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.

SSTAC/ARTS review of the draft Integrated Technology Plan (ITP). Volume 6: Controls and guidance

NASA Technical Reports Server (NTRS)

1991-01-01

Viewgraphs of briefings from the Space Systems and Technology Advisory Committee (SSTAC)/ARTS review of the draft Integrated Technology Plan (ITP) on controls and guidance are included. Topics covered include: strategic avionics technology planning and bridging programs; avionics technology plan; vehicle health management; spacecraft guidance research; autonomous rendezvous and docking; autonomous landing; computational control; fiberoptic rotation sensors; precision instrument and telescope pointing; microsensors and microinstruments; micro guidance and control initiative; and earth-orbiting platforms controls-structures interaction.

The Next Generation Advanced Video Guidance Sensor: Flight Heritage and Current Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) is the latest in a line of sensors that have flown four times in the last 10 years. The NGAVGS has been under development for the last two years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in "spot mode" out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. This paper presents the flight heritage and results of the sensor technology, some hardware trades for the current sensor, and discusses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the various NGAVGS development units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Expert system isssues in automated, autonomous space vehicle rendezvous

NASA Technical Reports Server (NTRS)

Goodwin, Mary Ann; Bochsler, Daniel C.

1987-01-01

The problems involved in automated autonomous rendezvous are briefly reviewed, and the Rendezvous Expert (RENEX) expert system is discussed with reference to its goals, approach used, and knowledge structure and contents. RENEX has been developed to support streamlining operations for the Space Shuttle and Space Station program and to aid definition of mission requirements for the autonomous portions of rendezvous for the Mars Surface Sample Return and Comet Nucleus Sample return unmanned missions. The experience with REMEX to date and recommendations for further development are presented.

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Whitten, Raymond P.

1991-01-01

SpARC, in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components wherever possible. The primary subsystems to be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be ELV based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. After the second COMET spacecraft has been launched in late 1994, the ARD demonstration will take place. The service module from the second COMET will serve as the chase vehicle.

Satellite Servicing's Autonomous Rendezvous and Docking Testbed on the International Space Station

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Strube, Matthew; Van Eepoel, John; Barbee, Brent W.; Getzandanner, Kenneth M.

2011-01-01

The Space Servicing Capabilities Project (SSCP) at NASA's Goddard Space Flight Center (GSFC) has been tasked with developing systems for servicing space assets. Starting in 2009, the SSCP completed a study documenting potential customers and the business case for servicing, as well as defining several notional missions and required technologies. In 2010, SSCP moved to the implementation stage by completing several ground demonstrations and commencing development of two International Space Station (ISS) payloads-the Robotic Refueling Mission (RRM) and the Dextre Pointing Package (DPP)--to mitigate new technology risks for a robotic mission to service existing assets in geosynchronous orbit. This paper introduces the DPP, scheduled to fly in July of 2012 on the third operational SpaceX Dragon mission, and its Autonomous Rendezvous and Docking (AR&D) instruments. The combination of sensors and advanced avionics provide valuable on-orbit demonstrations of essential technologies for servicing existing vehicles, both cooperative and non-cooperative.

KSC-04pd1597

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians check the bottom of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is raised of its platform. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1596

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians check the bottom of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is raised off its platform. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1598

NASA Image and Video Library

2004-07-14

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Orbital Sciences technicians observe closely the movement of the DART (Demonstration for Autonomous Rendezvous Technology) flight demonstrator as it is lowered onto a stand. The spacecraft was developed to prove technologies for locating and maneuvering near an orbiting satellite. Future applications of technologies developed by the DART project will benefit the nation in future space-vehicle systems development requiring in-space assembly, services or other autonomous rendezvous operations. Designed and developed for NASA by Orbital Sciences Corporation in Dulles, Va., the DART spacecraft will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

The Advanced Video Guidance Sensor: Orbital Express and the Next Generation

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Heaton, Andrew F.; Pinson, Robin M.; Carrington, Connie L.; Lee, James E.; Bryan, Thomas C.; Robertson, Bryan A.; Spencer, Susan H.; Johnson, Jimmie E.

2008-01-01

The Orbital Express (OE) mission performed the first autonomous rendezvous and docking in the history of the United States on May 5-6, 2007 with the Advanced Video Guidance Sensor (AVGS) acting as one of the primary docking sensors. Since that event, the OE spacecraft performed four more rendezvous and docking maneuvers, each time using the AVGS as one of the docking sensors. The Marshall Space Flight Center's (MSFC's) AVGS is a nearfield proximity operations sensor that was integrated into the Autonomous Rendezvous and Capture Sensor System (ARCSS) on OE. The ARCSS provided the relative state knowledge to allow the OE spacecraft to rendezvous and dock. The AVGS is a mature sensor technology designed to support Automated Rendezvous and Docking (AR&D) operations. It is a video-based laser-illuminated sensor that can determine the relative position and attitude between itself and its target. Due to parts obsolescence, the AVGS that was flown on OE can no longer be manufactured. MSFC has been working on the next generation of AVGS for application to future Constellation missions. This paper provides an overview of the performance of the AVGS on Orbital Express and discusses the work on the Next Generation AVGS (NGAVGS).

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Mitchell, J.; Johnston, A.; Howard, R.; Williamson, M.; Brewster, L.; Strack, D.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Williamson, Marlin L.; Johnston, Albert S.; Brewster, Linda L.; Mitchell, Jennifer D.; Cryan, Scott P.; Strack, David; Key, Kevin

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, (AR&D).) The crewed versions of the spacecraft may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Automated rendezvous and capture development infrastructure

NASA Technical Reports Server (NTRS)

Bryan, Thomas C.; Roe, Fred; Coker, Cynthia

1992-01-01

The facilities at Marshall Space Flight Center and JSC to be utilized to develop and test an autonomous rendezvous and capture (ARC) system are described. This includes equipment and personnel facility capabilities to devise, develop, qualify, and integrate ARC elements and subsystems into flight programs. Attention is given to the use of a LEO test facility, the current concept and unique system elements of the ARC, and the options available to develop ARC technology.

Report of the Attitude Control and Attitude Determination Panel. [spacecraft instrumentation technology

NASA Technical Reports Server (NTRS)

1979-01-01

Failures and deficiencies in flight programs are reviewed and suggestions are made for avoiding them. The technology development problem areas considered are control configured vehicle design, gyros, solid state star sensors, control instrumentation, tolerant/accomodating control systems, large momentum exchange devices, and autonomous rendezvous and docking.

Data Retrieved by ARCADE-R2 Experiment On Board the BEXUS-17 Balloon

NASA Astrophysics Data System (ADS)

Barbetta, M.; Branz, F.; Carron, A.; Olivieri, L.; Prendin, J.; Sansone, F.; Savioli, L.; Spinello, F.; Francesconi, A.

2015-09-01

The Autonomous Rendezvous, Control And Docking Experiment — Reflight 2 (ARCADE-R2) is a technology demonstrator aiming to prove automatic attitude determination and control, rendezvous and docking capabilities for small scale spacecraft and aircraft. The development of such capabilities could be fundamental to create, in the near future, fleets of cooperative, autonomous unmanned aerial vehicles for mapping, surveillance, inspection and remote observation of hazardous environments; small-class satellites could also benefit from the employment of docking systems to extend and reconfigure their mission profiles. ARCADE-R2 is designed to test these technologies on a stratospheric flight on board the BEXUS-17 balloon, allowing to demonstrate them in a harsh environment subjected to gusty winds and high pressure and temperature variations. In this paper, ARCADE-R2 architecture is introduced and the main results obtained from a stratospheric balloon flight are presented.

Autonomous rendezvous and docking: A commercial approach to on-orbit technology validation

NASA Technical Reports Server (NTRS)

Tchoryk, Peter, Jr.; Dobbs, Michael E.; Conrad, David J.; Apley, Dale J.; Whitten, Raymond P.

1991-01-01

The Space Automation and Robotics Center (SpARC), a NASA-sponsored Center for the Commercial Development of Space (CCDS), in conjunction with its corporate affiliates, is planning an on-orbit validation of autonomous rendezvous and docking (ARD) technology. The emphasis in this program is to utilize existing technology and commercially available components whenever possible. The primary subsystems that will be validated by this demonstration include GPS receivers for navigation, a video-based sensor for proximity operations, a fluid connector mechanism to demonstrate fluid resupply capability, and a compliant, single-point docking mechanism. The focus for this initial experiment will be expendable launch vehicle (ELV) based and will make use of two residual Commercial Experiment Transporter (COMET) service modules. The first COMET spacecraft will be launched in late 1992 and will serve as the target vehicle. The ARD demonstration will take place in late 1994, after the second COMET spacecraft has been launched. The service module from the second COMET will serve as the chase vehicle.

Automated Rendezvous and Capture System Development and Simulation for NASA

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.; Murphy, Leslie

2004-01-01

The United States does not have an Automated Rendezvous and Capture Docking (AR&C) capability and is reliant on manned control for rendezvous and docking of orbiting spacecraft. T h i s reliance on the labor intensive manned interface for control of rendezvous and docking vehicles has a significant impact on the cost of the operation of the International Space Station (ISS) and precludes the use of any U.S. expendable launch capabilities for Space Station resupply. The Marshall Space Flight Center (MSFC) has conducted pioneering research in the development of an automated rendezvous and capture (or docking) (AR&C) system for U.S. space vehicles. This A M C system was tested extensively using hardware-in-the-loop simulations in the Flight Robotics Laboratory, and a rendezvous sensor, the Video Guidance Sensor was developed and successfully flown on the Space Shuttle on flights STS-87 and STS-95, proving the concept of a video- based sensor. Further developments in sensor technology and vehicle and target configuration have lead to continued improvements and changes in AR&C system development and simulation. A new Advanced Video Guidance Sensor (AVGS) with target will be utilized as the primary navigation sensor on the Demonstration of Autonomous Rendezvous Technologies (DART) flight experiment in 2004. Realtime closed-loop simulations will be performed to validate the improved AR&C systems prior to flight.

Next Generation Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Lee, Jimmy; Spencer, Susan; Bryan, Tom; Johnson, Jimmie; Robertson, Bryan

2008-01-01

The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. The United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport. Systems (COTS) Automated Rendezvous and Docking (AR&D). AVGS has a proven pedigree, based on extensive ground testing and flight demonstrations. The AVGS on the Demonstration of Autonomous Rendezvous Technology (DART)mission operated successfully in "spot mode" out to 2 km. The first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. Parts obsolescence issues prevent the construction of more AVGS. units, and the next generation sensor must be updated to support the CEV and COTS programs. The flight proven AR&D sensor is being redesigned to update parts and add additional. capabilities for CEV and COTS with the development of the Next, Generation AVGS (NGAVGS) at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities might include greater sensor range, auto ranging, and real-time video output. This paper presents an approach to sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It will also discuss approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, parts selection and test plans for the NGAVGS will be addressed to provide a highly reliable flight qualified sensor. Expanded capabilities through innovative use of existing capabilities will also be discussed.

Laser Range and Bearing Finder for Autonomous Missions

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

NASA has recently re-confirmed their interest in autonomous systems as an enabling technology for future missions. In order for autonomous missions to be possible, highly-capable relative sensor systems are needed to determine an object's distance, direction, and orientation. This is true whether the mission is autonomous in-space assembly, rendezvous and docking, or rover surface navigation. Advanced Optical Systems, Inc. has developed a wide-angle laser range and bearing finder (RBF) for autonomous space missions. The laser RBF has a number of features that make it well-suited for autonomous missions. It has an operating range of 10 m to 5 km, with a 5 deg field of view. Its wide field of view removes the need for scanning systems such as gimbals, eliminating moving parts and making the sensor simpler and space qualification easier. Its range accuracy is 1% or better. It is designed to operate either as a stand-alone sensor or in tandem with a sensor that returns range, bearing, and orientation at close ranges, such as NASA's Advanced Video Guidance Sensor. We have assembled the initial prototype and are currently testing it. We will discuss the laser RBF's design and specifications. Keywords: laser range and bearing finder, autonomous rendezvous and docking, space sensors, on-orbit sensors, advanced video guidance sensor

Proximity Operations and Docking Sensor Development

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.; Brewster, Linda L.; Lee, James E.

2009-01-01

The Next Generation Advanced Video Guidance Sensor (NGAVGS) has been under development for the last three years as a long-range proximity operations and docking sensor for use in an Automated Rendezvous and Docking (AR&D) system. The first autonomous rendezvous and docking in the history of the U.S. Space Program was successfully accomplished by Orbital Express, using the Advanced Video Guidance Sensor (AVGS) as the primary docking sensor. That flight proved that the United States now has a mature and flight proven sensor technology for supporting Crew Exploration Vehicles (CEV) and Commercial Orbital Transport Systems (COTS) Automated Rendezvous and Docking (AR&D). NASA video sensors have worked well in the past: the AVGS used on the Demonstration of Autonomous Rendezvous Technology (DART) mission operated successfully in spot mode out to 2 km, and the first generation rendezvous and docking sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on Space Shuttle flights in 1997 and 1998. 12 Parts obsolescence issues prevent the construction of more AVGS units, and the next generation sensor was updated to allow it to support the CEV and COTS programs. The flight proven AR&D sensor has been redesigned to update parts and add additional capabilities for CEV and COTS with the development of the Next Generation AVGS at the Marshall Space Flight Center. The obsolete imager and processor are being replaced with new radiation tolerant parts. In addition, new capabilities include greater sensor range, auto ranging capability, and real-time video output. This paper presents some sensor hardware trades, use of highly integrated laser components, and addresses the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS) and other Constellation vehicles. It also discusses approaches for upgrading AVGS to address parts obsolescence, and concepts for minimizing the sensor footprint, weight, and power requirements. In addition, the testing of the brassboard and proto-type NGAVGS units will be discussed along with the use of the NGAVGS as a proximity operations and docking sensor.

Autonomous Mars ascent and orbit rendezvous for earth return missions

NASA Technical Reports Server (NTRS)

Edwards, H. C.; Balmanno, W. F.; Cruz, Manuel I.; Ilgen, Marc R.

1991-01-01

The details of tha assessment of autonomous Mars ascent and orbit rendezvous for earth return missions are presented. Analyses addressing navigation system assessments, trajectory planning, targeting approaches, flight control guidance strategies, and performance sensitivities are included. Tradeoffs in the analysis and design process are discussed.

Angles-only navigation for autonomous orbital rendezvous

NASA Astrophysics Data System (ADS)

Woffinden, David C.

The proposed thesis of this dissertation has both a practical element and theoretical component which aim to answer key questions related to the use of angles-only navigation for autonomous orbital rendezvous. The first and fundamental principle to this work argues that an angles-only navigation filter can determine the relative position and orientation (pose) between two spacecraft to perform the necessary maneuvers and close proximity operations for autonomous orbital rendezvous. Second, the implementation of angles-only navigation for on-orbit applications is looked upon with skeptical eyes because of its perceived limitation of determining the relative range between two vehicles. This assumed, yet little understood subtlety can be formally characterized with a closed-form analytical observability criteria which specifies the necessary and sufficient conditions for determining the relative position and velocity with only angular measurements. With a mathematical expression of the observability criteria, it can be used to (1) identify the orbital rendezvous trajectories and maneuvers that ensure the relative position and velocity are observable for angles-only navigation, (2) quantify the degree or level of observability and (3) compute optimal maneuvers that maximize observability. In summary, the objective of this dissertation is to provide both a practical and theoretical foundation for the advancement of autonomous orbital rendezvous through the use of angles-only navigation.

Autonomous RPOD Technology Challenges for the Coming Decade

NASA Technical Reports Server (NTRS)

Naasz, Bo J.; Moreau, Michael C.

2012-01-01

Rendezvous Proximity Operations and Docking (RPOD) technologies are important to a wide range of future space endeavors. This paper will review some of the recent and ongoing activities related to autonomous RPOD capabilities and summarize the current state of the art. Gaps are identified where future investments are necessary to successfully execute some of the missions likely to be conducted within the next ten years. A proposed RPOD technology roadmap that meets the broad needs of NASA's future missions will be outlined, and ongoing activities at OSFC in support of a future satellite servicing mission are presented. The case presented shows that an evolutionary, stair-step technology development program. including a robust campaign of coordinated ground tests and space-based system-level technology demonstration missions, will ultimately yield a multi-use main-stream autonomous RPOD capability suite with cross-cutting benefits across a wide range of future applications.

Advanced Video Guidance Sensor and next-generation autonomous docking sensors

NASA Astrophysics Data System (ADS)

Granade, Stephen R.

2004-09-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Advanced Video Guidance Sensor and Next Generation Autonomous Docking Sensors

NASA Technical Reports Server (NTRS)

Granade, Stephen R.

2004-01-01

In recent decades, NASA's interest in spacecraft rendezvous and proximity operations has grown. Additional instrumentation is needed to improve manned docking operations' safety, as well as to enable telerobotic operation of spacecraft or completely autonomous rendezvous and docking. To address this need, Advanced Optical Systems, Inc., Orbital Sciences Corporation, and Marshall Space Flight Center have developed the Advanced Video Guidance Sensor (AVGS) under the auspices of the Demonstration of Autonomous Rendezvous Technology (DART) program. Given a cooperative target comprising several retro-reflectors, AVGS provides six-degree-of-freedom information at ranges of up to 300 meters for the DART target. It does so by imaging the target, then performing pattern recognition on the resulting image. Longer range operation is possible through different target geometries. Now that AVGS is being readied for its test flight in 2004, the question is: what next? Modifications can be made to AVGS, including different pattern recognition algorithms and changes to the retro-reflector targets, to make it more robust and accurate. AVGS could be coupled with other space-qualified sensors, such as a laser range-and-bearing finder, that would operate at longer ranges. Different target configurations, including the use of active targets, could result in significant miniaturization over the current AVGS package. We will discuss these and other possibilities for a next-generation docking sensor or sensor suite that involve AVGS.

