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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 development of virtual environment technology at NASA Ames Research Center and other research institutions has created opportunities for enhancing human performance. The application of this technology to training astronaut flight crews planning to go onboard the International Space Station has already begun at the NASA Johnson Space Center. A unique application of virtual environments to crew training is envisioned at NASA Ames Research Center which combines state of the art technology with haptic feedback to create a method for training crewmembers on critical life sciences operations which require fine motor skills. This paper describes such a concept, known as the Virtual Glovebox, as well as surveys other applications of virtual environments to astronaut crew training.

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.

NASA is developing a Telescience Support Center (TSC) at the Ames Research Center. The center will be part of the infrastructure needed to conduct research in the Space Station and has been tailored to satisfy the requirements of the fundamental biology research program. The TSC will be developed from existing facilities at the Ames Research Center. Ground facility requirements have been derived from the TSC functional requirements. Most of the facility requirements will be satisfied with minor upgrades and modifications to existing buildings and laboratories. The major new development will be a modern data processing system. The TSC is being developed in three phases which correspond to deliveries of Biological Research Facility equipment to Station. The first phase will provide support for early hardware in flight Utilization Flight −1 (UF-1) in 2001.

The General Purpose Work Station (GPWS) is a laboratory multi-use facility, as demonstrated during the Spacelab Life Sciences 1 (SLS-1) flight. The unit provided particulate containment under varying conditions, served as an effective work space for manipulating live animals, e.g., rats, served as a containment facility for fixatives, and was proposed for use to conduct in-flight maintenance during connector pin repair. The cabinet has a front door large enough to allow installation of a full-size microscope in-flight and is outfitted with a side window to allow delivery of items into the cabinet without exposure to the spacelab atmosphere. Additional support subsystems include inside cabinet mounting, surgical glove fine manipulations capability, and alternating or direct current power supply for experiment equipment, as will be demonstrated during Spacelab J.

Ames Research Center's Life Sciences Division was responsible for managing the development of fundamental biology flight experiments during the Phase 1 NASA/Mir Science Program. Beginning with astronaut Norm Thagard's historic March, 1995 Soyuz rendezvous with the Mir station and continuing through Andy Thomas' successful return from Mir onboard STS-91 in June, 1998, the NASA/Mir Science Program has provided scientists with unparalleled long duration research opportunities. In addition, the Phase 1 program has yielded many valuable lessons to program and project management personnel who are managing the development of future International Space Station payload elements. This paper summarizes several of the key space station challenges faced and associated lessons learned by the Ames Research Center Fundamental Biology Research Project.

Determining the fundamental role of gravity in vital biological systems in space is one of six science and research areas that provides the philosophical underpinning for why NASA exists. The study of cells, tissues, and microorganisms in a spaceflight environment holds the promise of answering multiple intriguing questions about how gravity affects living systems. To enable these studies, specimens must be maintained in an environment similar to that used in a laboratory. Cell culture studies under normal laboratory conditions involve maintaining a highly specialized environment with the necessary temperature, humidity control, nutrient, and gas exchange conditions. These same cell life support conditions must be provided by the International Space Station (ISS) Cell Culture Unit (CCU) in the unique environment of space. The CCU is a perfusion-based system that must function in microgravity, at unit gravity (1g) on earth, and from 0.1g up to 2g aboard the ISS centrifuge rotor.

Single Loop for Cell Culture (SLCC) consists of individual, self-contained, spaceflight cell culture systems with capabilities for automated growth initiation, feeding, sub-culturing and sampling. The cells are grown and contained within a rigid cell specimen chamber (CSC). Bladder tanks provide flush and media fluid. SLCC uses active perfusion flow to provide nutrients and gas exchange, and to dilute waste products by expelling depleted media fluid into a waste bladder tank. The cells can be grown quiescently, or suspended using magnetically coupled stirrers. This paper describes the functional and safety design features, the operational modes and the spaceflight qualification processes including science validation tests, using yeast as a model organism.

Biomolecules exhibit specific binding and high affinity for their ligands. These properties can be exploited to produce sensitive, specific, real-time sensors for analytes that cannot be readily monitored by other methods. Several technologies for environmental monitoring using proteins are currently being developed. We discuss specific challenges to practical application of a family of protein-based sensors derived from bacterial periplasmic binding proteins. We also present recent work to address these challenges.

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.

Spacelab Life Sciences-3 (SLS-3) was scheduled to be the first United States man-tended microgravity flight containing Rhesus monkeys. The goal of this flight as in the five untended Russian COSMOS Bion flights and an earlier American Biosatellite flight, was to understand the biomedical and biological effects of a microgravity environment using the non-human primate as human surrogate. The SLS-3/Rhesus Project and COSMOS Primate-BIOS flights all utilized the rhesus monkey, Macaca mulatta. The ultimate objective of all flights with an animal surrogate has been to evaluate and understand biological mechanisms at both the system and cellular level, thus enabling rational effective countermeasures for future long duration human activity under microgravity conditions and enabling technical application to correction of common human physiological problems within earth's gravity, e.g., muscle strength and reloading, osteoporosis, immune deficiency diseases.

The Plant Generic BioProcessing Apparatus (PGBA), a plant growth facility developed for commercial space biotechnology research, has flown successfully on 3 spaceflight missions for 4, 10 and 16 days. The environmental control systems of this plant growth chamber (28 liter/0.075 m2) provide atmospheric, thermal, and humidity control, as well as lighting and nutrient supply. Typical performance profiles of water transpiration and dehumidification, carbon dioxide absorption (photosynthesis) and respiration rates in the PGBA unit (on orbit and ground) are presented. Data were collected on single and mixed crops. Design options and considerations for the different sub-systems are compared with those of similar hardware.

The Centrifuge Accommodation Module (CAM) will be the home of the fundamental biology research facilities on the International Space Station (ISS). These facilities are being built by the Biological Research Project (BRP), whose goal is to oversee development of a wide variety of habitats and host systems to support life sciences research on the ISS. The habitats and host systems are designed to provide life support for a variety of specimens including cells, bacteria, yeast, plants, fish, rodents, eggs (e.g., quail), and insects. Each habitat contains specimen chambers that allow for easy manipulation of specimens and alteration of sample numbers. All habitats are capable of sustaining life support for 90 days and have automated as well as full telescience capabilities for sending habitat parameters data to investigator homesite laboratories.

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.

Astrobiology is one of the most highly integrative scientific efforts ever undertaken, relying on the synthesis of sciences from astronomy to zoology and geology to genomics to discover the thread of life in the universe. These sciences must be further integrated with the technological revolutions in biotechnology, microminiaturization and information technology to realize the vast potential offered by NASA's mission suites. This paper discusses development of the Astrobiology Roadmap and novel management approaches which attempt to bring in the best scientific and technical talent available to bear on Astrobiology's goals, while simultaneously minimizing the overhead and time to flight for Astrobiology payloads.

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.