An intelligent algorithm for autonomous scientific sampling with the VALKYRIE cryobot

NASA Astrophysics Data System (ADS)

Clark, Evan B.; Bramall, Nathan E.; Christner, Brent; Flesher, Chris; Harman, John; Hogan, Bart; Lavender, Heather; Lelievre, Scott; Moor, Joshua; Siegel, Vickie

2018-07-01

The development of algorithms for agile science and autonomous exploration has been pursued in contexts ranging from spacecraft to planetary rovers to unmanned aerial vehicles to autonomous underwater vehicles. In situations where time, mission resources and communications are limited and the future state of the operating environment is unknown, the capability of a vehicle to dynamically respond to changing circumstances without human guidance can substantially improve science return. Such capabilities are difficult to achieve in practice, however, because they require intelligent reasoning to utilize limited resources in an inherently uncertain environment. Here we discuss the development, characterization and field performance of two algorithms for autonomously collecting water samples on VALKYRIE (Very deep Autonomous Laser-powered Kilowatt-class Yo-yoing Robotic Ice Explorer), a glacier-penetrating cryobot deployed to the Matanuska Glacier, Alaska (Mission Control location: 61°42'09.3''N 147°37'23.2''W). We show performance on par with human performance across a wide range of mission morphologies using simulated mission data, and demonstrate the effectiveness of the algorithms at autonomously collecting samples with high relative cell concentration during field operation. The development of such algorithms will help enable autonomous science operations in environments where constant real-time human supervision is impractical, such as penetration of ice sheets on Earth and high-priority planetary science targets like Europa.

Real-Time Hazard Detection and Avoidance Demonstration for a Planetary Lander

NASA Technical Reports Server (NTRS)

Epp, Chirold D.; Robertson, Edward A.; Carson, John M., III

2014-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. In addition to precision landing close to a pre-mission defined landing location, the ALHAT System must be capable of autonomously identifying and avoiding surface hazards in real-time to enable a safe landing under any lighting conditions. This paper provides an overview of the recent results of the ALHAT closed loop hazard detection and avoidance flight demonstrations on the Morpheus Vertical Testbed (VTB) at the Kennedy Space Center, including results and lessons learned. This effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Reconfigurable Autonomy for Future Planetary Rovers

NASA Astrophysics Data System (ADS)

Burroughes, Guy

Extra-terrestrial Planetary rover systems are uniquely remote, placing constraints in regard to communication, environmental uncertainty, and limited physical resources, and requiring a high level of fault tolerance and resistance to hardware degradation. This thesis presents a novel self-reconfiguring autonomous software architecture designed to meet the needs of extraterrestrial planetary environments. At runtime it can safely reconfigure low-level control systems, high-level decisional autonomy systems, and managed software architecture. The architecture can perform automatic Verification and Validation of self-reconfiguration at run-time, and enables a system to be self-optimising, self-protecting, and self-healing. A novel self-monitoring system, which is non-invasive, efficient, tunable, and autonomously deploying, is also presented. The architecture was validated through the use-case of a highly autonomous extra-terrestrial planetary exploration rover. Three major forms of reconfiguration were demonstrated and tested: first, high level adjustment of system internal architecture and goal; second, software module modification; and third, low level alteration of hardware control in response to degradation of hardware and environmental change. The architecture was demonstrated to be robust and effective in a Mars sample return mission use-case testing the operational aspects of a novel, reconfigurable guidance, navigation, and control system for a planetary rover, all operating in concert through a scenario that required reconfiguration of all elements of the system.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems robot "MXR - Mark's Exploration Robot" takes to the practice field and tries to capture the white object in the foreground on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Intrepid Systems' robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Mapping planetary caves with an autonomous, heterogeneous robot team

NASA Astrophysics Data System (ADS)

Husain, Ammar; Jones, Heather; Kannan, Balajee; Wong, Uland; Pimentel, Tiago; Tang, Sarah; Daftry, Shreyansh; Huber, Steven; Whittaker, William L.

Caves on other planetary bodies offer sheltered habitat for future human explorers and numerous clues to a planet's past for scientists. While recent orbital imagery provides exciting new details about cave entrances on the Moon and Mars, the interiors of these caves are still unknown and not observable from orbit. Multi-robot teams offer unique solutions for exploration and modeling subsurface voids during precursor missions. Robot teams that are diverse in terms of size, mobility, sensing, and capability can provide great advantages, but this diversity, coupled with inherently distinct low-level behavior architectures, makes coordination a challenge. This paper presents a framework that consists of an autonomous frontier and capability-based task generator, a distributed market-based strategy for coordinating and allocating tasks to the different team members, and a communication paradigm for seamless interaction between the different robots in the system. Robots have different sensors, (in the representative robot team used for testing: 2D mapping sensors, 3D modeling sensors, or no exteroceptive sensors), and varying levels of mobility. Tasks are generated to explore, model, and take science samples. Based on an individual robot's capability and associated cost for executing a generated task, a robot is autonomously selected for task execution. The robots create coarse online maps and store collected data for high resolution offline modeling. The coordination approach has been field tested at a mock cave site with highly-unstructured natural terrain, as well as an outdoor patio area. Initial results are promising for applicability of the proposed multi-robot framework to exploration and modeling of planetary caves.

LandingNav: a precision autonomous landing sensor for robotic platforms on planetary bodies

NASA Astrophysics Data System (ADS)

Katake, Anup; Bruccoleri, Chrisitian; Singla, Puneet; Junkins, John L.

2010-01-01

Increased interest in the exploration of extra terrestrial planetary bodies calls for an increase in the number of spacecraft landing on remote planetary surfaces. Currently, imaging and radar based surveys are used to determine regions of interest and a safe landing zone. The purpose of this paper is to introduce LandingNav, a sensor system solution for autonomous landing on planetary bodies that enables landing on unknown terrain. LandingNav is based on a novel multiple field of view imaging system that leverages the integration of different state of the art technologies for feature detection, tracking, and 3D dense stereo map creation. In this paper we present the test flight results of the LandingNav system prototype. Sources of errors due to hardware limitations and processing algorithms were identified and will be discussed. This paper also shows that addressing the issues identified during the post-flight test data analysis will reduce the error down to 1-2%, thus providing for a high precision 3D range map sensor system.

Crew/Robot Coordinated Planetary EVA Operations at a Lunar Base Analog Site

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Ambrose, R. O.; Bluethmann, W. J.; Delgado, F. J.; Herrera, E.; Kosmo, J. J.; Janoiko, B. A.; Wilcox, B. H.; Townsend, J. A.; Matthews, J. B.;

Robot Manipulator Technologies for Planetary Exploration

NASA Technical Reports Server (NTRS)

Das, H.; Bao, X.; Bar-Cohen, Y.; Bonitz, R.; Lindemann, R.; Maimone, M.; Nesnas, I.; Voorhees, C.

1999-01-01

NASA exploration missions to Mars, initiated by the Mars Pathfinder mission in July 1997, will continue over the next decade. The missions require challenging innovations in robot design and improvements in autonomy to meet ambitious objectives under tight budget and time constraints. The authors are developing design tools, component technologies and capabilities to address these needs for manipulation with robots for planetary exploration. The specific developments are: 1) a software analysis tool to reduce robot design iteration cycles and optimize on design solutions, 2) new piezoelectric ultrasonic motors (USM) for light-weight and high torque actuation in planetary environments, 3) use of advanced materials and structures for strong and light-weight robot arms and 4) intelligent camera-image coordinated autonomous control of robot arms for instrument placement and sample acquisition from a rover vehicle.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Intrepid Systems Team member Mark Curry, left, talks with NASA Deputy Administrator Lori Garver and NASA Chief Technologist Mason Peck, right, about his robot named "MXR - Mark's Exploration Robot" on Saturday, June 16, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Curry's robot team was one of the final teams participating in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems Team member Mark Curry, right, answers questions from 8th grade Sullivan Middle School (Mass.) students about his robot named "MXR - Mark's Exploration Robot" on Friday, June 15, 2012, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Curry's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Active Collision Avoidance for Planetary Landers

NASA Technical Reports Server (NTRS)

Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

2014-01-01

Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

First results in terrain mapping for a roving planetary explorer

NASA Technical Reports Server (NTRS)

Krotkov, E.; Caillas, C.; Hebert, M.; Kweon, I. S.; Kanade, Takeo

1989-01-01

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

"Harry" a Goldendoodle is seen wearing a NASA backpack during the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Team members of "Survey" drive their robot around the campus on Saturday, June 16, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. The Survey team was one of the final teams participating in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

University of Waterloo (Canada) Robotics Team members test their robot on the practice field one day prior to the NASA-WPI Sample Return Robot Centennial Challenge, Friday, June 15, 2012 at the Worcester Polytechnic Institute in Worcester, Mass. Teams will compete for a $1.5 million NASA prize to build an autonomous robot that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-14

A University of Waterloo Robotics Team member tests their robot on the practice field two days prior to the NASA-WPI Sample Return Robot Centennial Challenge, Thursday, June 14, 2012 at the Worcester Polytechnic Institute in Worcester, Mass. Teams will compete for a $1.5 million NASA prize to build an autonomous robot that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Deputy Administrator Lori Garver, left, listens as Worcester Polytechnic Institute (WPI) Robotics Resource Center Director and NASA-WPI Sample Return Robot Centennial Challenge Judge Ken Stafford points out how the robots navigate the playing field during the challenge on Saturday, June 16, 2012 in Worcester, Mass. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Deputy Administrator Lori Garver, right, listens as Worcester Polytechnic Institute (WPI) Robotics Resource Center Director and NASA-WPI Sample Return Robot Centennial Challenge Judge Ken Stafford points out how the robots navigate the playing field during the challenge on Saturday, June 16, 2012 in Worcester, Mass. Teams were challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Posters for the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event are seen posted around the campus on Saturday, June 16, 2012 at WPI in Worcester, Mass. The TouchTomorrow event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Panoramic of some of the exhibits available on the campus of the Worcester Polytechnic Institute (WPI) during their "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Anthony Shrout)

NASA Planetary Rover Program

NASA Technical Reports Server (NTRS)

Lavery, David; Bedard, Roger J., Jr.

1991-01-01

The NASA Planetary Rover Project was initiated in 1989. The emphasis of the work to date has been on development of autonomous navigation technology within the context of a high mobility wheeled vehicle at the JPL and an innovative legged locomotion concept at Carnegie Mellon University. The status and accomplishments of these two efforts are discussed. First, however, background information is given on the three rover types required for the Space Exploration Initiative (SEI) whose objective is a manned mission to Mars.

Planning and Execution for an Autonomous Aerobot

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara A.; Schaffer, Steven R.; Chouinard, Caroline M.

2010-01-01

The Aerial Onboard Autonomous Science Investigation System (AerOASIS) system provides autonomous planning and execution capabilities for aerial vehicles (see figure). The system is capable of generating high-quality operations plans that integrate observation requests from ground planning teams, as well as opportunistic science events detected onboard the vehicle while respecting mission and resource constraints. AerOASIS allows an airborne planetary exploration vehicle to summarize and prioritize the most scientifically relevant data; identify and select high-value science sites for additional investigation; and dynamically plan, schedule, and monitor the various science activities being performed, even during extended communications blackout periods with Earth.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Visitors, some with their dogs, line up to make their photo inside a space suit exhibit during the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

The bronze statue of the goat mascot for Worcester Polytechnic Institute (WPI) named "Gompei" is seen wearing a staff t-shirt for the "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Design and Hardware-in-the-Loop Implementation of Optimal Canonical Maneuvers for an Autonomous Planetary Aerial Vehicle

DTIC Science & Technology

2012-12-01

selflessly working your own school and writing schedule around mine , supporting me throughout career paths that have been anything but traditional...observation, and other scientific research and exploration purposes. 4 A ground rover on a planet, moon, or other body such as an asteroid must...applied to autonomous craft that could eventually operate on the surface of planets, moons, and asteroids , as well as in Earth orbit or deep space

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Intrepid Systems robot, foreground, and the University of Waterloo (Canada) robot, take to the practice field on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Robot teams will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Innovative hazard detection and avoidance strategy for autonomous safe planetary landing

NASA Astrophysics Data System (ADS)

Jiang, Xiuqiang; Li, Shuang; Tao, Ting

2016-09-01

Autonomous hazard detection and avoidance (AHDA) is one of the key technologies for future safe planetary landing missions. In this paper, we address the latest progress on planetary autonomous hazard detection and avoidance technologies. First, the innovative autonomous relay hazard detection and avoidance strategy adopted in Chang'e-3 lunar soft landing mission and its flight results are reported in detail. Second, two new conceptual candidate schemes of hazard detection and avoidance are presented based on the Chang'e-3 AHDA system and the latest developing technologies for the future planetary missions, and some preliminary testing results are also given. Finally, the related supporting technologies for the two candidate schemes above are analyzed.

Autonomous localisation of rovers for future planetary exploration

NASA Astrophysics Data System (ADS)

Bajpai, Abhinav

Future Mars exploration missions will have increasingly ambitious goals compared to current rover and lander missions. There will be a need for extremely long distance traverses over shorter periods of time. This will allow more varied and complex scientific tasks to be performed and increase the overall value of the missions. The missions may also include a sample return component, where items collected on the surface will be returned to a cache in order to be returned to Earth, for further study. In order to make these missions feasible, future rover platforms will require increased levels of autonomy, allowing them to operate without heavy reliance on a terrestrial ground station. Being able to autonomously localise the rover is an important element in increasing the rover's capability to independently explore. This thesis develops a Planetary Monocular Simultaneous Localisation And Mapping (PM-SLAM) system aimed specifically at a planetary exploration context. The system uses a novel modular feature detection and tracking algorithm called hybrid-saliency in order to achieve robust tracking, while maintaining low computational complexity in the SLAM filter. The hybrid saliency technique uses a combination of cognitive inspired saliency features with point-based feature descriptors as input to the SLAM filter. The system was tested on simulated datasets generated using the Planetary, Asteroid and Natural scene Generation Utility (PANGU) as well as two real world datasets which closely approximated images from a planetary environment. The system was shown to provide a higher accuracy of localisation estimate than a state-of-the-art VO system tested on the same data set. In order to be able to localise the rover absolutely, further techniques are investigated which attempt to determine the rover's position in orbital maps. Orbiter Mask Matching uses point-based features detected by the rover to associate descriptors with large features extracted from orbital imagery and stored in the rover memory prior the mission launch. A proof of concept is evaluated using a PANGU simulated boulder field.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

1974-01-01

A number of problems related to the design, construction and evaluation of an autonomous roving planetary vehicle and its control and operating systems intended for an unmanned exploration of Mars are studied. Vehicle configuration, dynamics, control, systems and propulsion; systems analysis; terrain sensing and modeling and path selection; and chemical analysis of samples are included.

Behavioral and biological effects of autonomous versus scheduled mission management in simulated space-dwelling groups

NASA Astrophysics Data System (ADS)

Roma, Peter G.; Hursh, Steven R.; Hienz, Robert D.; Emurian, Henry H.; Gasior, Eric D.; Brinson, Zabecca S.; Brady, Joseph V.

2011-05-01

Logistical constraints during long-duration space expeditions will limit the ability of Earth-based mission control personnel to manage their astronaut crews and will thus increase the prevalence of autonomous operations. Despite this inevitability, little research exists regarding crew performance and psychosocial adaptation under such autonomous conditions. To this end, a newly-initiated study on crew management systems was conducted to assess crew performance effectiveness under rigid schedule-based management of crew activities by Mission Control versus more flexible, autonomous management of activities by the crews themselves. Nine volunteers formed three long-term crews and were extensively trained in a simulated planetary geological exploration task over the course of several months. Each crew then embarked on two separate 3-4 h missions in a counterbalanced sequence: Scheduled, in which the crews were directed by Mission Control according to a strict topographic and temporal region-searching sequence, and Autonomous, in which the well-trained crews received equivalent baseline support from Mission Control but were free to explore the planetary surface as they saw fit. Under the autonomous missions, performance in all three crews improved (more high-valued geologic samples were retrieved), subjective self-reports of negative emotional states decreased, unstructured debriefing logs contained fewer references to negative emotions and greater use of socially-referent language, and salivary cortisol output across the missions was attenuated. The present study provides evidence that crew autonomy may improve performance and help sustain if not enhance psychosocial adaptation and biobehavioral health. These controlled experimental data contribute to an emerging empirical database on crew autonomy which the international astronautics community may build upon for future research and ultimately draw upon when designing and managing missions.

Onboard planning for geological investigations using a rover team

NASA Technical Reports Server (NTRS)

Estlin, Tara; Gaines, Daniel; Fisher, Forest; Castano, Rebecca

2004-01-01

This paper describes an integrated system for coordinating multiple rover behavior with the overall goal of collecting planetary surface data. The Multi-Rover Integrated Science Understanding System (MISUS) combines techniques from planning and scheduling with machine learning to perform autonomous scientific exploration with cooperating rovers.

ALI (Autonomous Lunar Investigator): Revolutionary Approach to Exploring the Moon with Addressable Reconfigurable Technology

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Floyd, S. R.

2005-01-01

Addressable Reconfigurable Technology (ART) based structures: Mission Concepts based on Addressable Reconfigurable Technology (ART), originally studied for future ANTS (Autonomous Nanotechnology Swarm) Space Architectures, are now being developed as rovers for nearer term use in lunar and planetary surface exploration. The architecture is based on the reconfigurable tetrahedron as a building block. Tetrahedra are combined to form space-filling networks, shaped for the required function. Basic structural components are highly modular, addressable arrays of robust nodes (tetrahedral apices) from which highly reconfigurable struts (tetrahedral edges), acting as supports or tethers, are efficiently reversibly deployed/stowed, transforming and reshaping the structures as required.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

A visitor to the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event helps demonstrate how a NASA rover design enables the rover to climb over obstacles higher than it's own body on Saturday, June 16, 2012 at WPI in Worcester, Mass. The event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

Wunderkammer Laboratory Team leader Jim Rothrock, left, answers questions from 8th grade Sullivan Middle School (Mass.) students about his robot named "Cerberus" on Friday, June 15, 2012, at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. Rothrock's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

Children visiting the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event try to catch basketballs being thrown by a robot from FIRST Robotics at Burncoat High School (Mass.) on Saturday, June 16, 2012 at WPI in Worcester, Mass. The TouchTomorrow event was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Free-Flight Terrestrial Rocket Lander Demonstration for NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System

NASA Technical Reports Server (NTRS)

Rutishauser, David K.; Epp, Chirold; Robertson, Ed

2012-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project is chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. Since its inception in 2006, the ALHAT Project has executed four field test campaigns to characterize and mature sensors and algorithms that support real-time hazard detection and global/local precision navigation for planetary landings. The driving objective for Government Fiscal Year 2012 (GFY2012) is to successfully demonstrate autonomous, real-time, closed loop operation of the ALHAT system in a realistic free flight scenario on Earth using the Morpheus lander developed at the Johnson Space Center (JSC). This goal represents an aggressive target consistent with a lean engineering culture of rapid prototyping and development. This culture is characterized by prioritizing early implementation to gain practical lessons learned and then building on this knowledge with subsequent prototyping design cycles of increasing complexity culminating in the implementation of the baseline design. This paper provides an overview of the ALHAT/Morpheus flight demonstration activities in GFY2012, including accomplishments, current status, results, and lessons learned. The ALHAT/Morpheus effort is also described in the context of a technology path in support of future crewed and robotic planetary exploration missions based upon the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN).

Terrain discovery and navigation of a multi-articulated linear robot using map-seeking circuits

NASA Astrophysics Data System (ADS)

Snider, Ross K.; Arathorn, David W.

2006-05-01

A significant challenge in robotics is providing a robot with the ability to sense its environment and then autonomously move while accommodating obstacles. The DARPA Grand Challenge, one of the most visible examples, set the goal of driving a vehicle autonomously for over a hundred miles avoiding obstacles along a predetermined path. Map-Seeking Circuits have shown their biomimetic capability in both vision and inverse kinematics and here we demonstrate their potential usefulness for intelligent exploration of unknown terrain using a multi-articulated linear robot. A robot that could handle any degree of terrain complexity would be useful for exploring inaccessible crowded spaces such as rubble piles in emergency situations, patrolling/intelligence gathering in tough terrain, tunnel exploration, and possibly even planetary exploration. Here we simulate autonomous exploratory navigation by an interaction of terrain discovery using the multi-articulated linear robot to build a local terrain map and exploitation of that growing terrain map to solve the propulsion problem of the robot.

Evolution of Autonomous Self-Righting Behaviors for Articulated Nanorovers

NASA Technical Reports Server (NTRS)

Tunstel, Edward

1999-01-01

Miniature rovers with articulated mobility mechanisms are being developed for planetary surface exploration on Mars and small solar system bodies. These vehicles are designed to be capable of autonomous recovery from overturning during surface operations. This paper describes a computational means of developing motion behaviors that achieve the autonomous recovery function. It proposes a control software design approach aimed at reducing the effort involved in developing self-righting behaviors. The approach is based on the integration of evolutionary computing with a dynamics simulation environment for evolving and evaluating motion behaviors. The automated behavior design approach is outlined and its underlying genetic programming infrastructure is described.

Biologically Inspired Behavioral Strategies for Autonomous Aerial Explorers on Mars

NASA Technical Reports Server (NTRS)

Plice, Laura; Pisanich, Greg; Lau, Benton; Young, Larry A.

2002-01-01

The natural world is a rich source of problem- solving approaches. This paper discusses the feasibility and technical challenges underlying mimicking, or analogously adapting, biological behavioral strategies to mission/flight planning for aerial vehicles engaged in planetary exploration. Two candidate concepts based on natural resource utilization and searching behaviors are adapted io technological applications. Prototypes and test missions addressing the difficulties of implementation and their solutions are also described.

Extravehicular Activity and Planetary Protection

NASA Technical Reports Server (NTRS)

Buffington, J. A.; Mary, N. A.

2015-01-01

The first human mission to Mars will be the farthest distance that humans have traveled from Earth and the first human boots on Martian soil in the Exploration EVA Suit. The primary functions of the Exploration EVA Suit are to provide a habitable, anthropometric, pressurized environment for up to eight hours that allows crewmembers to perform autonomous and robotically assisted extravehicular exploration, science/research, construction, servicing, and repair operations on the exterior of the vehicle, in hazardous external conditions of the Mars local environment. The Exploration EVA Suit has the capability to structurally interface with exploration vehicles via next generation ingress/egress systems. Operational concepts and requirements are dependent on the mission profile, surface assets, and the Mars environment. This paper will discuss the effects and dependencies of the EVA system design with the local Mars environment and Planetary Protection. Of the three study areas listed for the workshop, EVA identifies most strongly with technology and operations for contamination control.

Spatial Coverage Planning for a Planetary Rover

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Chouinard, Caroline

2008-01-01

We are developing onboard planning and execution technologies to support the exploration and characterization of geological features by autonomous rovers. In order to generate high quality mission plans, an autonomous rover must reason about the relative importance of the observations it can perform. In this paper we look at the scientific criteria of selecting observations that improve the quality of the area covered by samples. Our approach makes use of a priori information, if available, and allows scientists to mark sub-regions of the area with relative priorities for exploration. We use an efficient algorithm for prioritizing observations based on spatial coverage that allows the system to update observation rankings as new information is gained during execution.

Identification of cryovolcanism on Titan using fuzzy cognitive maps

NASA Astrophysics Data System (ADS)

Furfaro, Roberto; Kargel, Jeffrey S.; Lunine, Jonathan I.; Fink, Wolfgang; Bishop, Michael P.

2010-04-01

Future planetary exploration of Titan will require higher degrees of on-board automation, including autonomous determination of sites where the probability of significant scientific findings is the highest. In this paper, a novel Artificial Intelligence (AI) method for the identification and interpretation of sites that yield the highest potential of cryovolcanic activity is presented. We introduce the theory of fuzzy cognitive maps (FCM) as a tool for the analysis of remotely collected data in planetary exploration. A cognitive model embedded in a fuzzy logic framework is constructed via the synergistic interaction of planetary scientists and AI experts. As an application example, we show how FCM can be employed to solve the challenging problem of recognizing cryovolcanism from Synthetic Aperture Radar (SAR) Cassini data. The fuzzy cognitive map is constructed using what is currently known about cryovolcanism on Titan and relies on geological mapping performed by planetary scientists to interpret different locales as cryovolcanic in nature. The system is not conceived to replace the human scientific interpretation, but to enhance the scientists' ability to deal with large amounts of data, and it is a first step in designing AI systems that will be able, in the future, to autonomously make decisions in situations where human analysis and interpretation is not readily available or could not be sufficiently timely. The proposed FCM is tested on Cassini radar data to show the effectiveness of the system in reaching conclusions put forward by human experts and published in the literature. Four tests are performed using the Ta SAR image (October 2004 fly-by). Two regions (i.e. Ganesa Macula and the lobate high backscattering region East of Ganesa) are interpreted by the designed FCM as exhibiting cryovolcanism in agreement with the initial interpretation of the regions by Stofan et al. (2006). Importantly, the proposed FCM is shown to be flexible and adaptive as new data and knowledge are acquired during the course of exploration. Subsequently, the FCM has been modified to include topographic information derived from SAR stereo data. With this additional information, the map concludes that Ganesa Macula is not a cryovolcanic region. In conclusion, the FCM methodology is shown to be a critical and powerful component of future autonomous robotic spacecraft (e.g., orbiter(s), balloon(s), surface/lake lander(s), rover(s)) that will be deployed for the exploration of Titan.

The ground vehicle manager's associate

NASA Technical Reports Server (NTRS)

Edwards, Gary R.; Burnard, Robert H.; Bewley, William L.; Bullock, Bruce L.

1994-01-01

An overview of MAX, a software framework for manager's associate systems, is presented. MAX is used to develop and execute a problem-solving strategy for the task planning of semi-autonomous agents with the assistance of human performance. This paper describes the use of MAX in the supervisory management of robotic vehicles as they explore a planetary surface.

An Architecture for Autonomous Rovers on Future Planetary Missions

NASA Astrophysics Data System (ADS)

Ocon, J.; Avilés, M.; Graziano, M.

2018-04-01

This paper proposes an architecture for autonomous planetary rovers. This architecture combines a set of characteristics required in this type of system: high level of abstraction, reactive event-based activity execution, and automous navigation.

An advanced terrain modeler for an autonomous planetary rover

NASA Technical Reports Server (NTRS)

Hunter, E. L.

1980-01-01

A roving vehicle capable of autonomously exploring the surface of an alien world is under development and an advanced terrain modeler to characterize the possible paths of the rover as hazardous or safe is presented. This advanced terrain modeler has several improvements over the Troiani modeler that include: a crosspath analysis, better determination of hazards on slopes, and methods for dealing with missing returns at the extremities of the sensor field. The results from a package of programs to simulate the roving vehicle are then examined and compared to results from the Troiani modeler.

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Program Manager for Centennial Challenges Sam Ortega help show a young visitor how to drive a rover as part of the interactive NASA Mars rover exhibit during the Worcester Polytechnic Institute (WPI) "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The NASA-WPI challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-16

NASA Deputy Administrator Lori Garver and NASA Chief Technologist Mason Peck stop to look at the bronze statue of the goat mascot for Worcester Polytechnic Institute (WPI) named "Gompei" that is wearing a staff t-shirt for the "TouchTomorrow" education and outreach event that was held in tandem with the NASA-WPI Sample Return Robot Centennial Challenge on Saturday, June 16, 2012 in Worcester, Mass. The challenge tasked robotic teams to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Sample Return Robot Centennial Challenge

NASA Image and Video Library

2012-06-15

SpacePRIDE Team members Chris Williamson, right, and Rob Moore, second from right, answer questions from 8th grade Sullivan Middle School (Mass.) students about their robot on Friday, June 15, 2012 at the Worcester Polytechnic Institute (WPI) in Worcester, Mass. SpacePRIDE's robot team will compete for a $1.5 million NASA prize in the NASA-WPI Sample Return Robot Centennial Challenge at WPI. Teams have been challenged to build autonomous robots that can identify, collect and return samples. NASA needs autonomous robotic capability for future planetary exploration. Photo Credit: (NASA/Bill Ingalls)

Autonomous Rendezvous and Docking Conference, volume 2

NASA Technical Reports Server (NTRS)

1990-01-01

Autonomous Rendezvous and Docking (ARD) will be a requirement for future space programs. Clear examples include satellite servicing, repair, recovery, and reboost in the near term, and the longer range lunar and planetary exploration programs. ARD will permit more aggressive unmanned space activities, while providing a valuable operational capability for manned missions. The purpose of the conference is to identify the technologies required for an on-orbit demonstration of ARD, assess the maturity of those technologies, and provide the necessary insight for a quality assessment of programmatic management, technical, schedule, and cost risks.

Mission-directed path planning for planetary rover exploration

NASA Astrophysics Data System (ADS)

Tompkins, Paul

2005-07-01

Robotic rovers uniquely benefit planetary exploration---they enable regional exploration with the precision of in-situ measurements, a combination impossible from an orbiting spacecraft or fixed lander. Mission planning for planetary rover exploration currently utilizes sophisticated software for activity planning and scheduling, but simplified path planning and execution approaches tailored for localized operations to individual targets. This approach is insufficient for the investigation of multiple, regionally distributed targets in a single command cycle. Path planning tailored for this task must consider the impact of large scale terrain on power, speed and regional access; the effect of route timing on resource availability; the limitations of finite resource capacity and other operational constraints on vehicle range and timing; and the mutual influence between traverses and upstream and downstream stationary activities. Encapsulating this reasoning in an efficient autonomous planner would allow a rover to continue operating rationally despite significant deviations from an initial plan. This research presents mission-directed path planning that enables an autonomous, strategic reasoning capability for robotic explorers. Planning operates in a space of position, time and energy. Unlike previous hierarchical approaches, it treats these dimensions simultaneously to enable globally-optimal solutions. The approach calls on a near incremental search algorithm designed for planning and re-planning under global constraints, in spaces of higher than two dimensions. Solutions under this method specify routes that avoid terrain obstacles, optimize the collection and use of rechargable energy, satisfy local and global mission constraints, and account for the time and energy of interleaved mission activities. Furthermore, the approach efficiently re-plans in response to updates in vehicle state and world models, and is well suited to online operation aboard a robot. Simulations exhibit that the new methodology succeeds where conventional path planners would fail. Three planetary-relevant field experiments demonstrate the power of mission-directed path planning in directing actual exploration robots. Offline mission-directed planning sustained a solar-powered rover in a 24-hour sun-synchronous traverse. Online planning and re-planning enabled full navigational autonomy of over 1 kilometer, and supported the execution of science activities distributed over hundreds of meters.

Autonomous Surface Sample Acquisition for Planetary and Lunar Exploration

NASA Astrophysics Data System (ADS)

Barnes, D. P.

2007-08-01

Surface science sample acquisition is a critical activity within any planetary and lunar exploration mission, and our research is focused upon the design, implementation, experimentation and demonstration of an onboard autonomous surface sample acquisition capability for a rover equipped with a robotic arm upon which are mounted appropriate science instruments. Images captured by a rover stereo camera system can be processed using shape from stereo methods and a digital elevation model (DEM) generated. We have developed a terrain feature identification algorithm that can determine autonomously from DEM data suitable regions for instrument placement and/or surface sample acquisition. Once identified, surface normal data can be generated autonomously which are then used to calculate an arm trajectory for instrument placement and sample acquisition. Once an instrument placement and sample acquisition trajectory has been calculated, a collision detection algorithm is required to ensure the safe operation of the arm during sample acquisition.We have developed a novel adaptive 'bounding spheres' approach to this problem. Once potential science targets have been identified, and these are within the reach of the arm and will not cause any undesired collision, then the 'cost' of executing the sample acquisition activity is required. Such information which includes power expenditure and duration can be used to select the 'best' target from a set of potential targets. We have developed a science sample acquisition resource requirements calculation that utilises differential inverse kinematics methods to yield a high fidelity result, thus improving upon simple 1st order approximations. To test our algorithms a new Planetary Analogue Terrain (PAT) Laboratory has been created that has a terrain region composed of Mars Soil Simulant-D from DLR Germany, and rocks that have been fully characterised in the laboratory. These have been donated by the UK Planetary Analogue Field Study network, and constitute the science targets for our autonomous sample acquisition work. Our PAT Lab. terrain has been designed to support our new rover chassis which is based upon the ExoMars rover Concept-E mechanics which were investigated during the ESA ExoMars Phase A study. The rover has 6 wheel drives, 6 wheels steering, and a 6 wheel walking capability. Mounted on the rover chassis is the UWA robotic arm and mast. We have designed and built a PanCam system complete with a computer controlled pan and tilt mechanism. The UWA PanCam is based upon the ExoMars PanCam (Phase A study) and hence supports two Wide Angle Cameras (WAC - 64 degree FOV), and a High Resolution Camera (HRC - 5 degree FOV). WAC separation is 500 mm. Software has been developed to capture images which form the data input into our on-board autonomous surface sample acquisition algorithms.

Analysis of the acceptance of autonomous planetary science data collection by field of inquiry

NASA Astrophysics Data System (ADS)

Straub, Jeremy

2015-06-01

The acceptance of autonomous control technologies in planetary science has met significant resistance. Many within this scientific community question the efficacy of autonomous technologies for making decisions regarding what data to collect, how to process it and its processing. These technologies, however, can be used to significantly increase the scientific return on mission investment by removing limitations imposed by communications bandwidth constraints and communications and human decision making delays. A fully autonomous mission, in an ideal case, could be deployed, perform most of the substantive work itself (possibly relying on human assistance for dealing with any unexpected or unexplained occurrences) and return an answer to a scientific question along with data selected to allow scientists to validate software performance. This paper presents the results of a survey of planetary scientists which attempts to identify the root causes of the impediments to the use of this type of technology and identify pathways to its acceptance. Previous work considered planetary science as a single large community. This paper contrasts the differences in acceptance between component fields of planetary science.

Autonomous control of roving vehicles for unmanned exploration of the planets

NASA Technical Reports Server (NTRS)

Yerazunis, S. W.

1978-01-01

The guidance of an autonomous rover for unmanned planetary exploration using a short range (0.5 - 3.0 meter) hazard detection system was studied. Experimental data derived from a one laser/one detector system were used in the development of improved algorithms for the guidance of the rover. The new algorithms which account for the dynamic characteristics of the Rensselaer rover can be applied to other rover concepts provided that the rover dynamic parameters are modified appropriately. The new algorithms will also be applicable to the advanced scanning system. The design of an elevation scanning laser/multisensor hazard detection system was completed. All mechanical and electronic hardware components with the exception of the sensor optics and electronic components were constructed and tested.

Advanced Autonomous Systems for Space Operations

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Muscettola, N.; Barrett, A.; Mjolssness, E.; Clancy, D. J.

2002-01-01

New missions of exploration and space operations will require unprecedented levels of autonomy to successfully accomplish their objectives. Inherently high levels of complexity, cost, and communication distances will preclude the degree of human involvement common to current and previous space flight missions. With exponentially increasing capabilities of computer hardware and software, including networks and communication systems, a new balance of work is being developed between humans and machines. This new balance holds the promise of not only meeting the greatly increased space exploration requirements, but simultaneously dramatically reducing the design, development, test, and operating costs. New information technologies, which take advantage of knowledge-based software, model-based reasoning, and high performance computer systems, will enable the development of a new generation of design and development tools, schedulers, and vehicle and system health management capabilities. Such tools will provide a degree of machine intelligence and associated autonomy that has previously been unavailable. These capabilities are critical to the future of advanced space operations, since the science and operational requirements specified by such missions, as well as the budgetary constraints will limit the current practice of monitoring and controlling missions by a standing army of ground-based controllers. System autonomy capabilities have made great strides in recent years, for both ground and space flight applications. Autonomous systems have flown on advanced spacecraft, providing new levels of spacecraft capability and mission safety. Such on-board systems operate by utilizing model-based reasoning that provides the capability to work from high-level mission goals, while deriving the detailed system commands internally, rather than having to have such commands transmitted from Earth. This enables missions of such complexity and communication` distances as are not otherwise possible, as well as many more efficient and low cost applications. In addition, utilizing component and system modeling and reasoning capabilities, autonomous systems will play an increasing role in ground operations for space missions, where they will both reduce the human workload as well as provide greater levels of monitoring and system safety. This paper will focus specifically on new and innovative software for remote, autonomous, space systems flight operations. Topics to be presented will include a brief description of key autonomous control concepts, the Remote Agent program that commanded the Deep Space 1 spacecraft to new levels of system autonomy, recent advances in distributed autonomous system capabilities, and concepts for autonomous vehicle health management systems. A brief description of teaming spacecraft and rovers for complex exploration missions will also be provided. New on-board software for autonomous science data acquisition for planetary exploration will be described, as well as advanced systems for safe planetary landings. A new multi-agent architecture that addresses some of the challenges of autonomous systems will be presented. Autonomous operation of ground systems will also be considered, including software for autonomous in-situ propellant production and management, and closed- loop ecological life support systems (CELSS). Finally, plans and directions for the future will be discussed.

Data acquisition and path selection decision making for an autonomous roving vehicle

NASA Technical Reports Server (NTRS)

Frederick, D. K.; Shen, C. N.; Yerazunis, S. W.

1976-01-01

Problems related to the guidance of an autonomous rover for unmanned planetary exploration were investigated. Topics included in these studies were: simulation on an interactive graphics computer system of the Rapid Estimation Technique for detection of discrete obstacles; incorporation of a simultaneous Bayesian estimate of states and inputs in the Rapid Estimation Scheme; development of methods for estimating actual laser rangefinder errors and their application to date provided by Jet Propulsion Laboratory; and modification of a path selection system simulation computer code for evaluation of a hazard detection system based on laser rangefinder data.

Astrobiological benefits of human space exploration.

PubMed

Crawford, Ian A

2010-01-01

An ambitious program of human space exploration, such as that envisaged in the Global Exploration Strategy and considered in the Augustine Commission report, will help advance the core aims of astrobiology in multiple ways. In particular, a human exploration program will confer significant benefits in the following areas: (i) the exploitation of the lunar geological record to elucidate conditions on early Earth; (ii) the detailed study of near-Earth objects for clues relating to the formation of the Solar System; (iii) the search for evidence of past or present life on Mars; (iv) the provision of a heavy-lift launch capacity that will facilitate exploration of the outer Solar System; and (v) the construction and maintenance of sophisticated space-based astronomical tools for the study of extrasolar planetary systems. In all these areas a human presence in space, and especially on planetary surfaces, will yield a net scientific benefit over what can plausibly be achieved by autonomous robotic systems. A number of policy implications follow from these conclusions, which are also briefly considered.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Mobile Robot for Exploring Cold Liquid/Solid Environments

NASA Technical Reports Server (NTRS)

Bergh, Charles; Zimmerman, Wayne

2006-01-01

The Planetary Autonomous Amphibious Robotic Vehicle (PAARV), now at the prototype stage of development, was originally intended for use in acquiring and analyzing samples of solid, liquid, and gaseous materials in cold environments on the shores and surfaces, and at shallow depths below the surfaces, of lakes and oceans on remote planets. The PAARV also could be adapted for use on Earth in similar exploration of cold environments in and near Arctic and Antarctic oceans and glacial and sub-glacial lakes.

Intelligent robots for planetary exploration and construction

NASA Technical Reports Server (NTRS)

Albus, James S.

1992-01-01

Robots capable of practical applications in planetary exploration and construction will require realtime sensory-interactive goal-directed control systems. A reference model architecture based on the NIST Real-time Control System (RCS) for real-time intelligent control systems is suggested. RCS partitions the control problem into four basic elements: behavior generation (or task decomposition), world modeling, sensory processing, and value judgment. It clusters these elements into computational nodes that have responsibility for specific subsystems, and arranges these nodes in hierarchical layers such that each layer has characteristic functionality and timing. Planetary exploration robots should have mobility systems that can safely maneuver over rough surfaces at high speeds. Walking machines and wheeled vehicles with dynamic suspensions are candidates. The technology of sensing and sensory processing has progressed to the point where real-time autonomous path planning and obstacle avoidance behavior is feasible. Map-based navigation systems will support long-range mobility goals and plans. Planetary construction robots must have high strength-to-weight ratios for lifting and positioning tools and materials in six degrees-of-freedom over large working volumes. A new generation of cable-suspended Stewart platform devices and inflatable structures are suggested for lifting and positioning materials and structures, as well as for excavation, grading, and manipulating a variety of tools and construction machinery.

Perception, planning, and control for walking on rugged terrain

NASA Technical Reports Server (NTRS)

Simmons, Reid; Krotkov, Eric

1991-01-01

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Bioinspired engineering of exploration systems for NASA and DoD

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Chahl, Javaan; Srinivasan, M. V.; Young, L.; Werblin, Frank; Hine, Butler; Zornetzer, Steven

2002-01-01

A new approach called bioinspired engineering of exploration systems (BEES) and its value for solving pressing NASA and DoD needs are described. Insects (for example honeybees and dragonflies) cope remarkably well with their world, despite possessing a brain containing less than 0.01% as many neurons as the human brain. Although most insects have immobile eyes with fixed focus optics and lack stereo vision, they use a number of ingenious, computationally simple strategies for perceiving their world in three dimensions and navigating successfully within it. We are distilling selected insect-inspired strategies to obtain novel solutions for navigation, hazard avoidance, altitude hold, stable flight, terrain following, and gentle deployment of payload. Such functionality provides potential solutions for future autonomous robotic space and planetary explorers. A BEES approach to developing lightweight low-power autonomous flight systems should be useful for flight control of such biomorphic flyers for both NASA and DoD needs. Recent biological studies of mammalian retinas confirm that representations of multiple features of the visual world are systematically parsed and processed in parallel. Features are mapped to a stack of cellular strata within the retina. Each of these representations can be efficiently modeled in semiconductor cellular nonlinear network (CNN) chips. We describe recent breakthroughs in exploring the feasibility of the unique blending of insect strategies of navigation with mammalian visual search, pattern recognition, and image understanding into hybrid biomorphic flyers for future planetary and terrestrial applications. We describe a few future mission scenarios for Mars exploration, uniquely enabled by these newly developed biomorphic flyers.

Autonomous Agents and Intelligent Assistants for Exploration Operations

NASA Technical Reports Server (NTRS)

Malin, Jane T.

2000-01-01

Human exploration of space will involve remote autonomous crew and systems in long missions. Data to earth will be delayed and limited. Earth control centers will not receive continuous real-time telemetry data, and there will be communication round trips of up to one hour. There will be reduced human monitoring on the planet and earth. When crews are present on the planet, they will be occupied with other activities, and system management will be a low priority task. Earth control centers will use multi-tasking "night shift" and on-call specialists. A new project at Johnson Space Center is developing software to support teamwork between distributed human and software agents in future interplanetary work environments. The Engineering and Mission Operations Directorates at Johnson Space Center (JSC) are combining laboratories and expertise to carry out this project, by establishing a testbed for hWl1an centered design, development and evaluation of intelligent autonomous and assistant systems. Intelligent autonomous systems for managing systems on planetary bases will commuicate their knowledge to support distributed multi-agent mixed-initiative operations. Intelligent assistant agents will respond to events by developing briefings and responses according to instructions from human agents on earth and in space.

Robotic astrobiology - prospects for enhancing scientific productivity of mars rover missions

NASA Astrophysics Data System (ADS)

Ellery, A. A.

2018-07-01

Robotic astrobiology involves the remote projection of intelligent capabilities to planetary missions in the search for life, preferably with human-level intelligence. Planetary rovers would be true human surrogates capable of sophisticated decision-making to enhance their scientific productivity. We explore several key aspects of this capability: (i) visual texture analysis of rocks to enable their geological classification and so, astrobiological potential; (ii) serendipitous target acquisition whilst on the move; (iii) continuous extraction of regolith properties, including water ice whilst on the move; and (iv) deep learning-capable Bayesian net expert systems. Individually, these capabilities will provide enhanced scientific return for astrobiology missions, but together, they will provide full autonomous science capability.

Robotic Technology Development at Ames: The Intelligent Robotics Group and Surface Telerobotics

NASA Technical Reports Server (NTRS)

Bualat, Maria; Fong, Terrence

2013-01-01

Future human missions to the Moon, Mars, and other destinations offer many new opportunities for exploration. But, astronaut time will always be limited and some work will not be feasible for humans to do manually. Robots, however, can complement human explorers, performing work autonomously or under remote supervision from Earth. Since 2004, the Intelligent Robotics Group has been working to make human-robot interaction efficient and effective for space exploration. A central focus of our research has been to develop and field test robots that benefit human exploration. Our approach is inspired by lessons learned from the Mars Exploration Rovers, as well as human spaceflight programs, including Apollo, the Space Shuttle, and the International Space Station. We conduct applied research in computer vision, geospatial data systems, human-robot interaction, planetary mapping and robot software. In planning for future exploration missions, architecture and study teams have made numerous assumptions about how crew can be telepresent on a planetary surface by remotely operating surface robots from space (i.e. from a flight vehicle or deep space habitat). These assumptions include estimates of technology maturity, existing technology gaps, and likely operational and functional risks. These assumptions, however, are not grounded by actual experimental data. Moreover, no crew-controlled surface telerobotic system has yet been fully tested, or rigorously validated, through flight testing. During Summer 2013, we conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover across short time delays. The tests simulated portions of a proposed human-robotic Lunar Waypoint mission, in which astronauts in lunar orbit remotely operate a planetary rover on the lunar Farside to deploy a radio telescope array. We used these tests to obtain baseline-engineering data.

Planetary exploration through year 2000: An augmented program. Part two of a report by the Solar System Exploration Committee of the NASA Advisory Council

NASA Technical Reports Server (NTRS)

1986-01-01

In 1982, the NASA Solar System Exploration Committee (SSEC) published a report on a Core Program of planetary missions, representing the minimum-level program that could be carried out in a cost effective manner, and would yield a continuing return of basic scientific results. This is the second part of the SSEC report, describing missions of the highest scientific merit that lie outside the scope of the previously recommended Core Program because of their cost and technical challenge. These missions include the autonomous operation of a mobile scientific rover on the surface of Mars, the automated collection and return of samples from that planet, the return to Earth of samples from asteroids and comets, projects needed to lay the groundwork for the eventual utilization of near-Earth resources, outer planet missions, observation programs for extra-solar planets, and technological developments essential to make these missions possible.

Proceedings of the 8th Annual Summer Conference: NASA/USRA Advanced Design Program

NASA Technical Reports Server (NTRS)

1992-01-01

Papers presented at the 8th Annual Summer Conference are categorized as Space Projects and Aeronautics projects. Topics covered include: Systematic Propulsion Optimization Tools (SPOT), Assured Crew Return Vehicle Post Landing Configuration Design and Test, Autonomous Support for Microorganism Research in Space, Bioregenerative System Components for Microgravity, The Extended Mission Rover (EMR), Planetary Surface Exploration MESUR/Autonomous Lunar Rover, Automation of Closed Environments in Space for Human Comfort and Safety, Walking Robot Design, Extraterrestrial Surface Propulsion Systems, The Design of Four Hypersonic Reconnaissance Aircraft, Design of a Refueling Tanker Delivering Liquid Hydrogen, The Design of a Long-Range Megatransport Aircraft, and Solar Powered Multipurpose Remotely Powered Aircraft.

Control technique for planetary rover

NASA Technical Reports Server (NTRS)

Nakatani, Ichiro; Kubota, Takashi; Adachi, Tadashi; Saitou, Hiroaki; Okamoto, Sinya

1994-01-01

Beginning next century, several schemes for sending a planetary rover to the moon or Mars are being planned. As part of the development program, autonomous navigation technology is being studied to allow the rover the ability to move autonomously over a long range of unknown planetary surface. In the previous study, we ran the autonomous navigation experiment on an outdoor test terrain by using a rover test-bed that was controlled by a conventional sense-plan-act method. In some cases during the experiment, a problem occurred with the rover moving into untraversable areas. To improve this situation, a new control technique has been developed that gives the rover the ability of reacting to the outputs of the proximity sensors, a reaction behavior if you will. We have developed a new rover test-bed system on which an autonomous navigation experiment was performed using the newly developed control technique. In this outdoor experiment, the new control technique effectively produced the control command for the rover to avoid obstacles and be guided to the goal point safely.

Robust Agent Control of an Autonomous Robot with Many Sensors and Actuators

DTIC Science & Technology

1993-05-01

Overview 22 3.1 Issues of Controller Design ........................ 22 3.2 Robot Behavior Control Philosophy .................. 23 3.3 Overview of the... designed and built by our lab as an 9 Figure 1.1- Hannibal. 10 experimental platform to explore planetary micro-rover control issues (Angle 1991). When... designing the robot, careful consideration was given to mobility, sensing, and robustness issues. Much has been said concerning the advan- tages of

Unsupervised feature learning for autonomous rock image classification

NASA Astrophysics Data System (ADS)

Shu, Lei; McIsaac, Kenneth; Osinski, Gordon R.; Francis, Raymond

2017-09-01

Autonomous rock image classification can enhance the capability of robots for geological detection and enlarge the scientific returns, both in investigation on Earth and planetary surface exploration on Mars. Since rock textural images are usually inhomogeneous and manually hand-crafting features is not always reliable, we propose an unsupervised feature learning method to autonomously learn the feature representation for rock images. In our tests, rock image classification using the learned features shows that the learned features can outperform manually selected features. Self-taught learning is also proposed to learn the feature representation from a large database of unlabelled rock images of mixed class. The learned features can then be used repeatedly for classification of any subclass. This takes advantage of the large dataset of unlabelled rock images and learns a general feature representation for many kinds of rocks. We show experimental results supporting the feasibility of self-taught learning on rock images.

Monitoring Floods with NASA's ST6 Autonomous Sciencecraft Experiment: Implications on Planetary Exploration

NASA Technical Reports Server (NTRS)

Ip, Felipe; Dohm, J. M.; Baker, V. R.; Castano, B.; Chien, S.; Cichy, B.; Davies, A. G.; Doggett, T.; Greeley, R.; Sherwood, R.

