Plantas de berro Thale de tres semanas de edad de la investigación Plant Habitat-03 son vistas justo antes de una cosecha a bordo de la Estación Espacial Internacional.
Credits: NASA
Hay muchas razones por las cuales cultivamos diversos tipos de plantas en el espacio. Las plantas proveen alimentación y bienestar psicológico a los astronautas y ayudan a reciclar el aire de la Estación Espacial Internacional, pero hay muchos otros beneficios asociados con esta actividad. Jorge Sotomayor, gerente de investigaciones de la Estación Espacial Internacional, te explica por qué es tan importante el cultivo de plantas en el espacio para el desarrollo de la ciencia y para futuras misiones a la Luna, y eventualmente, a Marte.
NASA’s Mars rover Curiosity acquired this image using its Right Navigation Camera on sol 4373 — Martian day 4,373 of the Mars Science Laboratory mission — on Nov. 24, 2024, at 08:32:59 UTC.
NASA/JPL-Caltech
Earth planning date: Monday, Dec. 2, 2024
Today, after a weeklong holiday break, the team was eager to take a look at Curiosity’s new workspace. After driving 51 meters (about 167 feet) alongside Texoli butte (pictured) we had a whole host of new rocks to examine, and it was one of those curiously perfect planning days where everything falls into place. Our team of geologists here on Earth was busy studying the images our Martian geologist had downlinked to Earth prior to planning, and we scheduled 1.5 hours of science activities on the first sol of this plan. An interesting and varied workspace today saw lots of instruments working together to study the rocks in-depth — teamwork really does make the dream work.
To begin, we are targeting a vertical rock face called “Coronet Lake” near the rover. Coronet Lake has a cluster of nodules on show and we are getting information on the composition of these nodules with APXS and a ChemCam LIBS, as well as a close-up image with our MAHLI instrument. We also have a second MAHLI activity scheduled on a flat rock called “Excelsior Mountain.” Our observant team spotted an interesting-looking rock named “Admiration Point.” This rock may have fallen from the nearby Texoli butte, or could be a meteorite. To test these hypotheses further, we are targeting Admiration Point with a Mastcam mosaic and a ChemCam passive. ChemCam and Mastcam work together again on a target named “Olancha,” an area of rocks that could contain evidence of deformation from when the rocks first formed. Olancha will be targeted with a ChemCam long-distance RMI and a Mastcam mosaic.
Mastcam is finishing off the geological observations here with mosaics of “Angels Camp,” a rock containing veins where water may have once flowed, “Bare Island Lake,” a gray rock containing interesting polygonal ridges, and a trough feature close to Coronet Lake. ChemCam is taking another look back at Gediz Vallis channel to see a transition between light- and dark-toned rocks with a long-distance RMI, and we are rounding off this plan with our standard environmental observations.
As the Geology and Mineralogy theme group Keeper of the Plan for today’s planning, I made sure that this sol was packed full of science activities that the team wanted to schedule. After this busy first sol, Curiosity will be driving about 50 meters (about 164 feet), continuing to make our way out of Gediz Vallis, and we are all very excited to see what the rest of the sulfate-bearing unit has to offer us.
Written by Emma Harris, graduate student at Natural History Museum, London
Preparations for Next Moonwalk Simulations Underway (and Underwater)
Fans at the 51st Annual Bayou Classic in New Orleans snap a photo with cardboard images of NASA’s Artemis II crew on Nov. 30.
NASA/Danny Nowlin
NASA was on full display during the 51st Annual Bayou Classic Fan Fest activity on Nov. 30, hosting an informational booth and interacting with event participants. Kicking off the Fan Fest on stage were Ken Newton, director of the NASA Shared Services Center Service Delivery Directorate; Pam Covington, director of the NASA Stennis Office of Communications; and Dawn Davis, chief of the NASA Stennis Engineering & Test Directorate Office of Technology Development.
NASA representatives, including HBCU alumni, supported the morning-long event, providing Fan Fest attendees with promotional items and information about student internship and employment opportunities with the agency.
