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By European Space Agency
Image: ESA’s Metal 3D Printer has produced the first metal part ever created in space.
The technology demonstrator, built by Airbus and its partners, was launched to the International Space Station at the start of this year, where ESA astronaut Andreas Mogensen installed the payload in the European Drawer Rack of ESA’s Columbus module. In August, the printer successfully printed the first 3D metal shape in space.
This product, along with three others planned during the rest of the experiment, will return to Earth for quality analysis: two of the samples will go to ESA’s technical heart in the Netherlands (ESTEC), another will go to ESA’s astronaut training centre in Cologne (EAC) for use in the LUNA facility, and the fourth will go to the Technical University of Denmark (DTU).
As exploration of the Moon and Mars will increase mission duration and distance from Earth, resupplying spacecraft will be more challenging. Additive manufacturing in space will give autonomy for the mission and its crew, providing a solution to manufacture needed parts, to repair equipment or construct dedicated tools, on demand during the mission, rather than relying on resupplies and redundancies.
ESA’s technology demonstrator is the first to successfully print a metal component in microgravity conditions. In the past, the International Space Station has hosted plastic 3D printers.
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By NASA
On Aug. 30, 1984, space shuttle Discovery lifted off on the STS-41D mission, joining NASA’s fleet as the third space qualified orbiter. The newest shuttle incorporated newer technologies making it significantly lighter than its two predecessors. Discovery lofted the heaviest payload up to that time in shuttle history. The six-person crew included five NASA astronauts and the first commercial payload specialist. During the six-day mission, the crew deployed a then-record three commercial satellites, tested an experimental solar array, and ran a commercial biotechnology experiment. The astronauts recorded many of the activities using a large format film camera, the scenes later incorporated into a motion picture for public engagement. The mission marked the first of Discovery’s 39 trips to space, the most of any orbiter.
Left: Space shuttle Discovery rolls out of Rockwell’s Palmdale, California, facility. Middle: Discovery atop the Shuttle Carrier Aircraft during the cross-country ferry flight. Right: Discovery arrives at NASA’s Kennedy Space Center in Florida.
Space shuttle Discovery, the third space-qualified orbiter in NASA’s fleet and named after several historical ships of exploration, incorporated manufacturing lessons learned from the first orbiters. In addition, through the use of more advanced materials, the new vehicle weighed nearly 8,000 pounds less than its sister ship Columbia and 700 pounds less than Challenger. Discovery rolled out of Rockwell International’s plant in Palmdale, California, on Oct. 16, 1983. Five of the six crew members assigned to its first flight attended the ceremony. Workers trucked Discovery overland from Palmdale to NASA’s Dryden, now Armstrong, Flight Research Center at Edwards Air Force Base (AFB), where they mounted it atop a Shuttle Carrier Aircraft (SCA), a modified Boeing 747, for the transcontinental ferry flight to NASA’s Kennedy Space Center (KSC) in Florida. Discovery arrived at KSC on Nov. 9 following a two-day stopover at Vandenberg Air Force, now Space Force Base, in California.
Left: STS-41D crew patch. Middle: Official photograph of the STS-41D crew of R. Michael “Mike” Mullane, front row left, Steven A. Hawley, Henry “Hank” W. Hartsfield, and Michael L. Coats; Charles D. Walker, back row left, and Judith A. Resnik. Right: Payloads installed in Discovery’s payload bay for the STS-41D mission include OAST-1, top, SBS-4, Telstar 3C, and Leasat-2.
