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David Coan

NASA EVA Operations & Engineering Specialist

1

NBL xEVA Lunar DAVD Test Series 1 (2020)

Dive Helmet Test for DAVD Informatics and EVA Geology Tools

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04 August 2020

Photo credit: T. Graff
Goals, Objectives, and Equipment

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Goals of the NBL Lunar Dive Helmet Test for DAVD & Geology Tools

NASA

• Conduct acceptance testing and evaluate DAVD as a capability testing platform 

for developing an EVA Informatics Heads-Up Display (HUD)

• Conduct acceptance testing of the CODA Echoscope C-500 3D sonar as a 

capability testing platform for developing EVA navigation on the lunar surface 

(e.g., with a LIDAR system)

• Test the current geology sampling tools and tool management equipment 

(Artemis Geology Tools)

• Utilize runs for Exploration EVA concept of operations testing for Artemis lunar 

missions

• Test dive the new weigh-out wetsuit and mockup PLSS

Navy

• Test DAVD Gen 1 system in production with CODA for Navy fleet divers

• Evaluate advances in system for the Gen 2

These dives will evaluated xEVA capabilities and test sampling procedures, and didn’t assess any timeline

The primary goal of this set of runs was to conduct engineering checkout/acceptance test dives with the Diver

Augmented Vision Display (DAVD) and the Coda Octopus Echoscope C-500 3D sonar for use during Exploration

Extravehicular Activity (xEVA) development testing and astronaut training, along with evaluating the current Artemis

Geology Tools
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Analog Testing Development & Integration Themes (4-T’s) Addressed

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Exploration Operations

• Procedure Development

• Communication Methods & Protocols

• Data Visualization & Management

• Timeline Tracking & Scheduling

EVA Operations

• EVA Concepts of Operations

• Advanced EVA Capabilities

Science Operations

• Traverse Planning

• Science Decision Making Protocols

• Sample Acquisition & Documentation

Robotic Operations

• Autonomous vs Crew Controlled

• Human-Robotic Interfaces 

TOOLS TECHNIQUES TECHNOLOGIES TRAINING

EVA Tools & Systems

• Handheld Tools for Building & Repair

• Handheld Tools for Science

• Power Tools

• Tool Transport & Stowage Systems

• Mobility & Compatibility Requirements

• Crew Rescue Systems

Instrumentation

• In-Situ Analytical Instruments

• Instrument Packages & Payloads

Sample Collection

• Sample Acquisition & Handling

• Contamination Mitigation

• Transportation & Stowage

Emerging Technologies

• Informatics & Intelligent Systems 

• Virtual/Hybrid Reality Environments

• Medical & Human Performance

• EVA Support Systems & IV Workstation

• Advanced Spacesuit Developments 

Technology Collaborations

• Commercial Connections

• University & Institute Collaborations 

• Other Government Agencies Links

• International Partnerships 

Innovations Incubator

• Rapid Testing & Development

• Idea Generation & Gap Recognition

Cross-Disciplinary Training

• Involvement of Multiple Disciplines 

• Sharing Between Diverse Skill Sets

• Extensive Expertise & Experiences

Training Opportunities 

• Exploration Training

• Science Training

• EVA & Space Suit Training 

• Tool & System Training

• Student Opportunities 

Astronaut Crew Training 

• Expeditionary Opportunities

• Leadership Opportunities

• Mission Realistic Environments 
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Primary Goals/Objectives for Acceptance Testing in NBL

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Following a “crawl, walk, run” approach, the primary goals/objectives for the test

runs/dives involved acceptance testing of the equipment, and initial evaluation of

potential ops and capabilities, including the following:

• Acceptance testing of the DAVD system in the NBL (simulating xEVA HUD)

• Acceptance testing of the Echoscope C-500 in the NBL (simulating potential area 

scanning system)

