Browsing by Author "Robinson, Stephen"
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Item Design, Build, Test of a CO2 Removal Testbed and Twin Robotically Manipulable Testbed: Sensing Degradation and Performing Maintenance with Robot/Human Teaming(2023 International Conference on Environmental Systems, 2023-07-16) Ivey, Daniela; Barkouki, Tammer; Torralba, Monica; Ulusoy, Ulubilge; Eshima, Samuel; Mohanty, Ayush; Lindbeck, Christopher; Balakirsky, Stephen; Robinson, StephenThe NASA-sponsored “Habitats Optimized for Missions of Exploration” (HOME) Space Technology Research Institute is creating a foundation for smart deep-space habitats that can both sustain human residents and sustain themselves without human residents. A vital element of any human-rated mission is the Environmental Control and Life Support System (ECLSS), composed of multiple subsystems, including an Air Revitalization subsystem that maintains a breathable atmosphere. Tracking performance, identifying performance degradation, predicting remaining useful life of components, and performing maintenance on such a critical system are paramount to creating a safe, habitable environment and are thus key research areas within HOME. This paper outlines the design, build, and test of two new testbeds at UC Davis. The first, ZeoDe (Zeolite Capacity Degradation), is a chemically functional CO2 removal testbed that generates degradation data for prognostics through the introduction of humidity into the system. The introduction of humidity can occur in a space habitat due to leaks or other faults. Humidity build-up within the system leads to CO2 removal capacity degradation of the sorbent. Thus, the study of sorbent degradation is of paramount importance to any zeolite-based CO2 removal system deployed on future spacecraft. The maintenance of such a system is equally important. The second UC Davis testbed, RobInZeN (Robotically Interactive ZeoDe twiN), is a non-functional ECLSS testbed designed for the physical manipulation by robots and humans of its components for task execution. It is modeled after ZeoDe, with additional design changes to allow maintenance practices for both humans and onboard robotic agents. These two testbeds will allow HOME to investigate sensor criticality, degradation physics, detection sequences, and maintenance plans for a degraded ECLSS CO2 removal unit in both autonomous robotic tasks and integrated robot/human teaming scenarios.Item ECLSS Air Revitalization Technology Review 2022: Review of Current Published Units and their Fault Modes(51st International Conference on Environmental Systems, 7/10/2022) Ivey, Daniela; Torralba, Monica; Robinson, StephenNASA, the commercial industry, and international partners are expanding humanity's reach into space, with milestones set for the Lunar Gateway, Artemis, and eventual crewed Mars missions. A key element of any long-term human spaceflight mission is the Environmental Control and Life Support System (ECLSS), composed of multiple subsystems, including an Air Revitalization subsystem that maintains a breathable atmosphere. To match programmatic milestones for deep-space exploration, there is a global push toward developing a next-generation ECLSS. As a result, there are many recent breakthroughs in the research and development of individual ECLSS units. This paper reviews both heritage and recent technologies in Air Revitalization, including US, Japanese, and European technologies for carbon dioxide (CO2) capture and oxygen (O2) generation in spacecraft habitats. Published fault modes are mentioned to facilitate discussions on the repairability and maintainability of potential future life support systems.Item Estimation of System States for Non-Measured Parameters and Integration with a Digital Twin framework to Boost Spacecraft Autonomy and Awareness(51st International Conference on Environmental Systems, 7/10/2022) Torralba, Monica; George, Cory; Robinson, Stephen; Eshima, Samuel; Nabity, JamesAs technologies for human exploration develop to meet the challenges of Lunar and Mars transit and habitation, there is increasing need for technologies that boost vehicle autonomy and awareness with or without human presence. This need for autonomy is driven largely by distance, with two-way communications and resupply lead times exceeding practical limits for a more traditional ground-supported habitat such as the International Space Station. Vehicle autonomy depends on awareness, which relies on sufficient data to inform and predict the state of health of critical systems. This paper will describe a use case for the estimation of states of a carbon dioxide removal system which will mimic the operation of the Simulation Testbed for Exploration Vehicle ECLSS (STEVE), a physical testbed built and operated at the University of Colorado Boulder. Specifically, this paper uses state estimation and physics first principles to estimate the state of parameters inside the testbed�s sorbent bed. Parameters within the bed must be estimated because sensors cannot be introduced internally to the sorbent bed without affecting performance. In addition to generating data about system state of health, vehicle awareness also relies on the availability of sensor data for use by autonomous agents or intelligent modules aboard a spacecraft. This paper proposes a Digital Twin architecture that acts as the framework for storage, transport, and the exchange of data in an autonomous and self-aware vehicle.Item Generating Anomalous Regenerable CO2 Removal System Data for Environmental Control and Life Support System Self-Awareness(51st International Conference on Environmental Systems, 7/10/2022) Eshima, Samuel; Nabity, James; Torralba, Monica; Ivey, Daniela; Robinson, StephenHuman spaceflight beyond Earth orbit will require autonomous deep space habitats that can keep the crew alive when present and keep the habitat "alive" when not. To achieve this goal, the autonomous agent must be both self-aware and self-sufficient. A self-aware Environmental Control and Life Support System (ECLSS) that can perform diagnostics and failure prognostics will be especially crucial towards enabling autonomy. A machine learning-based autonomous agent requires time-dependent data to train, test, and evolve the algorithm. Unfortunately, such data are not available during nominal or anomalous ECLSS operations. The Simulation Testbed for Exploration Vehicle ECLSS (STEVE), a 13X zeolite sorbent bed with CO2-laden simulated cabin atmosphere flow, was developed along with a Simulink and Aspen Adsorption-based computational model of STEVE to produce data of a regenerable CO2 removal