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By NASA
NASA named Stanford University of California winner of the Lunar Autonomy Challenge, a six-month competition for U.S. college and university student teams to virtually map and explore using a digital twin of NASA’s In-Situ Resource Utilization Pilot Excavator (IPEx).
The winning team successfully demonstrated the design and functionality of their autonomous agent, or software that performs specified actions without human intervention. Their agent autonomously navigated the IPEx digital twin in the virtual lunar environment, while accurately mapping the surface, correctly identifying obstacles, and effectively managing available power.
Lunar simulation developed by the winning team of the Lunar Autonomy Challenge’s first place team from Stanford University.Credit: Stanford University’s NAV Lab team Lunar simulation developed by the winning team of the Lunar Autonomy Challenge’s first place team from Stanford University.Credit: Stanford University’s NAV Lab team Team photo of NAV Lab Lunar Autonomy Challenge from Stanford UniversityCredit: Stanford University’s NAV Lab team The Lunar Autonomy Challenge has been a truly unique experience. The challenge provided the opportunity to develop and test methods in a highly realistic simulation environment."
Adam dai
Lunar Autonomy Challenge team lead, Stanford University
Dai added, “It pushed us to find solutions robust to the harsh conditions of the lunar surface. I learned so much through the challenge, both about new ideas and methods, as well as through deepening my understanding of core methods across the autonomy stack (perception, localization, mapping, planning). I also very much enjoyed working together with my team to brainstorm different approaches and strategies and solve tangible problems observed in the simulation.”
The challenge offered 31 teams a valuable opportunity to gain experience in software development, autonomy, and machine learning using cutting-edge NASA lunar technology. Participants also applied essential skills common to nearly every engineering discipline, including technical writing, collaborative teamwork, and project management.
The Lunar Autonomy Challenge supports NASA’s Lunar Surface Innovation Initiative (LSII), which is part of the Space Technology Mission Directorate. The LSII aims to accelerate technology development and pursue results that will provide essential infrastructure for lunar exploration by collaborating with industry, academia, and other government agencies.
The work displayed by all of these teams has been impressive, and the solutions they have developed are beneficial to advancing lunar and Mars surface technologies as we prepare for increasingly complex missions farther from home.”
Niki Werkheiser
Director of Technology Maturation and LSII lead, NASA Headquarters
“To succeed, we need input from everyone — every idea counts to propel our goals forward. It is very rewarding to see these students and software developers contributing their skills to future lunar and Mars missions,” Werkheiser added.
Through the Lunar Autonomy Challenge, NASA collaborated with the Johns Hopkins Applied Physics Laboratory, Caterpillar Inc., and Embodied AI. Each team contributed unique expertise and tools necessary to make the challenge a success.
The Applied Physics Laboratory managed the challenge for NASA. As a systems integrator for LSII, they provided expertise to streamline rigor and engineering discipline across efforts, ensuring the development of successful, efficient, and cost-effective missions — backed by the world’s largest cohort of lunar scientists.
Caterpillar Inc. is known for its construction and excavation equipment and operates a large fleet of autonomous haul trucks. They also have worked with NASA for more than 20 years on a variety of technologies, including autonomy, 3D printing, robotics, and simulators as they continue to collaborate with NASA on technologies that support NASA’s mission objectives and provide value to the mining and construction industries.
Embodied AI collaborated with Caterpillar to integrate the simulation into the open-source driving environment used for the challenge. For the Lunar Autonomy Challenge, the normally available digital assets of the CARLA simulation platform, such as urban layouts, buildings, and vehicles, were replaced by an IPEx “Digital Twin” and lunar environmental models.
“This collaboration is a great example of how the government, large companies, small businesses, and research institutions can thoughtfully leverage each other’s different, but complementary, strengths,” Werkheiser added. “By substantially modernizing existing tools, we can turn today’s novel technologies into tomorrow’s institutional capabilities for more efficient and effective space exploration, while also stimulating innovation and economic growth on Earth.”