To fly Discovery’s first flight, originally designated STS-12 and later renamed STS-41D, in February 1983 NASA assigned Commander Henry W. Hartsfield, a veteran of STS-4, and first-time flyers Pilot Michael L. Coats, and Mission Specialists R. Michael Mullane, Steven A. Hawley, and Judith A. Resnik, all from the 1978 class of astronauts and making their first spaceflights. In May 1983, NASA announced the addition of Charles D. Walker, an employee of the McDonnell Douglas Corporation, to the crew, flying as the first commercial payload specialist. He would operate the company’s Continuous Flow Electrophoresis System (CFES) experiment. The mission’s primary payloads included the Leasat-1 (formerly known as Syncom IV-1) commercial communications satellite and OAST-1, three experiments from NASA’s Office of Aeronautics and Space Technology, including the Solar Array Experiment, a 105-foot long lightweight deployable and retractable solar array. Following the June 1984 launch abort, NASA canceled the STS-41F mission, combining its payloads with STS-41D’s, resulting in three communications satellites – SBS-4 for Small Business Systems, Telstar 3C for AT&T, and Leasat 2 (Syncom IV-2) for the U.S. Navy – launching on the flight. The combined cargo weighed 41,184 pounds, the heaviest of the shuttle program up to that time. A large format IMAX® camera, making its second trip into space aboard the shuttle, flew in the middeck to film scenes inside the orbiter and out the windows.
Left: First rollout of Discovery from the Vehicle Assembly Building at NASA’s Kennedy Space Center in Florida. Right: The June 26 launch abort.
The day after its arrival at KSC, workers towed Discovery to the Orbiter Processing Facility (OPF) to begin preparing it for its first space flight. They towed it to the Vehicle Assembly Building (VAB) on May 12, 1984, for mating with its External Tank (ET) and Solid Rocket Boosters (SRBs). The completed stack rolled out to Launch Pad 39A a week later. On June 2, engineers successfully completed an 18-second Flight Readiness Firing of Discovery’s main engines. Post test inspections revealed a debonding of a thermal shield in main engine number 1’s combustion chamber, requiring its replacement at the pad. The work pushed the planned launch date back three days to June 25. The failure of the shuttle’s backup General Purpose Computer (GPC) delayed the launch by one day. The June 26 launch attempt ended just four seconds before liftoff, after two of the main engines had already ignited. The GPC detected that the third engine had not started and shut all three down. It marked the first time a human spaceflight launch experienced an abort after the start of its engines since Gemini VI in October 1965. The abort necessitated a rollback to the VAB on July 14 where workers demated Discovery from the ET and SRBs. Engineers replaced the faulty engine, and Discovery rolled back out to the launch pad on Aug. 9 for another launch attempt. The six-person crew participated in the Terminal Countdown Demonstration Test, essentially a dress rehearsal for the actual countdown to launch, on Aug. 15. A software issue delayed the first launch attempt on Aug. 29 by one day.
Left: The STS-41D crew pose at Launch Pad 39A at NASA’s Kennedy Space Center in Florida following the Terminal Countdown Demonstration Test. Right: Liftoff of Discovery on the STS-41D mission.
Finally, on Aug. 30, 1984, Discovery roared off its launch pad on a pillar of flame and within 8 and a half minutes entered orbit around the Earth. The crew got down to work and on the first day Mullane and Hawley deployed the SBS-4 satellite. On the second day in space, they deployed Leasat, the first satellite designed specifically to be launched from the shuttle. On the third day, they deployed the Telstar satellite, completing the satellite delivery objectives of the mission. Resnik deployed the OAST-1 solar array to 70% of its length to conduct dynamic tests on the structure. On the fourth day, she deployed the solar array to its full length and successfully retracted it, completing all objectives for that experiment.
The deployment of the SBS-4, left, Leasat-2, and Telstar 3C satellites during STS-41D.
Walker remained busy with the CFES, operating the unit for about 100 hours, and although the experiment experienced two unexpected shutdowns, he processed about 85% of the planned samples. Hartsfield and Coats exposed two magazines and six rolls of IMAX® film, recording OAST-1 and satellite deployments as well as in-cabin crew activities. Clips from the mission appear in the 1985 IMAX® film “The Dream is Alive.” On the mission’s fifth day, concern arose over the formation of ice on the orbiter’s waste dump nozzle. The next day, Hartsfield used the shuttle’s robotic arm to dislodge the large chunk of ice.
