVIT directly serves NASA crew safety with MMOD risk assessments for each crewed mission and research into advanced shielding design for future missions. The Image Science and Analysis Group (ISAG) supports the International Space Station (ISS) and commercial spaceflight through the design of imagery acquisition schemes (ground- and vehicle-based) and imagery analyses for vehicle performance assessments and mission anomaly resolution. ISAG assists the Multi-Purpose Crew Vehicle (MPCV) Program in the development of camera systems for the Orion spacecraft that will serve as data sources for flight test objectives that lead to crewed missions. The multi-center Imagery Integration Team is led by the Human Exploration Science Office and provides expertise in the application of engineering imagery to spaceflight. The team links NASA programs and private industry with imagery capabilities developed and honed through decades of human spaceflight, including imagery integration, imaging assets, imagery data management, and photogrammetric analysis. The team is currently supporting several NASA programs, including commercial demonstration missions. The Earth Science and Remote Sensing Team is responsible for integrating the scientific use of Earth-observation assets onboard the ISS, which consist of externally mounted sensors and crew photography capabilities. This team facilitates collaboration on remote sensing and participates in research with academic organizations and other Government agencies, not only in conjunction with ISS science, but also for planetary exploration and regional environmental/geological studies. Human exploration science focuses on science strategies for future human exploration missions to the Moon, Mars, asteroids, and beyond. This function provides communication and coordination between the science community and mission planners. ARES scientists support the operation of robotic missions (i.e., Mars Exploration Rovers and the Mars Science Laboratory), contribute to the interpretation of returned mission data, and translate robotic mission technologies and techniques to human spaceflight.
Calhoun, Tracy A.↗
Operational Lessons Learned from NASA Analog Missions
National Aeronautics and Space Administration s (NASA) efforts in human space flight are currently focused on the Space Shuttle and International Space Station (ISS) programs, with efforts beginning on the future exploration opportunities. Both the Space Shuttle and ISS programs are important to the development of a capability for human exploration beyond Low Earth Orbit (LEO). The ISS provides extensive research capabilities to determine how the human body reacts to long duration stays in space. Also, the ISS and Shuttle can serve as a limited testbed for equipment or entire systems that may be used on missions to the Moon, Mars, or to a near-Earth asteroid. It has been nearly 35 years since the Apollo astronauts visited the Moon. Future space explorers will have to re-learn how to work and live on planetary surfaces, and how to do that for extended periods of time. Exploration crews will perform a wide assortment of scientific tasks, including material sampling and emplacement of automated instruments. Surface mission operations include the activities of the crew living and working, mission support from the Earth, and the operation of robotic and other remotely commanded equipment on the surface and in planetary orbit. Other surface activities will include the following: exploring areas surrounding a habitat; using rovers to collect rock and soil samples; setting up experiments on the surface to monitor the radiation environment and any seismic or thermal activity; and conducting scientific analyses and experiments inside a habitat laboratory. Of course, the astronauts will also have to spend some of their surface time "doing chores" and maintaining their habitat and other systems. In preparation for future planetary exploration, NASA must design the answers to many operational questions. What will the astronauts do on the surface? How will they accomplish this? What tools will they require for their tasks? How will robots and astronauts work together? What vehicle and system capabilities are required to support the activities? How will the crew and the Earth-based mission control team interact? During the initial phases of manned planetary exploration, one challenge in particular is virtually the same as during the Apollo program: How can scientific return be maximized during a relatively short surface mission? Today, NASA is investigating solutions to these challenges by conducting analog missions. These Earth-based missions possess characteristics that are analogous to missions on the Moon or Mars. These missions are excellent for testing operational concepts, and the design, configuration, and functionality of spacesuits, robots, rovers, and habitats. Analog mission crews test specific techniques and procedures for surface field geology, biological sample collection, and planetary protection. The process of actually working an analog mission reveals a myriad of small details, which either contribute to or impede efficient operations, many of which would never have been thought about otherwise. It also helps to define the suite of tools, containers, and other small equipment that surface explorers will use. This paper focuses on how analog missions have addressed selected operational considerations for future planetary missions.
