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Technical Paper

Toward Human-Robot Interface Standards: Use of Standardization and Intelligent Subsystems for Advancing Human-Robotic Competency in Space Exploration

2006-07-17
2006-01-2019
NASA's plans to implement the Vision for Space Exploration include extensive human-robot cooperation across an enterprise spanning multiple missions, systems, and decades. To make this practical, strong enterprise-level interface standards (data, power, communication, interaction, autonomy, and physical) will be required early in the systems and technology development cycle. Such standards should affect both the engineer and operator roles that humans adopt in their interactions with robots. For the engineer role, standards will result in reduced development lead-times, lower cost, and greater efficiency in deploying such systems. For the operator role, standards will result in common autonomy and interaction modes that reduce operator training, minimize workload, and apply to many different robotic platforms. Reduced quantities of spare hardware could also be a benefit of standardization.
Technical Paper

The Importance of HEV Fuel Economy and Two Research Gaps Preventing Real World Implementation of Optimal Energy Management

2017-01-10
2017-26-0106
Optimal energy management of hybrid electric vehicles has previously been shown to increase fuel economy (FE) by approximately 20% thus reducing dependence on foreign oil, reducing greenhouse gas (GHG) emissions, and reducing Carbon Monoxide (CO) and Mono Nitrogen Oxide (NOx) emissions. This demonstrated FE increase is a critical technology to be implemented in the real world as Hybrid Electric Vehicles (HEVs) rise in production and consumer popularity. This review identifies two research gaps preventing optimal energy management of hybrid electric vehicles from being implemented in the real world: sensor and signal technology and prediction scope and error impacts. Sensor and signal technology is required for the vehicle to understand and respond to its environment; information such as chosen route, speed limit, stop light locations, traffic, and weather needs to be communicated to the vehicle.
Technical Paper

The Advanced Design of a Liquid Cooling Garment Through Long-Term Research: Implications of the Test Results on Three Different Garments

2009-07-12
2009-01-2517
The most recent goal of our research program was to identify the optimal features of each of three garments to maintain core temperature and comfort under intensive physical exertion. Four males and 2 females between the ages of 22 and 46 participated in this study. The garments evaluated were the MACS-Delphi, Russian Orlan, and NASA LCVG. Subjects were tested on different days in 2 different environmental chamber temperature/humidity conditions (24°C/H∼28%; 35°C/H∼20%). Each session consisted of stages of treadmill walking/running (250W to 700W at different stages) and rest. In general, the findings showed few consistent differences among the garments. The MACS-Delphi was better able to maintain subjects within a skin and core temperature comfort zone than was evident in the other garments as indicated by a lesser fluctuation in temperatures across physical exertion levels.
Technical Paper

Testing of the Prototype Plant Research Unit Subsystems

1996-07-01
961507
The Plant Research Unit (PRU) is currently under development by the Space Station Biological Research Project (SSBRP) team at NASA Ames Research Center (ARC) with a scheduled launch in 2001. The goal of the project is to provide a controlled environment that can support seed-to-seed and other plant experiments for up to 90 days. This paper describes testing conducted on the major PRU prototype subsystems. Preliminary test results indicate that the prototype subsystem hardware can meet most of the SSBRP science requirements within the Space Station mass, volume, power and heat rejection constraints.
Technical Paper

Standardized Radiation Shield Design Method: 2005 HZETRN

2006-07-17
2006-01-2109
Research committed by the Langley Research Center through 1995 resulting in the HZETRN code provides the current basis for shield design methods according to NASA STD-3000 (2005). With this new prominence, the database, basic numerical procedures, and algorithms are being re-examined with new methods of verification and validation being implemented to capture a well defined algorithm for engineering design processes to be used in this early development phase of the Bush initiative. This process provides the methodology to transform the 1995 HZETRN research code into the 2005 HZETRN engineering code to be available for these early design processes. In this paper, we will review the basic derivations including new corrections to the codes to insure improved numerical stability and provide benchmarks for code verification.
Technical Paper

Simulation Study of Space Suit Thermal Control

2000-07-10
2000-01-2391
Automatic thermal comfort control for the minimum consumables PLSS is undertaken using several control approaches. Accuracy and performance of the strategies using feedforward, feedback, and gain scheduling are evaluated through simulation, highlighting their advantages and limitations. Implementation issues, consumable usage, and the provision for the extension of these control strategies to the cryogenic PLSS are addressed.
Technical Paper

Program Development for Exercise Countermeasures

1992-07-01
921140
Research indicates that adaptation to a microgravity environment includes physiological changes to the cardiovascular-respiratory, musculoskeletal, and neurosensory systems. Many of these alterations emerge even during space flights of short duration. Therefore, the advancement of manned space flight from Shuttle to Space Station Freedom (SSF) requires development of effective methods for augmenting the ability of humans to maintain functional performance. Thus, it is the goal of NASA to minimize the consequences of microgravity-induced deconditioning to provide optimal in-flight performance (intra- and extra-vehicular activities), suitable return to a pedestrian environment, and nominal physiological postflight recovery for an expeditious return-to-flight physical status.
Technical Paper