The annual Bayou Classic event attracts tens of thousands of visitors each year and features several days of activities, including a nationally broadcast football game, involving two Historically Black Colleges and Universities in Louisiana – Southern University in Baton Rouge and Grambling State University in Grambling.
The NASA outreach and engagement effort during this year’s event focused on the theme – There’s Space for Everybody at NASA. It was part of an ongoing agencywide commitment to advance equity and reach deeper into underrepresented and underserved segments of society and was in support of efforts to advance racial equity in the federal government.
Towards Autonomous Surface Missions on Ocean Worlds
9 Min Read
Towards Autonomous Surface Missions on Ocean Worlds
Artist’s concept image of a spacecraft lander with a robot arm on the surface of Europa.
Credits: NASA/JPL – Caltech
Through advanced autonomy testbed programs, NASA is setting the groundwork for one of its top priorities—the search for signs of life and potentially habitable bodies in our solar system and beyond. The prime destinations for such exploration are bodies containing liquid water, such as Jupiter’s moon Europa and Saturn’s moon Enceladus. Initial missions to the surfaces of these “ocean worlds” will be robotic and require a high degree of onboard autonomy due to long Earth-communication lags and blackouts, harsh surface environments, and limited battery life.
Technologies that can enable spacecraft autonomy generally fall under the umbrella of Artificial Intelligence (AI) and have been evolving rapidly in recent years. Many such technologies, including machine learning, causal reasoning, and generative AI, are being advanced at non-NASA institutions.
NASA started a program in 2018 to take advantage of these advancements to enable future icy world missions. It sponsored the development of the physical Ocean Worlds Lander Autonomy Testbed (OWLAT) at NASA’s Jet Propulsion Laboratory in Southern California and the virtual Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) at NASA’s Ames Research Center in Silicon Valley, California.
NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program in 2020, and for the Concepts for Ocean worlds Life Detection Technology (COLDTech) program in 2021. Six research teams, based at universities and companies throughout the United States, were chosen to develop and demonstrate autonomy solutions on OWLAT and OceanWATERS. These two- to three-year projects are now complete and have addressed a wide variety of autonomy challenges faced by potential ocean world surface missions.
OWLAT
OWLAT is designed to simulate a spacecraft lander with a robotic arm for science operations on an ocean world body. The overall OWLAT architecture including hardware and software components is shown in Figure 1. Each of the OWLAT components is detailed below.
Figure 1. The software and hardware components of the Ocean Worlds Lander Autonomy Testbed and the relationships between them.
NASA/JPL – Caltech
The hardware version of OWLAT (shown in Figure 2) is designed to physically simulate motions of a lander as operations are performed in a low-gravity environment using a six degrees-of-freedom (DOF) Stewart platform. A seven DOF robot arm is mounted on the lander to perform sampling and other science operations that interact with the environment. A camera mounted on a pan-and-tilt unit is used for perception. The testbed also has a suite of onboard force/torque sensors to measure motion and reaction forces as the lander interacts with the environment. Control algorithms implemented on the testbed enable it to exhibit dynamics behavior as if it were a lightweight arm on a lander operating in different gravitational environments.
Figure 2. The Ocean Worlds Lander Autonomy Testbed. A scoop is mounted to the end of the testbed robot arm.
NASA/JPL – Caltech
The team also developed a set of tools and instruments (shown in Figure 3) to enable the performance of science operations using the testbed. These various tools can be mounted to the end of the robot arm via a quick-connect-disconnect mechanism. The testbed workspace where sampling and other science operations are conducted incorporates an environment designed to represent the scene and surface simulant material potentially found on ocean worlds.
Figure 3. Tools and instruments designed to be used with the testbed.
NASA/JPL – Caltech
The software-only version of OWLAT models, visualizes, and provides telemetry from a high-fidelity dynamics simulator based on the Dynamics And Real-Time Simulation (DARTS) physics engine developed at JPL. It replicates the behavior of the physical testbed in response to commands and provides telemetry to the autonomy software. A visualization from the simulator is shown on Figure 4.