Autonomous Mission Manager for Rendezvous, Inspection and Mating

NASA Technical Reports Server (NTRS)

Zimpfer, Douglas J.

2003-01-01

To meet cost and safety objectives, space missions that involve proximity operations between two vehicles require a high level of autonomy to successfully complete their missions. The need for autonomy is primarily driven by the need to conduct complex operations outside of communication windows, and the communication time delays inherent in space missions. Autonomy also supports the goals of both NASA and the DOD to make space operations more routine, and lower operational costs by reducing the requirement for ground personnel. NASA and the DoD have several programs underway that require a much higher level of autonomy for space vehicles. NASA's Space Launch Initiative (SLI) program has ambitious goals of reducing costs by a factor or 10 and improving safety by a factor of 100. DARPA has recently begun its Orbital Express to demonstrate key technologies to make satellite servicing routine. The Air Force's XSS-ll program is developing a protoflight demonstration of an autonomous satellite inspector. A common element in space operations for many NASA and DOD missions is the ability to rendezvous, inspect anclJor dock with another spacecraft. For DARPA, this is required to service or refuel military satellites. For the Air Force, this is required to inspect un-cooperative resident space objects. For NASA, this is needed to meet the primary SLI design reference mission of International Space Station re-supply. A common aspect for each of these programs is an Autonomous Mission Manager that provides highly autonomous planning, execution and monitoring of the rendezvous, inspection and docking operations. This paper provides an overview of the Autonomous Mission Manager (AMM) design being incorporated into many of these technology programs. This AMM provides a highly scalable level of autonomous operations, ranging from automatic execution of ground-derived plans to highly autonomous onboard planning to meet ground developed mission goals. The AMM provides the capability to automatically execute the plans and monitor the system performance. In the event of system dispersions or failures the AMM can modify plans or abort to assure overall system safety. This paper describes the design and functionality of Draper's AMM framework, presents concept of operations associated with the use of the AMM, and outlines the relevant features of the flight demonstrations.

A Survey of LIDAR Technology and Its Use in Spacecraft Relative Navigation

NASA Technical Reports Server (NTRS)

Christian, John A.; Cryan, Scott P.

2013-01-01

This paper provides a survey of modern LIght Detection And Ranging (LIDAR) sensors from a perspective of how they can be used for spacecraft relative navigation. In addition to LIDAR technology commonly used in space applications today (e.g. scanning, flash), this paper reviews emerging LIDAR technologies gaining traction in other non-aerospace fields. The discussion will include an overview of sensor operating principles and specific pros/cons for each type of LIDAR. This paper provides a comprehensive review of LIDAR technology as applied specifically to spacecraft relative navigation. HE problem of orbital rendezvous and docking has been a consistent challenge for complex space missions since before the Gemini 8 spacecraft performed the first successful on-orbit docking of two spacecraft in 1966. Over the years, a great deal of effort has been devoted to advancing technology associated with all aspects of the rendezvous, proximity operations, and docking (RPOD) flight phase. After years of perfecting the art of crewed rendezvous with the Gemini, Apollo, and Space Shuttle programs, NASA began investigating the problem of autonomous rendezvous and docking (AR&D) to support a host of different mission applications. Some of these applications include autonomous resupply of the International Space Station (ISS), robotic servicing/refueling of existing orbital assets, and on-orbit assembly.1 The push towards a robust AR&D capability has led to an intensified interest in a number of different sensors capable of providing insight into the relative state of two spacecraft. The present work focuses on exploring the state-of-the-art in one of these sensors - LIght Detection And Ranging (LIDAR) sensors. It should be noted that the military community frequently uses the acronym LADAR (LAser Detection And Ranging) to refer to what this paper calls LIDARs. A LIDAR is an active remote sensing device that is typically used in space applications to obtain the range to one or more points on a target spacecraft. As the name suggests, LIDAR sensors use light (typically a laser) to illuminate the target and measure the time it takes for the emitted signal to return to the sensor. Because the light must travel from the source, to

A Ground Testbed to Advance US Capability in Autonomous Rendezvous and Docking Project

NASA Technical Reports Server (NTRS)

D'Souza, Chris

2014-01-01

This project will advance the Autonomous Rendezvous and Docking (AR&D) GNC system by testing it on hardware, particularly in a flight processor, with a goal of testing it in IPAS with the Waypoint L2 AR&D scenario. The entire Agency supports development of a Commodity for Autonomous Rendezvous and Docking (CARD) as outlined in the Agency-wide Community of Practice whitepaper entitled: "A Strategy for the U.S. to Develop and Maintain a Mainstream Capability for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond". The whitepaper establishes that 1) the US is in a continual state of AR&D point-designs and therefore there is no US "off-the-shelf" AR&D capability in existence today, 2) the US has fallen behind our foreign counterparts particularly in the autonomy of AR&D systems, 3) development of an AR&D commodity is a national need that would benefit NASA, our commercial partners, and DoD, and 4) an initial estimate indicates that the development of a standardized AR&D capability could save the US approximately $60M for each AR&D project and cut each project's AR&D flight system implementation time in half.

KSC-04pd1824

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, Corky Philyaw (left) and Edgar Suarez (right) prepare the flight battery for installation on the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft (far left). DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. It is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA's Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station. DART will be launched from an Orbital Sciences Pegasus XL rocket no earlier than Oct. 26.

KSC-04pd1817

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers prepare the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft for launch. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Orbital Sciences Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

An autonomous rendezvous and docking system using cruise missile technology

NASA Technical Reports Server (NTRS)

Jones, ED; Nicholson, Bruce

1991-01-01

In November 1990 General Dynamics demonstrated an AR&D system for members of the Strategic Avionics Technology Working Group. This simulation utilized prototype hardware derived from the Cruise Missile and Centaur avionics systems. The object of this proof of concept demonstration was to show that all the accuracy, reliability, and operational requirements established for a spacecraft to dock with Space Station Freedom could be met by the proposed AR&D system.

An automated rendezvous and capture system design concept for the cargo transfer vehicle and Space Station Freedom

NASA Technical Reports Server (NTRS)

Fuchs, Ron; Marsh, Steven

1991-01-01

A rendezvous sensor system concept was developed for the cargo transfer vehicle (CTV) to autonomously rendezvous with and be captured by Space Station Freedom (SSF). The development of requirements, the design of a unique Lockheed developed sensor concept to meet these requirements, and the system design to place this sensor on the CTV and rendezvous with the SSF are described .

Modular, Reconfigurable, High-Energy Technology Development

NASA Technical Reports Server (NTRS)

Carrington, Connie; Howell, Joe

2006-01-01

The Modular, Reconfigurable High-Energy (MRHE) Technology Demonstrator project was to have been a series of ground-based demonstrations to mature critical technologies needed for in-space assembly of a highpower high-voltage modular spacecraft in low Earth orbit, enabling the development of future modular solar-powered exploration cargo-transport vehicles and infrastructure. MRHE was a project in the High Energy Space Systems (HESS) Program, within NASA's Exploration Systems Research and Technology (ESR&T) Program. NASA participants included Marshall Space Flight Center (MSFC), the Jet Propulsion Laboratory (JPL), and Glenn Research Center (GRC). Contractor participants were the Boeing Phantom Works in Huntsville, AL, Lockheed Martin Advanced Technology Center in Palo Alto, CA, ENTECH, Inc. in Keller, TX, and the University of AL Huntsville (UAH). MRHE's technical objectives were to mature: (a) lightweight, efficient, high-voltage, radiation-resistant solar power generation (SPG) technologies; (b) innovative, lightweight, efficient thermal management systems; (c) efficient, 100kW-class, high-voltage power delivery systems from an SPG to an electric thruster system; (d) autonomous rendezvous and docking technology for in-space assembly of modular, reconfigurable spacecraft; (e) robotic assembly of modular space systems; and (f) modular, reconfigurable distributed avionics technologies. Maturation of these technologies was to be implemented through a series of increasingly-inclusive laboratory demonstrations that would have integrated and demonstrated two systems-of-systems: (a) the autonomous rendezvous and docking of modular spacecraft with deployable structures, robotic assembly, reconfiguration both during assembly and (b) the development and integration of an advanced thermal heat pipe and a high-voltage power delivery system with a representative lightweight high-voltage SPG array. In addition, an integrated simulation testbed would have been developed containing software models representing the technologies being matured in the laboratory demos. The testbed would have also included models for non-MRHE developed subsystems such as electric propulsion, so that end-to-end performance could have been assessed. This paper presents an overview of the MRHE Phase I activities at MSFC and its contractor partners. One of the major Phase I accomplishments is the assembly demonstration in the Lockheed Martin Advanced Technology Center (LMATC) Robot-Satellite facility, in which three robot-satellites successfully demonstrated rendezvous & docking, self-assembly, reconfiguration, adaptable GN&C, deployment, and interfaces between modules. Phase I technology maturation results from ENTECH include material recommendations for radiation hardened Stretched Lens Array (SLA) concentrator lenses, and a design concept and test results for a hi-voltage PV receiver. UAH's accomplishments include Supertube heatpipe test results, which support estimates of thermal conductivities at 30,000 times that of an equivalent silver rod. MSFC performed systems trades and developed a preliminary concept design for a 100kW-class modular reconfigurable solar electric propulsion transport vehicle, and Boeing Phantom Works in Huntsville performed assembly and rendezvous and docking trades. A concept animation video was produced by SAIC, wllich showed rendezvous and docking and SLA-square-rigger deployment in LEO.

Autonomous spacecraft rendezvous and docking

NASA Technical Reports Server (NTRS)

Tietz, J. C.; Almand, B. J.

1985-01-01

A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

Autonomous spacecraft rendezvous and docking

NASA Astrophysics Data System (ADS)

Tietz, J. C.; Almand, B. J.

A storyboard display is presented which summarizes work done recently in design and simulation of autonomous video rendezvous and docking systems for spacecraft. This display includes: photographs of the simulation hardware, plots of chase vehicle trajectories from simulations, pictures of the docking aid including image processing interpretations, and drawings of the control system strategy. Viewgraph-style sheets on the display bulletin board summarize the simulation objectives, benefits, special considerations, approach, and results.

KSC-04pd1819

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers help guide the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft onto the mobile stand below. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Orbital Sciences Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

On-orbit demonstration of automated closure and capture using ESA-developed proximity operations technologies and an existing, serviceable NASA Explorer Platform spacecraft

NASA Technical Reports Server (NTRS)

Hohwiesner, Bill; Claudinon, Bernard

1991-01-01

The European Space Agency (ESA) has been working to develop an autonomous rendezvous and docking capability since 1984 to enable Hermes to automatically dock with Columbus. As a result, ESA with Matra, MBB, and other space companies have developed technologies that are also directly supportive of the current NASA initiative for Automated Rendezvous and Capture. Fairchild and Matra would like to discuss the results of the applicable ESA/Matra rendezvous and capture developments, and suggest how these capabilities could be used, together with an existing NASA Explorer Platform satellite, to minimize new development and accomplish a cost effective automatic closure and capture demonstration program. Several RV sensors have been developed at breadboard level for the Hermes/Columbus program by Matra, MBB, and SAAB. Detailed algorithms for automatic rendezvous, closure, and capture have been developed by ESA and CNES for application with Hermes to Columbus rendezvous and docking, and they currently are being verified with closed-loop software simulation. The algorithms have multiple closed-loop control modes and phases starting at long range using GPS navigation. Differential navigation is used for coast/continuous thrust homing, holdpoint acquisition, V-bar hopping, and station point acquisition. The proximity operation sensor is used for final closure and capture. A subset of these algorithms, comprising the proximity operations algorithms, could easily be extracted and tailored to a limited objective closure and capture flight demonstration.

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.

KSC-04pd1826

NASA Image and Video Library

2004-09-02

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft (right) is ready for mating with the upper stage (foreground) in preparation for launch on the Orbital Sciences Pegasus XL. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1830

NASA Image and Video Library

2004-09-03

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers maneuver the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft and mated upper stage toward the second stage at right in preparation or launch aboard the Orbital Sciences Pegasus XL launch vehicle. Pegasus will launch DART into a circular polar orbit of approximately 475 miles. Built for NASA by Orbital Sciences Corporation, DART was designed as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1827

NASA Image and Video Library

2004-09-02

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers maneuver the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft, suspended by a crane, over the upper stage in preparation for launch on the Orbital Sciences Pegasus XL. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. Built for NASA by Orbital Sciences Corporation, DART was designed as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1820

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft (in background) has been rotated from vertical to horizontal and is ready for mating with the upper stage (foreground). DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Orbital Sciences Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1823

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers begin closing the gap between the second and third stages of the Orbital Sciences Pegasus XL launch vehicle that will launch the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA's Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1828

NASA Image and Video Library

2004-09-03

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers maneuver the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft and mated upper stage toward the second stage behind them in preparation or launch aboard the Orbital Sciences Pegasus XL launch vehicle. Pegasus will launch DART into a circular polar orbit of approximately 475 miles. Built for NASA by Orbital Sciences Corporation, DART was designed as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1816

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, a worker prepares the second and third stages of the Orbital Sciences Pegasus XL launch vehicle for mating. The Pegasus XL will launch the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1825

NASA Image and Video Library

2004-09-02

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft (right) is ready for mating with the upper stage (behind it) in preparation for launch on the Orbital Sciences Pegasus XL. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1818

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers stand by while an overhead crane moves the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft onto the mobile stand at right. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Orbital Sciences Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1821

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft is ready for mating with the upper stage of the Orbital Sciences Pegasus XL behind it (right). DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1822

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers begin mating the second and third stages of the Orbital Sciences Pegasus XL launch vehicle that will launch the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA's Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1829

NASA Image and Video Library

2004-09-03

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft (foreground) is ready to be mated to second and third stages in preparation for the launch aboard the Orbital Sciences Pegasus XL launch vehicle. Pegasus will launch DART into a circular polar orbit of approximately 475 miles. Built for NASA by Orbital Sciences Corporation, DART was designed as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA’s Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1815

NASA Image and Video Library

2004-09-01

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, workers prepare to mate the second and third stages of the Orbital Sciences Pegasus XL launch vehicle that will launch the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASA's Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04pd1639

NASA Image and Video Library

2004-07-27

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft is on a work stand waiting for processing activities. The spacecraft was developed for NASA by Orbital Sciences Corporation in Dulles, Va., to prove technologies for locating and maneuvering near an orbiting satellite. DART will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1638

NASA Image and Video Library

2004-07-27

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft is placed on a work stand for processing activities. The spacecraft was developed for NASA by Orbital Sciences Corporation in Dulles, Va., to prove technologies for locating and maneuvering near an orbiting satellite. DART will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04PD-1818

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. At Vandenberg Air Force Base in California, workers stand by while an overhead crane moves the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft onto the mobile stand at right. DART was designed and built for NASA by Orbital Sciences Corporation as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. The Orbital Sciences Pegasus XL will launch DART into a circular polar orbit of approximately 475 miles. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASAs Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

KSC-04PD-1830

NASA Technical Reports Server (NTRS)

2004-01-01

KENNEDY SPACE CENTER, FLA. At Vandenberg Air Force Base in California, workers maneuver the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft and mated upper stage toward the second stage at right in preparation or launch aboard the Orbital Sciences Pegasus XL launch vehicle. Pegasus will launch DART into a circular polar orbit of approximately 475 miles. Built for NASA by Orbital Sciences Corporation, DART was designed as an advanced flight demonstrator to locate and maneuver near an orbiting satellite. DART weighs about 800 pounds and is nearly 6 feet long and 3 feet in diameter. DART is designed to demonstrate technologies required for a spacecraft to locate and rendezvous, or maneuver close to, other craft in space. Results from the DART mission will aid in the development of NASAs Crew Exploration Vehicle and will also assist in vehicle development for crew transfer and crew rescue capability to and from the International Space Station.

Technology development, demonstration, and orbital support requirements for manned lunar and Mars missions

NASA Technical Reports Server (NTRS)

Llewellyn, Charles P.; Brender, Karen D.

1990-01-01

An overview of the critical technology needs and the Space Station Freedom (SSF) focused support requirements for the Office of Exploration's (OEXP) manned lunar and Mars missions is presented. Major emphasis is directed at the technology needs associated with the low earth orbit (LEO) transportation node assembly and vehicle processing functions required by the lunar and Mars mission flight elements. The key technology areas identified as crucial to support the LEO node function include in-space assembly and construction, in-space vehicle processing and refurbishment, space storable cryogenics, and autonomous rendezvous and docking.

Technology needs development and orbital support requirements for manned lunar and Mars missions

NASA Technical Reports Server (NTRS)

Brender, Karen D.; Llewellyn, Charles P.

1990-01-01

This paper presents an overview of the critical technology needs and the Space Station Freedom focused support requirements for the Office of Exploration's manned lunar and Mars missions. The emphasis is on e directed at the technology needs associated with the low earth orbit (LEO) transportation node assembly and vehicle processing functions required by the lunar Mars mission flight elements. The key technology areas identified as crucial to support the LEO node function include in-space assembly and construction, in-space vehicle processing and refurbishment, space storable cryogenics, and autonomous rendezvous and docking.