FINALIST TEAMS
First Place
NAV Lab team
Stanford University, Stanford, California
Second Place
MAPLE (MIT Autonomous Pathfinding for Lunar Exploration) team
Massachusetts Institute of Technology, Cambridge, MA
Third Place
Moonlight team
Carnegie Mellon University, Pittsburgh, PA
OTHER COMPETING TEAMS
Lunar ExplorersArizona State UniversityTempe, ArizonaAIWVU West Virginia University Morgantown, West VirginiaStellar Sparks California Polytechnic Institute Pomona Pomona, California LunatiX Johns Hopkins University Whiting School of EngineeringBaltimore CARLA CSU California State University, Stanislaus Turlock, CaliforniaRose-Hulman Rose-Hulman Institute of Technology Terre Haute, IndianaLunar PathfindersAmerican Public University SystemCharles Town, West Virginia Lunar Autonomy Challenge digital simulation of lunar surface activity using a digital twin of NASA’s ISRU Pilot ExcavatorJohns Hopkins Applied Physics Laboratory Keep Exploring Discover More Topics From NASA
Space Technology Mission Directorate
NASA’s Lunar Surface Innovation Initiative
Game Changing Development Projects
Game Changing Development projects aim to advance space technologies, focusing on advancing capabilities for going to and living in space.
ISRU Pilot Excavator
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By NASA
6 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
Sunlight reflects off the ocean surface near Norfolk, Virginia, in this 1991 space shuttle image, highlighting swirling patterns created by features such as internal waves, which are produced when the tide moves over underwater features. Data from the international SWOT mission is revealing the role of smaller-scale waves and eddies.NASA The international mission collects two-dimensional views of smaller waves and currents that are bringing into focus the ocean’s role in supporting life on Earth.
Small things matter, at least when it comes to ocean features like waves and eddies. A recent NASA-led analysis using data from the SWOT (Surface Water and Ocean Topography) satellite found that ocean features as small as a mile across potentially have a larger impact on the movement of nutrients and heat in marine ecosystems than previously thought.
Too small to see well with previous satellites but too large to see in their entirety with ship-based instruments, these relatively small ocean features fall into a category known as the submesoscale. The SWOT satellite, a joint effort between NASA and the French space agency CNES (Centre National d’Études Spatiales), can observe these features and is demonstrating just how important they are, driving much of the vertical transport of things like nutrients, carbon, energy, and heat within the ocean. They also influence the exchange of gases and energy between the ocean and atmosphere.
“The role that submesoscale features play in ocean dynamics is what makes them important,” said Matthew Archer, an oceanographer at NASA’s Jet Propulsion Laboratory in Southern California. Some of these features are called out in the animation below, which was created using SWOT sea surface height data.
This animation shows small ocean features — including internal waves and eddies — derived from SWOT observations in the Indian, Atlantic, and Pacific oceans, as well as the Mediterranean Sea. White and lighter blue represent higher ocean surface heights compared to darker blue areas. The purple colors shown in one location represent ocean current speeds.
NASA’s Scientific Visualization Studio “Vertical currents move heat between the atmosphere and ocean, and in submesoscale eddies, can actually bring up heat from the deep ocean to the surface, warming the atmosphere,” added Archer, who is a coauthor on the submesoscale analysis published in April in the journal Nature. Vertical circulation can also bring up nutrients from the deep sea, supplying marine food webs in surface waters like a steady stream of food trucks supplying festivalgoers.
“Not only can we see the surface of the ocean at 10 times the resolution of before, we can also infer how water and materials are moving at depth,” said Nadya Vinogradova Shiffer, SWOT program scientist at NASA Headquarters in Washington.
Fundamental Force
Researchers have known about these smaller eddies, or circular currents, and waves for decades. From space, Apollo astronauts first spotted sunlight glinting off small-scale eddies about 50 years ago. And through the years, satellites have captured images of submesoscale ocean features, providing limited information such as their presence and size. Ship-based sensors or instruments dropped into the ocean have yielded a more detailed view of submesoscale features, but only for relatively small areas of the ocean and for short periods of time.
The SWOT satellite measures the height of water on nearly all of Earth’s surface, including the ocean and freshwater bodies, at least once every 21 days. The satellite gives researchers a multidimensional view of water levels, which they can use to calculate, for instance, the slope of a wave or eddy. This in turn yields information on the amount of pressure, or force, being applied to the water in the feature. From there, researchers can figure out how fast a current is moving, what’s driving it and —combined with other types of information — how much energy, heat, or nutrients those currents are transporting.