Left: Payload Specialist Charles D. Walker in front of the Continuous Flow Experiment System. Middle: Henry “Hank” W. Hartsfield loading film into the IMAX® camera. Right: The OAST-1 Solar Array Experiment extended from Discovery’s payload bay.
On Sep. 5, the astronauts closed Discovery’s payload bay doors in preparation for reentry. They fired the shuttle’s Orbital Maneuvering System engines to slow their velocity and begin their descent back to Earth. Hartsfield guided Discovery to a smooth landing at Edwards AFB in California, completing a flight of 6 days and 56 minutes. The crew had traveled 2.5 million miles and orbited the Earth 97 times.
Left: The STS-41D crew pose in Discovery’s middeck. Right: Space shuttle Discovery makes a perfect landing at Edwards Air Force Base in California to end the STS-41D mission.
By Sept. 10, workers had returned Discovery to KSC to prepare it for its next mission, STS-51A, in November 1984. During its lifetime, Discovery flew a fleet leading 39 missions, making its final trip to space in February 2011. It flew both return to flight missions, STS-26 in 1988 and STS-114 in 2005. It launched the Hubble Space Telescope in 1990 and flew two of the missions to service the facility. Discovery flew two mission to Mir, docking once. It completed the first docking to the International Space Station in 1999 and flew a total of 13 assembly and resupply missions to the orbiting lab. By its last mission, Discovery had traveled 149 million miles, completed 5,830 orbits of the Earth, and spent a cumulative 365 days in space in the span of 27 years. The public can view Discovery on display at the National Air and Space Museum’s Stephen F. Udvar-Hazy Center in Chantilly, Virginia.
Read recollections of the STS-41D mission by Hartsfield, Coats, Mullane, Hawley, and Walker in their oral histories with the JSC History Office. Enjoy the crew’s narration of a video about the STS-41D mission.
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By NASA
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Preparations for Next Moonwalk Simulations Underway (and Underwater)
Data from one of the two CubeSats that comprise NASA’s PREFIRE mission was used to make this data visualization showing brightness temperature — the intensity of infrared emissions — over Greenland. Red represents more intense emissions; blue indicates lower intensities. The data was captured in July.
NASA’s Scientific Visualization Studio The PREFIRE mission will help develop a more detailed understanding of how much heat the Arctic and Antarctica radiate into space and how this influences global climate.
NASA’s newest climate mission has started collecting data on the amount of heat in the form of far-infrared radiation that the Arctic and Antarctic environments emit to space. These measurements by the Polar Radiant Energy in the Far-Infrared Experiment (PREFIRE) are key to better predicting how climate change will affect Earth’s ice, seas, and weather — information that will help humanity better prepare for a changing world.
One of PREFIRE’s two shoebox-size cube satellites, or CubeSats, launched on May 25 from New Zealand, followed by its twin on June 5. The first CubeSat started sending back science data on July 1. The second CubeSat began collecting science data on July 25, and the mission will release the data after an issue with the GPS system on this CubeSat is resolved.
The PREFIRE mission will help researchers gain a clearer understanding of when and where the Arctic and Antarctica emit far-infrared radiation (wavelengths greater than 15 micrometers) to space. This includes how atmospheric water vapor and clouds influence the amount of heat that escapes Earth. Since clouds and water vapor can trap far-infrared radiation near Earth’s surface, they can increase global temperatures as part of a process known as the greenhouse effect. This is where gases in Earth’s atmosphere — such as carbon dioxide, methane, and water vapor — act as insulators, preventing heat emitted by the planet from escaping to space.
“We are constantly looking for new ways to observe the planet and fill in critical gaps in our knowledge. With CubeSats like PREFIRE, we are doing both,” said Karen St. Germain, director of the Earth Science Division at NASA Headquarters in Washington. “The mission, part of our competitively-selected Earth Venture program, is a great example of the innovative science we can achieve through collaboration with university and industry partners.”