Arnold, Larissa S.↗
Laer-induced Breakdown Spectroscopy Instrument for Element Analysis of Planetary Surfaces
One of the most fundamental pieces of information about any planetary body is the elemental and mineralogical composition of its surface materials. We are developing an instrument to obtain such data at ranges of up to several hundreds of meters using the technique of Laser-Induced Breakdown Spectroscopy (LIBS). We envision our instrument being used from a spacecraft in close rendezvous with small bodies such as comets and asteroids, or deployed on surface-rover vehicles on large bodies such as Mars and the Moon. The elemental analysis is based on atomic emission spectroscopy of a laser-induced plasma or spark. A pulsed, diode pumped Nd:YAG laser of several hundred millijoules optical energy is used to vaporize and electronically excite the constituent elements of a rock surface remotely located from the laser. Light emitted from the excited plasma is collected and introduced to the entrance slit of a small grating spectrometer. The spectrally dispersed spark light is detected with either a linear photo diode array or area CCD array. When the latter detector is used, the optical and spectrometer components of the LIBS instrument can also be used in a passive imaging mode to collect and integrate reflected sunlight from the same rock surface. Absorption spectral analysis of this reflected light gives mineralogical information that provides a remote geochemical characterization of the rock surface. We performed laboratory calibrations in air and in vacuum on standard rock powders to quantify the LIBS analysis. We performed preliminary field tests using commercially available components to demonstrate remote LIBS analysis of terrestrial rock surfaces at ranges of over 25 m, and we have demonstrated compatibility with a six-wheeled Russian robotic rover vehicle. Based on these results, we believe that all major and most minor elements expected on planetary surfaces can be measured with absolute accuracy of 10-15 percent and much higher relative accuracy. We have performed preliminary systems analysis of a LIBS instrument to evaluate probable mass and power requirements; results of this analysis are summarized.
Blacic, J.↗
History and Flight Devleopment of the Electrodynamic Dust Shield
The surfaces of the moon, Mars, and that of some asteroids are covered with a layer of dust that may hinder robotic and human exploration missions. During the Apollo missions, for example, lunar dust caused a number of issues including vision obscuration, false instrument readings, contamination, and elevated temperatures. In fact, some equipment neared failure after only 75 hours on the lunar surface due to effects of lunar dust. NASA's Kennedy Space Center has developed an active technology to remove dust from surfaces during exploration missions. The Electrodynamic Dust Shield (EDS), which consists of a series of embedded electrodes in a high dielectric strength substrate, uses a low power, low frequency signal that produces an electric field wave that travels across the surface. This non-uniform electric field generates dielectrophoretic and electrostatic forces capable of moving dust out of these surfaces. Implementations of the EDS have been developed for solar radiators, optical systems, camera lenses, visors, windows, thermal radiators, and fabrics The EDS implementation for transparent applications (solar panels, optical systems, windows, etc.) uses transparent indium tin oxide electrodes on glass or transparent lm. Extensive testing was performed in a roughly simulated lunar environment (one-sixth gravity at 1 mPa atmospheric pressure) with lunar simulant dust. EDS panels over solar radiators showed dust removal that restored solar panel output reaching values very close to their initial output. EDS implementations for thermal radiator protection (metallic spacecraft surfaces with white thermal paint and reflective films) were also extensively tested at similar high vacuum conditions. Reflectance spectra for these types of implementations showed dust removal efficiencies in the 96% to 99% range. These tests indicate that the EDS technology is now at a Technology Readiness Level of 4 to 5. As part of EDS development, a flight version is being prepared for several flight opportunities. The flight version of the EDS will incorporate significantly smaller electronics, with an expected mass and volume of 500 g and 350 cm(exp. 3) respectively. One of the opportunities is an International Space Station (ISS) experiment: Materials for International Space Station Experiment 10 (MISSE-10). This experiment aims to verify the EDS can withstand the harsh environment of space and will look to closely replicate the solar environment experienced on the moon. A second flight opportunity exists to provide an EDS to several companies as part of NASA's Lunar CATALYST program. The current mission concept would fly the EDS on the footpad of one of the Lunar CATALYST vehicles. Dust will likely deposit on the footpad through normal surface rover activities, but also upon landing where lunar dust is expected to be uplifted. To analyze the e effectiveness of the EDS system, photographs of the footpad with one of the spacecrafts onboard cameras are anticipated. If successful in these test flights, the EDS technology will be ready to be used in the protection of actual mission equipment for future NASA and commercial missions to the moon, asteroids, and Mars.
Lunar↗