“Force is the fundamental quantity driving fluid motion,” said study coauthor Jinbo Wang, an oceanographer at Texas A&M University in College Station. Once that quantity is known, a researcher can better understand how the ocean interacts with the atmosphere, as well as how changes in one affect the other.
Prime Numbers
Not only was SWOT able to spot a submesoscale eddy in an offshoot of the Kuroshio Current — a major current in the western Pacific Ocean that flows past the southeast coast of Japan — but researchers were also able to estimate the speed of the vertical circulation within that eddy. When SWOT observed the feature, the vertical circulation was likely 20 to 45 feet (6 to 14 meters) per day.
This is a comparatively small amount for vertical transport. However, the ability to make those calculations for eddies around the world, made possible by SWOT, will improve researchers’ understanding of how much energy, heat, and nutrients move between surface waters and the deep sea.
Researchers can do similar calculations for such submesoscale features as an internal solitary wave — a wave driven by forces like the tide sloshing over an underwater plateau. The SWOT satellite spotted an internal wave in the Andaman Sea, located in the northeastern part of the Indian Ocean off Myanmar. Archer and colleagues calculated that the energy contained in that solitary wave was at least twice the amount of energy in a typical internal tide in that region.
This kind of information from SWOT helps researchers refine their models of ocean circulation. A lot of ocean models were trained to show large features, like eddies hundreds of miles across, said Lee Fu, SWOT project scientist at JPL and a study coauthor. “Now they have to learn to model these smaller scale features. That’s what SWOT data is helping with.”
Researchers have already started to incorporate SWOT ocean data into some models, including NASA’s ECCO (Estimating the Circulation and Climate of the Ocean). It may take some time until SWOT data is fully a part of models like ECCO. But once it is, the information will help researchers better understand how the ocean ecosystem will react to a changing world.
More About SWOT
The SWOT satellite was jointly developed by NASA and CNES, with contributions from the Canadian Space Agency (CSA) and the UK Space Agency. Managed for NASA by Caltech in Pasadena, California, JPL leads the U.S. component of the project. For the flight system payload, NASA provided the Ka-band radar interferometer (KaRIn) instrument, a GPS science receiver, a laser retroreflector, a two-beam microwave radiometer, and NASA instrument operations. The Doppler Orbitography and Radioposition Integrated by Satellite system, the dual frequency Poseidon altimeter (developed by Thales Alenia Space), the KaRIn radio-frequency subsystem (together with Thales Alenia Space and with support from the UK Space Agency), the satellite platform, and ground operations were provided by CNES. The KaRIn high-power transmitter assembly was provided by CSA.
To learn more about SWOT, visit:
https://swot.jpl.nasa.gov
News Media Contacts
Jane J. Lee / Andrew Wang
Jet Propulsion Laboratory, Pasadena, Calif.
626-491-1943 / 626-379-6874
jane.j.lee@jpl.nasa.gov / andrew.wang@jpl.nasa.gov
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Last Updated May 15, 2025 Related Terms
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Article 23 hours ago 6 min read NASA Studies Reveal Hidden Secrets About Interiors of Moon, Vesta
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By NASA
6 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
This artist’s concept shows the Moon’s hot interior and volcanism about 2 to 3 billion years ago. It is thought that volcanic activity on the lunar near side (the side facing Earth) helped create a landscape dominated by vast plains called mare, which are formed by molten rock that cooled and solidified. NASA/JPL-Caltech Analyzing gravity data collected by spacecraft orbiting other worlds reveals groundbreaking insights about planetary structures without having to land on the surface.
Although the Moon and the asteroid Vesta are very different, two NASA studies use the same technique to reveal new details about the interiors of both.
In the lunar study, published May 14 in the journal Nature, researchers developed a new gravity model of the Moon that includes tiny variations in the celestial body’s gravity during its elliptical orbit around Earth. These fluctuations cause the Moon to flex slightly due to Earth’s tidal force — a process called tidal deformation — which provides critical insights into the Moon’s deep internal structure.