• Acceptance testing and initial evaluation with diver wearing the EVA tool 

management system 

• Evaluation of the current geology sampling tools

• Initial operational use of new Surface Supplied Diving (SSD) and KM37/97 dive 

helmets in NBL by test subjects

• Initial test with the newly expanded lunar testing area in the NBL

• Acceptance testing and evaluation of the new weighout wetsuit and mockup 

PLSS in the NBL

• Initial look at utilizing NBL runs for Exploration EVA concept of 

operations testing for Artemis lunar missions

• Test dives for the Navy before they deploy DAVD to the USN fleet divers
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Additional xEVA Test Objectives Linked to EVA Gaps

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The test plan and details for the objectives are tracked on the NBL xEVA Lunar Test Series 1 wiki page

1. Evaluate the Diver Augmented Vision Device (DAVD) as an xEVA 

Informatics testing platform

2. Evaluate utilizing a dive helmet as an analog to a spacesuit for 

testing xEVA concepts of operations and equipment in the NBL

3. Evaluate EVA geology sampling tools for a lunar surface mission

4. Evaluate and determine tool & sample management and 

transportation
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EVA Test Objective – Evaluate DAVD for xEVA Informatics

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EVA Test Objective – Evaluate SSD/Dive Helmet for xEVA Con Ops Tests

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EVA Test Objective – Evaluate EVA Geology Sampling Tools

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EVA Test Objective – Evaluate EVA Tool & Sample Management

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Echoscope C-500

• Real-time 3D imaging sonar 

platform

• Analog for a LIDAR system on a 

lander

DAVD

• High-resolution see-through head-up display (HUD) embedded directly inside a 

diving helmet

• Allows a topside dive supervisor to relay visual mission data to the HUD via an 

Ethernet cable

• Divers can see augmented reality (AR) scenes, real-time images, videos, technical 

drawing, text style messaging, and step-by-step instructional sets

• Divers can also utilize real-time sonar imagery for navigation

Diver Augmented Vision Display (DAVD) & Echoscope C500 3D Sonar

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DAVD System Overview

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NBL Surface Supplied Diving (SSD) with DAVD

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The “Spacesuit”: SSD KM37/97 Helmet with Weighout Suit & Tools

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xEMU concept

KM37: Narrower FOV, Helmet movable xEMU: Wider FOV, Helmet fixed

Wetsuit: Very flexible

xEMU: Pressurized, bulky

SSD w/ KM37

Dive helmet & system provide good 

analog to a spacesuit for concepts 

of operations evaluations

Both have different but comparable 

challenges for operations

EMU TMG with dive gloves 

simulates a pressurized glove

TBD mEMU concept

(courtesy of The Martian)

SSD w/ KM97 plus weighout suit & mPLSS
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NBL Weighout Wetsuit & Mockup PLSS

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EVA Science Sample Acquisition Tools and Tool Management System

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Lunar Surface Geology Tools

• Contingency Sampler

• Geology Hammer

• Tongs

• Scoops

• Rake

• Extension Handles

• Slide Hammer

• Drive Tube Kit 

• Point and Shoot Camera

• Sample Bag Dispensers

• Sample Bags

• Waist Pack

• Leg Holster for Hammer

• Leg Holster for Scoop and Chisel

• Utility Belt with Swing Arms

Multienvironment 

testing

JSC Rock Yard NASA NBL
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EVA Science Sample Acquisition Tools

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Regolith Sample Acquisition

• Bulk: representative loose surface material 

[Scoop]

• Core: cylindrical sample of regolith at depth 

[Drive Tube / Drill]

Rock Sample Acquisition

• Float: rocks that are loosely adhered to the surface 

[Tongs / Rake]

• Chip: piece of rock forcibly removed from a larger rock 

[Hammer / Chisel]

• Core: cylindrical samples of a rock 

[Core Drill and Bit]

Scoop

Scoop

Contingency Sampler

Slide Hammer

Extension Handle

Tongs, Straight

Tongs, Angled

Hammer

Rake
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Suit-Mounted Tool Management System Configuration

