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Over the last decade, tremendous amount of research and progress has been made towards developing smart technologies for autonomous vehicles such as adaptive cruise control, lane keeping assist, lane following algorithms, and decision-making algorithms. One of the fundamental objectives for the development of such technologies is to enable autonomous vehicles with the capability to avoid obstacles and maintain safety. Automobiles are real-world dynamical systems - possessing inertia, operating at varying speeds, with finite accelerations/decelerations during operations. Deployment of autonomy in vehicles increases in complexity multi-fold especially when high DOF vehicle models need to be considered for robust control. Model Predictive Control (MPC) is a powerful tool that is used extensively to control the behavior of complex, dynamic systems. As a model-based approach, the fidelity of the model and selection of model-parameters plays a role in ultimate performance.

Simultaneous Localization and Mapping (SLAM) algorithms are extensively utilized within the field of autonomous navigation. In particular, numerous open-source Robot Operating System (ROS) based SLAM solutions, such as Gmapping, Hector, Cartographer etc., have simplified deployments in application. However, establishing the accuracy and precision of these ‘out-of-the-box’ SLAM algorithms is necessary for improving the accuracy and precision of further applications such as planning, navigation, controls. Existing benchmarking literature largely focused on validating SLAM algorithms based upon the quality of the generated maps. In this paper, however, we focus on examining the localization accuracy of existing 2-dimensional LiDAR based indoor SLAM algorithms. The fidelity of these implementations is compared against the OptiTrack motion capture system which is capable of tracking moving objects at sub-millimeter level precision.

Long duration NASA-Mir program missions, and the planned International Space Station missions, have given impetus for NASA to implement an operational program of psychological preparation, monitoring, and support for its crews. For exploration missions measured in years, the importance of psychological issues increases exponentially beyond what is currently done. Psychologists' role should begin during the vehicle design and crew selection phases. Extensive preflight preparation must focus on individual and team adaptation, and leadership. Factors such as lack of resupply options and communication delays will alter in-flight monitoring and support capabilities, and require a more self-sufficient crew. Involvement in postflight recovery will also be necessry to ensure appropriate reintegration to the family and job.

Scientists and engineers at NASA are currently developing flight instruments which will demonstrate oxygen production on the Moon and Mars. REGA will extract oxygen from the lunar regolith, measure implanted solar wind and indigenous gases, and monitor the lunar atmosphere. MIP will demonstrate oxygen production on Mars, along with key supporting technologies including filtration, atmospheric acquisition and compression, thermal management, solar cell performance, and dust removal.

ILC Dover Inc. was awarded a three-year NRA grant for the development of innovative spacesuit pressure garment technology that will enable safer, more reliable, and effective human exploration of the space frontier. The research focused on the development of a high performance mobility/sizing actuation system for a spacesuit soft upper torso (SUT) pressure garment. This technology has application in two areas (1) repositioning the scye bearings to improve specific joint motion i.e. hammering (Figure 1), hand over hand translation (Figure 2), etc., and (2) as a suit sizing mechanism to allow easier suit entry and more accurate suit fit with fewer torso sizes than the existing EMU. This research was divided into three phases. In phases 1 and 2 SUT actuation technologies were developed and evaluated.

An integrated water recovery system was operated for 91 days in support of the Lunar Mars Life Support Test Project (LMLSTP) Phase III test. The system combined both biological and physical-chemical processes to treat a combined wastewater stream consisting of waste hygiene water, urine, and humidity condensate. Biological processes were used for primary degradation of organic material as well as for nitrification of ammonium in the wastewater. Physical-chemical systems removed inorganic salts from the water and provided post-treatment. The integrated system provided potable water to the crew throughout the test. This paper describes the water recovery system and reviews the performance of the system during the test.

Recovery of potable water from wastewater is essential for the success of long-term manned missions to the moon and Mars. Honeywell International and the team consisting of Thermodistillation Company (Kyiv, Ukraine) and NASA Johnson Space Center (JSC) Crew and Thermal Systems Division are developing a wastewater processing subsystem that is based on centrifugal vacuum distillation. The Wastewater Processing Cascade Distillation Subsystem (CDS) utilizes an innovative and efficient multi-stage thermodynamic process to produce purified water. The rotary centrifugal design of the system also provides gas/liquid phase separation and liquid transport under microgravity conditions. A five-stage prototype of the subsystem was built, delivered and integrated into the NASA JSC Advanced Water Recovery Systems Development Facility for development testing.