Using their model, the researchers produced the most detailed lunar gravitational map yet, providing future missions an improved way to calculate location and time on the Moon. They accomplished this by analyzing data on the motion of NASA’s GRAIL (Gravity Recovery and Interior Laboratory) mission, whose spacecraft, Ebb and Flow, orbited the Moon from Dec. 31, 2011, to Dec. 17, 2012.
These views of the Moon’s near side, left, and far side were put together from observations made by NASA’s Lunar Reconnaissance Orbiter. NASA/JPL-Caltech In a second study, published in the journal Nature Astronomy on April 23, the researchers focused on Vesta, an object in the main asteroid belt between Mars and Jupiter. Using NASA’s Deep Space Network radiometric data and imaging data from the agency’s Dawn spacecraft, which orbited the asteroid from July 16, 2011, to Sept. 5, 2012, they found that instead of having distinct layers as expected, Vesta’s internal structure may be mostly uniform, with a very small iron core or no core at all.
“Gravity is a unique and fundamental property of a planetary body that can be used to explore its deep interior,” said Park. “Our technique doesn’t need data from the surface; we just need to track the motion of the spacecraft very precisely to get a global view of what’s inside.”
Lunar Asymmetry
The lunar study looked at gravitational changes to the Moon’s near and far sides. While the near side is dominated by vast plains — known as mare — formed by molten rock that cooled and solidified billions of years ago, the far side is more rugged, with few plains.
NASA’s Dawn mission obtained this image of the giant asteroid Vesta on July 24, 2011. The spacecraft spent 14 months orbiting the asteroid, capturing more than 30,000 images and fully mapping its surface. NASA/JPL-Caltech/UCLA/MPS/DLR/IDA Both studies were led by Ryan Park, supervisor of the Solar System Dynamics Group at NASA’s Jet Propulsion Laboratory in Southern California, and were years in the making due to their complexity. The team used NASA supercomputers to build a detailed map of how gravity varies across each body. From that, they could better understand what the Moon and Vesta are made of and how planetary bodies across the solar system formed.
Some theories suggest intense volcanism on the near side likely caused these differences. That process would have caused radioactive, heat-generating elements to accumulate deep inside the near side’s mantle, and the new study offers the strongest evidence yet that this is likely the case.
“We found that the Moon’s near side is flexing more than the far side, meaning there’s something fundamentally different about the internal structure of the Moon’s near side compared to its far side,” said Park. “When we first analyzed the data, we were so surprised by the result we didn’t believe it. So we ran the calculations many times to verify the findings. In all, this is a decade of work.”
When comparing their results with other models, Park’s team found a small but greater-than-expected difference in how much the two hemispheres deform. The most likely explanation is that the near side has a warm mantle region, indicating the presence of heat-generating radioactive elements, which is evidence for volcanic activity that shaped the Moon’s near side 2 billion to 3 billion years ago.
Vesta’s Evolution
Park’s team applied a similar approach for their study that focused on Vesta’s rotational properties to learn more about its interior.
“Our technique is sensitive to any changes in the gravitational field of a body in space, whether that gravitational field changes over time, like the tidal flexing of the Moon, or through space, like a wobbling asteroid,” said Park. “Vesta wobbles as it spins, so we could measure its moment of inertia, a characteristic that is highly sensitive to the internal structure of the asteroid.”
Changes in inertia can be seen when an ice skater spins with their arms held outward. As they pull their arms in, bringing more mass toward their center of gravity, their inertia decreases and their spin speeds up. By measuring Vesta’s inertia, scientists can gain a detailed understanding of the distribution of mass inside the asteroid: If its inertia is low, there would be a concentration of mass toward its center; if it’s high, the mass would be more evenly distributed.
Some theories suggest that over a long period, Vesta gradually formed onion-like layers and a dense core. But the new inertia measurement from Park’s team suggests instead that Vesta is far more homogeneous, with its mass distributed evenly throughout and only a small core of dense material, or no core.
Gravity slowly pulls the heaviest elements to a planet’s center over time, which is how Earth ended up with a dense core of liquid iron. While Vesta has long been considered a differentiated asteroid, a more homogenous structure would suggest that it may not have fully formed layers or may have formed from the debris of another planetary body after a massive impact.