Figure 4. The dynamics simulator visualization showing the deployment and performance of the scooping operation.
NASA/JPL – Caltech
The autonomy software module shown at the top in Figure 1 interacts with the testbed through a Robot Operating System (ROS)-based interface to issue commands and receive telemetry. This interface is defined to be identical to the OceanWATERS interface. Commands received from the autonomy module are processed through the dispatcher/scheduler/controller module (blue box in Figure 1) and used to command either the physical hardware version of the testbed or the dynamics simulation (software version) of the testbed. Sensor information from the operation of either the software-only or physical testbed is reported back to the autonomy module using a defined telemetry interface. A safety and performance monitoring and evaluation software module (red box in Figure 1) ensures that the testbed is kept within its operating bounds. Any commands causing out of bounds behavior and anomalies are reported as faults to the autonomy software module.
Figure 5. Erica Tevere (at the operator’s station) and Ashish Goel (at the robot arm) setting up the OWLAT testbed for use.
NASA/JPL – Caltech
OceanWATERS
At the time of the OceanWATERS project’s inception, Jupiter’s moon Europa was planetary science’s first choice in searching for life. Based on ROS, OceanWATERS is a software tool that provides a visual and physical simulation of a robotic lander on the surface of Europa (see Figure 6). OceanWATERS realistically simulates Europa’s celestial sphere and sunlight, both direct and indirect. Because we don’t yet have detailed information about the surface of Europa, users can select from terrain models with a variety of surface and material properties. One of these models is a digital replication of a portion of the Atacama Desert in Chile, an area considered a potential Earth-analog for some extraterrestrial surfaces.
Figure 6. Screenshot of OceanWATERS.
NASA/JPL – Caltech
JPL’s Europa Lander Study of 2016, a guiding document for the development of OceanWATERS, describes a planetary lander whose purpose is collecting subsurface regolith/ice samples, analyzing them with onboard science instruments, and transmitting results of the analysis to Earth.
The simulated lander in OceanWATERS has an antenna mast that pans and tilts; attached to it are stereo cameras and spotlights. It has a 6 degree-of-freedom arm with two interchangeable end effectors—a grinder designed for digging trenches, and a scoop for collecting ground material. The lander is powered by a simulated non-rechargeable battery pack. Power consumption, the battery’s state, and its remaining life are regularly predicted with the Generic Software Architecture for Prognostics (GSAP) tool. To simulate degraded or broken subsystems, a variety of faults (e.g., a frozen arm joint or overheating battery) can be “injected” into the simulation by the user; some faults can also occur “naturally” as the simulation progresses, e.g., if components become over-stressed. All the operations and telemetry (data measurements) of the lander are accessible via an interface that external autonomy software modules can use to command the lander and understand its state. (OceanWATERS and OWLAT share a unified autonomy interface based on ROS.) The OceanWATERS package includes one basic autonomy module, a facility for executing plans (autonomy specifications) written in the PLan EXecution Interchange Language, or PLEXIL. PLEXIL and GSAP are both open-source software packages developed at Ames and available on GitHub, as is OceanWATERS.
Mission operations that can be simulated by OceanWATERS include visually surveying the landing site, poking at the ground to determine its hardness, digging a trench, and scooping ground material that can be discarded or deposited in a sample collection bin. Communication with Earth, sample analysis, and other operations of a real lander mission, are not presently modeled in OceanWATERS except for their estimated power consumption. Figure 7 is a video of OceanWATERS running a sample mission scenario using the Atacama-based terrain model.
Figure 7. Screenshot of OceanWATERS lander on a terrain modeled from the Atacama Desert. A scoop operation has just been completed.
NASA/JPL – Caltech
Because of Earth’s distance from the ocean worlds and the resulting communication lag, a planetary lander should be programmed with at least enough information to begin its mission. But there will be situation-specific challenges that will require onboard intelligence, such as deciding exactly where and how to collect samples, dealing with unexpected issues and hardware faults, and prioritizing operations based on remaining power.
