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Remotely operating complex robotic mechanisms in unstructured natural environments is difficult at best. When the communications time delay is large, as for a Mars exploration rover operated from Earth, the difficulties become enormous. Conventional approaches, such as rate control of the rover actuators, are too inefficient and risky. The Intelligent Mechanisms Laboratory at the NASA Ames Research Center has developed over the past four years an architecture for operating science exploration robots in the presence of large communications time delays. The operator interface of this system is called the Virtual Environment Vehicle Interface (VEVI), and draws heavily on Virtual Environment (or Virtual Reality) technology. This paper describes the current operational version of VEVI, which we refer to as version 2.0. In this paper we will describe the VEVI design philosophy and implementation, and will describe some past examples of its use in field science exploration missions.

The blade crossing event of a coaxial counter-rotating rotor is a potential source of noise and impulsive blade loads. Blade crossings occur many times during each rotor revolution. In previous research by the authors, this phenomenon was analyzed by simulating two airfoils passing each other at specified speeds and vertical separation distances, using the compressible Navier-Stokes solver OVERFLOW. The simulations explored mutual aerodynamic interactions associated with thickness, circulation, and compressibility effects. Results revealed the complex nature of the aerodynamic impulses generated by upper/lower airfoil interactions. In this paper, the coaxial rotor system is simulated using two trains of airfoils, vertically offset, and traveling in opposite directions. The simulation represents multiple blade crossings in a rotor revolution by specifying horizontal distances between each airfoil in the train based on the circumferential distance between blade tips.

The short takeoff and landing capabilities that characterize the performance of powered-lift aircraft are dependent on engine thrust and are, therefore, severely affected by loss of an engine. This paper shows that the effects of engine loss on the short takeoff and landing performance of powered-lift aircraft can be effectively mitigated by cross-shafting the engine fans in a twin-engine configuration. Engine-out takeoff and landing performances are compared for three powered-lift aircraft configurations: one with four engines, one with two engines, and one with two engines in which the fans are cross-shafted. The results show that the engine-out takeoff and landing performance of the cross-shafted two-engine configuration is significantly better than that of the two-engine configuration without cross-shafting.

Two separate experimental rigs used in tests on NASA and Zero-G Corporation aircrafts flying low-gravity trajectories, and in the NASA 2.2 Second Drop Tower have been developed to test the functioning of the Flexible Membrane Commode (FMC) concept under reduced gravity conditions. The first rig incorporates the flexible, optically opaque membrane bag and the second rig incorporates a transparent chamber with a funnel assembly for evacuation that approximates the size of the membrane bag. Different waste dispensers have been used including a caulking gun and flexible hose assembly, and an injection syringe. Waste separation mechanisms include a pair of wire cutters, an iris mechanism, as well as discrete slug injection. The experimental work is described in a companion paper. This paper focuses on the obtained results and analysis of the data.

Propulsion system sizing for mechanical flap and externally blown flap aircraft is demonstrated. Included in this study is the effect of various levels of noise suppression on the aircraft final design characteristics. Both aircraft are sized to operate from a 3000 ft runway and perform the same mission. For each aircraft concept, propulsion system sizing is demonstrated for two different engine cycles-one having a fan pressure ratio of 1.5 and a bypass ratio of 9 and the other having a fan pressure ratio of 1.25 and a bypass ratio of 17.8. The results presented include the required thrust to weight ratio, wing loading, resulting gross weight and direct operating costs as functions of the engine noise level for each combination of engine cycle and aircraft concept.

Dante II, an eight-legged walking robot developed by the Dante project, explored the active volcanic crater of Mount Spurr in July 1994. In this paper, we describe the operator interfaces and the network-based participation methods used during the Dante II mission. Both virtual environment and multi-modal operator interfaces provided mission support for supervised control of Dante II. Network-based participation methods including message communications, satellite transmission, and a World-Wide Web server enabled remote science and public interaction. We believe that these human-machine interfaces represent a significant advance in robotic technologies for exploration.

The On-line Project Information System (OPIS) is the Exploration Life Support (ELS) mechanism for task data sharing and annual reporting. Fiscal year 2008 (FY08) was the first year in which ELS Principal Investigators (PI's) were required to complete an OPIS annual report. The reporting process consists of downloading a template that is customized to the task deliverable type(s), completing the report, and uploading the document to OPIS for review and approval. In addition to providing a general status and overview of OPIS features, this paper describes the user critiques and resulting system modifications of the first year of OPIS reporting efforts. Specifically, this paper discusses process communication and logistics issues, user interface ambiguity, report completion challenges, and the resultant or pending system improvements designed to circumvent such issues for the fiscal year 2009 reporting effort.