2005-01-01

NASA's New Millennium Program (NMP) Autonomous Sciencecraft Experiment (ASE) [1-3] has been successfully demonstrated in Earth-orbit. NASA has identified the development of an autonomously operating spacecraft as a necessity for an expanded program of missions exploring the Solar System. The versatile ASE spacecraft command and control, image formation, and science processing software was uploaded to the Earth Observer 1 (EO-1) spacecraft in early 2004 and has been undergoing onboard testing since May 2004 for the near real-time detection of surface modification related to transient geological and hydrological processes such as volcanism [4], ice formation and retreat [5], and flooding [6]. Space autonomy technology developed as part of ASE creates the new capability to autonomously detect, assess, react to, and monitor dynamic events such as flooding. Part of the challenge has been the difficulty to observe flooding in real time at sufficient temporal resolutions; more importantly, it is the large spatial extent of most drainage networks coupled with the size of the data sets necessary to be downlinked from satellites that make it difficult to monitor flooding from space. Below is a description of the algorithms (referred to as ASE Flood water Classifiers) used in tandem with the Hyperion spectrometer instrument on EO-1 to identify flooding and some of the test results.

Analysis and design of a capsule landing system and surface vehicle control system for Mars exploration

NASA Technical Reports Server (NTRS)

Gisser, D. G.; Frederick, D. K.; Lashmet, P. K.; Sandor, G. N.; Shen, C. N.; Yerazunis, S. Y.

1975-01-01

Problems related to an unmanned exploration of the planet Mars by means of an autonomous roving planetary vehicle are investigated. These problems include: design, construction and evaluation of the vehicle itself and its control and operating systems. More specifically, vehicle configuration, dynamics, control, propulsion, hazard detection systems, terrain sensing and modelling, obstacle detection concepts, path selection, decision-making systems, and chemical analyses of samples are studied. Emphasis is placed on development of a vehicle capable of gathering specimens and data for an Augmented Viking Mission or to provide the basis for a Sample Return Mission.

A Lab-on-Chip Design for Miniature Autonomous Bio-Chemoprospecting Planetary Rovers

NASA Astrophysics Data System (ADS)

Santoli, S.

The performance of the so-called ` Lab-on-Chip ' devices, featuring micrometre size components and employed at present for carrying out in a very fast and economic way the extremely high number of sequence determinations required in genomic analyses, can be largely improved as to further size reduction, decrease of power consumption and reaction efficiency through development of nanofluidics and of nano-to-micro inte- grated systems. As is shown, such new technologies would lead to robotic, fully autonomous, microwatt consumption and complete ` laboratory on a chip ' units for accurate, fast and cost-effective astrobiological and planetary exploration missions. The theory and the manufacturing technologies for the ` active chip ' of a miniature bio/chemoprospecting planetary rover working on micro- and nanofluidics are investigated. The chip would include micro- and nanoreactors, integrated MEMS (MicroElectroMechanical System) components, nanoelectronics and an intracavity nanolaser for highly accurate and fast chemical analysis as an application of such recently introduced solid state devices. Nano-reactors would be able to strongly speed up reaction kinetics as a result of increased frequency of reactive collisions. The reaction dynamics may also be altered with respect to standard macroscopic reactors. A built-in miniature telemetering unit would connect a network of other similar rovers and a central, ground-based or orbiting control unit for data collection and transmission to an Earth-based unit through a powerful antenna. The development of the ` Lab-on-Chip ' concept for space applications would affect the economy of space exploration missions, as the rover's ` Lab-on-Chip ' development would link space missions with the ever growing terrestrial market and business concerning such devices, largely employed in modern genomics and bioinformatics, so that it would allow the recoupment of space mission costs.

Thermal and range fusion for a planetary rover

NASA Technical Reports Server (NTRS)

Caillas, Claude

1992-01-01

This paper describes how fusion between thermal and range imaging allows us to discriminate different types of materials in outdoor scenes. First, we analyze how pure vision segmentation algorithms applied to thermal images allow discriminating materials such as rock and sand. Second, we show how combining thermal and range information allows us to better discriminate rocks from sand. Third, as an application, we examine how an autonomous legged robot can use these techniques to explore other planets.

Planetary surface exploration MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Astrophysics Data System (ADS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-06-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

Planetary surface exploration MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Laux, Richard; Lentz, Dale; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars have been designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA/Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental Survey (MESUR) Alpha Particle/Proton/X-ray (APX) Instrument. The system is to be launched with the 16 MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker have been developed to deploy the APX from the lander to the Martian Surface. While on Mars, the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation that NASA can use for future lunar exploratory missions. This report includes a detailed description of the designs and the methods and procedures which the University of Idaho design teams followed to arrive at the final designs.

Planetary surface exploration: MESUR/autonomous lunar rover

NASA Technical Reports Server (NTRS)

Stauffer, Larry; Dilorenzo, Matt; Austin, Dave; Ayers, Raymond; Burton, David; Gaylord, Joe; Kennedy, Jim; Lentz, Dale; Laux, Richard; Nance, Preston

1992-01-01

Planetary surface exploration micro-rovers for collecting data about the Moon and Mars was designed by the Department of Mechanical Engineering at the University of Idaho. The goal of both projects was to design a rover concept that best satisfied the project objectives for NASA-Ames. A second goal was to facilitate student learning about the process of design. The first micro-rover is a deployment mechanism for the Mars Environmental SURvey (MESUR) Alpha Particle/Proton/X-ray instruments (APX). The system is to be launched with the sixteen MESUR landers around the turn of the century. A Tubular Deployment System and a spiked-legged walker was developed to deploy the APX from the lander to the Martian surface. While on Mars the walker is designed to take the APX to rocks to obtain elemental composition data of the surface. The second micro-rover is an autonomous, roving vehicle to transport a sensor package over the surface of the moon. The vehicle must negotiate the lunar-terrain for a minimum of one year by surviving impacts and withstanding the environmental extremes. The rover is a reliable track-driven unit that operates regardless of orientation which NASA can use for future lunar exploratory missions. A detailed description of the designs, methods, and procedures which the University of Idaho design teams followed to arrive at the final designs are included.

ALHAT: Autonomous Landing and Hazard Avoidance Technology

NASA Technical Reports Server (NTRS)

Robertson, Edward A.; Carson, John M., III

2015-01-01

The ALHAT project was chartered by NASA HQ in 2006 to develop and mature to TRL 6 an autonomous lunar landing GN&C and sensing system for crewed, cargo, and robotic planetary landing vehicles. The multi-center ALHAT team was tasked with providing a system capable of identifying and avoiding surface hazards in real time to enable safe precision landing to within tens of meters of a designated planetary landing site under any lighting conditions.

Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Mount, Frances; Carreon, Patricia; Torney, Susan E.

2001-01-01

The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

Advanced Design and Implementation of a Control Architecture for Long Range Autonomous Planetary Rovers

NASA Technical Reports Server (NTRS)

Martin-Alvarez, A.; Hayati, S.; Volpe, R.; Petras, R.

1999-01-01

An advanced design and implementation of a Control Architecture for Long Range Autonomous Planetary Rovers is presented using a hierarchical top-down task decomposition, and the common structure of each design is presented based on feedback control theory. Graphical programming is presented as a common intuitive language for the design when a large design team is composed of managers, architecture designers, engineers, programmers, and maintenance personnel. The whole design of the control architecture consists in the classic control concepts of cyclic data processing and event-driven reaction to achieve all the reasoning and behaviors needed. For this purpose, a commercial graphical tool is presented that includes the mentioned control capabilities. Messages queues are used for inter-communication among control functions, allowing Artificial Intelligence (AI) reasoning techniques based on queue manipulation. Experimental results show a highly autonomous control system running in real time on top the JPL micro-rover Rocky 7 controlling simultaneously several robotic devices. This paper validates the sinergy between Artificial Intelligence and classic control concepts in having in advanced Control Architecture for Long Range Autonomous Planetary Rovers.

Planetary Rover Robotics Experiments in Education: HUSAR-5, the NXT-Based Rover Model for Measuring the Planetary Surface

NASA Astrophysics Data System (ADS)

Lang, Á.; Bérczi, Sz.; Szalay, K.; Prajczer, P.; Kocsis, Á.

2014-11-01

We report about the work of the HUSAR-5 groups from the Széchenyi István Gimnázium High School Sopron, Hungary. We build and program robot-rovers, that can autonomous move and measure on a planetary surface.

Nanotechnology at NASA Ames

NASA Technical Reports Server (NTRS)

Srivastava, Deepak; Meyyappan, Meyya; Yan, Jerry (Technical Monitor)

2000-01-01

Advanced miniaturization, a key thrust area to enable new science and exploration missions, provides ultrasmall sensors, power sources, communication, navigation, and propulsion systems with very low mass, volume, and power consumption. Revolutions in electronics and computing will allow reconfigurable, autonomous, 'thinking' spacecraft. Nanotechnology presents a whole new spectrum of opportunities to build device components and systems for entirely new space architectures: (1) networks of ultrasmall probes on planetary surfaces; (2) micro-rovers that drive, hop, fly, and burrow; and (3) collections of microspacecraft making a variety of measurements.

PRoViScout: a planetary scouting rover demonstrator

NASA Astrophysics Data System (ADS)

Paar, Gerhard; Woods, Mark; Gimkiewicz, Christiane; Labrosse, Frédéric; Medina, Alberto; Tyler, Laurence; Barnes, David P.; Fritz, Gerald; Kapellos, Konstantinos

2012-01-01

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & Vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

Smart Ultrasound Remote Guidance Experiment (SURGE)- Concept of Operations Evaluation for Using Remote Guidance Ultrasound for Planetary Space Flight

NASA Technical Reports Server (NTRS)

Hurst, Victor, IV; Peterson, Sean; Garcia, Kathleen; Sargsyan, Ashot; Ebert, Douglas; Ham, David; Amponsah, David; Dulchavsky, Scott

2010-01-01

Introduction Use of remote guidance (RG) techniques aboard the International Space Station (ISS) has enabled astronauts to collect diagnostic-level ultrasound images. Exploration class missions will require this cohort of (typically) non-formally trained sonographers to operate with greater autonomy given the longer communication delays (2 seconds for ISS vs. >6 seconds for missions beyond the Moon) and communication blackouts. To determine the feasibility and training requirements for autonomous ultrasound image collection by non-expert ultrasound operators, ultrasound images were collected from a similar cohort using three different image collection protocols: RG only, RG with a computer-based learning tool (LT), and autonomous image collection with LT. The groups were assessed for both image quality and time to collect the images. Methods Subjects were randomized into three groups: RG only, RG with LT, and autonomous with LT. Each subject received 10 minutes of standardized training before the experiment. The subjects were tasked with making the following ultrasound assessments: 1) bone fracture and 2) focused assessment with sonography in trauma (FAST) to assess a patient s abdomen. Human factors-related questionnaire data were collected immediately after the assessments. Results The autonomous group did not out-perform the two groups that received RG. The mean time for the autonomous group to collect images was less than the RG groups, however the mean image quality for the autonomous group was less compared to both RG groups. Discussion Remote guidance continues to produce higher quality ultrasound images than autonomous ultrasound operation. This is likely due to near-instant feedback on image quality from the remote guider. Expansion in communication time delays, however, diminishes the capability to provide this feedback, thus requiring more autonomous ultrasound operation. The LT has the potential to be an excellent training and coaching component for autonomous ultrasound image collection during exploration missions.

Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance

NASA Technical Reports Server (NTRS)

Jones, Brandon M.

2005-01-01

Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.

Robot Science Autonomy in the Atacama Desert and Beyond

NASA Technical Reports Server (NTRS)

Thompson, David R.; Wettergreen, David S.

2013-01-01

Science-guided autonomy augments rovers with reasoning to make observations and take actions related to the objectives of scientific exploration. When rovers can directly interpret instrument measurements then scientific goals can inform and adapt ongoing navigation decisions. These autonomous explorers will make better scientific observations and collect massive, accurate datasets. In current astrobiology studies in the Atacama Desert we are applying algorithms for science autonomy to choose effective observations and measurements. Rovers are able to decide when and where to take follow-up actions that deepen scientific understanding. These techniques apply to planetary rovers, which we can illustrate with algorithms now used by Mars rovers and by discussing future missions.

Actions, Observations, and Decision-Making: Biologically Inspired Strategies for Autonomous Aerial Vehicles

NASA Technical Reports Server (NTRS)

Pisanich, Greg; Ippolito, Corey; Plice, Laura; Young, Larry A.; Lau, Benton

2003-01-01

This paper details the development and demonstration of an autonomous aerial vehicle embodying search and find mission planning and execution srrategies inspired by foraging behaviors found in biology. It begins by describing key characteristics required by an aeria! explorer to support science and planetary exploration goals, and illustrates these through a hypothetical mission profile. It next outlines a conceptual bio- inspired search and find autonomy architecture that implements observations, decisions, and actions through an "ecology" of producer, consumer, and decomposer agents. Moving from concepts to development activities, it then presents the results of mission representative UAV aerial surveys at a Mars analog site. It next describes hardware and software enhancements made to a commercial small fixed-wing UAV system, which inc!nde a ncw dpvelopnent architecture that also provides hardware in the loop simulation capability. After presenting the results of simulated and actual flights of bioinspired flight algorithms, it concludes with a discussion of future development to include an expansion of system capabilities and field science support.

Design and test of a simulation system for autonomous optic-navigated planetary landing

NASA Astrophysics Data System (ADS)

Cai, Sheng; Yin, Yanhe; Liu, Yanjun; He, Fengyun

2018-02-01

In this paper, a simulation system based on commercial projector is proposed to test the optical navigation algorithms for autonomous planetary landing in laboratorial scenarios. The design work of optics, mechanics and synchronization control are carried out. Furthermore, the whole simulation system is set up and tested. Through the calibration of the system, two main problems, synchronization between the projector and CCD and pixel-level shifting caused by the low repeatability of DMD used in the projector, are settled. The experimental result shows that the RMS errors of pitch, yaw and roll angles are 0.78', 0.48', and 2.95' compared with the theoretical calculation, which can fulfill the requirement of experimental simulation for planetary landing in laboratory.

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

NASA Technical Reports Server (NTRS)

Felder, Michael; Nesnas, Issa A.; Pivtoraiko, Mihail; Kelly, Alonzo; Volpe, Richard

2011-01-01

Exploring planetary surfaces typically involves traversing challenging and unknown terrain and acquiring in-situ measurements at designated locations using arm-mounted instruments. We present field results for a new implementation of an autonomous capability that enables a rover to traverse and precisely place an arm-mounted instrument on remote targets. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover's mast cameras. The rover then autonomously traverse the rocky terrain for a distance of 10 - 15 m, tracks the target(s) of interest during the traverse, positions itself for approaching the target, and then precisely places an arm-mounted instrument within 2-3 cm from the originally designated target. The rover proceeds to acquire science measurements with the instrument. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight thread-the-needle maneuvers. We integrated these algorithms on the newly refurbished Athena Mars research rover and fielded them in the JPL Mars Yard. We conducted 43 runs with targets at distances ranging from 5 m to 15 m and achieved a success rate of 93% for placement of the instrument within 2-3 cm.

Mars, the Moon, and the Ends of the Earth: Autonomy for Small Reactor Power Systems

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wood, Richard Thomas

2008-01-01

In recent years, the National Aeronautics and Space Administration (NASA) has been considering deep space missions that utilize a small-reactor power system (SRPS) to provide energy for propulsion and spacecraft power. Additionally, application of SRPS modules as a planetary power source is being investigated to enable a continuous human presence for nonpolar lunar sites and on Mars. A SRPS can supply high-sustained power for space and surface applications that is both reliable and mass efficient. The use of small nuclear reactors for deep space or planetary missions presents some unique challenges regarding the operations and control of the power system.more » Current-generation terrestrial nuclear reactors employ varying degrees of human control and decision-making for operations and benefit from periodic human interaction for maintenance. In contrast, the control system of a SRPS employed for deep space missions must be able to accommodate unattended operations due to communications delays and periods of planetary occlusion while adapting to evolving or degraded conditions with no opportunity for repair or refurbishment. While surface power systems for planetary outposts face less extreme delays and periods of isolation and may benefit from limited maintenance capabilities, considerations such as human safety, resource limitations and usage priorities, and economics favor minimizing direct, continuous human interaction with the SRPS for online, dedicated power system management. Thus, a SRPS control system for space or planetary missions must provide capabilities for operational autonomy. For terrestrial reactors, large-scale power plants remain the preferred near-term option for nuclear power generation. However, the desire to reduce reliance on carbon-emitting power sources in developing countries may lead to increased consideration of SRPS modules for local power generation in remote regions that are characterized by emerging, less established infrastructures. Additionally, many Generation IV (Gen IV) reactor concepts have goals for optimizing investment recovery and economic efficiency that promote significant reductions in plant operations and maintenance staff over current-generation nuclear power plants. To accomplish these Gen IV goals and also address the SRPS remote-siting challenges, higher levels of automation, fault tolerance, and advanced diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. Essentially, the SRPS control system for several anticipated terrestrial applications can benefit from the kind of operational autonomy that is necessary for deep space and planetary SRPS-enabled missions. Investigation of the state of the technology for autonomous control confirmed that control systems with varying levels of autonomy have been employed in robotic, transportation, spacecraft, and manufacturing applications. As an example, NASA has pursued autonomy for spacecraft and surface exploration vehicles (e.g., rovers) to reduce mission costs, increase efficiency for communications between ground control and the vehicle, and enable independent operation of the vehicle during times of communications blackout. However, autonomous control has not been implemented for an operating terrestrial nuclear power plant nor has there been any experience beyond automating simple control loops for space reactors. Current automated control technologies for nuclear power plants are reasonably mature, and fully automated control of normal SRPS operations is clearly feasible. However, the space-based and remote terrestrial applications of SRPS modules require autonomous capabilities that can accommodate nonoptimum operations when degradation, failure, and other off-normal events challenge the performance of the reactor while immediate human intervention is not possible. The independent action provided by autonomous control, which is distinct from the more limited self action of automated control, can satisfy these conditions. Key characteristics that distinguish autonomous control include: (1) intelligence to confirm system performance and detect degraded or failed conditions, (2) optimization to minimize stress on SRPS components and efficiently react to operational events without compromising system integrity, (3) robustness to accommodate uncertainties and changing conditions, and (4) flexibility and adaptability to accommodate failures through reconfiguration among available control system elements or adjustment of control system strategies, algorithms, or parameters.« less

Autonomous Soil Assessment System: A Data-Driven Approach to Planetary Mobility Hazard Detection

NASA Astrophysics Data System (ADS)

Raimalwala, K.; Faragalli, M.; Reid, E.

2018-04-01

The Autonomous Soil Assessment System predicts mobility hazards for rovers. Its development and performance are presented, with focus on its data-driven models, machine learning algorithms, and real-time sensor data fusion for predictive analytics.

Space-Time and Architecture

NASA Astrophysics Data System (ADS)

Field, F.; Goodbun, J.; Watson, V.

Architects have a role to play in interplanetary space that has barely yet been explored. The architectural community is largely unaware of this new territory, for which there is still no agreed method of practice. There is moreover a general confusion, in scientific and related fields, over what architects might actually do there today. Current extra-planetary designs generally fail to explore the dynamic and relational nature of space-time, and often reduce human habitation to a purely functional problem. This is compounded by a crisis over the representation (drawing) of space-time. The present work returns to first principles of architecture in order to realign them with current socio-economic and technological trends surrounding the space industry. What emerges is simultaneously the basis for an ecological space architecture, and the representational strategies necessary to draw it. We explore this approach through a work of design-based research that describes the construction of Ocean; a huge body of water formed by the collision of two asteroids at the Translunar Lagrange Point (L2), that would serve as a site for colonisation, and as a resource to fuel future missions. Ocean is an experimental model for extra-planetary space design and its representation, within the autonomous discipline of architecture.

Adaptive Sensing of Time Series with Application to Remote Exploration

NASA Technical Reports Server (NTRS)

Thompson, David R.; Cabrol, Nathalie A.; Furlong, Michael; Hardgrove, Craig; Low, Bryan K. H.; Moersch, Jeffrey; Wettergreen, David

2013-01-01

We address the problem of adaptive informationoptimal data collection in time series. Here a remote sensor or explorer agent throttles its sampling rate in order to track anomalous events while obeying constraints on time and power. This problem is challenging because the agent has limited visibility -- all collected datapoints lie in the past, but its resource allocation decisions require predicting far into the future. Our solution is to continually fit a Gaussian process model to the latest data and optimize the sampling plan on line to maximize information gain. We compare the performance characteristics of stationary and nonstationary Gaussian process models. We also describe an application based on geologic analysis during planetary rover exploration. Here adaptive sampling can improve coverage of localized anomalies and potentially benefit mission science yield of long autonomous traverses.

Rovers as Geological Helpers for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Stoker, Carol; DeVincenzi, Donald (Technical Monitor)

2000-01-01

Rovers can be used to perform field science on other planetary surfaces and in hostile and dangerous environments on Earth. Rovers are mobility systems for carrying instrumentation to investigate targets of interest and can perform geologic exploration on a distant planet (e.g. Mars) autonomously with periodic command from Earth. For nearby sites (such as the Moon or sites on Earth) rovers can be teleoperated with excellent capabilities. In future human exploration, robotic rovers will assist human explorers as scouts, tool and instrument carriers, and a traverse "buddy". Rovers can be wheeled vehicles, like the Mars Pathfinder Sojourner, or can walk on legs, like the Dante vehicle that was deployed into a volcanic caldera on Mt. Spurr, Alaska. Wheeled rovers can generally traverse slopes as high as 35 degrees, can avoid hazards too big to roll over, and can carry a wide range of instrumentation. More challenging terrain and steeper slopes can be negotiated by walkers. Limitations on rover performance result primarily from the bandwidth and frequency with which data are transmitted, and the accuracy with which the rover can navigate to a new position. Based on communication strategies, power availability, and navigation approach planned or demonstrated for Mars missions to date, rovers on Mars will probably traverse only a few meters per day. Collecting samples, especially if it involves accurate instrument placement, will be a slow process. Using live teleoperation (such as operating a rover on the Moon from Earth) rovers have traversed more than 1 km in an 8 hour period while also performing science operations, and can be moved much faster when the goal is simply to make the distance. I will review the results of field experiments with planetary surface rovers, concentrating on their successful and problematic performance aspects. This paper will be accompanied by a working demonstration of a prototype planetary surface rover.

Very fast motion planning for highly dexterous-articulated robots

NASA Technical Reports Server (NTRS)

Challou, Daniel J.; Gini, Maria; Kumar, Vipin

1994-01-01

Due to the inherent danger of space exploration, the need for greater use of teleoperated and autonomous robotic systems in space-based applications has long been apparent. Autonomous and semi-autonomous robotic devices have been proposed for carrying out routine functions associated with scientific experiments aboard the shuttle and space station. Finally, research into the use of such devices for planetary exploration continues. To accomplish their assigned tasks, all such autonomous and semi-autonomous devices will require the ability to move themselves through space without hitting themselves or the objects which surround them. In space it is important to execute the necessary motions correctly when they are first attempted because repositioning is expensive in terms of both time and resources (e.g., fuel). Finally, such devices will have to function in a variety of different environments. Given these constraints, a means for fast motion planning to insure the correct movement of robotic devices would be ideal. Unfortunately, motion planning algorithms are rarely used in practice because of their computational complexity. Fast methods have been developed for detecting imminent collisions, but the more general problem of motion planning remains computationally intractable. However, in this paper we show how the use of multicomputers and appropriate parallel algorithms can substantially reduce the time required to synthesize paths for dexterous articulated robots with a large number of joints. We have developed a parallel formulation of the Randomized Path Planner proposed by Barraquand and Latombe. We have shown that our parallel formulation is capable of formulating plans in a few seconds or less on various parallel architectures including: the nCUBE2 multicomputer with up to 1024 processors (nCUBE2 is a registered trademark of the nCUBE corporation), and a network of workstations.

Video guidance, landing, and imaging systems

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Knickerbocker, R. L.; Tietz, J. C.; Grant, C.; Rice, R. B.; Moog, R. D.

1975-01-01

The adaptive potential of video guidance technology for earth orbital and interplanetary missions was explored. The application of video acquisition, pointing, tracking, and navigation technology was considered to three primary missions: planetary landing, earth resources satellite, and spacecraft rendezvous and docking. It was found that an imaging system can be mechanized to provide a spacecraft or satellite with a considerable amount of adaptability with respect to its environment. It also provides a level of autonomy essential to many future missions and enhances their data gathering ability. The feasibility of an autonomous video guidance system capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was successfully demonstrated in the laboratory. The techniques developed for acquisition, pointing, and tracking show promise for recognizing and tracking coastlines, rivers, and other constituents of interest. Routines were written and checked for rendezvous, docking, and station-keeping functions.

Human-Robot Control Strategies for the NASA/DARPA Robonaut

NASA Technical Reports Server (NTRS)

Diftler, M. A.; Culbert, Chris J.; Ambrose, Robert O.; Huber, E.; Bluethmann, W. J.

2003-01-01

The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

Adjustable Autonomy Testbed

NASA Technical Reports Server (NTRS)

Malin, Jane T.; Schrenkenghost, Debra K.

2001-01-01

The Adjustable Autonomy Testbed (AAT) is a simulation-based testbed located in the Intelligent Systems Laboratory in the Automation, Robotics and Simulation Division at NASA Johnson Space Center. The purpose of the testbed is to support evaluation and validation of prototypes of adjustable autonomous agent software for control and fault management for complex systems. The AA T project has developed prototype adjustable autonomous agent software and human interfaces for cooperative fault management. This software builds on current autonomous agent technology by altering the architecture, components and interfaces for effective teamwork between autonomous systems and human experts. Autonomous agents include a planner, flexible executive, low level control and deductive model-based fault isolation. Adjustable autonomy is intended to increase the flexibility and effectiveness of fault management with an autonomous system. The test domain for this work is control of advanced life support systems for habitats for planetary exploration. The CONFIG hybrid discrete event simulation environment provides flexible and dynamically reconfigurable models of the behavior of components and fluids in the life support systems. Both discrete event and continuous (discrete time) simulation are supported, and flows and pressures are computed globally. This provides fast dynamic simulations of interacting hardware systems in closed loops that can be reconfigured during operations scenarios, producing complex cascading effects of operations and failures. Current object-oriented model libraries support modeling of fluid systems, and models have been developed of physico-chemical and biological subsystems for processing advanced life support gases. In FY01, water recovery system models will be developed.

A science-based executive for autonomous planetary vehicles

NASA Technical Reports Server (NTRS)

Peters, S.

2001-01-01

If requests for scientific observations, rather than specific plans, are uplinked to an autonomous execution system on the vehicle, it would be able to adjust its execution based upon actual performance. Such a science-based executive control system had been developed and demonstrated for the Rocky7 research rover.

Active vision in satellite scene analysis

NASA Technical Reports Server (NTRS)

Naillon, Martine

1994-01-01

In earth observation or planetary exploration it is necessary to have more and, more autonomous systems, able to adapt to unpredictable situations. This imposes the use, in artificial systems, of new concepts in cognition, based on the fact that perception should not be separated from recognition and decision making levels. This means that low level signal processing (perception level) should interact with symbolic and high level processing (decision level). This paper is going to describe the new concept of active vision, implemented in Distributed Artificial Intelligence by Dassault Aviation following a 'structuralist' principle. An application to spatial image interpretation is given, oriented toward flexible robotics.

New developments in ground probing radar for Earth resource mapping and planetology

NASA Astrophysics Data System (ADS)

Cattermole, P. J.; Junkin, G.; Finkelstein, M. I.; Kingsley, S. P.

1992-07-01

Ground probing radar is a well established technique for locating buried objects and has found application in resource mapping. The development of this technology for the Mars exploration programme has lead to lightweight systems with potential applications for investigating shallow geological structures on Earth, Mars and Venus. Recent advances in ground probing radar technology for planetary exploration include the development of single-antenna systems with improved beam focussing into the ground and a move to lower frequencies which considerably extends the depth penetration in dry ground. These systems are designed for mobility and could form the basis of autonomous mapping systems for terrestrial exploration. Such systems would be particularly valuable for water resource surveying in arid and semi-arid regions, where there is a need to have lightweight instrumentation that can be moved into sometimes inhospitable terrain.

Learning for Autonomous Navigation

NASA Technical Reports Server (NTRS)

Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric

2005-01-01

Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

The ISECG* Global Exploration Roadmap as Context for Robotic and Human Exploration Operations

NASA Technical Reports Server (NTRS)

Lupisella, Mark

2015-01-01

The International Space Exploration Coordination Group (ISECG) Global Exploration Roadmap (GER) provides a broad international context for understanding how robotic missions and robotic assets can enable future human exploration of multiple destinations. This presentation will provide a brief high-level review of the GER with a focus on key robotic missions and robotic assets that can provide enabling technology advancements and that also raise interesting operational challenges in both the near-term and long-term. The GER presently features a variety of robotic missions and robotic assets that can provide important technology advancements as well as operational challenges and improvements, in areas ranging from: (a) leveraging the International Space Station, (b) planetary science robotic missions to potential human destinations, (c) micro-g body proximity operations (e.g. asteroids), (d) autonomous operations, (e) high and low-latency telerobotics, (f) human assisted sample return, and (g) contamination control. This presentation will highlight operational and technology challenges in these areas that have feed forward implications for human exploration.

Using ANTS to explore small body populations in the solar system.

NASA Astrophysics Data System (ADS)

Clark, P. E.; Rilee, M.; Truszkowski, W.; Curtis, S.; Marr, G.; Chapman, C.

2001-11-01

ANTS (Autonomous Nano-Technology Swarm), a NASA advanced mission concept, is a large (100 to 1000 member) swarm of pico-class (1 kg) totally autonomous spacecraft that prospect the asteroid belt. Little data is available for asteroids because the vast majority are too small to be observed except in close proximity. Light curves are available for thousands of asteroids, confirmed trajectories for tens of thousands, detailed shape models for approximately ten. Asteroids originated in the transitional region between the inner (rocky) and outer (solidified gases) solar system. Many have remained largely unmodified since formation, and thus have more primitive composition than planetary surfaces. Determination of the systematic distribution of physical and compositional properties within the asteroid population is crucial in the understanding of solar system formation. The traditional exploration approach of using few, large spacecraft for sequential exploration, could be improved. Our far more cost-effective approach utilizes distributed intelligence in a swarm of tiny highly maneuverable spacecraft, each with specialized instrument capability (e.g., advanced computing, imaging, spectrometry). NASA is at the forefront of Intelligent Software Agents (ISAs) research, performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. The advanced development under consideration here is in the use of ISAs at a strategic level, to explore remote frontiers of the solar system, potentially involving a large class of objects such as asteroids. Supervised clusters of spacecraft operate simultaneously within a broadly defined framework of goals to select targets (> 1000) from among available candidates while developing scenarios for studying targets. Swarm members use solar sails to fly directly to asteroids > 1 kilometer in diameter, and then perform maneuvers appropriate for the instrument carried, ranging from hovering to orbiting. Selected members return with data and are replaced as needed.

Autonomous navigation and mobility for a planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Mishkin, Andrew H.; Lambert, Kenneth E.; Bickler, Donald; Bernard, Douglas E.

1989-01-01

This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.

Planetary Cartography and Mapping: where we are Today, and where we are Heading For?

NASA Astrophysics Data System (ADS)

Naß, A.; Di, K.; Elgner, S.; van Gasselt, S.; Hare, T.; Hargitai, H.; Karachevtseva, I.; Kersten, E.; Manaud, N.; Roatsch, T.; Rossi, A. P.; Skinner, J., Jr.; Wählisch, M.

2017-07-01

Planetary Cartography does not only provides the basis to support planning (e.g., landing-site selection, orbital observations, traverse planning) and to facilitate mission conduct during the lifetime of a mission (e.g., observation tracking and hazard avoidance). It also provides the means to create science products after successful termination of a planetary mission by distilling data into maps. After a mission's lifetime, data and higher level products like mosaics and digital terrain models (DTMs) are stored in archives - and eventually into maps and higher-level data products - to form a basis for research and for new scientific and engineering studies. The complexity of such tasks increases with every new dataset that has been put on this stack of information, and in the same way as the complexity of autonomous probes increases, also tools that support these challenges require new levels of sophistication. In planetary science, cartography and mapping have a history dating back to the roots of telescopic space exploration and are now facing new technological and organizational challenges with the rise of new missions, new global initiatives, organizations and opening research markets. The focus of this contribution is to summarize recent activities in Planetary Cartography, highlighting current issues the community is facing to derive the future opportunities in this field. By this we would like to invite cartographers/researchers to join this community and to start thinking about how we can jointly solve some of these challenges.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Simmons, Reid

1992-01-01

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Performance of a six-legged planetary rover - Power, positioning, and autonomous walking

NASA Astrophysics Data System (ADS)

Krotkov, Eric; Simmons, Reid

The authors quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. They present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. They document the accuracy of a novel dead reckoning approach, and analyze the accuracy. They describe the results of autonomous walking experiments in terms of terrain traversed, walking speed, number of instructions executed and endurance.

Extra-terrestrial construction processes - Advancements, opportunities and challenges

NASA Astrophysics Data System (ADS)

Lim, Sungwoo; Prabhu, Vibha Levin; Anand, Mahesh; Taylor, Lawrence A.

2017-10-01

Government space agencies, including NASA and ESA, are conducting preliminary studies on building alternative space-habitat systems for deep-space exploration. Such studies include development of advanced technologies for planetary surface exploration, including an in-depth understanding of the use of local resources. Currently, NASA plans to land humans on Mars in the 2030s. Similarly, other space agencies from Europe (ESA), Canada (CSA), Russia (Roscosmos), India (ISRO), Japan (JAXA) and China (CNSA) have already initiated or announced their plans for launching a series of lunar missions over the next decade, ranging from orbiters, landers and rovers for extended stays on the lunar surface. As the Space Odyssey is one of humanity's oldest dreams, there has been a series of research works for establishing temporary or permanent settlement on other planetary bodies, including the Moon and Mars. This paper reviews current projects developing extra-terrestrial construction, broadly categorised as: (i) ISRU-based construction materials; (ii) fabrication methods; and (iii) construction processes. It also discusses four categories of challenges to developing an appropriate construction process: (i) lunar simulants; (ii) material fabrication and curing; (iii) microwave-sintering based fabrication; and (iv) fully autonomous and scaled-up construction processes.

Identifying mechanical property parameters of planetary soil using in-situ data obtained from exploration rovers

NASA Astrophysics Data System (ADS)

Ding, Liang; Gao, Haibo; Liu, Zhen; Deng, Zongquan; Liu, Guangjun

2015-12-01

Identifying the mechanical property parameters of planetary soil based on terramechanics models using in-situ data obtained from autonomous planetary exploration rovers is both an important scientific goal and essential for control strategy optimization and high-fidelity simulations of rovers. However, identifying all the terrain parameters is a challenging task because of the nonlinear and coupling nature of the involved functions. Three parameter identification methods are presented in this paper to serve different purposes based on an improved terramechanics model that takes into account the effects of slip, wheel lugs, etc. Parameter sensitivity and coupling of the equations are analyzed, and the parameters are grouped according to their sensitivity to the normal force, resistance moment and drawbar pull. An iterative identification method using the original integral model is developed first. In order to realize real-time identification, the model is then simplified by linearizing the normal and shearing stresses to derive decoupled closed-form analytical equations. Each equation contains one or two groups of soil parameters, making step-by-step identification of all the unknowns feasible. Experiments were performed using six different types of single-wheels as well as a four-wheeled rover moving on planetary soil simulant. All the unknown model parameters were identified using the measured data and compared with the values obtained by conventional experiments. It is verified that the proposed iterative identification method provides improved accuracy, making it suitable for scientific studies of soil properties, whereas the step-by-step identification methods based on simplified models require less calculation time, making them more suitable for real-time applications. The models have less than 10% margin of error comparing with the measured results when predicting the interaction forces and moments using the corresponding identified parameters.

The ISIS Mission Concept: An Impactor for Surface and Interior Science

NASA Technical Reports Server (NTRS)

Chesley, Steven R.; Elliot, John O.; Abell, Paul A.; Asphaug, Erik; Bhaskaran, Shyam; Lam, Try; Lauretta, Dante S.

2013-01-01

The Impactor for Surface and Interior Science (ISIS) mission concept is a kinetic asteroid impactor mission to the target of NASA's OSIRIS-REx (Origins-Spectral Interpretation-Resource Identification-Security-Regolith Explorer) asteroid sample return mission. The ISIS mission concept calls for the ISIS spacecraft, an independent and autonomous smart impactor, to guide itself to a hyper-velocity impact with 1999 RQ36 while the OSIRIS-REx spacecraft observes the collision. Later the OSIRIS-REx spacecraft descends to reconnoiter the impact site and measure the momentum imparted to the asteroid through the impact before departing on its journey back to Earth. In this paper we discuss the planetary science, human exploration and impact mitigation drivers for mission, and we describe the current mission concept and flight system design.

Hazard detection and avoidance sensor for NASA's planetary landers

NASA Technical Reports Server (NTRS)

Lau, Brian; Chao, Tien-Hsin

1992-01-01

An optical terrain analysis based sensor system specifically designed for landing hazard detection as required for NASA's autonomous planetary landers is introduced. This optical hazard detection and avoidance (HDA) sensor utilizes an optoelectronic wedge-and-ting (WRD) filter for Fourier transformed feature extraction and an electronic neural network processor for pattern classification. A fully implemented optical HDA sensor would assure safe landing of the planetary landers. Computer simulation results of a successful feasibility study is reported. Future research for hardware system implementation is also provided.

Microchip capillary electrophoresis instrumentation for in situ analysis in the search for extraterrestrial life.

PubMed

Mora, Maria F; Stockton, Amanda M; Willis, Peter A

2012-09-01

The search for signs of life on extraterrestrial planetary bodies is among NASA's top priorities in Solar System exploration. The associated pursuit of organics and biomolecules as evidence of past or present life demands in situ investigations of planetary bodies for which sample return missions are neither practical nor affordable. These in situ studies require instrumentation capable of sensitive chemical analyses of complex mixtures including a broad range of organic molecules. Instrumentation must also be capable of autonomous operation aboard a robotically controlled vehicle that collects data and transmits it back to Earth. Microchip capillary electrophoresis (μCE) coupled to laser-induced fluorescence (LIF) detection provides this required sensitivity and targets a wide range of relevant organics while offering low mass, volume, and power requirements. Thus, this technology would be ideally suited for in situ studies of astrobiology targets, such as Mars, Europa, Enceladus, and Titan. In this review, we introduce the characteristics of these planetary bodies that make them compelling destinations for extraterrestrial astrobiological studies, and the principal groups of organics of interest associated with each. And although the technology we describe here was first developed specifically for proposed studies of Mars, by summarizing its evolution over the past decade, we demonstrate how μCE-LIF instrumentation has become an ideal candidate for missions of exploration to all of these nearby worlds in our Solar System. © 2012 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim.

Flight Testing ALHAT Precision Landing Technologies Integrated Onboard the Morpheus Rocket Vehicle

NASA Technical Reports Server (NTRS)

Carson, John M. III; Robertson, Edward A.; Trawny, Nikolas; Amzajerdian, Farzin

2015-01-01

A suite of prototype sensors, software, and avionics developed within the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) project were terrestrially demonstrated onboard the NASA Morpheus rocket-propelled Vertical Testbed (VTB) in 2014. The sensors included a LIDAR-based Hazard Detection System (HDS), a Navigation Doppler LIDAR (NDL) velocimeter, and a long-range Laser Altimeter (LAlt) that enable autonomous and safe precision landing of robotic or human vehicles on solid solar system bodies under varying terrain lighting conditions. The flight test campaign with the Morpheus vehicle involved a detailed integration and functional verification process, followed by tether testing and six successful free flights, including one night flight. The ALHAT sensor measurements were integrated into a common navigation solution through a specialized ALHAT Navigation filter that was employed in closed-loop flight testing within the Morpheus Guidance, Navigation and Control (GN&C) subsystem. Flight testing on Morpheus utilized ALHAT for safe landing site identification and ranking, followed by precise surface-relative navigation to the selected landing site. The successful autonomous, closed-loop flight demonstrations of the prototype ALHAT system have laid the foundation for the infusion of safe, precision landing capabilities into future planetary exploration missions.

Autonomous operations through onboard artificial intelligence

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2002-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Space Resources Roundtable 2

NASA Technical Reports Server (NTRS)

Ignatiev, A.

2000-01-01

Contents include following: Developing Technologies for Space Resource Utilization - Concept for a Planetary Engineering Research Institute. Results of a Conceptual Systems Analysis of Systems for 200 m Deep Sampling of the Martian Subsurface. The Role of Near-Earth Asteroids in Long-Term Platinum Supply. Core Drilling for Extra-Terrestrial Mining. Recommendations by the "LSP and Manufacturing" Group to the NSF-NASA Workshop on Autonomous Construction and Manufacturing for Space Electrical Power Systems. Plasma Processing of Lunar and Planetary Materials. Percussive Force Magnitude in Permafrost. Summary of the Issues Regarding the Martian Subsurface Explorer. A Costing Strategy for Manufacturing in Orbit Using Extraterrestrial Resources. Mine Planning for Asteroid Orebodies. Organic-based Dissolution of Silicates: A New Approach to Element Extraction from LunarRegohth. Historic Frontier Processes Active in Future Space-based Mineral Extraction. The Near-Earth Space Surveillance (NIESS) Mission: Discovery, Tracking, and Characterization of Asteroids, Comets, and Artificial Satellites with a microsatellite. Privatized Space Resource Property Ownership. The Fabrication of Silicon Solar Cells on the Moon Using In-Situ Resources. A New Strategy for Exploration Technology Development: The Human Exploration and Development of Space (HEDS) Exploratiori/Commercialization Technology Initiative. Space Resources for Space Tourism. Recovery of Volatiles from the Moon and Associated Issues. Preliminary Analysis of a Small Robot for Martian Regolith Excavation. The Registration of Space-based Property. Continuous Processing with Mars Gases. Drilling and Logging in Space; An Oil-Well Perspective. LORPEX for Power Surges: Drilling, Rock Crushing. An End-To-End Near-Earth Asteroid Resource Exploitation Plan. An Engineering and Cost Model for Human Space Settlement Architectures: Focus on Space Hotels and Moon/Mars Exploration. The Development and Realization of a Silicon-60-based Economy in CisLunar Space. Our Lunar Destiny: Creating a Lunar Economy. Cost-Effective Approaches to Lunar Passenger Transportation. Lunar Mineral Resources: Extraction and Application. Space Resources Development - The Link Between Human Exploration and the Long-term Commercialization of Space. Toward a More Comprehensive Evaluation of Space Information. Development of Metal Casting Molds by Sol-Gel Technology Using Planetary Resources. A New Concept in Planetary Exploration: ISRU with Power Bursts. Bold Space Ventures Require Fervent Public Support. Hot-pressed Iron from Lunar Soil. The Lunar Dust Problem: A Possible Remedy. Considerations on Use of Lunar Regolith in Lunar Constructions. Experimental Study on Water Production by Hydrogen Reduction of Lunar Soil Simulant in a Fixed Bed Reactor.

A perception and manipulation system for collecting rock samples

NASA Technical Reports Server (NTRS)

Choi, T.; Delingette, H.; Deluise, M.; Hsin, Y.; Hebert, M.; Ikeuchi, Katsushi

1991-01-01

An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.

Robots for Astrobiology!

NASA Technical Reports Server (NTRS)

Boston, Penelope J.

2016-01-01

The search for life and its study is known as astrobiology. Conducting that search on other planets in our Solar System is a major goal of NASA and other space agencies, and a driving passion of the community of scientists and engineers around the world. We practice for that search in many ways, from exploring and studying extreme environments on Earth, to developing robots to go to other planets and help us look for any possible life that may be there or may have been there in the past. The unique challenges of space exploration make collaborations between robots and humans essential. The products of those collaborations will be novel and driven by the features of wholly new environments. For space and planetary environments that are intolerable for humans or where humans present an unacceptable risk to possible biologically sensitive sites, autonomous robots or telepresence offer excellent choices. The search for life signs on Mars fits within this category, especially in advance of human landed missions there, but also as assistants and tools once humans reach the Red Planet. For planetary destinations where we do not envision humans ever going in person, like bitterly cold icy moons, or ocean worlds with thick ice roofs that essentially make them planetary-sized ice caves, we will rely on robots alone to visit those environments for us and enable us to explore and understand any life that we may find there. Current generation robots are not quite ready for some of the tasks that we need them to do, so there are many opportunities for roboticists of the future to advance novel types of mobility, autonomy, and bio-inspired robotic designs to help us accomplish our astrobiological goals. We see an exciting partnership between robotics and astrobiology continually strengthening as we jointly pursue the quest to find extraterrestrial life.

Human vs autonomous control of planetary roving vehicles

NASA Technical Reports Server (NTRS)

Whitney, W. M.

1974-01-01

Supervisory or semiautonomous control has some compelling advantages over step-by-step human command and verification for the operation of roving vehicles on remote planetary surfaces. There are also disadvantages in relation to the complex system that must be mobilized and the chain of events that must be enacted to conduct a mission. Which of the two control methods is better on technical grounds may not be the deciding factor in its acceptance or rejection. Some of the issues that affect changes in spacecraft design and operation are summarized. To accelerate the movement toward more autonomous machines, it will be necessary to understand and to address the problems that such autonomy will create for other elements of the control system and for the control process.

Autonomous software: Myth or magic?

NASA Astrophysics Data System (ADS)

Allan, A.; Naylor, T.; Saunders, E. S.

2008-03-01

We discuss work by the eSTAR project which demonstrates a fully closed loop autonomous system for the follow up of possible micro-lensing anomalies. Not only are the initial micro-lensing detections followed up in real time, but ongoing events are prioritised and continually monitored, with the returned data being analysed automatically. If the ``smart software'' running the observing campaign detects a planet-like anomaly, further follow-up will be scheduled autonomously and other telescopes and telescope networks alerted to the possible planetary detection. We further discuss the implications of this, and how such projects can be used to build more general autonomous observing and control systems.

KSC-2014-4805

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – NASA Project Morpheus prototype lander is being lifted by crane during preparations for free flight test number 15 at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4799

NASA Image and Video Library

2014-12-10

CAPE CANAVERAL, Fla. – NASA's Project Morpheus prototype lander is being transported to the north end of the Shuttle Landing Facility for free flight test number 15 at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4802

NASA Image and Video Library

2014-12-10

CAPE CANAVERAL, Fla. – Engineers and technicians prepare NASA's Project Morpheus prototype lander for free flight test number 15 on a launch pad at the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4809

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – Engineers and technicians prepare NASA's Project Morpheus prototype lander for free flight test number 15 at the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4804

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – NASA's Project Morpheus prototype lander is prepared for transport to the north end of the Shuttle Landing Facility for free flight test number 15 at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4808

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – Engineers and technicians prepare NASA's Project Morpheus prototype lander for free flight test number 15 at the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4800

NASA Image and Video Library

2014-12-10

CAPE CANAVERAL, Fla. – NASA Project Morpheus prototype lander and support equipment are being transported to the north end of the Shuttle Landing Facility for free flight test number 15 at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

Bioinspired Engineering of Exploration Systems (BEES) - its Impact on Future Missions

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Hine, Butler; Zornetzer, Steve

2004-01-01

This paper describes an overview of our "Bioinspired Engineering of Exploration Systems for Mars" ( "BEES for Mars") project. The BEES approach distills selected biologically inspired strategies utilizing motion cues/optic flow, bioinspired pattern recognition, biological visual and neural control systems, bioinspired sensing and communication techniques, and birds of prey inspired search and track algorithmic systems. Unique capabilities so enabled, provide potential solutions to future autonomous robotic space and planetary mission applications. With the first series of tests performed in September 2003, August 2004 and September 2004, we have demonstrated the BEES technologies at the El Mirage Dry Lakebed site in the Mojave Desert using Delta Wing experimental prototypes. We call these test flyers the "BEES flyer", since we are developing them as dedicated test platform for the newly developed bioinspired sensors, processors and algorithmic strategies. The Delta Wing offers a robust airframe that can sustain high G launches and offers ease of compact stowability and packaging along with scaling to small size and low ReynOld's number performance for a potential Mars deployment. Our approach to developing light weight, low power autonomous flight systems using concepts distilled from biology promises to enable new applications, of dual use to NASA and DoD needs. Small in size (0.5 -5 Kg) BEES Flyers are demonstrating capabilities for autonomous flight and sensor operability in Mars analog conditions. The BEES project team spans JPL, NASA Ames, Australian National University (ANU), Brigham Young University(BYU), DC Berkeiey, Analogic Computers Inc. and other institutions. The highlights from our recent flight demonstrations exhibiting new Mission enabling capabilities are described. Further, this paper describes two classes of potential new missions for Mars exploration: (1) the long range exploration missions, and (2) observation missions, for real time imaging of critical ephemeral phenomena, that can be enabled by use of BEES flyers. For example, such flyers can serve as a powerful black-box for critical descent and landing data and enablers for improved science missions complementing and supplementing the existing assets like landers and rovers by providing valuable exploration and quick extended low-altitude aerial coverage of the sites of interest by imaging them and distributing instruments to them. Imaging done by orbiters allows broad surface coverage at limited spatial resolution. Low altitude air-borne exploration of Mars offers a means for imaging large areas, perhaps up to several hundred kilometers, quickly and efficiently, providing a close-up birds-eye view of the planetary terrain and close-up approach to constrained difficult areas like canyons and craters. A novel approach to low-mass yet highly capable flyers is enabled by small aircraft equipped using sensors and processors and algorithms developed using BEES technology. This project is focused towards showing the direct impact of blending the best of artificial intelligence attributes and bioinspiration to create a leap beyond existing capability for our future Missions.