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Utility Belt

Leg Holster for 

Scoop and Chisel

Camera

Leg Holster 

for Hammer

Sample Dispenser

Pocket for 

Contingency Sampler
Test Configuration & Dive Plan

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Test Team POCs

• Test Lead/Sponsor: David Coan

• NBL Flight Lead: Tim Morgan

• TC & Ops Lead: Daren Welsh

• Navy Lead: Paul McMurtrie

• Coda Octopus: Blair Cunningham

• DAVD Navy Project Manager: Allie Williams

• IV: Bridget Scheib

• Informatics: Matthew Miller and Skye Ray

• Science: Trevor Graff

• EVA Geology Tools: Adam Naids & Mary Walker

• Dive Integration: Mike Geyer & Jim Fuderer

Test Subjects/Divers

• Vic Basher (NAVSEA 00C)

• Steve Bowen (CB/USN/Astronaut)

• David Coan (XX/EVA)

• Joshua Dumke (NAVSEA 00C/MDV)

• Drew Feustel (CB/Astronaut)

• Trevor Graff (XI/ARES)

• Art Levine (CX12/NBL)

• Adam Naids (EC7/EVA Tools)

• Don Pettit (CB/Astronaut)

• Scott Wray (CX3/FOD EVA)

Test Team

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NBL Pool Config for xEVA Lunar Area

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• Reconfigurable task board utilized primarily for ISS EVA training

• NZGL electrical connectors configured on board for use as an engineering task

• DAVD displays utilized to guide the crew through tasks on the board

xEVA Engineering Task Board (Central Station)

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Dive Duty Stations

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Diver Hatting SSD Panel Operator Navy/Coda Octopus
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Topside Configuration of DAVD and C-500 Systems

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EVA Simulation Duty Stations

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Ground IV MCC MPSR/MER
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Underwater Weighout Board

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Dive Rotations

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Dive Ops & Test Evaluations

Including cue cards utilized with DAVD

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General Dive Plan Outline

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White/EV1 (KM37 w/DAVD) Red/EV2 (KM97 w/Tools)

Suit up and topside checks (hat that diver) Suit up and topside checks (hat that diver)

Splash and install weights Splash and install weights

Weigh-out check and evaluation 

DAVD: cue cards with process and model of platform Configure tools

Translate to lander/airlock and ingress 

DAVD: Map of pool config and text directions Translate to lander/airlock

Egress lander Egress lander

Route cable from Power Station to Central Station

DAVD: Map and text directions Translate to lunar area with METS

Configure Central Station 

DAVD: Cue cards directing how to reconfig board Contingency sample and stow

Scoop sample procedure with extension handle 

DAVD: Cue cards with graphics Scoop sample procedure with extension handle

Hammer sample with chisel (from boulder) and sample bags 

DAVD: Cue cards with graphics and text directions Hammer sample with chisel (from boulder) and sample bags

Navigate across lunar area with C-500 data 

DAVD: Real-time feed of sonar Core sample with drive tube and slide hammer

Traverse to lander and ingress

Remove tools and weights Remove tools and weights

Egress water Egress water
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Construct Surface Infrastructure

• Route cable from Power Station to Central Station

• Mate and configure cable

• Configure jumper

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Surface EVA Engineering Tasks

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Evaluating Utilizing DAVD for xEVA Engineering Tasks

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Retrieve power cable  Connect cable to Power Station  Route cable  Connect cable to Central Station
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• Utilized Coda Echoscope 3D sonar to scan area, much like a LIDAR system for spaceflight

• Sent navigation data from the sonar to the diver via DAVD

Evaluating Navigation with DAVD and C-500

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Evaluating Printed Cue Cards and Digital Cue Cards

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Reading Printed Cue Cards on Cuff Checklist Viewing Digital Cue Cards via DAVD
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Rock Sample

• Float with Tongs and Rake

• Chip with Hammer and Chisel

Regolith Sample

• Bulk with Scoop

• Core with Drive Tube

Surface EVA Science Tasks with Geology Tools

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Evaluating EVA Tool Management on Suit

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Suit-Mounted Geology Tools

• Geology Hammer

• Scoops

• Point and Shoot Camera

• Sample Bag Dispensers

• Sample Bags

• Waist Pack

• Leg Holster for Hammer

• Leg Holster for Scoop and Chisel

• Utility Belt with Swing Arms
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Geology Tools in METS

• Geology Hammer

• Tongs

• Scoops

• Rake

• Extension Handles

• Slide Hammer

• Drive Tube Kit 

• Sample Bag Dispensers

• Sample Bags

Evaluating EVA Tool Management with METS (Wheeled Carrier)