System and Method for Automated Rendezvous, Docking and Capture of Autonomous Underwater Vehicles

NASA Technical Reports Server (NTRS)

Clark, Evan (Inventor); Richmond, Kristof (Inventor); Paulus, Jeremy (Inventor); Kimball, Peter (Inventor); Scully, Mark (Inventor); Kapit, Jason (Inventor); Stone, William C. (Inventor)

2018-01-01

A system for automated rendezvous, docking, and capture of autonomous underwater vehicles at the conclusion of a mission comprising of comprised of a docking rod having lighted, pulsating (in both frequency and light intensity) series of LED light strips thereon, with the LEDs at a known spacing, and the autonomous underwater vehicle specially designed to detect and capture the docking rod and then be lifted structurally by a spherical end strop about which the vehicle can be pivoted and hoisted up (e.g., onto a ship). The method of recovery allows for very routine and reliable automated recovery of an unmanned underwater asset.

Guidance and Navigation for Rendezvous and Proximity Operations with a Non-Cooperative Spacecraft at Geosynchronous Orbit

NASA Technical Reports Server (NTRS)

Barbee, Brent William; Carpenter, J. Russell; Heatwole, Scott; Markley, F. Landis; Moreau, Michael; Naasz, Bo J.; VanEepoel, John

2010-01-01

The feasibility and benefits of various spacecraft servicing concepts are currently being assessed, and all require that the servicer spacecraft perform rendezvous, proximity, and capture operations with the target spacecraft to be serviced. Many high-value spacecraft, which would be logical targets for servicing from an economic point of view, are located in geosynchronous orbit, a regime in which autonomous rendezvous and capture operations are not commonplace. Furthermore, existing GEO spacecraft were not designed to be serviced. Most do not have cooperative relative navigation sensors or docking features, and some servicing applications, such as de-orbiting of a non-functional spacecraft, entail rendezvous and capture with a spacecraft that may be non-functional or un-controlled. Several of these challenges have been explored via the design of a notional mission in which a nonfunctional satellite in geosynchronous orbit is captured by a servicer spacecraft and boosted into super-synchronous orbit for safe disposal. A strategy for autonomous rendezvous, proximity operations, and capture is developed, and the Orbit Determination Toolbox (ODTBX) is used to perform a relative navigation simulation to assess the feasibility of performing the rendezvous using a combination of angles-only and range measurements. Additionally, a method for designing efficient orbital rendezvous sequences for multiple target spacecraft is utilized to examine the capabilities of a servicer spacecraft to service multiple targets during the course of a single mission.

DART AVGS Performance

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Bryan, Thomas C.

2007-01-01

The Advanced Video Guidance Sensor (AVGS) was designed to be the proximity operations sensor for the Demonstration of Autonomous Rendezvous Technologies (DART). The DART mission flew in April of2005 and was a partial success. The AVGS did not get the opportunity to operate in every mode in orbit, but those modes in which it did operate were completely successful. This paper will detail the development, testing, and on-orbit performance of the AVGS.

Experimental Demonstration of Technologies for Autonomous On-Orbit Robotic Assembly

NASA Technical Reports Server (NTRS)

LeMaster, Edward A.; Schaechter, David B.; Carrington, Connie K.

2006-01-01

The Modular Reconfigurable High Energy (MRHE) program aimed to develop technologies for the automated assembly and deployment of large-scale space structures and aggregate spacecraft. Part of the project involved creation of a terrestrial robotic testbed for validation and demonstration of these technologies and for the support of future development activities. This testbed was completed in 2005, and was thereafter used to demonstrate automated rendezvous, docking, and self-assembly tasks between a group of three modular robotic spacecraft emulators. This paper discusses the rationale for the MRHE project, describes the testbed capabilities, and presents the MRHE assembly demonstration sequence.

Application of neural networks to autonomous rendezvous and docking of space vehicles

NASA Technical Reports Server (NTRS)

Dabney, Richard W.

1992-01-01

NASA-Marshall has investigated the feasibility of numerous autonomous rendezvous and docking (ARD) candidate techniques. Neural networks have been studied as a viable basis for such systems' implementation, due to their intrinsic representation of such nonlinear functions as those for which analytical solutions are either difficult or nonexistent. Neural networks are also able to recognize and adapt to changes in their dynamic environment, thereby enhancing redundancy and fault tolerance. Outstanding performance has been obtained from ARD azimuth, elevation, and roll networks of this type.

Roadmap of Advanced GNC and Image Processing Algorithms for Fully Autonomous MSR-Like Rendezvous Missions

NASA Astrophysics Data System (ADS)

Strippoli, L. S.; Gonzalez-Arjona, D. G.

2018-04-01

GMV extensively worked in many activities aimed at developing, validating, and verifying up to TRL-6 advanced GNC and IP algorithms for Mars Sample Return rendezvous working under different ESA contracts on the development of advanced algorithms for VBN sensor.

Imaging Flash Lidar for Safe Landing on Solar System Bodies and Spacecraft Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Bulyshev, Alexander E.; Brewster, Paul F.; Carrion, William A; Pierrottet, Diego F.; Hines, Glenn D.; Petway, Larry B.; Barnes, Bruce W.; Noe, Anna M.

2015-01-01

NASA has been pursuing flash lidar technology for autonomous, safe landing on solar system bodies and for automated rendezvous and docking. During the final stages of the landing from about 1 kilometer to 500 meters above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard flight computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16,000 pixels range images with 7 centimeters precision, at 20 Hertz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument and presents the results of recent flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus) built by NASA Johnson Space Center. The flights were conducted at a simulated lunar terrain site, consisting of realistic hazard features and designated landing areas, built at NASA Kennedy Space Center specifically for this demonstration test. This paper also provides an overview of the plan for continued advancement of the flash lidar technology aimed at enhancing its performance to meet both landing and automated rendezvous and docking applications.

Video-Guidance Design for the DART Rendezvous Mission

NASA Technical Reports Server (NTRS)

Ruth, Michael; Tracy, Chisholm

2004-01-01

NASA's Demonstration of Autonomous Rendezvous Technology (DART) mission will validate a number of different guidance technologies, including state-differenced GPS transfers and close-approach video guidance. The video guidance for DART will employ NASA/Marshall s Advanced Video Guidance Sensor (AVGS). This paper focuses on the terminal phase of the DART mission that includes close-approach maneuvers under AVGS guidance. The closed-loop video guidance design for DART is driven by a number of competing requirements, including a need for maximizing tracking bandwidths while coping with measurement noise and the need to minimize RCS firings. A range of different strategies for attitude control and docking guidance have been considered for the DART mission, and design decisions are driven by a goal of minimizing both the design complexity and the effects of video guidance lags. The DART design employs an indirect docking approach, in which the guidance position targets are defined using relative attitude information. Flight simulation results have proven the effectiveness of the video guidance design.

KSC-04pd1636

NASA Image and Video Library

2004-07-27

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft is raised to a vertical position. It will be lifted onto a test stand for launch processing activities. The spacecraft was developed for NASA by Orbital Sciences Corporation in Dulles, Va., to prove technologies for locating and maneuvering near an orbiting satellite. DART will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

KSC-04pd1637

NASA Image and Video Library

2004-07-27

KENNEDY SPACE CENTER, FLA. - At Vandenberg Air Force Base in California, the Demonstration of Autonomous Rendezvous Technology (DART) spacecraft is raised to a vertical position. It will be lifted onto a test stand for launch processing activities. The spacecraft was developed for NASA by Orbital Sciences Corporation in Dulles, Va., to prove technologies for locating and maneuvering near an orbiting satellite. DART will be launched on a Pegasus launch vehicle. At about 40,000 feet over the Pacific Ocean, the Pegasus will be released from Orbital’s Stargazer L-1011 aircraft, fire its rocket motors and boost DART into a polar orbit approximately 472 miles by 479 miles. Once in orbit, DART will rendezvous with a target satellite, the Multiple Paths, Beyond-Line-of-Site Communications satellite, also built by Orbital Sciences. DART will then perform several close proximity operations, such as moving toward and away from the satellite using navigation data provided by onboard sensors. DART is scheduled for launch no earlier than Oct. 18.

Genetic algorithm based fuzzy control of spacecraft autonomous rendezvous

NASA Technical Reports Server (NTRS)

Karr, C. L.; Freeman, L. M.; Meredith, D. L.

1990-01-01

The U.S. Bureau of Mines is currently investigating ways to combine the control capabilities of fuzzy logic with the learning capabilities of genetic algorithms. Fuzzy logic allows for the uncertainty inherent in most control problems to be incorporated into conventional expert systems. Although fuzzy logic based expert systems have been used successfully for controlling a number of physical systems, the selection of acceptable fuzzy membership functions has generally been a subjective decision. High performance fuzzy membership functions for a fuzzy logic controller that manipulates a mathematical model simulating the autonomous rendezvous of spacecraft are learned using a genetic algorithm, a search technique based on the mechanics of natural genetics. The membership functions learned by the genetic algorithm provide for a more efficient fuzzy logic controller than membership functions selected by the authors for the rendezvous problem. Thus, genetic algorithms are potentially an effective and structured approach for learning fuzzy membership functions.

Autonomous rendezvous and docking operations of unmanned expendable cargo transfer vehicles (e.g. Centaur) with Space Station Freedom

NASA Technical Reports Server (NTRS)

Emmet, Brian R.

1991-01-01

This paper describes the results of the feasibility study using Centaur or other CTV's to deliver payloads to the Space Station Freedom (SSF). During this study was examined the requirements upon unmanned cargo transfer stages (including Centaur) for phasing, rendezvous, proximity operations and docking/berthing (capture).

Embedded Relative Navigation Sensor Fusion Algorithms for Autonomous Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

DeKock, Brandon K.; Betts, Kevin M.; McDuffie, James H.; Dreas, Christine B.

2008-01-01

bd Systems (a subsidiary of SAIC) has developed a suite of embedded relative navigation sensor fusion algorithms to enable NASA autonomous rendezvous and docking (AR&D) missions. Translational and rotational Extended Kalman Filters (EKFs) were developed for integrating measurements based on the vehicles' orbital mechanics and high-fidelity sensor error models and provide a solution with increased accuracy and robustness relative to any single relative navigation sensor. The filters were tested tinough stand-alone covariance analysis, closed-loop testing with a high-fidelity multi-body orbital simulation, and hardware-in-the-loop (HWIL) testing in the Marshall Space Flight Center (MSFC) Flight Robotics Laboratory (FRL).

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.

Integrated Docking Simulation and Testing with the Johnson Space Center Six-Degree of Freedom Dynamic Test System

NASA Technical Reports Server (NTRS)

Mitchell, Jennifer D.; Cryan, Scott P.; Baker, Kenneth; Martin, Toby; Goode, Robert; Key, Kevin W.; Manning, Thomas; Chien, Chiun-Hong

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Constellation Program; this is carried as one of the CEV Project top risks. The Exploration Technology Development Program (ETDP) AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation. One of the project activities is a series of "pathfinder" testing and simulation activities to integrate relative navigation sensors with the Johnson Space Center Six-Degree-of-Freedom Test System (SDTS). The SDTS will be the primary testing location for the Orion spacecraft s Low Impact Docking System (LIDS). Project team members have integrated the Orion simulation with the SDTS computer system so that real-time closed loop testing can be performed with relative navigation sensors and the docking system in the loop during docking and undocking scenarios. Two relative navigation sensors are being used as part of a "pathfinder" activity in order to pave the way for future testing with the actual Orion sensors. This paper describes the test configuration and test results.

The Right Track for Vision Correction

NASA Technical Reports Server (NTRS)

2003-01-01

More and more people are putting away their eyeglasses and contact lenses as a result of laser vision correction surgery. LASIK, the most widely performed version of this surgical procedure, improves vision by reshaping the cornea, the clear front surface of the eye, using an excimer laser. One excimer laser system, Alcon s LADARVision 4000, utilizes a laser radar (LADAR) eye tracking device that gives it unmatched precision. During LASIK surgery, laser During LASIK surgery, laser pulses must be accurately placed to reshape the cornea. A challenge to this procedure is the patient s constant eye movement. A person s eyes make small, involuntary movements known as saccadic movements about 100 times per second. Since the saccadic movements will not stop during LASIK surgery, most excimer laser systems use an eye tracking device that measures the movements and guides the placement of the laser beam. LADARVision s eye tracking device stems from the LADAR technology originally developed through several Small Business Innovation Research (SBIR) contracts with NASA s Johnson Space Center and the U.S. Department of Defense s Ballistic Missile Defense Office (BMDO). In the 1980s, Johnson awarded Autonomous Technologies Corporation a Phase I SBIR contract to develop technology for autonomous rendezvous and docking of space vehicles to service satellites. During Phase II of the Johnson SBIR contract, Autonomous Technologies developed a prototype range and velocity imaging LADAR to demonstrate technology that could be used for this purpose.

Automated low-thrust guidance for the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Rose, Richard E.; Schmeichel, Harry; Shortwell, Charles P.; Werner, Ronald A.

1988-01-01

This paper describes the highly autonomous OMV Guidance Navigation and Control system. Emphasis is placed on a key feature of the design, the low thrust guidance algorithm. The two guidance modes, orbit change guidance and rendezvous guidance, are discussed in detail. It is shown how OMV will automatically transfer from its initial orbit to an arbitrary target orbit and reach a specified rendezvous position relative to the target vehicle.

Integrated vision-based GNC for autonomous rendezvous and capture around Mars

NASA Astrophysics Data System (ADS)

Strippoli, L.; Novelli, G.; Gil Fernandez, J.; Colmenarejo, P.; Le Peuvedic, C.; Lanza, P.; Ankersen, F.

2015-06-01

Integrated GNC (iGNC) is an activity aimed at designing, developing and validating the GNC for autonomously performing the rendezvous and capture phase of the Mars sample return mission as defined during the Mars sample return Orbiter (MSRO) ESA study. The validation cycle includes testing in an end-to-end simulator, in a real-time avionics-representative test bench and, finally, in a dynamic HW in the loop test bench for assessing the feasibility, performances and figure of merits of the baseline approach defined during the MSRO study, for both nominal and contingency scenarios. The on-board software (OBSW) is tailored to work with the sensors, actuators and orbits baseline proposed in MSRO. The whole rendezvous is based on optical navigation, aided by RF-Doppler during the search and first orbit determination of the orbiting sample. The simulated rendezvous phase includes also the non-linear orbit synchronization, based on a dedicated non-linear guidance algorithm robust to Mars ascent vehicle (MAV) injection accuracy or MAV failures resulting in elliptic target orbits. The search phase is very demanding for the image processing (IP) due to the very high visual magnitude of the target wrt. the stellar background, and the attitude GNC requires very high pointing stability accuracies to fulfil IP constraints. A trade-off of innovative, autonomous navigation filters indicates the unscented Kalman filter (UKF) as the approach that provides the best results in terms of robustness, response to non-linearities and performances compatibly with computational load. At short range, an optimized IP based on a convex hull algorithm has been developed in order to guarantee LoS and range measurements from hundreds of metres to capture.

ARCADE small-scale docking mechanism for micro-satellites

NASA Astrophysics Data System (ADS)

Boesso, A.; Francesconi, A.

2013-05-01

The development of on-orbit autonomous rendezvous and docking (ARD) capabilities represents a key point for a number of appealing mission scenarios that include activities of on-orbit servicing, automated assembly of modular structures and active debris removal. As of today, especially in the field of micro-satellites ARD, many fundamental technologies are still missing or require further developments and micro-gravity testing. In this framework, the University of Padova, Centre of Studies and Activities for Space (CISAS), developed the Autonomous Rendezvous Control and Docking Experiment (ARCADE), a technology demonstrator intended to fly aboard a BEXUS stratospheric balloon. The goal was to design, build and test, in critical environment conditions, a proximity relative navigation system, a custom-made reaction wheel and a small-size docking mechanism. The ARCADE docking mechanism was designed against a comprehensive set of requirements and it can be classified as small-scale, central, gender mating and unpressurized. The large use of commercial components makes it low-cost and simple to be manufactured. Last, it features a good tolerance to off-nominal docking conditions and a by-design soft docking capability. The final design was extensively verified to be compliant with its requirements by means of numerical simulations and physical testing. In detail, the dynamic behaviour of the mechanism in both nominal and off-nominal conditions was assessed with the multibody dynamics analysis software MD ADAMS 2010 and functional tests were carried out within the fully integrated ARCADE experiment to ensure the docking system efficacy and to highlight possible issues. The most relevant results of the study will be presented and discussed in conclusion to this paper.

Simulation and ground testing with the Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Johnston, Albert S.; Bryan, Thomas C.; Book, Michael L.

2005-01-01

The Advanced Video Guidance Sensor (AVGS), an active sensor system that provides near-range 6-degree-of-freedom sensor data, has been developed as part of an automatic rendezvous and docking system for the Demonstration of Autonomous Rendezvous Technology (DART). The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state imager to detect the light returned from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The development of the sensor, through initial prototypes, final prototypes, and three flight units, has required a great deal of testing at every phase, and the different types of testing, their effectiveness, and their results, are presented in this paper, focusing on the testing of the flight units. Testing has improved the sensor's performance.

Space Tug Docking Study. Volume 1: Executive Summary

NASA Technical Reports Server (NTRS)

1976-01-01

Results of a detailed systems analysis of the entire rendezvous and docking operation to be performed by the all-up space tug are presented. Specific areas investigated include: generating of operational requirements and a data base of candidate operational techniques and subsystem mechanizations; selection and ranking of integrated system designs capable of meeting the requirements generated; and definition of this simulation/demonstration program required to select and prove the most effective manual, autonomous, and hybrid rendezvous and docking systems.