Earth absorbs much of the Sun’s energy in the tropics; weather and ocean currents transport that heat toward the Arctic and Antarctica, which receive much less sunlight. The polar environment — including ice, snow, and clouds — emits a lot of that heat into space, much of which is in the form of far-infrared radiation. But those emissions have never been systematically measured, which is where PREFIRE comes in.
“It’s so exciting to see the data coming in,” said Tristan L’Ecuyer, PREFIRE’s principal investigator and a climate scientist at the University of Wisconsin, Madison. “With the addition of the far-infrared measurements from PREFIRE, we’re seeing for the first time the full energy spectrum that Earth radiates into space, which is critical to understanding climate change.”
This visualization of PREFIRE data (above) shows brightness temperatures — or the intensity of radiation emitted from Earth at several wavelengths, including the far-infrared. Yellow and red indicate more intense emissions originating from Earth’s surface, while blue and green represent lower emission intensities coinciding with colder areas on the surface or in the atmosphere.
The visualization starts by showing data on mid-infrared emissions (wavelengths between 4 to 15 micrometers) taken in early July during several polar orbits by the first CubeSat to launch. It then zooms in on two passes over Greenland. The orbital tracks expand vertically to show how far-infrared emissions vary through the atmosphere. The visualization ends by focusing on an area where the two passes intersect, showing how the intensity of far-infrared emissions changed over the nine hours between these two orbits.
The two PREFIRE CubeSats are in asynchronous, near-polar orbits, which means they pass over the same spots in the Arctic and Antarctic within hours of each other, collecting the same kind of data. This gives researchers a time series of measurements that they can use to study relatively short-lived phenomena like ice sheet melting or cloud formation and how they affect far-infrared emissions over time.
More About PREFIRE
The PREFIRE mission was jointly developed by NASA and the University of Wisconsin-Madison. A division of Caltech in Pasadena, California, NASA’s Jet Propulsion Laboratory manages the mission for NASA’s Science Mission Directorate and provided the spectrometers. Blue Canyon Technologies built and now operates the CubeSats, and the University of Wisconsin-Madison is processing and analyzing the data collected by the instruments.
To learn more about PREFIRE, visit:
https://science.nasa.gov/mission/prefire/
5 Things to Know About NASA’s Tiny Twin Polar Satellites Twin NASA Satellites Ready to Help Gauge Earth’s Energy Balance News Media Contacts
Jane J. Lee / Andrew Wang
Jet Propulsion Laboratory, Pasadena, Calif.
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By NASA
“Some people [may say], ‘You have too many cooks in the kitchen,’ but I think there’s a line. It’s good to have a lot of input because people bring many different perspectives that you would never even consider if you just pushed an idea forward with one person. This is especially true in the area we work in with digital [communications], which is changing so frequently; you constantly have to innovate, so including diverse voices and thoughts is important.
“I’m an older sister, and I don’t know if some of that [leadership style] comes from when we were kids, always making sure that I involved her and ensuring people could understand what she wanted or needed. And maybe that translated into who I am, making sure people have voices and are heard [at NASA]…I’ve achieved a lot that I didn’t even know I wanted to accomplish because I couldn’t have imagined this career progression for myself.
“But now that I’m here, I would like to achieve more in terms of what NASA looks like internally, especially after getting involved with the NASA Science IDEA working group and diversity efforts. I would love to one, help people outside of NASA realize that they could work here and two, push people internally to the forefront so that they can be considered for higher-level things and progress.”