Predicting Fatigue for Isolated Joints While Wearing an Extra-vehicular Mobility Unit (EMU)

2001-06-26
2001-01-2099
To work outside a space craft, humans must wear a protective suit. The required suit pressurization creates additional resistance for the wearer while performing work. How much does the suit effect work and fatigue? To answer these questions, dynamic torque was collected for the shoulder, elbow and wrist for six subjects in an Extra-vehicular Mobility Unit (EMU). In order to quantify fatigue, the subjects were to exert maximum voluntary torque for five minutes or until their maximum fell below 50% of their initial maximum for three consecutive repetitions. Using the collected torque and time data, logarithmic based functions were derived to estimate torque decay to within an absolute error of 20%. These results will be used in the development of a generalized tool for prediction of maximum available torque over time for humans using the current EMU.
Technical Paper

Performance Evaluation of Candidate Space Suit Elements for the Next Generation Orbital EMU

1992-07-01
921344
The projections of increased Extravehicular Activity (EVA) operations for the Space Station Freedom (SSF) resulted in the development of advanced space suit technologies to increase EVA efficiency. To eliminate the overhead of denitrogenation, candidate higher-operating pressure suit technologies were developed. The AX-5 all metallic, multi-bearing technologies were developed at the Ames Research Center, and the Mk. III fabric and metallic technologies were developed at the Johnson Space Center. Following initial technology development, extensive tests and analyses were performed to evaluate all aspects of candidate technology performance. The current Space Shuttle space suit technologies were used as a baseline for evaluating those of the AX-5 and Mk. III. Tests included manned evaluations in the Weightless Environment Training Facility and KC-135 zero-gravity aircraft.
Technical Paper

Overview of NASA's Thermal Control System Development for Exploration Project

2009-07-12
2009-01-2436
NASA's Constellation Program includes the Orion, Altair, and Lunar Surface Systems (LSS) project offices. The first two elements, Orion and Altair, are manned space vehicles while the third element is broader and includes several subelements including Rovers and a Lunar Habitat. The upcoming planned missions involving these systems and vehicles include several risks and design challenges. Due to the unique thermal environment, many of these risks and challenges are associated with the vehicles' thermal control system. NASA's Exploration Systems Mission Directorate (ESMD) includes the Exploration Technology Development Program (ETDP). ETDP consists of several technology development projects. The project chartered with mitigating the aforementioned risks and design challenges is the Thermal Control System Development for Exploration Project.
Technical Paper

Micrometeoroid and Orbital Debris Enhancements of Shuttle Extravehicular Mobility Unit Thermal Micrometeoroid Garment

2006-07-17
2006-01-2285
As NASA is preparing to extend man's reach into space, it is expected that astronauts will be required to spend more and more time exposed to the hazards of performing Extra-Vehicular Activity (EVA). One of these hazards includes the risk of the space suit bladder being penetrated by hypervelocity micrometeoroid and orbital debris (MMOD) particles. Therefore, it has become increasingly important to investigate new ways to improve the protectiveness of the current Extravehicular Mobility Unit (EMU) against MMOD penetration. ILC Dover conducted a NASA funded study into identifying methods of improving the current EMU protection. The first part of this evaluation focused on identifying how to increase the EMU shielding, selecting materials to accomplish this, and testing these materials to determine the best lay-up combinations to integrate into the current thermal micrometeoroid garment (TMG) design.
Technical Paper

Mathematical Modeling of Food Systems for Long-Term Space Missions

2002-07-15
2002-01-2290
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.
Technical Paper

Mark III Space Suit Mobility: A Reach Evaluation Case Study

2007-06-12
2007-01-2473
A preliminary assessment of the reach envelope and field of vision (FOV) for a subject wearing a Mark III space suit was requested for use in human-machine interface design of the Science Crew Operations and Utility Testbed (SCOUT) vehicle. The reach and view of two suited and unsuited subjects were evaluated while seated in the vehicle using 3-dimensional position data collected during a series of reaching motions. Data was interpolated and displayed in orthogonal views and cross-sections. Compared with unsuited conditions, medio-lateral reach was not strongly affected by the Mark III suit, whereas vertical and antero-posterior reach were inhibited by the suit. Lateral FOV was reduced by approximately 40° in the suit. The techniques used in this case study may prove useful in human-machine interface design by providing a new means of developing and displaying reach envelopes.
Technical Paper