An Assessment of the Technology of Automated Rendezvous and Capture in Space

NASA Technical Reports Server (NTRS)

Polites, M. E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows. First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is established. Then, today's technology and ongoing technology efforts related to AR&C in space are reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

Ground Demonstration on the Autonomous Docking of Two 3U CubeSats Using a Novel Permanent-Magnet Docking Mechanism

NASA Technical Reports Server (NTRS)

Pei, Jing; Murchison, Luke; BenShabat, Adam; Stewart, Victor; Rosenthal, James; Follman, Jacob; Branchy, Mark; Sellers, Drew; Elandt, Ryan; Elliott, Sawyer;

Six degree of freedom simulation system for evaluating automated rendezvous and docking spacecraft

NASA Technical Reports Server (NTRS)

Rourke, Kenneth H.; Tsugawa, Roy K.

1991-01-01

Future logistics supply and servicing vehicles such as cargo transfer vehicles (CTV) must have full 6 degree of freedom (6DOF) capability in order to perform requisite rendezvous, proximity operations, and capture operations. The design and performance issues encountered when developing a 6DOF maneuvering spacecraft are very complex with subtle interactions which are not immediately obvious or easily anticipated. In order to deal with these complexities and develop robust maneuvering spacecraft designs, a simulation system and associated family of tools are used at TRW for generating and validating spacecraft performance requirements and guidance algorithms. An overview of the simulator and tools is provided. These are used by TRW for autonomous rendezvous and docking research projects including CTV studies.

Automated Rendezvous and Capture in Space: A Technology Assessment

NASA Technical Reports Server (NTRS)

Polites, Michael E.

1998-01-01

This paper presents the results of a study to assess the technology of automated rendezvous and capture (AR&C) in space. The outline of the paper is as follows: First, the history of manual and automated rendezvous and capture and rendezvous and dock is presented. Next, the need for AR&C in space is reviewed. In light of these, AR&C systems are proposed that meet NASA's future needs, but can be developed in a reasonable amount of time with a reasonable amount of money. Technology plans for developing these systems are presented; cost and schedule are included.

Overview of NASA's In Space Robotic Servicing

NASA Technical Reports Server (NTRS)

Reed, Benjamin B.

2015-01-01

The panel discussion will start with a presentation of the work of the Satellite Servicing Capabilities Office (SSCO), a team responsible for the overall management, coordination, and implementation of satellite servicing technologies and capabilities for NASA. Born from the team that executed the five Hubble servicing missions, SSCO is now maturing a core set of technologies that support both servicing goals and NASA's exploration and science objectives, including: autonomous rendezvous and docking systems; dexterous robotics; high-speed, fault-tolerant computing; advanced robotic tools, and propellant transfer systems. SSCOs proposed Restore-L mission, under development since 2009, is rapidly advancing the core capabilities the fledgling satellite-servicing industry needs to jumpstart a new national industry. Restore-L is also providing key technologies and core expertise to the Asteroid Redirect Robotic Mission (ARRM), with SSCO serving as the capture module lead for the ARRM effort. Reed will present a brief overview of SSCOs history, capabilities and technologies.

Present Challenges, Critical Needs, and Future Technological Directions for NASA's GN and C Engineering Discipline

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.

2010-01-01

The National Aeronautics and Space Administration (NASA) is currently undergoing a substantial redirection. Notable among the changes occurring within NASA is the stated emphasis on technology development, integration, and demonstration. These new changes within the Agency should have a positive impact on the GN&C discipline given the potential for sizeable investments for technology development and in-space demonstrations of both Autonomous Rendezvous & Docking (AR&D) systems and Autonomous Precision Landing (APL) systems. In this paper the NASA Technical Fellow for Guidance, Navigation and Control (GN&C) provides a summary of the present technical challenges, critical needs, and future technological directions for NASA s GN&C engineering discipline. A brief overview of the changes occurring within NASA that are driving a renewed emphasis on technology development will be presented as background. The potential benefits of the planned GN&C technology developments will be highlighted. This paper will provide a GN&C State-of-the-Discipline assessment. The discipline s readiness to support the goals & objectives of each of the four NASA Mission Directorates is evaluated and the technical challenges and barriers currently faced by the discipline are summarized. This paper will also discuss the need for sustained investments to sufficiently mature the several classes of GN&C technologies required to implement NASA crewed exploration and robotic science missions.

WEB - A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason William

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

Web: A Wireless Experiment Box for the Dextre Pointing Package ELC Payload

NASA Technical Reports Server (NTRS)

Bleier, Leor Z.; Marrero-Fontanez, Victor J.; Sparacino, Pietro A.; Moreau, Michael C.; Mitchell, Jason W.

2012-01-01

The Wireless Experiment Box (WEB) was proposed to work with the International Space Station (ISS) External Wireless Communication (EWC) system to support high-definition video from the Dextre Pointing Package (DPP). DPP/WEB was a NASA GSFC proposed ExPRESS Logistics Carrier (ELC) payload designed to flight test an integrated suite of Autonomous Rendezvous and Docking (AR&D) technologies to enable a wide spectrum of future missions across NASA and other US Government agencies. The ISS EWC uses COTS Wireless Access Points (WAPs) to provide high-rate bi-directional communications to ISS. In this paper, we discuss WEB s packaging, operation, antenna development, and performance testing.

Dual RF Astrodynamic GPS Orbital Navigator Satellite

NASA Technical Reports Server (NTRS)

Kanipe, David B.; Provence, Robert Steve; Straube, Timothy M.; Reed, Helen; Bishop, Robert; Lightsey, Glenn

2009-01-01

Dual RF Astrodynamic GPS Orbital Navigator Satellite (DRAGONSat) will demonstrate autonomous rendezvous and docking (ARD) in low Earth orbit (LEO) and gather flight data with a global positioning system (GPS) receiver strictly designed for space applications. ARD is the capability of two independent spacecraft to rendezvous in orbit and dock without crew intervention. DRAGONSat consists of two picosatellites (one built by the University of Texas and one built by Texas A and M University) and the Space Shuttle Payload Launcher (SSPL); this project will ultimately demonstrate ARD in LEO.

Shared control on lunar spacecraft teleoperation rendezvous operations with large time delay

NASA Astrophysics Data System (ADS)

Ya-kun, Zhang; Hai-yang, Li; Rui-xue, Huang; Jiang-hui, Liu

2017-08-01

Teleoperation could be used in space on-orbit serving missions, such as object deorbits, spacecraft approaches, and automatic rendezvous and docking back-up systems. Teleoperation rendezvous and docking in lunar orbit may encounter bottlenecks for the inherent time delay in the communication link and the limited measurement accuracy of sensors. Moreover, human intervention is unsuitable in view of the partial communication coverage problem. To solve these problems, a shared control strategy for teleoperation rendezvous and docking is detailed. The control authority in lunar orbital maneuvers that involves two spacecraft as rendezvous and docking in the final phase was discussed in this paper. The predictive display model based on the relative dynamic equations is established to overcome the influence of the large time delay in communication link. We discuss and attempt to prove via consistent, ground-based simulations the relative merits of fully autonomous control mode (i.e., onboard computer-based), fully manual control (i.e., human-driven at the ground station) and shared control mode. The simulation experiments were conducted on the nine-degrees-of-freedom teleoperation rendezvous and docking simulation platform. Simulation results indicated that the shared control methods can overcome the influence of time delay effects. In addition, the docking success probability of shared control method was enhanced compared with automatic and manual modes.

TRAC based sensing for autonomous rendezvous

NASA Technical Reports Server (NTRS)

Everett, Louis J.; Monford, Leo

1991-01-01

The Targeting Reflective Alignment Concept (TRAC) sensor is to be used in an effort to support an Autonomous Rendezvous and Docking (AR&D) flight experiment. The TRAC sensor uses a fixed-focus, fixed-iris CCD camera and a target that is a combination of active and passive components. The system experiment is anticipated to fly in 1994 using two Commercial Experiment Transporters (COMET's). The requirements for the sensor are: bearing error less than or equal to 0.075 deg; bearing error rate less than 0.3 deg/sec; attitude error less than 0.5 deg.; and attitude rate error less than 2.0 deg/sec. The range requirement depends on the range and the range rate of the vehicle. The active component of the target is several 'kilo-bright' LED's that can emit 2500 millicandela with 40 milliwatts of input power. Flashing the lights in a known pattern eliminates background illumination. The system should be able to rendezvous from 300 meters all the way to capture. A question that arose during the presentation: What is the life time of the LED's and their sensitivity to radiation? The LED's should be manufactured to Military Specifications, coated with silicon dioxide, and all other space qualified precautions should be taken. The LED's will not be on all the time so they should easily last the two-year mission.

Reliable spacecraft rendezvous without velocity measurement

NASA Astrophysics Data System (ADS)

He, Shaoming; Lin, Defu

2018-03-01

This paper investigates the problem of finite-time velocity-free autonomous rendezvous for spacecraft in the presence of external disturbances during the terminal phase. First of all, to address the problem of lack of relative velocity measurement, a robust observer is proposed to estimate the unknown relative velocity information in a finite time. It is shown that the effect of external disturbances on the estimation precision can be suppressed to a relatively low level. With the reconstructed velocity information, a finite-time output feedback control law is then formulated to stabilize the rendezvous system. Theoretical analysis and rigorous proof show that the relative position and its rate can converge to a small compacted region in finite time. Numerical simulations are performed to evaluate the performance of the proposed approach in the presence of external disturbances and actuator faults.

Autonomous, agile micro-satellites and supporting technologies

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

Breitfeller, E; Dittman, M D; Gaughan, R J

1999-07-19

This paper updates the on-going effort at Lawrence Livermore National Laboratory to develop autonomous, agile micro-satellites (MicroSats). The objective of this development effort is to develop MicroSats weighing only a few tens of kilograms, that are able to autonomously perform precision maneuvers and can be used telerobotically in a variety of mission modes. The required capabilities include satellite rendezvous, inspection, proximity-operations, docking, and servicing. The MicroSat carries an integrated proximity-operations sensor-suite incorporating advanced avionics. A new self-pressurizing propulsion system utilizing a miniaturized pump and non-toxic mono-propellant hydrogen peroxide was successfully tested. This system can provide a nominal 25 kg MicroSatmore » with 200-300 m/s delta-v including a warm-gas attitude control system. The avionics is based on the latest PowerPC processor using a CompactPCI bus architecture, which is modular, high-performance and processor-independent. This leverages commercial-off-the-shelf (COTS) technologies and minimizes the effects of future changes in processors. The MicroSat software development environment uses the Vx-Works real-time operating system (RTOS) that provides a rapid development environment for integration of new software modules, allowing early integration and test. We will summarize results of recent integrated ground flight testing of our latest non-toxic pumped propulsion MicroSat testbed vehicle operated on our unique dynamic air-rail.« less

Design for an 8 Meter Monolithic UV/OIR Space Telescope

NASA Technical Reports Server (NTRS)

Stahl, H. Philip; Postman, Marc; Hornsby, Linda; Hopkins, Randall; Mosier, Gary E.; Pasquale, Bert A.; Arnold, William R.

2009-01-01

ATLAST-8 is an 8-meter monolithic UV/optical/NIR space observatory to be placed in orbit at Sun-Earth L2 by NASA's planned Ares V cargo launch vehicle. The ATLAST-8 will yield fundamental astronomical breakthroughs. The mission concept utilizes two enabling technologies: planned Ares-V launch vehicle (scheduled for 2019) and autonomous rendezvous and docking (AR&D). The unprecedented Ares-V payload and mass capacity enables the use of a massive, monolithic, thin-meniscus primary mirror - similar to a VLT or Subaru. Furthermore, it enables simple robust design rules to mitigate cost, schedule and performance risk. AR&D enables on-orbit servicing, extending mission life and enhancing science return.

Vision Based Navigation for Autonomous Cooperative Docking of CubeSats

NASA Astrophysics Data System (ADS)

Pirat, Camille; Ankersen, Finn; Walker, Roger; Gass, Volker

2018-05-01

A realistic rendezvous and docking navigation solution applicable to CubeSats is investigated. The scalability analysis of the ESA Autonomous Transfer Vehicle Guidance, Navigation & Control (GNC) performances and the Russian docking system, shows that the docking of two CubeSats would require a lateral control performance of the order of 1 cm. Line of sight constraints and multipath effects affecting Global Navigation Satellite System (GNSS) measurements in close proximity prevent the use of this sensor for the final approach. This consideration and the high control accuracy requirement led to the use of vision sensors for the final 10 m of the rendezvous and docking sequence. A single monocular camera on the chaser satellite and various sets of Light-Emitting Diodes (LEDs) on the target vehicle ensure the observability of the system throughout the approach trajectory. The simple and novel formulation of the measurement equations allows differentiating unambiguously rotations from translations between the target and chaser docking port and allows a navigation performance better than 1 mm at docking. Furthermore, the non-linear measurement equations can be solved in order to provide an analytic navigation solution. This solution can be used to monitor the navigation filter solution and ensure its stability, adding an extra layer of robustness for autonomous rendezvous and docking. The navigation filter initialization is addressed in detail. The proposed method is able to differentiate LEDs signals from Sun reflections as demonstrated by experimental data. The navigation filter uses a comprehensive linearised coupled rotation/translation dynamics, describing the chaser to target docking port motion. The handover, between GNSS and vision sensor measurements, is assessed. The performances of the navigation function along the approach trajectory is discussed.

Imaging Flash Lidar for Autonomous Safe Landing and Spacecraft Proximity Operation

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Roback, Vincent E.; Brewster, Paul F.; Hines, Glenn D.; Bulyshev, Alexander E.

2016-01-01

3-D Imaging flash lidar is recognized as a primary candidate sensor for safe precision landing on solar system bodies (Moon, Mars, Jupiter and Saturn moons, etc.), and autonomous rendezvous proximity operations and docking/capture necessary for asteroid sample return and redirect missions, spacecraft docking, satellite servicing, and space debris removal. During the final stages of landing, from about 1 km to 500 m above the ground, the flash lidar can generate 3-Dimensional images of the terrain to identify hazardous features such as craters, rocks, and steep slopes. The onboard fli1ght computer can then use the 3-D map of terrain to guide the vehicle to a safe location. As an automated rendezvous and docking sensor, the flash lidar can provide relative range, velocity, and bearing from an approaching spacecraft to another spacecraft or a space station from several kilometers distance. NASA Langley Research Center has developed and demonstrated a flash lidar sensor system capable of generating 16k pixels range images with 7 cm precision, at a 20 Hz frame rate, from a maximum slant range of 1800 m from the target area. This paper describes the lidar instrument design and capabilities as demonstrated by the closed-loop flight tests onboard a rocket-propelled free-flyer vehicle (Morpheus). Then a plan for continued advancement of the flash lidar technology will be explained. This proposed plan is aimed at the development of a common sensor that with a modest design adjustment can meet the needs of both landing and proximity operation and docking applications.

Flight Testing of Guidance, Navigation and Control Systems on the Mighty Eagle Robotic Lander Testbed

NASA Technical Reports Server (NTRS)

Hannan, Mike; Rickman, Doug; Chavers, Greg; Adam, Jason; Becker, Chris; Eliser, Joshua; Gunter, Dan; Kennedy, Logan; O'Leary, Patrick

2015-01-01

During 2011 a series of progressively more challenging flight tests of the Mighty Eagle autonomous terrestrial lander testbed were conducted primarily to validate the GNC system for a proposed lunar lander. With the successful completion of this GNC validation objective the opportunity existed to utilize the Mighty Eagle as a flying testbed for a variety of technologies. In 2012 an Autonomous Rendezvous and Capture (AR&C) algorithm was implemented in flight software and demonstrated in a series of flight tests. In 2012 a hazard avoidance system was developed and flight tested on the Mighty Eagle. Additionally, GNC algorithms from Moon Express and a MEMs IMU were tested in 2012. All of the testing described herein was above and beyond the original charter for the Mighty Eagle. In addition to being an excellent testbed for a wide variety of systems the Mighty Eagle also provided a great learning opportunity for many engineers and technicians to work a flight program.

OAST Space Theme Workshop. Volume 3: Working group summary. 1: Navigation, guidance, control (E-1) A. Statement. B. Technology needs (form 1). C. Priority assessment (form 2)

NASA Technical Reports Server (NTRS)

1976-01-01

The six themes identified by the Workshop have many common navigation guidance and control needs. All the earth orbit themes have a strong requirement for attitude, figure and stabilization control of large space structures, a requirement not currently being supported. All but the space transportation theme have need for precision pointing of spacecraft and instruments. In addition all the themes have requirements for increasing autonomous operations for such activities as spacecraft and experiment operations, onboard mission modification, rendezvous and docking, spacecraft assembly and maintenance, navigation and guidance, and self-checkout, test and repair. Major new efforts are required to conceptualize new approaches to large space antennas and arrays that are lightweight, readily deployable, and capable of precise attitude and figure control. Conventional approaches offer little hope of meeting these requirements. Functions that can benefit from increasing automation or autonomous operations are listed.