Construction and Resource Utilization Explorer: Regolith Characterization Using a Modular Instrument Suite and Analysis Tools

NASA Technical Reports Server (NTRS)

Johnson, Jerome B.; Boynton, William V.; Davis, Keil; Elphic, Richard; Glass, Brian; Haldemann, Albert F. C.; Adams, Frederick W.

2005-01-01

The Construction Resource Utilization Explorer (CRUX) is a technology maturation project for the U.S. National Aeronautics and Space Administration to provide enabling technology for lunar and planetary surface operations (LPSO). The CRUX will have 10 instruments, a data handling function (Mapper - with features of data subscription, fusion, interpretation, and publication through geographical information system [GIs] displays), and a decision support system DSS) to provide information needed to plan and conduct LPSO. Six CRUX instruments are associated with an instrumented drill to directly measure regolith properties (thermal, electrical, mechanical, and textural) and to determine the presence of water and other hydrogen sources to a depth of about 2 m (Prospector). CRUX surface and geophysical instruments (Surveyor) are designed to determine the presence of hydrogen, delineate near subsurface properties, stratigraphy, and buried objects over a broad area through the use of neutron and seismic probes, and ground penetrating radar. Techniques to receive data from existing space qualified stereo pair cameras to determine surface topography will also be part of the CRUX. The Mapper will ingest information from CRUX instruments and other lunar and planetary data sources, and provide data handling and display features for DSS output. CRUX operation will be semi-autonomous and near real-time to allow its use for either planning or operations purposes.

The real-time control of planetary rovers through behavior modification

NASA Technical Reports Server (NTRS)

Miller, David P.

1991-01-01

It is not yet clear of what type, and how much, intelligence is needed for a planetary rover to function semi-autonomously on a planetary surface. Current designs assume an advanced AI system that maintains a detailed map of its journeys and the surroundings, and that carefully calculates and tests every move in advance. To achieve these abilities, and because of the limitations of space-qualified electronics, the supporting rover is quite sizable, massing a large fraction of a ton, and requiring technology advances in everything from power to ground operations. An alternative approach is to use a behavior driven control scheme. Recent research has shown that many complex tasks may be achieved by programming a robot with a set of behaviors and activation or deactivating a subset of those behaviors as required by the specific situation in which the robot finds itself. Behavior control requires much less computation than is required by tradition AI planning techniques. The reduced computation requirements allows the entire rover to be scaled down as appropriate (only down-link communications and payload do not scale under these circumstances). The missions that can be handled by the real-time control and operation of a set of small, semi-autonomous, interacting, behavior-controlled planetary rovers are discussed.

Intrepid: Exploring the NEA population with a Fleet of Highly Autonomous SmallSat explorers

NASA Astrophysics Data System (ADS)

Blacksberg, Jordana; Chesley, Steven R.; Ehlmann, Bethany; Raymond, Carol Anne

2017-10-01

The Intrepid mission concept calls for phased deployment of a fleet of small highly autonomous rendezvous spacecraft designed to characterize the evolution, structure and composition of dozens of Near-Earth Asteroids (NEAs). Intrepid represents a marked departure from conventional solar system exploration projects, where a single unique and complex spacecraft is typically directed to explore a single target body. In contrast, Intrepid relies on the deployment of a large number of autonomous spacecraft to provide redundancy and ensure that the project goals are achieved at a small fraction of the cost of typical missions.The Intrepid science goals are threefold: (1) to understand the evolutionary processes that govern asteroid physical, chemical and dynamical histories and relate these results to solar system origins and evolution; (2) to facilitate impactor deflection scenarios for planetary defense by statistically characterizing relevant asteroid physical properties; (3) to quantify the presence and extractability of potentially useful resources on a large sample of asteroids. To achieve these goals, the baseline architecture includes multiple modular instruments including cameras, spectrometers, radar sounders, and projectiles that could interact with the target asteroid. Key questions to be addressed are: what is the total quantity of water in each object? How is the water incorporated? Are organics present? What is the asteroid physical structure? How would the object respond to impact/deflection?We have begun development of a miniature infrared point spectrometer, a cornerstone of the Intrepid payload, covering both shortwave infrared (SWIR) and mid-infrared (MIR) spectral bands. The spectrometer is designed with a compact 2U form-factor, making it both relevant to Intrepid and implementable on a CubeSat. The combination of SWIR and MIR in a single integrated instrument would enable robust compositional interpretations from a single dataset combining both solar reflectance and thermal emission spectroscopy. These measurements would be crucial to determining the quantity and nature of water present.

Planetary cubesats - mission architectures

NASA Astrophysics Data System (ADS)

Bousquet, Pierre W.; Ulamec, Stephan; Jaumann, Ralf; Vane, Gregg; Baker, John; Clark, Pamela; Komarek, Tomas; Lebreton, Jean-Pierre; Yano, Hajime

2016-07-01

Miniaturisation of technologies over the last decade has made cubesats a valid solution for deep space missions. For example, a spectacular set 13 cubesats will be delivered in 2018 to a high lunar orbit within the frame of SLS' first flight, referred to as Exploration Mission-1 (EM-1). Each of them will perform autonomously valuable scientific or technological investigations. Other situations are encountered, such as the auxiliary landers / rovers and autonomous camera that will be carried in 2018 to asteroid 1993 JU3 by JAXA's Hayabusas 2 probe, and will provide complementary scientific return to their mothership. In this case, cubesats depend on a larger spacecraft for deployment and other resources, such as telecommunication relay or propulsion. For both situations, we will describe in this paper how cubesats can be used as remote observatories (such as NEO detection missions), as technology demonstrators, and how they can perform or contribute to all steps in the Deep Space exploration sequence: Measurements during Deep Space cruise, Body Fly-bies, Body Orbiters, Atmospheric probes (Jupiter probe, Venus atmospheric probes, ..), Static Landers, Mobile landers (such as balloons, wheeled rovers, small body rovers, drones, penetrators, floating devices, …), Sample Return. We will elaborate on mission architectures for the most promising concepts where cubesat size devices offer an advantage in terms of affordability, feasibility, and increase of scientific return.

Autonomous Agents on Expedition: Humans and Progenitor Ants and Planetary Exploration

NASA Astrophysics Data System (ADS)

Rilee, M. L.; Clark, P. E.; Curtis, S. A.; Truszkowski, W. F.

2002-01-01

The Autonomous Nano-Technology Swarm (ANTS) is an advanced mission architecture based on a social insect analog of many specialized spacecraft working together to achieve mission goals. The principal mission concept driving the ANTS architecture is a Main Belt Asteroid Survey in the 2020s that will involve a thousand or more nano-technology enabled, artificially intelligent, autonomous pico-spacecraft (< 1 kg). The objective of this survey is to construct a compendium of composition, shape, and other physical parameter observations of a significant fraction of asteroid belt objects. Such an atlas will be of primary scientific importance for the understanding of Solar System origins and evolution and will lay the foundation for future exploration and capitalization of space. As the capabilities enabling ANTS are developed over the next two decades, these capabilities will need to be proven. Natural milestones for this process include the deployment of progenitors to ANTS on human expeditions to space and remote missions with interfaces for human interaction and control. These progenitors can show up in a variety of forms ranging from spacecraft subsystems and advanced handheld sensors, through complete prototypical ANTS spacecraft. A critical capability to be demonstrated is reliable, long-term autonomous operations across the ANTS architecture. High level, mission-oriented behaviors are to be managed by a control / communications layer of the swarm, whereas common low level functions required of all spacecraft, e.g. attitude control and guidance and navigation, are handled autonomically on each spacecraft. At the higher levels of mission planning and social interaction deliberative techniques are to be used. For the asteroid survey, ANTS acts as a large community of cooperative agents while for precursor missions there arises the intriguing possibility of Progenitor ANTS and humans acting together as agents. For optimal efficiency and responsiveness for individual spacecraft at the lowest levels of control we have been studying control methods based on nonlinear dynamical systems. We describe the critically important autonomous control architecture of the ANTS mission concept and a sequence of partial implementations that feature increasingly autonomous behaviors. The scientific and engineering roles that these Progenitor ANTS could play in human missions or remote missions with near real time human interactions, particularly to the Moon and Mars, will be discussed.

Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Restrepo, Carolina I.

2017-01-01

A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

Ambler: Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1995-01-01

In this paper we quantify several performance metrics for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. We present power consumption measures for walking on sandy terrain and for vertical lifts at different velocities. We document the performance of a novel dead-reckoning approach, and analyze its accuracy. We describe the results of autonomous walking experiments in terms of terrain traversed, walking speed and endurance.

Planetary Geology: Goals, Future Directions, and Recommendations

NASA Technical Reports Server (NTRS)

1988-01-01

Planetary exploration has provided a torrent of discoveries and a recognition that planets are not inert objects. This expanded view has led to the notion of comparative planetology, in which the differences and similarities among planetary objects are assessed. Solar system exploration is undergoing a change from an era of reconnaissance to one of intensive exploration and focused study. Analyses of planetary surfaces are playing a key role in this transition, especially as attention is focused on such exploration goals as returned samples from Mars. To assess how the science of planetary geology can best contribute to the goals of solar system exploration, a workshop was held at Arizona State University in January 1987. The participants discussed previous accomplishments of the planetary geology program, assessed the current studies in planetary geology, and considered the requirements to meet near-term and long-term exploration goals.

KSC-2012-3941

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. - Just north of the Kennedy Space Center’s Shuttle Landing Facility, or SLF, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-4008

NASA Image and Video Library

2012-07-16

CAPE CANAVERAL, Fla. –This panoramic view shows a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prot otype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3942

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. - Just north of the Kennedy Space Center’s Shuttle Landing Facility runway, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

Twenty-Fourth Lunar and Planetary Science Conference. Part 2: G-M

NASA Technical Reports Server (NTRS)

1993-01-01

The topics covered include the following: meteorites, meteoritic composition, geochemistry, planetary geology, planetary composition, planetary craters, the Moon, Mars, Venus, asteroids, planetary atmospheres, meteorite craters, space exploration, lunar geology, planetary surfaces, lunar surface, lunar rocks, lunar soil, planetary atmospheres, lunar atmosphere, lunar exploration, space missions, geomorphology, lithology, petrology, petrography, planetary evolution, Earth surface, planetary surfaces, volcanology, volcanos, lava, magma, mineralogy, minerals, ejecta, impact damage, meteoritic damage, tectonics, etc.

KSC-2014-4803

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – Engineers and controllers in a mobile control room prepare for flight number 15 of NASA's Project Morpheus prototype lander at the north end of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4806

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – Engineers and technicians prepare the launch pad for NASA's Project Morpheus prototype lander at the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Morpheus is being prepared for free flight test number 15 at the SLF. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4798

NASA Image and Video Library

2014-12-10

CAPE CANAVERAL, Fla. – NASA's Project Morpheus prototype lander is being transported from a hangar at the Shuttle Landing Facility, or SLF, for free flight test number 15 at the north end of the SLF at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4801

NASA Image and Video Library

2014-12-10

CAPE CANAVERAL, Fla. – NASA's Project Morpheus prototype lander is being lowered by crane onto a launch pad at the north end of the Shuttle Landing Facility in preparation for free flight test number 15 at NASA’s Kennedy Space Center in Florida. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

KSC-2014-4807

NASA Image and Video Library

2014-12-11

CAPE CANAVERAL, Fla. – Engineers and technicians prepare NASA's Project Morpheus prototype lander for free flight test number 15 on a launch pad at the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Morpheus is being lowered by crane onto the launch pad. The lander will take off from the ground over a flame trench and use its autonomous landing and hazard avoidance technology, or ALHAT sensors, to survey the hazard field to determine safe landing sites. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Jim Grossmann

Intelligent Rover Execution for Detecting Life in the Atacama Desert

NASA Technical Reports Server (NTRS)

Baskaran, Vijayakumar; Muscettola, Nicola; Rijsman, David; Plaunt, Chris; Fry, Chuck

2006-01-01

On-board supervisory execution is crucial for the deployment of more capable and autonomous remote explorers. Planetary science is considering robotic explorers operating for long periods of time without ground supervision while interacting with a changing and often hostile environment. Effective and robust operations require on-board supervisory control with a high level of awareness of the principles of functioning of the environment and of the numerous internal subsystems that need to be coordinated. We describe an on-board rover executive that was deployed on a rover as past of the "Limits of Life in the Atacama Desert (LITA)" field campaign sponsored by the NASA ASTEP program. The executive was built using the Intelligent Distributed Execution Architecture (IDEA), an execution framework that uses model-based and plan-based supervisory control of its fundamental computational paradigm. We present the results of the third field experiment conducted in the Atacama desert (Chile) in August - October 2005.

The Design, Planning and Control of Robotic Systems in Space

NASA Technical Reports Server (NTRS)

Dubowsky, Steven

1996-01-01

In the future, robotic systems will be expected to perform important tasks in space, in orbit and in planetary exploration. In orbit, current technology requires that tasks such as the repair, construction and maintenance of space stations and satellites be performed by astronaut Extra Vehicular Activity (EVA). Eliminating the need for astronaut EVA through the use of space manipulators would greatly reduce both mission costs and hazards to astronauts. In planetary exploration, cost and logistical considerations clearly make the use of autonomous and telerobotic systems also very attractive, even in cases where an astronaut explorer might be in the area. However, such applications introduce a number of technical problems not found in conventional earth-bound industrial robots. To design useful and practical systems to meet the needs of future space missions, substantial technical development is required, including in the areas of the design, control and planning. The objectives of this research program were to develop such design paradigms and control and planning algorithms to enable future space robotic systems to meet their proposed mission objectives. The underlying intellectual focus of the program is to construct a set of integrated design, planning and control techniques based on an understanding of the fundamental mechanics of space robotic systems. This work was to build upon the results obtained in our previous research in this area supported by NASA Langley Research Center in which we have made important contributions to the area of space robotics.

Integrated system for single leg walking

NASA Astrophysics Data System (ADS)

Simmons, Reid; Krotkov, Eric; Roston, Gerry

1990-07-01

The Carnegie Mellon University Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. This report describes an integrated software system capable of navigating a single leg of the robot over rugged terrain. The leg, based on an early design of the Ambler Planetary Rover, is suspended below a carriage that slides along rails. To walk, the system creates an elevation map of the terrain from laser scanner images, plans an appropriate foothold based on terrain and geometric constraints, weaves the leg through the terrain to position it above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced obstacles, and sand hills. The implemented system consists of a number of task-specific processes (two for planning, two for perception, one for real-time control) and a central control process that directs the flow of communication between processes.

Ambler - Performance of a six-legged planetary rover

NASA Astrophysics Data System (ADS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-08-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Ambler - Performance of a six-legged planetary rover

NASA Technical Reports Server (NTRS)

Krotkov, E. P.; Simmons, R. G.; Whittaker, W. L.

1992-01-01

In this paper, several performance metrics are quantified for the Ambler, a six-legged robot configured for autonomous traversal of Mars-like terrain. Power consumption measures are presented for walking on sandy terrain and for vertical lifts at different velocities. The performance of a novel dead reckoning approach is documented, and its accuracy is analyzed. The results of autonomous walking experiments are described in terms of terrain traversed, walking speed, and endurance.

Lunar rover technology demonstrations with Dante and Ratler

NASA Technical Reports Server (NTRS)

Krotkov, Eric; Bares, John; Katragadda, Lalitesh; Simmons, Reid; Whittaker, Red

1994-01-01

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.

The IXV experience, from the mission conception to the flight results

NASA Astrophysics Data System (ADS)

Tumino, G.; Mancuso, S.; Gallego, J.-M.; Dussy, S.; Preaud, J.-P.; Di Vita, G.; Brunner, P.

2016-07-01

The atmospheric re-entry domain is a cornerstone of a wide range of space applications, ranging from reusable launcher stages developments, robotic planetary exploration, human space flight, to innovative applications such as reusable research platforms for in orbit validation of multiple space applications technologies. The Intermediate experimental Vehicle (IXV) is an advanced demonstrator which has performed in-flight experimentation of atmospheric re-entry enabling systems and technologies aspects, with significant advancements on Europe's previous flight experiences, consolidating Europe's autonomous position in the strategic field of atmospheric re-entry. The IXV mission objectives were the design, development, manufacturing, assembling and on-ground to in-flight verification of an autonomous European lifting and aerodynamically controlled reentry system, integrating critical re-entry technologies at system level. Among such critical technologies of interest, special attention was paid to aerodynamic and aerothermodynamics experimentation, including advanced instrumentation for aerothermodynamics phenomena investigations, thermal protections and hot-structures, guidance, navigation and flight control through combined jets and aerodynamic surfaces (i.e. flaps), in particular focusing on the technologies integration at system level for flight, successfully performed on February 11th, 2015.

New Concepts and Perspectives on Micro-Rotorcraft and Small Autonomous Rotary-Wing Vehicles

NASA Technical Reports Server (NTRS)

Young, Larry A.; Aiken, E. W.; Johnson, J. L.; Demblewski, R.; Andrews, J.; Aiken, Irwin W. (Technical Monitor)

2001-01-01

A key part of the strategic vision for rotorcraft research as identified by senior technologists within the Army/NASA Rotorcraft Division at NASA Ames Research Center is the development and use of small autonomous rotorcraft. Small autonomous rotorcraft are defined for the purposes of this paper to be a class of vehicles that range in size from rotary-wing micro air vehicles (MAVs) to larger, more conventionally sized, rotorcraft uninhabited aerial vehicles (UAVs) - i.e. vehicle gross weights ranging from hundreds of grams to thousands of kilograms. The development of small autonomous rotorcraft represents both a technology challenge and a potential new vehicle class that will have substantial societal impact for: national security, personal transport, planetary science, and public service.

A study of the selection of microcomputer architectures to automate planetary spacecraft power systems

NASA Technical Reports Server (NTRS)

Nauda, A.

1982-01-01

Performance and reliability models of alternate microcomputer architectures as a methodology for optimizing system design were examined. A methodology for selecting an optimum microcomputer architecture for autonomous operation of planetary spacecraft power systems was developed. Various microcomputer system architectures are analyzed to determine their application to spacecraft power systems. It is suggested that no standardization formula or common set of guidelines exists which provides an optimum configuration for a given set of specifications.

Twenty-Fourth Lunar and Planetary Science Conference. Part 2: G-M

DOE Office of Scientific and Technical Information (OSTI.GOV)

Not Available

1993-01-01

The topics covered include the following: meteorites, meteoritic composition, geochemistry, planetary geology, planetary composition, planetary craters, the Moon, Mars, Venus, asteroids, planetary atmospheres, meteorite craters, space exploration, lunar geology, planetary surfaces, lunar surface, lunar rocks, lunar soil, planetary atmospheres, lunar atmosphere, lunar exploration, space missions, geomorphology, lithology, petrology, petrography, planetary evolution, Earth surface, planetary surfaces, volcanology, volcanos, lava, magma, mineralogy, minerals, ejecta, impact damage, meteoritic damage, tectonics, etc. Separate abstracts have been prepared for articles from this report.

Overview of Innovative Aircraft Power and Propulsion Systems and Their Applications for Planetary Exploration

NASA Technical Reports Server (NTRS)

Colozza, Anthony; Landis, Geoffrey; Lyons, Valerie

2003-01-01

Planetary exploration may be enhanced by the use of aircraft for mobility. This paper reviews the development of aircraft for planetary exploration missions at NASA and reviews the power and propulsion options for planetary aircraft. Several advanced concepts for aircraft exploration, including the use of in situ resources, the possibility of a flexible all-solid-state aircraft, the use of entomopters on Mars, and the possibility of aerostat exploration of Titan, are presented.

Crew-Aided Autonomous Navigation Project

NASA Technical Reports Server (NTRS)

Holt, Greg

2015-01-01

Manual capability to perform star/planet-limb sightings provides a cheap, simple, and robust backup navigation source for exploration missions independent from the ground. Sextant sightings from spacecraft were first exercised in Gemini and flew as the loss-of-communications backup for all Apollo missions. This study seeks to procure and characterize error sources of navigation-grade sextants for feasibility of taking star and planetary limb sightings from inside a spacecraft. A series of similar studies was performed in the early/mid-1960s in preparation for Apollo missions, and one goal of this study is to modernize and update those findings. This technique has the potential to deliver significant risk mitigation, validation, and backup to more complex low-TRL automated systems under development involving cameras.

The autonomous sciencecraft constellations

NASA Technical Reports Server (NTRS)

Sherwood, R. L.; Chien, S.; Castano, R.; Rabideau, G.

2003-01-01

The Autonomous Sciencecraft Experiment (ASE) will fly onboard the Air Force TechSat 21 constellation of three spacecraft scheduled for launch in 2006. ASE uses onboard continuous planning, robust task and goal-based execution, model-based mode identification and reconfiguration, and onboard machine learning and pattern recognition to radically increase science return by enabling intelligent downlink selection and autonomous retargeting. In this paper we discuss how these AI technologies are synergistically integrated in a hybrid multi-layer control architecture to enable a virtual spacecraft science agent. Demonstration of these capabilities in a flight environment will open up tremendous new opportunities in planetary science, space physics, and earth science that would be unreachable without this technology.

Development of an autonomous unmanned aerial system for atmospheric data collection and research

NASA Astrophysics Data System (ADS)

Lee, Andrew; Hanlon, David; Sakai, Ricardo; Morris, Vernon; Demoz, Belay; Gadsden, S. Andrew

2016-05-01

This paper addresses the use of unmanned aerial systems (UAS) to carry out atmospheric data collection and studies. An important area of research is the study of the chemistry and physics of Earth's planetary boundary layer (PBL). The PBL, also known as the atmospheric boundary layer (ABL), is the lowest part of the atmosphere and its behavior is directly influenced by its contact with the planetary surface. Sampling of the PBL is performed in a timely and periodic manner. Currently, sensors and uncontrollable balloons are used to obtain relevant data and information. This method is cumbersome and can be ineffective in obtaining consistent environmental data. This paper proposes the use of autonomous UAS' to study the atmosphere in an effort to improve the efficiency and accuracy of the sampling process. The UAS setup and design is provided, and preliminary data collection information is shared.

Planetary exploration - Earth's new horizon /Twelfth von Karman Lecture/

NASA Technical Reports Server (NTRS)

Schurmeier, H. M.

1975-01-01

Planetary exploration is examined in terms of the interaction of technological growth with scientific progress and the intangibles associated with exploring the unknown. The field is limited to unmanned exploration of the planets and their satellites. A descriptive model of the endeavor, its activities and achievements in the past decade, a characterization of the current state of the art, and a look at some of the planetary mission opportunities for the next decade are presented. A case is made for the value to civilization of ongoing planetary exploration. The pioneering U.S. planetary explorers, Mars, Venus, and Jupiter, are discussed in the second part of the work. Launch velocity, navigation, the remote system, the earth base, and management technology are considered in the third part. Authorized near-term U.S. planetary projects and opportunities of the next decade are described in the last section.

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

NASA Technical Reports Server (NTRS)

Epp, Chirold D.; Robertson, Edward A.; Ruthishauser, David K.

2013-01-01

The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully integrated with the Morpheus Vertical Test Bed Avionics

NASA Technical Reports Server (NTRS)

Rutishauser, David; Epp, Chirold; Robertson, Edward

2013-01-01

The Autonomous Landing Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second Morpheus vehicle.

Exploring the Largest Mass Fraction of the Solar System: the Case for Planetary Interiors

NASA Technical Reports Server (NTRS)

Danielson, L. R.; Draper, D.; Righter, K.; McCubbin, F.; Boyce, J.

2017-01-01

Why explore planetary interiors: The typical image that comes to mind for planetary science is that of a planet surface. And while surface data drive our exploration of evolved geologic processes, it is the interiors of planets that hold the key to planetary origins via accretionary and early differentiation processes. It is that initial setting of the bulk planet composition that sets the stage for all geologic processes that follow. But nearly all of the mass of planets is inaccessible to direct examination, making experimentation an absolute necessity for full planetary exploration.

Planetary Exploration Rebooted! New Ways of Exploring the Moon, Mars and Beyond

NASA Technical Reports Server (NTRS)

Fong, Terrence W.

2010-01-01

In this talk, I will summarize how the NASA Ames Intelligent Robotics Group has been developing and field testing planetary robots for human exploration, creating automated planetary mapping systems, and engaging the public as citizen scientists.

Fuzzy Behavior Modulation with Threshold Activation for Autonomous Vehicle Navigation

NASA Technical Reports Server (NTRS)

Tunstel, Edward

2000-01-01

This paper describes fuzzy logic techniques used in a hierarchical behavior-based architecture for robot navigation. An architectural feature for threshold activation of fuzzy-behaviors is emphasized, which is potentially useful for tuning navigation performance in real world applications. The target application is autonomous local navigation of a small planetary rover. Threshold activation of low-level navigation behaviors is the primary focus. A preliminary assessment of its impact on local navigation performance is provided based on computer simulations.

Planetary Science Training for NASA's Astronauts: Preparing for Future Human Planetary Exploration

NASA Astrophysics Data System (ADS)

Bleacher, J. E.; Evans, C. A.; Graff, T. G.; Young, K. E.; Zeigler, R.

2017-02-01

Astronauts selected in 2017 and in future years will carry out in situ planetary science research during exploration of the solar system. Training to enable this goal is underway and is flexible to accommodate an evolving planetary science vision.

Development of Metal Casting Molds By Sol-Gel Technology Using Planetary Resources

NASA Technical Reports Server (NTRS)

Sibille, L.; Sen, S.; Curreri, P.; Stefanescu, D.

2000-01-01

Metals extracted from planetary soils will eventually need to be casted and shaped in-situ to produce useful products. In response to this challenge, we propose to develop and demonstrate the manufacturing of a specific product using Lunar and Martian soil simulants, i.e. a mold for the casting of metal and alloy parts, which will be an indispensable tool for the survival of outposts on the Moon and Mars. Drawing from our combined knowledge of sol-gel and metal casting technologies, we set out to demonstrate the extraordinary potential of mesoporous materials such as aerogels to serve as efficient casting molds as well as fulfilling numerous other needs of an autonomous planetary outpost.

Introduction of JAXA Lunar and Planetary Exploration Data Analysis Group: Landing Site Analysis for Future Lunar Polar Exploration Missions

NASA Astrophysics Data System (ADS)

Otake, H.; Ohtake, M.; Ishihara, Y.; Masuda, K.; Sato, H.; Inoue, H.; Yamamoto, M.; Hoshino, T.; Wakabayashi, S.; Hashimoto, T.

2018-04-01

JAXA established JAXA Lunar and Planetary Exploration Data Analysis Group (JLPEDA) at 2016. Our group has been analyzing lunar and planetary data for various missions. Here, we introduce one of our activities.

Environmentally Non-Disturbing Under-ice Robotic ANtarctiC Explorer (ENDURANCE)

NASA Astrophysics Data System (ADS)

Doran, P. T.; Stone, W.; Priscu, J.; McKay, C.; Johnson, A.; Chen, B.

2007-12-01

Permanently ice-covered liquid water environments are among the leading candidate sites for finding evidence of extant life elsewhere in our solar system (e.g. on Europa and other Galiean satellites, and possibly in subglacial lakes on Mars). In order to have the proper tools and strategies for exploring the extant ice-covered planetary environments, we are developing an autonomous underwater vehicle (AUV) capable of generating for the first time 3-D biogeochemical datasets in the extreme environment of perennially ice-covered Antarctic dry valley lakes. The ENDURANCE (Environmentally Non-Disturbing Under-ice Robotic ANtarctic Explorer) will map the under-ice lake dimensions of West Lake Bonney in the McMurdo Dry Valleys, and be equipped to measure a comprehensive suite of physical and biogeochemical indices in the water column, as well as Raman Spectrometry of the water column and benthos. The AUV is being specifically designed to minimize impact on the environment it is working in. This is primarily to meet strict Antarctic environmental protocols, but will also be useful for planetary protection and improved science in the future. We will carry out two Antarctic field seasons (in concert with our NSF-funded Long Term Ecological Research) and test two central hypotheses: H1: The low kinetic energy of the system (diffusion dominates the spatial transport of constituents) produces an ecosystem and ecosystem limits that vary significantly in three dimensions. H2: The whole-lake physical and biogeochemical structure remains static from year to year The talk will provide an overview of the ENDURANCE project and an update on the AUV development at the time of presentation.

Revolutionizing Remote Exploration with ANTS

NASA Astrophysics Data System (ADS)

Clark, P. E.; Rilee, M. L.; Curtis, S.; Truszkowski, W.

2002-05-01

We are developing the Autonomous Nano-Technology Swarm (ANTS) architecture based on an insect colony analogue for the cost-effective, efficient, systematic survey of remote or inaccessible areas with multiple object targets, including planetary surface, marine, airborne, and space environments. The mission context is the exploration in the 2020s of the most compelling remaining targets in the solar system: main belt asteroids. Main belt asteroids harbor important clues to Solar System origins and evolution which are central to NASA's goals in Space Science. Asteroids are smaller than planets, but their number is far greater, and their combined surface area likely dwarfs the Earth's. An asteroid survey will dramatically increase our understanding of the local resources available for the Human Exploration and Development of Space. During the mission composition, shape, gravity, and orbit parameters could be returned to Earth for perhaps several thousand asteroids. A survey of this area will rival the great explorations that encircled this globe, opened up the New World, and laid the groundwork for the progress and challenges of the last centuries. The ANTS architecture for a main belt survey consists of a swarm of as many as a thousand or more highly specialized pico-spacecraft that form teams to survey as many as one hundred asteroids a month. Multi-level autonomy is critical for ANTS and the objective of the proposed study is to work through the implications and constraints this entails. ANTS couples biologically inspired autonomic control for basic functions to higher level artificial intelligence that together enable individual spacecraft to operate as specialized, cooperative, social agents. This revolutionary approach postulates highly advanced, but familiar, components integrated and operated in a way that uniquely transcends any evolutionary extrapolation of existing trends and enables thousand-spacecraft missions.

The History of Planetary Exploration Using Mass Spectrometers

NASA Technical Reports Server (NTRS)

Mahaffy, Paul R.

2012-01-01

At the Planetary Probe Workshop Dr. Paul Mahaffy will give a tutorial on the history of planetary exploration using mass spectrometers. He will give an introduction to the problems and solutions that arise in making in situ measurements at planetary targets using this instrument class.

Autonomous planetary rover at Carnegie Mellon

NASA Technical Reports Server (NTRS)

Whittaker, William; Kanade, Takeo; Mitchell, Tom

1990-01-01

This report describes progress in research on an autonomous robot for planetary exploration. In 1989, the year covered by this report, a six-legged walking robot, the Ambler, was configured, designed, and constructed. This configuration was used to overcome shortcomings exhibited by existing wheeled and walking robot mechanisms. The fundamental advantage of the Ambler is that the actuators for body support are independent of those for propulsion; a subset of the planar joints propel the body, and the vertical actuators support and level the body over terrain. Models of the Ambler's dynamics were developed and the leveling control was studied. An integrated system capable of walking with a single leg over rugged terrain was implemented and tested. A prototype of an Ambler leg is suspended below a carriage that slides along rails. To walk, the system uses a laser scanner to find a clear, flat foothold, positions the leg above the foothold, contacts the terrain with the foot, and applies force enough to advance the carriage along the rails. Walking both forward and backward, the system has traversed hundreds of meters of rugged terrain including obstacles too tall to step over, trenches too deep to step in, closely spaced rocks, and sand hills. In addition, preliminary experiments were conducted with concurrent planning and execution, and a leg recovery planner that generates time and power efficient 3D trajectories using 2D search was developed. A Hero robot was used to demonstrate mobile manipulation. Indoor tasks include collecting cups from the lab floor, retrieving printer output, and recharging when its battery gets low. The robot monitors its environment, and handles exceptional conditions in a robust fashion, using vision to track the appearance and disappearance of cups, onboard sonars to detect imminent collisions, and monitors to detect the battery level.

KSC-2012-3954

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the 15,000-foot long Shuttle Landing Facility at the Kennedy Space Center, Fla. At the north end of the runway, to the bottom, is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3943

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s 15,000-foot long Shuttle Landing Facility. On the far left at the end of the runway, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3946

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows a rock and crater-filled planetary scape that has been built at the north end of the Kennedy Space Center’s Shuttle Landing Facility. The site will allow engineers to test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3944

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s Shuttle Landing Facility. At the end of the runway, in the upper right, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3952

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s Shuttle Landing Facility. At the end of the runway, to the right, is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3951

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s Shuttle Landing Facility. At the end of the runway is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3953

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the 15,000-foot long Shuttle Landing Facility at the Kennedy Space Center, Fla. At the north end of the runway, to the right, is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3947

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s Shuttle Landing Facility. At the end of the runway is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3945

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. –This aerial view shows a rock and crater-filled planetary scape that has been built at the north end of the Kennedy Space Center’s Shuttle Landing Facility. The site will allow engineers to test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3950

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the north end of the Kennedy Space Center’s Shuttle Landing Facility. At the end of the runway is a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

International Search for Life in Ocean Worlds

NASA Astrophysics Data System (ADS)

Sherwood, B.

2015-12-01

We now know that our solar system contains diverse "ocean worlds." One has abundant surface water and life; another had significant surface water in the distant past and has drawn significant exploration attention; several contain large amounts of water beneath ice shells; and several others evince unexpected, diverse transient or dynamic water-related processes. In this century, humanity will explore these worlds, searching for life beyond Earth and seeking thereby to understand the limits of habitability. Of our ocean worlds, Enceladus presents a unique combination of attributes: large reservoir of subsurface water already known to contain salts, organics, and silica nanoparticles originating from hydrothermal activity; and able to be sampled via a plume predictably expressed into space. These special circumstances immediately tag Enceladus as a key destination for potential missions to search for evidence of non-Earth life, and lead to a range of potential mission concepts: for orbital reconnaissance; in situ and returned-sample analysis of plume and surface-fallback material; and direct sulcus, vent, cavern, and ocean exploration. Each mission type can address a unique set of science questions, and would require a unique set of capabilities, most of which are not yet developed. Both the questions and the capability developments can be sequenced into a programmatic precedence network, the realization of which requires international cooperation. Three factors make this true: exploring remote oceans autonomously will cost a lot; the Outer Space Treaty governs planetary protection; and discovery of non-Earth life is an epochal human imperative. Results of current planning will be presented in AGU session 8599: how ocean-world science questions and capability requirements can be parsed into programmatically acceptable mission increments; how one mission proposed into the Discovery program in 2015 would take the next step on this path; the Decadal calendar of decision points and program options that will constrain ocean-world exploration through mid-century; and findings of the COSPAR Planetary Protection Panel colloquium for ocean-world exploration held in September 2015.

Advancing Sensor Technology for Aerospace Propulsion

NASA Technical Reports Server (NTRS)

Figueroa, Fernando; Mercer, Carolyn R.

2002-01-01

NASA's Stennis Space Center (SSC) and Glenn Research Center (GRC) participate in the development of technologies for propulsion testing and propulsion applications in air and space transportation. Future transportation systems and the test facilities needed to develop and sustain them are becoming increasingly complex. Sensor technology is a fundamental pillar that makes possible development of complex systems that must operate in automatic mode (closed loop systems), or even in assisted-autonomous mode (highly self-sufficient systems such as planetary exploration spacecraft). Hence, a great deal of effort is dedicated to develop new sensors and related technologies to be used in research facilities, test facilities, and in vehicles and equipment. This paper describes sensor technologies being developed and in use at SSC and GRC, including new technologies in integrated health management involving sensors, components, processes, and vehicles.

Twenty-fourth Lunar and Planetary Science Conference. Part 1: A-F

NASA Technical Reports Server (NTRS)

1993-01-01

The topics covered include the following: petrology, petrography, meteoritic composition, planetary geology, atmospheric composition, astronomical spectroscopy, lunar geology, Mars (planet), Mars composition, Mars surface, volcanology, Mars volcanoes, Mars craters, lunar craters, mineralogy, mineral deposits, lithology, asteroids, impact melts, planetary composition, planetary atmospheres, planetary mapping, cosmic dust, photogeology, stratigraphy, lunar craters, lunar exploration, space exploration, geochronology, tectonics, atmospheric chemistry, astronomical models, and geochemistry.

Autonomous Aerobraking: A Design, Development, and Feasibility Study

NASA Technical Reports Server (NTRS)

Prince, Jill L. H.; Powell, Richard W.; Murri, Dan

2011-01-01

Aerobraking has been used four times to decrease the apoapsis of a spacecraft in a captured orbit around a planetary body with a significant atmosphere utilizing atmospheric drag to decelerate the spacecraft. While aerobraking requires minimum fuel, the long time required for aerobraking requires both a large operations staff, and large Deep Space Network resources. A study to automate aerobraking has been sponsored by the NASA Engineering and Safety Center to determine initial feasibility of equipping a spacecraft with the onboard capability for autonomous aerobraking, thus saving millions of dollars incurred by a large aerobraking operations workforce and continuous DSN coverage. This paper describes the need for autonomous aerobraking, the development of the Autonomous Aerobraking Development Software that includes an ephemeris estimator, an atmospheric density estimator, and maneuver calculation, and the plan forward for continuation of this study.

Autonomous Deep-Space Optical Navigation Project

NASA Technical Reports Server (NTRS)

D'Souza, Christopher

2014-01-01

This project will advance the Autonomous Deep-space navigation capability applied to Autonomous Rendezvous and Docking (AR&D) Guidance, Navigation and Control (GNC) system by testing it on hardware, particularly in a flight processor, with a goal of limited testing in the Integrated Power, Avionics and Software (IPAS) with the ARCM (Asteroid Retrieval Crewed Mission) DRO (Distant Retrograde Orbit) Autonomous Rendezvous and Docking (AR&D) scenario. The technology, which will be harnessed, is called 'optical flow', also known as 'visual odometry'. It is being matured in the automotive and SLAM (Simultaneous Localization and Mapping) applications but has yet to be applied to spacecraft navigation. In light of the tremendous potential of this technique, we believe that NASA needs to design a optical navigation architecture that will use this technique. It is flexible enough to be applicable to navigating around planetary bodies, such as asteroids.

Robotic Precursor Missions for Mars Habitats

NASA Technical Reports Server (NTRS)

Huntsberger, Terry; Pirjanian, Paolo; Schenker, Paul S.; Trebi-Ollennu, Ashitey; Das, Hari; Joshi, Sajay

2000-01-01

Infrastructure support for robotic colonies, manned Mars habitat, and/or robotic exploration of planetary surfaces will need to rely on the field deployment of multiple robust robots. This support includes such tasks as the deployment and servicing of power systems and ISRU generators, construction of beaconed roadways, and the site preparation and deployment of manned habitat modules. The current level of autonomy of planetary rovers such as Sojourner will need to be greatly enhanced for these types of operations. In addition, single robotic platforms will not be capable of complicated construction scenarios. Precursor robotic missions to Mars that involve teams of multiple cooperating robots to accomplish some of these tasks is a cost effective solution to the possible long timeline necessary for the deployment of a manned habitat. Ongoing work at JPL under the Mars Outpost Program in the area of robot colonies is investigating many of the technology developments necessary for such an ambitious undertaking. Some of the issues that are being addressed include behavior-based control systems for multiple cooperating robots (CAMPOUT), development of autonomous robotic systems for the rescue/repair of trapped or disabled robots, and the design and development of robotic platforms for construction tasks such as material transport and surface clearing.

Morpheus: Advancing Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Olansen, Jon B.; Munday, Stephen R.; Mitchell, Jennifer D.; Baine, Michael

2012-01-01

NASA's Morpheus Project has developed and tested a prototype planetary lander capable of vertical takeoff and landing. Designed to serve as a vertical testbed (VTB) for advanced spacecraft technologies, the vehicle provides a platform for bringing technologies from the laboratory into an integrated flight system at relatively low cost. This allows individual technologies to mature into capabilities that can be incorporated into human exploration missions. The Morpheus vehicle is propelled by a LOX/Methane engine and sized to carry a payload of 1100 lb to the lunar surface. In addition to VTB vehicles, the Project s major elements include ground support systems and an operations facility. Initial testing will demonstrate technologies used to perform autonomous hazard avoidance and precision landing on a lunar or other planetary surface. The Morpheus vehicle successfully performed a set of integrated vehicle test flights including hot-fire and tethered hover tests, leading up to un-tethered free-flights. The initial phase of this development and testing campaign is being conducted on-site at the Johnson Space Center (JSC), with the first fully integrated vehicle firing its engine less than one year after project initiation. Designed, developed, manufactured and operated in-house by engineers at JSC, the Morpheus Project represents an unprecedented departure from recent NASA programs that traditionally require longer, more expensive development lifecycles and testing at remote, dedicated testing facilities. Morpheus testing includes three major types of integrated tests. A hot-fire (HF) is a static vehicle test of the LOX/Methane propulsion system. Tether tests (TT) have the vehicle suspended above the ground using a crane, which allows testing of the propulsion and integrated Guidance, Navigation, and Control (GN&C) in hovering flight without the risk of a vehicle departure or crash. Morpheus free-flights (FF) test the complete Morpheus system without the additional safeguards provided during tether. A variety of free-flight trajectories are planned to incrementally build up to a fully functional Morpheus lander capable of flying planetary landing trajectories. In FY12, these tests will culminate with autonomous flights simulating a 1 km lunar approach trajectory, hazard avoidance maneuvers and precision landing in a prepared hazard field at the Kennedy Space Center (KSC). This paper describes Morpheus integrated testing campaign, infrastructure, and facilities, and the payloads being incorporated on the vehicle. The Project s fast pace, rapid prototyping, frequent testing, and lessons learned depart from traditional engineering development at JSC. The Morpheus team employs lean, agile development with a guiding belief that technologies offer promise, but capabilities offer solutions, achievable without astronomical costs and timelines.

User Needs and Advances in Space Wireless Sensing and Communications

NASA Technical Reports Server (NTRS)

Kegege, Obadiah

2017-01-01

Decades of space exploration and technology trends for future missions show the need for new approaches in space/planetary sensor networks, observatories, internetworking, and communications/data delivery to Earth. The User Needs to be discussed in this talk includes interviews with several scientists and reviews of mission concepts for the next generation of sensors, observatories, and planetary surface missions. These observatories, sensors are envisioned to operate in extreme environments, with advanced autonomy, whereby sometimes communication to Earth is intermittent and delayed. These sensor nodes require software defined networking capabilities in order to learn and adapt to the environment, collect science data, internetwork, and communicate. Also, some user cases require the level of intelligence to manage network functions (either as a host), mobility, security, and interface data to the physical radio/optical layer. For instance, on a planetary surface, autonomous sensor nodes would create their own ad-hoc network, with some nodes handling communication capabilities between the wireless sensor networks and orbiting relay satellites. A section of this talk will cover the advances in space communication and internetworking to support future space missions. NASA's Space Communications and Navigation (SCaN) program continues to evolve with the development of optical communication, a new vision of the integrated network architecture with more capabilities, and the adoption of CCSDS space internetworking protocols. Advances in wireless communications hardware and electronics have enabled software defined networking (DVB-S2, VCM, ACM, DTN, Ad hoc, etc.) protocols for improved wireless communication and network management. Developing technologies to fulfil these user needs for wireless communications and adoption of standardized communication/internetworking protocols will be a huge benefit to future planetary missions, space observatories, and manned missions to other planets.

Hardware Design and Testing of SUPERball, A Modular Tensegrity Robot

NASA Technical Reports Server (NTRS)

Sabelhaus, Andrew P.; Bruce, Jonathan; Caluwaerts, Ken; Chen, Yangxin; Lu, Dizhou; Liu, Yuejia; Agogino, Adrian K.; SunSpiral, Vytas; Agogino, Alice M.

2014-01-01

We are developing a system of modular, autonomous "tensegrity end-caps" to enable the rapid exploration of untethered tensegrity robot morphologies and functions. By adopting a self-contained modular approach, different end-caps with various capabilities (such as peak torques, or motor speeds), can be easily combined into new tensegrity robots composed of rods, cables, and actuators of different scale (such as in length, mass, peak loads, etc). As a first step in developing this concept, we are in the process of designing and testing the end-caps for SUPERball (Spherical Underactuated Planetary Exploration Robot), a project at the Dynamic Tensegrity Robotics Lab (DTRL) within NASA Ames's Intelligent Robotics Group. This work discusses the evolving design concepts and test results that have gone into the structural, mechanical, and sensing aspects of SUPERball. This representative tensegrity end-cap design supports robust and repeatable untethered mobility tests of the SUPERball, while providing high force, high displacement actuation, with a low-friction, compliant cabling system.

Planning for rover opportunistic science

NASA Technical Reports Server (NTRS)

Gaines, Daniel M.; Estlin, Tara; Forest, Fisher; Chouinard, Caroline; Castano, Rebecca; Anderson, Robert C.

2004-01-01

The Mars Exploration Rover Spirit recently set a record for the furthest distance traveled in a single sol on Mars. Future planetary exploration missions are expected to use even longer drives to position rovers in areas of high scientific interest. This increase provides the potential for a large rise in the number of new science collection opportunities as the rover traverses the Martian surface. In this paper, we describe the OASIS system, which provides autonomous capabilities for dynamically identifying and pursuing these science opportunities during longrange traverses. OASIS uses machine learning and planning and scheduling techniques to address this goal. Machine learning techniques are applied to analyze data as it is collected and quickly determine new science gods and priorities on these goals. Planning and scheduling techniques are used to alter the behavior of the rover so that new science measurements can be performed while still obeying resource and other mission constraints. We will introduce OASIS and describe how planning and scheduling algorithms support opportunistic science.

Exploration EVA System

NASA Technical Reports Server (NTRS)

Kearney, Lara

2004-01-01

In January 2004, the President announced a new Vision for Space Exploration. NASA's Office of Exploration Systems has identified Extravehicular Activity (EVA) as a critical capability for supporting the Vision for Space Exploration. EVA is required for all phases of the Vision, both in-space and planetary. Supporting the human outside the protective environment of the vehicle or habitat and allow ing him/her to perform efficient and effective work requires an integrated EVA "System of systems." The EVA System includes EVA suits, airlocks, tools and mobility aids, and human rovers. At the core of the EVA System is the highly technical EVA suit, which is comprised mainly of a life support system and a pressure/environmental protection garment. The EVA suit, in essence, is a miniature spacecraft, which combines together many different sub-systems such as life support, power, communications, avionics, robotics, pressure systems and thermal systems, into a single autonomous unit. Development of a new EVA suit requires technology advancements similar to those required in the development of a new space vehicle. A majority of the technologies necessary to develop advanced EVA systems are currently at a low Technology Readiness Level of 1-3. This is particularly true for the long-pole technologies of the life support system.

Planetary Protection Technologies: Technical Challenges for Mars Exploration

NASA Technical Reports Server (NTRS)

Buxbaum, Karen L.

2005-01-01

The search for life in the solar system, using either in situ analysis or sample return, brings with it special technical challenges in the area of planetary protection. Planetary protection (PP) requires planetary explorers to preserve biological and organic conditions for future exploration and to protect the Earth from potential extraterrestrial contamination that could occur as a result of sample return to the Earth-Moon system. In view of the exploration plans before us, the NASA Solar System Exploration Program Roadmap published in May 2003 identified planetary protection as one of 13 technologies for "high priority technology investments." Recent discoveries at Mars and Jupiter, coupled with new policies, have made this planning for planetary protection technology particularly challenging and relevant.New missions to Mars have been formulated, which present significantly greater forward contamination potential. New policies, including the introduction by COSPAR of a Category IVc for planetary protection, have been adopted by COSPAR in response. Some missions may not be feasible without the introduction of new planetary protection technologies. Other missions may be technically possible but planetary protection requirements may be so costly to implement with current technology that they are not affordable. A strategic investment strategy will be needed to focus on technology investments designed to enable future missions and reduce the costs of future missions. This presentation will describe some of the potential technological pathways that may be most protective.

High-autonomy control of space resource processing plants

NASA Technical Reports Server (NTRS)

Schooley, Larry C.; Zeigler, Bernard P.; Cellier, Francois E.; Wang, Fei-Yue

1993-01-01

A highly autonomous intelligent command/control architecture has been developed for planetary surface base industrial process plants and Space Station Freedom experimental facilities. The architecture makes use of a high-level task-oriented mode with supervisory control from one or several remote sites, and integrates advanced network communications concepts and state-of-the-art man/machine interfaces with the most advanced autonomous intelligent control. Attention is given to the full-dynamics model of a Martian oxygen-production plant, event-based/fuzzy-logic process control, and fault management practices.

Using Scaled Visual Texture for Autonomous Rock Clustering

NASA Technical Reports Server (NTRS)

Anderson, R. C.; Castano, R.; Stough, T.; Gor, V.; Mjolsness, E.

2001-01-01

To maximize the return on future planetary missions, it will be critical that rovers have the capability to analyze information onboard and select and return data that is most likely to yield valuable scientific discoveries. Additional information is contained in the original extended abstract.

Planetary science: A lunar perspective

NASA Technical Reports Server (NTRS)

Taylor, S. R.

1982-01-01

An interpretative synthesis of current knowledge on the moon and the terrestrial planets is presented, emphasizing the impact of recent lunar research (using Apollo data and samples) on theories of planetary morphology and evolution. Chapters are included on the exploration of the solar system; geology and stratigraphy; meteorite impacts, craters, and multiring basins; planetary surfaces; planetary crusts; basaltic volcanism; planetary interiors; the chemical composition of the planets; the origin and evolution of the moon and planets; and the significance of lunar and planetary exploration. Photographs, drawings, graphs, tables of quantitative data, and a glossary are provided.

ALI (Autonomous Lunar Investigator): Revolutionary Approach to Exploring the Moon with Addressable Reconfigurable Technology

NASA Astrophysics Data System (ADS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Floyd, S. R.

