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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 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.

This paper presents the results of a program to develop the next generation Vapor Phase Catalytic Ammonia Removal (VPCAR) system. VPCAR is a spacecraft water recycling system designed by NASA and constructed by Water Reuse Technology Inc. The technology has been identified by NASA to be the next generation water recycling system [1]. It is designed specifically for a Mars transit vehicle mission. This paper provides a description of the process and an evaluation of the performance of the new system. The equivalent system mass (ESM) is calculated and compared to the existing state-of-the art. A description of the contracting mechanism used to construct the new system is also provided.

Predicting and testing for hover performance, both in and out of ground effect, and transition performance, from jet- to wing-borne flight and back, for vertical/short takeoff and landing (V/STOL) configurations can be a difficult task. Large-scale testing of these configurations can provide for a better representation of the flow physics than small-scale testing. This paper will discuss some of the advantages in testing at large-scale and some test techniques and issues involved with testing large-scale STOVL models. The two premier test facilities for testing large- to full-scale STOVL configurations are the Outdoor Aerodynamic Research Facility (OARF) and the 80- by 120-Foot Wind Tunnel of the National Full-Scale Aerodynamics Complex (NFAC). Other items of discussion will include force and moment measurements, jet efflux decay, wall effects, tunnel flow breakdown, strut interference, and flow visualization options.

This paper describes research and development for reducing the aerodynamic drag of heavy vehicles by demonstrating new approaches for the numerical simulation and analysis of aerodynamic flow. In addition, greater use of newly developed computational tools holds promise for reducing the number of prototype tests, for cutting manufacturing costs, and for reducing overall time to market. Experimental verification and validation of new computational fluid dynamics methods are also an important part of this approach. Experiments on a model of an integrated tractor-trailer are underway at NASA Ames Research Center and the University of Southern California. Companion computer simulations are being performed by Sandia National Laboratories, Lawrence Livermore National Laboratory, and California Institute of Technology using state-of- the-art techniques, with the intention of implementing more complex methods in the future.

The focus of the 5 year long ACSYNT Institute has been to greatly increase the capability of the aircraft synthesis computer program, ACSYNT. The key improvements have followed from the advanced geometric modeling and display technology of current workstations. The higher fidelity model enables more accurate and general aerodynamic propulsion and weight computations with less reliance on regression methods and estimations. This paper focuses on the improvements that can enhance the state of the art in general aviation aircraft synthesis.

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.

Commercial aviation relies almost entirely on subsonic fixed wing aircraft to constantly move people and goods from one place to another across the globe. While air travel is an effective means of transportation providing an unmatched combination of speed and range, future subsonic aircraft must improve substantially to meet efficiency and environmental targets. The NASA Fundamental Aeronautics Subsonic Fixed Wing (SFW) Project addresses the comprehensive challenge of enabling revolutionary energy-efficiency improvements in subsonic transport aircraft combined with dramatic reductions in harmful emissions and perceived noise to facilitate sustained growth of the air transportation system. Advanced technologies, and the development of unconventional aircraft systems, offer the potential to achieve these improvements.

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 presents results of research on a solid waste dryer, based of the process of lyophilization, which recovers water and stabilizes solid waste. A lyophilizer has been developed and tested that uses thermoelectric heat pumps (TECs) to recycle heat during drying. The properties of TECs facilitate direct measurement of heat flow rates, and heat flow data are used to evaluate a heat and mass transfer model of the thermoelectric lyophilizer. Data are consistent with the theoretical model in most respects. Practical problems such as insulation and vacuum maintenance are minor in this system. However, the model’s assumption of a uniformly retreating ice layer during drying is valid only for the first 30% of water removed. Beyond this point, a shrinking core or lens model is more appropriate. Heat transfer to the shrinking core surrounded by dried material is slow.

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.

How much integrated system level test should be performed on a spacecraft before it is launched? Although sometimes system test is minimized, experience shows that systems level testing should be thorough and complete. Reducing subsystem testing is a less dangerous way to save cost, since it risks finding problems later in system test, while cutting systems test risks finding them even later on orbit. Human-rated spacecraft test planning is informal, subjective, and inconsistent, and its extent is often determined by the decision maker's risk tolerance, decision-making style, and long-term or short-term view. Decisions on what to test should be guided by an overall mission cost-benefit analysis, similar to the risk analysis used to guide development efforts.

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).

The desire to provide integrated surface pressures for aerodynamic loads measurements has been a driving force behind the development of pressure-sensitive paint (PSP). To demonstrate the suitability of PSP for this purpose, it is not sufficient to simply show that PSP is accurate as compared to pressure taps. PSP errors due to misregistration or temperature sensitivity may be high near model edges, where pressure taps are rarely installed. Thus, PSP results will appear good compared to the taps, but will yield inaccurate results when integrated. A more stringent technique is to compare integrated PSP data over the entire model surface with balance and/or CFD results. This paper describes a simple integration method for PSP data and presents comparisons of balance and PSP results for three experiments. PSP is shown quite accurate for normal force measurements, but less effective at determining axial force and moments.

The Vapor Phase Catalytic Ammonia Removal (VPCAR) system is being developed to recycle water for future NASA Exploration Missions. Testing was recently conducted on NASA's C-9B Reduced Gravity Aircraft to determine the microgravity performance of a key component of the VPCAR water recovery system. Six flights were conducted to evaluate the fluid dynamics of the Wiped-Film Rotating Disk (WFRD) distillation component of the VPCAR system in microgravity, focusing on the water delivery method. The experiments utilized a simplified system to study the process of forming a thin film on a disk similar to that in the evaporator section of VPCAR. Fluid issues are present with the current configuration, and the initial alternative configurations were only partial successful in microgravity operation. The underlying causes of these issues are understood, and new alternatives are being designed to rectify the problems.

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.