An overview of autonomous rendezvous and docking system technology development at General Dynamics

NASA Technical Reports Server (NTRS)

Kuenzel, Fred

1991-01-01

The Centaur avionics suite is undergoing a dramatic modernization for the commercial, DoD Atlas and Titan programs. The system has been upgraded to the current state-of-the-art in ring laser gyro inertial sensors and Mil-Std-1750A processor technology. The Cruise Missile avionic system has similarly been evolving for many years. Integration of GPS into both systems has been underway for over five years with a follow-on cruise missile system currently in flight test. Rendezvous and Docking related studies have been conducted for over five years in support of OMV, CTV, and Advanced Upper Stages, as well as several other internal IR&D's. The avionics system and AR&D simulator demonstrated to the SATWG in November 1990 has been upgraded considerably under two IR&D programs in 1991. The Centaur modern avionics system is being flown in block upgrades which started in July of 1990. The Inertial Navigation Unit will fly in November of 1991. The Cruise Missile avionics systems have been fully tested and operationally validated in combat. The integrated AR&D system for space vehicle applications has been under development and testing since 1990. A Joint NASA / GD ARD&L System Test Program is currently being planned to validate several aspects of system performance in three different NASA test facilities in 1992.

Development of an autonomous video rendezvous and docking system, phase 2

NASA Technical Reports Server (NTRS)

Tietz, J. C.; Richardson, T. E.

1983-01-01

The critical elements of an autonomous video rendezvous and docking system were built and used successfully in a physical laboratory simulation. The laboratory system demonstrated that a small, inexpensive electronic package and a flight computer of modest size can analyze television images to derive guidance information for spacecraft. In the ultimate application, the system would use a docking aid consisting of three flashing lights mounted on a passive target spacecraft. Television imagery of the docking aid would be processed aboard an active chase vehicle to derive relative positions and attitudes of the two spacecraft. The demonstration system used scale models of the target spacecraft with working docking aids. A television camera mounted on a 6 degree of freedom (DOF) simulator provided imagery of the target to simulate observations from the chase vehicle. A hardware video processor extracted statistics from the imagery, from which a computer quickly computed position and attitude. Computer software known as a Kalman filter derived velocity information from position measurements.

Orbital Express fluid transfer demonstration system

NASA Astrophysics Data System (ADS)

Rotenberger, Scott; SooHoo, David; Abraham, Gabriel

2008-04-01

Propellant resupply of orbiting spacecraft is no longer in the realm of high risk development. The recently concluded Orbital Express (OE) mission included a fluid transfer demonstration that operated the hardware and control logic in space, bringing the Technology Readiness Level to a solid TRL 7 (demonstration of a system prototype in an operational environment). Orbital Express (funded by the Defense Advanced Research Projects Agency, DARPA) was launched aboard an Atlas-V rocket on March 9th, 2007. The mission had the objective of demonstrating technologies needed for routine servicing of spacecraft, namely autonomous rendezvous and docking, propellant resupply, and orbital replacement unit transfer. The demonstration system used two spacecraft. A servicing vehicle (ASTRO) performed multiple dockings with the client (NextSat) spacecraft, and performed a variety of propellant transfers in addition to exchanges of a battery and computer. The fluid transfer and propulsion system onboard ASTRO, in addition to providing the six degree-of-freedom (6 DOF) thruster system for rendezvous and docking, demonstrated autonomous transfer of monopropellant hydrazine to or from the NextSat spacecraft 15 times while on orbit. The fluid transfer system aboard the NextSat vehicle was designed to simulate a variety of client systems, including both blowdown pressurization and pressure regulated propulsion systems. The fluid transfer demonstrations started with a low level of autonomy, where ground controllers were allowed to review the status of the demonstration at numerous points before authorizing the next steps to be performed. The final transfers were performed at a full autonomy level where the ground authorized the start of a transfer sequence and then monitored data as the transfer proceeded. The major steps of a fluid transfer included the following: mate of the coupling, leak check of the coupling, venting of the coupling, priming of the coupling, fluid transfer, gauging of receiving tank, purging of coupling and de-mate of the coupling.

Robust Targeting for the Smartphone Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Carter, Christopher

2017-01-01

The Smartphone Video Guidance Sensor (SVGS) is a miniature, self-contained autonomous rendezvous and docking sensor developed using a commercial off the shelf Android-based smartphone. It aims to provide a miniaturized solution for rendezvous and docking, enabling small satellites to conduct proximity operations and formation flying while minimizing interference with a primary payload. Previously, the sensor was limited by a slow (2 Hz) refresh rate and its use of retro-reflectors, both of which contributed to a limited operating environment. To advance the technology readiness level, a modified approach was developed, combining a multi-colored LED target with a focused target-detection algorithm. Alone, the use of an LED system was determined to be much more reliable, though slower, than the retro-reflector system. The focused target-detection system was developed in response to this problem to mitigate the speed reduction of using color. However, it also improved the reliability. In combination these two methods have been demonstrated to dramatically increase sensor speed and allow the sensor to select the target even with significant noise interfering with the sensor, providing millimeter level accuracy at a range of two meters with a 1U target.

Robust Targeting for the Smartphone Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Carter, C.

2017-01-01

The Smartphone Video Guidance Sensor (SVGS) is a miniature, self-contained autonomous rendezvous and docking sensor developed using a commercial off the shelf Android-based smartphone. It aims to provide a miniaturized solution for rendezvous and docking, enabling small satellites to conduct proximity operations and formation flying while minimizing interference with a primary payload. Previously, the sensor was limited by a slow (2 Hz) refresh rate and its use of retro-reflectors, both of which contributed to a limited operating environment. To advance the technology readiness level, a modified approach was developed, combining a multi-colored LED target with a focused target-detection algorithm. Alone, the use of an LED system was determined to be much more reliable, though slower, than the retro-reflector system. The focused target-detection system was developed in response to this problem to mitigate the speed reduction of using color. However it also improved the reliability. In combination these two methods have been demonstrated to dramatically increase sensor speed and allow the sensor to select the target even with significant noise interfering with the sensor, providing millimeter level precision at a range of two meters with a 1U target.

An overview of autonomous rendezvous and docking system technology development

NASA Astrophysics Data System (ADS)

Nelson, Kurt D.

The Centaur upper stage was selected for an airborne avionics modernization program. The parts used in the existing avionics units were obsolete. Continued use of existing hardware would require substantial redesign, yet would result in the use of outdated hardware. Out of date processes, with very expensive and labor intensive technologies, were being used for manufacturing. The Atlas/Centaur avionics were to be procured at a fairly high rate that demanded the use of modern components. The new avionics also reduce size, weight, power, and parts count with a dramatic improvement in reliability. Finally, the cost leverage derived from upgrading the avionics as opposed to any other subsystem for the existing Atlas/Centaur was a very large consideration in the upgrade decision. The upgrade program is a multiyear effort that began in 1989. It includes telemetry, guidance and navigation, control electronics, thrust vector control, and redundancy levels.

A Proposed Strategy for the U.S. to Develop and Maintain a Mainstream Capability Suite ("Warehouse") for Automated/Autonomous Rendezvous and Docking in Low Earth Orbit and Beyond

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje S.; Stillwater, Ryan A.; Babula, Maria; Moreau, Michael C.; Riedel, J. Ed; Mrozinski, Richard B.; Bradley, Arthur; Bryan, Thomas C.

2012-01-01

The ability of space assets to rendezvous and dock/capture/berth is a fundamental enabler for numerous classes of NASA fs missions, and is therefore an essential capability for the future of NASA. Mission classes include: ISS crew rotation, crewed exploration beyond low-Earth-orbit (LEO), on-orbit assembly, ISS cargo supply, crewed satellite servicing, robotic satellite servicing / debris mitigation, robotic sample return, and robotic small body (e.g. near-Earth object, NEO) proximity operations. For a variety of reasons to be described, NASA programs requiring Automated/Autonomous Rendezvous and Docking/Capture/Berthing (AR&D) capabilities are currently spending an order-of-magnitude more than necessary and taking twice as long as necessary to achieve their AR&D capability, "reinventing the wheel" for each program, and have fallen behind all of our foreign counterparts in AR&D technology (especially autonomy) in the process. To ensure future missions' reliability and crew safety (when applicable), to achieve the noted cost and schedule savings by eliminate costs of continually "reinventing the wheel ", the NASA AR&D Community of Practice (CoP) recommends NASA develop an AR&D Warehouse, detailed herein, which does not exist today. The term "warehouse" is used herein to refer to a toolbox or capability suite that has pre-integrated selectable supply-chain hardware and reusable software components that are considered ready-to-fly, low-risk, reliable, versatile, scalable, cost-effective, architecture and destination independent, that can be confidently utilized operationally on human spaceflight and robotic vehicles over a variety of mission classes and design reference missions, especially beyond LEO. The CoP also believes that it is imperative that NASA coordinate and integrate all current and proposed technology development activities into a cohesive cross-Agency strategy to produce and utilize this AR&D warehouse. An initial estimate indicates that if NASA strategically coordinates the development of a robust AR&D capability across the Agency, the cost of implementing AR&D on a spacecraft could be reduced from roughly $70M per mission to as low as $7M per mission, and the associated development time could be reduced from 4 years to 2 years, after the warehouse is completely developed. Table 1 shows the clear long-term benefits to the Agency in term of costs and schedules for various missions. (The methods used to arrive at the Table 1 numbers is presented in Appendices A and B.)

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

NASA Technical Reports Server (NTRS)

Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

KSC-04pd1684

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

KSC-04pd1686

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

KSC-04pd1685

NASA Image and Video Library

2004-07-16

KENNEDY SPACE CENTER, FLA. - An artist’s conception of the autonomous Demonstration for Autonomous Rendezvous (DART) spacecraft as it approaches the Multiple Paths, Beyond-Line-of-Site Communications (MUBLCOM) satellite. NASA is testing the DART as a docking system for next generation vehicles to guide spacecraft carrying cargo or equipment to the International Space Station, or retrieving or servicing satellites in orbit. Before the new system can be implemented on piloted spacecraft, it has to be tested in space. The computer-guided DART is equipped with an Advanced Video Guidance Sensor and a Global Positioning System that can receive signals from other spacecraft to allow DART to move within 330 feet of the target. DART is scheduled to launch from Vandenberg Air Force Base in California no earlier than Oct. 18. It will be released from a Pegasus XL launch vehicle carried aloft by an Orbital Sciences Corporation aircraft. The fourth stage of the Pegasus rocket will remain attached as an integral part of the spacecraft, allowing it to maneuver in space. Once in orbit, DART will race toward the target, the MUBLCOM satellite, for a rendezvous.

The Space Operations Simulation Center (SOSC) and Closed-Loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

Milenkovic, Zoran; DSouza, Christopher; Huish, David; Bendle, John; Kibler, Angela

2012-01-01

The exploration goals of Orion / MPCV Project will require a mature Rendezvous, Proximity Operations and Docking (RPOD) capability. Ground testing autonomous docking with a next-generation sensor such as the Vision Navigation Sensor (VNS) is a critical step along the path of ensuring successful execution of autonomous RPOD for Orion. This paper will discuss the testing rationale, the test configuration, the test limitations and the results obtained from tests that have been performed at the Lockheed Martin Space Operations Simulation Center (SOSC) to evaluate and mature the Orion RPOD system. We will show that these tests have greatly increased the confidence in the maturity of the Orion RPOD design, reduced some of the latent risks and in doing so validated the design philosophy of the Orion RPOD system. This paper is organized as follows: first, the objectives of the test are given. Descriptions of the SOSC facility, and the Orion RPOD system and associated components follow. The details of the test configuration of the components in question are presented prior to discussing preliminary results of the tests. The paper concludes with closing comments.

Autonomous Onboard Science Data Analysis for Comet Missions

NASA Technical Reports Server (NTRS)

Thompson, David R.; Tran, Daniel Q.; McLaren, David; Chien, Steve A.; Bergman, Larry; Castano, Rebecca; Doyle, Richard; Estlin, Tara; Lenda, Matthew

2012-01-01

Coming years will bring several comet rendezvous missions. The Rosetta spacecraft arrives at Comet 67P/Churyumov-Gerasimenko in 2014. Subsequent rendezvous might include a mission such as the proposed Comet Hopper with multiple surface landings, as well as Comet Nucleus Sample Return (CNSR) and Coma Rendezvous and Sample Return (CRSR). These encounters will begin to shed light on a population that, despite several previous flybys, remains mysterious and poorly understood. Scientists still have little direct knowledge of interactions between the nucleus and coma, their variation across different comets or their evolution over time. Activity may change on short timescales so it is challenging to characterize with scripted data acquisition. Here we investigate automatic onboard image analysis that could act faster than round-trip light time to capture unexpected outbursts and plume activity. We describe one edge-based method for detect comet nuclei and plumes, and test the approach on an existing catalog of comet images. Finally, we quantify benefits to specific measurement objectives by simulating a basic plume monitoring campaign.

Orbital Express Advanced Video Guidance Sensor

NASA Technical Reports Server (NTRS)

Howard, Ricky; Heaton, Andy; Pinson, Robin; Carrington, Connie

2008-01-01

In May 2007 the first US fully autonomous rendezvous and capture was successfully performed by DARPA's Orbital Express (OE) mission. Since then, the Boeing ASTRO spacecraft and the Ball Aerospace NEXTSat have performed multiple rendezvous and docking maneuvers to demonstrate the technologies needed for satellite servicing. MSFC's Advanced Video Guidance Sensor (AVGS) is a primary near-field proximity operations sensor integrated into ASTRO's Autonomous Rendezvous and Capture Sensor System (ARCSS), which provides relative state knowledge to the ASTRO GN&C system. This paper provides an overview of the AVGS sensor flying on Orbital Express, and a summary of the ground testing and on-orbit performance of the AVGS for OE. The AVGS is a laser-based system that is capable of providing range and bearing at midrange distances and full six degree-of-freedom (6DOF) knowledge at near fields. The sensor fires lasers at two different frequencies to illuminate the Long Range Targets (LRTs) and the Short Range Targets (SRTs) on NEXTSat. Subtraction of one image from the other image removes extraneous light sources and reflections from anything other than the corner cubes on the LRTs and SRTs. This feature has played a significant role for Orbital Express in poor lighting conditions. The very bright spots that remain in the subtracted image are processed by the target recognition algorithms and the inverse-perspective algorithms, to provide 3DOF or 6DOF relative state information. Although Orbital Express has configured the ASTRO ARCSS system to only use AVGS at ranges of 120 m or less, some OE scenarios have provided opportunities for AVGS to acquire and track NEXTSat at greater distances. Orbital Express scenarios to date that have utilized AVGS include a berthing operation performed by the ASTRO robotic arm, sensor checkout maneuvers performed by the ASTRO robotic arm, 10-m unmated operations, 30-m unmated operations, and Scenario 3-1 anomaly recovery. The AVGS performed very well during the pre-unmated operations, effectively tracking beyond its 10-degree Pitch and Yaw limit-specifications, and did not require I-LOAD adjustments before unmated operations. AVGS provided excellent performance in the 10-m unmated operations, effectively tracking and maintaining lock for the duration of this scenario, and showing good agreement between the short and long range targets. During the 30-m unmated operations, the AVGS continuously tracked the SRT to 31.6 m, exceeding expectations, and continuously tracked the LRT from 8.8 m out to 31.6 m, with good agreement between these two target solutions. After this scenario was aborted at a 10-m separation during remate operations, the AVGS tracked the LRT out 54.3 m, until the relative attitude between the vehicles was too large. The vehicles remained apart for eight days, at ranges from 1 km to 6 km. During the approach to remate in this recovery operation, the AVGS began tracking the LRT at 150 m, well beyond the OE planned limits for AVGS ranges, and functioned as the primary sensor for the autonomous rendezvous and docking.

Synopsis of Precision Landing and Hazard Avoidance (PL&HA) Capabilities for Space Exploration

NASA Technical Reports Server (NTRS)

Robertson, Edward A.

2017-01-01

Until recently, robotic exploration missions to the Moon, Mars, and other solar system bodies relied upon controlled blind landings. Because terrestrial techniques for terrain relative navigation (TRN) had not yet been evolved to support space exploration, landing dispersions were driven by the capabilities of inertial navigation systems combined with surface relative altimetry and velocimetry. Lacking tight control over the actual landing location, mission success depended on the statistical vetting of candidate landing areas within the predicted landing dispersion ellipse based on orbital reconnaissance data, combined with the ability of the spacecraft to execute a controlled landing in terms of touchdown attitude, attitude rates, and velocity. In addition, the sensors, algorithms, and processing technologies required to perform autonomous hazard detection and avoidance in real time during the landing sequence were not yet available. Over the past decade, NASA has invested substantial resources on the development, integration, and testing of autonomous precision landing and hazard avoidance (PL&HA) capabilities. In addition to substantially improving landing accuracy and safety, these autonomous PL&HA functions also offer access to targets of interest located within more rugged and hazardous terrain. Optical TRN systems are baselined on upcoming robotic landing missions to the Moon and Mars, and NASA JPL is investigating the development of a comprehensive PL&HA system for a Europa lander. These robotic missions will demonstrate and mature PL&HA technologies that are considered essential for future human exploration missions. PL&HA technologies also have applications to rendezvous and docking/berthing with other spacecraft, as well as proximity navigation, contact, and retrieval missions to smaller bodies with microgravity environments, such as asteroids.

SPARTAN: A High-Fidelity Simulation for Automated Rendezvous and Docking Applications

NASA Technical Reports Server (NTRS)

Turbe, Michael A.; McDuffie, James H.; DeKock, Brandon K.; Betts, Kevin M.; Carrington, Connie K.