2005-03-01

Addressable Reconfigurable Technology (ART), conceived for future ANTS (Autonomous Nanotechnology Swarm) Architectures, is now implemented as Autonomous Lunar Investigator (ALI) rovers, a mission concept allowing autonomous exploration of the lunar farside and poles within 10 years.

Autonomous In-Situ Resources Prospector

NASA Technical Reports Server (NTRS)

Dissly, R. W.; Buehler, M. G.; Schaap, M. G.; Nicks, D.; Taylor, G. J.; Castano, R.; Suarez, D.

2004-01-01

This presentation will describe the concept of an autonomous, intelligent, rover-based rapid surveying system to identify and map several key lunar resources to optimize their ISRU (In Situ Resource Utilization) extraction potential. Prior to an extraction phase for any target resource, ground-based surveys are needed to provide confirmation of remote observation, to quantify and map their 3-D distribution, and to locate optimal extraction sites (e.g. ore bodies) with precision to maximize their economic benefit. The system will search for and quantify optimal minerals for oxygen production feedstock, water ice, and high glass-content regolith that can be used for building materials. These are targeted because of their utility and because they are, or are likely to be, variable in quantity over spatial scales accessible to a rover (i.e., few km). Oxygen has benefits for life support systems and as an oxidizer for propellants. Water is a key resource for sustainable exploration, with utility for life support, propellants, and other industrial processes. High glass-content regolith has utility as a feedstock for building materials as it readily sinters upon heating into a cohesive matrix more readily than other regolith materials or crystalline basalts. Lunar glasses are also a potential feedstock for oxygen production, as many are rich in iron and titanium oxides that are optimal for oxygen extraction. To accomplish this task, a system of sensors and decision-making algorithms for an autonomous prospecting rover is described. One set of sensors will be located in the wheel tread of the robotic search vehicle providing contact sensor data on regolith composition. Another set of instruments will be housed on the platform of the rover, including VIS-NIR imagers and spectrometers, both for far-field context and near-field characterization of the regolith in the immediate vicinity of the rover. Also included in the sensor suite are a neutron spectrometer, ground-penetrating radar, and an instrumented cone penetrometer for subsurface assessment. Output from these sensors will be evaluated autonomously in real-time by decision-making software to evaluate if any of the targeted resources has been detected, and if so, to quantify their abundance. Algorithms for optimizing the mapping strategy based on target resource abundance and distribution are also included in the autonomous software. This approach emphasizes on-the-fly survey measurements to enable efficient and rapid prospecting of large areas, which will improve the economics of ISRU system approaches. The mature technology will enable autonomous rovers to create in-situ resource maps of lunar or other planetary surfaces, which will facilitate human and robotic exploration.

Robots and Humans in Planetary Exploration: Working Together?

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.; Lyons, Valerie (Technical Monitor)

2002-01-01

Today's approach to human-robotic cooperation in planetary exploration focuses on using robotic probes as precursors to human exploration. A large portion of current NASA planetary surface exploration is focussed on Mars, and robotic probes are seen as precursors to human exploration in: Learning about operation and mobility on Mars; Learning about the environment of Mars; Mapping the planet and selecting landing sites for human mission; Demonstration of critical technology; Manufacture fuel before human presence, and emplace elements of human-support infrastructure

Spacecraft Thermal Management

NASA Technical Reports Server (NTRS)

Hurlbert, Kathryn Miller

2009-01-01

In the 21st century, the National Aeronautics and Space Administration (NASA), the Russian Federal Space Agency, the National Space Agency of Ukraine, the China National Space Administration, and many other organizations representing spacefaring nations shall continue or newly implement robust space programs. Additionally, business corporations are pursuing commercialization of space for enabling space tourism and capital business ventures. Future space missions are likely to include orbiting satellites, orbiting platforms, space stations, interplanetary vehicles, planetary surface missions, and planetary research probes. Many of these missions will include humans to conduct research for scientific and terrestrial benefits and for space tourism, and this century will therefore establish a permanent human presence beyond Earth s confines. Other missions will not include humans, but will be autonomous (e.g., satellites, robotic exploration), and will also serve to support the goals of exploring space and providing benefits to Earth s populace. This section focuses on thermal management systems for human space exploration, although the guiding principles can be applied to unmanned space vehicles as well. All spacecraft require a thermal management system to maintain a tolerable thermal environment for the spacecraft crew and/or equipment. The requirements for human rating and the specified controlled temperature range (approximately 275 K - 310 K) for crewed spacecraft are unique, and key design criteria stem from overall vehicle and operational/programatic considerations. These criteria include high reliability, low mass, minimal power requirements, low development and operational costs, and high confidence for mission success and safety. This section describes the four major subsystems for crewed spacecraft thermal management systems, and design considerations for each. Additionally, some examples of specialized or advanced thermal system technologies are presented, which may be enabling to future space missions never before attempted like a crewed mission to Mars.

Developing Science Operations Concepts for the Future of Planetary Surface Exploration

NASA Astrophysics Data System (ADS)

Young, K. E.; Bleacher, J. E.; Rogers, A. D.; McAdam, A.; Evans, C. A.; Graff, T. G.; Garry, W. B.; Whelley, P. L.; Scheidt, S.; Carter, L.; Coan, D.; Reagan, M.; Glotch, T.; Lewis, R.

2017-02-01

Human exploration of other planetary bodies is crucial in answering critical science questions about our solar system. As we seek to put humans on other surfaces by 2050, we must understand the science operations concepts needed for planetary EVA.

Bio-inspired Computing for Robots

NASA Technical Reports Server (NTRS)

Laufenberg, Larry

2003-01-01

Living creatures may provide algorithms to enable active sensing/control systems in robots. Active sensing could enable planetary rovers to feel their way in unknown environments. The surface of Jupiter's moon Europa consists of fractured ice over a liquid sea that may contain microbes similar to those on Earth. To explore such extreme environments, NASA needs robots that autonomously survive, navigate, and gather scientific data. They will be too far away for guidance from Earth. They must sense their environment and control their own movements to avoid obstacles or investigate a science opportunity. To meet this challenge, CICT's Information Technology Strategic Research (ITSR) Project is funding neurobiologists at NASA's Jet Propulsion Laboratory (JPL) and selected universities to search for biologically inspired algorithms that enable robust active sensing and control for exploratory robots. Sources for these algorithms are living creatures, including rats and electric fish.

Scaling Up Decision Theoretic Planning to Planetary Rover Problems

NASA Technical Reports Server (NTRS)

Meuleau, Nicolas; Dearden, Richard; Washington, Rich

2004-01-01

Because of communication limits, planetary rovers must operate autonomously during consequent durations. The ability to plan under uncertainty is one of the main components of autonomy. Previous approaches to planning under uncertainty in NASA applications are not able to address the challenges of future missions, because of several apparent limits. On another side, decision theory provides a solid principle framework for reasoning about uncertainty and rewards. Unfortunately, there are several obstacles to a direct application of decision-theoretic techniques to the rover domain. This paper focuses on the issues of structure and concurrency, and continuous state variables. We describes two techniques currently under development that address specifically these issues and allow scaling-up decision theoretic solution techniques to planetary rover planning problems involving a small number of goals.

Development of a Coherent Lidar for Aiding Precision Soft Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierrottet, Diego; Tolson, Robert H.; Powell, Richard W.; Davidson, John B.; Peri, Frank

2005-01-01

Coherent lidar can play a critical role in future planetary exploration missions by providing key guidance, navigation, and control (GNC) data necessary for navigating planetary landers to the pre-selected site and achieving autonomous safe soft-landing. Although the landing accuracy has steadily improved over time to approximately 35 km for the recent Mars Exploration Rovers due to better approach navigation, a drastically different guidance, navigation and control concept is required to meet future mission requirements. For example, future rovers will require better than 6 km landing accuracy for Mars and better than 1 km for the Moon plus maneuvering capability to avoid hazardous terrain features. For this purpose, an all-fiber coherent lidar is being developed to address the call for advancement of entry, descent, and landing technologies. This lidar will be capable of providing precision range to the ground and approach velocity data, and in the case of landing on Mars, it will also measure the atmospheric wind and density. The lidar obtains high resolution range information from a frequency modulated-continuous wave (FM-CW) laser beam whose instantaneous frequency varies linearly with time, and the ground vector velocity is directly extracted from the Doppler frequency shift. Utilizing the high concentration of aerosols in the Mars atmosphere (approx. two order of magnitude higher than the Earth), the lidar can measure wind velocity with a few watts of optical power. Operating in 1.57 micron wavelength regime, the lidar can use the differential absorption (DIAL) technique to measure the average CO2 concentration along the laser beam using, that is directly proportional to the Martian atmospheric density. Employing fiber optics components allows for the lidar multi-functional operation while facilitating a highly efficient, compact and reliable design suitable for integration into a spacecraft with limited mass, size, and power resources.

Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path Planning

NASA Technical Reports Server (NTRS)

Ono, Masahiro; Fuchs, Thoams J.; Steffy, Amanda; Maimone, Mark; Yen, Jeng

2015-01-01

Identifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.

Surface Habitat Systems

NASA Technical Reports Server (NTRS)

Kennedy, Kriss J.

2009-01-01

The Surface Habitat Systems (SHS) Focused Investment Group (FIG) is part of the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) effort to provide a focused direction and funding to the various projects that are working on human surface habitat designs and technologies for the planetary exploration missions. The overall SHS-FIG effort focuses on directing and guiding those projects that: 1) develop and demonstrate new surface habitat system concepts, innovations, and technologies to support human exploration missions, 2) improve environmental systems that interact with human habitats, 3) handle and emplace human surface habitats, and 4) focus on supporting humans living and working in habitats on planetary surfaces. The activity areas of the SHS FIG described herein are focused on the surface habitat project near-term objectives as described in this document. The SHS-FIG effort focuses on mitigating surface habitat risks (as identified by the Lunar Surface Systems Project Office (LSSPO) Surface Habitat Element Team; and concentrates on developing surface habitat technologies as identified in the FY08 gap analysis. The surface habitat gap assessment will be updated annually as the surface architecture and surface habitat definition continues to mature. These technologies are mapped to the SHS-FIG Strategic Development Roadmap. The Roadmap will bring to light the areas where additional innovative efforts are needed to support the development of habitat concepts and designs and the development of new technologies to support of the LSSPO Habitation Element development plan. Three specific areas of development that address Lunar Architecture Team (LAT)-2 and Constellation Architecture Team (CxAT) Lunar habitat design issues or risks will be focused on by the SHS-FIG. The SHS-FIG will establish four areas of development that will help the projects prepare in their planning for surface habitat systems development. Those development areas are the 1) surface habitat concept definition, 2) inflatable surface habitat development, and 3) autonomous habitat operations, and 4) cross-cutting / systems engineering. In subsequent years, the SHS-FIG will solicit a call for innovations and technologies that will support the development of these four development areas. The other development areas will be assessed yearly and identified on the SHS-FIG s Strategic Development Roadmap. Initial investment projects that are funded by the Constellation Program Office (CxPO), LSSPO, or the Exploration Technology Development Projects (ETDP) will also be included on the Roadmap. For example, in one or two years from now, the autonomous habitat operations and testbed would collaborations with the Integrated Systems Health Management (ISHM) and Automation for Operations ETDP projects, which will give the surface habitat projects an integrated habitat autonomy testbed to test software and systems. The SHS-FIG scope is to provide focused direction for multiple innovations, technologies and subsystems that are needed to support humans at a remote planetary surface habitat during the concept development, design definition, and integration phases of that project. Subsystems include: habitability, lightweight structures, power management, communications, autonomy, deployment, outfitting, life support, wireless connectivity, lighting, thermal and more.

MEMS-Based Micro Instruments for In-Situ Planetary Exploration

NASA Technical Reports Server (NTRS)

George, Thomas; Urgiles, Eduardo R; Toda, Risaku; Wilcox, Jaroslava Z.; Douglas, Susanne; Lee, C-S.; Son, Kyung-Ah; Miller, D.; Myung, N.; Madsen, L.;

Virtual reality and planetary exploration

NASA Technical Reports Server (NTRS)

Mcgreevy, Michael W.

1992-01-01

NASA-Ames is intensively developing virtual-reality (VR) capabilities that can extend and augment computer-generated and remote spatial environments. VR is envisioned not only as a basis for improving human/machine interactions involved in planetary exploration, but also as a medium for the more widespread sharing of the experience of exploration, thereby broadening the support-base for the lunar and planetary-exploration endeavors. Imagery representative of Mars are being gathered for VR presentation at such terrestrial sites as Antarctica and Death Valley.

New NASA Technologies for Space Exploration

NASA Technical Reports Server (NTRS)

Calle, Carlos I.

2015-01-01

NASA is developing new technologies to enable planetary exploration. NASA's Space Launch System is an advance vehicle for exploration beyond LEO. Robotic explorers like the Mars Science Laboratory are exploring Mars, making discoveries that will make possible the future human exploration of the planet. In this presentation, we report on technologies being developed at NASA KSC for planetary exploration.

Virtual reality and planetary exploration

NASA Technical Reports Server (NTRS)

Mcgreevy, Michael W.

1992-01-01

Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

Virtual reality and planetary exploration

NASA Astrophysics Data System (ADS)

McGreevy, Michael W.

Exploring planetary environments is central to NASA's missions and goals. A new computing technology called Virtual Reality has much to offer in support of planetary exploration. This technology augments and extends human presence within computer-generated and remote spatial environments. Historically, NASA has been a leader in many of the fundamental concepts and technologies that comprise Virtual Reality. Indeed, Ames Research Center has a central role in the development of this rapidly emerging approach to using computers. This ground breaking work has inspired researchers in academia, industry, and the military. Further, NASA's leadership in this technology has spun off new businesses, has caught the attention of the international business community, and has generated several years of positive international media coverage. In the future, Virtual Reality technology will enable greatly improved human-machine interactions for more productive planetary surface exploration. Perhaps more importantly, Virtual Reality technology will democratize the experience of planetary exploration and thereby broaden understanding of, and support for, this historic enterprise.

Automation and Robotics for space operation and planetary exploration

NASA Technical Reports Server (NTRS)

Montemerlo, Melvin D.

1990-01-01

This paper presents a perspective of Automation and Robotics (A&R) research and developments at NASA in terms of its history, its current status, and its future. It covers artificial intelligence, telerobotics and planetary rovers, and it encompasses ground operations, operations in earth orbit, and planetary exploration.

KSC-2012-3955

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the Shuttle Landing Facility’s air traffic control tower at the Kennedy Space Center in Florida. Just below the tower is the mid-field park site used for runway support vehicles. At the north end of the runway, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3948

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the launch platform for the Project Morpheus lander at the midfield point of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida. At the north end of the runway is a rock and crater-filled planetary scape built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

KSC-2012-3949

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows the launch platform for the Project Morpheus lander at the midfield point of the Shuttle Landing Facility, or SLF, at NASA’s Kennedy Space Center in Florida. At the north end of the runway is a rock and crater-filled planetary scape built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

Asteroid Exploration with Autonomic Systems

NASA Technical Reports Server (NTRS)

Truszkowski, Walt; Rash, James; Rouff, Christopher; Hinchey, Mike

2004-01-01

NASA is studying advanced technologies for a future robotic exploration mission to the asteroid belt. The prospective ANTS (Autonomous Nano Technology Swarm) mission comprises autonomous agents including worker agents (small spacecra3) designed to cooperate in asteroid exploration under the overall authoriq of at least one ruler agent (a larger spacecraft) whose goal is to cause science data to be returned to Earth. The ANTS team (ruler plus workers and messenger agents), but not necessarily any individual on the team, will exhibit behaviors that qualify it as an autonomic system, where an autonomic system is defined as a system that self-reconfigures, self-optimizes, self-heals, and self-protects. Autonomic system concepts lead naturally to realistic, scalable architectures rich in capabilities and behaviors. In-depth consideration of a major mission like ANTS in terms of autonomic systems brings new insights into alternative definitions of autonomic behavior. This paper gives an overview of the ANTS mission and discusses the autonomic properties of the mission.

Twenty-Fourth Lunar and Planetary Science Conference. Part 3: N-Z

NASA Technical Reports Server (NTRS)

1993-01-01

Papers from the conference are presented, and the topics covered include the following: planetary geology, meteorites, planetary composition, meteoritic composition, planetary craters, lunar craters, meteorite craters, petrology, petrography, volcanology, planetary crusts, geochronology, geomorphism, mineralogy, lithology, planetary atmospheres, impact melts, K-T Boundary Layer, volcanoes, planetary evolution, tectonics, planetary mapping, asteroids, comets, lunar soil, lunar rocks, lunar geology, metamorphism, chemical composition, meteorite craters, planetary mantles, and space exploration.

Tier-scalable reconnaissance: the future in autonomous C4ISR systems has arrived: progress towards an outdoor testbed

NASA Astrophysics Data System (ADS)

Fink, Wolfgang; Brooks, Alexander J.-W.; Tarbell, Mark A.; Dohm, James M.

2017-05-01

Autonomous reconnaissance missions are called for in extreme environments, as well as in potentially hazardous (e.g., the theatre, disaster-stricken areas, etc.) or inaccessible operational areas (e.g., planetary surfaces, space). Such future missions will require increasing degrees of operational autonomy, especially when following up on transient events. Operational autonomy encompasses: (1) Automatic characterization of operational areas from different vantages (i.e., spaceborne, airborne, surface, subsurface); (2) automatic sensor deployment and data gathering; (3) automatic feature extraction including anomaly detection and region-of-interest identification; (4) automatic target prediction and prioritization; (5) and subsequent automatic (re-)deployment and navigation of robotic agents. This paper reports on progress towards several aspects of autonomous C4ISR systems, including: Caltech-patented and NASA award-winning multi-tiered mission paradigm, robotic platform development (air, ground, water-based), robotic behavior motifs as the building blocks for autonomous tele-commanding, and autonomous decision making based on a Caltech-patented framework comprising sensor-data-fusion (feature-vectors), anomaly detection (clustering and principal component analysis), and target prioritization (hypothetical probing).

Medicine on Mars: Remote medical care and the space exploration initiative

NASA Technical Reports Server (NTRS)

Simmons, S. C.; Billica, R. D.

1992-01-01

Mars exploration missions as described in the Synthesis Group report will involve extended exposures of crew members to remote, hazardous environments for up to 100 days. Maintenance of crew health and performance will be critical to ensure mission success. Because of the great distances between the Earth and Mars, round trip telecommunication will take from seven to forty minutes and immediate return to Earth will not be feasible: an autonomous medical care system that integrates preventive, occupational, and environmental aspects of health care and provides diagnostic and treatment capabilities will be necessary. Providing medical care for Mars explorers will pose some unique technical and engineering challenges. Medical care equipment will need to be designed to be modular and portable to ensure that it is interchangeable between vehicle and planetary surface elements. Miniaturization will be necessary to reduce mass and volume. Computerized systems that automatically acquire and manage medical information and provide medical references (literature), decision support, and automated medical record keeping will be a crucial part of a Martian medical care system. Medical care will also rely on remote consultation with Earth-based specialists. This presentation will provide an overview of the health and medical concerns associated with Mars exploration missions and will describe some specific concepts for Mars medical care systems.

Conventional vs Biomimetic Approaches to the Exploration of Mars

NASA Astrophysics Data System (ADS)

Ellery, A.

It is not usual to refer to convention in planetary exploration missions by virtue of the innovation required for such projects. The term conventional refers to the methodologies, tools and approaches typically adopted in engineering that are applied to such missions. Presented is a "conventional" Mars rover mission in which the author was involved - ExoMars - into which is interspersed references to examples where biomimetic approaches may yield superior capabilities. Biomimetics is a relatively recently active area of research which seeks to examine how biological systems solve the problem of survival in the natural environment. Biological organisms are autonomous entities that must survive in a hostile world adapting both adaptivity and robustness. It is not then surprising that biomimetics is particularly useful when applied to robotic elements of a Mars exploration mission. I present a number of areas in which biomimetics may yield new solutions to the problem of Mars exploration - optic flow navigation, potential field navigation, genetically-evolved neuro-controllers, legged locomotion, electric motors implementing muscular behaviour, and a biomimetic drill based on the wood wasp ovipositor. Each of these techniques offers an alternative approach to conventional ones. However, the perceptive hurdles are likely to dwarf the technical hurdles in implementing many of these methods in the near future.

Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

2017-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

Onboard Atmospheric Modeling and Prediction for Autonomous Aerobraking Missions

NASA Technical Reports Server (NTRS)

Tolson, Robert H.; Prince, Jill L. H.

2011-01-01

Aerobraking has proven to be an effective means of increasing the science payload for planetary orbiting missions and/or for enabling the use of less expensive launch vehicles. Though aerobraking has numerous benefits, large operations cost have been required to maintain the aerobraking time line without violating aerodynamic heating or other constraints. Two operations functions have been performed on an orbit by orbit basis to estimate atmospheric properties relevant to aerobraking. The Navigation team typically solves for an atmospheric density scale factor using DSN tracking data and the atmospheric modeling team uses telemetric accelerometer data to recover atmospheric density profiles. After some effort, decisions are made about the need for orbit trim maneuvers to adjust periapsis altitude to stay within the aerobraking corridor. Autonomous aerobraking would reduce the need for many ground based tasks. To be successful, atmospheric modeling must be performed on the vehicle in near real time. This paper discusses the issues associated with estimating the planetary atmosphere onboard and evaluates a number of the options for Mars, Venus and Titan aerobraking missions.

Terrain shape estimation from optical flow, using Kalman filtering

NASA Astrophysics Data System (ADS)

Hoff, William A.; Sklair, Cheryl W.

1990-01-01

As one moves through a static environment, the visual world as projected on the retina seems to flow past. This apparent motion, called optical flow, can be an important source of depth perception for autonomous robots. An important application is in planetary exploration -the landing vehicle must find a safe landing site in rugged terrain, and an autonomous rover must be able to navigate safely through this terrain. In this paper, we describe a solution to this problem. Image edge points are tracked between frames of a motion sequence, and the range to the points is calculated from the displacement of the edge points and the known motion of the camera. Kalman filtering is used to incrementally improve the range estimates to those points, and provide an estimate of the uncertainty in each range. Errors in camera motion and image point measurement can also be modelled with Kalman filtering. A surface is then interpolated to these points, providing a complete map from which hazards such as steeply sloping areas can be detected. Using the method of extended Kalman filtering, our approach allows arbitrary camera motion. Preliminary results of an implementation are presented, and show that the resulting range accuracy is on the order of 1-2% of the range.

The Next Generation of Mars-GRAM and Its Role in the Autonomous Aerobraking Development Plan

NASA Technical Reports Server (NTRS)

Justh, Hilary L.; Justus, Carl G.; Ramey, Holly S.

2011-01-01

The Mars Global Reference Atmospheric Model (Mars-GRAM) is an engineering-level atmospheric model widely used for diverse mission applications. Mars-GRAM 2010 is currently being used to develop the onboard atmospheric density estimator that is part of the Autonomous Aerobraking Development Plan. In previous versions, Mars-GRAM was less than realistic when used for sensitivity studies for Thermal Emission Spectrometer (TES) MapYear=0 and large optical depth values, such as tau=3. A comparison analysis has been completed between Mars-GRAM, TES and data from the Planetary Data System (PDS) resulting in updated coefficients for the functions relating density, latitude, and longitude of the sun. The adjustment factors are expressed as a function of height (z), Latitude (Lat) and areocentric solar longitude (Ls). The latest release of Mars-GRAM 2010 includes these adjustment factors that alter the in-put data from MGCM and MTGCM for the Mapping Year 0 (user-controlled dust) case. The greatest adjustment occurs at large optical depths such as tau greater than 1. The addition of the adjustment factors has led to better correspondence to TES Limb data from 0-60 km as well as better agreement with MGS, ODY and MRO data at approximately 90-135 km. Improved simulations utilizing Mars-GRAM 2010 are vital to developing the onboard atmospheric density estimator for the Autonomous Aerobraking Development Plan. Mars-GRAM 2010 was not the only planetary GRAM utilized during phase 1 of this plan; Titan-GRAM and Venus-GRAM were used to generate density data sets for Aerobraking Design Reference Missions. These data sets included altitude profiles (both vertical and along a trajectory), GRAM perturbations (tides, gravity waves, etc.) and provided density and scale height values for analysis by other Autonomous Aero-braking team members.

KSC-2014-2642

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Jon Olansen, Morpheus project manager, speaks to members of the media inside a facility near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Behind Olansen is the Project Morpheus prototype lander. Project Morpheus tests NASA’s autonomous landing and hazard avoidance technology, or ALHAT, sensors and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Frankie Martin

KSC-2014-2641

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Jon Olansen, Morpheus project manager, speaks to members of the media inside a facility near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Behind Olansen is the Project Morpheus prototype lander. Project Morpheus tests NASA’s autonomous landing and hazard avoidance technology, or ALHAT, sensors and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Frankie Martin

KSC-2014-2643

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – Chirold Epp, the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, project manager, speaks to members of the media inside a facility near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Behind Epp is the Project Morpheus prototype lander. Project Morpheus tests NASA’s ALHAT sensors and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Frankie Martin

NASA Ames Sustainability Initiatives: Aeronautics, Space Exploration, and Sustainable Futures

NASA Technical Reports Server (NTRS)

Grymes, Rosalind A.

2015-01-01

In support of the mission-specific challenges of aeronautics and space exploration, NASA Ames produces a wealth of research and technology advancements with significant relevance to larger issues of planetary sustainability. NASA research on NexGen airspace solutions and its development of autonomous and intelligent technologies will revolutionize both the nation's air transporation systems and have applicability to the low altitude flight economy and to both air and ground transporation, more generally. NASA's understanding of the Earth as a complex of integrated systems contributes to humanity's perception of the sustainability of our home planet. Research at NASA Ames on closed environment life support systems produces directly applicable lessons on energy, water, and resource management in ground-based infrastructure. Moreover, every NASA campus is a 'city'; including an urbanscape and a workplace including scientists, human relations specialists, plumbers, engineers, facility managers, construction trades, transportation managers, software developers, leaders, financial planners, technologists, electricians, students, accountants, and even lawyers. NASA is applying the lessons of our mission-related activities to our urbanscapes and infrastructure, and also anticipates a leadership role in developing future environments for living and working in space.

Advanced planetary studies

NASA Technical Reports Server (NTRS)

1982-01-01

Results of planetary advanced studies and planning support provided by Science Applications, Inc. staff members to Earth and Planetary Exploration Division, OSSA/NASA, for the period 1 February 1981 to 30 April 1982 are summarized. The scope of analyses includes cost estimation, planetary missions performance, solar system exploration committee support, Mars program planning, Galilean satellite mission concepts, and advanced propulsion data base. The work covers 80 man-months of research. Study reports and related publications are included in a bibliography section.

On-board autonomous attitude maneuver planning for planetary spacecraft using genetic algorithms

NASA Technical Reports Server (NTRS)

Kornfeld, Richard P.

2003-01-01

A key enabling technology that leads to greater spacecraft autonomy is the capability to autonomously and optimally slew the spacecraft from and to different attitudes while operating under a number of celestial and dynamic constraints. The task of finding an attitude trajectory that meets all the constraints is a formidable one, in particular for orbiting or fly-by spacecraft where the constraints and initial and final conditions are of time-varying nature. This paper presents an approach for attitude path planning that makes full use of a priori constraint knowledge and is computationally tractable enough to be executed on-board a spacecraft. The approach is based on incorporating the constraints into a cost function and using a Genetic Algorithm to iteratively search for and optimize the solution. This results in a directed random search that explores a large part of the solution space while maintaining the knowledge of good solutions from iteration to iteration. A solution obtained this way may be used 'as is' or as an initial solution to initialize additional deterministic optimization algorithms. A number of example simulations are presented including the case examples of a generic Europa Orbiter spacecraft in cruise as well as in orbit around Europa. The search times are typically on the order of minutes, thus demonstrating the viability of the presented approach. The results are applicable to all future deep space missions where greater spacecraft autonomy is required. In addition, onboard autonomous attitude planning greatly facilitates navigation and science observation planning, benefiting thus all missions to planet Earth as well.

Decadal Survey: Planetary Rings Panel

NASA Astrophysics Data System (ADS)

Gordon, M. K.; Cuzzi, J. N.; Lissauer, J. J.; Poulet, F.; Brahic, A.; Charnoz, S.; Ferrari, C.; Burns, J. A.; Nicholson, P. D.; Durisen, R. H.; Rappaport, N. J.; Spilker, L. J.; Yanamandra-Fisher, P.; Bosh, A. S.; Olkin, C.; Larson, S. M.; Graps, A. L.; Krueger, H.; Black, G. J.; Festou, M.; Karjalainen, R.; Salo, H. J.; Murray, C. D.; Showalter, M. R.; Dones, L.; Levison, H. F.; Namouni, F.; Araki, S.; Lewis, M. C.; Brooks, S.; Colwell, J. E.; Esposito, L. W.; Horanyi, M.; Stewart, G. R.; Krivov, A.; Schmidt, J.; Spahn, F.; Hamilton, D. P.; Giuliatti-Winter, S.; French, R. G.

2001-11-01

The National Research Council's Committee on Planetary and Lunar Exploration(COMPLEX) met earlier this year to begin the organization of a major activity, "A New Strategy for Solar System Exploration." Several members of the planetary rings community formed an ad hoc panel to discuss the current state and future prospects for the study of planetary rings. In this paper we summarize fundamental questions of ring science, list the key science questions expected to occupy the planetary rings community for the decade 2003-2013, outline the initiatives, missions, and other supporting activities needed to address those questions, and recommend priorities.

The Planetary Science Archive (PSA): Exploration and discovery of scientific datasets from ESA's planetary missions

NASA Astrophysics Data System (ADS)

Vallat, C.; Besse, S.; Barbarisi, I.; Arviset, C.; De Marchi, G.; Barthelemy, M.; Coia, D.; Costa, M.; Docasal, R.; Fraga, D.; Heather, D. J.; Lim, T.; Macfarlane, A.; Martinez, S.; Rios, C.; Vallejo, F.; Said, J.

2017-09-01

The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA has started to implement a number of significant improvements, mostly driven by the evolution of the PDS standards, and the growing need for better interfaces and advanced applications to support science exploitation.

Telerobotic workstation design aid

NASA Technical Reports Server (NTRS)

Corker, K.; Hudlicka, E.; Young, D.; Cramer, N.

1989-01-01

Telerobot systems are being developed to support a number of space mission applications. In low earth orbit, telerobots and teleoperated manipulators will be used in shuttle operations and space station construction/maintenance. Free flying telerobotic service vehicles will be used at low and geosynchronous orbital operations. Rovers and autonomous vehicles will be equipped with telerobotic devices in planetary exploration. In all of these systems, human operators will interact with the robot system at varied levels during the scheduled operations. The human operators may be in either orbital or ground-based control systems. To assure integrated system development and maximum utility across these systems, designers must be sensitive to the constraints and capabilities that the human brings to system operation and must be assisted in applying these human factors to system development. The simulation and analysis system is intended to serve the needs of system analysis/designers as an integrated workstation in support of telerobotic design.

The Characterization of Biosignatures in Caves Using an Instrument Suite

NASA Astrophysics Data System (ADS)

Uckert, Kyle; Chanover, Nancy J.; Getty, Stephanie; Voelz, David G.; Brinckerhoff, William B.; McMillan, Nancy; Xiao, Xifeng; Boston, Penelope J.; Li, Xiang; McAdam, Amy; Glenar, David A.; Chavez, Arriana

2017-12-01

The search for life and habitable environments on other Solar System bodies is a major motivator for planetary exploration. Due to the difficulty and significance of detecting extant or extinct extraterrestrial life in situ, several independent measurements from multiple instrument techniques will bolster the community's confidence in making any such claim. We demonstrate the detection of subsurface biosignatures using a suite of instrument techniques including IR reflectance spectroscopy, laser-induced breakdown spectroscopy, and scanning electron microscopy/energy dispersive X-ray spectroscopy. We focus our measurements on subterranean calcium carbonate field samples, whose biosignatures are analogous to those that might be expected on some high-interest astrobiology targets. In this work, we discuss the feasibility and advantages of using each of the aforementioned instrument techniques for the in situ search for biosignatures and present results on the autonomous characterization of biosignatures using multivariate statistical analysis techniques.

The Characterization of Biosignatures in Caves Using an Instrument Suite.

PubMed

Uckert, Kyle; Chanover, Nancy J; Getty, Stephanie; Voelz, David G; Brinckerhoff, William B; McMillan, Nancy; Xiao, Xifeng; Boston, Penelope J; Li, Xiang; McAdam, Amy; Glenar, David A; Chavez, Arriana

2017-12-01

The search for life and habitable environments on other Solar System bodies is a major motivator for planetary exploration. Due to the difficulty and significance of detecting extant or extinct extraterrestrial life in situ, several independent measurements from multiple instrument techniques will bolster the community's confidence in making any such claim. We demonstrate the detection of subsurface biosignatures using a suite of instrument techniques including IR reflectance spectroscopy, laser-induced breakdown spectroscopy, and scanning electron microscopy/energy dispersive X-ray spectroscopy. We focus our measurements on subterranean calcium carbonate field samples, whose biosignatures are analogous to those that might be expected on some high-interest astrobiology targets. In this work, we discuss the feasibility and advantages of using each of the aforementioned instrument techniques for the in situ search for biosignatures and present results on the autonomous characterization of biosignatures using multivariate statistical analysis techniques. Key Words: Biosignature suites-Caves-Mars-Life detection. Astrobiology 17, 1203-1218.

The telesupervised adaptive ocean sensor fleet

NASA Astrophysics Data System (ADS)

Elfes, Alberto; Podnar, Gregg W.; Dolan, John M.; Stancliff, Stephen; Lin, Ellie; Hosler, Jeffrey C.; Ames, Troy J.; Moisan, John; Moisan, Tiffany A.; Higinbotham, John; Kulczycki, Eric A.

2007-09-01

We are developing a multi-robot science exploration architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF uses a group of robotic boats (the OASIS platforms) to enable in-situ study of ocean surface and sub-surface phenomena. The OASIS boats are extended-deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). The TAOSF architecture provides an integrated approach to multi-vehicle coordination and sliding human-vehicle autonomy. It allows multiple mobile sensing assets to function in a cooperative fashion, and the operating mode of the vessels to range from autonomous control to teleoperated control. In this manner, TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for tasking, control, and monitoring. It combines and extends prior related work done by the authors and their institutions. The TAOSF architecture is applicable to other areas where multiple sensing assets are needed, including ecological forecasting, water management, carbon management, disaster management, coastal management, homeland security, and planetary exploration. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). Several components of the TAOSF system have been tested, including the OASIS boats, the communications and control interfaces between the various hardware and software subsystems, and an airborne sensor validation system. Field tests in support of future HAB characterization were performed under controlled conditions, using rhodamine dye as a HAB simulant that was dispersed in a pond. In this paper, we describe the overall TAOSF architecture and its components, discuss the initial tests conducted and outline the next steps.

KSC-2012-6375

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, hazard avoidance instrumentation it being prepared for installation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6422

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6427

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6424

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6417

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6452

NASA Image and Video Library

2012-12-13

CAPE CANAVERAL, Fla. – A Huey helicopter tests hazard avoidance instrumentation at the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks using the instrument. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Photo credit: NASA/Jim Grossmann

KSC-2012-6419

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6425

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6420

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6374

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6421

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6376

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a technician installs hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6412

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6414

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6423

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6413

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6373

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6377

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a technician tests hazard avoidance instrumentation recently installed on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6416

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6372

NASA Image and Video Library

2012-12-04

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Jim Grossmann

KSC-2012-6415

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

KSC-2012-6418

NASA Image and Video Library

2012-12-05

CAPE CANAVERAL, Fla. – Near the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida, a space agency team installed and tested hazard avoidance instrumentation on a Huey helicopter. Led by the Johnson Space Center and supported by Jet Propulsion Laboratory and Langley Research Center, the Autonomous Landing Hazard Avoidance Technology, or ALHAT, laser system provides a planetary lander the ability to precisely land safely on a surface while detecting any dangerous obstacles such as rocks, holes and slopes. Just north of Kennedy's Shuttle Landing Facility runway, a rock- and crater-filled planetary scape has been built so engineers can test the ability to negotiate away from risks. Photo credit: NASA/Dmitri Gerondidakis

Navigation for the new millennium: Autonomous navigation for Deep Space 1

NASA Technical Reports Server (NTRS)

Reidel, J. E.; Bhaskaran, S.; Synnott, S. P.; Desai, S. D.; Bollman, W. E.; Dumont, P. J.; Halsell, C. A.; Han, D.; Kennedy, B. M.; Null, G. W.;

The role of small missions in planetary and lunar exploration

NASA Technical Reports Server (NTRS)

1995-01-01

The Space Studies Board of the National Research Council charged its Committee on Planetary and Lunar Exploration (COMPLEX) to (1) examine the degree to which small missions, such as those fitting within the constraints of the Discovery program, can achieve priority objectives in the lunar and planetary sciences; (2) determine those characteristics, such as level of risk, flight rate, target mix, university involvement, technology development, management structure and procedures, and so on, that could allow a successful program; (3) assess issues, such as instrument selection, mission operations, data analysis, and data archiving, to ensure the greatest scientific return from a particular mission, given a rapid deployment schedule and a tightly constrained budget; and (4) review past programmatic attempts to establish small planetary science mission lines, including the Planetary Observers and Planetary Explorers, and consider the impact management practices have had on such programs. A series of small missions presents the planetary science community with the opportunity to expand the scope of its activities and to develop the potential and inventiveness of its members in ways not possible within the confines of large, traditional programs. COMPLEX also realized that a program of small planetary missions was, in and of itself, incapable of meeting all of the prime objectives contained in its report 'An Integrated Strategy for the Planetary Sciences: 1995-2010.' Recommendations are provided for the small planetary missions to fulfill their promise.

United States and Western Europe cooperation in planetary exploration

NASA Technical Reports Server (NTRS)

Levy, Eugene H.; Hunten, Donald M.; Masursky, Harold; Scarf, Frederick L.; Solomon, Sean C.; Wilkening, Laurel L.; Fechtig, Hugo; Balsiger, Hans; Blamont, Jacques; Fulchignoni, Marcello

1989-01-01

A framework was sought for U.S.-European cooperation in planetary exploration. Specific issues addressed include: types and levels of possible cooperative activities in the planetary sciences; specific or general scientific areas that seem most promising as the main focus of cooperative efforts; potential mission candidates for cooperative ventures; identification of special issues or problems for resolution by negotiation between the agencies, and possible suggestions for their resolutions; and identification of coordinated technological and instrumental developments for planetary missions.

Mars Technology Program Planetary Protection Technology Development

NASA Technical Reports Server (NTRS)

Lin, Ying

2006-01-01

The objectives of the NASA Planetary Protection program are to preserve biological and organic conditions of solar-system bodies for future scientific exploration and to protect the Earth from potential hazardous extraterrestrial contamination. As the exploration of solar system continues, NASA remains committed to the implementation of planetary protection policy and regulations. To fulfill this commitment, the Mars Technology Program (MTP) has invested in a portfolio of tasks for developing necessary technologies to meet planetary protection requirements for the next decade missions.

Planetary exploration through year 2000: A core Program, part 1

NASA Technical Reports Server (NTRS)

1983-01-01

The Core Program, goals for planetary exploration, continuity and expansion, core program missions, mission implementation, anticipated accomplishments, resource requirements, and near term budget decisions are discussed.

An enhanced Planetary Radar Operating Centre (PROC)

NASA Astrophysics Data System (ADS)

Catallo, C.

2010-12-01

Planetary exploration by means of radar systems, mainly using GPRs is an important role of Italy and numerous scientific international space programs are carried out jointly with ESA and NASA by Italian Space Agency, the scientific community and the industry. Three experiments under Italian leadership ( designed and manufactured by the Italian industry) provided by ASI within a NASA/ESA/ASI joint venture framework are successfully operating: MARSIS on-board MEX, SHARAD on-board MRO and CASSINI Radar on-board Cassini spacecraft: the missions have been further extended . Three dedicated operational centers, namely SHOC, (Sharad Operating Centre), MOC (Marsis Operating Center) and CASSINI PAD are operating from the missions beginning to support all the scientific communities, institutional customers and experiment teams operation Each center is dedicated to a single instrument management and control, data processing and distribution and even if they had been conceived to operate autonomously and independently one from each other, synergies and overlaps have been envisaged leading to the suggestion of a unified center, the Planetary Radar Processing Center (PROC). In order to harmonize operations either from logistics point of view and from HW/SW capabilities point of view PROC is designed and developed for offering improved functionalities to increase capabilities, mainly in terms of data exchange, comparison, interpretation and exploitation. PROC is, therefore, conceived as the Italian support facility to the scientific community for on-going and future Italian planetary exploration programs, such as Europa-Jupiter System Mission (EJSM) The paper describes how the new PROC is designed and developed, to allow SHOC, MOC and CASSINI PAD to operate as before, and to offer improved functionalities to increase capabilities, mainly in terms of data exchange, comparison, interpretation and exploitation aiding scientists to increase their knowledge in the field of surface radar sounding: furthermore the flexibility and the big dimensions of the PROC archives allow easy integration of other missions (e.g. EJSM). A specific PROC Web facility and a dedicated high capacity on line storage allow PROC missions status and scientific results spreading, scientific requests submission, news, studies, technical information, radar data images publication and data retrieving (the latter only on science team members request), according to different permissions assigned both to science team members and generic users

Lunar and Planetary Science XXXV: Image Processing and Earth Observations

NASA Technical Reports Server (NTRS)

2004-01-01

The titles in this section include: 1) Expansion in Geographic Information Services for PIGWAD; 2) Modernization of the Integrated Software for Imagers and Spectrometers; 3) Science-based Region-of-Interest Image Compression; 4) Topographic Analysis with a Stereo Matching Tool Kit; 5) Central Avra Valley Storage and Recovery Project (CAVSARP) Site, Tucson, Arizona: Floodwater and Soil Moisture Investigations with Extraterrestrial Applications; 6) ASE Floodwater Classifier Development for EO-1 HYPERION Imagery; 7) Autonomous Sciencecraft Experiment (ASE) Operations on EO-1 in 2004; 8) Autonomous Vegetation Cover Scene Classification of EO-1 Hyperion Hyperspectral Data; 9) Long-Term Continental Areal Reduction Produced by Tectonic Processes.

Experiments with a small behaviour controlled planetary rover

NASA Technical Reports Server (NTRS)

Miller, David P.; Desai, Rajiv S.; Gat, Erann; Ivlev, Robert; Loch, John

1993-01-01

A series of experiments that were performed on the Rocky 3 robot is described. Rocky 3 is a small autonomous rover capable of navigating through rough outdoor terrain to a predesignated area, searching that area for soft soil, acquiring a soil sample, and depositing the sample in a container at its home base. The robot is programmed according to a reactive behavior control paradigm using the ALFA programming language. This style of programming produces robust autonomous performance while requiring significantly less computational resources than more traditional mobile robot control systems. The code for Rocky 3 runs on an eight bit processor and uses about ten k of memory.

Planetary Pits and Caves: Targets for Science Exploration

NASA Astrophysics Data System (ADS)

Whittaker, W. L.; Boston, P. J.; Cushing, G.; Titus, T. N.; Wagner, R. V.; Colaprete, A.; Haruyama, J.; Jones, H. L.; Blank, J. G.; Mueller, R. P.; Stopar, J. D.; Tabib, W.; Wong, U.

2017-02-01

Planetary pits, caves, and voids are compelling mission destinations for science, exploration, and habitation throughout the solar system. Questions of origins, geology, mineralogy, stratigraphy, gravimetry, aging, and astrobiology abound.

Robots and Humans: Synergy in Planetary Exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2003-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

Robots and Humans: Synergy in Planetary Exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2002-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments.

Micro-technology for planetary exploration and education

NASA Technical Reports Server (NTRS)

Miller, David P.; Varsi, Giulio

1991-01-01

The use of combined miniaturization technology and distributed information systems in planetary exploration is discussed. Missions in which teams of microrovers collect samples from planetary surfaces are addressed, emphasizing the ability of rovers to provide coverage of large areas, reliability through redundancy, and participation of a large group of investigators. The latter could involve people from a variety of institutions, increasing the opportunity for wide education and the increased interest of society in general in space exploration. A three-phase program to develop the present approach is suggested.

Mars Mission Concepts: SAR and Solar Electric Propulsion

NASA Astrophysics Data System (ADS)

Elsperman, M.; Klaus, K.; Smith, D. B.; Clifford, S. M.; Lawrence, S. J.

2012-12-01

Introduction: The time has come to leverage technology advances (including advances in autonomous operation and propulsion technology) to reduce the cost and increase the flight rate of planetary missions, while actively developing a scientific and engineering workforce to achieve national space objectives. Mission Science at Mars: A SAR imaging radar offers an ability to conduct high resolution investigations of the shallow (<10 m depth) subsurface of Mars, enabling identification of fine-scale layering within the Martian polar layered deposits (PLD), as well as the identification of pingos, investigations of polygonal terrain, and measurements of the thickness of mantling layers at non-polar latitudes. It would allow systematic near-surface prospecting, which is tremendously useful for human exploration purposes (in particular, the identification of accessible ice deposits and quantification of Martian regolith properties). Limited color capabilities in a notional high-resolution stereo imaging system would enable the generation of false color images, resulting in useful science results, and the stereo data could be reduced into high-resolution Digital Elevation Models uniquely useful for exploration planning and science purposes. Since the SAR and the notional high-resolution stereo imaging system would be huge data volume producers - to maximize the science return we are currently considering the usage of laser communications systems; this notional spacecraft represents one pathway to evaluate the utility of laser communications in planetary exploration while providing useful science return.. Mission Concept: Using a common space craft for multiple missions reduces costs. Solar electric propulsion (SEP) provides the flexibility required for multiple mission objectives. SEP provides the greatest payload advantage albeit at the sacrifice of mission time. Our concept involves using a SEP enabled space craft (Boeing 702SP) with a highly capable SAR imager that also conducts autonomous rendezvous and docking experiments accomplished from Mars orbit. Our concept of operations is to launch on May 5, 2018 using a launch vehicle with 2000kg launch capacity with a C3 of 7.4. After reaching Mars it takes 145 days to spiral down to a 250 km orbit above the surface of Mars when Mars SAR operations begin. Summary/Conclusions: A robust and compelling Mars mission can be designed to meet the 2018 Mars launch window opportunity. Using advanced in-space power and propulsion technologies like High Power Solar Electric Propulsion provides enormous mission flexibility to execute the baseline science mission and conduct necessary Mars Sample Return Technology Demonstrations in Mars orbit on the same mission. An observation spacecraft platform like the high power (~5Kw) 702SP at Mars also enables the use of a SAR instrument to reveal new insights and understanding of the Mars regolith for both science and future manned exploration and utilization.

Workshop on Advanced Technologies for Planetary Instruments, part 1

NASA Technical Reports Server (NTRS)

Appleby, John F. (Editor)

1993-01-01

This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. This volume contains papers presented at the Workshop on Advanced Technologies for Planetary Instruments on 28-30 Apr. 1993. This meeting was conceived in response to new challenges facing NASA's robotic solar system exploration program. Over the past several years, SDIO has sponsored a significant technology development program aimed, in part, at the production of instruments with these characteristics. This workshop provided an opportunity for specialists from the planetary science and DoD communities to establish contacts, to explore common technical ground in an open forum, and more specifically, to discuss the applicability of SDIO's technology base to planetary science instruments.

Parallel Architectures for Planetary Exploration Requirements (PAPER)

NASA Technical Reports Server (NTRS)

Cezzar, Ruknet; Sen, Ranjan K.

1989-01-01

The Parallel Architectures for Planetary Exploration Requirements (PAPER) project is essentially research oriented towards technology insertion issues for NASA's unmanned planetary probes. It was initiated to complement and augment the long-term efforts for space exploration with particular reference to NASA/LaRC's (NASA Langley Research Center) research needs for planetary exploration missions of the mid and late 1990s. The requirements for space missions as given in the somewhat dated Advanced Information Processing Systems (AIPS) requirements document are contrasted with the new requirements from JPL/Caltech involving sensor data capture and scene analysis. It is shown that more stringent requirements have arisen as a result of technological advancements. Two possible architectures, the AIPS Proof of Concept (POC) configuration and the MAX Fault-tolerant dataflow multiprocessor, were evaluated. The main observation was that the AIPS design is biased towards fault tolerance and may not be an ideal architecture for planetary and deep space probes due to high cost and complexity. The MAX concepts appears to be a promising candidate, except that more detailed information is required. The feasibility for adding neural computation capability to this architecture needs to be studied. Key impact issues for architectural design of computing systems meant for planetary missions were also identified.

A Science Rationale for Mobility in Planetary Environments

NASA Technical Reports Server (NTRS)

1999-01-01

For the last several decades, the Committee on Planetary and Lunar Exploration (COMPLEX) has advocated a systematic approach to exploration of the solar system; that is, the information and understanding resulting from one mission provide the scientific foundations that motivate subsequent, more elaborate investigations. COMPLEX's 1994 report, An Integrated Strategy for the Planetary Sciences: 1995-2010,1 advocated an approach to planetary studies emphasizing "hypothesizing and comprehending" rather than "cataloging and categorizing." More recently, NASA reports, including The Space Science Enterprise Strategic Plan2 and, in particular, Mission to the Solar System: Exploration and Discovery-A Mission and Technology Roadmap,3 have outlined comprehensive plans for planetary exploration during the next several decades. The missions outlined in these plans are both generally consistent with the priorities outlined in the Integrated Strategy and other NRC reports,4-5 and are replete with examples of devices embodying some degree of mobility in the form of rovers, robotic arms, and the like. Because the change in focus of planetary studies called for in the Integrated Strategy appears to require an evolutionary change in the technical means by which solar system exploration missions are conducted, the Space Studies Board charged COMPLEX to review the science that can be uniquely addressed by mobility in planetary environments. In particular, COMPLEX was asked to address the following questions: (1) What are the practical methods for achieving mobility? (2) For surface missions, what are the associated needs for sample acquisition? (3) What is the state of technology for planetary mobility in the United States and elsewhere, and what are the key requirements for technology development? (4) What terrestrial field demonstrations are required prior to spaceflight missions?