The aim of this study was to explore if fingernail delamination injury following EMU glove use may be caused by compression-induced blood flow occlusion in the finger. During compression tests, finger blood flow decreased more than 60%, however this occurred more rapidly for finger pad compression (4 N) than for fingertips (10 N). A pressure bulb compression test resulted in 50% and 45% decreased blood flow at 100 mmHg and 200 mmHg, respectively. These results indicate that the finger pad pressure required to articulate stiff gloves is more likely to contribute to injury than the fingertip pressure associated with tight fitting gloves.

The subjective aspects of comfort in three different cooling garments, the MACS-Delphi, Russian Orlan, and LCVG were evaluated. Six subjects (4 males and 2 females) were tested in separate sessions in each garment and in one of two environmental chamber conditions: 24°C and 35°C. Subjects followed a staged exercise/rest protocol with different levels of physical exertion at different stages. Thermal comfort and heat perception were assessed by ratings on visual analog scales. Ratings of physical comfort of the garment and also garment flexibility in positions simulating movements during planetary exploration were also obtained. The findings indicated that both overall thermal comfort and head thermal comfort were rated highest in the MACS-Delphi at 24°C. The Orlan was rated lowest on physical comfort and less flexible in different body positions.

The first concept and early experiments of a mechanical counter pressure (MCP) spacesuit were published by Webb in the late 1960's. MCP provides an alternative approach to the conventional full pressure suit that bears some significant advantages, such as increased mobility, dexterity, and tactility. The presented ongoing research provides a thorough investigation of the physiological effect of mechanical counter pressure applied onto the human skin. In this study, we investigated local microcirculatory effects produced with negative and positive ambient pressure on the lower body as a preliminary study for a lower body garment. The data indicates that the positive pressure was less tolerable than negative pressure. Lower body negative and positive pressure cause various responses in skin blood flow due to not only blood shifts but also direct exposure to pressure differentials.

The Equivalent System Mass (ESM) metric developed by NASA describes and compares individual system impact on a closed system in terms of a single parameter, mass. The food system of a Mars mission may encompass a large percentage of total mission ESM, and decreasing this ESM would be beneficial. Yeast breads were made using three methods (hand & oven, bread machine, mixer with dough hook attachment & oven). Flat breads were made using four methods (hand & oven, hand & griddle, mixer with dough hook attachment & oven, mixer with dough hook attachment & griddle). Two formulations were used for each bread system (scratch ingredients, commercial mix). ESM was calculated for each of these scenarios. The objective of this study was to compare the ESM of yeast and flat bread production for a Martian surface outpost. Method (equipment) for both types of bread production was demonstrated to be the most significant influence of ESM when one equipment use was assumed.

The work presented in this paper summarizes the early results of an integrated advanced water recovery system test conducted by the Crew and Thermal Systems Division (CTSD) at NASA-Johnson Space Center (JSC). The system design and the results of the first two months of operation are presented. The overall objective of this test is to demonstrate the capability of an integrated advanced water recovery system to produce potable quality water for at least six months. Each subsystem is designed for operation in microgravity. The primary treatment system consists of a biological system for organic carbon and ammonia removal. Dissolved solids are removed by reverse osmosis and air evaporation systems. Finally, ion exchange technology in combination with photolysis or photocatalysis is used for polishing of the effluent water stream. The wastewater stream consists of urine and urine flush water, hygiene wastewater and a simulated humidity condensate.

The quantitative analysis of the food system for long-term space missions is a crucial factor for the comparison of different food plans and for the evaluation of the food system as part of the overall mission. Such analysis should include important factors such as nutrition, palatability, diet cycle length, and psychological issues related to food. This paper will give the details of a mathematical model that was developed during the first author's participation as a Summer Faculty Fellow at Johnson Space Center. The model includes nutrition, palatability, diet cycle length, and psychological issues as important components. The model is compatible with the Equivalent System Mass (ESM) metric previously developed as the Advance Life Support (ALS) Research and Technology Metric.

The International Space Station Waste Collector Subsystem Risk Mitigation Experiment (ISS WCS RME) was flown as the primary (Shuttle) WCS on Space Shuttle flight STS-104 (ISS-7A) in July 2001, to validate new design enhancements. In general, the WCS is utilized for collecting, storing, and compacting fecal & associated personal hygiene waste, in a zero gravity environment. In addition, the WCS collects and transfers urine to the Shuttle waste storage tank. All functions are executed while controlling odors and providing crew comfort. The ISS WCS previously flew on three Shuttle flights as the Extended Duration Orbiter (EDO) WCS, as it was originally designed to support extended duration Space Shuttle flights up to 30 days in length. Soon after its third flight, the Space Shuttle Program decided to no longer require 30 day extended mission duration capability and provided the EDO WCS to the ISS Program.