2007-01-01

bd Systems (a subsidiary of SAIC) has developed the Simulation Package for Autonomous Rendezvous Test and ANalysis (SPARTAN), a high-fidelity on-orbit simulation featuring multiple six-degree-of-freedom (6DOF) vehicles. SPARTAN has been developed in a modular fashion in Matlab/Simulink to test next-generation automated rendezvous and docking guidance, navigation,and control algorithms for NASA's new Vision for Space Exploration. SPARTAN includes autonomous state-based mission manager algorithms responsible for sequencing the vehicle through various flight phases based on on-board sensor inputs and closed-loop guidance algorithms, including Lambert transfers, Clohessy-Wiltshire maneuvers, and glideslope approaches The guidance commands are implemented using an integrated translation and attitude control system to provide 6DOF control of each vehicle in the simulation. SPARTAN also includes high-fidelity representations of a variety of absolute and relative navigation sensors that maybe used for NASA missions, including radio frequency, lidar, and video-based rendezvous sensors. Proprietary navigation sensor fusion algorithms have been developed that allow the integration of these sensor measurements through an extended Kalman filter framework to create a single optimal estimate of the relative state of the vehicles. SPARTAN provides capability for Monte Carlo dispersion analysis, allowing for rigorous evaluation of the performance of the complete proposed AR&D system, including software, sensors, and mechanisms. SPARTAN also supports hardware-in-the-loop testing through conversion of the algorithms to C code using Real-Time Workshop in order to be hosted in a mission computer engineering development unit running an embedded real-time operating system. SPARTAN also contains both runtime TCP/IP socket interface and post-processing compatibility with bdStudio, a visualization tool developed by bd Systems, allowing for intuitive evaluation of simulation results. A description of the SPARTAN architecture and capabilities is provided, along with details on the models and algorithms utilized and results from representative missions.

Multiple NEO Rendezvous Using Solar Sail Propulsion

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Fabisinski, Leo; Heaton, Andy; Miernik, Janie; Stough, Rob; Wright, Roosevelt; Young, Roy

2012-01-01

The NASA Marshall Space Flight Center (MSFC) Advanced Concepts Office performed an assessment of the feasibility of using a near-term solar sail propulsion system to enable a single spacecraft to perform serial rendezvous operations at multiple Near Earth Objects (NEOs) within six years of launch on a small-to-moderate launch vehicle. The study baselined the use of the sail technology demonstrated in the mid-2000 s by the NASA In-Space Propulsion Technology Project and is scheduled to be demonstrated in space by 2014 as part of the NASA Technology Demonstration Mission Program. The study ground rules required that the solar sail be the only new technology on the flight; all other spacecraft systems and instruments must have had previous space test and qualification. The resulting mission concept uses an 80-m X 80-m 3-axis stabilized solar sail launched by an Athena-II rocket in 2017 to rendezvous with 1999 AO10, Apophis and 2001 QJ142. In each rendezvous, the spacecraft will perform proximity operations for approximately 30 days. The spacecraft science payload is simple and lightweight; it will consist of only the multispectral imager flown on the Near Earth Asteroid Rendezvous (NEAR) mission to 433 Eros and 253 Mathilde. Most non-sail spacecraft systems are based on the Messenger mission spacecraft. This paper will describe the objectives of the proposed mission, the solar sail technology to be employed, the spacecraft system and subsystems, as well as the overall mission profile.

Advanced Video Guidance Sensor (AVGS) Development Testing

NASA Technical Reports Server (NTRS)

Howard, Richard T.; Johnston, Albert S.; Bryan, Thomas C.; Book, Michael L.

2004-01-01

NASA's Marshall Space Flight Center was the driving force behind the development of the Advanced Video Guidance Sensor, an active sensor system that provides near-range sensor data as part of an automatic rendezvous and docking system. The sensor determines the relative positions and attitudes between the active sensor and the passive target at ranges up to 300 meters. The AVGS uses laser diodes to illuminate retro-reflectors in the target, a solid-state camera to detect the return from the target, and image capture electronics and a digital signal processor to convert the video information into the relative positions and attitudes. The AVGS will fly as part of the Demonstration of Autonomous Rendezvous Technologies (DART) in October, 2004. This development effort has required a great deal of testing of various sorts at every phase of development. Some of the test efforts included optical characterization of performance with the intended target, thermal vacuum testing, performance tests in long range vacuum facilities, EMI/EMC tests, and performance testing in dynamic situations. The sensor has been shown to track a target at ranges of up to 300 meters, both in vacuum and ambient conditions, to survive and operate during the thermal vacuum cycling specific to the DART mission, to handle EM1 well, and to perform well in dynamic situations.

The development of an autonomous rendezvous and docking simulation using rapid integration and prototyping technology

NASA Technical Reports Server (NTRS)

Shackelford, John H.; Saugen, John D.; Wurst, Michael J.; Adler, James

1991-01-01

A generic planar 3 degree of freedom simulation was developed that supports hardware in the loop simulations, guidance and control analysis, and can directly generate flight software. This simulation was developed in a small amount of time utilizing rapid prototyping techniques. The approach taken to develop this simulation tool, the benefits seen using this approach to development, and on-going efforts to improve and extend this capability are described. The simulation is composed of 3 major elements: (1) Docker dynamics model, (2) Dockee dynamics model, and (3) Docker Control System. The docker and dockee models are based on simple planar orbital dynamics equations using a spherical earth gravity model. The docker control system is based on a phase plane approach to error correction.

Development of an autonomous video rendezvous and docking system, phase 3

NASA Technical Reports Server (NTRS)

Tietz, J. C.

1984-01-01

Field-of-view limitations proved troublesome. Higher resolution was required. Side thrusters were too weak. The strategy logic was improved and the Kalman filter was augmented to estimate target attitude and tumble rate. Two separate filters were used. The new filter estimates target attitude and angular momentum. The Newton-Raphson iteration improves image interpretation.

Usage of pre-flight data in short rendezvous mission of Soyuz-TMA spacecrafts

NASA Astrophysics Data System (ADS)

Murtazin, Rafail; Petrov, Nikolay

2014-01-01

The paper describes the reduction of the vehicle autonomous flight duration before docking to the ISS. The Russian Soyuz-TMA spacecraft dock to the ISS two days after launch. Due to the limited volume inside Soyuz-TMA the reduction of time until docking to the ISS is very important, since the long stay of the cosmonauts in the limited volume adds to the strain of the space flight. In the previous papers of the authors it was shown that the existing capabilities of Soyuz-TMA, the ISS and the ground control loop make it possible to transfer to the five-orbit rendezvous profile. However, the analysis of the cosmonauts' schedule on the launch day shows that its duration is at the allowable limit and that is why it is necessary to find a way to further reduce the flight duration of Soyuz-TMA before docking to less than five orbits. In a traditional rendezvous profile, the calculation of rendezvous burns begins only after determination of the actual vehicle insertion orbit. The paper describes an approach in which the first two rendezvous burns are performed as soon as the spacecraft reaches the reference orbit and the values of the burns are calculated prior to the launch based on the pre-flight data for the nominal insertion. This approach decreases the duration of the rendezvous by one orbit. The demonstration flight of a Progress vehicle using the proposed profile was implemented on August 1, 2012 and completely confirmed the correctness of the imbedded principles. The paper considers the possible improvements of the proposed approach and recovery from the contingencies.

The Modular Clock Algorithm for Blind Rendezvous

DTIC Science & Technology

2009-03-26

and Computer Engineering Graduate School of Engineering and Management Air Force Institute of Technology Air University Air Education and Training...capabilities in spectrum management and particularly in harvesting unused portions of pre-allocated band- width under DSA. The term “cognitive radio” was...of rendezvous and our role as the waiter . However, if the “child” refuses to move from non-common spectrum, rendezvous cannot occur. Bluetooth

The Successful Development of an Automated Rendezvous and Capture (AR&C) System for the National Aeronautics and Space Administration

NASA Technical Reports Server (NTRS)

Roe, Fred D.; Howard, Richard T.

2003-01-01

During the 1990's, the Marshall Space Flight Center (MSFC) conducted pioneering research in the development of an automated rendezvous and capture/docking (AR&C) system for U.S. space vehicles. Development and demonstration of a rendezvous sensor was identified early in the AR&C Program as the critical enabling technology that allows automated proximity operations and docking. A first generation rendezvous sensor, the Video Guidance Sensor (VGS), was developed and successfully flown on STS-87 and STS-95, proving the concept of a video- based sensor. A ground demonstration of the entire system and software was successfully tested. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development, by the MSFC, of a new generation of video based rendezvous sensor. The Advanced Video Guidance Sensor (AGS) has greatly increased performance and additional capability for longer-range operation with a new target designed as a direct replacement for existing ISS hemispherical reflectors.

Automated and Adaptive Mission Planning for Orbital Express

NASA Technical Reports Server (NTRS)

Chouinard, Caroline; Knight, Russell; Jones, Grailing; Tran, Daniel; Koblick, Darin

2008-01-01

The Orbital Express space mission was a Defense Advanced Research Projects Agency (DARPA) lead demonstration of on-orbit satellite servicing scenarios, autonomous rendezvous, fluid transfers of hydrazine propellant, and robotic arm transfers of Orbital Replacement Unit (ORU) components. Boeing's Autonomous Space Transport Robotic Operations (ASTRO) vehicle provided the servicing to the Ball Aerospace's Next Generation Serviceable Satellite (NextSat) client. For communication opportunities, operations used the high-bandwidth ground-based Air Force Satellite Control Network (AFSCN) along with the relatively low-bandwidth GEO-Synchronous space-borne Tracking and Data Relay Satellite System (TDRSS) network. Mission operations were conducted out of the RDT&E Support Complex (RSC) at the Kirtland Air Force Base in New Mexico. All mission objectives were met successfully: The first of several autonomous rendezvous was demonstrated on May 5, 2007; autonomous free-flyer capture was demonstrated on June 22, 2007; the fluid and ORU transfers throughout the mission were successful. Planning operations for the mission were conducted by a team of personnel including Flight Directors, who were responsible for verifying the steps and contacts within the procedures, the Rendezvous Planners who would compute the locations and visibilities of the spacecraft, the Scenario Resource Planners (SRPs), who were concerned with assignment of communications windows, monitoring of resources, and sending commands to the ASTRO spacecraft, and the Mission planners who would interface with the real-time operations environment, process planning products and coordinate activities with the SRP. The SRP position was staffed by JPL personnel who used the Automated Scheduling and Planning ENvironment (ASPEN) to model and enforce mission and satellite constraints. The lifecycle of a plan began three weeks outside its execution on-board. During the planning timeframe, many aspects could change the plan, causing the need for re-planning. These variable factors, ranging from shifting contact times to ground-station closures and required maintenance times, are discussed along with the flexibility of the ASPEN tool to accommodate changes to procedures and the daily or long-range plan, which contributed to the success of the mission. This paper will present an introduction to ASPEN, a more in-depth discussion on its use on the Orbital Express mission, and other relative work. A description of ground operations after the SRP deliveries were made is included, and we briefly discuss lessons learned from the planning perspective and future work.

VML 3.0 Reactive Sequencing Objects and Matrix Math Operations for Attitude Profiling

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.

2012-01-01

VML (Virtual Machine Language) has been used as the sequencing flight software on over a dozen JPL deep-space missions, most recently flying on GRAIL and JUNO. In conjunction with the NASA SBIR entitled "Reactive Rendezvous and Docking Sequencer", VML version 3.0 has been enhanced to include object-oriented element organization, built-in queuing operations, and sophisticated matrix / vector operations. These improvements allow VML scripts to easily perform much of the work that formerly would have required a great deal of expensive flight software development to realize. Autonomous turning and tracking makes considerable use of new VML features. Profiles generated by flight software are managed using object-oriented VML data constructs executed in discrete time by the VML flight software. VML vector and matrix operations provide the ability to calculate and supply quaternions to the attitude controller flight software which produces torque requests. Using VML-based attitude planning components eliminates flight software development effort, and reduces corresponding costs. In addition, the direct management of the quaternions allows turning and tracking to be tied in with sophisticated high-level VML state machines. These state machines provide autonomous management of spacecraft operations during critical tasks like a hypothetic Mars sample return rendezvous and docking. State machines created for autonomous science observations can also use this sort of attitude planning system, allowing heightened autonomy levels to reduce operations costs. VML state machines cannot be considered merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. The state machine approach enabled by VML 3.0 is progressing toward flight capability with a wide array of applicable mission activities.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Brewster, L.; Johnston, A.; Howard, R.; Mitchell, J.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.

A software engineering approach to expert system design and verification

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.; Goodwin, Mary Ann

1988-01-01

Software engineering design and verification methods for developing expert systems are not yet well defined. Integration of expert system technology into software production environments will require effective software engineering methodologies to support the entire life cycle of expert systems. The software engineering methods used to design and verify an expert system, RENEX, is discussed. RENEX demonstrates autonomous rendezvous and proximity operations, including replanning trajectory events and subsystem fault detection, onboard a space vehicle during flight. The RENEX designers utilized a number of software engineering methodologies to deal with the complex problems inherent in this system. An overview is presented of the methods utilized. Details of the verification process receive special emphasis. The benefits and weaknesses of the methods for supporting the development life cycle of expert systems are evaluated, and recommendations are made based on the overall experiences with the methods.

UAV Research at NASA Langley: Towards Safe, Reliable, and Autonomous Operations

NASA Technical Reports Server (NTRS)

Davila, Carlos G.

2016-01-01

Unmanned Aerial Vehicles (UAV) are fundamental components in several aspects of research at NASA Langley, such as flight dynamics, mission-driven airframe design, airspace integration demonstrations, atmospheric science projects, and more. In particular, NASA Langley Research Center (Langley) is using UAVs to develop and demonstrate innovative capabilities that meet the autonomy and robotics challenges that are anticipated in science, space exploration, and aeronautics. These capabilities will enable new NASA missions such as asteroid rendezvous and retrieval (ARRM), Mars exploration, in-situ resource utilization (ISRU), pollution measurements in historically inaccessible areas, and the integration of UAVs into our everyday lives all missions of increasing complexity, distance, pace, and/or accessibility. Building on decades of NASA experience and success in the design, fabrication, and integration of robust and reliable automated systems for space and aeronautics, Langley Autonomy Incubator seeks to bridge the gap between automation and autonomy by enabling safe autonomous operations via onboard sensing and perception systems in both data-rich and data-deprived environments. The Autonomy Incubator is focused on the challenge of mobility and manipulation in dynamic and unstructured environments by integrating technologies such as computer vision, visual odometry, real-time mapping, path planning, object detection and avoidance, object classification, adaptive control, sensor fusion, machine learning, and natural human-machine teaming. These technologies are implemented in an architectural framework developed in-house for easy integration and interoperability of cutting-edge hardware and software.

Virtual reality applications to automated rendezvous and capture

NASA Technical Reports Server (NTRS)

Hale, Joseph; Oneil, Daniel

1991-01-01

Virtual Reality (VR) is a rapidly developing Human/Computer Interface (HCI) technology. The evolution of high-speed graphics processors and development of specialized anthropomorphic user interface devices, that more fully involve the human senses, have enabled VR technology. Recently, the maturity of this technology has reached a level where it can be used as a tool in a variety of applications. This paper provides an overview of: VR technology, VR activities at Marshall Space Flight Center (MSFC), applications of VR to Automated Rendezvous and Capture (AR&C), and identifies areas of VR technology that requires further development.

Suboptimal artificial potential function sliding mode control for spacecraft rendezvous with obstacle avoidance

NASA Astrophysics Data System (ADS)

Cao, Lu; Qiao, Dong; Xu, Jingwen

2018-02-01

Sub-Optimal Artificial Potential Function Sliding Mode Control (SOAPF-SMC) is proposed for the guidance and control of spacecraft rendezvous considering the obstacles avoidance, which is derived based on the theories of artificial potential function (APF), sliding mode control (SMC) and state dependent riccati equation (SDRE) technique. This new methodology designs a new improved APF to describe the potential field. It can guarantee the value of potential function converge to zero at the desired state. Moreover, the nonlinear terminal sliding mode is introduced to design the sliding mode surface with the potential gradient of APF, which offer a wide variety of controller design alternatives with fast and finite time convergence. Based on the above design, the optimal control theory (SDRE) is also employed to optimal the shape parameter of APF, in order to add some degree of optimality in reducing energy consumption. The new methodology is applied to spacecraft rendezvous with the obstacles avoidance problem, which is simulated to compare with the traditional artificial potential function sliding mode control (APF-SMC) and SDRE to evaluate the energy consumption and control precision. It is demonstrated that the presented method can avoiding dynamical obstacles whilst satisfying the requirements of autonomous rendezvous. In addition, it can save more energy than the traditional APF-SMC and also have better control accuracy than the SDRE.

Enhancing AUV Operational Capabilities: Hovering, Rendezvous, and Docking

DTIC Science & Technology

1997-09-30

ton on the dock that plunges into the bottom of the puck. A rubber sheath insulates the end of the button from the seawater and the exposed current...AUV Navigation and Self -Motion in Shallow Water, ONR. Autonomous Oceanographic Sampling Network Development, ONR. Enhancing AUV Operational...and Failure Recovery, ONR. Dependable Network Topologies with Network Fragment Healing for Component Level Intelli- gent Distributed Control Systems for

Geometry-Based Observability Metric

NASA Technical Reports Server (NTRS)

Eaton, Colin; Naasz, Bo

2012-01-01

The Satellite Servicing Capabilities Office (SSCO) is currently developing and testing Goddard s Natural Feature Image Recognition (GNFIR) software for autonomous rendezvous and docking missions. GNFIR has flight heritage and is still being developed and tailored for future missions with non-cooperative targets: (1) DEXTRE Pointing Package System on the International Space Station, (2) Relative Navigation System (RNS) on the Space Shuttle for the fourth Hubble Servicing Mission.