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Evaluating Contingency Sampling

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Evaluating Regolith Sampling (with Scoop)

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Evaluating Rock Float Sampling (using Tongs)

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Evaluating Rock Chip Sampling (with Hammer and Chisel)

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Evaluating Collecting Chip Samples with Tongs & Sample Bags

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Evaluating Use of Sample Markers

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Evaluating Utilization of Science Camera

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Evaluating Two-Person Sampling Operations

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Key Finding & Summary

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Evaluate the Diver Augmented Vision Device (DAVD) as an xEVA Informatics testing platform

Diver Augmented Vision Display (DAVD)

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Key Findings for DAVD

• DAVD passed acceptability testing for NBL use

• DAVD worked well for testing capabilities of an xEVA informatics HUD

• Gen 1 is good for capability testing

• Gen 3 will be a projection system that is even more relevant

• NAVSEA/Coda working on voice commands and gestures for next generations

• Test subject feedback and lessons learned were recorded by the xINFO team

• Multiple types of content were used to demonstrate the flexibility of DAVD as 

a system

• JARVIS learned a lot from the DAVD software and capability (Display / UX 

observations from JARVIS Team)

• DAVD system is 100% O2 compatible (for decompression stops)

• JARVIS could utilize an in-the-helmet projection system that is O2 compatible, 

which would protect the system better from impacts and dust

• xEMU has a helmet camera that could be tied into a similar system, and/or an optic 

LASER/LIDAR camera system could be utilized 
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Evaluate utilizing a dive helmet as an analog to a spacesuit for testing xEVA concepts of operations and 

equipment in the NBL

Surface Supplied Diving and Dive Helmets for xEVA

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Key Findings for SSD/Dive Helmet Testing of xEVA

• “Only way we'll be able to train realistically in the near term”

• Better than scuba, need two way comm that helmets provide

• Need to improve helmet comm

• More limited FOV in dive helmet may impact training, however 

helmet moves, which may balance the difference

• Take waist belt and build stand offs for swing arm to put them in 

more realistic FOV and even suit volume

• One subject reported not being able to see the tool belt 

swing arms through the helmet visor

• Need to make the visibility of tools using the SSD config as 

similar as possible to on the xEMU 

• Dive time on air totaled ~4:30 per run/day

• ~3:15 usable time (after weighout/config) per day

• Compares to ~5:30 usable time with an EMU run

• Time will increase with experience and use of Nitrox
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Evaluate EVA geology sampling tools for a lunar surface mission

EVA Geology Sampling Tools

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Key Findings for EVA Geology Tools

• Tools feedback was recorded by the EC7 EVA Tools team 

and/or given to the team during the debrief, with specific data 

collected on:

• Use of point and shoot camera

• Sample bag and dispenser

• Hammer and chisel

• Scoop

• Rake 

• Tongs (straight and angled)

• Slide hammer

• Drive tube and cap dispenser

• Should attach tools at the bottom of the pool

• Make short training videos of how to use each tool to put on 

the wiki – doesn’t replace hands on training, but supplements 

and allows people to review in advance
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Evaluate and determine tool & sample management and transportation

EVA Tool & Sample Management

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Key Findings for EVA Tools & Sample Management

• Tool management feedback was recorded by the EC7 EVA 

Tools team and/or given to the team during the debrief

• Data was received for equipment mounted on suit

• Utility belt

• Hammer holster

• Scoop/chisel holster

• Contingency sampler bag

• Waist pack

• Feedback was received on the METS and utilizing a wheeled 

carrier
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Evaluate the NBL Weighout Wetsuit and Weighout Board

NBL Weighout Wetsuit and Mockup PLSS

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Key Findings for Weighout Wetsuit

• In general the weighout suits and mPLSS worked well for 

simulating 1/6 gravity level on the lunar surface

• Weighout wetsuit:

• Some of the weights shifted with various movements, but 

were fairly easily repositioned

• Thigh weight movement could be resolved by adding 

Velcro to the wetsuit and weight pack

• Hip weights interfered with the version of the tool belt 

tested

• There was no discomfort with the weights in the suit 

• Test subjects did get hot due to the warm temperature of 

the water

• Mockup PLSS (mPLSS)