– Emily Furfaro, Digital Manager, Science Mission Directorate, NASA Headquarters
Image Credit: NASA/Keegan Barber
Interviewer: NASA/Tahira Allen
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By NASA
14 Min Read The Making of Our Alien Earth: The Undersea Volcanoes of Santorini, Greece
The expedition team and crew prepare to deploy Nereid Under Ice (NUI) into the sea. The following expedition marks the third installment of NASA Astrobiology’s fieldwork series, the newly rebranded Our Alien Earth, streaming on NASA+. Check out all three episodes following teams of astrobiologists from the lava fields of Holuhraun, Iceland, to the Isua Greenstone Belt of Greenland, and finally, the undersea volcanoes of Santorini, Greece. And stay tuned for the lava tubes of Mauna Loa, Hawaii in 2025.
THE VOYAGE BEGINS
My career at NASA has always felt like a mad scientist’s concoction of equal parts hard work, perseverance, absurd luck, and happenstance. It was due to this mad blend that I suddenly found myself on the deck of a massive tanker ship in the middle of the Mediterranean sea, watching a team of windburnt scientists, engineers, and sailors through my camera lens as they wrestled with a 5,000lb submersible hanging in the air.
The expedition team and crew prepare to deploy Nereid Under Ice (NUI) into the sea. “Let it out, Molly, slack off a little bit…” shouts deck boss Mario Fernandez, as he coordinates the dozen people maneuvering the vehicle. It’s a delicate dance as the hybrid remotely operated vehicle (ROV), Nereid Under Ice (NUI), is hoisted off the ship and deployed into the sea. “Tagline slips, line breaks… you’ve got a 5,000lb wrecking ball,” recounts Mario in an interview later that day.
How did I get here?
A few years ago I found myself roaming the poster halls of the Astrobiology Science Conference in Bellevue, Washington, struggling to decipher the jargon of a dozen disciplines doing their best to share their discoveries; phrases like lipid biomarkers, anaerobic biospheres, and macromolecular emergence floated past me as I walked. I felt like a Peanuts character listening to an adult speak.
Until I stumbled upon a poster by Dr. Richard Camilli entitled, Risk-Aware Adaptive Sampling for the Search for Life in Ocean Worlds. I was quickly enthralled in a whirlwind of icy moons, fleets of deep sea submersible vehicles, and life at sea.
Dr. Richard Camilli, principal investigator of a research expedition to explore undersea volcanoes off the coast of Santorini. “Are you free in November?”
“Absolutely,” I replied without checking a single calendar.
Five months and three flights later, I arrived at the port of Lavrio, Greece, as Dr. Camilli and his team were unloading their suite of vehicles from gigantic shipping crates onto the even more massive research vessel. I stocked up on motion sickness tablets, said a silent farewell to land, and boarded the ship destined for the undersea Kolumbo volcano.
Greece is a great place to study geology, because it’s a kind of supermarket of natural disasters.
Dr. Paraskevi NomikoU
University of Athens
The expedition sets out to sea as the sun sets in the distance. LIFE AT SEA
Documenting astrobiology fieldwork has taken me to some pretty remote and rough places. Sleeping in wooden shacks in Iceland without running water and electricity, or bundled up in a zero-degree sleeping bag in a tent while being buffeted by gale force winds in the wilderness of Greenland. But life at sea? Life at sea is GOOD.
Filmmaker Mike Toillion takes a selfie, holding up a peace sign with members of the science team. From left to right: NASA Astrobiology/Mike Toillion Mike Toillion, creator of Our Alien Earth, taking a selfie with members of the glider team. From left to right: Matt Walter and Gideon Billings of the autonomous sampling team inside the ship’s control room.
I was fortunate to have a personal cabin all to myself: a set of bunk beds, a small bathroom with a shower, and a small desk with plenty of outlets for charging my gear. I would also be remiss if I didn’t mention the mess hall. Aside from a freshly rotated menu of three hot meals a day, it was open 24/7 with a constant lineup of snacks to keep bellies full and morale high. This was luxury fieldwork. The ability to live, work, and socialize all in the same place would make this trip special in its own right, and allowed me to really get to know the team and capture every angle of this incredibly complex and multi-faceted expedition.