A Scientific Rationale for Mobility in Planetary Environments

NASA Astrophysics Data System (ADS)

1999-01-01

For the last several decades, the COMmittee on Planetary and Lunar EXploration (COMPLEX) has advocated a systematic approach to exploration of the solar system; that is, the information and understanding resulting from one mission provide the scientific foundations that motivate subsequent, more elaborate investigations. COMPLEX's 1994 report, An Integrated Strategy for the Planetary Sciences: 1995-2010,1 advocated an approach to planetary studies emphasizing "hypothesizing and comprehending" rather than "cataloging and categorizing." More recently, NASA reports, including The Space Science Enterprise Strategic Plan' and, in particular, Mission to the Solar System: Exploration and Discovery-A Mission and Technology Roadmap, 3 have outlined comprehensive plans for planetary exploration during the next several decades. The missions outlined in these plans are both generally consistent with the priorities outlined in the Integrated Strategy and other NRC reports,4,5 and are replete with examples of devices embodying some degree of mobility in the form of rovers, robotic arms, and the like. Because the change in focus of planetary studies called for in the Integrated Strategy appears to require an evolutionary change in the technical means by which solar system exploration missions are conducted, the Space Studies Board charged COMPLEX to review the science that can be uniquely addressed by mobility in planetary environments. In particular, COMPLEX was asked to address the following questions: 1. What are the practical methods for achieving mobility? 2. For surface missions, what are the associated needs for sample acquisition? 3. What is the state of technology for planetary mobility in the United States and elsewhere, and what are the key requirements for technology development? 4. What terrestrial field demonstrations are required prior to spaceflight missions?

Conceptual design of a multiple cable crane for planetary surface operations

NASA Technical Reports Server (NTRS)

Mikulas, Martin M., Jr.; Yang, Li-Farn

1991-01-01

A preliminary design study is presented of a mobile crane suitable for conducting remote, automated construction operations on planetary surfaces. A cursory study was made of earth based mobile cranes and the needs for major improvements were identified. Current earth based cranes have a single cable supporting the payload, and precision positioning is accomplished by the use of construction workers controlling the payload by the use of tethers. For remote, autonomous operations on planetary surfaces it will be necessary to perform the precision operations without the use of humans. To accomplish this the payload must be stabilized relative to the crane. One approach for accomplishing this is to suspend the payload on multiple cable. A 3-cable suspension system crane concept is discussed. An analysis of the natural frequency of the system is presented which verifies the legitimacy of the concept.

Terrestrial Planets: Comparative Planetology

NASA Technical Reports Server (NTRS)

1985-01-01

Papers were presented at the 47th Annual Meteoritical Society Meeting on the Comparative planetology of Terrestrial Planets. Subject matter explored concerning terrestrial planets includes: interrelationships among planets; plaentary evolution; planetary structure; planetary composition; planetary Atmospheres; noble gases in meteorites; and planetary magnetic fields.

Robots and humans: synergy in planetary exploration

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.

2004-01-01

How will humans and robots cooperate in future planetary exploration? Are humans and robots fundamentally separate modes of exploration, or can humans and robots work together to synergistically explore the solar system? It is proposed that humans and robots can work together in exploring the planets by use of telerobotic operation to expand the function and usefulness of human explorers, and to extend the range of human exploration to hostile environments. Published by Elsevier Ltd.

A Team Approach to the Development of Gamma Ray and x Ray Remote Sensing and in Situ Spectroscopy for Planetary Exploration Missions

NASA Technical Reports Server (NTRS)

Trombka, J. I.; Floyd, S.; Ruitberg, A.; Evans, L.; Starr, R.; Metzger, A.; Reedy, R.; Drake, D.; Moss, C.; Edwards, B.

1993-01-01

An important part of the investigation of planetary origin and evolution is the determination of the surface composition of planets, comets, and asteroids. Measurements of discrete line X-ray and gamma ray emissions from condensed bodies in space can be used to obtain both qualitative and quantitative elemental composition information. The Planetary Instrumentation Definition and Development Program (PIDDP) X-Ray/Gamma Ray Team has been established to develop remote sensing and in situ technologies for future planetary exploration missions.

Workshop on Early Crustal Genesis: Implications from Earth

NASA Technical Reports Server (NTRS)

Phinney, W. C. (Compiler)

1981-01-01

Ways to foster increased study of the early evolution of the Earth, considering the planet as a whole, were explored and recommendations were made to NASA with the intent of exploring optimal ways for integrating Archean studies with problems of planetary evolution. Major themes addressed include: (1) Archean contribution to constraints for modeling planetary evolution; (2) Archean surface conditions and processes as clues to early planetary history; and (3) Archean evidence for physical, chemical and isotopic transfer processes in early planetary crusts. Ten early crustal evolution problems are outlined.

Sustainable and Autonomic Space Exploration Missions

NASA Technical Reports Server (NTRS)

Hinchey, Michael G.; Sterritt, Roy; Rouff, Christopher; Rash, James L.; Truszkowski, Walter

2006-01-01

Visions for future space exploration have long term science missions in sight, resulting in the need for sustainable missions. Survivability is a critical property of sustainable systems and may be addressed through autonomicity, an emerging paradigm for self-management of future computer-based systems based on inspiration from the human autonomic nervous system. This paper examines some of the ongoing research efforts to realize these survivable systems visions, with specific emphasis on developments in Autonomic Policies.

Engineering Ultimate Self-Protection in Autonomic Agents for Space Exploration Missions

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

NASA's Exploration Initiative (EI) will push space exploration missions to the limit. Future missions will be required to be self-managing as well as self-directed, in order to meet the challenges of human and robotic space exploration. We discuss security and self protection in autonomic agent based-systems, and propose the ultimate self-protection mechanism for such systems-self-destruction. Like other metaphors in Autonomic Computing, this is inspired by biological systems, and is the analog of biological apoptosis. Finally, we discus the role it might play in future NASA space exploration missions.

New Paradigms for Human-Robotic Collaboration During Human Planetary Exploration

NASA Astrophysics Data System (ADS)

Parrish, J. C.; Beaty, D. W.; Bleacher, J. E.

2017-02-01

Human exploration missions to other planetary bodies offer new paradigms for collaboration (control, interaction) between humans and robots beyond the methods currently used to control robots from Earth and robots in Earth orbit.

Mars Exploration Using Biomorphic Flyers

NASA Astrophysics Data System (ADS)

Thakoor, S.; Chahl, J.; Srinivasan, M.; Cabrol, N.; Young, L.; Hine, B.; Zornetzer, S.

Mars imagery obtained by the Mariner, Viking, Pathfinder, Mars Global Surveyor and Mars Odyssey Missions suggests the previous existence of abundant liquid water (considered essential for life as we know it). It is not clear what transpired on the Martian climate to have turned the planet in to the desert that it is today. Developing a comprehensive understanding of the past and present climatic events for our sister planet Mars may provide important information relevant to the future health and well being of our own planet. Following and exploring water flow features is a valuable strategy in the search for extant or extinct life, it satisfies our fundamental scientific curiosity, and could provide answers to the fundamental questions surrounding the question of the origins of life in our solar system. Low altitude air-borne exploration of Mars offers a means for covering large areas, perhaps up to several hundred kilometers, quickly and efficiently. Aerial exploration should provide a close-up birds eye view of the planetary terrain. Exploration that can only be imagined today could become a reality if we develop methods to fly on Mars and navigate through its difficult terrain to image/study sites of interest. Mars offers a substantial challenge to conventional flight due to its thin atmosphere (about a hundredth that on Earth); lack of magnetic compassing for navigation, and the limited telecommunications or navigational infrastructure. To meet and overcome these challenges, we are adapting for Mars exploration principles proven successful in nature to achieve stable flight control and navigation. By incorporating engineering solutions modeled on successful biological solutions we will provide novel and highly effective micro flyer capabilities suitable for aerial surveillance of Mars. We will describe a few example sites on Mars whose exploration absolutely requires the ability to cover several hundred kilometers. We will illustrate how autonomous biomorphic flyers will enable imagery and environmental measurements to be captured from extremely low altitudes and even inside terrain features such as canyons that were previously considered impossible to explore on a large scale. At a Terrestrial analog Martian site, we plan to demonstrate a proof of concept simulation experiment, emulating selected conditions of Mars. The demonstration will consist of launching/deploying a variety of biomorphic flyers each containing biologically inspired technologies capable of, for example, autonomous real time navigation, visual search, selective feature detection, intelligent flight control and image enhancement by sensory data fusion.

Federal Funding and Planetary Astronomy, 1950-75: A Case Study.

ERIC Educational Resources Information Center

Tatarewicz, Joseph N.

1986-01-01

Discusses the role and resources of planetary astronomy in planetary exploration. Identifies the categories of support made available by the National Aeronautics and Space Administration and reviews the impacts of these findings on planetary researches. Analyzes the publishing habits of American astronomers. (ML)

2016 Summer Series - Terry Fong - Planetary Exploration Reinvented

NASA Image and Video Library

2016-07-07

The allure of deep space drives humanity’s curiosity to further explore the universe, but the risks associated with spaceflight are still limiting. Technological advancements in robotics and data processing are pushing the envelope of Human planetary exploration and habitation. Dr. Terry Fong from the NASA Ames’ Intelligent Robotics Group will describe how we are reinventing the approach to explore the universe.

Particle Filters for Real-Time Fault Detection in Planetary Rovers

NASA Technical Reports Server (NTRS)

Dearden, Richard; Clancy, Dan; Koga, Dennis (Technical Monitor)

2001-01-01

Planetary rovers provide a considerable challenge for robotic systems in that they must operate for long periods autonomously, or with relatively little intervention. To achieve this, they need to have on-board fault detection and diagnosis capabilities in order to determine the actual state of the vehicle, and decide what actions are safe to perform. Traditional model-based diagnosis techniques are not suitable for rovers due to the tight coupling between the vehicle's performance and its environment. Hybrid diagnosis using particle filters is presented as an alternative, and its strengths and weakeners are examined. We also present some extensions to particle filters that are designed to make them more suitable for use in diagnosis problems.

Active Collision Avoidance for Planetary Landers

NASA Technical Reports Server (NTRS)

Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

2015-01-01

The use of automotive radar systems are being evaluated for collision avoidance in planetary landers. Our focus is to develop a low-cost, light-weight collision avoidance system that overcomes the drawbacks identified with optical-based systems. We also seek to complement the Autonomous Landing and Hazard Avoidance Technology system by providing mission planners an alternative system that can be used on low-cost, small robotic missions and in close approach. Our approach takes advantage of how electromagnetic radiation interacts with solids. As the wavelength increases, the sensitivity of the radiation to isolated solids of a specific particle size decreases. Thus, rocket exhaust-blown dust particles, which have major significance in visible wavelengths, have much less significance at radar wavelengths.

China's roadmap for planetary exploration

NASA Astrophysics Data System (ADS)

Wei, Yong; Yao, Zhonghua; Wan, Weixing

2018-05-01

China has approved or planned a string of several space exploration missions to be launched over the next decade. A new generation of planetary scientists in China is playing an important role in determining the scientific goals of future missions.

Evolution of space drones for planetary exploration: A review

NASA Astrophysics Data System (ADS)

Hassanalian, M.; Rice, D.; Abdelkefi, A.

2018-02-01

In the past decade, there has been a tendency to design and fabricate drones which can perform planetary exploration. Generally, there are various ways to study space objects, such as the application of telescopes and satellites, launching robots and rovers, and sending astronauts to the targeted solar bodies. However, due to the advantages of drones compared to other approaches in planetary exploration, ample research has been carried out by different space agencies in the world, including NASA to apply drones in other solar bodies. In this review paper, several studies which have been performed on space drones for planetary exploration are consolidated and discussed. Design and fabrication challenges of space drones, existing methods for their flight tests, different methods for deployment and planet entry, and various navigation and control approaches are reviewed and discussed elaborately. Limitations of applying space drones, proposed solutions for future space drones, and recommendations are also presented and discussed.

Integrated optimization of planetary rover layout and exploration routes

NASA Astrophysics Data System (ADS)

Lee, Dongoo; Ahn, Jaemyung

2018-01-01

This article introduces an optimization framework for the integrated design of a planetary surface rover and its exploration route that is applicable to the initial phase of a planetary exploration campaign composed of multiple surface missions. The scientific capability and the mobility of a rover are modelled as functions of the science weight fraction, a key parameter characterizing the rover. The proposed problem is formulated as a mixed-integer nonlinear program that maximizes the sum of profits obtained through a planetary surface exploration mission by simultaneously determining the science weight fraction of the rover, the sites to visit and their visiting sequences under resource consumption constraints imposed on each route and collectively on a mission. A solution procedure for the proposed problem composed of two loops (the outer loop and the inner loop) is developed. The results of test cases demonstrating the effectiveness of the proposed framework are presented.

Morpheus Trailered to the SLF

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – The Project Morpheus prototype lander is transported to a launch pad at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The prototype lander is being prepared for its fourth free flight test at Kennedy. Morpheus will launch from the ground over a flame trench and then descend and land on a dedicated pad inside the autonomous landing and hazard avoidance technology, or ALHAT, hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Cory Huston

Morpheus Trailered to the SLF

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – The Project Morpheus prototype lander is being lifted by crane for positioning on a launch pad at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The prototype lander is being prepared for its fourth free flight test at Kennedy. Morpheus will launch from the ground over a flame trench and then descend and land on a dedicated pad inside the autonomous landing and hazard avoidance technology, or ALHAT, hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Cory Huston

KSC-2012-3956

NASA Image and Video Library

2012-07-19

CAPE CANAVERAL, Fla. – This aerial view shows a 50,000-square-foot hangar located on the Shuttle Landing Facility at the Kennedy Space Center, Fla., providing shelter and storage for NASA and non-NASA aircraft and maintenance operations. Adjacent to the hangar is an operations building housing personnel who support operations at the 15,000-foot long concrete runway. At the north end of the runway, a rock and crater-filled planetary scape has been built so engineers can test the Autonomous Landing and Hazard Avoidance Technology, or ALHAT system on the Project Morpheus lander. Testing will demonstrate ALHAT’s ability to provide required navigation data negotiating the Morpheus lander away from risks during descent. Checkout of the prototype lander has been ongoing at NASA’s Johnson Space Center in Houston in preparation for its first free flight. The SLF site will provide the lander with the kind of field necessary for realistic testing. Project Morpheus is one of 20 small projects comprising the Advanced Exploration Systems, or AES, program in NASA’s Human Exploration and Operations Mission Directorate. AES projects pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus/index.html Photo credit: NASA/Kim Shiflett

Exploring Titan with Autonomous, Buoyancy Driven Gliders

NASA Astrophysics Data System (ADS)

Morrow, M. T.; Woolsey, C. A.; Hagerman, G. M.

Buoyancy driven underwater gliders are highly efficient winged underwater vehicles which locomote by modifying their internal shape. The concept, which is already well-proven in Earth's oceans, is also an appealing technology for remote terrain exploration and environmental sampling on worlds with dense atmospheres. Because of their high efficiency and their gentle, vertical take-off and landing capability, buoyancy driven gliders might perform long duration, global mapping tasks as well as light-duty, local sampling tasks. Moreover, a sufficiently strong gradient in the planetary boundary layer may enable the vehicles to perform dynamic soaring, achieving even greater locomotive efficiency. Shape Change Actuated, Low Altitude Robotic Soarers (SCALARS) are an appealing alternative to more conventional vehicle technology for exploring planets with dense atmospheres. SCALARS are buoyancy driven atmospheric gliders with a twin-hulled, inboard wing configuration. The inboard wing generates lift, which propels the vehicle forward. Symmetric changes in mass distribution induce gravitational pitch moments that provide longitudinal control. Asymmetric changes in mass distribution induce twist in the inboard wing that provides directional control. The vehicle is actuated solely by internal shape change; there are no external seals and no exposed moving parts, save for the inflatable buoyancy ballonets. Preliminary sizing analysis and dynamic modeling indicate the viability of using SCALARS to map the surface of Titan and to investigate features of interest.

ACD16-0001-018

NASA Image and Video Library

2016-01-06

This Nissan LEAF vehicle being tested on the Ames campus is equipped with cameras, sensors and cellular data networking, and uses robotics software originally developed for Ames’ K-10 and K-REX planetary rovers to operate autonomously. Shown here are Kathy Sun and Liam Pedersen, Nissan who are awaiting the arrival of the visiting group from Renault-Nissan Alliance for a demo ride across Ames.

Lunar and Planetary Science XXXVI, Part 9

NASA Technical Reports Server (NTRS)

2005-01-01

The following topics were discussed: Monitoring floods with NASA's ST6 autonomous spacecraft experiment; Dynamical cloud models constrained by high resolution spectroscopy of zodiacal light; The oxygen isotopic composition of the sun and implications for oxygen processing in molecular clouds; A nochian/hisperian hiatus and erosive reactivation of martian valley networks; Hard x-ray spectro-microscopy techniques; Thermoluminescence studies of carbonaceous chondrites, etc.

Challenges in verification and validation of autonomous systems for space exploration

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Jonsson, Ari

2005-01-01

Space exploration applications offer a unique opportunity for the development and deployment of autonomous systems, due to limited communications, large distances, and great expense of direct operation. At the same time, the risk and cost of space missions leads to reluctance to taking on new, complex and difficult-to-understand technology. A key issue in addressing these concerns is the validation of autonomous systems. In recent years, higher-level autonomous systems have been applied in space applications. In this presentation, we will highlight those autonomous systems, and discuss issues in validating these systems. We will then look to future demands on validating autonomous systems for space, identify promising technologies and open issues.

The Need for Analogue Missions in Scientific Human and Robotic Planetary Exploration

NASA Technical Reports Server (NTRS)

Snook, K. J.; Mendell, W. W.

2004-01-01

With the increasing challenges of planetary missions, and especially with the prospect of human exploration of the moon and Mars, the need for earth-based mission simulations has never been greater. The current focus on science as a major driver for planetary exploration introduces new constraints in mission design, planning, operations, and technology development. Analogue missions can be designed to address critical new integration issues arising from the new science-driven exploration paradigm. This next step builds on existing field studies and technology development at analogue sites, providing engineering, programmatic, and scientific lessons-learned in relatively low-cost and low-risk environments. One of the most important outstanding questions in planetary exploration is how to optimize the human and robotic interaction to achieve maximum science return with minimum cost and risk. To answer this question, researchers are faced with the task of defining scientific return and devising ways of measuring the benefit of scientific planetary exploration to humanity. Earth-based and spacebased analogue missions are uniquely suited to answer this question. Moreover, they represent the only means for integrating science operations, mission operations, crew training, technology development, psychology and human factors, and all other mission elements prior to final mission design and launch. Eventually, success in future planetary exploration will depend on our ability to prepare adequately for missions, requiring improved quality and quantity of analogue activities. This effort demands more than simply developing new technologies needed for future missions and increasing our scientific understanding of our destinations. It requires a systematic approach to the identification and evaluation of the categories of analogue activities. This paper presents one possible approach to the classification and design of analogue missions based on their degree of fidelity in ten key areas. Various case studies are discussed to illustrate the approach.

Developing Science Operations Concepts for the Future of Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Young, K. E.; Bleacher, J. E.; Rogers, A. D.; McAdam, A.; Evans, C. A.; Graff, T. G.; Garry, W. B.; Whelley,; Scheidt, S.; Carter, L.;

Antarctic Exploration Parallels for Future Human Planetary Exploration: The Role and Utility of Long Range, Long Duration Traverses

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J. (Editor); Voels, Stephen A. (Editor)

2012-01-01

Topics covered include: Antarctic Exploration Parallels for Future Human Planetary Exploration: Science Operations Lessons Learned, Planning, and Equipment Capabilities for Long Range, Long Duration Traverses; Parallels Between Antarctic Travel in 1950 and Planetary Travel in 2050 (to Accompany Notes on "The Norwegian British-Swedish Antarctic Expedition 1949-52"); My IGY in Antarctica; Short Trips and a Traverse; Geologic Traverse Planning for Apollo Missions; Desert Research and Technology Studies (DRATS) Traverse Planning; Science Traverses in the Canadian High Arctic; NOR-USA Scientific Traverse of East Antarctica: Science and Logistics on a Three-Month Expedition Across Antarctica's Farthest Frontier; A Notional Example of Understanding Human Exploration Traverses on the Lunar Surface; and The Princess Elisabeth Station.

Creating a Road Map for Planetary Data Spatial Infrastructure

NASA Astrophysics Data System (ADS)

Naß, A.; Archinal, B.; Beyer, R.; DellaGiustina, D.; Fassett, C.; Gaddis, L.; Hagerty, J.; Hare, T.; Laura, J.; Lawrence, S.; Mazarico, E.; Patthoff, A.; Radebaugh, J.; Skinner, J.; Sutton, S.; Thomson, B. J.; Williams, D.

2017-09-01

There currently exists a clear need for long-range planning in regard to planetary spatial data and the development of infrastructure to support its use. Planetary data are the hard-earned fruits of planetary exploration, and the Mapping and Planetary Spatial Infrastructure Team (MAPSIT) mission is to ensure their availability for any conceivable investigation, now or in the future.

Autonomous Vision-Based Tethered-Assisted Rover Docking

NASA Technical Reports Server (NTRS)

Tsai, Dorian; Nesnas, Issa A.D.; Zarzhitsky, Dimitri

2013-01-01

Many intriguing science discoveries on planetary surfaces, such as the seasonal flows on crater walls and skylight entrances to lava tubes, are at sites that are currently inaccessible to state-of-the-art rovers. The in situ exploration of such sites is likely to require a tethered platform both for mechanical support and for providing power and communication. Mother/daughter architectures have been investigated where a mother deploys a tethered daughter into extreme terrains. Deploying and retracting a tethered daughter requires undocking and re-docking of the daughter to the mother, with the latter being the challenging part. In this paper, we describe a vision-based tether-assisted algorithm for the autonomous re-docking of a daughter to its mother following an extreme terrain excursion. The algorithm uses fiducials mounted on the mother to improve the reliability and accuracy of estimating the pose of the mother relative to the daughter. The tether that is anchored by the mother helps the docking process and increases the system's tolerance to pose uncertainties by mechanically aligning the mating parts in the final docking phase. A preliminary version of the algorithm was developed and field-tested on the Axel rover in the JPL Mars Yard. The algorithm achieved an 80% success rate in 40 experiments in both firm and loose soils and starting from up to 6 m away at up to 40 deg radial angle and 20 deg relative heading. The algorithm does not rely on an initial estimate of the relative pose. The preliminary results are promising and help retire the risk associated with the autonomous docking process enabling consideration in future martian and lunar missions.

Pathfinder autonomous rendezvous and docking project

NASA Technical Reports Server (NTRS)

Lamkin, Stephen (Editor); Mccandless, Wayne (Editor)

1990-01-01

Capabilities are being developed and demonstrated to support manned and unmanned vehicle operations in lunar and planetary orbits. In this initial phase, primary emphasis is placed on definition of the system requirements for candidate Pathfinder mission applications and correlation of these system-level requirements with specific requirements. The FY-89 activities detailed are best characterized as foundation building. The majority of the efforts were dedicated to assessing the current state of the art, identifying desired elaborations and expansions to this level of development and charting a course that will realize the desired objectives in the future. Efforts are detailed across all work packages in developing those requirements and tools needed to test, refine, and validate basic autonomous rendezvous and docking elements.

An online planetary exploration tool: ;Country Movers;

NASA Astrophysics Data System (ADS)

Gede, Mátyás; Hargitai, Henrik

2017-08-01

Results in astrogeologic investigations are rarely communicated towards the general public by maps despite the new advances in planetary spatial informatics and new spatial datasets in high resolution and more complete coverage. Planetary maps are typically produced by astrogeologists for other professionals, and not by cartographers for the general public. We report on an application designed for students, which uses cartography as framework to aid the virtual exploration of other planets and moons, using the concepts of size comparison and travel time calculation. We also describe educational activities that build on geographic knowledge and expand it to planetary surfaces.

Overview of current capabilities and research and technology developments for planetary protection

NASA Astrophysics Data System (ADS)

Frick, Andreas; Mogul, Rakesh; Stabekis, Pericles; Conley, Catharine A.; Ehrenfreund, Pascale

2014-07-01

The pace of scientific exploration of our solar system provides ever-increasing insights into potentially habitable environments, and associated concerns for their contamination by Earth organisms. Biological and organic-chemical contamination has been extensively considered by the COSPAR Panel on Planetary Protection (PPP) and has resulted in the internationally recognized regulations to which spacefaring nations adhere, and which have been in place for 40 years. The only successful Mars lander missions with system-level “sterilization” were the Viking landers in the 1970s. Since then different cleanliness requirements have been applied to spacecraft based on their destination, mission type, and scientific objectives. The Planetary Protection Subcommittee of the NASA Advisory Council has noted that a strategic Research & Technology Development (R&TD) roadmap would be very beneficial to encourage the timely availability of effective tools and methodologies to implement planetary protection requirements. New research avenues in planetary protection for ambitious future exploration missions can best be served by developing an over-arching program that integrates capability-driven developments with mission-driven implementation efforts. This paper analyzes the current status concerning microbial reduction and cleaning methods, recontamination control and bio-barriers, operational analysis methods, and addresses concepts for human exploration. Crosscutting research and support activities are discussed and a rationale for a Strategic Planetary Protection R&TD Roadmap is outlined. Such a roadmap for planetary protection provides a forum for strategic planning and will help to enable the next phases of solar system exploration.

Exploration Consequences of Particle Radiation Environments at Airless Planetary Surfaces: Lessons Learned at the Moon by LRO/CRaTER and Scaling to Other Solar System Objects

NASA Astrophysics Data System (ADS)

Spence, H. E.

2017-12-01

We examine and compare the energetic particle ionizing radiation environments at airless planetary surfaces throughout the solar system. Energetic charged particles fill interplanetary space and bathe the environments of planetary objects with a ceaseless source of sometimes powerful yet ever-present ionizing radiation. In turn, these charged particles interact with planetary bodies in various ways, depending upon the properties of the body as well as upon the nature of the charged particles themselves. The Cosmic Ray Telescope for the Effects of Radiation (CRaTER) on the Lunar Reconnaisance Orbiter (LRO), launched in 2009, continues to provide new insights into the ways by which the lunar surface is influenced by these energetic particles. In this presentation, we briefly review some of these mechanisms and how they operate at the Moon, and then compare and contrast the radiation environments at other atmospherereless planetary objects within our solar system that are potential future human exploration targets. In particular, we explore two primary sources of ionizing radiation, galactic cosmic rays (GCR) and solar energetic particles (SEP), in the environments of planetary objects that have weak or absent atmospheres and intrinsic magnetic fields. We motivate the use of simplified scaling relationships with heliocentric distance to estimate their intensity, which then serves as a basis for estimating the relative importance of various energetic particle and planetary surface physical interactions, in the context of humankind's expanding explorations beyond low-Earth orbit.

Planetary exploration through year 2000, a core program: Mission operations

NASA Technical Reports Server (NTRS)

1986-01-01

In 1980 the NASA Advisory Council created the Solar System Exploratory Committee (SSEC) to formulate a long-range program of planetary missions that was consistent with likely fiscal constraints on total program cost. The SSEC had as its primary goal the establishment of a scientifically valid, affordable program that would preserve the nation's leading role in solar system exploration, capitalize on two decades of investment, and be consistent with the coordinated set of scientific stategies developed earlier by the Committe on Planetary and Lunar Exploration (COMPLEX). The result of the SSEC effort was the design of a Core Program of planetary missions to be launched by the year 2000, together with a realistic and responsible funding plan. The Core Program Missions, subcommittee activities, science issues, transition period assumptions, and recommendations are discussed.

Ethical Considerations for Planetary Protection in Space Exploration: A Workshop

PubMed Central

Rummel, J.D.; Horneck, G.

2012-01-01

Abstract With the recognition of an increasing potential for discovery of extraterrestrial life, a diverse set of researchers have noted a need to examine the foundational ethical principles that should frame our collective space activities as we explore outer space. A COSPAR Workshop on Ethical Considerations for Planetary Protection in Space Exploration was convened at Princeton University on June 8–10, 2010, to examine whether planetary protection measures and practices should be extended to protect planetary environments within an ethical framework that goes beyond “science protection” per se. The workshop had been in development prior to a 2006 NRC report on preventing the forward contamination of Mars, although it responded directly to one of the recommendations of that report and to several peer-reviewed papers as well. The workshop focused on the implications and responsibilities engendered when exploring outer space while avoiding harmful impacts on planetary bodies. Over 3 days, workshop participants developed a set of recommendations addressing the need for a revised policy framework to address “harmful contamination” beyond biological contamination, noting that it is important to maintain the current COSPAR planetary protection policy for scientific exploration and activities. The attendees agreed that there is need for further study of the ethical considerations used on Earth and the examination of management options and governmental mechanisms useful for establishing an environmental stewardship framework that incorporates both scientific input and enforcement. Scientists need to undertake public dialogue to communicate widely about these future policy deliberations and to ensure public involvement in decision making. A number of incremental steps have been taken since the workshop to implement some of these recommendations. Key Words: Planetary protection—Extraterrestrial life—Life in extreme environments—Environment—Habitability. Astrobiology 12, 1017–1023. PMID:23095097

Public Outreach with NASA Lunar and Planetary Mapping and Modeling

NASA Technical Reports Server (NTRS)

Law, E.; Day, B

2017-01-01

NASA's Trek family of online portals is an exceptional collection of resources making it easy for students and the public to explore surfaces of planetary bodies using real data from real missions. Exotic landforms on other worlds and our plans to explore them provide inspiring context for science and technology lessons in classrooms, museums, and at home. These portals can be of great value to formal and informal educators, as well as to scientists working to share the excitement of the latest developments in planetary science, and can significantly enhance visibility and public engagement in missions of exploration.

Public Outreach with NASA Lunar and Planetary Mapping and Modeling

NASA Astrophysics Data System (ADS)

Law, E.; Day, B.

2017-09-01

NASA's Trek family of online portals is an exceptional collection of resources making it easy for students and the public to explore surfaces of planetary bodies using real data from real missions. Exotic landforms on other worlds and our plans to explore them provide inspiring context for science and technology lessons in classrooms, museums, and at home. These portals can be of great value to formal and informal educators, as well as to scientists working to share the excitement of the latest developments in planetary science, and can significantly enhance visibility and public engagement in missions of exploration.

The Role of NASA's Planetary Data System in the Planetary Spatial Data Infrastructure Initiative

NASA Astrophysics Data System (ADS)

Arvidson, R. E.; Gaddis, L. R.

2017-12-01

An effort underway in NASA's planetary science community is the Mapping and Planetary Spatial Infrastructure Team (MAPSIT, http://www.lpi.usra.edu/mapsit/). MAPSIT is a community assessment group organized to address a lack of strategic spatial data planning for space science and exploration. Working with MAPSIT, a new initiative of NASA and USGS is the development of a Planetary Spatial Data Infrastructure (PSDI) that builds on extensive knowledge on storing, accessing, and working with terrestrial spatial data. PSDI is a knowledge and technology framework that enables the efficient discovery, access, and exploitation of planetary spatial data to facilitate data analysis, knowledge synthesis, and decision-making. NASA's Planetary Data System (PDS) archives >1.2 petabytes of digital data resulting from decades of planetary exploration and research. The PDS charter focuses on the efficient collection, archiving, and accessibility of these data. The PDS emphasis on data preservation and archiving is complementary to that of the PSDI initiative because the latter utilizes and extends available data to address user needs in the areas of emerging technologies, rapid development of tailored delivery systems, and development of online collaborative research environments. The PDS plays an essential PSDI role because it provides expertise to help NASA missions and other data providers to organize and document their planetary data, to collect and maintain the archives with complete, well-documented and peer-reviewed planetary data, to make planetary data accessible by providing online data delivery tools and search services, and ultimately to ensure the long-term preservation and usability of planetary data. The current PDS4 information model extends and expands PDS metadata and relationships between and among elements of the collections. The PDS supports data delivery through several node services, including the Planetary Image Atlas (https://pds-imaging.jpl.nasa.gov/search/), the Orbital Data Explorers (http://ode.rsl.wustl.edu/), and the Planetary Image Locator Tool (PILOT, https://pilot.wr.usgs.gov/); the latter offers ties to the Integrated Software for Imagers and Spectrometers (ISIS), the premier planetary cartographic software package from USGS's Astrogeology Science Team.

Exploring the Relationship of Autonomic and Endocrine Activity with Social Functioning in Adults with Autism Spectrum Disorders

ERIC Educational Resources Information Center

Smeekens, I.; Didden, R.; Verhoeven, E. W. M.

2015-01-01

Several studies indicate that autonomic and endocrine activity may be related to social functioning in individuals with autism spectrum disorder (ASD), although the number of studies in adults is limited. The present study explored the relationship of autonomic and endocrine activity with social functioning in young adult males with ASD compared…

Cryogenic Liquid Sample Acquisition System for Remote Space Applications

NASA Technical Reports Server (NTRS)

Mahaffy, Paul; Trainer, Melissa; Wegel, Don; Hawk, Douglas; Melek, Tony; Johnson, Christopher; Amato, Michael; Galloway, John

2013-01-01

There is a need to acquire autonomously cryogenic hydrocarbon liquid sample from remote planetary locations such as the lakes of Titan for instruments such as mass spectrometers. There are several problems that had to be solved relative to collecting the right amount of cryogenic liquid sample into a warmer spacecraft, such as not allowing the sample to boil off or fractionate too early; controlling the intermediate and final pressures within carefully designed volumes; designing for various particulates and viscosities; designing to thermal, mass, and power-limited spacecraft interfaces; and reducing risk. Prior art inlets for similar instruments in spaceflight were designed primarily for atmospheric gas sampling and are not useful for this front-end application. These cryogenic liquid sample acquisition system designs for remote space applications allow for remote, autonomous, controlled sample collections of a range of challenging cryogenic sample types. The design can control the size of the sample, prevent fractionation, control pressures at various stages, and allow for various liquid sample levels. It is capable of collecting repeated samples autonomously in difficult lowtemperature conditions often found in planetary missions. It is capable of collecting samples for use by instruments from difficult sample types such as cryogenic hydrocarbon (methane, ethane, and propane) mixtures with solid particulates such as found on Titan. The design with a warm actuated valve is compatible with various spacecraft thermal and structural interfaces. The design uses controlled volumes, heaters, inlet and vent tubes, a cryogenic valve seat, inlet screens, temperature and cryogenic liquid sensors, seals, and vents to accomplish its task.

ESA Planetary Science Archive Architecture and Data Management

NASA Astrophysics Data System (ADS)

Arviset, C.; Barbarisi, I.; Besse, S.; Barthelemy, M.; de Marchi, G.; Docasal, R.; Fraga, D.; Grotheer, E.; Heather, D.; Laantee, C.; Lim, T.; Macfarlane, A.; Martinez, S.; Montero, A.; Osinde, J.; Rios, C.; Saiz, J.; Vallat, C.

2018-04-01

The Planetary Science Archive is the European Space Agency repository of science data from all planetary science and exploration missions. This paper presents PSA's content, architecture, user interfaces, and the relation between the PSA and IPDA.

KSC-2014-2644

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – From left, Chirold Epp, the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, project manager, and Jon Olansen, Morpheus project manager, speak to members of the media near the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Media also viewed Morpheus inside a facility near the landing facility. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Frankie Martin

Life Support and Habitation and Planetary Protection Workshop

NASA Technical Reports Server (NTRS)

Hogan, John A. (Editor); Race, Margaret S. (Editor); Fisher, John W. (Editor); Joshi, Jitendra A. (Editor); Rummel, John D. (Editor)

2006-01-01

A workshop entitled "Life Support and Habitation and Planetary Protection Workshop" was held in Houston, Texas on April 27-29, 2005 to facilitate the development of planetary protection guidelines for future human Mars exploration missions and to identify the potential effects of these guidelines on the design and selection of related human life support, extravehicular activity and monitoring and control systems. This report provides a summary of the workshop organization, starting assumptions, working group results and recommendations. Specific result topics include the identification of research and technology development gaps, potential forward and back contaminants and pathways, mitigation alternatives, and planetary protection requirements definition needs. Participants concluded that planetary protection and science-based requirements potentially affect system design, technology trade options, development costs and mission architecture. Therefore early and regular coordination between the planetary protection, scientific, planning, engineering, operations and medical communities is needed to develop workable and effective designs for human exploration of Mars.

Revised planetary protection policy for solar system exploration.

PubMed

DeVincenzi, D L; Stabekis, P D

1984-01-01

In order to control contamination of planets by terrestrial microorganisms and organic constituents, U.S. planetary missions have been governed by a planetary protection (or planetary quarantine) policy which has changed little since 1972. This policy has recently been reviewed in light of new information obtained from planetary exploration during the past decade and because of changes to, or uncertainties in, some parameters used in the existing quantitative approach. On the basis of this analysis, a revised planetary protection policy with the following key features is proposed: deemphasizing the use of mathematical models and quantitative analyses; establishing requirements for target planet/mission type (i.e., orbiter, lander, etc.) combinations; considering sample return missions a separate category; simplifying documentation; and imposing implementing procedures (i.e., trajectory biasing, cleanroom assembly, spacecraft sterilization, etc.) by exception, i.e., only if the planet/mission combination warrants such controls.

Our Solar System 2050: Advancing the Science, Technology, and Societal Relevance of Planetary Exploration Through Public Participation

NASA Astrophysics Data System (ADS)

Kaminski, A. P.; Bowman, C. D.; Buquo, L. E.; Conrad, P. G.; Davis, R. M.; Domagal-Goldman, S.; Pirtle, Z. T.; Skytland, N. G.; Tahu, G. J.; Thaller, M. L.; Viotti, M. A.

2017-02-01

We show how citizen science, crowdsourcing, prize competitions, and other modalities can expand public participation and prove valuable for enhancing the science, technology, and societal relevance of planetary exploration over the next few decades.

Planetary exploration with optical imaging systems review: what is the best sensor for future missions

NASA Astrophysics Data System (ADS)

Michaelis, H.; Behnke, T.; Bredthauer, R.; Holland, A.; Janesick, J.; Jaumann, R.; Keller, H. U.; Magrin, D.; Greggio, D.; Mottola, Stefano; Thomas, N.; Smith, P.

2017-11-01

When we talk about planetary exploration missions most people think spontaneously about fascinating images from other planets or close-up pictures of small planetary bodies such as asteroids and comets. Such images come in most cases from VIS/NIR- imaging- systems, simply called `cameras', which were typically built by institutes in collaboration with industry. Until now, they have nearly all been based on silicon CCD sensors, they have filter wheels and have often high power-consuming electronics. The question is, what are the challenges for future missions and what can be done to improve performance and scientific output. The exploration of Mars is ongoing. NASA and ESA are planning future missions to the outer planets like to the icy Jovian moons. Exploration of asteroids and comets are in focus of several recent and future missions. Furthermore, the detection and characterization of exo-planets will keep us busy for next generations. The paper is discussing the challenges and visions of imaging sensors for future planetary exploration missions. The focus of the talk is monolithic VIS/NIR- detectors.

NASA Johnson Space Center's Planetary Sample Analysis and Mission Science (PSAMS) Laboratory: A National Facility for Planetary Research

NASA Technical Reports Server (NTRS)

Draper, D. S.

2016-01-01

NASA Johnson Space Center's (JSC's) Astromaterials Research and Exploration Science (ARES) Division, part of the Exploration Integration and Science Directorate, houses a unique combination of laboratories and other assets for conducting cutting edge planetary research. These facilities have been accessed for decades by outside scientists, most at no cost and on an informal basis. ARES has thus provided substantial leverage to many past and ongoing science projects at the national and international level. Here we propose to formalize that support via an ARES/JSC Plane-tary Sample Analysis and Mission Science Laboratory (PSAMS Lab). We maintain three major research capa-bilities: astromaterial sample analysis, planetary process simulation, and robotic-mission analog research. ARES scientists also support planning for eventual human ex-ploration missions, including astronaut geological training. We outline our facility's capabilities and its potential service to the community at large which, taken together with longstanding ARES experience and expertise in curation and in applied mission science, enable multi-disciplinary planetary research possible at no other institution. Comprehensive campaigns incorporating sample data, experimental constraints, and mission science data can be conducted under one roof.

Report of the December 2009 Titan Planetary Protection workshop

NASA Astrophysics Data System (ADS)

Raulin, Francois; Rummel, John; Kminek, Gerhard; Conley, Catharine; Ehrenfreund, Pascale

The status of planning for space missions to explore the outer solar system has identified the need to define the proper planetary protection categories and implementation guidelines for outer planet satellites. A COSPAR planetary protection workshop was held in Vienna in April 2009 on that subject, and a consensus was found regarding the planetary protection status of many of these objects. However, it was determined that for the planetary protection categorization of Titan further data and studies were required, to conclude whether there is only a remote (Cat. II) or significant (Cat. III) chance that contamination carried by a spacecraft could jeopardize future exploration. The main issue to be resolved is the uncertainty surrounding the communication between the surface and the potentially liquid water in the subsurface with regard to (feasible) processes and associated time frames. It was thus decided to have a planetary protection workshop fully dedicated to the case of Titan, both to focus greater expertise on the subject and to make use of additional Cassini-Huygens mission data. A two days Titan Planetary Protection workshop was thus organized at Caltech, on December 9 and 10, 2009. The meeting was sponsored by NASA and ESA, with the participation of the COSPAR Panel on Planetary Protection. It was attended by 25 participants. The goal of this workshop was to resolve the mission category for Titan (and Ganymede) and develop a consensus on the Category II (remote chance that contamination jeopardize future exploration) versus II+ /III (less remote or significant chance of contamination jeopardize future exploration) dichotomy, taking into account both the conservative nature of planetary protection policy and the physical constraints on the Titan and Ganymede systems. The outcome of this workshop will be presented and discussed during the PPP1 session of the COSPAR General Assembly meeting in Bremen. Note: all participants of the Titan PP workshop are associated to this presentation.

ANTS: A New Concept for Very Remote Exploration with Intelligent Software Agents

NASA Astrophysics Data System (ADS)

Clark, P. E.; Curtis, S.; Rilee, M.; Truszkowski, W.; Iyengar, J.; Crawford, H.

2001-12-01

ANTS (Autonomous Nano-Technology Swarm), a NASA advanced mission concept, is a large (100 to 1000 member) swarm of pico-class (1 kg) totally autonomous spacecraft that prospect the asteroid belt. As the capacity and complexity of hardware and software, and the sophistication of technical and scientific goals have increased, greater cost constraints have led to fewer resources and thus, the need to operate spacecraft with less frequent contact. At present, autonomous operation of spacecraft systems allows great capability of spacecraft to 'safe' themselves when conditions threaten spacecraft safety. To further develop spacecraft capability, NASA is at the forefront of Intelligent Software Agent (ISA) research, performing experiments in space and on the ground to advance deliberative and collaborative autonomous control techniques. Selected missions in current planning stages require small groups of spacecraft to cooperate at a tactical level to select and schedule measurements to be made by appropriate instruments to characterize rapidly unfolding real-time events on a routine basis. The next level of development, which we are considering here, is in the use of ISAs at a strategic level, to explore the final, remote frontiers of the solar system, potentially involving a large class of objects with only infrequent contact possible. Obvious mission candidates are mainbelt asteroids, a population consisting of more than a million small bodies. Although a large fraction of solar system objects are asteroids, little data is available for them because the vast majority of them are too small to be observed except in close proximity. Asteroids originated in the transitional region between the inner (rocky) and outer (solidified gases) solar system, have remained largely unmodified since formation, and thus have a more primitive composition which includes higher abundances of siderophile (metallic iron-associated) elements and volatiles than other planetary surfaces. As a result, there has been interest in asteroids as sources of exploitable resources. Far more reconnaissance is required before such a program is undertaken. A traditional mission approach (to explore larger asteroids sequentially) is not adequate for determining the systematic distribution of exploitable material in the asteroid population. Our approach involves the use of distributed intelligence in a swarm of tiny spacecraft, each with specialized instrument capability (e.g., advanced computing, imaging, spectrometry, etc.) to evaluate the resource potential of the entire population. Supervised clusters of spacecraft will operate simultaneously within a broadly defined framework of goals to select targets (>1000) from among available candidates and to develop scenarios for studying targets simultaneously. Spacecraft use solar sails to fly directly to asteroids 1 kilometer or greater in diameter. Selected swarm members return to Earth with data, replacements join the swarm as needed. We would like to acknowledge our students R. Watson, V. Cox, and F. Olukomo for their support of this work.

Evaluating Handheld X-Ray Fluorescence (XRF) Technology in Planetary Exploration: Demonstrating Instrument Stability and Understanding Analytical Constraints and Limits for Basaltic Rocks

NASA Technical Reports Server (NTRS)

Young, K. E.; Hodges, K. V.; Evans, C. A.

2012-01-01

While large-footprint X-ray fluorescence (XRF) instruments are reliable providers of elemental information about geologic samples, handheld XRF instruments are currently being developed that enable the collection of geochemical data in the field in short time periods (approx.60 seconds) [1]. These detectors are lightweight (1.3kg) and can provide elemental abundances of major rock forming elements heavier than Na. While handheld XRF detectors were originally developed for use in mining, we are working with commercially available instruments as prototypes to explore how portable XRF technology may enable planetary field science [2,3,4]. If an astronaut or robotic explorer visited another planetary surface, the ability to obtain and evaluate geochemical data in real-time would be invaluable, especially in the high-grading of samples to determine which should be returned to Earth. We present our results on the evaluation of handheld XRF technology as a geochemical tool in the context of planetary exploration.

Raman technology for future planetary missions

NASA Astrophysics Data System (ADS)

Thiele, Hans; Hofer, Stefan; Stuffler, Timo; Glier, Markus; Popp, Jürgen; Sqalli, Omar; Wuttig, Andreas; Riesenberg, Rainer

2017-11-01

Scientific experiments on mineral and biological samples with Raman excitation below 300nm show a wealth of scientific information. The fluorescence, which typically decreases signal quality in the visual or near infrared wavelength regime can be avoided with deep ultraviolet excitation. This wavelength regime is therefore regarded as highly attractive for a compact high performance Raman spectrometer for in-situ planetary research. Main objective of the MIRAS II breadboard activity presented here (MIRAS: Mineral Investigation with Raman Spectroscopy) is to evaluate, design and build a compact fiber coupled deep-UV Raman system breadboard. Additionally, the Raman system is combined with an innovative scanning microscope system to allow effective auto-focusing and autonomous orientation on the sample surface for high precise positioning or high resolution Raman mapping.

A Path to Planetary Protection Requirements for Human Exploration: A Literature Review and Systems Engineering Approach

NASA Technical Reports Server (NTRS)

Johnson, James E.; Conley, Cassie; Siegel, Bette

2015-01-01

As systems, technologies, and plans for the human exploration of Mars and other destinations beyond low Earth orbit begin to coalesce, it is imperative that frequent and early consideration is given to how planetary protection practices and policy will be upheld. While the development of formal planetary protection requirements for future human space systems and operations may still be a few years from fruition, guidance to appropriately influence mission and system design will be needed soon to avoid costly design and operational changes. The path to constructing such requirements is a journey that espouses key systems engineering practices of understanding shared goals, objectives and concerns, identifying key stakeholders, and iterating a draft requirement set to gain community consensus. This paper traces through each of these practices, beginning with a literature review of nearly three decades of publications addressing planetary protection concerns with respect to human exploration. Key goals, objectives and concerns, particularly with respect to notional requirements, required studies and research, and technology development needs have been compiled and categorized to provide a current 'state of knowledge'. This information, combined with the identification of key stakeholders in upholding planetary protection concerns for human missions, has yielded a draft requirement set that might feed future iteration among space system designers, exploration scientists, and the mission operations community. Combining the information collected with a proposed forward path will hopefully yield a mutually agreeable set of timely, verifiable, and practical requirements for human space exploration that will uphold international commitment to planetary protection.

Ethical considerations for planetary protection in space exploration: a workshop.

PubMed

Rummel, J D; Race, M S; Horneck, G

2012-11-01

With the recognition of an increasing potential for discovery of extraterrestrial life, a diverse set of researchers have noted a need to examine the foundational ethical principles that should frame our collective space activities as we explore outer space. A COSPAR Workshop on Ethical Considerations for Planetary Protection in Space Exploration was convened at Princeton University on June 8-10, 2010, to examine whether planetary protection measures and practices should be extended to protect planetary environments within an ethical framework that goes beyond "science protection" per se. The workshop had been in development prior to a 2006 NRC report on preventing the forward contamination of Mars, although it responded directly to one of the recommendations of that report and to several peer-reviewed papers as well. The workshop focused on the implications and responsibilities engendered when exploring outer space while avoiding harmful impacts on planetary bodies. Over 3 days, workshop participants developed a set of recommendations addressing the need for a revised policy framework to address "harmful contamination" beyond biological contamination, noting that it is important to maintain the current COSPAR planetary protection policy for scientific exploration and activities. The attendees agreed that there is need for further study of the ethical considerations used on Earth and the examination of management options and governmental mechanisms useful for establishing an environmental stewardship framework that incorporates both scientific input and enforcement. Scientists need to undertake public dialogue to communicate widely about these future policy deliberations and to ensure public involvement in decision making. A number of incremental steps have been taken since the workshop to implement some of these recommendations.