The On-line Project Information System (OPIS) is a LAMP-based (Linux, Apache, MySQL, PHP) system being developed at NASA Ames Research Center to improve Agency information transfer and data availability, largely for improvement of system analysis and engineering. The tool will enable users to investigate NASA technology development efforts, connect with experts, and access technology development data. OPIS is currently being developed for NASA's Exploration Life Support (ELS) Project. Within OPIS, NASA ELS Managers assign projects to Principal Investigators (PI), track responsible individuals and institutions, and designate reporting assignments. Each PI populates a “Project Page” with a project overview, team member information, files, citations, and images. PI's may also delegate on-line report viewing and editing privileges to specific team members. Users can browse or search for project and member information.

Within NASA's Aviation Safety Program, the Aviation System Monitoring and Modeling (ASMM) Project addresses the need to provide decision makers with the tools to identify and evaluate predisposing conditions that could lead to accidents. This Project is developing a set of automated tools to facilitate efficient, comprehensive, and accurate analyses of data collected in large, heterogeneous databases throughout the National Aviation System. This report is a brief overview of the ASMM Project as an introduction to the rest of the presentations in this session on one of its key elements---the Performance Data Analysis and Reporting System (PDARS).

A review of the research accomplished in 2009 in the System-Level Design, Analysis and Simulation Tools (SLDAST) of the NASA's Airspace Systems Program is presented. This research thrust focuses on the integrated system-level assessment of component level innovations, concepts and technologies of the Next Generation Air Traffic System (NextGen) under research in the ASP program to enable the development of revolutionary improvements and modernization of the National Airspace System. The review includes the accomplishments on baseline research and the advancements on design studies and system-level assessment, including the cluster analysis as an annualization standard of the air traffic in the U.S. National Airspace, and the ACES-Air MIDAS integration for human-in-the-loop analyzes within the NAS air traffic simulation.

When the demand for either a region of airspace or an airport approaches or exceeds the available capacity, miles-in-trail (MIT) restrictions are the most frequently issued traffic management initiatives (TMIs) that are used to mitigate these imbalances. Miles-in-trail operations require aircraft in a traffic stream to meet a specific inter-aircraft separation in exchange for maintaining a safe and orderly flow within the stream. This stream of aircraft can be departing an airport, over a common fix, through a sector, on a specific route or arriving at an airport. This study begins by providing a high-level overview of the distribution and causes of arrival MIT restrictions for the top ten airports in the United States. This is followed by an in-depth analysis of the frequency, duration and cause of MIT restrictions impacting the Hartsfield-Jackson Atlanta International Airport (ATL) from 2009 through 2011.

This paper describes the initial results of applying two machine-learning-based unsupervised anomaly detection algorithms, Orca and GritBot, to data from two rocket propulsion testbeds. The first testbed uses historical data from the Space Shuttle Main Engine. The second testbed uses data from an experimental rocket engine test stand located at NASA Stennis Space Center. The paper describes four candidate anomalies detected by the two algorithms.

The elemental composition of food consumed by astronauts is well defined. The major elements carbon, hydrogen, oxygen, nitrogen and sulfur are taken up in large amounts and these are often associated with the organic fraction (carbohydrates, proteins, fats etc) of human tissue. On the other hand, a number of the elements are located in the extracellular fluids and can be accounted for in the liquid and solid waste fraction of humans. These elements fall into three major categories - cationic macroelements (e.g. Ca, K, Na, Mg and Si), anionic macroelements (e.g. P, S and Cl and17 essential microelements, (e.g. Fe, Mn, Cr, Co, Cu, Zn, Se and Sr). When provided in the recommended concentrations to an adult healthy human, these elements should not normally accumulate in humans and will eventually be excreted in the different human wastes.

Of the many competing technologies for resource recovery from solid wastes for long duration manned missions such as a lunar or Mars base, incineration technology is one of the most promising and certainly the most well developed in a terrestrial sense. Various factors are involved in the design of an optimum fluidized bed incinerator for inedible biomass. The factors include variability of moisture in the biomass, the ash content, and the amount of fuel nitrogen in the biomass. The crop mixture in the waste will vary; consequently the nature of the waste, the nitrogen content, and the biomass heating values will vary as well. Variation in feed will result in variation in the amount of contaminants such as nitrogen oxides that are produced in the combustion part of the incinerator. The incinerator must be robust enough to handle this variability. Research at NASA Ames Research Center using the fluidized bed incinerator has yielded valuable data on system parameters and variables.