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The ship in the port of Lavrio, Greece. The team will spend two full days docked here while preparing for the voyage ahead. NASA Astrobiology/Mike Toillion SEARCHING FOR LIFE ON OCEAN WORLDS
“The goal of this program is cooperative exploration with under-actuated vehicles in hazardous environments,” explains Dr. Camilli as we stand on the bow of the ship, the sun beginning to set in the distance. “These vehicles work cooperatively in order to explore areas that are potentially too dangerous or too far away for humans to go.”
This is the problem at hand with exploring icy ocean worlds like Jupiter’s moon, Europa. The tremendous distance between Earth and Europa means we will barely be able to communicate and control vehicles that we send to the surface, and will face even more difficulty once those vehicles dive below the ice. This makes Earth’s ocean a perfect testbed for developing autonomous, intelligent robotic explorers.
“I’ve always been struck at how parallel ocean exploration and space exploration is,” says Brian Williams, professor from the Computer Science and Artificial Intelligence Laboratory at MIT. “Once you go through the surface, you can’t communicate. So, somehow you have to embody the key insights of a scientist, to be able to look and see: is that evidence of life?”
One of the gliders, an autonomous scouting vehicle equipped with multple sensors to map the seafloor and report back to the ship. NASA Astrobiology/Mike Toillion MEET THE FLEET
Exploring anywhere in space begins with a few simple steps: first, you need to get a general map of the area, which is typically done by deploying orbiters around a celestial body. The next step is to get a closer look, by launching lander and rover missions to the surface. Finally, in order to understand the location best, you need to bring samples back to Earth to study in greater detail.
“So you can think of what we’re doing here as being very parallel, that the ship is like the orbiter and is giving us a broad view of the Kolumbo volcano, right? Once we do that map, then we need to be able to explore interesting places to collect samples. So, the gliders are navigating around places that look promising from what the ship told us. And then, it looks to identify places where we might want to send NUI. NUI is very capable in terms of doing the samples, but it can’t move around nearly as much. And so, we finally put NUI at the places where the gliders thought that they were interesting.”
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The expedition team works into the night preparing NUI for its upcoming mission to the Kolumbo volcano. NASA Astrobiology/Mike Toillion THE SCIENTIST’S ROBOTIC APPRENTICE
As the espresso machine in the mess hall whirred away pouring out a much needed shot of caffeine, I sat with Eric Timmons, one of the expedition’s computer science engineers. Eric wears a few hats on the ship, but today we are discussing automated mission planning, the first step to true autonomy in robotic exploration.
“In any sort of scientific mission, you’re going to have a list of goals, each with their own set of steps, and a limited amount of time to achieve them. And so, Kirk works on automating that.” Kirk is the nickname of one of the many algorithms involved in the team’s automated mission planning. It’s joined by other algorithms, all named after Star Trek characters, collectively known as Enterprise, each responsible for different aspects of planning a mission and actively adapting to new mission parameters.
Dr. Richard Camilli explains further: “Basically, we have scientists onboard the ship that are feeding policies to these automated planners. [The planners] then take those policies plus historical information, the oceanographic context, and new information being transmitted by the vehicles here and now; they take all that information, and combine it to construct a mission that gets to the scientific deliverables, while also being safe.”
These are areas that humans aren’t designed to go to. I guess the best analogy would be like hang gliding in Midtown Manhattan at night.
Dr. richard camilli
Woods Hole Oceanographic Institution
OK, let’s recap the story so far: the ship’s sonar and other instruments create a general map of the Kolumbo volcano. That information, along with data from previous missions, is fed to Enterprise’s team of algorithms, which generates a mission for the gliders. The gliders are deployed, and using their sensors, provide higher-fidelity data about the area and transmit that knowledge back to the ship. The automated mission planners take in this new data, and revise their mission plan, ranking potential sites of scientific interest, which are then passed onto NUI, which will conduct its own mission to explore these sites, and potentially sample anything of interest.