Results
All six of the research teams funded by the ARROW and COLDTech programs used OceanWATERS to develop ocean world lander autonomy technology and three of those teams also used OWLAT. The products of these efforts were published in technical papers, and resulted in development of software that may be used or adapted for actual ocean world lander missions in the future. The following table summarizes the ARROW and COLDTech efforts.
Principal Investigator (PI)
PI Institution
Project
Testbed Used
Purpose of Project
ARROW Projects
Jonathan Bohren
Honeybee Robotics
Stochastic PLEXIL (SPLEXIL)
OceanWATERS
Extended PLEXIL with stochastic decision-making capabilities by employing reinforcement learning techniques.
Pooyan Jamshidi
University of South Carolina
Resource Adaptive Software Purpose-Built for Extraordinary Robotic Research Yields (RASPBERRY SI)
OceanWATERS & OWLAT
Developed software algorithms and tools for fault root cause identification, causal debugging, causal optimization, and causal-induced verification.
COLDTech Projects
Eric Dixon
Lockheed Martin
Causal And Reinforcement Learning (CARL) for COLDTech
OceanWATERS
Integrated a model of JPL’s mission-ready Cold Operable Lunar Deployable Arm (COLDarm) into OceanWATERS and applied image analysis, causal reasoning, and machine learning models to identify and mitigate the root causes of faults, such as ice buildup on the arm’s end effector.
Jay McMahon
University of Colorado
Robust Exploration with Autonomous Science On-board, Ranked Evaluation of Contingent Opportunities for Uninterrupted Remote Science Exploration (REASON-RECOURSE)
OceanWATERS
Applied automated planning with formal methods to maximize science return of the lander while minimizing communication with ground team on Earth.
Melkior Ornik
U Illinois, Urbana-Champaign
aDaptive, ResIlient Learning-enabLed oceAn World AutonomY (DRILLAWAY)
OceanWATERS & OWLAT
Developed autonomous adaptation to novel terrains and selecting scooping actions based on the available image data and limited experience by transferring the scooping procedure learned from a low-fidelity testbed to the high-fidelity OWLAT testbed.
Joel Burdick
Caltech
Robust, Explainable Autonomy for Scientific Icy Moon Operations (REASIMO)
OceanWATERS & OWLAT
Developed autonomous 1) detection and identification of off-nominal conditions and procedures for recovery from those conditions, and 2) sample site selection
Acknowledgements: The portion of the research carried out at the Jet Propulsion Laboratory, California Institute of Technology was performed under a contract with the National Aeronautics and Space Administration (80NM0018D0004). The portion of the research carried out by employees of KBR Wyle Services LLC at NASA Ames Research Center was performed under a contract with the National Aeronautics and Space Administration (80ARC020D0010). Both were funded by the Planetary Science Division ARROW and COLDTech programs.
Project Leads: Hari Nayar (NASA Jet Propulsion Laboratory, California Institute of Technology), K. Michael Dalal (KBR, Inc. at NASA Ames Research Center)
Scientists find that cometary dust affects interpretation of spacecraft measurements, reopening the case for comets like 67P as potential sources of water for early Earth.
Researchers have found that water on Comet 67P/Churyumov–Gerasimenko has a similar molecular signature to the water in Earth’s oceans. Contradicting some recent results, this finding reopens the case that Jupiter-family comets like 67P could have helped deliver water to Earth.
Water was essential for life to form and flourish on Earth and it remains central for Earth life today. While some water likely existed in the gas and dust from which our planet materialized around 4.6 billion years ago, much of the water would have vaporized because Earth formed close to the Sun’s intense heat. How Earth ultimately became rich in liquid water has remained a source of debate for scientists.
Research has shown that some of Earth’s water originated through vapor vented from volcanoes; that vapor condensed and rained down on the oceans. But scientists have found evidence that a substantial portion of our oceans came from the ice and minerals on asteroids, and possibly comets, that crashed into Earth. A wave of comet and asteroid collisions with the solar system’s inner planets 4 billion years ago would have made this possible.