Curie-Montgolfiere Planetary Explorers

NASA Astrophysics Data System (ADS)

Taylor, Chris Y.; Hansen, Jeremiah

2007-01-01

Hot-air balloons, also known as Montgolfiere balloons, powered by heat from radioisotope decay are a potentially useful tool for exploring planetary atmospheres and augmenting the capabilities of other exploration technologies. This paper describes the physical equations and identifies the key engineering parameters that drive radioisotope-powered balloon performance. These parameters include envelope strength-to-weight, envelope thermal conductivity, heater power-to-weight, heater temperature, and balloon shape. The design space for these parameters are shown for varying atmospheric compositions to illustrate the performance needed to build functioning ``Curie-Montgolfiere'' balloons for various planetary atmospheres. Methods to ease the process of Curie-Montgolfiere conceptual design and sizing of are also introduced.

Planetary Science Exploration Through 2050: Strategic Gaps in Commercial and International Partnerships

NASA Astrophysics Data System (ADS)

Ghosh, A.

2017-02-01

Planetary science will see greater participation from the commercial sector and international space agencies. It is critical to understand how these entities can partner with NASA through 2050 and help realize NASA's goals in planetary science.

Autonomous Segmentation of Outcrop Images Using Computer Vision and Machine Learning

NASA Astrophysics Data System (ADS)

Francis, R.; McIsaac, K.; Osinski, G. R.; Thompson, D. R.

2013-12-01

As planetary exploration missions become increasingly complex and capable, the motivation grows for improved autonomous science. New capabilities for onboard science data analysis may relieve radio-link data limits and provide greater throughput of scientific information. Adaptive data acquisition, storage and downlink may ultimately hold implications for mission design and operations. For surface missions, geology remains an essential focus, and the investigation of in place, exposed geological materials provides the greatest scientific insight and context for the formation and history of planetary materials and processes. The goal of this research program is to develop techniques for autonomous segmentation of images of rock outcrops. Recognition of the relationships between different geological units is the first step in mapping and interpreting a geological setting. Applications of automatic segmentation include instrument placement and targeting and data triage for downlink. Here, we report on the development of a new technique in which a photograph of a rock outcrop is processed by several elementary image processing techniques, generating a feature space which can be interrogated and classified. A distance metric learning technique (Multiclass Discriminant Analysis, or MDA) is tested as a means of finding the best numerical representation of the feature space. MDA produces a linear transformation that maximizes the separation between data points from different geological units. This ';training step' is completed on one or more images from a given locality. Then we apply the same transformation to improve the segmentation of new scenes containing similar materials to those used for training. The technique was tested using imagery from Mars analogue settings at the Cima volcanic flows in the Mojave Desert, California; impact breccias from the Sudbury impact structure in Ontario, Canada; and an outcrop showing embedded mineral veins in Gale Crater on Mars. These initial results show promising performance in segmenting images, including multi-class scenes with complex boundaries. In particular, the system was able to learn to distinguish between successive layers of volcanic deposits, including massive basalts overlaying lahar materials. It was also able to separate clasts from ground mass in outcrops of impact breccia, and to find veins of hydrated material within a clay-bearing host rock. The tests also reveal initial details about the types of visual information relevant to segmentation of these types of scenes, providing guidance for further development of the technique. Funding for this work was provided in part by the Canadian Astrobiology Training Program. A portion of this research was performed at the Jet Propulsion Laboratory, California Institute of Technology. Copyright 2013 The University of Western Ontario. All Rights Reserved.

Airships for Planetary Exploration

NASA Technical Reports Server (NTRS)

Colozza, Anthony

2004-01-01

The feasibility of utilizing an airship for planetary atmospheric exploration was assessed. The environmental conditions of the planets and moons within our solar system were evaluated to determine their applicability for airship flight. A station-keeping mission of 50 days in length was used as the baseline mission. Airship sizing was performed utilizing both solar power and isotope power to meet the baseline mission goal at the selected planetary location. The results show that an isotope-powered airship is feasible within the lower atmosphere of Venus and Saturn s moon Titan.

Space telescopes planetary monitoring (PM) and Zvezdny (eng. star) patrol (ZP) for planetary science and exoplanets exploration

NASA Astrophysics Data System (ADS)

Tavrov, Alexander; Frolov, Pavel; Korablev, Oleg; Vedenkin, Nikolai; Barabanov, Sergey

2017-11-01

Solar System planetology requires a wide use of observing spectroscopy for surface geology to atmosphere climatology. A high-contrast imaging is required to study and to characterize extra-solar planetary systems among other faint astronomical targets observed in the vicinity of bright objects. Two middle class space telescopes projects aimed to observe Solar system planets by a long term monitoring via spectroscopy and polarimetry. Extra solar planets (exoplanets) engineering and scientific explorations are included in science program.

Mars geoscience/climatology orbiter low cost mission operations

NASA Technical Reports Server (NTRS)

Erickson, K. D.

1984-01-01

It will not be possible to support the multiple planetary missions of the magnitude and order of previous missions on the basis of foreseeable NASA funding. It is, therefore, necessary to seek innovative means for accomplishing the goals of planetary exploration with modestly allocated resources. In this connection, a Core Program set of planetary exploration missions has been recommended. Attention is given to a Mission Operations design overview which is based on the Mars Geoscience/Climatology Orbiter Phase-A study performed during spring of 1983.

Using Small UAS for Mission Simulation, Science Validation, and Definition

NASA Astrophysics Data System (ADS)

Abakians, H.; Donnellan, A.; Chapman, B. D.; Williford, K. H.; Francis, R.; Ehlmann, B. L.; Smith, A. T.

2017-12-01

Small Unmanned Aerial Systems (sUAS) are increasingly being used across JPL and NASA for science data collection, mission simulation, and mission validation. They can also be used as proof of concept for development of autonomous capabilities for Earth and planetary exploration. sUAS are useful for reconstruction of topography and imagery for a variety of applications ranging from fault zone morphology, Mars analog studies, geologic mapping, photometry, and estimation of vegetation structure. Imagery, particularly multispectral imagery can be used for identifying materials such as fault lithology or vegetation type. Reflectance maps can be produced for wetland or other studies. Topography and imagery observations are useful in radar studies such as from UAVSAR or the future NISAR mission to validate 3D motions and to provide imagery in areas of disruption where the radar measurements decorrelate. Small UAS are inexpensive to operate, reconfigurable, and agile, making them a powerful platform for validating mission science measurements, and also for providing surrogate data for existing or future missions.

Doppler Lidar Sensor for Precision Landing on the Moon and Mars

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Petway, Larry; Hines, Glenn; Barnes, Bruce; Pierrottet, Diego; Lockhard, George

2012-01-01

Landing mission concepts that are being developed for exploration of planetary bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe soft landing at the pre-designated sites. To address this need, a Doppler lidar is being developed by NASA under the Autonomous Landing and Hazard Avoidance (ALHAT) project. This lidar sensor is a versatile instrument capable of providing precision velocity vectors, vehicle ground relative altitude, and attitude. The capabilities of this advanced technology have been demonstrated through two helicopter flight test campaigns conducted over a vegetation-free terrain in 2008 and 2010. Presently, a prototype version of this sensor is being assembled for integration into a rocket-powered terrestrial free-flyer vehicle. Operating in a closed loop with vehicle's guidance and navigation system, the viability of this advanced sensor for future landing missions will be demonstrated through a series of flight tests in 2012.

A Personnel Launch System for safe and efficient manned operations

NASA Astrophysics Data System (ADS)

Petro, Andrew J.; Andrews, Dana G.; Wetzel, Eric D.

1990-10-01

Several Conceptual designs for a simple, rugged Personnel Launch System (PLS) are presented. This system could transport people to and from Low Earth Orbit (LEO) starting in the late 1990's using a new modular Advanced Launch System (ALS) developed for the Space Exploration Initiative (SEI). The PLS is designed to be one element of a new space transportation architecture including heavy-lift cargo vehicles, lunar transfer vehicles, and multiple-role spcecraft such as the current Space Shuttle. The primary role of the PLS would be to deliver crews embarking on lunar or planetary missions to the Space Station, but it would also be used for earth-orbit sortie missions, space rescue missions, and some satellite servicing missions. The PLS design takes advantage of emerging electronic and structures technologies to offer a robust vehicle with autonomous operating and quick turnaround capabilities. Key features include an intact abort capability anywhere in the operating envelope, and elimination of all toxic propellants to streamline ground operations.

Development of Lidar Sensor Systems for Autonomous Safe Landing on Planetary Bodies

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Pierottet, Diego F.; Petway, Larry B.; Vanek, Michael D.

2010-01-01

Lidar has been identified by NASA as a key technology for enabling autonomous safe landing of future robotic and crewed lunar landing vehicles. NASA LaRC has been developing three laser/lidar sensor systems under the ALHAT project. The capabilities of these Lidar sensor systems were evaluated through a series of static tests using a calibrated target and through dynamic tests aboard helicopters and a fixed wing aircraft. The airborne tests were performed over Moon-like terrain in the California and Nevada deserts. These tests provided the necessary data for the development of signal processing software, and algorithms for hazard detection and navigation. The tests helped identify technology areas needing improvement and will also help guide future technology advancement activities.

Autonomous Infrastructure for Observatory Operations

NASA Astrophysics Data System (ADS)

Seaman, R.

This is an era of rapid change from ancient human-mediated modes of astronomical practice to a vision of ever larger time domain surveys, ever bigger "big data", to increasing numbers of robotic telescopes and astronomical automation on every mountaintop. Over the past decades, facets of a new autonomous astronomical toolkit have been prototyped and deployed in support of numerous space missions. Remote and queue observing modes have gained significant market share on the ground. Archives and data-mining are becoming ubiquitous; astroinformatic techniques and virtual observatory standards and protocols are areas of active development. Astronomers and engineers, planetary and solar scientists, and researchers from communities as diverse as particle physics and exobiology are collaborating on a vast range of "multi-messenger" science. What then is missing?

A learning-based semi-autonomous controller for robotic exploration of unknown disaster scenes while searching for victims.

PubMed

Doroodgar, Barzin; Liu, Yugang; Nejat, Goldie

2014-12-01

Semi-autonomous control schemes can address the limitations of both teleoperation and fully autonomous robotic control of rescue robots in disaster environments by allowing a human operator to cooperate and share such tasks with a rescue robot as navigation, exploration, and victim identification. In this paper, we present a unique hierarchical reinforcement learning-based semi-autonomous control architecture for rescue robots operating in cluttered and unknown urban search and rescue (USAR) environments. The aim of the controller is to enable a rescue robot to continuously learn from its own experiences in an environment in order to improve its overall performance in exploration of unknown disaster scenes. A direction-based exploration technique is integrated in the controller to expand the search area of the robot via the classification of regions and the rubble piles within these regions. Both simulations and physical experiments in USAR-like environments verify the robustness of the proposed HRL-based semi-autonomous controller to unknown cluttered scenes with different sizes and varying types of configurations.

Research Opportunities Supporting the Vision for Space Exploration from the Transformation of the Former Microgravity Materials Science Program

NASA Technical Reports Server (NTRS)

Clinton, R. G., Jr.; Szofran, Frank; Bassler, Julie A.; Schlagheck, Ronald A.; Cook, Mary Beth

2005-01-01

The Microgravity Materials Science Program established a strong research capability through partnerships between NASA and the scientific research community. With the announcement of the vision for space exploration, additional emphasis in strategic materials science areas was necessary. The President's Commission recognized that achieving its exploration objectives would require significant technical innovation, research, and development in focal areas defined as "enabling technologies." Among the 17 enabling technologies identified for initial focus were: advanced structures, advanced power and propulsion; closed-loop life support and habitability; extravehicular activity systems; autonomous systems and robotics; scientific data collection and analysis, biomedical risk mitigation; and planetary in situ resource utilization. Mission success may depend upon use of local resources to fabricate a replacement part to repair a critical system. Future propulsion systems will require materials with a wide range of mechanical, thermophysical, and thermochemical properties, many of them well beyond capabilities of today's materials systems. Materials challenges have also been identified by experts working to develop advanced life support systems. In responding to the vision for space exploration, the Microgravity Materials Science Program aggressively transformed its research portfolio and focused materials science areas of emphasis to include space radiation shielding; in situ fabrication and repair for life support systems; in situ resource utilization for life support consumables; and advanced materials for exploration, including materials science for space propulsion systems and for life support systems. The purpose of this paper is to inform the scientific community of these new research directions and opportunities to utilize their materials science expertise and capabilities to support the vision for space exploration.

Technologies for Human Exploration

NASA Technical Reports Server (NTRS)

Drake, Bret G.

2014-01-01

Access to Space, Chemical Propulsion, Advanced Propulsion, In-Situ Resource Utilization, Entry, Descent, Landing and Ascent, Humans and Robots Working Together, Autonomous Operations, In-Flight Maintenance, Exploration Mobility, Power Generation, Life Support, Space Suits, Microgravity Countermeasures, Autonomous Medicine, Environmental Control.

Music and Autonomic Nervous System (Dys)function

PubMed Central

Ellis, Robert J.; Thayer, Julian F.

2010-01-01

Despite a wealth of evidence for the involvement of the autonomic nervous system (ANS) in health and disease and the ability of music to affect ANS activity, few studies have systematically explored the therapeutic effects of music on ANS dysfunction. Furthermore, when ANS activity is quantified and analyzed, it is usually from a point of convenience rather than from an understanding of its physiological basis. After a review of the experimental and therapeutic literatures exploring music and the ANS, a “Neurovisceral Integration” perspective on the interplay between the central and autonomic nervous systems is introduced, and the associated implications for physiological, emotional, and cognitive health are explored. The construct of heart rate variability is discussed both as an example of this complex interplay and as a useful metric for exploring the sometimes subtle effect of music on autonomic response. Suggestions for future investigations using musical interventions are offered based on this integrative account. PMID:21197136

Advances in Planetary Protection at the Deep Space Gateway

NASA Astrophysics Data System (ADS)

Spry, J. A.; Siegel, B.; Race, M.; Rummel, J. D.; Pugel, D. E.; Groen, F. J.; Kminek, G.; Conley, C. A.; Carosso, N. J.

2018-02-01

Planetary protection knowledge gaps that can be addressed by science performed at the Deep Space Gateway in the areas of human health and performance, space biology, and planetary sciences that enable future exploration in deep space, at Mars, and other targets.

A drilling tool design and in situ identification of planetary regolith mechanical parameters

NASA Astrophysics Data System (ADS)

Zhang, Weiwei; Jiang, Shengyuan; Ji, Jie; Tang, Dewei

2018-05-01

The physical and mechanical properties as well as the heat flux of regolith are critical evidence in the study of planetary origin and evolution. Moreover, the mechanical properties of planetary regolith have great value for guiding future human planetary activities. For planetary subsurface exploration, an inchworm boring robot (IBR) has been proposed to penetrate the regolith, and the mechanical properties of the regolith are expected to be simultaneously investigated during the penetration process using the drilling tool on the IBR. This paper provides a preliminary study of an in situ method for measuring planetary regolith mechanical parameters using a drilling tool on a test bed. A conical-screw drilling tool was designed, and its drilling load characteristics were experimentally analyzed. Based on the drilling tool-regolith interaction model, two identification methods for determining the planetary regolith bearing and shearing parameters are proposed. The bearing and shearing parameters of lunar regolith simulant were successfully determined according to the pressure-sinkage tests and shear tests conducted on the test bed. The effects of the operating parameters on the identification results were also analyzed. The results indicate a feasible scheme for future planetary subsurface exploration.

System control of an autonomous planetary mobile spacecraft

NASA Technical Reports Server (NTRS)

Dias, William C.; Zimmerman, Barbara A.

1990-01-01

The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.

Open-Loop Performance of COBALT Precision Landing Payload on a Commercial Sub-Orbital Rocket

NASA Technical Reports Server (NTRS)

Restrepo, Carolina I.; Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Lovelace, Ronney S.; McCarthy, Megan M.; Tse, Teming; Stelling, Richard; Collins, Steven M.

2018-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a navigation solution that is independent of GPS and suitable for future, autonomous, planetary, landing systems. COBALT was a passive payload during the open loop tests. COBALT's sensors were actively taking data and processing it in real time, but the Xodiac rocket flew with its own GPS-navigation system as a risk reduction activity in the maturation of the technologies towards space flight. A future closed-loop test campaign is planned where the COBALT navigation solution will be used to fly its host vehicle.

The Moon: Keystone to Understanding Planetary Geological Processes and History

NASA Technical Reports Server (NTRS)

2002-01-01

Extensive and intensive exploration of the Earth's Moon by astronauts and an international array of automated spacecraft has provided an unequaled data set that has provided deep insight into geology, geochemistry, mineralogy, petrology, chronology, geophysics and internal structure. This level of insight is unequaled except for Earth. Analysis of these data sets over the last 35 years has proven fundamental to understanding planetary surface processes and evolution, and is essential to linking surface processes with internal and thermal evolution. Much of the understanding that we presently have of other terrestrial planets and outer planet satellites derives from the foundation of these data. On the basis of these data, the Moon is a laboratory for understanding of planetary processes and a keystone for providing evolutionary perspective. Important comparative planetology issues being addressed by lunar studies include impact cratering, magmatic activity and tectonism. Future planetary exploration plans should keep in mind the importance of further lunar exploration in continuing to build solid underpinnings in this keystone to planetary evolution. Examples of these insights and applications to other planets are cited.

The EO-1 autonomous sciencecraft and prospects for future autonomous space exploration

NASA Technical Reports Server (NTRS)

Chien, Steve A.

2005-01-01

This paper describes the revolutionary new science enabled by onboard autonomy as well as impact on extended missions such as the Mars Exploration Rovers and Mars Odyssey as well as future missions in development.

First Image from a Mars Rover Choosing a Target

NASA Image and Video Library

2010-03-23

This true-color image is the result of the first observation of a target selected autonomously by NASA Mars Exploration Rover Opportunity using newly developed and uploaded software named Autonomous Exploration for Gathering Increased Science, or AEGIS.

Flyover Modeling of Planetary Pits - Undergraduate Student Instrument Project

NASA Astrophysics Data System (ADS)

Bhasin, N.; Whittaker, W.

2015-12-01

On the surface of the moon and Mars there are hundreds of skylights, which are collapsed holes that are believed to lead to underground caves. This research uses Vision, Inertial, and LIDAR sensors to build a high resolution model of a skylight as a landing vehicle flies overhead. We design and fabricate a pit modeling instrument to accomplish this task, implement software, and demonstrate sensing and modeling capability on a suborbital reusable launch vehicle flying over a simulated pit. Future missions on other planets and moons will explore pits and caves, led by the technology developed by this research. Sensor software utilizes modern graph-based optimization techniques to build 3D models using camera, LIDAR, and inertial data. The modeling performance was validated with a test flyover of a planetary skylight analog structure on the Masten Xombie sRLV. The trajectory profile closely follows that of autonomous planetary powered descent, including translational and rotational dynamics as well as shock and vibration. A hexagonal structure made of shipping containers provides a terrain feature that serves as an appropriate analog for the rim and upper walls of a cylindrical planetary skylight. The skylight analog floor, walls, and rim are modeled in elevation with a 96% coverage rate at 0.25m2 resolution. The inner skylight walls have 5.9cm2 color image resolution and the rims are 6.7cm2 with measurement precision superior to 1m. The multidisciplinary student team included students of all experience levels, with backgrounds in robotics, physics, computer science, systems, mechanical and electrical engineering. The team was commited to authentic scientific experimentation, and defined specific instrument requirements and measurable experiment objectives to verify successful completion.This work was made possible by the NASA Undergraduate Student Instrument Project Educational Flight Opportunity 2013 program. Additional support was provided by the sponsorship of an IMU by KVH industries and mentorship was provided by members of the NASA ALHAT team. In addition to external support, this project was supported by two CMU Small Undergraduate Research Grants, the availability of a high-power CMU LIDAR sensor, dedicated workspace, and mentorship from research and shop faculty.

Real-Time and High-Fidelity Simulation Environment for Autonomous Ground Vehicle Dynamics

DTIC Science & Technology

2013-08-01

ENGINEERING AND TECHNOLOGY SYMPOSIUM (GVSETS), SET FOR AUG. 21-22, 2013 14. ABSTRACT briefing charts 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17...EDL & Aero-Flight DSENDS Airships Planetary & Terrain models SimScape Simulation framework Dshell Flex & Multibody dynamics DARTS 3D...7 DARTS Rigid/Flexible Real-Time Multibody Dynamics Engine Recipient of the NASA Software of the Year Award. Abhinandan Jain, "Robot and

Innovative Strategies for Asteroid Precursor Exploration

NASA Astrophysics Data System (ADS)

Klaus, K.; Lawrence, S.; Elsperman, M. S.; Smith, D. B.

2011-12-01

Introduction: Our ambitions for space exploration have outpaced our ability to afford frequent visits to targets of interest. Launch costs and development times continue to increase for getting large space craft to deep space. This particularly affects workforce development and imperils opportunities for new development starts. The time has come to leverage technology advances (including advances in autonomous operation and propulsion technology) to reduce the cost and increase the flight rate of planetary missions, while actively developing a scientific and engineering workforce to achieve national space objectives. Background: As demonstrated by the 1994 Clementine mission, planetary exploration missions maximizing off-the-shelf components to obtain a focused set of measurement objectives can make meaningful contributions to advancing the frontiers of space exploration by achieving numerous science and exploration objectives. Near Earth Objects [NEOs] are interesting candidates for missions of this nature. While results from recent missions (i.e., Hayabusa, NEAR, Dawn) have dramatically increased our understanding of asteroids, important questions remain. For example, characterizing the properties of asteroid regolith is an important consideration for understanding telescopic observations of asteroids, as well as preparing for future asteroid human exploration. Spacecraft Concepts: There are many candidate target asteroids that are attainable with our concept. We envision a "mothership" carrying 2-3 nanosats to the target. The nanosats would serve as in-situ explorers. The spacecraft is notionally designed for launch on a Taurus II. Our study intends on validating the concept and our notional spacecraft design will be refined and presented. The current dry mass with nanosats is estimated to be 750kg. The 1999 JU3 mission concept is a rendezvous with a 950 kg of initial spacecraft mass, launched to a C3 of 4 km2/s2. Subtracting the spacecraft dry mass from the initial mass gives a propellant loading of 200 kg. The solution for this case required 115.3 kg of propellant, leaving a 42% propellant margin. Science Instrumentation: Key objectives of this notional asteroid explorer would include: (1) high-resolution surface topography; (2) characterization surface composition and mineralogy; (3) quantification of the radiation environment near an NEO; and (4) mechanical properties of surface, if a touchdown takes place. Each nanosat would notionally contain a stereo camera for navigation, an alpha proton x-ray spectrometer to make measurements of the surface chemistry, and a microscopic imaging system to characterize the particle size distribution of asteroid regolith; multiple nanosats would provided redundancy for the in-situ surface characterization phase of the mission and enable a rudimentary gravity map through radio signal tracking.

The Role of Geologic Mapping in NASA PDSI Planning

NASA Astrophysics Data System (ADS)

Williams, D. A.; Skinner, J. A.; Radebaugh, J.

2017-12-01

Geologic mapping is an investigative process designed to derive the geologic history of planetary objects at local, regional, hemispheric or global scales. Geologic maps are critical products that aid future exploration by robotic spacecraft or human missions, support resource exploration, and provide context for and help guide scientific discovery. Creation of these tools, however, can be challenging in that, relative to their terrestrial counterparts, non-terrestrial planetary geologic maps lack expansive field-based observations. They rely, instead, on integrating diverse data types wth a range of spatial scales and areal coverage. These facilitate establishment of geomorphic and geologic context but are generally limited with respect to identifying outcrop-scale textural details and resolving temporal and spatial changes in depositional environments. As a result, planetary maps should be prepared with clearly defined contact and unit descriptions as well as a range of potential interpretations. Today geologic maps can be made from images obtained during the traverses of the Mars rovers, and for every new planetary object visited by NASA orbital or flyby spacecraft (e.g., Vesta, Ceres, Titan, Enceladus, Pluto). As Solar System Exploration develops and as NASA prepares to send astronauts back to the Moon and on to Mars, the importance of geologic mapping will increase. In this presentation, we will discuss the past role of geologic mapping in NASA's planetary science activities and our thoughts on the role geologic mapping will have in exploration in the coming decades. Challenges that planetary mapping must address include, among others: 1) determine the geologic framework of all Solar System bodies through the systematic development of geologic maps at appropriate scales, 2) develop digital Geographic Information Systems (GIS)-based mapping techniques and standards to assist with communicating map information to the scientific community and public, 3) develop public awareness of the role and application of geologic map-information to the resolution of national issues relevant to planetary science and eventual off-planet resource assessments, 4) use topical science to drive mapping in areas likely to be determined vital to the welfare of endeavors related to planetary science and exploration.

Synchronous in-field application of life-detection techniques in planetary analog missions

NASA Astrophysics Data System (ADS)

Amador, Elena S.; Cable, Morgan L.; Chaudry, Nosheen; Cullen, Thomas; Gentry, Diana; Jacobsen, Malene B.; Murukesan, Gayathri; Schwieterman, Edward W.; Stevens, Adam H.; Stockton, Amanda; Yin, Chang; Cullen, David C.; Geppert, Wolf

2015-02-01

Field expeditions that simulate the operations of robotic planetary exploration missions at analog sites on Earth can help establish best practices and are therefore a positive contribution to the planetary exploration community. There are many sites in Iceland that possess heritage as planetary exploration analog locations and whose environmental extremes make them suitable for simulating scientific sampling and robotic operations. We conducted a planetary exploration analog mission at two recent lava fields in Iceland, Fimmvörðuháls (2010) and Eldfell (1973), using a specially developed field laboratory. We tested the utility of in-field site sampling down selection and tiered analysis operational capabilities with three life detection and characterization techniques: fluorescence microscopy (FM), adenine-triphosphate (ATP) bioluminescence assay, and quantitative polymerase chain reaction (qPCR) assay. The study made use of multiple cycles of sample collection at multiple distance scales and field laboratory analysis using the synchronous life-detection techniques to heuristically develop the continuing sampling and analysis strategy during the expedition. Here we report the operational lessons learned and provide brief summaries of scientific data. The full scientific data report will follow separately. We found that rapid in-field analysis to determine subsequent sampling decisions is operationally feasible, and that the chosen life detection and characterization techniques are suitable for a terrestrial life-detection field mission. In-field analysis enables the rapid obtainment of scientific data and thus facilitates the collection of the most scientifically relevant samples within a single field expedition, without the need for sample relocation to external laboratories. The operational lessons learned in this study could be applied to future terrestrial field expeditions employing other analytical techniques and to future robotic planetary exploration missions.

Lunar and Planetary Science XXXV: Education Programs Demonstrations

NASA Technical Reports Server (NTRS)

2004-01-01

Reports from the session on Education Programs Demonstration include:Hands-On Activities for Exploring the Solar System in K-14; Formal Education and Informal Settings;Making Earth and Space Science and Exploration Accessible; New Thematic Solar System Exploration Products for Scientists and Educators Engaging Students of All Ages with Research-related Activities: Using the Levers of Museum Reach and Media Attention to Current Events; Astronomy Village: Use of Planetary Images in Educational Multimedia; ACUMEN: Astronomy Classes Unleashed: Meaningful Experiences for Neophytes; Unusual Guidebook to Terrestrial Field Work Studies: Microenvironmental Studies by Landers on Planetary Surfaces (New Atlas in the Series of the Solar System Notebooks on E tv s University, Hungary); and The NASA ADS: Searching, Linking and More.

Morpheus Trailered to the SLF

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – Technicians monitor the progress as a crane lowers the Project Morpheus prototype for positioning on a launch pad at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The prototype lander is being prepared for its fourth free flight test at Kennedy. Morpheus will launch from the ground over a flame trench and then descend and land on a dedicated pad inside the autonomous landing and hazard avoidance technology, or ALHAT, hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Cory Huston

Morpheus Trailered to the SLF

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – Technicians and engineers monitor the progress as the Project Morpheus prototype lander is lifted by crane for positioning on a launch pad at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The prototype lander is being prepared for its fourth free flight test at Kennedy. Morpheus will launch from the ground over a flame trench and then descend and land on a dedicated pad inside the autonomous landing and hazard avoidance technology, or ALHAT, hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Cory Huston

Morpheus Trailered to the SLF

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – Technicians monitor the progress as the Project Morpheus prototype lander is lifted by crane for positioning on a launch pad at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The prototype lander is being prepared for its fourth free flight test at Kennedy. Morpheus will launch from the ground over a flame trench and then descend and land on a dedicated pad inside the autonomous landing and hazard avoidance technology, or ALHAT, hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Cory Huston

Low-cost autonomous orbit control about Mars: Initial simulation results

NASA Astrophysics Data System (ADS)

Dawson, S. D.; Early, L. W.; Potterveld, C. W.; Königsmann, H. J.

1999-11-01

Interest in studying the possibility of extraterrestrial life has led to the re-emergence of the Red Planet as a major target of planetary exploration. Currently proposed missions in the post-2000 period are routinely calling for rendezvous with ascent craft, long-term orbiting of, and sample-return from Mars. Such missions would benefit greatly from autonomous orbit control as a means to reduce operations costs and enable contact with Mars ground stations out of view of the Earth. This paper present results from initial simulations of autonomously controlled orbits around Mars, and points out possible uses of the technology and areas of routine Mars operations where such cost-conscious and robust autonomy could prove most effective. These simulations have validated the approach and control philosophies used in the development of this autonomous orbit controller. Future work will refine the controller, accounting for systematic and random errors in the navigation of the spacecraft from the sensor suite, and will produce prototype flight code for inclusion on future missions. A modified version of Microcosm's commercially available High Precision Orbit Propagator (HPOP) was used in the preparation of these results due to its high accuracy and speed of operation. Control laws were developed to allow an autonomously controlled spacecraft to continuously control to a pre-defined orbit about Mars with near-optimal propellant usage. The control laws were implemented as an adjunct to HPOP. The GSFC-produced 50 × 50 field model of the Martian gravitational potential was used in all simulations. The Martian atmospheric drag was modeled using an exponentially decaying atmosphere based on data from the Mars-GRAM NASA Ames model. It is hoped that the simple atmosphere model that was implemented can be significantly improved in the future so as to approach the fidelity of the Mars-GRAM model in its predictions of atmospheric density at orbital altitudes. Such additional work would take the form of solar flux (F10.7) and diurnal density dependencies. The autonomous controller is a-derivative of the proprietary and patented Microcosm Earth-orbiting control methodology which will be implemented on the upcoming Surrey Satellite Technology (SSTL) UoSAT-12 and the NASA EO-1 spacecraft missions. This work was funded by the NASA Jet Propulsion Laboratory under a Phase I SBIR (96.1 07.02 9444) and by internal Microcosm R&D funds as well as earlier supporting work done under a variety of USAF Research Laboratory-sponsored contracts [1, 2, 4, 12].

Next Generation P-Band Planetary Synthetic Aperture Radar

NASA Technical Reports Server (NTRS)

Rincon, Rafael; Carter, Lynn; Lu, Dee Pong Daniel

2016-01-01

The Space Exploration Synthetic Aperture Radar (SESAR) is an advanced P-band beamforming radar instrument concept to enable a new class of observations suitable to meet Decadal Survey science goals for planetary exploration. The radar operates at full polarimetry and fine (meter scale) resolution, and achieves beam agility through programmable waveform generation and digital beamforming. The radar architecture employs a novel low power, lightweight design approach to meet stringent planetary instrument requirements. This instrument concept has the potential to provide unprecedented surface and near- subsurface measurements applicable to multiple DecadalSurvey Science Goals.

Next Generation P-Band Planetary Synthetic Aperture Radar

NASA Technical Reports Server (NTRS)

Rincon, Rafael; Carter, Lynn; Lu, Dee Pong Daniel

2017-01-01

The Space Exploration Synthetic Aperture Radar (SESAR) is an advanced P-band beamforming radar instrument concept to enable a new class of observations suitable to meet Decadal Survey science goals for planetary exploration. The radar operates at full polarimetry and fine (meter scale) resolution, and achieves beam agility through programmable waveform generation and digital beamforming. The radar architecture employs a novel low power, lightweight design approach to meet stringent planetary instrument requirements. This instrument concept has the potential to provide unprecedented surface and near- subsurface measurements applicable to multiple Decadal Survey Science Goals.

Reinforcement Learning for Weakly-Coupled MDPs and an Application to Planetary Rover Control

NASA Technical Reports Server (NTRS)

Bernstein, Daniel S.; Zilberstein, Shlomo

2003-01-01

Weakly-coupled Markov decision processes can be decomposed into subprocesses that interact only through a small set of bottleneck states. We study a hierarchical reinforcement learning algorithm designed to take advantage of this particular type of decomposability. To test our algorithm, we use a decision-making problem faced by autonomous planetary rovers. In this problem, a Mars rover must decide which activities to perform and when to traverse between science sites in order to make the best use of its limited resources. In our experiments, the hierarchical algorithm performs better than Q-learning in the early stages of learning, but unlike Q-learning it converges to a suboptimal policy. This suggests that it may be advantageous to use the hierarchical algorithm when training time is limited.

Field Experiments using Telepresence and Virtual Reality to Control Remote Vehicles: Application to Mars Rover Missions

NASA Technical Reports Server (NTRS)

Stoker, Carol

1994-01-01

This paper will describe a series of field experiments to develop and demonstrate file use of Telepresence and Virtual Reality systems for controlling rover vehicles on planetary surfaces. In 1993, NASA Ames deployed a Telepresence-Controlled Remotely Operated underwater Vehicle (TROV) into an ice-covered sea environment in Antarctica. The goal of the mission was to perform scientific exploration of an unknown environment using a remote vehicle with telepresence and virtual reality as a user interface. The vehicle was operated both locally, from above a dive hole in the ice through which it was launched, and remotely over a satellite communications link from a control room at NASA's Ames Research center, for over two months. Remote control used a bidirectional Internet link to the vehicle control computer. The operator viewed live stereo video from the TROV along with a computer-gene rated graphic representation of the underwater terrain showing file vehicle state and other related information. Tile actual vehicle could be driven either from within the virtual environment or through a telepresence interface. In March 1994, a second field experiment was performed in which [lie remote control system developed for the Antarctic TROV mission was used to control the Russian Marsokhod Rover, an advanced planetary surface rover intended for launch in 1998. Marsokhod consists of a 6-wheel chassis and is capable of traversing several kilometers of terrain each day, The rover can be controlled remotely, but is also capable of performing autonomous traverses. The rover was outfitted with a manipulator arm capable of deploying a small instrument, collecting soil samples, etc. The Marsokhod rover was deployed at Amboy Crater in the Mojave desert, a Mars analog site, and controlled remotely from Los Angeles. in two operating modes: (1) a Mars rover mission simulation with long time delay and (2) a Lunar rover mission simulation with live action video. A team of planetary geologists participated in the mission simulation. The scientific goal of the science mission was to determine what could be learned about the geologic context of the site using the capabilities of imaging and mobility provided by the Marsokhod system in these two modes of operation. I will discuss the lessons learned from these experiments in terms of the strategy for performing Mars surface exploration using rovers. This research is supported by the Solar System Exploration Exobiology, Geology, and Advanced Technology programs.

Shallow borehole array for measuring fluxes of reduced trace gases in Greenland as an analogue for volatile emission on Mars

NASA Astrophysics Data System (ADS)

Pratt, L. M.

2011-12-01

Planetary exploration of Mars is rapidly advancing with high-resolution data from orbiting and landed instruments upending the image of a monotonously arid red planet and raising interest in the search for evidence of past or present Martian life. The plausibility of biotic influences on release and sequestration of water and other volatile molecules on Mars remains a highly contentious topic. Despite this uncertainty, treating volatile emissions as potential atmospheric biomarkers is prudent for planetary protection and is critical for refinement of exploration strategies aimed at life detection on Mars. Using deeply eroded Paleoproterozoic bedrock in southwestern Greenland as an analogue for Mars, a team of scientists from Indiana University, Princeton University, Goddard Space Flight Center, the Jet Propulsion Laboratory, and Honey Bee Robotics is participating in a three-year field campaign to analyze seasonal and diurnal variation in concentration and isotopic composition of methane, ethane, and hydrogen sulfide in bedrock boreholes (0.5 to 2 m depth) and soil pipe wells (1 to 1.5 m depth) intersecting permafrost environments across a study site of about 1 km2. Open-path laser spectroscopy (OPLS) will be used from a fixed platform coupled to a roving reflector in order to map out gas emissions from a variety of bedrock and vegetated terrains in periglacial settings. OPLS mapping will be used to target sites for seasonal and diurnal monitoring surface fluxes of reduced gases. Bedrock boreholes will be drilled percussively and soil pipe-wells will be inserted by hand. Each borehole or well will have one fiber optic line and two capillary lines installed by hand through an inert screw-compression seal. The capillary lines will be used to transfer gas into detection instruments at the surface and the fiber optic line will allow transfer of data from temperature and pressure sensors to data loggers. The field campaign will culminate with an integrated drill-packer-optic-capillary system as a technology demonstration of semi-autonomous drilling for planetary exploration. Carbon and hydrogen isotopic compositions for methane and ethane will be determined in the field using Integrated Cavity Output Spectroscopy and Cavity Ring Down Spectroscopy. Continuous permafrost is present at the study site down to 300 m depth with temperatures dropping to -3 degrees C at a depth of about 4 meters, providing a relatively shallow and pristine setting for an instrumented study of reduced trace gases in soil, fractured bedrock, and groundwater constituting the active layer.

Auto-Gopher-II: an autonomous wireline rotary-hammer ultrasonic drill

NASA Astrophysics Data System (ADS)

Badescu, Mircea; Lee, Hyeong Jae; Sherrit, Stewart; Bao, Xiaoqi; Bar-Cohen, Yoseph; Jackson, Shannon; Chesin, Jacob; Zacny, Kris; Paulsen, Gale L.; Mellerowicz, Bolek; Kim, Daniel

2017-04-01

Developing technologies that would enable future NASA exploration missions to penetrate deeper into the subsurface of planetary bodies for sample collection is of great importance. Performing these tasks while using minimal mass/volume systems and with low energy consumption is another set of requirements imposed on such technologies. A deep drill, called Auto-Gopher II, is currently being developed as a joint effort between JPL's NDEAA laboratory and Honeybee Robotics Corp. The Auto-Gopher II is a wireline rotary-hammer drill that combines formation breaking by hammering using an ultrasonic actuator and cuttings removal by rotating a fluted auger bit. The hammering mechanism is based on the Ultrasonic/Sonic Drill/Corer (USDC) mechanism that has been developed as an adaptable tool for many drilling and coring applications. The USDC uses an intermediate free-flying mass to transform high frequency vibrations of a piezoelectric transducer horn tip into sonic hammering of the drill bit. The USDC concept was used in a previous task to develop an Ultrasonic/Sonic Ice Gopher and then integrated into a rotary hammer device to develop the Auto-Gopher-I. The lessons learned from these developments are being integrated into the development of the Auto- Gopher-II, an autonomous deep wireline drill with integrated cuttings and sample management and drive electronics. Subsystems of the wireline drill are being developed in parallel at JPL and Honeybee Robotics Ltd. This paper presents the development efforts of the piezoelectric actuator, cuttings removal and retention flutes and drive electronics.

Electrostatic Phenomena on Planetary Surfaces

NASA Astrophysics Data System (ADS)

Calle, Carlos I.

2017-02-01

The diverse planetary environments in the solar system react in somewhat different ways to the encompassing influence of the Sun. These different interactions define the electrostatic phenomena that take place on and near planetary surfaces. The desire to understand the electrostatic environments of planetary surfaces goes beyond scientific inquiry. These environments have enormous implications for both human and robotic exploration of the solar system. This book describes in some detail what is known about the electrostatic environment of the solar system from early and current experiments on Earth as well as what is being learned from the instrumentation on the space exploration missions (NASA, European Space Agency, and the Japanese Space Agency) of the last few decades. It begins with a brief review of the basic principles of electrostatics.

From SPICE to Map-Projection, the Planetary Science Archive Approach to Enhance Visibility and Usability of ESA's Space Science Data

NASA Astrophysics Data System (ADS)

Besse, S.; Vallat, C.; Geiger, B.; Grieger, B.; Costa, M.; Barbarisi, I.

2017-06-01

The Planetary Science Archive (PSA) is the European Space Agency’s (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int.

Ascending Stairway Modeling: A First Step Toward Autonomous Multi-Floor Exploration

DTIC Science & Technology

2012-10-01

Many robotics platforms are capable of ascending stairways, but all existing approaches for autonomous stair climbing use stairway detection as a...the rich potential of an autonomous ground robot that can climb stairs while exploring a multi-floor building. Our proposed solution to this problem is...over several steps. However, many ground robots are not capable of traversing tight spiral stairs , and so we do not focus on these types. The stairway is

Semi-autonomous exploration of multi-floor buildings with a legged robot

NASA Astrophysics Data System (ADS)

Wenger, Garrett J.; Johnson, Aaron M.; Taylor, Camillo J.; Koditschek, Daniel E.

2015-05-01

This paper presents preliminary results of a semi-autonomous building exploration behavior using the hexapedal robot RHex. Stairwells are used in virtually all multi-floor buildings, and so in order for a mobile robot to effectively explore, map, clear, monitor, or patrol such buildings it must be able to ascend and descend stairwells. However most conventional mobile robots based on a wheeled platform are unable to traverse stairwells, motivating use of the more mobile legged machine. This semi-autonomous behavior uses a human driver to provide steering input to the robot, as would be the case in, e.g., a tele-operated building exploration mission. The gait selection and transitions between the walking and stair climbing gaits are entirely autonomous. This implementation uses an RGBD camera for stair acquisition, which offers several advantages over a previously documented detector based on a laser range finder, including significantly reduced acquisition time. The sensor package used here also allows for considerable expansion of this behavior. For example, complete automation of the building exploration task driven by a mapping algorithm and higher level planner is presently under development.

Intelligent (Autonomous) Power Controller Development for Human Deep Space Exploration

NASA Technical Reports Server (NTRS)

Soeder, James; Raitano, Paul; McNelis, Anne

2016-01-01

As NASAs Evolvable Mars Campaign and other exploration initiatives continue to mature they have identified the need for more autonomous operations of the power system. For current human space operations such as the International Space Station, the paradigm is to perform the planning, operation and fault diagnosis from the ground. However, the dual problems of communication lag as well as limited communication bandwidth beyond GEO synchronous orbit, underscore the need to change the operation methodology for human operation in deep space. To address this need, for the past several years the Glenn Research Center has had an effort to develop an autonomous power controller for human deep space vehicles. This presentation discusses the present roadmap for deep space exploration along with a description of conceptual power system architecture for exploration modules. It then contrasts the present ground centric control and management architecture with limited autonomy on-board the spacecraft with an advanced autonomous power control system that features ground based monitoring with a spacecraft mission manager with autonomous control of all core systems, including power. It then presents a functional breakdown of the autonomous power control system and examines its operation in both normal and fault modes. Finally, it discusses progress made in the development of a real-time power system model and how it is being used to evaluate the performance of the controller and well as using it for verification of the overall operation.

Communication System Architecture for Planetary Exploration

NASA Technical Reports Server (NTRS)

Braham, Stephen P.; Alena, Richard; Gilbaugh, Bruce; Glass, Brian; Norvig, Peter (Technical Monitor)

2001-01-01

Future human missions to Mars will require effective communications supporting exploration activities and scientific field data collection. Constraints on cost, size, weight and power consumption for all communications equipment make optimization of these systems very important. These information and communication systems connect people and systems together into coherent teams performing the difficult and hazardous tasks inherent in planetary exploration. The communication network supporting vehicle telemetry data, mission operations, and scientific collaboration must have excellent reliability, and flexibility.

Expanding the Planetary Analog Test Sites in Hawaii - Planetary Basalt Manipulation

NASA Astrophysics Data System (ADS)

Kelso, R.

2013-12-01

The Pacific International Space Center for Exploration Systems (PISCES) is one of the very few planetary surface research test sites in the country that is totally funded by the state legislature. In recent expansions, PISCES is broadening its work in planetary test sites to include much more R&D work in the planetary surface systems, and the manipulation of basalt materials. This is to include laser 3D printing of basalt, 'lunar-concrete' construction in state projects for Hawaii, renewable energy, and adding lava tubes/skylights to their mix of high-quality planetary analog test sites. PISCES Executive Director, Rob Kelso, will be providing program updates on the interest of the Hawaii State Legislature in planetary surface systems, new applied research initiatives in planetary basalts and interests in planetary construction.

Obtaining and Using Planetary Spatial Data into the Future: The Role of the Mapping and Planetary Spatial Infrastructure Team (MAPSIT)

NASA Technical Reports Server (NTRS)

Radebaugh, J.; Thomson, B. J.; Archinal, B.; Hagerty, J.; Gaddis, L.; Lawrence, S. J.; Sutton, S.

2017-01-01

Planetary spatial data, which include any remote sensing data or derived products with sufficient positional information such that they can be projected onto a planetary body, continue to rapidly increase in volume and complexity. These data are the hard-earned fruits of decades of planetary exploration, and are the end result of mission planning and execution. Maintaining these data using accessible formats and standards for all scientists has been necessary for the success of past, present, and future planetary missions. The Mapping and Planetary Spatial Infrastructure Team (MAPSIT) is a group of planetary community members tasked by NASA Headquarters to work with the planetary science community to identify and prioritize their planetary spatial data needs to help determine the best pathways for new data acquisition, usable product derivation, and tools/capability development that supports NASA's planetary science missions.

The Planetary Data System Web Catalog Interface--Another Use of the Planetary Data System Data Model

NASA Technical Reports Server (NTRS)

Hughes, S.; Bernath, A.

1995-01-01

The Planetary Data System Data Model consists of a set of standardized descriptions of entities within the Planetary Science Community. These can be real entities in the space exploration domain such as spacecraft, instruments, and targets; conceptual entities such as data sets, archive volumes, and data dictionaries; or the archive data products such as individual images, spectrum, series, and qubes.

Flash Lidars for Planetary Missions

NASA Astrophysics Data System (ADS)

Dissly, R. W.; Weimer, C.; Masciarelli, J.; Weinberg, J.; Miller, K. L.; Rohrschneider, R.

2012-10-01

Ball Aerospace has developed multiple flash lidar technologies which can benefit planetary exploration missions. This paper describes these developments, culminating in a successful flight demonstration on STS-134.

Nasa's Planetary Geologic Mapping Program: Overview

NASA Astrophysics Data System (ADS)

Williams, D. A.

2016-06-01

NASA's Planetary Science Division supports the geologic mapping of planetary surfaces through a distinct organizational structure and a series of research and analysis (R&A) funding programs. Cartography and geologic mapping issues for NASA's planetary science programs are overseen by the Mapping and Planetary Spatial Infrastructure Team (MAPSIT), which is an assessment group for cartography similar to the Mars Exploration Program Assessment Group (MEPAG) for Mars exploration. MAPSIT's Steering Committee includes specialists in geological mapping, who make up the Geologic Mapping Subcommittee (GEMS). I am the GEMS Chair, and with a group of 3-4 community mappers we advise the U.S. Geological Survey Planetary Geologic Mapping Coordinator (Dr. James Skinner) and develop policy and procedures to aid the planetary geologic mapping community. GEMS meets twice a year, at the Annual Lunar and Planetary Science Conference in March, and at the Annual Planetary Mappers' Meeting in June (attendance is required by all NASA-funded geologic mappers). Funding programs under NASA's current R&A structure to propose geological mapping projects include Mars Data Analysis (Mars), Lunar Data Analysis (Moon), Discovery Data Analysis (Mercury, Vesta, Ceres), Cassini Data Analysis (Saturn moons), Solar System Workings (Venus or Jupiter moons), and the Planetary Data Archiving, Restoration, and Tools (PDART) program. Current NASA policy requires all funded geologic mapping projects to be done digitally using Geographic Information Systems (GIS) software. In this presentation we will discuss details on how geologic mapping is done consistent with current NASA policy and USGS guidelines.

Atmospheric Visibility Monitoring for planetary optical communications

NASA Technical Reports Server (NTRS)

Cowles, Kelly

1991-01-01

The Atmospheric Visibility Monitoring project endeavors to improve current atmospheric models and generate visibility statistics relevant to prospective earth-satellite optical communications systems. Three autonomous observatories are being used to measure atmospheric conditions on the basis of observed starlight; these data will yield clear-sky and transmission statistics for three sites with high clear-sky probabilities. Ground-based data will be compared with satellite imagery to determine the correlation between satellite data and ground-based observations.

Video Guidance, Landing, and Imaging system (VGLIS) for space missions

NASA Technical Reports Server (NTRS)

Schappell, R. T.; Knickerbocker, R. L.; Tietz, J. C.; Grant, C.; Flemming, J. C.

1975-01-01

The feasibility of an autonomous video guidance system that is capable of observing a planetary surface during terminal descent and selecting the most acceptable landing site was demonstrated. The system was breadboarded and "flown" on a physical simulator consisting of a control panel and monitor, a dynamic simulator, and a PDP-9 computer. The breadboard VGLIS consisted of an image dissector camera and the appropriate processing logic. Results are reported.

Scientific Tools and Techniques: An Innovative Introduction to Planetary Science / Astronomy for 9th Grade Students

NASA Astrophysics Data System (ADS)

Albin, Edward F.

2014-11-01

Fernbank Science Center in Atlanta, GA (USA) offers instruction in planetary science and astronomy to gifted 9th grade students within a program called "Scientific Tools and Techniques" (STT). Although STT provides a semester long overview of all sciences, the planetary science / astronomy section is innovative since students have access to instruction in the Center's Zeiss planetarium and observatory, which includes a 0.9 m cassegrain telescope. The curriculum includes charting the positions of planets in planetarium the sky; telescopic observations of the Moon and planets; hands-on access to meteorites and tektites; and an introduction to planetary spectroscopy utilizing LPI furnished ALTA reflectance spectrometers. In addition, students have the opportunity to watch several full dome planetary themed planetarium presentations, including "Back to the Moon for Good" and "Ring World: Cassini at Saturn." An overview of NASA's planetary exploration efforts is also considered, with special emphasis on the new Orion / Space Launch System for human exploration of the solar system. A primary goal of our STT program is to not only engage but encourage students to pursue careers in the field of science, with the hope of inspiring future scientists / leaders in the field of planetary science.