DIVE, DIVE, DIVE
After a few days on the ship, the routine of donning my steel-toed boots and hard hat when walking around the deck has started to become second nature. My drone skills have greatly improved, as the magnetic field produced by the ship and its instruments forced me to take-off and land manually, carefully guiding the drone in and around the many hazards of the vessel. This morning, however, I’ve been invited to step off the ship for the first time to get a first-hand look at deploying the gliders. Angelos Mallios from the glider team leads me down into the bowels of the ship to the lower decks, as we arrive at a door that opens to the outside of the ship, waves lapping about six feet below. A zodiac pulls up to the door and we descend down a ladder into the small boat.
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Riding in the zodiac with the glider team, led by Angelos Mallios. NASA Astrobiology/Mike Toillion Meanwhile, the rest of the glider team is on the main deck of the ship, lifting the gliders with a large, motorized crane, and lowering them onto the surface of the water. The zodiac team approached to detach the glider and safely set it out into the sea, while I dipped a monopod-mounted action camera in and out of the water to capture the process. Unbeknownst to me at the time, this would become some of my favorite footage of the trip, sunlight dancing off the surface of the waves, while the gliders floated and dove beneath.
Angelos’ radio began to chatter. Eric Timmons was onboard the ship ready to command the gliders to begin their mission plan assigned by Enterprise. A moment passed and the yellow fin of the glider dipped below the water’s surface and disappeared.
Angelos Mallios from the Woods Hole Oceanographic Institution, leans out of a zodiac to deploy a glider, an autonomous vehicle and the forward scout for the expedition. NUI VERSUS THE VOLCANO
The following day, it was time to see the star of the show in action; the expedition team was ready to deploy the aforementioned 5,000lb wrecking ball, NUI. The gliders had been exploring the surrounding area day and night, using their suite of sensors to detect areas of scientific interest. Since this mission is about searching for life, the gliders know that warmer areas could indicate hydrothermal vent activity; a literal hotspot for life in the deep ocean. Kirk, along with the science planner algorithm, Spock, determined a list of possible candidates that fit that exact description.
“There’s always a bit of tension in the operations, where, do you go strike out in an area that is unstudied and potentially come back with nothing? Or do you go to a site that you know and try to understand it a little bit more, that kind of incremental advance?” Dr. Camilli pauses to take a quick swig of sparkling water after a long day of diving operations, as he recounts a moment in the control room earlier that day. All the scientists onboard this expedition are extremely skilled and knowledgable, and this mission is asking them to put aside their instincts, and follow the suggestions of computer algorithms; a hard pill to swallow for some.
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Underwater footage from Nereid Under Ice, showing a thriving community on the sea floor, including a never before seen species. NASA Astrobiology/Mike Toillion and WHOI “We stuck with the Spock program, and it paid great dividends. And all of the scientists were amazed at what they saw. The first site that we went to was spectacular. The second site we went to was spectacular. Each of the five sites that it identified as interesting were interesting, and they were each interesting in a different way; totally different environments.”
Interesting, in this case, was quite the understatement. As the expedition team and I crowded into the ship’s control room to look at the camera feeds transmitted by NUI, now fully deployed to the seafloor, audible gasps erupted from multiple people. Bubbles filled the monitor as live fumaroles, active vents from the volcano, were pouring out heat and chemical-rich fluid into the water. Thick, microbial mats covered the surrounding rock, and multicellular lifeforms dotted the landscape. The expedition team had found a live hydrothermal vent, and life thriving around it.
SOUVENIRS FROM THE OCEAN FLOOR
“I’ve never seen anything like that before,” recalls Casey Machado, expedition lead and the main pilot for Nereid Under Ice (NUI). Casey is sitting in an office chair surrounded by glowing monitors, a joystick in their left hand, and a gaming controller in their right. Since NUI is a hybrid ROV, it can be controlled manually from the ship by remote, or receive autonomous instructions from the Enterprise mission planners. Today, the team plans on manually controlling NUI to retrieve samples from the first site of interest.