During 1995, we tested instruments and attempted a seed-to-seed experiment with Super-Dwarf wheat in the Russian Space Station Mir. Utah instrumentation included four IR gas analyzers (CO2 and H2O vapor, calculate photosynthesis, respiration, and transpiration) and sensors for air and leaf (IR) temperatures, O2, pressure, and substrate moisture (16 probes). Shortly after planting on August 14, three of six fluorescent lamp sets failed; another failed later. Plastic bags, necessary to measure gas exchange, were removed. Hence, gases were measured only in the cabin atmosphere. Other failures led to manual watering, control of lights, and data transmission. The 57 plants were sampled five times plus final harvest at 90 d. Samples and some equipment (including hard drives) were returned to earth on STS-74 (Nov. 20). Plants were disoriented and completely vegetative. Maintaining substrate moisture was challenging, but the moisture probes functioned well.

A multi-discipline, multi-year collaborative spaceflight research program (NASA/Mir Science Program) has been established between the United States and Russia utilizing the capabilities of the Russian Mir Space Station and the NASA space shuttle fleet. As a key research discipline to be carried out onboard Mir, fundamental biology research encompasses three basic objectives: first, to investigate long-term effects of microgravity upon plant and avian physiology and developmental biology; second, to investigate the long-term effects of microgravity upon circadian rhythm patterns of biological systems; and third, to characterize the long-term radiation environment (internal and external) of the Russian Mir space station. The first joint U.S./Russian fundamental biology research on-board Mir is scheduled to begin in March, 1995 with the Mir mission 18 and conclude with the docking of the U.S. shuttle to Mir in June, 1995 during the STS-71, Spacelab/Mir Mission-1 (SLM-1).

A high fidelity, direct-interface, fusible heat sink for cooling astronauts during extravehicular activity was constructed and tested. The design includes special connectors that allow the coolant loop to be directly connected to the fusible material, in this case water. Aspects tested were start-up characteristics, cooling rate, and performance during simulated heat loads. A simplified math model was used to predict the effect of increasing the effective thermal conductivity on heat sink freezing rate. An experiment was designed to measure the effective thermal conductivity of a water/Aluminum foam system, and full gravity tests were conducted to compare the freezing rates of water and water/foam systems. This paper discusses the results of these efforts.

An innovative design that meets both Shuttle and Space Station requirements for a user-friendly, volume-efficient, portable glovebox system has been developed at Ames Research Center (ARC). The Standard Interface Glovebox (SIGB) has been designed as a two Middeck locker-sized system that mounts in a Middeck Rack Structure (MRS) or in any rack using the Standard Interface Rack (SIR) rail spacing. The MRS provides structural support for the SIGB during all aspects of the mission and is an interface consistent with NASA's desire for commonality of mechanical interfaces, allowing the SIGB to be flown on essentially any manned space platform. The SIGB provides an enclosed work volume which operates at negative pressure relative to ambient, as well as excellent lighting and ample work volume for anticipated life sciences-related experiment operations inflight.

The Spacelab Life Sciences 2 (SLS-2) mission became NASA's longest duration Shuttle mission, lasting fourteen days, when Columbia landed on November 1, 1993. Located within the Spacelab were a total of 48 laboratory rats which were housed in two Research Animal Holding Facilities (RAHFs) developed by the Space Life Sciences Payloads Office (SLSPO) at Ames Research Center. In order to properly maintain the health and well-being of these important research animals, sufficient quantities of food and water had to be available for the duration of the mission. An Inflight Refill Unit was developed by the SLSPO to replenish the animals' drinking water inflight using the Shuttle potable water system in the middeck galley as the source of additional water. The Inflight Refill Unit consists of two major subsystems, a Fluid Pumping Unit (FPU) and a Collapsible Water Reservoir (CWR).

In February 2004 NASA released “The Vision for Space Exploration.” The important goals outlined in this document include extending human presence in the solar system culminating in the exploration of Mars. Unprocessed waste poses a biological hazard to crew health and morale. The waste processing methods currently under consideration include incineration, microbial oxidation, pyrolysis and compaction. Although each has advantages, no single method has yet been developed that is safe, recovers valuable resources including oxygen and water, and has low energy and space requirements. Thus, the objective of this project is to develop a low temperature oxidation process to convert waste cleanly and rapidly to carbon dioxide and water. In the Phase I project, TDA Research, Inc. demonstrated the potential of a low temperature oxidation process using ozone. In the current Phase II project, TDA and NASA Ames Research Center are developing a pilot scale low temperature ozone oxidation system.