In the next 20 years fully autonomous vehicles are expected to be in the market. The advance on their development is creating paradigm shifts on different automotive related research areas. Vehicle interiors design and human vehicle interaction are evolving to enable interaction flexibility inside the cars. However, most of today’s vehicle manufacturers’ autonomous car concepts maintain the steering wheel as a control element. While this approach allows the driver to take over the vehicle route if needed, it causes a constraint in the previously mentioned interaction flexibility. Other approaches, such as the one proposed by Google, enable interaction flexibility by removing the steering wheel and accelerator and brake pedals. However, this prevents the users to take control over the vehicle route if needed, not allowing them to make on-route spontaneous decisions, such as stopping at a specific point of interest.

Emerging autonomous driving technologies, with emergency navigating capabilities, necessitates innovative vehicle steering methods for operators during unanticipated scenarios. A reconfigurable “plug and play” steering system paradigm enables lateral control from any seating position in the vehicle’s interior. When required, drivers may access a stowed steering input device, establish communications with the vehicle steering subsystem, and provide direct wheel commands. Accordingly, the provision of haptic steering cues and lane keeping assistance to navigate roadways will be helpful. In this study, various steering devices have been investigated which offer reconfigurability and haptic feedback to create a flexible driving environment. A joystick and a robotic arm that offer multiple degrees of freedom were compared to a conventional steering wheel.

Meeting radiation protection requirements during EVA is predominantly an operational issue with some potential considerations for temporary shelter. The issue of spacesuit shielding is mainly guided by the potential of accidental exposure when operational and temporary shelter considerations fail to maintain exposures within operational limits. In this case, very high exposure levels are possible which could result in observable health effects and even be life threatening. Under these assumptions, potential spacesuit radiation exposures have been studied using known historical solar particle events to gain insight on the usefulness of modification of spacesuit design in which the control of skin exposure is a critical design issue and reduction of blood forming organ exposure is desirable.

An ADvanced Automotive Manikin (ADAM) developed at the National Renewable Energy Laboratory (NREL) is used to evaluate NASA’s liquid cooling garments (LCGs) used in advanced spacesuits. The manikin has 120 separate heated/sweating zones and is controlled by a finite-element physiological model of the human thermo-regulatory system. Previous testing showed the thermal sensation and comfort followed expected trends as the LCG inlet fluid temperature was changed. The Phase II test data demonstrates the repeatability of ADAM by retesting the baseline LCG. Skin and core temperature predictions using ADAM in an LCG/arctic suit combination are compared to NASA physiological data to validate the manikin/model. An additional Orlan LCG configuration is assessed using the manikin and compared to the baseline LCG.

One of the risks associated with long-term space flights is cancer incidence resulting from chronic exposure to space radiation. Assessment of incurred risk from radiation exposure requires quantifying the dose throughout the body. The space radiation exposure received by Space Shuttle astronauts is measured by thermoluminescent dosimeters (TLDs) worn during every mission. These dosimeters measure the absorbed dose to the skin, but the dose to internal organs is required for estimating the cancer risk induced by space radiation. A method to extrapolate these skin dose measurements to realistic organ specific dose estimates, using the Computerized Anatomical Man (CAM) and Computerized Anatomical Female (CAF) models, is discussed in detail. A transport code, which propagates high energy nucleon and charged particles, is combined with the CAM/CAF-generated shielding areal distributions to evaluate the absorbed dose at selected organ sites.

Vibrational disturbance magnitude and frequency on space-flight missions is often a critical factor regarding mission success. Both materials processing experiments and astronomical investigations have specific microgravity environmental requirements. Recent efforts have been made to quantify the microgravity environment on the Space Shuttle Columbia by measuring gravity levels produced by specific mission events such as Orbiter engine burns, treadmill and ergometer activities, crew sleep periods, rotating chair operations, and body mass measurement operations. However, no measurements have been made of specific, nominal crewmember activities such as translating about the middeck, flight-deck, or in the Spacelab. This report presents pilot-study data of test subject forces induced by intravehicular activities such as push-offs and landings with both hands and feet. Five subjects participated in this investigation.