NUI is a strange looking vehicle. Only a small section of its body is watertight, where many of its critical components are housed. The remainder is fairly open, and upon arriving at the first site recommended by Spock, the front of the ROV opens up its front double doors to reveal a multi-jointed manipulator arm, stereo camera set, and other instruments. I’m instantly reminded of the space shuttle mission to repair the Hubble Space Telescope, which had a similar mechanism.
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Casey Machado, pilot of the hybrid ROV Nereid Under Ice (NUI), pilots the manipulator arm to take a rock sample. NASA Astrobiology/Mike Toillion Casey deftly maneuvers each joint of the arm to approach a rock covered in microbial mats. The end of NUI’s arm is equipped with two sampling instruments: a claw-like grabbing mechanism and a vacuum-like hose called the “slurp gun”. The end of the arm twists and turns as Machado aligns it with the rock, eventually opening and closing it around the target. With a gentle pull, the rock comes loose, and with a few more careful manipulations places it delicately into NUI’s sample cache. I offer a high-five, which Casey nonchalantly returns like the whole task was nothing.
TEACHING A ROBOT TO FISH
At this point, the expedition team has collected dozens of samples and achieved multiple engineering milestones, enough to fill years’ worth of scientific papers, but they are far from finished. A true mission to an ocean world will have to be pilotless, as Dr. Gideon Billings from MIT explains: “They need to operate without any human intervention. They need to be able to understand the scene through perception and then make a decision about how they want to manipulate to take a sample or achieve a task.”
Gideon sits in the control room to the left of the piloting station, working alongside Casey as they prepare to demonstrate NUI’s automated sampling capabilities. His laptop screen shows a live 3D-model of the craft, its doors open, arm extended. Projected around the craft is a 3D reconstruction, or point cloud, of the seafloor created from the stereo camera pair mounted inside the vehicle. Similarly to how our brains take the two visual feeds from both of our eyes to see three-dimensionally, a stereo camera pair uses two cameras to achieve the same effect. By clicking on the model and moving its position in the software, NUI performs the same action thousands of meters under the ocean.
Shared autonomy between the automated sampling team and the ROV Nereid Under Ice. “That is shared autonomy, where you could imagine a pilot indicating a desired pose
for the arm to move to, but then a planner taking over and coming up with the path that the arm should move to reach that goal. And then, the pilot just essentially hitting a button and the arm following that path.”
Over the course of multiple dives, Gideon tested various sampling techniques, directing the manipulator arm to use its claw-like device to grab different tools and perform a variety of tasks. “We were able to project the point cloud into that scene, and then command the arm to grab a push core and move it into a location within that 3D reconstruction. We verified that that location matched up. That showed the viability of an autonomous system.” This seemingly small victory is a huge step towards exploring planets beyond Earth. Since this expedition, the engineering team has not only improved this shared autonomy system, but has also implemented a natural language interface, allowing a user to use their normal speaking voice to give commands to the ROV, further blurring the lines between reality and science fiction.
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The sun rises over the Mediterranean Sea on the final day of the research cruise. NASA Astrobiology/Mike Toillion SOMEWHERE BEYOND THE SEA
I cannot help but envy the life of those who chose to make the ocean their place of work. The time I’ve spent with oceanographers has me questioning all my life choices; clearly they knew something I didn’t.
Watching the sunrise every morning, peering through the murky depths of the deep sea, unlocking the secrets of Earth’s final frontier. All in a day’s work for Dr. Richard Camilli and his team of intrepid explorers.
Watch Our Alien Earth and The Undersea Volcanoes of Santorini, Greece on NASA+ and follow the full story of this incredible expedition.
Watch Our Alien Earth on NASA+
Panorama of a sunrise at sea. View the full article
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