Advanced Space Robotics and Solar Electric Propulsion: Enabling Technologies for Future Planetary Exploration

NASA Astrophysics Data System (ADS)

Kaplan, M.; Tadros, A.

2017-02-01

Obtaining answers to questions posed by planetary scientists over the next several decades will require the ability to travel further while exploring and gathering data in more remote locations of our solar system. Timely investments need to be made in developing and demonstrating solar electric propulsion and advanced space robotics technologies.

Submillimeter Planetary Atmospheric Chemistry Exploration Sounder

NASA Technical Reports Server (NTRS)

Schlecht, Erich T.; Allen, Mark A.; Gill, John J.; Choonsup, Lee; Lin, Robert H.; Sin, Seth; Mehdi, Imran; Siegel, Peter H.; Maestrini, Alain

2013-01-01

Planetary Atmospheric Chemistry Exploration Sounder (SPACES), a high-sensitivity laboratory breadboard for a spectrometer targeted at orbital planetary atmospheric analysis. The frequency range is 520 to 590 GHz, with a target noise temperature sensitivity of 2,500 K for detecting water, sulfur compounds, carbon compounds, and other atmospheric constituents. SPACES is a prototype for a powerful tool for the exploration of the chemistry and dynamics of any planetary atmosphere. It is fundamentally a single-pixel receiver for spectral signals emitted by the relevant constituents, intended to be fed by a fixed or movable telescope/antenna. Its front-end sensor translates the received signal down to the 100-MHz range where it can be digitized and the data transferred to a spectrum analyzer for processing, spectrum generation, and accumulation. The individual microwave and submillimeter wave components (mixers, LO high-powered amplifiers, and multipliers) of SPACES were developed in cooperation with other programs, although with this type of instrument in mind. Compared to previous planetary and Earth science instruments, its broad bandwidth (approx. =.13%) and rapid tunability (approx. =.10 ms) are new developments only made possible recently by the advancement in submillimeter circuit design and processing at JPL.

Planetary programs

NASA Technical Reports Server (NTRS)

Mills, R. A.; Bourke, R. D.

1985-01-01

The goals of the NASA planetary exploration program are to understand the origin and evolution of the solar system and the earth, and the extent and nature of near-earth space resources. To accomplish this, a number of missions have been flown to the planets, and more are in active preparation or in the planning stage. This paper describes the current and planned planetary exploration program starting with the spacecraft now in flight (Pioneers and Voyagers), those in preparation for launch this decade (Galileo, Magellan, and Mars Observer), and those recommended by the Solar System Exploration Committee for the future. The latter include a series of modest objective Observer missions, a more ambitious set of Mariner Mark IIs, and the very challenging but scientifically rewarding sample returns.

NASA Planetary Science Summer School: Longitudinal Study

NASA Astrophysics Data System (ADS)

Giron, Jennie M.; Sohus, A.

2006-12-01

NASA’s Planetary Science Summer School is a program designed to prepare the next generation of scientists and engineers to participate in future missions of solar system exploration. The opportunity is advertised to science and engineering post-doctoral and graduate students with a strong interest in careers in planetary exploration. Preference is given to U.S. citizens. The “school” consists of a one-week intensive team exercise learning the process of developing a robotic mission concept into reality through concurrent engineering, working with JPL’s Advanced Project Design Team (Team X). This program benefits the students by providing them with skills, knowledge and the experience of collaborating with a concept mission design. A longitudinal study was conducted to assess the impact of the program on the past participants of the program. Data collected included their current contact information, if they are currently part of the planetary exploration community, if participation in the program contributed to any career choices, if the program benefited their career paths, etc. Approximately 37% of 250 past participants responded to the online survey. Of these, 83% indicated that they are actively involved in planetary exploration or aerospace in general; 78% said they had been able to apply what they learned in the program to their current job or professional career; 100% said they would recommend this program to a colleague.

Planetary Exploration in the Classroom

NASA Astrophysics Data System (ADS)

Slivan, S. M.; Binzel, R. P.

1997-07-01

We have developed educational materials to seed a series of undergraduate level exercises on "Planetary Exploration in the Classroom." The goals of the series are to teach modern methods of planetary exploration and discovery to students having both science and non-science backgrounds. Using personal computers in a "hands-on" approach with images recorded by planetary spacecraft, students working through the exercises learn that modern scientific images are digital objects that can be examined and manipulated in quantitative detail. The initial exercises we've developed utilize NIH Image in conjunction with images from the Voyager spacecraft CDs. Current exercises are titled "Using 'NIH IMAGE' to View Voyager Images", "Resolving Surface Features on Io", "Discovery of Volcanoes on Io", and "Topography of Canyons on Ariel." We expect these exercises will be released during Fall 1997 and will be available via 'anonymous ftp'; detailed information about obtaining the exercises will be on the Web at "http://web.mit.edu/12s23/www/pec.html." This curriculum development was sponsored by NSF Grant DUE-9455329.

Initial Efforts toward Mission-Representative Imaging Surveys from Aerial Explorers

NASA Technical Reports Server (NTRS)

Pisanich, Greg; Plice, Laura; Ippolito, Corey; Young, Larry A.; Lau, Benton; Lee, Pascal

2004-01-01

Numerous researchers have proposed the use of robotic aerial explorers to perform scientific investigation of planetary bodies in our solar system. One of the essential tasks for any aerial explorer is to be able to perform scientifically valuable imaging surveys. The focus of this paper is to discuss the challenges implicit in, and recent observations related to, acquiring mission-representative imaging data from a small fixed-wing UAV, acting as a surrogate planetary aerial explorer. This question of successfully performing aerial explorer surveys is also tied to other topics of technical investigation, including the development of unique bio-inspired technologies.

ANTS: Exploring the Solar System with an Autonomous Nanotechnology Swarm

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S.; Rilee, M.; Truszkowski, W.; Marr, G.

2002-01-01

ANTS (Autonomous Nano-Technology Swarm), a NASA advanced mission concept, calls for a large (1000 member) swarm of pico-class (1 kg) totally autonomous spacecraft to prospect the asteroid belt. Additional information is contained in the original extended abstract.

Expanded Perspectives on Autonomous Learners

ERIC Educational Resources Information Center

Oxford, Rebecca L.

2015-01-01

This paper explores two general perspectives on autonomous learners: psychological and sociocultural. These perspectives introduce a range of theoretically grounded facets of autonomous learners, facets such as the self-regulated learner, the emotionally intelligent learner, the self-determined learner, the mediated learner, the socioculturally…

Collecting, Managing, and Visualizing Data during Planetary Surface Exploration

NASA Astrophysics Data System (ADS)

Young, K. E.; Graff, T. G.; Bleacher, J. E.; Whelley, P.; Garry, W. B.; Rogers, A. D.; Glotch, T. D.; Coan, D.; Reagan, M.; Evans, C. A.; Garrison, D. H.

2017-12-01

While the Apollo lunar surface missions were highly successful in collecting valuable samples to help us understand the history and evolution of the Moon, technological advancements since 1969 point us toward a new generation of planetary surface exploration characterized by large volumes of data being collected and used to inform traverse execution real-time. Specifically, the advent of field portable technologies mean that future planetary explorers will have vast quantities of in situ geochemical and geophysical data that can be used to inform sample collection and curation as well as strategic and tactical decision making that will impact mission planning real-time. The RIS4E SSERVI (Remote, In Situ and Synchrotron Studies for Science and Exploration; Solar System Exploration Research Virtual Institute) team has been working for several years to deploy a variety of in situ instrumentation in relevant analog environments. RIS4E seeks both to determine ideal instrumentation suites for planetary surface exploration as well as to develop a framework for EVA (extravehicular activity) mission planning that incorporates this new generation of technology. Results from the last several field campaigns will be discussed, as will recommendations for how to rapidly mine in situ datasets for tactical and strategic planning. Initial thoughts about autonomy in mining field data will also be presented. The NASA Extreme Environments Mission Operations (NEEMO) missions focus on a combination of Science, Science Operations, and Technology objectives in a planetary analog environment. Recently, the increase of high-fidelity marine science objectives during NEEMO EVAs have led to the ability to evaluate how real-time data collection and visualization can influence tactical and strategic planning for traverse execution and mission planning. Results of the last few NEEMO missions will be discussed in the context of data visualization strategies for real-time operations.

Strategy of Planetary Data Archives in Japanese Missions for Planetary Data System

NASA Astrophysics Data System (ADS)

Yamamoto, Y.; Ishihara, Y.; Murakami, S. Y.

2017-12-01

To preserve data acquired by Japanese planetary explorations for a long time, we need a data archiving strategy in a form suitable for resources. Planetary Data System(PDS) developed by NASA is an excellent system for saving data over a long period. Especially for the current version 4 (PDS4), it is possible to create a data archive with high completeness using information technology. Historically, the Japanese planetary missions have archived data by scientists in their ways, but in the past decade, JAXA has been aiming to conform data to PDS considering long term preservation. Hayabusa, Akatsuki are archived in PDS3. Kaguya(SELENE) data have been newly converted from the original format to PDS3. Hayabusa2 and BepiColombo, and future planetary explorations will release data in PDS4. The cooperation of engineers who are familiar with information technology is indispensable to create data archives for scientists. In addition, it is essential to have experience, information sharing, and a system to support it. There is a challenge in Japan about the system.

The New Planetary Science Archive (PSA): Exploration and Discovery of Scientific Datasets from ESA's Planetary Missions

NASA Astrophysics Data System (ADS)

Heather, David; Besse, Sebastien; Vallat, Claire; Barbarisi, Isa; Arviset, Christophe; De Marchi, Guido; Barthelemy, Maud; Coia, Daniela; Costa, Marc; Docasal, Ruben; Fraga, Diego; Grotheer, Emmanuel; Lim, Tanya; MacFarlane, Alan; Martinez, Santa; Rios, Carlos; Vallejo, Fran; Saiz, Jaime

2017-04-01

The Planetary Science Archive (PSA) is the European Space Agency's (ESA) repository of science data from all planetary science and exploration missions. The PSA provides access to scientific datasets through various interfaces at http://psa.esa.int. All datasets are scientifically peer-reviewed by independent scientists, and are compliant with the Planetary Data System (PDS) standards. The PSA is currently implementing a number of significant improvements, mostly driven by the evolution of the PDS standard, and the growing need for better interfaces and advanced applications to support science exploitation. As of the end of 2016, the PSA is hosting data from all of ESA's planetary missions. This includes ESA's first planetary mission Giotto that encountered comet 1P/Halley in 1986 with a flyby at 800km. Science data from Venus Express, Mars Express, Huygens and the SMART-1 mission are also all available at the PSA. The PSA also contains all science data from Rosetta, which explored comet 67P/Churyumov-Gerasimenko and asteroids Steins and Lutetia. The year 2016 has seen the arrival of the ExoMars 2016 data in the archive. In the upcoming years, at least three new projects are foreseen to be fully archived at the PSA. The BepiColombo mission is scheduled for launch in 2018. Following that, the ExoMars Rover Surface Platform (RSP) in 2020, and then the JUpiter ICy moon Explorer (JUICE). All of these will archive their data in the PSA. In addition, a few ground-based support programmes are also available, especially for the Venus Express and Rosetta missions. The newly designed PSA will enhance the user experience and will significantly reduce the complexity for users to find their data promoting one-click access to the scientific datasets with more customized views when needed. This includes a better integration with Planetary GIS analysis tools and Planetary interoperability services (search and retrieve data, supporting e.g. PDAP, EPN-TAP). It will also be up-to-date with versions 3 and 4 of the PDS standards, as PDS4 will be used for ESA's ExoMars and upcoming BepiColombo missions. Users will have direct access to documentation, information and tools that are relevant to the scientific use of the dataset, including ancillary datasets, Software Interface Specification (SIS) documents, and any tools/help that the PSA team can provide. The new PSA interface was released in January 2017. The home page provides a direct and simple access to the scientific data, aiming to help scientists to discover and explore its content. The archive can be explored through a set of parameters that allow the selection of products through space and time. Quick views provide information needed for the selection of appropriate scientific products. During 2017, the PSA team will focus their efforts on developing a map search interface using GIS technologies to display ESA planetary datasets, an image gallery providing navigation through images to explore the datasets, and interoperability with international partners. This will be done in parallel with additional metadata searchable through the interface (i.e., geometry), and with a dedication to improve the content of 20 years of space exploration.

Morpheus Campaign 2A Tether Test

NASA Image and Video Library

2014-03-27

CAPE CANAVERAL, Fla. – NASA's Project Morpheus prototype lander is positioned near a new launch site at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida for a tethered test. The test will be performed to verify the lander's recently installed autonomous landing and hazard avoidance technology, or ALHAT, sensors and integration system. The launch pad was moved to a different location at the landing facility to support the next phase of flight testing. Project Morpheus tests NASA’s ALHAT, and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Glenn Benson

KSC-2014-2645

NASA Image and Video Library

2014-05-21

CAPE CANAVERAL, Fla. – From left behind the reporter in the white shirt, Chirold Epp, the Autonomous Landing and Hazard Avoidance Technology, or ALHAT, project manager, Jon Olansen, Morpheus project manager, and Greg Gaddis, Morpheus/ALHAT site director, speak to members of the media near the north end of the Shuttle Landing Facility at NASA's Kennedy Space Center in Florida. Media also viewed Morpheus inside a facility near the landing facility. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, which are green propellants. These new capabilities could be used in future efforts to deliver cargo to planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://morpheuslander.jsc.nasa.gov/. Photo credit: NASA/Frankie Martin

A Ground-Based Profiling Differential Absorption LIDAR System for Measuring CO2 in the Planetary Boundary Layer

NASA Technical Reports Server (NTRS)

Andrews, Arlyn E.; Burris, John F.; Abshire, James B.; Krainak, Michael A.; Riris, Haris; Sun, Xiao-Li; Collatz, G. James

2002-01-01

Ground-based LIDAR observations can potentially provide continuous profiles of CO2 through the planetary boundary layer and into the free troposphere. We will present initial atmospheric measurements from a prototype system that is based on components developed by the telecommunications industry. Preliminary measurements and instrument performance calculations indicate that an optimized differential absorption LIDAR (DIAL) system will be capable of providing continuous hourly averaged profiles with 250m vertical resolution and better than 1 ppm precision at 1 km. Precision increases (decreases) at lower (higher) altitudes and is directly proportional to altitude resolution and acquisition time. Thus, precision can be improved if temporal or vertical resolution is sacrificed. Our approach measures absorption by CO2 of pulsed laser light at 1.6 microns backscattered from atmospheric aerosols. Aerosol concentrations in the planetary boundary layer are relatively high and are expected to provide adequate signal returns for the desired resolution. The long-term goal of the project is to develop a rugged, autonomous system using only commercially available components that can be replicated inexpensively for deployment in a monitoring network.

Low Gravity Materials Science Research for Space Exploration

NASA Technical Reports Server (NTRS)

Clinton, R. G., Jr.; Semmes, Edmund B.; Schlagheck, Ronald A.; Bassler, Julie A.; Cook, Mary Beth; Wargo, Michael J.; Sanders, Gerald B.; Marzwell, Neville I.

2004-01-01

On January 14, 2004, the President of the United States announced a new vision for the United States civil space program. The Administrator of the National Aeronautics and Space Administration (NASA) has the responsibility to implement this new vision. The President also created a Presidential Commission 'to obtain recommendations concerning implementation of the new vision for space exploration.' The President's Commission recognized that achieving the exploration objectives would require significant technical innovation, research, and development in focal areas defined as 'enabling technologies.' Among the 17 enabling technologies identified for initial focus were advanced structures; advanced power and propulsion; closed-loop life support and habitability; extravehicular activity system; autonomous systems and robotics; scientific data collection and analysis; biomedical risk mitigation; and planetary in situ resource utilization. The Commission also recommended realignment of NASA Headquarters organizations to support the vision for space exploration. NASA has aggressively responded in its planning to support the vision for space exploration and with the current considerations of the findings and recommendations from the Presidential Commission. This presentation will examine the transformation and realignment activities to support the vision for space exploration that are underway in the microgravity materials science program. The heritage of the microgravity materials science program, in the context of residence within the organizational structure of the Office of Biological and Physical Research, and thematic and sub-discipline based research content areas, will be briefly examined as the starting point for the ongoing transformation. Overviews of future research directions will be presented and the status of organizational restructuring at NASA Headquarters, with respect to influences on the microgravity materials science program, will be discussed. Additional information is included in the original extended abstract.

Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions

NASA Technical Reports Server (NTRS)

Beauchamp, Pat; Cutts, James; Quadrelli, Marco B.; Wood, Lincoln J.; Riedel, Joseph E.; McHenry, Mike; Aung, MiMi; Cangahuala, Laureano A.; Volpe, Rich

2013-01-01

Future planetary explorations envisioned by the National Research Council's (NRC's) report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and Mission Design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSD's scientific goals.

Path-following control of wheeled planetary exploration robots moving on deformable rough terrain.

PubMed

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip.

Path-Following Control of Wheeled Planetary Exploration Robots Moving on Deformable Rough Terrain

PubMed Central

Ding, Liang; Gao, Hai-bo; Deng, Zong-quan; Li, Zhijun; Xia, Ke-rui; Duan, Guang-ren

2014-01-01

The control of planetary rovers, which are high performance mobile robots that move on deformable rough terrain, is a challenging problem. Taking lateral skid into account, this paper presents a rough terrain model and nonholonomic kinematics model for planetary rovers. An approach is proposed in which the reference path is generated according to the planned path by combining look-ahead distance and path updating distance on the basis of the carrot following method. A path-following strategy for wheeled planetary exploration robots incorporating slip compensation is designed. Simulation results of a four-wheeled robot on deformable rough terrain verify that it can be controlled to follow a planned path with good precision, despite the fact that the wheels will obviously skid and slip. PMID:24790582

Planetary protection policy (U.S.A.)

NASA Technical Reports Server (NTRS)

Rummel, John D.

1992-01-01

Through existing treaty obligations of the United States, NASA is committed to exploring space while avoiding biological contamination of the planets, and to the protection of the earth against harm from materials returned from space. Because of the similarities between Mars and earth, plans for the exploration of Mars evoke discussions of these Planetary Protection issues. U.S. Planetary Protection Policy will be focused on the preservation of these goals in an arena that will change with the growth of scientific knowledge about the Martian environment. Early opportunities to gain the appropriate data will be used to guide later policy implementation. Because human presence on Mars will result in the end of earth's separation from the Martian environment, it is expected that precursor robotic missions will address critical planetary protection concerns before humans arrive.

Autonomous flight control for a Titan exploration aerobot

NASA Technical Reports Server (NTRS)

Elfes, Alberto; Montgomery, James F.; Hall, Jeffrey L.; Joshi, Sanjay S.; Payne, Jeffrey; Bergh, Charles F.

2005-01-01

Robotic lighter-than-air vehicles, or aerobots, provide strategic platform for the exploration of planets and moons with an atmosphere, such as Venus, Mars, Titan and the gas giants. In this paper, we discuss steps towards the development of an autonomy architecture, and concentrate on the autonomous fight control subsystem.

Nonlinear adaptive formation control for a class of autonomous holonomic planetary exploration rovers

NASA Astrophysics Data System (ADS)

Ganji, Farid

This dissertation presents novel nonlinear adaptive formation controllers for a heterogeneous group of holonomic planetary exploration rovers navigating over flat terrains with unknown soil types and surface conditions. A leader-follower formation control architecture is employed. In the first part, using a point-mass model for robots and a Coulomb-viscous friction model for terrain resistance, direct adaptive control laws and a formation speed-adaptation strategy are developed for formation navigation over unknown and changing terrain in the presence of actuator saturation. On-line estimates of terrain frictional parameters compensate for unknown terrain resistance and its variations. In saturation events over difficult terrain, the formation speed is reduced based on the speed of the slowest saturated robot, using internal fleet communication and a speed-adaptation strategy, so that the formation error stays bounded and small. A formal proof for asymptotic stability of the formation system in non-saturated conditions is given. The performance of robot controllers are verified using a modular 3-robot formation simulator. Simulations show that the formation errors reduce to zero asymptotically under non-saturated conditions as is guaranteed by the theoretical proof. In the second part, the proposed adaptive control methodology is extended for formation control of a class of omnidirectional rovers with three independently-driven universal holonomic rigid wheels, where the rovers' rigid-body dynamics, drive-system electromechanical characteristics, and wheel-ground interaction mechanics are incorporated. Holonomic rovers have the ability to move simultaneously and independently in translation and rotation, rendering great maneuverability and agility, which makes them suitable for formation navigation. Novel nonlinear adaptive control laws are designed for the input voltages of the three wheel-drive motors. The motion resistance, which is due to the sinkage of rover wheels in soft planetary terrain, is modeled using classical terramechanics theory. The unknown system parameters for adaptive estimation pertain to the rolling resistance forces and scrubbing resistance torques at the wheel-terrain interfaces. Novel terramechanical formulas for terrain resistance forces and torques are derived via considering the universal holonomic wheels as rigid toroidal wheels moving forward and/or sideways as well as turning on soft ground. The asymptotic stability of the formation control system is rigorously proved using Lyapunov's direct method.

Bringing Planetary Data into Learning Environments: A Community Effort

NASA Astrophysics Data System (ADS)

Shipp, S.; Higbie, M.; Lowes, L.

2005-12-01

Recognizing the need to communicate scientific findings, and the power of using real planetary data in educational settings to engage students in Earth and space science in meaningful ways, the South Central Organization of Researchers and Educators and the Solar System Exploration Education Forum, part of NASA's Science Mission Directorate's Support Network, have established the Planetary Data in Education (PDE) Initiative. The Initiative strives to: 1) Establish a collaborative community of educators, education specialists, curriculum developers, tool developers, learning technologists, scientists, and data providers to design and develop educationally appropriate products; 2) Build awareness in the broader educational and scientific community of existing programs, products, and resources; 3) Address issues hindering the effective use of planetary data in formal and informal educational settings; and 4) Encourage partnerships that leverage the community's expertise The PDE community has hosted two conferences exploring issues in using data in educational settings. The community recognizes that data are available through venues such as the Planetary Data Systems (PDS), but not in a format that the end-user in a formal or informal educational setting can digest; these data are intended for the scientific audience. Development of meaningful educational programs using planetary data requires design of appropriate learner interfaces and involvement of data providers, product developers, learning technologists, scientists, and educators. The PDE community will participate in the development of Earth Exploration Toolbooks during the DLESE Data Services Workshop and will host a workshop in the summer of 2006 to bring together small groups of educators, data providers, and learning technologists, and scientists to design and develop products that bring planetary data into educational settings. In addition, the PDE community hosts a Web site that presents elements identified as needed by the community, including examples of planetary data use in education, recommendations for program development, links to data providers, opportunities for collaboration, pertinent research, and a Web portal to access educational resources using planetary data on the DLESE Web site.

GOATS 2008 Autonomous, Adaptive Multistatic Acoustic Sensing

DTIC Science & Technology

2008-09-30

To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and ASW, exploiting collaborative and environmentally...unlimited 13. SUPPLEMENTARY NOTES code 1 only 14. ABSTRACT To develop net-centric, autonomous underwater vehicle sensing concepts for littoral MCM and...of autonomous underwater vehicle networks as platforms for new sonar concepts exploring the full 3-D acoustic environment of shallow water (SW) and

Proactive Integration of Planetary Protection Needs Into Early Design Phases of Human Exploration Missions

NASA Astrophysics Data System (ADS)

Race, Margaret; Conley, Catharine

Planetary protection (PP) policies established by the Committee on Space Research (COSPAR) of the International Council for Science have been in force effectively for five decades, ensuring responsible exploration and the integrity of science activities, for both human and robotic missions in the Solar System beyond low Earth orbit (LEO). At present, operations on most bodies in the solar system are not constrained by planetary protection considerations because they cannot be contaminated by Earth life in ways that impact future space exploration. However, operations on Mars, Europa, and Enceladus, which represent locations with biological potential, are subject to strict planetary protection constraints for missions of all types because they can potentially be contaminated by organisms brought from Earth. Forward contamination control for robotic missions is generally accomplished through a combination of activities that reduce the bioload of microbial hitchhikers on outbound spacecraft prior to launch. Back contamination control for recent robotic missions has chiefly been accomplished by selecting sample-return targets that have little or no potential for extant life (e.g., cometary particles returned by Stardust mission). In the post-Apollo era, no human missions have had to deal with planetary protection constraints because they have never left Earth orbit. Future human missions to Mars, for example, will experience many of the challenges faced by the Apollo lunar missions, with the added possibility that astronauts on Mars may encounter habitable environments in their exploration or activities. Current COSPAR PP Principles indicate that safeguarding the Earth from potential back contamination is the highest planetary protection priority in Mars exploration. While guidelines for planetary protection controls on human missions to Mars have been established by COSPAR, detailed engineering constraints and processes for implementation of these guidelines have not yet been developed. Looking ahead, it is recognized that these planetary protection policies will apply to both governmental and non-governmental entities for the more than 100 countries that are signatories to the Outer SpaceTreaty. Fortunately, planetary protection controls for human missions are supportive of many other important mission needs, such as maximizing closed-loop and recycling capabilities to minimize mass required, minimizing exposure of humans to planetary materials for multiple health reasons, and minimizing contamination of planetary samples and environments during exploration and science activities. Currently, there is progress on a number of fronts in translating the basic COSPAR PP Principles and Implementation Guidelines into information that links with early engineering and process considerations. For example, an IAA Study Group on Planetary Protection and Human Missions is engaging robotic and human mission developers and scientists in exploring detailed technical, engineering and operational approaches by which planetary protection objectives can be accomplished for human missions in synergism with robotic exploration and in view of other constraints. This on-going study aims to highlight important information for the early stages of planning, and identify key research and technology development (R&TD) areas for further consideration and work. Such R&TD challenges provide opportunities for individuals, institutions and agencies of emerging countries to be involved in international exploration efforts. In January 2014, the study group presented an Interim Report to the IAA Heads of Agencies Summit in Washington DC. Subsequently, the group has continued to work on expanding the initial technical recommendations and findings, focusing especially on information useful to mission architects and designers as they integrate PP considerations in their varied plans-- scientific, commercial and otherwise. Already the findings and recommendations discussed by the study participants to date have set the agenda for additional work that will continue for at least another year, culminating in a final report that should be useful to current and new nations and partnerships in planning human missions beyond LEO. In addition, over the past two years, NASA has made progress in integrating planetary protection considerations into mission designs along with other important human, environmental and science needs. Details about planetary protection have also been incorporated into the latest Addendum of the Design Reference Architecture (DRA) for human missions to Mars. Other ongoing studies of Mars human mission architecture, technologies and operations have likewise been integrating PP requirements and guidelines into cross-cutting measures of various types. An important objective of all these studies is to proactively gather and communicate PP information to the broad community of planners, engineers and assorted partners who are facing the challenges of future human exploration missions. By analyzing ways to integrate PP provisions effectively into early mission phases in synergism with other needs, these projects and studies will help ensure that all institutions and organizations avoid releasing harmful contamination on bodies with biological potential, thereby ensuring protection of the Earth and astronauts throughout their missions and safeguarding the integrity of science exploration—all in compliance with the 1967 Outer Space Treaty.

Antarctic Exploration Parallels for Future Human Planetary Exploration: A Workshop Report

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J. (Editor)

2002-01-01

Four Antarctic explorers were invited to a workshop at Johnson Space Center (JSC) to provide expert assessments of NASA's current understanding of future human exploration missions beyond low Earth orbit. These explorers had been on relatively sophisticated, extensive Antarctic expeditions with sparse or nonexistent support infrastructure in the period following World War II through the end of the International Geophysical Year. Their experience was similar to that predicted for early Mars or other planetary exploration missions. For example: one Antarctic a expedition lasted two years with only one planned resupply mission and contingency plans for no resupply missions should sea ice prevent a ship from reaching them; several traverses across Antarctica measured more than 1000 total miles, required several months to complete, and were made without maps (because they did not exist) and with only a few aerial photos of the route; and the crews of six to 15 were often international in composition. At JSC, the explorers were given tours of development, training, and scientific facilities, as well as documentation at operational scenarios for future planetary exploration. This report records their observations about these facilities and plans in answers to a series of questions provided to them before the workshop.

Exploring our outer solar system - The Giant Planet System Observers

NASA Astrophysics Data System (ADS)

Cooper, J. F.; Sittler, E. C., Jr.; Sturner, S. J.; Pitman, J. T.

As space-faring peoples now work together to plan and implement future missions that robotically prepare for landing humans to explore the Moon, and later Mars, the time is right to develop evolutionary approaches for extending this next generation of exploration beyond Earth's terrestrial planet neighbors to the realm of the giant planets. And while initial fly-by missions have been hugely successful in providing exploratory surveys of what lies beyond Mars, we need to consider now what robotic precursor mission capabilities we need to emplace that prepare us properly, and comprehensively, for long-term robotic exploration, and eventual human habitation, beyond Mars to the outer reaches of our solar system. To develop practical strategies that can establish prioritized capabilities, and then develop a means for achieving those capabilities within realistic budget and technology considerations, and in reasonable timeframes, is our challenge. We suggest one component of such an approach to future outer planets exploration is a series of Giant Planets System Observer (GPSO) missions that provide for long- duration observations, monitoring, and relay functions to help advance our understanding of the outer planets and thereby enable a sound basis for planning their eventual exploration by humans. We envision these missions as being comparable to taking Hubble-class remote-sensing facilities, along with the space physics capabilities of long-lived geospace and heliospheric missions, to the giant planet systems and dedicating long observing lifetimes (HST, 16 yr.; Voyagers, 29 yr.) to the exhaustive study and characterization of those systems. GPSO missions could feature 20-yr+ extended mission lifetimes, direct inject trajectories to maximize useful lifetime on target, placement strategies that take advantage of natural environment shielding (e.g., Ganymede magnetic field) where possible, orbit designs having favorable planetary system viewing geometries, comprehensive broadband remote sensing capabilities, a complementary and redundant science instrument suite, fully autonomous operations, high bandwidth science data downlink, advanced solar power technologies (supplemented where necessary), functional interfaces that are compatible with future small fly-by missions, and fail-safe features for mission operations and planetary protection, 1 among other considerations. We describe in this paper one example of a GPSO-type mission our team has been formulating as a practical approach that addresses many of the most highly-rated future science exploration needs in the Jovian system, including the exploration of Europa, observation of Io and Ganymede, and characterization of the Jovian atmosphere. We call this mission concept the Ganymede Exploration Observer with Probes (GEOP), and describe its architecture, mission design, system features, science capabilities, key trades, and notional development plan for implementation within the next decade. 2

Shadow Areas Robust Matching Among Image Sequence in Planetary Landing

NASA Astrophysics Data System (ADS)

Ruoyan, Wei; Xiaogang, Ruan; Naigong, Yu; Xiaoqing, Zhu; Jia, Lin

2017-01-01

In this paper, an approach for robust matching shadow areas in autonomous visual navigation and planetary landing is proposed. The approach begins with detecting shadow areas, which are extracted by Maximally Stable Extremal Regions (MSER). Then, an affine normalization algorithm is applied to normalize the areas. Thirdly, a descriptor called Multiple Angles-SIFT (MA-SIFT) that coming from SIFT is proposed, the descriptor can extract more features of an area. Finally, for eliminating the influence of outliers, a method of improved RANSAC based on Skinner Operation Condition is proposed to extract inliers. At last, series of experiments are conducted to test the performance of the approach this paper proposed, the results show that the approach can maintain the matching accuracy at a high level even the differences among the images are obvious with no attitude measurements supplied.

Autonomous Planetary Rover at Carnegie Mellon

DTIC Science & Technology

1991-08-01

preplanned motions to test the limits of the Ambler’s mobility. This has included stepping down the sheer face of a meter high rock into a meter deep trench...NASA or the planning in the face of uncertainties and conflicting constraints. US Government. and coordinating a distributed software system. Future...planning process. 0 Calculate the’minimum Ambler height s. -,e body or A sequence of point-turn to face the goal, move in a sweeping legs just contacb

Volcanoes. A planetary perspective.

NASA Astrophysics Data System (ADS)

Francis, P.

In this book, the author gives an account of the familiar violent aspects of volcanoes and the various forms that eruptions can take. He explores why volcanoes exist at all, why volcanoes occur where they do, and how examples of major historical eruptions can be interpreted in terms of physical processes. Throughout he attempts to place volcanism in a planetary perspective, exploring the pre-eminent role of submarine volcanism on Earth and the stunning range of volcanic phenomena revealed by spacecraft exploration of the solar system.

Planetary exploration with nanosatellites: a space campus for future technology development

NASA Astrophysics Data System (ADS)

Drossart, P.; Mosser, B.; Segret, B.

2017-09-01

Planetary exploration is at the eve of a revolution through nanosatellites accompanying larger missions, or freely cruising in the solar system, providing a man-made cosmic web for in situ or remote sensing exploration of the Solar System. A first step is to build a specific place dedicated to nanosatellite development. The context of the CCERES PSL space campus presents an environment for nanosatellite testing and integration, a concurrent engineering facility room for project analysis and science environment dedicated to this task.

Planetary boundaries: exploring the safe operating space for humanity

Treesearch

Johan Rockström; Will Steffen; Kevin Noone; Asa Persson; F. Stuart Chapin; Eric Lambin; Timothy M. Lenton; Marten Scheffer; Carl Folke; Hans Joachim Schellnhuber; Björn Nykvist; Cynthia A. de Wit; Terry Hughes; Sander van der Leeuw; Henning Rodhe; Sverker Sörlin; Peter K. Snyder; Robert Costanza; Uno Svedin; Malin Falkenmark; Louise Karlberg; Robert W. Corell; Victoria J. Fabry; James Hansen; Brian Walker; Diana Liverman; Katherine Richardson; Paul Crutzen; Jonathan Foley

2009-01-01

Anthropogenic pressures on the Earth System have reached a scale where abrupt global environmental change can no longer be excluded. We propose a new approach to global sustainability in which we define planetary boundaries within which we expect that humanity can operate safely. Transgressing one or more planetary boundaries may be deleterious or even catastrophic due...

A bibliography of planetary geology and geophysics principal investigators and their associates, 1983 - 1984

NASA Technical Reports Server (NTRS)

Witbeck, N. E. (Editor)

1984-01-01

A compilation is given of selected bibliographic data specifically relating to recent publications submitted by principle investigators and their associates, supported through NASA's Office of Space Science and Applications, Solar System Exploration Division, Planetary Geology and Geophysics Program. Topics include the solar system, asteroids, volcanoes, stratigraphy, remote sensing, and planetary craters.

Interoperability in the Planetary Science Archive (PSA)

NASA Astrophysics Data System (ADS)

Rios Diaz, C.

2017-09-01

The protocols and standards currently being supported by the recently released new version of the Planetary Science Archive at this time are the Planetary Data Access Protocol (PDAP), the EuroPlanet- Table Access Protocol (EPN-TAP) and Open Geospatial Consortium (OGC) standards. We explore these protocols in more detail providing scientifically useful examples of their usage within the PSA.

MGA trajectory planning with an ACO-inspired algorithm

NASA Astrophysics Data System (ADS)

Ceriotti, Matteo; Vasile, Massimiliano

2010-11-01

Given a set of celestial bodies, the problem of finding an optimal sequence of swing-bys, deep space manoeuvres (DSM) and transfer arcs connecting the elements of the set is combinatorial in nature. The number of possible paths grows exponentially with the number of celestial bodies. Therefore, the design of an optimal multiple gravity assist (MGA) trajectory is a NP-hard mixed combinatorial-continuous problem. Its automated solution would greatly improve the design of future space missions, allowing the assessment of a large number of alternative mission options in a short time. This work proposes to formulate the complete automated design of a multiple gravity assist trajectory as an autonomous planning and scheduling problem. The resulting scheduled plan will provide the optimal planetary sequence and a good estimation of the set of associated optimal trajectories. The trajectory model consists of a sequence of celestial bodies connected by two-dimensional transfer arcs containing one DSM. For each transfer arc, the position of the planet and the spacecraft, at the time of arrival, are matched by varying the pericentre of the preceding swing-by, or the magnitude of the launch excess velocity, for the first arc. For each departure date, this model generates a full tree of possible transfers from the departure to the destination planet. Each leaf of the tree represents a planetary encounter and a possible way to reach that planet. An algorithm inspired by ant colony optimization (ACO) is devised to explore the space of possible plans. The ants explore the tree from departure to destination adding one node at the time: every time an ant is at a node, a probability function is used to select a feasible direction. This approach to automatic trajectory planning is applied to the design of optimal transfers to Saturn and among the Galilean moons of Jupiter. Solutions are compared to those found through more traditional genetic-algorithm techniques.

Ultra Low Temperature Ultra Low Power Instrument Packages for Planetary Surfaces

NASA Technical Reports Server (NTRS)

Clark, P. E.; Millar, P. S.; Beaman, B.; Yeh, P. S.; Cooper, L.; Feng, S.; Young, E.

2010-01-01

Achievement of solar system exploration roadmap goals will involve robotic or human deployment and longterm operation of surface science packages remote from human presence, thus requiring autonomous, self-powered operation. The major challenge such packages face will be operating during long periods of darkness in extreme cold potentially without the Pu238 based power and thermal systems available to Apollo era packages (ALSEP). Development of such science payloads will thus require considerable optimization of instrument and subsystem design, packaging and integration for a variety of planetary surface environments in order to support solar system exploration fully. Our work supports this process through the incorporation of low temperature operational components and design strategies which radically minimize power, mass, and cost while maximizing the performance under extreme surface conditions that are in many cases more demanding than those routinely experienced by spacecraft in deep space. Chief instruments/instrument package candidates include those which could provide long-term monitoring of the surface and subsurface environments for fundamental science and human crew safety. The initial attempt to design a 10 instrument environmental monitoring package with a solar/battery based power system led to a package with a unacceptably large mass (500 kg) of which over half was battery mass. In phase 1, a factor of 5 reduction in mass was achieved, first through the introduction of high performance electronics capable of operating at far lower temperature and then through the use of innovative thermal balance strategies involving the use of multi-layer thin materials and gravity-assisted heat pipes. In phase 2, reported here, involves strategies such as universal incorporation of ULT/ULP digital and analog electronics, and distributed or non-conventionally packaged power systems. These strategies will be required to meet the far more challenging thermal requirements of operating through a normal 28 day diurnal cycle. The limited temperature range of efficient battery operation remains the largest obstacle.

Planetary exploration - Earth's new horizon /12th von Karman Lecture/. [ground based and spaceborne

NASA Technical Reports Server (NTRS)

Schurmeier, H. M.

1975-01-01

The article gives an account of the history of unmanned exploration of the planets of the solar system, including both earthbound exploration and exploration with spacecraft. Examples of images of the Martian surface are presented along with images obtained in Jupiter and Mercury flybys. Data are presented on the growth of US launch vehicle performance capability, navigation performance, and planetary data rate capability. Basic information regarding the nature of the scientific experiments aboard the Pioneer and Viking spacecraft is given. A case is put forward for the ongoing exploration of the planets as a worthwhile endeavor for man.

Towards a sustainable modular robot system for planetary exploration

NASA Astrophysics Data System (ADS)

Hossain, S. G. M.

This thesis investigates multiple perspectives of developing an unmanned robotic system suited for planetary terrains. In this case, the unmanned system consists of unit-modular robots. This type of robot has potential to be developed and maintained as a sustainable multi-robot system while located far from direct human intervention. Some characteristics that make this possible are: the cooperation, communication and connectivity among the robot modules, flexibility of individual robot modules, capability of self-healing in the case of a failed module and the ability to generate multiple gaits by means of reconfiguration. To demonstrate the effects of high flexibility of an individual robot module, multiple modules of a four-degree-of-freedom unit-modular robot were developed. The robot was equipped with a novel connector mechanism that made self-healing possible. Also, design strategies included the use of series elastic actuators for better robot-terrain interaction. In addition, various locomotion gaits were generated and explored using the robot modules, which is essential for a modular robot system to achieve robustness and thus successfully navigate and function in a planetary environment. To investigate multi-robot task completion, a biomimetic cooperative load transportation algorithm was developed and simulated. Also, a liquid motion-inspired theory was developed consisting of a large number of robot modules. This can be used to traverse obstacles that inevitably occur in maneuvering over rough terrains such as in a planetary exploration. Keywords: Modular robot, cooperative robots, biomimetics, planetary exploration, sustainability.

The Open Gateway: Lunar Exploration in 2050

NASA Technical Reports Server (NTRS)

Lawrence, S.; Neal, C.

2017-01-01

The Moon, with its fundamental science questions and abundant, potentially useful re-sources, is the most viable destination for near-term future human and robotic exploration. Given what we have learned since Apollo, the lunar frontier now presents an entirely new paradigm for planetary exploration. The Lunar Exploration Roadmap [1], which was jointly developed by engineers, planetary scientists, commercial entities, and policymakers, is the cohesive strategic plan for using the Moon and its resources to enable the exploration of all other destinations within the Solar system by leveraging incremental, affordable investments in cislunar infrastructure. Here, we summarize the Lunar Exploration Roadmap, and describe the immense benefits that will arise from its successful implementation.

Robotic vehicles for planetary exploration

NASA Astrophysics Data System (ADS)

Wilcox, Brian; Matthies, Larry; Gennery, Donald; Cooper, Brian; Nguyen, Tam; Litwin, Todd; Mishkin, Andrew; Stone, Henry

A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

Robotic vehicles for planetary exploration

NASA Technical Reports Server (NTRS)

Wilcox, Brian; Matthies, Larry; Gennery, Donald; Cooper, Brian; Nguyen, Tam; Litwin, Todd; Mishkin, Andrew; Stone, Henry

1992-01-01

A program to develop planetary rover technology is underway at the Jet Propulsion Laboratory (JPL) under sponsorship of the National Aeronautics and Space Administration. Developmental systems with the necessary sensing, computing, power, and mobility resources to demonstrate realistic forms of control for various missions have been developed, and initial testing has been completed. These testbed systems and the associated navigation techniques used are described. Particular emphasis is placed on three technologies: Computer-Aided Remote Driving (CARD), Semiautonomous Navigation (SAN), and behavior control. It is concluded that, through the development and evaluation of such technologies, research at JPL has expanded the set of viable planetary rover mission possibilities beyond the limits of remotely teleoperated systems such as Lunakhod. These are potentially applicable to exploration of all the solid planetary surfaces in the solar system, including Mars, Venus, and the moons of the gas giant planets.

A Compact Instrument for Remote Raman and Fluorescence Measurements to a Radial Distance of 100 m

NASA Technical Reports Server (NTRS)

Sharma, S. K.; Misra, A. K.; Lucey, P. g.; McKay, C. P.

2005-01-01

Compact remote spectroscopic instruments that could provide detailed information about mineralogy, organic and biomaterials on a planetary surface over a relatively large area are desirable for NASA s planetary exploration program. Ability to explore a large area on the planetary surfaces as well as in impact craters from a fixed location of a rover or lander will enhance the probability of selecting target rocks of high scientific contents as well as desirable sites in search of organic compounds and biomarkers on Mars and other planetary bodies. We have developed a combined remote inelastic scattering (Raman) and laser-induced fluorescence emission (LIFE) compact instrument capable of providing accurate information about minerals, organic and biogenic materials to a radial distance of 100 m. Here we present the Raman and LIFE (R-LIFE) data set.

Preparing Graduate Students for Solar System Science and Exploration Careers: Internships and Field Training Courses led by the Lunar and Planetary Institute

NASA Astrophysics Data System (ADS)

Shaner, A. J.; Kring, D. A.

2015-12-01

To be competitive in 21st century science and exploration careers, graduate students in planetary science and related disciplines need mentorship and need to develop skills not always available at their home university, including fieldwork, mission planning, and communicating with others in the scientific and engineering communities in the U.S. and internationally. Programs offered by the Lunar and Planetary Institute (LPI) address these needs through summer internships and field training programs. From 2008-2012, LPI hosted the Lunar Exploration Summer Intern Program. This special summer intern program evaluated possible landing sites for robotic and human exploration missions to the lunar surface. By the end of the 2012 program, a series of scientifically-rich landing sites emerged, some of which had never been considered before. Beginning in 2015 and building on the success of the lunar exploration program, a new Exploration Science Summer Intern Program is being implemented with a broader scope that includes both the Moon and near-Earth asteroids. Like its predecessor, the Exploration Science Summer Intern Program offers graduate students a unique opportunity to integrate scientific input with exploration activities in a way that mission architects and spacecraft engineers can use. The program's activities may involve assessments and traverse plans for a particular destination or a more general assessment of a class of possible exploration targets. Details of the results of these programs will be discussed. Since 2010 graduate students have participated in field training and research programs at Barringer (Meteor) Crater and the Sudbury Impact Structure. Skills developed during these programs prepare students for their own thesis studies in impact-cratered terrains, whether they are on the Earth, the Moon, Mars, or other solar system planetary surface. Future field excursions will take place at these sites as well as the Zuni-Bandera Volcanic Field. Skills developed during the Zuni-Bandera training will prepare students for their own thesis studies of volcanic provinces on any solar system planetary surface where basaltic volcanism has occurred. Further details of these field trainings will also be discussed.

Formal Methods for Autonomic and Swarm-based Systems

NASA Technical Reports Server (NTRS)

Rouff, Christopher; Vanderbilt, Amy; Hinchey, Mike; Truszkowski, Walt; Rash, James

2004-01-01

Swarms of intelligent rovers and spacecraft are being considered for a number of future NASA missions. These missions will provide MSA scientist and explorers greater flexibility and the chance to gather more science than traditional single spacecraft missions. These swarms of spacecraft are intended to operate for large periods of time without contact with the Earth. To do this, they must be highly autonomous, have autonomic properties and utilize sophisticated artificial intelligence. The Autonomous Nano Technology Swarm (ANTS) mission is an example of one of the swarm type of missions NASA is considering. This mission will explore the asteroid belt using an insect colony analogy cataloging the mass, density, morphology, and chemical composition of the asteroids, including any anomalous concentrations of specific minerals. Verifying such a system would be a huge task. This paper discusses ongoing work to develop a formal method for verifying swarm and autonomic systems.

Integrated Systems Health Management for Space Exploration

NASA Technical Reports Server (NTRS)

Uckun, Serdar

2005-01-01

Integrated Systems Health Management (ISHM) is a system engineering discipline that addresses the design, development, operation, and lifecycle management of components, subsystems, vehicles, and other operational systems with the purpose of maintaining nominal system behavior and function and assuring mission safety and effectiveness under off-nominal conditions. NASA missions are often conducted in extreme, unfamiliar environments of space, using unique experimental spacecraft. In these environments, off-nominal conditions can develop with the potential to rapidly escalate into mission- or life-threatening situations. Further, the high visibility of NASA missions means they are always characterized by extraordinary attention to safety. ISHM is a critical element of risk mitigation, mission safety, and mission assurance for exploration. ISHM enables: In-space maintenance and repair; a) Autonomous (and automated) launch abort and crew escape capability; b) Efficient testing and checkout of ground and flight systems; c) Monitoring and trending of ground and flight system operations and performance; d) Enhanced situational awareness and control for ground personnel and crew; e) Vehicle autonomy (self-sufficiency) in responding to off-nominal conditions during long-duration and distant exploration missions; f) In-space maintenance and repair; and g) Efficient ground processing of reusable systems. ISHM concepts and technologies may be applied to any complex engineered system such as transportation systems, orbital or planetary habitats, observatories, command and control systems, life support systems, safety-critical software, and even the health of flight crews. As an overarching design and operational principle implemented at the system-of-systems level, ISHM holds substantial promise in terms of affordability, safety, reliability, and effectiveness of space exploration missions.

Science Case for Planetary Exploration with Planetary CubeSats and SmallSats

NASA Astrophysics Data System (ADS)

Castillo-Rogez, Julie; Raymond, Carol; Jaumann, Ralf; Vane, Gregg; Baker, John

2016-07-01

Nano-spacecraft and especially CubeSats are emerging as viable low cost platforms for planetary exploration. Increasing miniaturization of instruments and processing performance enable smart and small packages capable of performing full investigations. While these platforms are limited in terms of payload and lifetime, their form factor and agility enable novel mission architectures and a refreshed relationship to risk. Leveraging a ride with a mothership to access far away destinations can significantly augment the mission science return at relatively low cost. Depending on resources, the mothership may carry several platforms and act as telecom relay for a distributed network or other forms of fractionated architectures. In Summer 2014 an international group of scientists, engineers, and technologists started a study to define investigations to be carried out by nano-spacecrafts. These applications flow down from key science priorities of interest across space agencies: understanding the origin and organization of the Solar system; characterization of planetary processes; assessment of the astrobiological significance of planetary bodies across the Solar system; and retirement of strategic knowledge gaps (SKGs) for Human exploration. This presentation will highlight applications that make the most of the novel architectures introduced by nano-spacecraft. Examples include the low cost reconnaissance of NEOs for science, planetary defense, resource assessment, and SKGs; in situ chemistry measurements (e.g., airless bodies and planetary atmospheres), geophysical network (e.g., magnetic field measurements), coordinated physical and chemical characterization of multiple icy satellites in a giant planet system; and scouting, i.e., risk assessment and site reconnaissance to prepare for close proximity observations of a mothership (e.g., prior to sampling). Acknowledgements: This study is sponsored by the International Academy of Astronautics (IAA). Part of this work is being carried out at the Jet Propulsion Lab, California Institute of Technology, under contract to NASA.