Reactive Sequencing for Autonomous Navigation Evolving from Phoenix Entry, Descent, and Landing

NASA Technical Reports Server (NTRS)

Grasso, Christopher A.; Riedel, Joseph E.; Vaughan, Andrew T.

2010-01-01

Virtual Machine Language (VML) is an award-winning advanced procedural sequencing language in use on NASA deep-space missions since 1997, and was used for the successful entry, descent, and landing (EDL) of the Phoenix spacecraft onto the surface of Mars. Phoenix EDL utilized a state-oriented operations architecture which executed within the constraints of the existing VML 2.0 flight capability, compatible with the linear "land or die" nature of the mission. The intricacies of Phoenix EDL included the planned discarding of portions of the vehicle, the complex communications management for relay through on-orbit assets, the presence of temporally indeterminate physical events, and the need to rapidly catch up four days of sequencing should a reboot of the spacecraft flight computer occur shortly before atmospheric entry. These formidable operational challenges led to new techniques for packaging and coordinating reusable sequences called blocks using one-way synchronization via VML sequencing global variable events. The coordinated blocks acted as an ensemble to land the spacecraft, while individually managing various elements in as simple a fashion as possible. This paper outlines prototype VML 2.1 flight capabilities that have evolved from the one-way synchronization techniques in order to implement even more ambitious autonomous mission capabilities. Target missions for these new capabilities include autonomous touch-and-go sampling of cometary and asteroidal bodies, lunar landing of robotic missions, and ultimately landing of crewed lunar vehicles. Close proximity guidance, navigation, and control operations, on-orbit rendezvous, and descent and landing events featured in these missions require elaborate abort capability, manifesting highly non-linear scenarios that are so complex as to overtax traditional sequencing, or even the sort of one-way coordinated sequencing used during EDL. Foreseeing advanced command and control needs for small body and lunar landing guidance, navigation and control scenarios, work began three years ago on substantial upgrades to VML that are now being exercised in scenarios for lunar landing and comet/asteroid rendezvous. The advanced state-based approach includes coordinated state transition machines with distributed decision-making logic. These state machines are not merely sequences - they are reactive logic constructs capable of autonomous decision making within a well-defined domain. Combined with the JPL's AutoNav software used on Deep Space 1 and Deep Impact, the system allows spacecraft to autonomously navigate to an unmapped surface, soft-contact, and either land or ascend. The state machine architecture enabled by VML 2.1 has successfully performed sampling missions and lunar descent missions in a simulated environment, and is progressing toward flight capability. The authors are also investigating using the VML 2.1 flight director architecture to perform autonomous activities like rendezvous with a passive hypothetical Mars sample return capsule. The approach being pursued is similar to the touch-and-go sampling state machines, with the added complications associated with the search for, physical capture of, and securing of a separate spacecraft. Complications include optically finding and tracking the Orbiting Sample Capsule (OSC), keeping the OSC illuminated, making orbital adjustments, and physically capturing the OSC. Other applications could include autonomous science collection and fault compensation.

Laser space rendezvous and docking tradeoff

NASA Technical Reports Server (NTRS)

Adelman, S.; Levinson, S.; Raber, P.; Weindling, F.

1974-01-01

A spaceborne laser radar (LADAR) was configured to meet the requirements for rendezvous and docking with a cooperative object in synchronous orbit. The LADAR, configurated using existing pulsed CO2 laser technology and a 1980 system technology baseline, is well suited for the envisioned space tug missions. The performance of a family of candidate LADARS was analyzed. Tradeoff studies as a function of size, weight, and power consumption were carried out for maximum ranges of 50, 100, 200, and 300 nautical miles. The investigation supports the original contention that a rendezvous and docking LADAR can be constructed to offer a cost effective and reliable solution to the envisioned space missions. In fact, the CO2 ladar system offers distinct advantages over other candidate systems.

SPHERES experiment session

NASA Image and Video Library

2007-03-24

ISS014-E-17880 (24 March 2007) --- This medium close-up view shows three bowling-ball-sized free-flying satellites called Synchronized Position Hold, Engage, Reorient, Experimental Satellites (SPHERES) in the Destiny laboratory of the International Space Station. SPHERES were designed to test control algorithms for spacecraft by performing autonomous rendezvous and docking maneuvers inside the station. The results are important for multi-body control and in designing constellation and array spacecraft configurations.

Guidance, Navigation, and Control Techniques and Technologies for Active Satellite Removal

NASA Astrophysics Data System (ADS)

Ortega Hernando, Guillermo; Erb, Sven; Cropp, Alexander; Voirin, Thomas; Dubois-Matra, Olivier; Rinalducci, Antonio; Visentin, Gianfranco; Innocenti, Luisa; Raposo, Ana

2013-09-01

This paper shows an internal feasibility analysis to de- orbit a non-functional satellite of big dimensions by the Technical Directorate of the European Space Agency ESA. The paper focuses specifically on the design of the techniques and technologies for the Guidance, Navigation, and Control (GNC) system of the spacecraft mission that will capture the satellite and ultimately will de-orbit it on a controlled re-entry.The paper explains the guidance strategies to launch, rendezvous, close-approach, and capture the target satellite. The guidance strategy uses chaser manoeuvres, hold points, and collision avoidance trajectories to ensure a safe capture. It also details the guidance profile to de-orbit it in a controlled re-entry.The paper continues with an analysis of the required sensing suite and the navigation algorithms to allow the homing, fly-around, and capture of the target satellite. The emphasis is placed around the design of a system to allow the rendezvous with an un-cooperative target, including the autonomous acquisition of both the orbital elements and the attitude of the target satellite.Analysing the capture phase, the paper provides a trade- off between two selected capture systems: the net and the tentacles. Both are studied from the point of view of the GNC system.The paper analyses as well the advanced algorithms proposed to control the final compound after the capture that will allow the controlled de-orbiting of the assembly in a safe place in the Earth.The paper ends proposing the continuation of this work with the extension to the analysis of the destruction process of the compound in consecutive segments starting from the entry gate to the rupture and break up.

Hydra Rendezvous and Docking Sensor

NASA Technical Reports Server (NTRS)

Roe, Fred; Carrington, Connie

2007-01-01

The U.S. technology to support a CEV AR&D activity is mature and was developed by NASA and supporting industry during an extensive research and development program conducted during the 1990's and early 2000 time frame at the Marshall Space Flight Center. Development and demonstration of a rendezvous/docking sensor was identified early in the AR&D Program as the critical enabling technology that allows automated proxinity operations and docking. A first generation rendezvous/docking sensor, the Video Guidance Sensor (VGS) was developed and successfully flown on STS 87 and again on STS 95, proving the concept of a video-based sensor. Advances in both video and signal processing technologies and the lessons learned from the two successful flight experiments provided a baseline for the development of a new generation of video based rendezvous/docking sensor. The Advanced Video Guidance Sensor (AVGS) has greatly increased performance and additional capability for longer-range operation. A Demonstration Automatic Rendezvous Technology (DART) flight experiment was flown in April 2005 using AVGS as the primary proximity operations sensor. Because of the absence of a docking mechanism on the target satellite, this mission did not demonstrate the ability of the sensor to coltrold ocking. Mission results indicate that the rendezvous sensor operated successfully in "spot mode" (2 km acquisition of the target, bearing data only) but was never commanded to "acquire and track" the docking target. Parts obsolescence issues prevent the construction of current design AVGS units to support the NASA Exploration initiative. This flight proven AR&D technology is being modularized and upgraded with additional capabilities through the Hydra project at the Marshall Space Flight Center. Hydra brings a unique engineering approach and sensor architecture to the table, to solve the continuing issues of parts obsolescence and multiple sensor integration. This paper presents an approach to sensor hardware trades, to address the needs of future vehicles that may rendezvous and dock with the International Space Station (ISS). It will also discuss approaches for upgrading AVGS to address parts obsolescence, and concepts for modularizing the sensor to provide configuration flexibility for multiple vehicle applications. Options for complementary sensors to be integrated into the multi-head Hydra system will also be presented. Complementary sensor options include ULTOR, a digital image correlator system that could provide relative six-degree-of-freedom information independently from AVGS, and time-of-flight sensors, which determine the range between vehicles by timing pulses that travel from the sensor to the target and back. Common targets and integrated targets, suitable for use with the multi-sensor options in Hydra, will also be addressed.

Vacuum to Antimatter-Rocket Interstellar Explorer System (VARIES): A Proposed Program for an Interstellar Rendezvous and Return Architecture

NASA Astrophysics Data System (ADS)

Obousy, R.

While interstellar missions have been explored in the literature, one mission architecture has not received much attention, namely the interstellar rendezvous and return mission that could be accomplished on timescales comparable with a working scientist's career. Such a mission would involve an initial boost phase followed by a coasting phase to the target system. Next would be the deceleration and rendezvous phase, which would be followed by a period of scientific data gathering. Finally, there would be a second boost phase, aimed at returning the spacecraft back to the solar system, and subsequent coasting and deceleration phases upon return to our solar system. Such a mission would represent a precursor to a future manned interstellar mission; which in principle could safely return any astronauts back to Earth. In this paper a novel architecture is proposed that would allow for an unmanned interstellar rendezvous and return mission. The approach utilized for the Vacuum to Antimatter-Rocket Interstellar Explorer System (VARIES) would lead to system components and mission approaches that could be utilized for autonomous operation of other deep-space probes. Engineering solutions for such a mission will have a significant impact on future exploration and sample return missions for the outer planets. This paper introduces the general concept, with a mostly qualitative analysis. However, a full research program is introduced, and as this program progresses, more quantitative papers will be released.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

Automated space vehicle control for rendezvous proximity operations

NASA Technical Reports Server (NTRS)

Lea, Robert N.

1988-01-01

Rendezvous during the unmanned space exploration missions, such as a Mars Rover/Sample Return will require a completely automatic system from liftoff to docking. A conceptual design of an automated rendezvous, proximity operations, and docking system is being implemented and validated at the Johnson Space Center (JSC). The emphasis is on the progress of the development and testing of a prototype system for control of the rendezvous vehicle during proximity operations that is currently being developed at JSC. Fuzzy sets are used to model the human capability of common sense reasoning in decision-making tasks and such models are integrated with the expert systems and engineering control system technology to create a system that performs comparably to a manned system.

ANTS/SARA: Future Observation of Saturn's Rings

NASA Astrophysics Data System (ADS)

Clark, P. E.; Rilee, M. L.; Curtis, S. A.; Cheung, C. Y.; Mumma, M. J.

2004-05-01

The Saturn Autonomous Ring Array (SARA) mission concept applies the Autonomous Nano-Technology Swarm (ANTS) architecture, a paradigm developed for exploration of high surface area and/or multi-body targets. ANTS architecture involves large numbers of tiny, highly autonomous, yet socially interactive, craft, in a small number of specialist classes. SARA will acquire in situ observations in the high gravity environment of Saturn's rings. The high potential for collision represents an insurmountable challenge for previous mission designs. Each ANTS nanocraft weighs approximately a kilogram, and thus requires gossamer structures for all subsystems. Individual specialists include Workers, the vast majority, that acquire scientific measurements, as well as Messenger/Rulers that provide communication and coordination. The high density distribution of particles combines with the high intensity gravity and magnetic field environment to produce dynamic plasmas. Plasma, particle, wave, and field detectors will take measurements from the edge of the ring plane to observe the result of particle interactions. Imagers and spectrome-ters would measure variations composition and dust/gas ratio among particles using a strategy for serial rendezvous with individual particles. The numbers and distances of these particles, as well as anticipated high attrition rate, re-quire hundreds of spacecraft to characterize thousands of particles and ring features over the course of the mission. The bimodal propulsion system would include a large solar sail carrier for transporting the swarm the long distance in low gravity between deployment site and the target, and a nuclear system for each craft for maneuvering in the high gravity regime of Saturn's rings.

Advancing Lidar Sensors Technologies for Next Generation Landing Missions

NASA Technical Reports Server (NTRS)

Amzajerdian, Farzin; Hines, Glenn D.; Roback, Vincent E.; Petway, Larry B.; Barnes, Bruce W.; Brewster, Paul F.; Pierrottet, Diego F.; Bulyshev, Alexander

2015-01-01

Missions to solar systems bodies must meet increasingly ambitious objectives requiring highly reliable "precision landing", and "hazard avoidance" capabilities. Robotic missions to the Moon and Mars demand landing at pre-designated sites of high scientific value near hazardous terrain features, such as escarpments, craters, slopes, and rocks. Missions aimed at paving the path for colonization of the Moon and human landing on Mars need to execute onboard hazard detection and precision maneuvering to ensure safe landing near previously deployed assets. Asteroid missions require precision rendezvous, identification of the landing or sampling site location, and navigation to the highly dynamic object that may be tumbling at a fast rate. To meet these needs, NASA Langley Research Center (LaRC) has developed a set of advanced lidar sensors under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. These lidar sensors can provide precision measurement of vehicle relative proximity, velocity, and orientation, and high resolution elevation maps of the surface during the descent to the targeted body. Recent flights onboard Morpheus free-flyer vehicle have demonstrated the viability of ALHAT lidar sensors for future landing missions to solar system bodies.

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Technical Reports Server (NTRS)

Erickson, J.; Goode, R.; Grimm, K.; Hess, C.; Norsworthy, R.; Anderson, G.; Merkel, L.; Phinney, D.

1992-01-01

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice-supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a heirarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Technology test results from an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Astrophysics Data System (ADS)

Erickson, Jon D.; Goode, R.; Grimm, K. A.; Hess, Clifford W.; Norsworthy, Robert S.; Anderson, Greg D.; Merkel, L.; Phinney, Dale E.

1992-03-01

The ground-based demonstrations of Extra Vehicular Activity (EVA) Retriever, a voice- supervised, intelligent, free-flying robot, are designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the space station. The EVA Retriever software is required to autonomously plan and execute a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles with subsequent object handover. The software architecture incorporates a hierarchical decomposition of the control system that is horizontally partitioned into five major functional subsystems: sensing, perception, world model, reasoning, and acting. The design provides for supervised autonomy as the primary mode of operation. It is intended to be an evolutionary system improving in capability over time and as it earns crew trust through reliable and safe operation. This paper gives an overview of the hardware, a focus on software, and a summary of results achieved recently from both computer simulations and air bearing floor demonstrations. Limitations of the technology used are evaluated. Plans for the next phase, during which moving targets and obstacles drive realtime behavior requirements, are discussed.

Video Guidance Sensor for Surface Mobility Operations

NASA Technical Reports Server (NTRS)

Fernandez, Kenneth R.; Fischer, Richard; Bryan, Thomas; Howell, Joe; Howard, Ricky; Peters, Bruce

2008-01-01

Robotic systems and surface mobility will play an increased role in future exploration missions. Unlike the LRV during Apollo era which was an astronaut piloted vehicle future systems will include teleoperated and semi-autonomous operations. The tasks given to these vehicles will run the range from infrastructure maintenance, ISRU, and construction to name a few. A common task that may be performed would be the retrieval and deployment of trailer mounted equipment. Operational scenarios may require these operations to be performed remotely via a teleoperated mode,or semi-autonomously. This presentation describes the on-going project to adapt the Automated Rendezvous and Capture (AR&C) sensor developed at the Marshall Space Flight Center for use in an automated trailer pick-up and deployment operation. The sensor which has been successfully demonstrated on-orbit has been mounted on an iRobot/John Deere RGATOR autonomous vehicle for this demonstration which will be completed in the March 2008 time-frame.

ISS Expedition 18 Synchronized Position Hold,Engage,Reorient,Experimental Satellites (SPHERES)

NASA Image and Video Library

2008-10-26

ISS018-E-005214 (26 Oct. 2008) --- This close-up view shows three bowling-ball-sized free-flying satellites called Synchronized Position Hold, Engage, Reorient, Experimental Satellites (SPHERES) in the Destiny laboratory of the International Space Station. SPHERES were designed to test control algorithms for spacecraft by performing autonomous rendezvous and docking maneuvers inside the station. The results are important for multi-body control and in designing constellation and array spacecraft configurations.

Minimal Representation and Decision Making for Networked Autonomous Agents

DTIC Science & Technology

2015-08-27

to a multi-vehicle version of the Travelling Salesman Problem (TSP). We further provided a direct formula for computing the number of robots...the sensor. As a first stab at this, the two-agent rendezvous problem is considered where one agent (the target) is equipped with no sensors and is...by the total distance traveled by all agents. For agents with limited sensing and communication capabilities, we give a formula that computes the

Planetary mission requirements, technology and design considerations for a solar electric propulsion stage

NASA Technical Reports Server (NTRS)

Cork, M. J.; Hastrup, R. C.; Menard, W. A.; Olson, R. N.

1979-01-01

High energy planetary missions such as comet rendezvous, Saturn orbiter and asteroid rendezvous require development of a Solar Electric Propulsion Stage (SEPS) for augmentation of the Shuttle-IUS. Performance and functional requirements placed on the SEPS are presented. These requirements will be used in evolution of the SEPS design, which must be highly interactive with both the spacecraft and the mission design. Previous design studies have identified critical SEPS technology areas and some specific design solutions which are also presented in the paper.

Design and fabrication of an autonomous rendezvous and docking sensor using off-the-shelf hardware

NASA Technical Reports Server (NTRS)

Grimm, Gary E.; Bryan, Thomas C.; Howard, Richard T.; Book, Michael L.