system. Experiments and simulations can be conducted at nominal operating conditions and with faults to rapidly generate a diverse set of data. This paper describes the design and development of STEVE and the corresponding computational models. We recommend guidelines for generating data to develop machine learning algorithms for ECLSS self-awareness.Item Helmet-Mounted Display Technology for EVA Training in NASA's Neutral Buoyancy Lab(50th International Conference on Environmental Systems, 7/12/2021) Moses, Janine; Stoffel, James; Houchens, Ruby; Dunn, Jocelyn; Robinson, Stephen; Abercromby, AndrewThe Human/Robotic/Vehicle Integration and Performance (HRVIP) Lab at University of California, Davis is collaborating with NASA�s Johnson Space Center (JSC) to design and test an extravehicular activity (EVA) spacesuit helmet-mounted display (HMD) to enhance astronaut situational awareness during underwater EVA training. An EVA HMD will enable astronauts to monitor and react to real-time information including physiological biometrics, spacesuit status, environmental factors, task procedures, and navigation aids. To meet operational EVA challenges, HRVIP Lab is partnering with the JSC�s Human Physiology, Performance, Protection, and Operations (H-3PO) Lab to create HMD prototypes and test them during underwater EVA training in JSC�s Neutral Buoyancy Laboratory (NBL). Two HMD mounting styles were designed and tested in the NBL. The swing arm HMD mount holds the display a short distance in front of the helmet to allow focusing on text-based real-time data. The surface HMD mount, positioned in the astronaut�s peripheral vision on the helmet visor, displays flashing colors as a minimal distraction alert to the user to check system status. NBL testing of the HMD prototype during 2020 has resulted in the following findings: 1. Users (astronauts) found the real-time biofeedback and EVA parameters useful and readable. 2. There was minimal physical conflict between the HMD hardware on the spacesuit and EVA training operations. 3. The peripheral visual cues from HMD�s surface mount were effective only in certain scenarios. 4. Voice control enabled astronauts to use HMD autonomously, but also requires system improvements for increased reliability. This HMD is a test bed for evaluating data visualizations and interfaces for potential future flight informatics. Feedback from these HMD evaluations will inform future heads-up displays, both for EVA training and for the next-generation spacesuit.Item Implementing a Biorobotic Spacesuit Glove Solution to Optimize Crew Performance for Planetary Surface Operations(2023 International Conference on Environmental Systems, 2023-07-16) Carroll, Danielle; Dansereau, Spencer; Tvrdy, Taylor; Anderson, Allison; Robinson, StephenFifty percent of NASA astronauts suffer nail bruising and delamination injuries with prolonged use of the pressurized spacesuit glove, either in simulation at the Neutral Buoyancy Laboratory, or during EVA operations on the International Space Station, and even more crewmembers report significant hand and forearm muscle fatigue as an impediment to extending EVA duration. As we move toward long-duration missions to the moon and Mars with extensive surface exploration components, recurring nail delamination injuries will pose a serious threat to crew health, and premature muscle fatigue will likely continue to curb EVA mission duration and impair crew resource management if left unmitigated. We addressed current spacesuit glove shortcomings by developing a biorobotic solution, driven by electromechanical actuators and incorporating principles of biomimicry to closely follow the human hand flexor pulley system. Our early work demonstrated the feasibility and utility of a lightweight, 3D-printed fingertip cap and phalangeal frame, along with a force augmentation system that can maintain agility and dexterity while reducing muscle fatigue. We incorporated a soft hand exoskeleton with rigid fingertip caps and flexible silicone phalangeal frames to offload pressure from the fingertips to a location with more redundant blood supply via guided carbon-fiber tendons, while also allowing for augmentation of palmar and phalangeal flexion. Most recently, we have explored the implementation of electromyographic (EMG) sensors and feedback control systems, borrowing concepts from prosthetic hand devices while preserving the novelty and medically-inspired nature of our design. The next iteration of our design incorporates EMG sensors to unobtrusively trigger the mechanical assist provided by the soft hand exoskeleton. Integration of EMG also offers a mechanism to validate the effectiveness of our technology in mitigating hand fatigue and reducing the risk of musculoskeletal injury and nail delamination, in support of scientific exploration of lunar and Martian surfaces.Item Spaceflight Exercise and Textile Laundering Machine for Improved Human Health(2023 International Conference on Environmental Systems, 2023-07-16) Arends, Andrew; Robinson, StephenThe 52nd International Conference on Environmental Systems was held in Calgary, Canada, on 16 July 2023 through 20 July 2023.Item Sublimation Cooling Technology for CubeSat Thermal Control(2023 International Conference on Environmental Systems, 2023-07-16) Moses, Janine; Robinson, StephenSmall, inexpensive satellites called CubeSats are commonly used for conducting academic and commercial space research. Typically, there is no thermal control system to dissipate heat from the CubeSat avionics, which can limit onboard computing and payload power. Sublimators are a small-volume, passive thermal control technology with a proven 60-year flight history which may allow CubeSats to fly more powerful computers and conduct more complex experiments. Sublimators utilize water, a consumable; their size and passive nature is especially useful for CubeSat missions with volume constraints and short durations. Even with flight history, there are aspects of the heat and mass transfer processes in sublimation cooling which are not fully understood. Both historical and current modeling efforts make assumptions which require further exploration. This paper proposes CubeSat sublimation cooling technology, reviews past and current sublimator applications, and discusses the knowledge gaps and shortcomings of past sublimator uses and models. A UC Davis sublimator model is introduced with an initial analysis which addresses the assumptions often found in literature. Further, the overall thermal control system for a CubeSat with a sublimator is described, along with an initial sublimator sizing procedure and example.