Life Support System Technology Development Supporting Human Space Exploration

2008-06-29
2008-01-2185
Exploration Life Support (ELS) is a technology development project under the National Aeronautics and Space Administration's (NASA) Exploration Technology Development Program. The ELS Project's goal is to develop and mature a suite of Environmental Control and Life Support System (ECLSS) technologies for potential use on human spacecraft under development in support of U.S. Space Exploration Policy. Technology development is directed at three major vehicle projects within NASA's Constellation Program: the Orion Crew Exploration Vehicle (CEV), the Altair Lunar Lander and Lunar Surface Systems, including habitats and pressurized rovers. The ELS Project includes four technical elements: Atmosphere Revitalization Systems, Water Recovery Systems, Waste Management Systems and Habitation Engineering, and two cross cutting elements, Systems Integration, Modeling and Analysis, and Validation and Testing.
Technical Paper

Life Support Requirements and Technology Challenges for NASA's Constellation Program

2008-06-29
2008-01-2018
NASA's Constellation Program, which includes the mission objectives of establishing a permanently-manned lunar Outpost, and the exploration of Mars, poses new and unique challenges for human life support systems that will require solutions beyond the Shuttle and International Space Station state of the art systems. In particular, the requirement to support crews for extended durations at the lunar outpost with limited resource resupply capability will require closed-loop regenerative life support systems with minimal expendables. Planetary environmental conditions such as lunar dust and extreme temperatures, as well as the capability to support frequent and extended-duration Extra-vehicular Activity's (EVA's) will be particularly challenging.
Technical Paper

Investigation of Transient Sublimator Performance

2009-07-12
2009-01-2480
Sublimators have been used for heat rejection in a variety of space applications including the Apollo Lunar Module and the Extravehicular Mobility Unit (EMU). Sublimators typically operate with steady-state feedwater utilization at or near 100%. However, sublimators are currently being considered to operate in a cyclical topping mode during low lunar orbit for Altair and possibly Orion, which represents a new mode of operation. This paper will investigate the feedwater utilization when a sublimator is used in this nontraditional manner. This paper includes testing efforts to date to investigate the Orbit-Averaged Feedwater Utilization (OAFU) for a sublimator.
Technical Paper

Impacts of System Decisions at the Life Support, EVA, and Habitability Interfaces

2005-07-11
2005-01-2907
Technology developers understand the need to optimize technologies for human missions beyond Earth. Greater benefits are achievable when systems that share common interfaces are optimized as an integrated unit, including taking advantage of possible synergies or removing counterproductive efforts at the mission level. Life support, extravehicular activity (EVA), and habitability are three systems that have significant interfaces with the crew, and thus share many common interfaces with each other. Technologies and architectures developed for these systems need to account for the effect that design decisions will have on each of the other systems. Many of these impacts stem from the use of water by the crew and the way that the life support system provides and processes that water. Other resources, especially air-related, can have significant impacts as well.
Technical Paper

Human and Robotic Enabling Performance System Development and Testing

2005-07-11
2005-01-2969
With a renewed focus on manned exploration, NASA is beginning to prepare for the challenges that lie ahead. Future manned missions will require a symbiosis of human and robotic infrastructure. As a step towards understanding the roles of humans and robots in future planetary exploration, NASA headquarters funded ILC Dover and the University of Maryland to perform research in the area of human and robotic interfaces. The research focused on development and testing of communication components, robotic command and control interfaces, electronic displays, EVA navigation software and hardware, and EVA lighting. The funded research was a 12-month effort culminating in a field test with NASA personnel.
Technical Paper

Freeze Tolerant Radiator for Advanced EMU

2004-07-19
2004-01-2263
The current Extravehicular Mobility Unit (EMU) system provides thermal control using a sublimator to reject both the heat produced by the astronaut's metabolic activity as well as the heat produced by the Portable Life Support Unit (PLSS). This sublimator vents up to eight pounds of water each Extravehicular Activity (EVA). If this load could be radiated to space, the amount of water that would need to be sublimated could be greatly reduced. There is enough surface area on the EMU that almost all of the heat can be rejected by radiation. Radiators, however, reject heat at a relatively constant rate, while the astronaut generates heat at a variable rate. To accommodate this variable heat load, NASA is developing a new freeze tolerant radiator where the tubes can selectively freeze to “turn down” the radiator and adjust to the heat rejection requirement. This radiator design significantly reduces the amount of expendable water needed for the sublimator.
Technical Paper

First Astronaut - Rover Interaction Field Test

2000-07-10
2000-01-2482
The first ever Astronaut - Rover (ASRO) Interaction Field Test was conducted successfully on February 22-27, 1999, in Silver Lake, Mojave Desert, California in a representative surface terrain. This test was a joint effort between the NASA Ames Research Center, Moffett Field, California and the NASA Johnson Space Center, Houston, Texas to investigate the interaction between humans and robotic rovers for potential future planetary surface exploration. As prototype advanced planetary surface space suit and rover technologies are being developed for human planetary surface exploration, it is desirable to better understand the interaction and potential benefits of an Extravehiclar Activity (EVA) crewmember interacting with a robotic rover. This interaction between an EVA astronaut and a robotic rover is seen as complementary and can greatly enhance the productivity and safety of surface excursions.
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