• Modifications were made real-time with feedback from test 

subjects and Navy divers, such as adding “burp” holes and 

centering the bailout bottle for better weight distribution
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Evolving Partnerships – NASA and the United States Navy 

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Summary of NBL xEVA Lunar Test Series 1 (DAVD)

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From Deep Sea to Deep Space

Dive Helmet Test for DAVD Informatics and EVA Geology Tools

Successful acceptance testing and evaluation of the Diver Augmented Visions Display (DAVD) as a capability 

testing platform for developing an EVA Informatics Heads-Up Display (HUD)

Good integration of xINFO/JARVIS with DAVD HUD

Successful acceptance testing of the CODA Echoscope C-500 3D sonar as a potential capability testing platform 

for developing EVA navigation on the lunar surface (e.g., with a LIDAR system)

Successful look at utilizing NBL runs for Exploration EVA concept of operations testing for Artemis lunar missions

Successful test of the current geology sampling tools and tool management equipment (Artemis Geology Tools)

First operational use of new Surface Supplied Diving and KM37/97 dive helmets in NBL

First test with the newly expanded lunar testing area in the NBL

First evaluation of the new weighout wetsuit and mockup PLSS in the NBL

Successful series of test dives for the Navy before they deploy DAVD to the USN fleet divers
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Backup

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Test Run Schedule

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16 July 2020

• 0730-0800: Diver physicals

• 0800: Equipment fam for test subjects

• 0830: Dive brief in south high-bay

• 0900: Morning dive (2 hours)

• White/EV1 (KM37 w/DAVD, weigh-out, PLSS): Coan

• Red/EV2 (KM97 w/tools): Naids

• 1100: Surface interval and lunch (1.5 hours)

• 1230: Afternoon dive (2:15 hours)

• White/EV1 (KM37 w/DAVD, weigh-out, PLSS): Graff

• Red/EV2a (KM97 w/tools): Wray

• Red/EV2b (KM97 w/tools): NBL

• 1600: Dive debrief

17 July 2020

• 0730-0800: Diver physicals

• 0800: Equipment fam for test subjects

• 0830: Dive brief in south high-bay

• 0900: Morning dives (2:15 hours)

• White/EV1a (KM37 w/DAVD): Bowen

• White/EV1b (KM37 w/DAVD): Pettit

• Red/EV2 (KM97 w/tools, weigh-out, PLSS): Basher

• 1200: Surface interval and lunch (1.5 hours)

• 1330: Afternoon dive (2 hours)

• White/EV1 (KM37 w/DAVD): Feustel

• Red/EV2 (KM97 w/tools, weigh-out, PLSS): Dumke

• 1600: Dive debrief
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Dive Logs for 16 July 2020

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Dive Logs for 17 July 2020

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 Sponsored by Naval Sea Systems Command Supervisor,

Diving and Salvage (NAVSEA 00C), and developed by

the Naval Surface Warfare Center Panama City Division

 The DAVD system

 Binocular heads-up display (HUD) mounted inside

a Kirby Morgan 37 (KM37) dive helmet and a MK20 Full Face Mask (MK20 FFM)

 Prototype uses commercial lenses (Lumus) and

custom 3D printed frame/mounting systems

 DAVD capabilities

 Allows a topside dive supervisor to relay visual

mission data to the HUD via an Ethernet cable

 Divers can view text messages, video,

photographs, instructions, and augmented reality

images

 Divers can also utilize real-time sector scanning

sonar imagery for navigation

 Allows for operations even in murky, zero visibility

conditions

 During diver testing, DAVD operated as advertised,

with Navy divers able to utilize it for navigation,

identification of objects, and for receiving task

instructions real-time

U.S. Navy Divers Augmented Vision Display (DAVD)

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Topside control box

KM37

Sonar

MK20 FFM
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Application of DAVD for xEVA Informatics