Concept of Operations Evaluation for Mitigating Space Flight-Relevant Medical Issues in a Planetary Habitat

NASA Technical Reports Server (NTRS)

Barsten, Kristina; Hurst, Victor, IV; Scheuring, Richard; Baumann, David K.; Johnson-Throop, Kathy

2010-01-01

Introduction: Analogue environments assist the NASA Human Research Program (HRP) in developing capabilities to mitigate high risk issues to crew health and performance for space exploration. The Habitat Demonstration Unit (HDU) is an analogue habitat used to assess space-related products for planetary missions. The Exploration Medical Capability (ExMC) element at the NASA Johnson Space Center (JSC) was tasked with developing planetary-relevant medical scenarios to evaluate the concept of operations for mitigating medical issues in such an environment. Methods: Two medical scenarios were conducted within the simulated planetary habitat with the crew executing two space flight-relevant procedures: Eye Examination with a corneal injury and Skin Laceration. Remote guidance for the crew was provided by a flight surgeon (FS) stationed at a console outside of the habitat. Audio and video data were collected to capture the communication between the crew and the FS, as well as the movements of the crew executing the procedures. Questionnaire data regarding procedure content and remote guidance performance also were collected from the crew immediately after the sessions. Results: Preliminary review of the audio, video, and questionnaire data from the two scenarios conducted within the HDU indicate that remote guidance techniques from an FS on console can help crew members within a planetary habitat mitigate planetary-relevant medical issues. The content and format of the procedures were considered concise and intuitive, respectively. Discussion: Overall, the preliminary data from the evaluation suggest that use of remote guidance techniques by a FS can help HDU crew execute space exploration-relevant medical procedures within a habitat relevant to planetary missions, however further evaluations will be needed to implement this strategy into the complete concept of operations for conducting general space medicine within similar environments

Capability 9.1 Exploration

NASA Technical Reports Server (NTRS)

Eckelkamp, Rick; Blacic, Jim

2005-01-01

The exploration challenge are: To build an efficient, cost effective exploration infrastructure, To coordinate exploration robots & crews from multiple. earth sites to accomplish science and exploration objectives. and To maximize self-sufficiency of the lunar/planetary exploration team.

NEWTON - NEW portable multi-sensor scienTific instrument for non-invasive ON-site characterization of rock from planetary surface and sub-surfaces

NASA Astrophysics Data System (ADS)

Díaz-Michelena, M.; de Frutos, J.; Ordóñez, A. A.; Rivero, M. A.; Mesa, J. L.; González, L.; Lavín, C.; Aroca, C.; Sanz, M.; Maicas, M.; Prieto, J. L.; Cobos, P.; Pérez, M.; Kilian, R.; Baeza, O.; Langlais, B.; Thébault, E.; Grösser, J.; Pappusch, M.

2017-09-01

In space instrumentation, there is currently no instrument dedicated to susceptibly or complete magnetization measurements of rocks. Magnetic field instrument suites are generally vector (or scalar) magnetometers, which locally measure the magnetic field. When mounted on board rovers, the electromagnetic perturbations associated with motors and other elements make it difficult to reap the benefits from the inclusion of such instruments. However, magnetic characterization is essential to understand key aspects of the present and past history of planetary objects. The work presented here overcomes the limitations currently existing in space instrumentation by developing a new portable and compact multi-sensor instrument for ground breaking high-resolution magnetic characterization of planetary surfaces and sub-surfaces. This new technology introduces for the first time magnetic susceptometry (real and imaginary parts) as a complement to existing compact vector magnetometers for planetary exploration. This work aims to solve the limitations currently existing in space instrumentation by means of providing a new portable and compact multi-sensor instrument for use in space, science and planetary exploration to solve some of the open questions on the crustal and more generally planetary evolution within the Solar System.

Exploring Visual Evidence of Human Impact on the Environment with Planetary-Scale Zoomable Timelapse Video

NASA Astrophysics Data System (ADS)

Sargent, R.; Egge, M.; Dille, P. S.; O'Donnell, G. D.; Herwig, C.

2016-12-01

Visual evidence ignites curiosity and inspires advocacy. Zoomable imagery and video on a planetary scale provides compelling evidence of human impact on the environment. Earth Timelapse places the observable impact of 30+ years of human activity into the hands of policy makers, scientists, and advocates, with fluidity and speed that supports inquiry and exploration. Zoomability enables compelling narratives and ready apprehension of environmental changes, connecting human-scale evidence to regional and ecosystem-wide trends and changes. Leveraging the power of Google Earth Engine, join us to explore 30+ years of Landset 30m RGB imagery showing glacial retreat, agricultural deforestation, irrigation expansion, and the disappearance of lakes. These narratives are enriched with datasets showing planetary forest gain/loss, annual cycles of agricultural fires, global changes in the health of coral reefs, trends in resource extraction, and of renewable energy development. We demonstrate the intuitive and inquiry-enabling power of these planetary visualizations, and provide instruction on how scientists and advocates can create and share or contribute visualizations of their own research or topics of interest.

An integrated strategy for the planetary sciences: 1995 - 2010

NASA Technical Reports Server (NTRS)

1994-01-01

In 1992, the National Research Council's Space Studies Board charged its Committee on Planetary and Lunar Exploration (COMPLEX) to: (1) summarize current understanding of the planets and the solar system; (2) pose the most significant scientific questions that remain; and (3) establish the priorities for scientific exploration of the planets for the period from 1995 to 2010. The broad scientific goals of solar system exploration include: (1) understanding how physical and chemical processes determine the major characteristics of the planets, and thereby help us to understand the operation of Earth; (2) learning about how planetary systems originate and evolve; (3) determining how life developed in the solar system, particularly on Earth, and in what ways life modifies planetary environments; and (4) discovering how relatively simple, basic laws of physics and chemistry can lead to the diverse phenomena observed in complex systems. COMPLEX maintains that the most useful new programs to emphasize in the period from 1995 to 2010 are detailed investigations of comets, Mars, and Jupiter and an intensive search for, and characterization of, extrasolar planets.

Planning Flight Paths of Autonomous Aerobots

NASA Technical Reports Server (NTRS)

Kulczycki, Eric; Elfes, Alberto; Sharma, Shivanjli

2009-01-01

Algorithms for planning flight paths of autonomous aerobots (robotic blimps) to be deployed in scientific exploration of remote planets are undergoing development. These algorithms are also adaptable to terrestrial applications involving robotic submarines as well as aerobots and other autonomous aircraft used to acquire scientific data or to perform surveying or monitoring functions.

Robustness via Run-Time Adaptation of Contingent Plans

NASA Technical Reports Server (NTRS)

Bresina, John L.; Washington, Richard; Norvig, Peter (Technical Monitor)

2000-01-01

In this paper, we discuss our approach to making the behavior of planetary rovers more robust for the purpose of increased productivity. Due to the inherent uncertainty in rover exploration, the traditional approach to rover control is conservative, limiting the autonomous operation of the rover and sacrificing performance for safety. Our objective is to increase the science productivity possible within a single uplink by allowing the rover's behavior to be specified with flexible, contingent plans and by employing dynamic plan adaptation during execution. We have deployed a system exhibiting flexible, contingent execution; this paper concentrates on our ongoing efforts on plan adaptation, Plans can be revised in two ways: plan steps may be deleted, with execution continuing with the plan suffix; and the current plan may be merged with an "alternate plan" from an on-board library. The plan revision action is chosen to maximize the expected utility of the plan. Plan merging and action deletion constitute a more conservative general-purpose planning system; in return, our approach is more efficient and more easily verified, two important criteria for deployed rovers.

Neural Network Based Sensory Fusion for Landmark Detection

NASA Technical Reports Server (NTRS)

Kumbla, Kishan -K.; Akbarzadeh, Mohammad R.

1997-01-01

NASA is planning to send numerous unmanned planetary missions to explore the space. This requires autonomous robotic vehicles which can navigate in an unstructured, unknown, and uncertain environment. Landmark based navigation is a new area of research which differs from the traditional goal-oriented navigation, where a mobile robot starts from an initial point and reaches a destination in accordance with a pre-planned path. The landmark based navigation has the advantage of allowing the robot to find its way without communication with the mission control station and without exact knowledge of its coordinates. Current algorithms based on landmark navigation however pose several constraints. First, they require large memories to store the images. Second, the task of comparing the images using traditional methods is computationally intensive and consequently real-time implementation is difficult. The method proposed here consists of three stages, First stage utilizes a heuristic-based algorithm to identify significant objects. The second stage utilizes a neural network (NN) to efficiently classify images of the identified objects. The third stage combines distance information with the classification results of neural networks for efficient and intelligent navigation.

Morpheus Campaign 1A Liftoff

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – The Project Morpheus prototype lander touches down in the autonomous landing and hazard avoidance technology, or ALHAT, hazard field after launching on its fourth free flight test at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The 64-second test began at 1:15 p.m. EST with the Morpheus lander launching from the ground over a flame trench and ascending about 305 feet, significantly increasing the ascent velocity from the last test. The lander flew forward, covering about 358 feet in 25 seconds before descending and landing within 15 inches of its target on a dedicated pad inside the ALHAT hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Kim Shiflett

Morpheus Campaign 1A Liftoff

NASA Image and Video Library

2014-01-21

CAPE CANAVERAL, Fla. – The Project Morpheus prototype lander touched down in the autonomous landing and hazard avoidance technology, or ALHAT, hazard field after launching on its fourth free flight test at the north end of the Shuttle Landing Facility at NASA’s Kennedy Space Center in Florida. The 64-second test began at 1:15 p.m. EST with the Morpheus lander launching from the ground over a flame trench and ascending about 305 feet, significantly increasing the ascent velocity from the last test. The lander flew forward, covering about 358 feet in 25 seconds before descending and landing within 15 inches of its target on a dedicated pad inside the ALHAT hazard field. Project Morpheus tests NASA’s ALHAT and an engine that runs on liquid oxygen and methane, or green propellants, into a fully-operational lander that could deliver cargo to other planetary surfaces. The landing facility provides the lander with the kind of field necessary for realistic testing, complete with rocks, craters and hazards to avoid. Morpheus’ ALHAT payload allows it to navigate to clear landing sites amidst rocks, craters and other hazards during its descent. Project Morpheus is being managed under the Advanced Exploration Systems, or AES, Division in NASA’s Human Exploration and Operations Mission Directorate. The efforts in AES pioneer new approaches for rapidly developing prototype systems, demonstrating key capabilities and validating operational concepts for future human missions beyond Earth orbit. For more information on Project Morpheus, visit http://www.nasa.gov/centers/johnson/exploration/morpheus. Photo credit: NASA/Kim Shiflett

Sixteenth Lunar and Planetary Science Conference. Press abstracts

NASA Technical Reports Server (NTRS)

1985-01-01

A broad range of topics concerned with lunar and planetary science are discussed. Topics among those included are, the sun, the planets, comets, meteorities, asteroids, satellites, space exploration, and the significance of these to Earth.

Significant achievements in the planetary geology program

NASA Technical Reports Server (NTRS)

Head, J. W. (Editor)

1984-01-01

Recent developments in planetology research are summarized. Important developments are summarized in topics ranging from solar system evolution, comparative planetology, and geologic processes active on other planetary bodies, to techniques and instrument development for exploration.

Human Health and Performance Considerations for Exploration of Near-Earth Asteroids

NASA Technical Reports Server (NTRS)

Kundrot, Craig; Steinberg, Susan; Charles, John

2010-01-01

This presentation will describe the human health and performance issues that are anticipated for the human exploration of near-Earth asteroids (NEA). Humans are considered a system in the design of any such deep-space exploration mission, and exploration of NEA presents unique challenges for the human system. Key factors that define the mission are those that are strongly affected by distance and duration. The most critical of these is deep-space radiation exposure without even the temporary shielding of a nearby large planetary body. The current space radiation permissible exposure limits (PEL) restrict mission duration to 3-10 months depending on age and gender of crewmembers and stage of the solar cycle. Factors that affect mission architecture include medical capability; countermeasures for bone, muscle, and cardiovascular atrophy during continuous weightlessness; restricted food supplies; and limited habitable volume. The design of a habitat that can maintain the physical and psychological health of the crew and support mission operations with limited intervention from Earth will require an integrated research and development effort by NASA s Human Research Program, engineering, and human factors groups. Limited abort and return options for an NEA mission are anticipated to have important effects on crew psychology as well as influence medical supplies and training requirements of the crew. Other important factors are those related to isolation, confinement, communication delays, autonomous operations, task design, small crew size, and even the unchanging view outside the windows for most of the mission. Geological properties of the NEA will influence design of sample handling and containment, and extravehicular activity capabilities including suit ports and tools. A robotic precursor mission that collects basic information on NEA surface properties would reduce uncertainty about these aspects of the mission as well as aid in design of mission architecture and exploration tasks.

Control of autonomous ground vehicles: a brief technical review

NASA Astrophysics Data System (ADS)

Babak, Shahian-Jahromi; Hussain, Syed A.; Karakas, Burak; Cetin, Sabri

2017-07-01

This paper presents a brief review of the developments achieved in autonomous vehicle systems technology. A concise history of autonomous driver assistance systems is presented, followed by a review of current state of the art sensor technology used in autonomous vehicles. Standard sensor fusion method that has been recently explored is discussed. Finally, advances in embedded software methodologies that define the logic between sensory information and actuation decisions are reviewed.

Autonomous development and learning in artificial intelligence and robotics: Scaling up deep learning to human-like learning.

PubMed

Oudeyer, Pierre-Yves

2017-01-01

Autonomous lifelong development and learning are fundamental capabilities of humans, differentiating them from current deep learning systems. However, other branches of artificial intelligence have designed crucial ingredients towards autonomous learning: curiosity and intrinsic motivation, social learning and natural interaction with peers, and embodiment. These mechanisms guide exploration and autonomous choice of goals, and integrating them with deep learning opens stimulating perspectives.

Planetary Geologic Mapping Handbook - 2010. Appendix

NASA Technical Reports Server (NTRS)

Tanaka, K. L.; Skinner, J. A., Jr.; Hare, T. M.

2010-01-01

Geologic maps present, in an historical context, fundamental syntheses of interpretations of the materials, landforms, structures, and processes that characterize planetary surfaces and shallow subsurfaces. Such maps also provide a contextual framework for summarizing and evaluating thematic research for a given region or body. In planetary exploration, for example, geologic maps are used for specialized investigations such as targeting regions of interest for data collection and for characterizing sites for landed missions. Whereas most modern terrestrial geologic maps are constructed from regional views provided by remote sensing data and supplemented in detail by field-based observations and measurements, planetary maps have been largely based on analyses of orbital photography. For planetary bodies in particular, geologic maps commonly represent a snapshot of a surface, because they are based on available information at a time when new data are still being acquired. Thus the field of planetary geologic mapping has been evolving rapidly to embrace the use of new data and modern technology and to accommodate the growing needs of planetary exploration. Planetary geologic maps have been published by the U.S. Geological Survey (USGS) since 1962. Over this time, numerous maps of several planetary bodies have been prepared at a variety of scales and projections using the best available image and topographic bases. Early geologic map bases commonly consisted of hand-mosaicked photographs or airbrushed shaded-relief views and geologic linework was manually drafted using mylar bases and ink drafting pens. Map publishing required a tedious process of scribing, color peel-coat preparation, typesetting, and photo-laboratory work. Beginning in the 1990s, inexpensive computing, display capability and user-friendly illustration software allowed maps to be drawn using digital tools rather than pen and ink, and mylar bases became obsolete. Terrestrial geologic maps published by the USGS now are primarily digital products using geographic information system (GIS) software and file formats. GIS mapping tools permit easy spatial comparison, generation, importation, manipulation, and analysis of multiple raster image, gridded, and vector data sets. GIS software has also permitted the development of projectspecific tools and the sharing of geospatial products among researchers. GIS approaches are now being used in planetary geologic mapping as well. Guidelines or handbooks on techniques in planetary geologic mapping have been developed periodically. As records of the heritage of mapping methods and data, these remain extremely useful guides. However, many of the fundamental aspects of earlier mapping handbooks have evolved significantly, and a comprehensive review of currently accepted mapping methodologies is now warranted. As documented in this handbook, such a review incorporates additional guidelines developed in recent years for planetary geologic mapping by the NASA Planetary Geology and Geophysics (PGG) Program's Planetary Cartography and Geologic Mapping Working Group's (PCGMWG) Geologic Mapping Subcommittee (GEMS) on the selection and use of map bases as well as map preparation, review, publication, and distribution. In light of the current boom in planetary exploration and the ongoing rapid evolution of available data for planetary mapping, this handbook is especially timely.

Design and Laboratory Implementation of Autonomous Optimal Motion Planning for Non-Holonomic Planetary Rovers

DTIC Science & Technology

2012-12-01

autonomy helped to maximize a Mars day journey, because humans could only plan the first portion of the journey based on images sent from the rover...safe trajectory based on its sensors [1]. The distance between Mars and Earth ranges from 100-200 million miles [1] and at this distance, the time...This feature worked for the pre- planned maneuvers, which were planned by humans the day before based on available sensory and visual inputs. Once the

Human-like robots for space and hazardous environments

NASA Technical Reports Server (NTRS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom (Editor); Freise, Jon (Editor)

1990-01-01

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

A task control architecture for autonomous robots

NASA Technical Reports Server (NTRS)

Simmons, Reid; Mitchell, Tom

1990-01-01

An architecture is presented for controlling robots that have multiple tasks, operate in dynamic domains, and require a fair degree of autonomy. The architecture is built on several layers of functionality, including a distributed communication layer, a behavior layer for querying sensors, expanding goals, and executing commands, and a task level for managing the temporal aspects of planning and achieving goals, coordinating tasks, allocating resources, monitoring, and recovering from errors. Application to a legged planetary rover and an indoor mobile manipulator is described.

Human-like robots for space and hazardous environments

NASA Astrophysics Data System (ADS)

Cogley, Allen; Gustafson, David; White, Warren; Dyer, Ruth; Hampton, Tom; Freise, Jon

The three year goal for this NASA Senior Design team is to design and build a walking autonomous robotic rover. The rover should be capable of rough terrain crossing, traversing human made obstacles (such as stairs and doors), and moving through human and robot occupied spaces without collision. The rover is also to evidence considerable decision making ability, navigation and path planning skills. These goals came from the concept that the robot should have the abilities of both a planetary rover and a hazardous waste site scout.

Advancing Autonomous Operations for Deep Space Vehicles

NASA Technical Reports Server (NTRS)

Haddock, Angie T.; Stetson, Howard K.

2014-01-01

Starting in Jan 2012, the Advanced Exploration Systems (AES) Autonomous Mission Operations (AMO) Project began to investigate the ability to create and execute "single button" crew initiated autonomous activities [1]. NASA Marshall Space Flight Center (MSFC) designed and built a fluid transfer hardware test-bed to use as a sub-system target for the investigations of intelligent procedures that would command and control a fluid transfer test-bed, would perform self-monitoring during fluid transfers, detect anomalies and faults, isolate the fault and recover the procedures function that was being executed, all without operator intervention. In addition to the development of intelligent procedures, the team is also exploring various methods for autonomous activity execution where a planned timeline of activities are executed autonomously and also the initial analysis of crew procedure development. This paper will detail the development of intelligent procedures for the NASA MSFC Autonomous Fluid Transfer System (AFTS) as well as the autonomous plan execution capabilities being investigated. Manned deep space missions, with extreme communication delays with Earth based assets, presents significant challenges for what the on-board procedure content will encompass as well as the planned execution of the procedures.

NASA thesaurus: Astronomy vocabulary

NASA Technical Reports Server (NTRS)

1988-01-01

A terminology of descriptors used by the NASA Scientific and Technical information effort to index documents in the area of astronomy is presented. The terms are listed in hierarchical format derived from the 1988 edition of the NASA Thesaurus Volume 1 -- Hierarchical Listing. Over 1600 terms are included. In addition to astronomy, space sciences covered include astrophysics, cosmology, lunar flight and exploration, meteors and meteorites, celestial mechanics, planetary flight and exploration, and planetary science.

Planetary geology and terrestrial analogs in Asia

NASA Astrophysics Data System (ADS)

Komatsu, Goro; Namiki, Noriyuki

2012-04-01

2011 PERC Planetary Geology Field Symposium;Kitakyushu City, Japan, 5-6 November 2011 In spite of the extremely diverse geological settings that exist in Asia, relatively little attention has previously been paid to this region in terms of terrestrial analog studies for planetary application. Asia is emerging as a major center of studies in planetary geology, but no attempt had been made in the past to organize a broadly based meeting that would allow planetary geologists in Asia to meet with ones from more advanced centers, such as the United States and Europe, and that would include the participation of many geologists working primarily on terrestrial research. The Planetary Exploration Research Center (PERC) of the Chiba Institute of Technology hosted the first planetary geology field symposium in Asia to present results from recent planetary geology studies and to exchange ideas regarding terrestrial analogs (http://www.perc.it-chiba.ac.jp/meetings/pgfs2011/index.html).

Automation &robotics for future Mars exploration

NASA Astrophysics Data System (ADS)

Schulte, W.; von Richter, A.; Bertrand, R.

2003-04-01

Automation and Robotics (A&R) are currently considered as a key technology for Mars exploration. initiatives in this field aim at developing new A&R systems and technologies for planetary surface exploration. Kayser-Threde led the study AROMA (Automation &Robotics for Human Mars Exploration) under ESA contract in order to define a reference architecture of A&R elements in support of a human Mars exploration program. One of the goals was to define new developments and to maintain the competitiveness of European industry within this field. We present a summary of the A&R study in respect to a particular system: The Autonomous Research Island (ARI). In the Mars exploration scenario initially a robotic outpost system lands at pre-selected sites in order to search for life forms and water and to analyze the surface, geology and atmosphere. A&R systems, i.e. rovers and autonomous instrument packages, perform a number of missions with scientific and technology development objectives on the surface of Mars as part of preparations for a human exploration mission. In the Robotic Outpost Phase ARI is conceived as an automated lander which can perform in-situ analysis. It consists of a service module and a micro-rover system for local investigations. Such a system is already under investigation and development in other TRP activities. The micro-rover system provides local mobility for in-situ scientific investigations at a given landing or deployment site. In the long run ARI supports also human Mars missions. An astronaut crew would travel larger distances in a pressurized rover on Mars. Whenever interesting features on the surface are identified, the crew would interrupt the travel and perform local investigations. In order to save crew time ARI could be deployed by the astronauts to perform time-consuming investigations as for example in-situ geochemistry analysis of rocks/soil. Later, the crew could recover the research island for refurbishment and deployment at another site. In the frame of near-term Mars exploration a dedicated exobiology mission is envisaged. Scientific and technical studies for a facility to detect the evidence of past of present life have been carried out under ESA contract. Mars soil/rock samples are to be analyzed for their morphology, organic and inorganic composition using a suite of scientific instruments. Robotic devices, e.g. for the acquisition, handling and onboard processing of Mars sample material retrieved from different locations, and surface mobility are important elements in a fully automated mission. Necessary robotic elements have been identified in past studies. Their realization can partly be based on heritage of existing space hardware, but will require dedicated development effort.

Toward Autonomous Multi-floor Exploration: Ascending Stairway Localization and Modeling

DTIC Science & Technology

2013-03-01

robots have traditionally been restricted to single floors of a building or outdoor areas free of abrupt elevation changes such as curbs and stairs ...solution to this problem and is motivated by the rich potential of an autonomous ground robot that can climb stairs while exploring a multi-floor...parameters of the stairways, the robot could plan a path that traverses the stairs in order to explore the frontier at other elevations that were previously

Planetary geometry handbook: Venus positional data, 1988 - 2020, volume 2

NASA Technical Reports Server (NTRS)

Sergeyevsky, A. B.; Snyder, G. C.; Paulson, B. L.; Cunniff, R. A.

1983-01-01

Graphical data necessary for the analysis of planetary exploration missions to Venus are presented. Positional and geometric information spanning the time period from 1988 through 2020 is provided. The data and the usage are explained.

Planetary geometry handbook: Mars positional data, 1990 - 2020, volume 3

NASA Technical Reports Server (NTRS)

Sergeyevsky, A. B.; Snyder, G. C.; Paulson, B. L.; Cunniff, R. A.

1983-01-01

Graphical data necessary for the analysis of planetary exploration missions to Mars are presented. Positional and geometric information spanning the time period from 1990 through 2020 is provided. The data and usage are explained.

The Geology of the Terrestrial Planets

NASA Technical Reports Server (NTRS)

Carr, M. H. (Editor); Saunders, R. S.; Strom, R. G.; Wilhelms, D. E.

1984-01-01

The geologic history of the terrestrial planets is outlined in light of recent exploration and the revolution in geologic thinking. Among the topics considered are planet formation; planetary craters, basins, and general surface characteristics; tectonics; planetary atmospheres; and volcanism.

Planetary geometry handbook: Jupiter positional data, 1985 - 2020, volume 4

NASA Technical Reports Server (NTRS)

Sergeyevsky, A. B.; Snyder, G. C.; Paulson, B. L.; Cunniff, R. A.

1983-01-01

Graphical data necessary for the analysis of planetary exploration missions to Jupiter are presented. Positional and geometric information spanning the time period from 1985 through 2020 is provided. The data and their usage are explained.

Planetary geometry handbook: Saturn positional data, 1985 - 2020, volume 5

NASA Technical Reports Server (NTRS)

Sergeyevsky, A. B.; Snyder, G. C.; Paulson, B. L.; Cunniff, R. A.

1983-01-01

Graphical data necessary for the analysis of planetary exploration missions to Saturn are presented. Positional and geometric information spanning the time period from 1985 through 2020 is provided. The data and their usage are explained.

Contemporary Planetary Science.

ERIC Educational Resources Information Center

Belton, Michael J. S.; Levy, Eugene H.

1982-01-01

Presents an overview of planetary science and the United States program for exploration of the planets, examining the program's scientific objectives, its current activities, and the diversity of its methods. Also discusses the program's lack of continuity, especially in personnel. (Author/JN)

MAPSIT and a Roadmap for Lunar and Planetary Spatial Data Infrastructure

NASA Astrophysics Data System (ADS)

Radebaugh, J.; Archinal, B.; Beyer, R.; DellaGiustina, D.; Fassett, C.; Gaddis, L.; Hagerty, J.; Hare, T.; Laura, J.; Lawrence, S. J.; Mazarico, E.; Naß, A.; Patthoff, A.; Skinner, J.; Sutton, S.; Thomson, B. J.; Williams, D.

2017-10-01

We describe MAPSIT, and the development of a roadmap for lunar and planetary SDI, based on previous relevant documents and community input, and consider how to best advance lunar science, exploration, and commercial development.

The topology of non-linear global carbon dynamics: from tipping points to planetary boundaries

NASA Astrophysics Data System (ADS)

Anderies, J. M.; Carpenter, S. R.; Steffen, Will; Rockström, Johan

2013-12-01

We present a minimal model of land use and carbon cycle dynamics and use it to explore the relationship between non-linear dynamics and planetary boundaries. Only the most basic interactions between land cover and terrestrial, atmospheric, and marine carbon stocks are considered in the model. Our goal is not to predict global carbon dynamics as it occurs in the actual Earth System. Rather, we construct a conceptually reasonable heuristic model of a feedback system between different carbon stocks that captures the qualitative features of the actual Earth System and use it to explore the topology of the boundaries of what can be called a ‘safe operating space’ for humans. The model analysis illustrates the existence of dynamic, non-linear tipping points in carbon cycle dynamics and the potential complexity of planetary boundaries. Finally, we use the model to illustrate some challenges associated with navigating planetary boundaries.

Planetary protection issues in advance of human exploration of Mars

NASA Technical Reports Server (NTRS)

Mckay, Christopher P.; Davis, Wanda L.

1989-01-01

The major planetary quarantine issues associated with human exploration of Mars, which is viewed as being more likely to harbor indigenous life than is the moon, are discussed. Special attention is given to the environmental impact of human missions to Mars due to contamination and mechanical disturbances of the local environment, the contamination issues associated with the return of humans, and the planetary quarantine strategy for a human base. It is emphasized that, in addition to the question of indigenous life, there may be some concern of returning to earth the earth microorganisms that have spent some time in the Martian environment. It is suggested that, due to the fact that a robot system can be subjected to more stringent controls and protective treatments than a mission involving humans, a robotic sample return mission can help to eliminate many planetary-quarantine concerns about returning samples.

A new methodology to integrate planetary quarantine requirements into mission planning, with application to a Jupiter orbiter

NASA Technical Reports Server (NTRS)

Howard, R. A.; North, D. W.; Pezier, J. P.

1975-01-01

A new methodology is proposed for integrating planetary quarantine objectives into space exploration planning. This methodology is designed to remedy the major weaknesses inherent in the current formulation of planetary quarantine requirements. Application of the methodology is illustrated by a tutorial analysis of a proposed Jupiter Orbiter mission. The proposed methodology reformulates planetary quarantine planning as a sequential decision problem. Rather than concentrating on a nominal plan, all decision alternatives and possible consequences are laid out in a decision tree. Probabilities and values are associated with the outcomes, including the outcome of contamination. The process of allocating probabilities, which could not be made perfectly unambiguous and systematic, is replaced by decomposition and optimization techniques based on principles of dynamic programming. Thus, the new methodology provides logical integration of all available information and allows selection of the best strategy consistent with quarantine and other space exploration goals.

Using a Very Big Rocket to take Very Small Satellites to Very Far Places

NASA Technical Reports Server (NTRS)

Cohen, Barbara

2017-01-01

Planetary science cubesats are being built. Insight (2018) will carry 2 cubesats to provide communication links to Mars. EM-1 (2019) will carry 13 cubesat-class missions to further smallsat science and exploration capabilities. Planetary science cubesats have more in common with large planetary science missions than LEO cubesats- need to work closely with people who have deep-space mission experience

International Observe the Moon Night

NASA Image and Video Library

2017-10-28

Volunteer Billy Hix with his telescope at International Observe the Moon Night. The event, hosted by the Planetary Missions Program at NASA's Marshall Space Flight Center, encourages observation and appreciation of the Moon and its connection to NASA planetary science and exploration, as well as our cultural and personal connections to it. Children attending the event had the opportunity to participate in planetary, science-based, hands-on activities

Planetary Data Workshop, Part 1

NASA Technical Reports Server (NTRS)

1984-01-01

The community of planetary scientists addresses two general problems regarding planetary science data: (1) important data sets are being permanently lost; and (2) utilization is constrainted by difficulties in locating and accessing science data and supporting information necessary for its use. A means to correct the problems, provide science and functional requirements for a systematic and phased approach, and suggest technologies and standards appropriate to the solution were explored.

Reducing software mass through behavior control. [of planetary roving robots

NASA Technical Reports Server (NTRS)

Miller, David P.

1992-01-01

Attention is given to the tradeoff between communication and computation as regards a planetary rover (both these subsystems are very power-intensive, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover). Software techniques that can be used to reduce the requirements on both communciation and computation, allowing the overall robot mass to be greatly reduced, are discussed. Novel approaches to autonomous control, called behavior control, employ an entirely different approach, and for many tasks will yield a similar or superior level of autonomy to traditional control techniques, while greatly reducing the computational demand. Traditional systems have several expensive processes that operate serially, while behavior techniques employ robot capabilities that run in parallel. Traditional systems make extensive world models, while behavior control systems use minimal world models or none at all.

Reinforcement Learning with Autonomous Small Unmanned Aerial Vehicles in Cluttered Environments

NASA Technical Reports Server (NTRS)

Tran, Loc; Cross, Charles; Montague, Gilbert; Motter, Mark; Neilan, James; Qualls, Garry; Rothhaar, Paul; Trujillo, Anna; Allen, B. Danette

2015-01-01

We present ongoing work in the Autonomy Incubator at NASA Langley Research Center (LaRC) exploring the efficacy of a data set aggregation approach to reinforcement learning for small unmanned aerial vehicle (sUAV) flight in dense and cluttered environments with reactive obstacle avoidance. The goal is to learn an autonomous flight model using training experiences from a human piloting a sUAV around static obstacles. The training approach uses video data from a forward-facing camera that records the human pilot's flight. Various computer vision based features are extracted from the video relating to edge and gradient information. The recorded human-controlled inputs are used to train an autonomous control model that correlates the extracted feature vector to a yaw command. As part of the reinforcement learning approach, the autonomous control model is iteratively updated with feedback from a human agent who corrects undesired model output. This data driven approach to autonomous obstacle avoidance is explored for simulated forest environments furthering autonomous flight under the tree canopy research. This enables flight in previously inaccessible environments which are of interest to NASA researchers in Earth and Atmospheric sciences.

Advances in Robotic, Human, and Autonomous Systems for Missions of Space Exploration

NASA Technical Reports Server (NTRS)

Gross, Anthony R.; Briggs, Geoffrey A.; Glass, Brian J.; Pedersen, Liam; Kortenkamp, David M.; Wettergreen, David S.; Nourbakhsh, I.; Clancy, Daniel J.; Zornetzer, Steven (Technical Monitor)

2002-01-01

Space exploration missions are evolving toward more complex architectures involving more capable robotic systems, new levels of human and robotic interaction, and increasingly autonomous systems. How this evolving mix of advanced capabilities will be utilized in the design of new missions is a subject of much current interest. Cost and risk constraints also play a key role in the development of new missions, resulting in a complex interplay of a broad range of factors in the mission development and planning of new missions. This paper will discuss how human, robotic, and autonomous systems could be used in advanced space exploration missions. In particular, a recently completed survey of the state of the art and the potential future of robotic systems, as well as new experiments utilizing human and robotic approaches will be described. Finally, there will be a discussion of how best to utilize these various approaches for meeting space exploration goals.

Autonomous Exploration for Gathering Increased Science

NASA Technical Reports Server (NTRS)

Bornstein, Benjamin J.; Castano, Rebecca; Estlin, Tara A.; Gaines, Daniel M.; Anderson, Robert C.; Thompson, David R.; DeGranville, Charles K.; Chien, Steve A.; Tang, Benyang; Burl, Michael C.;

An Inertial Dual-State State Estimator for Precision Planetary Landing with Hazard Detection and Avoidance

NASA Technical Reports Server (NTRS)

Bishop, Robert H.; DeMars, Kyle; Trawny, Nikolas; Crain, Tim; Hanak, Chad; Carson, John M.; Christian, John

2016-01-01

The navigation filter architecture successfully deployed on the Morpheus flight vehicle is presented. The filter was developed as a key element of the NASA Autonomous Landing and Hazard Avoidance Technology (ALHAT) project and over the course of 15 free fights was integrated into the Morpheus vehicle, operations, and flight control loop. Flight testing completed by demonstrating autonomous hazard detection and avoidance, integration of an altimeter, surface relative velocity (velocimeter) and hazard relative navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman flter software, and landing within 2 meters of the vertical testbed GPS-based navigation solution at the safe landing site target. Morpheus followed a trajectory that included an ascent phase followed by a partial descent-to-landing, although the proposed filter architecture is applicable to more general planetary precision entry, descent, and landings. The main new contribution is the incorporation of a sophisticated hazard relative navigation sensor-originally intended to locate safe landing sites-into the navigation system and employed as a navigation sensor. The formulation of a dual-state inertial extended Kalman filter was designed to address the precision planetary landing problem when viewed as a rendezvous problem with an intended landing site. For the required precision navigation system that is capable of navigating along a descent-to-landing trajectory to a precise landing, the impact of attitude errors on the translational state estimation are included in a fully integrated navigation structure in which translation state estimation is combined with attitude state estimation. The map tie errors are estimated as part of the process, thereby creating a dual-state filter implementation. Also, the filter is implemented using inertial states rather than states relative to the target. External measurements include altimeter, velocimeter, star camera, terrain relative navigation sensor, and a hazard relative navigation sensor providing information regarding hazards on a map generated on-the-fly.

Lessons Learned in Science Operations for Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Young, K. E.; Graff, T. G.; Reagan, M.; Coan, D.; Evans, C. A.; Bleacher, J. E.; Glotch, T. D.

2017-01-01

The six Apollo lunar surface missions represent the only occasions where we have conducted scientific operations on another planetary surface. While these six missions were successful in bringing back valuable geologic samples, technology advances in the subsequent forty years have enabled much higher resolution scientific activity in situ. Regardless of where astronauts next visit (whether it be back to the Moon or to Mars or a Near Earth Object), the science operations procedures completed during this mission will need to be refined and updated to reflect these advances. We have undertaken a series of operational tests in relevant field environments to understand how best to develop the new generation of science operations procedures for planetary surface exploration.

The 1990 update to strategy for exploration of the inner planets

NASA Technical Reports Server (NTRS)

Esposito, Larry W.; Pepin, Robert O.; Cheng, Andrew F.; Jakosky, Bruce M.; Lunine, Jonathan I.; Mcfadden, Lucy-Ann; Mckay, Christopher P.; Mckinnon, William B.; Muhleman, Duane O.; Nicholson, Philip

1990-01-01

The Committee on Planetary and Lunar Exploration (COMPLEX) has undertaken to review and revise the 1978 report Strategy for Exploration of the Inner Planets, 1977-1987. The committee has found the 1978 report to be generally still pertinent. COMPLEX therefore issues its new report in the form of an update. The committee reaffirms the basic objectives for exploration of the planets: to determine the present state of the planets and their satellites, to understand the processes active now and at the origin of the solar system, and to understand planetary evolution, including appearance of life and its relation to the chemical history of the solar system.

Robosphere: Self Sustaining Robotic Ecologies as Precursors to Human Planetary Exploration

NASA Technical Reports Server (NTRS)

Colombano, Silvano P.

2003-01-01

The present sequential mission oriented approach to robotic planetary exploration, could be changed to an infrastructure building approach where a robotic presence is permanent, self sustaining and growing with each mission. We call this self-sustaining robotic ecology approach robosphere and discuss the technological issues that need to be addressed before this concept can be realized. One of the major advantages of this approach is that a robosphere would include much of the infrastructure required by human explorers and would thus lower the preparation and risk threshold inherent in the transition from robotic to human exploration. In this context we discuss some implications for space architecture.

Enviromnental Control and Life Support Systems for Mars Missions - Issues and Concerns for Planetary Protection

NASA Technical Reports Server (NTRS)

Barta, Daniel J.; Anderson, Molly S.; Lange, Kevin

2015-01-01

Planetary protection represents an additional set of requirements that generally have not been considered by developers of technologies for Environmental Control and Life Support Systems (ECLSS). Planetary protection guidelines will affect the kind of operations, processes, and functions that can take place during future human planetary exploration missions. Ultimately, there will be an effect on mission costs, including the mission trade space when planetary protection requirements begin to drive vehicle deisgn in a concrete way. Planetary protection requirements need to be considered early in technology development and mission programs in order to estimate these impacts and push back on requirements or find efficient ways to perform necessary functions. It is expected that planetary protection will be a significant factor during technology selection and system architecture design for future missions.

Low-latency teleoperations, planetary protection, and astrobiology

NASA Astrophysics Data System (ADS)

Lupisella, Mark L.

2018-07-01

The remote operation of an asset with time-delays short enough to allow for `real-time' or near real-time control - often referred to as low-latency teleoperations (LLT) - has important potential to address planetary protection concerns and to enhance astrobiology exploration. Not only can LLT assist with the search for extraterrestrial life and help mitigate planetary protection concerns as required by international treaty, but it can also aid in the real-time exploration of hazardous areas, robotically manipulate samples in real-time, and engage in precise measurements and experiments without the presence of crew in the immediate area. Furthermore, LLT can be particularly effective for studying `Special Regions' - areas of astrobiological interest that might be adversely affected by forward contamination from humans or spacecraft contaminants during activities on Mars. LLT can also aid human exploration by addressing concerns about backward contamination that could impact mission details for returning Martian samples and crew back to Earth.This paper provides an overview of LLT operational considerations and findings from recent NASA analyses and workshops related to planetary protection and human missions beyond Earth orbit. The paper focuses primarily on three interrelated areas of Mars operations that are particularly relevant to the planetary protection and the search for life: Mars orbit-to-surface LLT activities; Crew-on-surface and drilling LLT; and Mars surface science laboratory LLT. The paper also discusses several additional mission implementation considerations and closes with information on key knowledge gaps identified as necessary for the advance of LLT for planetary protection and astrobiology purposes on future human missions to Mars.

Deglaciation and the Evolution of Planetary Lake Habitability

NASA Astrophysics Data System (ADS)

Cabrol, N. A.; Grin, E. A.; Haberle, C.; Moersch, J. E.; Jacobsen, R. E.; Sommaruga, R.; Fleming, E.; Detweiler, A. M.; Echeverria, A.; Parro, V.; Blanco, Y.; Rivas, L.; Demergasso, C.; Bebout, L.; Chong, G.; Rose, K.; Smith, T.; Pedersen, L.; Lee, S.; Fong, T.; Wettergreen, D.; Tambley, C.

2012-12-01

The goal of the Planetary Lake Lander project (PLL) is to deploy an adaptive robotic lake lander in the Central Andes of Chile, where ice is melting at an accelerated rate. Deglaciation subjects lakes to interannual variability, raising questions about its impact on metabolic activity and biogeochemical cycles, lake habitat, ecosystem, and biodiversity. Documenting these questions contributes to a better understanding of the changes affecting Earth's glacial lake ecosystems, and may shed light on how life adapted during past deglaciations. From an astrobiological perspective, it brings new insights into the evolution of Mars habitability during comparable geological periods. Further, the robotic exploration of glacial lakes confronts us with challenges analogous to those that will be faced by future planetary missions to Titan's planetary seas. PLL, thus, bridges planets along an intertwined pathway where the study of one planet informs on the evolution of others and on the technological challenges associated with their exploration. During our field field campaign In November 2011, we characterized the physical, geological, and biological environment of Laguna Negra (33.65S -70.13W) a 6-km large, 300 m deep glacial lake, and generated an environmental database to baseline the adaptive system that will be used in the future by the lake lander to autonomously monitor the lake.Time series show changes in precipitation over the past decades, and in temperature and relative humidity. Meteorological stations and a stream gauge are tracking daily and seasonal changes at high resolution. Data are correlated to daily vertical profiles performed by the lake lander to monitor physico-chemical changes. Bathymetric maps reveal the bottom topography, and isolated habitats. Most dominant spectral units have been defined in ASTER near- and thermal infrared. They were sampled from spectra and hand specimens in the field and are now being characterized for mineralogic compositions in the lab. Three 24-hour time-lapse thermal videos show changing surface temperature conditions around the lake, which can be controlled by solar radiation, surface moisture content, grain size, slope, and/or geology. Changes in archea and bacteria populations are observed from 0-20 m. The archaeal community is represented by only one hand with similar electrophoresis mobility in the DGGE profile of most samples. Water column and sediment samples were collected and analyzed by sandwich microarray immunoassays, and by cloning and sequencing bacterial and archaeal 16SrRNA gene. Biomarker and microbial profiles were obtained by using a Life Detector Chip (LDChip450), which contains 450 antibodies raised against whole microbial cells (archea and bacteria), extracellular polymers, exopolysaccharides, universal biomarkers like DNA, amino acids, and other biomolecules. We prototyped and tested an underwater microscopic imager for long-term in situ study of copepod behavior that will use algorithms to automatically detect and track copepods in images. PLL uses an Exploration Ground Data Systems (xGDS) developed at NASA Ames to handle science data. Correlations between different datasets are visualized through a single interface. Users interact with xGDS through a web browser, making the repository available to an international science team with minimal overhead for software installation and maintenance.

Workshop on advanced technologies for planetary instruments

NASA Technical Reports Server (NTRS)

Appleby, J. (Editor)

1993-01-01

NASA's robotic solar system exploration program requires a new generation of science instruments. Design concepts are now judged against stringent mass, power, and size constraints--yet future instruments must be highly capable, reliable, and, in some applications, they must operate for many years. The most important single constraint, however, is cost: new instruments must be developed in a tightly controlled design-to-cost environment. Technical innovation is the key to success and will enable the sophisticated measurements needed for future scientific exploration. As a fundamental benefit, the incorporation of breakthrough technologies in planetary flight hardware will contribute to U.S. industrial competitiveness and will strengthen the U.S. technology base. The Workshop on Advanced Technologies for Planetary Instruments was conceived to address these challenges, to provide an open forum in which the NASA and DoD space communities could become better acquainted at the working level, and to assess future collaborative efforts. Over 300 space scientists and engineers participated in the two-and-a-half-day meeting held April 28-30, 1993, in Fairfax, Virginia. It was jointly sponsored by NASA's Solar System Exploration Division (SSED), within the Office of Space Science (OSS); NASA's Office of Advanced Concepts and Technology (OACT); DoD's Strategic Defense Initiative Organization (SDIO), now called the Ballistic Missile Defense Organization (BMDO); and the Lunar and Planetary Institute (LPI). The meeting included invited oral and contributed poster presentations, working group sessions in four sub-disciplines, and a wrap-up panel discussion. On the first day, the planetary science community described instrumentation needed for missions that may go into development during the next 5 to 10 years. Most of the second day was set aside for the DoD community to inform their counterparts in planetary science about their interests and capabilities, and to describe the BMDO technology base, flight programs, and future directions. The working group sessions and the panel discussion synthesized technical and programmatic issues from all the presentations, with a specific goal of assessing the applicability of BMDO technologies to science instrumentation for planetary exploration.

Teaching, Learning, and Planetary Exploration

NASA Technical Reports Server (NTRS)

Brown, Robert A.

2002-01-01

This is the final report of a program that examined the fundamentals of education associated with space activities, promoted educational policy development in appropriate forums, and developed pathfinder products and services to demonstrate the utility of advanced communication technologies for space-based education. Our focus was on space astrophysics and planetary exploration, with a special emphasis on the themes of the Origins Program, with which the Principal Investigator (PI) had been involved from the outset. Teaching, Learning, and Planetary Exploration was also the core funding of the Space Telescope Science Institute's (ST ScI) Special Studies Office (SSO), and as such had provided basic support for such important NASA studies as the fix for Hubble Space Telescope (HST) spherical aberration, scientific conception of the HST Advanced Camera, specification of the Next-Generation Space Telescope (NGST), and the strategic plan for the second decade of the HST science program.

Galileo Avionica's technologies and instruments for planetary exploration.

PubMed

Battistelli, E; Falciani, P; Magnani, P; Midollini, B; Preti, G; Re, E

2006-12-01

Several missions for planetary exploration, including comets and asteroids, are ongoing or planned by the European Space Agencies: Rosetta, Venus Express, Bepi Colombo, Dawn, Aurora and all Mars Programme (in its past and next missions) are good examples. The satisfaction of the scientific request for the mentioned programmes calls for the development of new instruments and facilities devoted to investigate the body (planet, asteroid or comet) both remotely and by in situ measurements. The paper is an overview of some instruments for remote sensing and in situ planetary exploration already developed or under study by Galileo Avionica Space & Electro-Optics B.U. (in the following shortened as Galileo Avionica) for both the Italian Space Agency (ASI) and for the European Space Agency (ESA). Main technologies and specifications are outlined; for more detailed information please refer to Galileo Avionica's web-site at: http://www.galileoavionica.com .

A consensus approach to planetary protection requirements: recommendations for Mars lander missions

NASA Technical Reports Server (NTRS)

Rummel, J. D.; Meyer, M. A.

1996-01-01

Over the last several years, the nature of the surface conditions on the planet Mars, our knowledge of the growth capabilities of Earth organisms under extreme conditions, and future opportunities for Mars exploration have been under extensive review in the United States and elsewhere. As part of these examinations, in 1992 the US Space Studies Board made a series of recommendations to NASA on the requirements that should be implemented on future missions that will explore Mars. In particular, significant changes were recommended in the requirements for Mars landers, changes that significantly alleviated the burden of planetary protection implementation for these missions. In this paper we propose a resolution implementing this new set of recommendations, for adoption by COSPAR at its 30th meeting in Hamburg. We also discuss future directions and study areas for planetary protection, in light of changing plans for Mars exploration.

Traverse Planning Experiments for Future Planetary Surface Exploration

NASA Technical Reports Server (NTRS)

Hoffman, Stephen J.; Voels, Stephen A.; Mueller, Robert P.; Lee, Pascal C.

2012-01-01

The purpose of the investigation is to evaluate methodology and data requirements for remotely-assisted robotic traverse of extraterrestrial planetary surface to support human exploration program, assess opportunities for in-transit science operations, and validate landing site survey and selection techniques during planetary surface exploration mission analog demonstration at Haughton Crater on Devon Island, Nunavut, Canada. Additionally, 1) identify quality of remote observation data sets (i.e., surface imagery from orbit) required for effective pre-traverse route planning and determine if surface level data (i.e., onboard robotic imagery or other sensor data) is required for a successful traverse, and if additional surface level data can improve traverse efficiency or probability of success (TRPF Experiment). 2) Evaluate feasibility and techniques for conducting opportunistic science investigations during this type of traverse. (OSP Experiment). 3) Assess utility of remotely-assisted robotic vehicle for landing site validation survey. (LSV Experiment).

Mars rover sample return: An exobiology science scenario

NASA Technical Reports Server (NTRS)

Rosenthal, D. A.; Sims, M. H.; Schwartz, Deborah E.; Nedell, S. S.; Mckay, Christopher P.; Mancinelli, Rocco L.

1988-01-01

A mission designed to collect and return samples from Mars will provide information regarding its composition, history, and evolution. At the same time, a sample return mission generates a technical challenge. Sophisticated, semi-autonomous, robotic spacecraft systems must be developed in order to carry out complex operations at the surface of a very distant planet. An interdisciplinary effort was conducted to consider how much a Mars mission can be realistically structured to maximize the planetary science return. The focus was to concentrate on a particular set of scientific objectives (exobiology), to determine the instrumentation and analyses required to search for biological signatures, and to evaluate what analyses and decision making can be effectively performed by the rover in order to minimize the overhead of constant communication between Mars and the Earth. Investigations were also begun in the area of machine vision to determine whether layered sedimentary structures can be recognized autonomously, and preliminary results are encouraging.