In 2016, Park used the same data types as the Vesta study to focus on Dawn’s second target, the dwarf planet Ceres, and results suggested a partially differentiated interior.
Park and his team recently applied a similar technique to Jupiter’s volcanic moon Io, using data acquired by NASA’s Juno and Galileo spacecraft during their flybys of the Jovian satellite as well as from ground-based observations. By measuring how Io’s gravity changes as it orbits Jupiter, which exerts a powerful tidal force, they revealed that the fiery moon is unlikely to possess a global magma ocean.
“Our technique isn’t restricted just to Io, Ceres, Vesta, or the Moon,” said Park. “There are many opportunities in the future to apply our technique for studying the interiors of intriguing planetary bodies throughout the solar system.”
News Media Contacts
Ian J. O’Neill
Jet Propulsion Laboratory, Pasadena, Calif.
818-354-2649
ian.j.oneill@jpl.nasa.gov
Karen Fox / Molly Wasser
NASA Headquarters, Washington
202-358-1600
karen.c.fox@nasa.gov / molly.l.wasser@nasa.gov
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Last Updated May 14, 2025 Related Terms
Vesta Dawn Earth's Moon GRAIL (Gravity Recovery And Interior Laboratory) Jet Propulsion Laboratory Planetary Science Small Bodies of the Solar System The Solar System Explore More
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By NASA
5 min read
Preparations for Next Moonwalk Simulations Underway (and Underwater)
ICON’s next generation Vulcan construction system 3D printing a simulated Mars habitat for NASA’s Crew Health and Performance Exploration Analog (CHAPEA) missions.ICON One of the keys to a sustainable human presence on distant worlds is using local, or in-situ, resources which includes building materials for infrastructure such as habitats, radiation shielding, roads, and rocket launch and landing pads. NASA’s Space Technology Mission Directorate is leveraging its portfolio of programs and industry opportunities to develop in-situ, resource capabilities to help future Moon and Mars explorers build what they need. These technologies have made exciting progress for space applications as well as some impacts right here on Earth.
The Moon to Mars Planetary Autonomous Construction Technology (MMPACT) project, funded by NASA’s Game Changing Development program and managed at the agency’s Marshall Space Flight Center in Huntsville, Alabama, is exploring applications of large-scale, robotic 3D printing technology for construction on other planets. It sounds like the stuff of science fiction, but demonstrations using simulated lunar and Martian surface material, known as regolith, show the concept could become reality.
Lunar 3D printing prototype.Contour Crafting With its partners in industry and academic institutions, MMPACT is developing processing technologies for lunar and Martian construction materials. The binders for these materials, including water, could be extracted from the local regolith to reduce launch mass. The regolith itself is used as the aggregate, or granular material, for these concretes. NASA has evaluated these materials for decades, initially working with large-scale 3D printing pioneer, Dr. Behrokh Khoshnevis, a professor of civil, environmental and astronautical engineering at the University of Southern California in Los Angeles.
Khoshnevis developed techniques for large-scale extraterrestrial 3D printing under the NASA Innovative Advanced Concepts (NIAC) program. One of these processes is Contour Crafting, in which molten regolith and a binding agent are extruded from a nozzle to create infrastructure layer by layer. The process can be used to autonomously build monolithic structures like radiation shielding and rocket landing pads.
Continuing to work with the NIAC program, Khoshnevis also developed a 3D printing method called selective separation sintering, in which heat and pressure are applied to layers of powder to produce metallic, ceramic, or composite objects which could produce small-scale, more-precise hardware. This energy-efficient technique can be used on planetary surfaces as well as in microgravity environments like space stations to produce items including interlocking tiles and replacement parts.
While NASA’s efforts are ultimately aimed at developing technologies capable of building a sustainable human presence on other worlds, Khoshnevis is also setting his sights closer to home. He has created a company called Contour Crafting Corporation that will use 3D printing techniques advanced with NIAC funding to fabricate housing and other infrastructure here on Earth.
Another one of NASA’s partners in additive manufacturing, ICON of Austin, Texas, is doing the same, using 3D printing techniques for home construction on Earth, with robotics, software, and advanced material.