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Enhanced ISS EVA Training

Utilize MK20 FFM version of DAVD to view procedures

and graphics sent by Test Conductor

NASA Exploration EVA Spacesuit and Operations

 An EVA Augmented Vision Heads-Up Display (HUD) would allow for real-time data

update, augmented cue input, procedure viewing, enhanced task direction, and selfnavigation capability

 Enables Exploration mission concepts of operations baselined by the EVA Office,

especially those on natural planetary surfaces

 Relevant for current spacesuit (xEMU) development efforts and the xINFO

system

 DAVD system abilities translate into capabilities needed by NASA for the Exploration

EVA Suit and planetary operations

DAVD Mounted Lenses DAVD Projection System xEMU HUD

Potential Spacesuit (xEMU) Development

DAVD System in Suit
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Craters

• Impact craters, pit craters

• Descend into, perform science tasks, 

ascend out (with appropriate equip)

Permanently Shadowed Regions

• Acquisition of ice water and volatiles 

samples

• Goal of 2 hours inside of shadowed 

regions

Volcanic Terrain

• Ingress into, perform science tasks, 

exit lava tube/flow

• May require equipment ancillary to 

the xEVA suit

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General Science Regions of Interest for Exploration on Lunar Surface
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EV1 EV2

Egress & Setup

• Switch from vehicle power to suit battery power

• Open hatch and egress

• Descend to surface 

• Configure equipment transport system and tools on suit

• Switch from vehicle power to suit battery power

• Open hatch and egress

• Transfer any tools brought inside HLS to the surface

• Descend to surface

Traverse to EB • Walk downslope towards PSR at located A’ 

• Radial traverse distance is ~1 km, slopes range up to ~16°

• Walk downslope towards PSR at located A’

• Radial traverse distance is ~1 km, slopes range up to ~16°

Sampling from EB

Deploy Instrument

• Conduct context observations, with imagery and verbal descriptions

• Acquire sample as directed by MCC Science Team

• Set up sampling tools from transport system

• Deploy geophysics instrument

Traverse to Crater • Walk downslope towards PSR at located A’, begin descent into crater

• Radial traverse distance is ~1.5 km, slopes range up to ~12°

• Walk downslope towards PSR at located A’, begin descent into crater

• Radial traverse distance is ~1.5 km, slopes range up to ~12°

Sampling in Crater

Deploy Station

• Conduct context observations and plan route into PSR

• Deploy environment monitoring station

• Conduct context observations, with imagery and verbal descriptions

• Acquire sample as directed by MCC Science Team

• Ready tools for sampling in PSR [e.g., core drill]

Traverse into PSR

• Walk down into PSR at located A’ 

• Radial traverse distance is ~2 km, slopes range up to ~20°

• Starts 2-hour thermal clock

• Walk down into PSR at located A’ 

• Radial traverse distance is ~2 km, slopes range up to ~20°

• Starts 2-hour thermal clock

Sampling from PSR

• Conduct context observations, with imagery and verbal descriptions

• Acquire sample as directed by MCC Science Team [e.g., core]

• Conduct context observations, with imagery and verbal descriptions

• Acquire sample as directed by MCC Science Team [e.g., core]

Traverse to HLS

• Walk back upslope towards the HLS at located A 

• Radial traverse distance is ~2 km, slopes range up to ~20°

• Walk back upslope towards the HLS at located A 

• Radial traverse distance is ~2 km, slopes range up to ~20°

Maintenance

• Deploy comm antenna

• Align antenna

• Route and mate power cables to comm antenna

Cleanup & Ingress

• Stow tools and equipment

• Transfer science samples up to lander hatch

• Conduct dust mitigation

• Ascend to lander hatch and ingress

• Attach servicing umbilcals 

• Close hatch and repress

• Stow tools and equipment

• Conduct dust mitigation

• Ascend to lander hatch

• Transfer science samples up to lander hatch

• Ingress lander and attach servicing umbilcals 

Notional Design Reference EVA for xEVA Con Ops Development

EVA-EXP-0079 60

NOTE: All EVAs are conceptual/notional only and are strictly for development of the xEVA system con ops, and not indicative of any actual flight plan or official mission profile 

Note: Details on EVA Timelines can be found in the

“Preparation for Lunar Training and Execution”