This image, taken by ESA’s Rosetta navigation camera, was taken from a about 53 miles from the center of Comet 67P/Churyumov-Gerasimenko on March 14, 2015. The image resolution is 24 feet per pixel and is cropped and processed to bring out the details of the comet’s activity.
ESA/Rosetta/NAVCAM
While the case connecting asteroid water to Earth’s is strong, the role of comets has puzzled scientists. Several measurements of Jupiter-family comets — which contain primitive material from the early solar system and are thought to have formed beyond the orbit of Saturn — showed a strong link between their water and Earth’s. This link was based on a key molecular signature scientists use to trace the origin of water across the solar system.
This signature is the ratio of deuterium (D) to regular hydrogen (H) in the water of any object, and it gives scientists clues about where that object formed. Deuterium is a rare, heavier type — or isotope — of hydrogen. When compared to Earth’s water, this hydrogen ratio in comets and asteroids can reveal whether there’s a connection.
Because water with deuterium is more likely to form in cold environments, there’s a higher concentration of the isotope on objects that formed far from the Sun, such as comets, than in objects that formed closer to the Sun, like asteroids.
Measurements within the last couple of decades of deuterium in the water vapor of several other Jupiter-family comets showed similar levels to Earth’s water.
“It was really starting to look like these comets played a major role in delivering water to Earth,” said Kathleen Mandt, planetary scientist at NASA’s Goddard Space Flight Center in Greenbelt, Maryland. Mandt led the research, published in Science Advances on Nov. 13, that revises the abundance of deuterium in 67P.
But in 2014, ESA’s (European Space Agency) Rosetta mission to 67P challenged the idea that Jupiter-family comets helped fill Earth’s water reservoir. Scientists who analyzed Rosetta’s water measurements found the highest concentration of deuterium of any comet, and about three times more deuterium than there is in Earth’s oceans, which have about 1 deuterium atom for every 6,420 hydrogen atoms.
“It was a big surprise and it made us rethink everything,” Mandt said.
Mandt’s team decided to use an advanced statistical-computation technique to automate the laborious process of isolating deuterium-rich water in more than 16,000 Rosetta measurements. Rosetta made these measurements in the “coma” of gas and dust surrounding 67P. Mandt’s team, which included Rosetta scientists, was the first to analyze all of the European mission’s water measurements spanning the entire mission.
The researchers wanted to understand what physical processes caused the variability in the hydrogen isotope ratios measured at comets. Lab studies and comet observations showed that cometary dust could affect the readings of the hydrogen ratio that scientists detect in comet vapor, which could change our understanding of where comet water comes from and how it compares to Earth’s water.
What are comets made of? It’s one of the questions ESA’s Rosetta mission to comet 67P/Churyumov-Gerasimenko wanted to answer.
“So I was just curious if we could find evidence for that happening at 67P,” Mandt said. “And this is just one of those very rare cases where you propose a hypothesis and actually find it happening.”
Indeed, Mandt’s team found a clear connection between deuterium measurements in the coma of 67P and the amount of dust around the Rosetta spacecraft, showing that the measurements taken near the spacecraft in some parts of the coma may not be representative of the composition of a comet’s body.
As a comet moves in its orbit closer to the Sun, its surface warms up, causing gas to release from the surface, including dust with bits of water ice on it. Water with deuterium sticks to dust grains more readily than regular water does, research suggests. When the ice on these dust grains is released into the coma, this effect could make the comet appear to have more deuterium than it has.
Mandt and her team reported that by the time dust gets to the outer part of the coma, at least 75 miles from the comet body, it is dried out. With the deuterium-rich water gone, a spacecraft can accurately measure the amount of deuterium coming from the comet body.
This finding, the paper authors say, has big implications not only for understanding comets’ role in delivering Earth’s water, but also for understanding comet observations that provide insight into the formation of the early solar system.
“This means there is a great opportunity to revisit our past observations and prepare for future ones so we can better account for the dust effects,” Mandt said.
By Lonnie Shekhtman NASA’s Goddard Space Flight Center, Greenbelt, Md.
.JPG?w=1024&h=1024&fit=clip&crop=faces%2Cfocalpoint)