Construction is complete on a 3D-printed, 1,700-square-foot habitat that will simulate the challenges of a mission to Mars at NASA’s Johnson Space Center in Houston, Texas. The habitat will be home to four intrepid crew members for a one-year Crew Health and Performance Analog, or CHAPEA, mission. The first of three missions begins in the summer of 2023. The ICON company was among the participants in NASA’s 3D-Printed Habitat Challenge, which aimed to advance the technology needed to build housing in extraterrestrial environments. In 2021, ICON used its large-scale 3D printing system to build a 1,700 square-foot simulated Martian habitat that includes crew quarters, workstations and common lounge and food preparation areas. This habitat prototype, called Mars Dune Alpha, is part of NASA’s ongoing Crew Health and Performance Exploration Analog, a series of Mars surface mission simulations scheduled through 2026 at NASA’s Johnson Space Center in Houston.
With support from NASA’s Small Business Innovation Research program, ICON is also developing an Olympus construction system, which is designed to use local resources on the Moon and Mars as building materials.
The ICON company uses a robotic 3D printing technique called Laser Vitreous Multi-material Transformation, in which high-powered lasers melt local surface materials, or regolith, that then solidify to form strong, ceramic-like structures. Regolith can similarly be transformed to create infrastructure capable of withstanding environmental hazards like corrosive lunar dust, as well as radiation and temperature extremes.
The company is also characterizing the gravity-dependent properties of simulated lunar regolith in an experiment called Duneflow, which flew aboard a Blue Origin reusable suborbital rocket system through NASA’s Flight Opportunities program in February 2025. During that flight test, the vehicle simulated lunar gravity for approximately two minutes, enabling ICON and researchers from NASA to compare the behavior of simulant against real regolith obtained from the Moon during an Apollo mission.
Learn more: https://www.nasa.gov/space-technology-mission-directorate/
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Last Updated May 13, 2025 EditorLoura Hall Related Terms
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By NASA
Artemis II crew members, shown inside the Neil Armstrong Operations and Checkout Building at NASA’s Kennedy Space Center in Florida, stand in front of their Orion crew module on Aug. 8, 2023. Pictured from left are CSA (Canadian Space Agency) astronaut Jeremy Hansen, and NASA astronauts Victor Glover, Reid Wiseman, and Christina Koch.Credit: NASA/Kim Shiflett NASA will host a live Twitch event to highlight the ongoing Moon Mascot Challenge, which invites the public to design a zero gravity indicator for the agency’s Artemis II crewed test flight around the Moon. Viewers will have the opportunity to provide real-time input to an artist who will create an example of a zero gravity indicator during the livestream.
Zero gravity indicators are small, plush items carried aboard spacecraft to provide a visual indication of when the crew reaches space.
The event will begin at 3 p.m. EDT on Tuesday, May 13, on the agency’s official Twitch channel:
https://www.twitch.tv/nasa
The contest invites global creators of all ages to submit design ideas for a zero gravity indicator that will fly aboard the agency’s Artemis II test flight, the first crewed mission under NASA’s Artemis campaign.
Up to 25 finalists, including entries from a K-12 student division, will be selected. The Artemis II crew will choose one design that NASA’s Thermal Blanket Lab will fabricate to fly alongside the crew in the Orion spacecraft.
During this Twitch event, NASA experts will discuss the Moon Mascot Challenge while the artist incorporates live audience feedback into a sample design. Although the design example will not be eligible for the contest, it will demonstrate how challenge participants can develop their own zero gravity indicator designs. The example will be shared on the @NASAArtemis social media accounts following the Twitch event.
The Artemis II test flight will take NASA astronauts Reid Wiseman, Victor Glover, and Christina Koch, and CSA (Canadian Space Agency) astronaut Jeremy Hansen on a 10-day journey around the Moon and back. The mission is another step toward missions on the lunar surface to help the agency prepare for future human missions to Mars.
To learn more about NASA’s missions, visit:
https://www.nasa.gov
-end-
Rachel Kraft
Headquarters, Washington
202-358-1600
rachel.h.kraft@nasa.gov
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Last Updated May 12, 2025 EditorJessica TaveauLocationNASA Headquarters Related Terms
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