1991-01-01

NASA Marshall Space Flight Center (MSFC) has developed and tested an engineering model of an automated rendezvous and docking sensor system composed of a video camera ringed with laser diodes at two wavelengths and a standard remote manipulator system target that has been modified with retro-reflective tape and 830 and 780 mm optical filters. TRW has provided additional engineering analysis, design, and manufacturing support, resulting in a robust, low cost, automated rendezvous and docking sensor design. We have addressed the issue of space qualification using off-the-shelf hardware components. We have also addressed the performance problems of increased signal to noise ratio, increased range, increased frame rate, graceful degradation through component redundancy, and improved range calibration. Next year, we will build a breadboard of this sensor. The phenomenology of the background scene of a target vehicle as viewed against earth and space backgrounds under various lighting conditions will be simulated using the TRW Dynamic Scene Generator Facility (DSGF). Solar illumination angles of the target vehicle and candidate docking target ranging from eclipse to full sun will be explored. The sensor will be transportable for testing at the MSFC Flight Robotics Laboratory (EB24) using the Dynamic Overhead Telerobotic Simulator (DOTS).

Applications of artificial intelligence V; Proceedings of the Meeting, Orlando, FL, May 18-20, 1987

NASA Technical Reports Server (NTRS)

Gilmore, John F. (Editor)

1987-01-01

The papers contained in this volume focus on current trends in applications of artificial intelligence. Topics discussed include expert systems, image understanding, artificial intelligence tools, knowledge-based systems, heuristic systems, manufacturing applications, and image analysis. Papers are presented on expert system issues in automated, autonomous space vehicle rendezvous; traditional versus rule-based programming techniques; applications to the control of optional flight information; methodology for evaluating knowledge-based systems; and real-time advisory system for airborne early warning.

Autonomous Unmanned Aerial Vehicle Rendezvous for Automated Aerial Refueling

DTIC Science & Technology

2007-03-01

represents a straight line segment. It can be seen that there are ten possible combinations of arcs and line segments (RSR, RSL, LSR, LSL, LRL, RLR , SLR...SRL, RLS, and LRS). However, L. E. Dubins proved that only these six sequences are possibly optimal: RSR, RSL, LSR, LSL, LRL, and RLR [Dubins 1957...From Figure 2-5 and Figure 2-6, it can be seen that the last two cases, RLR and LRL can only be optimal when the initial point and the terminal

Rendezvous radar for the orbital maneuvering vehicle

NASA Technical Reports Server (NTRS)

Locke, John W.; Olds, Keith A.; Quaid, Thomas

1991-01-01

The Rendezvous Radar Set (RRS) was designed at Motorola's Strategic Electronics Division in Chandler, Arizona, to be a key subsystem aboard NASA's Orbital Maneuvering Vehicle (OMV). The unmanned OMV, which was under development at TRW's Federal Systems Division in Redondo Beach, California, was designed to supplement the Shuttle's satellite delivery, retrieval, and maneuvering activities. The RRS was to be used to locate and then provide the OMV with vectoring information to the target satellite (or Shuttle or Space Station) to aid the OMV in making a minimum fuel consumption approach and rendezvous. The OMV development program was halted by NASA in 1990 just as parts were being ordered for the RRS engineering model. The paper presented describes the RRS design and then discusses new technologies, either under development or planned for development at Motorola, that can be applied to radar or alternative sensor solutions for the Automated Rendezvous and Capture problem.

Robust adaptive relative position and attitude control for spacecraft autonomous proximity.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2016-07-01

This paper provides new results of the dynamical modeling and controller designing for autonomous close proximity phase during rendezvous and docking in the presence of kinematic couplings and model uncertainties. A globally defined relative motion mechanical model for close proximity operations is introduced firstly. Then, in spite of the kinematic couplings and thrust misalignment between relative rotation and relative translation, robust adaptive relative position and relative attitude controllers are designed successively. Finally, stability of the overall system is proved that the relative position and relative attitude are uniformly ultimately bounded, and the size of the ultimate bound can be regulated small enough by control system parameters. Performance of the controlled overall system is demonstrated via a representative numerical example. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Intelligent robotic tracker

NASA Technical Reports Server (NTRS)

Otaguro, W. S.; Kesler, L. O.; Land, K. C.; Rhoades, D. E.

1987-01-01

An intelligent tracker capable of robotic applications requiring guidance and control of platforms, robotic arms, and end effectors has been developed. This packaged system capable of supervised autonomous robotic functions is partitioned into a multiple processor/parallel processing configuration. The system currently interfaces to cameras but has the capability to also use three-dimensional inputs from scanning laser rangers. The inputs are fed into an image processing and tracking section where the camera inputs are conditioned for the multiple tracker algorithms. An executive section monitors the image processing and tracker outputs and performs all the control and decision processes. The present architecture of the system is presented with discussion of its evolutionary growth for space applications. An autonomous rendezvous demonstration of this system was performed last year. More realistic demonstrations in planning are discussed.

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].

Fully autonomous navigation for the NASA cargo transfer vehicle

NASA Technical Reports Server (NTRS)

Wertz, James R.; Skulsky, E. David

1991-01-01

A great deal of attention has been paid to navigation during the close approach (less than or equal to 1 km) phase of spacecraft rendezvous. However, most spacecraft also require a navigation system which provides the necessary accuracy for placing both satellites within the range of the docking sensors. The Microcosm Autonomous Navigation System (MANS) is an on-board system which uses Earth-referenced attitude sensing hardware to provide precision orbit and attitude determination. The system is capable of functioning from LEO to GEO and beyond. Performance depends on the number of available sensors as well as mission geometry; however, extensive simulations have shown that MANS will provide 100 m to 400 m (3(sigma)) position accuracy and 0.03 to 0.07 deg (3(sigma)) attitude accuracy in low Earth orbit. The system is independent of any external source, including GPS. MANS is expected to have a significant impact on ground operations costs, mission definition and design, survivability, and the potential development of very low-cost, fully autonomous spacecraft.

Verification of Autonomous Systems for Space Applications

NASA Technical Reports Server (NTRS)

Brat, G.; Denney, E.; Giannakopoulou, D.; Frank, J.; Jonsson, A.

2006-01-01

Autonomous software, especially if it is based on model, can play an important role in future space applications. For example, it can help streamline ground operations, or, assist in autonomous rendezvous and docking operations, or even, help recover from problems (e.g., planners can be used to explore the space of recovery actions for a power subsystem and implement a solution without (or with minimal) human intervention). In general, the exploration capabilities of model-based systems give them great flexibility. Unfortunately, it also makes them unpredictable to our human eyes, both in terms of their execution and their verification. The traditional verification techniques are inadequate for these systems since they are mostly based on testing, which implies a very limited exploration of their behavioral space. In our work, we explore how advanced V&V techniques, such as static analysis, model checking, and compositional verification, can be used to gain trust in model-based systems. We also describe how synthesis can be used in the context of system reconfiguration and in the context of verification.

Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target

PubMed Central

Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

2013-01-01

The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446

2nd & 3rd Generation Vehicle Subsystems

NASA Technical Reports Server (NTRS)

2000-01-01

This paper contains viewgraph presentation on the "2nd & 3rd Generation Vehicle Subsystems" project. The objective behind this project is to design, develop and test advanced avionics, power systems, power control and distribution components and subsystems for insertion into a highly reliable and low-cost system for a Reusable Launch Vehicles (RLV). The project is divided into two sections: 3rd Generation Vehicle Subsystems and 2nd Generation Vehicle Subsystems. The following topics are discussed under the first section, 3rd Generation Vehicle Subsystems: supporting the NASA RLV program; high-performance guidance & control adaptation for future RLVs; Evolvable Hardware (EHW) for 3rd generation avionics description; Scaleable, Fault-tolerant Intelligent Network or X(trans)ducers (SFINIX); advance electric actuation devices and subsystem technology; hybrid power sources and regeneration technology for electric actuators; and intelligent internal thermal control. Topics discussed in the 2nd Generation Vehicle Subsystems program include: design, development and test of a robust, low-maintenance avionics with no active cooling requirements and autonomous rendezvous and docking systems; design and development of a low maintenance, high reliability, intelligent power systems (fuel cells and battery); and design of a low cost, low maintenance high horsepower actuation systems (actuators).

Hybrid vision activities at NASA Johnson Space Center

NASA Technical Reports Server (NTRS)

Juday, Richard D.

1990-01-01

NASA's Johnson Space Center in Houston, Texas, is active in several aspects of hybrid image processing. (The term hybrid image processing refers to a system that combines digital and photonic processing). The major thrusts are autonomous space operations such as planetary landing, servicing, and rendezvous and docking. By processing images in non-Cartesian geometries to achieve shift invariance to canonical distortions, researchers use certain aspects of the human visual system for machine vision. That technology flow is bidirectional; researchers are investigating the possible utility of video-rate coordinate transformations for human low-vision patients. Man-in-the-loop teleoperations are also supported by the use of video-rate image-coordinate transformations, as researchers plan to use bandwidth compression tailored to the varying spatial acuity of the human operator. Technological elements being developed in the program include upgraded spatial light modulators, real-time coordinate transformations in video imagery, synthetic filters that robustly allow estimation of object pose parameters, convolutionally blurred filters that have continuously selectable invariance to such image changes as magnification and rotation, and optimization of optical correlation done with spatial light modulators that have limited range and couple both phase and amplitude in their response.

Rapid design and optimization of low-thrust rendezvous/interception trajectory for asteroid deflection missions

NASA Astrophysics Data System (ADS)

Li, Shuang; Zhu, Yongsheng; Wang, Yukai

2014-02-01

Asteroid deflection techniques are essential in order to protect the Earth from catastrophic impacts by hazardous asteroids. Rapid design and optimization of low-thrust rendezvous/interception trajectories is considered as one of the key technologies to successfully deflect potentially hazardous asteroids. In this paper, we address a general framework for the rapid design and optimization of low-thrust rendezvous/interception trajectories for future asteroid deflection missions. The design and optimization process includes three closely associated steps. Firstly, shape-based approaches and genetic algorithm (GA) are adopted to perform preliminary design, which provides a reasonable initial guess for subsequent accurate optimization. Secondly, Radau pseudospectral method is utilized to transcribe the low-thrust trajectory optimization problem into a discrete nonlinear programming (NLP) problem. Finally, sequential quadratic programming (SQP) is used to efficiently solve the nonlinear programming problem and obtain the optimal low-thrust rendezvous/interception trajectories. The rapid design and optimization algorithms developed in this paper are validated by three simulation cases with different performance indexes and boundary constraints.

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

Kring, C.T.; Varma, V.K.; Jatko, W.B.

The US Army and Team Crusader (United Defense, Lockheed Martin Armament Systems, etc.) are developing the next generation howitzer, the Crusader. The development program includes an advanced, self-propelled liquid propellant howitzer and a companion resupply vehicle. The resupply vehicle is intended to rendezvous with the howitzer near the battlefront and replenish ammunition, fuel, and other material. The Army has recommended that Crusader incorporate new and innovative technologies to improve performance and safety. One conceptual design proposes a robotic resupply boom on the resupply vehicle to upload supplies to the howitzer. The resupply boom would normally be retracted inside the resupplymore » vehicle during transit. When the two vehicles are within range of the resupply boom, the boom would be extended to a receiving port on the howitzer. In order to reduce exposure to small arms fire or nuclear, biological, and chemical hazards, the crew would remain inside the resupply vehicle during the resupply operation. The process of extending the boom and linking with the receiving port is called docking. A boom operator would be designated to maneuver the boom into contact with the receiving port using a mechanical joystick. The docking operation depends greatly upon the skill of the boom operator to manipulate the boom into docking position. Computer simulations at the National Aeronautics and Space Administration have shown that computer-assisted or autonomous docking can improve the ability of the operator to dock safely and quickly. This document describes the present status of the Crusader Autonomous Docking System (CADS) implemented at Oak Ridge National laboratory (ORNL). The purpose of the CADS project is to determine the feasibility and performance limitations of vision systems to satisfy the autonomous docking requirements for Crusader and conduct a demonstration under controlled conditions.« less

Space Tug Docking Study. Volume 5: Cost Analysis

NASA Technical Reports Server (NTRS)

1976-01-01

The cost methodology, summary cost data, resulting cost estimates by Work Breakdown Structure (WBS), technical characteristics data, program funding schedules and the WBS for the costing are discussed. Cost estimates for two tasks of the study are reported. The first, developed cost estimates for design, development, test and evaluation (DDT&E) and theoretical first unit (TFU) at the component level (Level 7) for all items reported in the data base. Task B developed total subsystem DDT&E costs and funding schedules for the three candidate Rendezvous and Docking Systems: manual, autonomous, and hybrid.

The JPL roadmap for Deep Space navigation

NASA Technical Reports Server (NTRS)

Martin-Mur, Tomas J.; Abraham, Douglas S.; Berry, David; Bhaskaran, Shyam; Cesarone, Robert J.; Wood, Lincoln

2006-01-01

This paper reviews the tentative set of deep space missions that will be supported by NASA's Deep Space Mission System in the next twenty-five years, and extracts the driving set of navigation capabilities that these missions will require. There will be many challenges including the support of new mission navigation approaches such as formation flying and rendezvous in deep space, low-energy and low-thrust orbit transfers, precise landing and ascent vehicles, and autonomous navigation. Innovative strategies and approaches will be needed to develop and field advanced navigation capabilities.

A hybrid systems strategy for automated spacecraft tour design and optimization

NASA Astrophysics Data System (ADS)

Stuart, Jeffrey R.

As the number of operational spacecraft increases, autonomous operations is rapidly evolving into a critical necessity. Additionally, the capability to rapidly generate baseline trajectories greatly expands the range of options available to analysts as they explore the design space to meet mission demands. Thus, a general strategy is developed, one that is suitable for the construction of flight plans for both Earth-based and interplanetary spacecraft that encounter multiple objects, where these multiple encounters comprise a ``tour''. The proposed scheme is flexible in implementation and can readily be adjusted to a variety of mission architectures. Heuristic algorithms that autonomously generate baseline tour trajectories and, when appropriate, adjust reference solutions in the presence of rapidly changing environments are investigated. Furthermore, relative priorities for ranking the targets are explicitly accommodated during the construction of potential tour sequences. As a consequence, a priori, as well as newly acquired, knowledge concerning the target objects enhances the potential value of the ultimate encounter sequences. A variety of transfer options are incorporated, from rendezvous arcs enabled by low-thrust engines to more conventional impulsive orbit adjustments via chemical propulsion technologies. When advantageous, trajectories are optimized in terms of propellant consumption via a combination of indirect and direct methods; such a combination of available technologies is an example of hybrid optimization. Additionally, elements of hybrid systems theory, i.e., the blending of dynamical states, some discrete and some continuous, are integrated into the high-level tour generation scheme. For a preliminary investigation, this strategy is applied to mission design scenarios for a Sun-Jupiter Trojan asteroid tour as well as orbital debris removal for near-Earth applications.

A Sampling Based Approach to Spacecraft Autonomous Maneuvering with Safety Specifications

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Barbee, Brent W.; Pavone, Marco

2015-01-01

This paper presents a methods for safe spacecraft autonomous maneuvering that leverages robotic motion-planning techniques to spacecraft control. Specifically the scenario we consider is an in-plan rendezvous of a chaser spacecraft in proximity to a target spacecraft at the origin of the Clohessy Wiltshire Hill frame. The trajectory for the chaser spacecraft is generated in a receding horizon fashion by executing a sampling based robotic motion planning algorithm name Fast Marching Trees (FMT) which efficiently grows a tree of trajectories over a set of probabillistically drawn samples in the state space. To enforce safety the tree is only grown over actively safe samples for which there exists a one-burn collision avoidance maneuver that circularizes the spacecraft orbit along a collision-free coasting arc and that can be executed under potential thrusters failures. The overall approach establishes a provably correct framework for the systematic encoding of safety specifications into the spacecraft trajectory generations process and appears amenable to real time implementation on orbit. Simulation results are presented for a two-fault tolerant spacecraft during autonomous approach to a single client in Low Earth Orbit.

LIRIS flight database and its use toward noncooperative rendezvous

NASA Astrophysics Data System (ADS)

Mongrard, O.; Ankersen, F.; Casiez, P.; Cavrois, B.; Donnard, A.; Vergnol, A.; Southivong, U.

2018-06-01

ESA's fifth and last Automated Transfer Vehicle, ATV Georges Lemaître, tested new rendezvous technology before docking with the International Space Station (ISS) in August 2014. The technology demonstration called Laser Infrared Imaging Sensors (LIRIS) provides an unseen view of the ISS. During Georges Lemaître's rendezvous, LIRIS sensors, composed of two infrared cameras, one visible camera, and a scanning LIDAR (Light Detection and Ranging), were turned on two and a half hours and 3500 m from the Space Station. All sensors worked as expected and a large amount of data was recorded and stored within ATV-5's cargo hold before being returned to Earth with the Soyuz flight 38S in September 2014. As a part of the LIRIS postflight activities, the information gathered by all sensors is collected inside a flight database together with the reference ATV trajectory and attitude estimated by ATV main navigation sensors. Although decoupled from the ATV main computer, the LIRIS data were carefully synchronized with ATV guidance, navigation, and control (GNC) data. Hence, the LIRIS database can be used to assess the performance of various image processing algorithms to provide range and line-of-sight (LoS) navigation at long/medium range but also 6 degree-of-freedom (DoF) navigation at short range. The database also contains information related to the overall ATV position with respect to Earth and the Sun direction within ATV frame such that the effect of the environment on the sensors can also be investigated. This paper introduces the structure of the LIRIS database and provides some example of applications to increase the technology readiness level of noncooperative rendezvous.

Intelligent control and adaptive systems; Proceedings of the Meeting, Philadelphia, PA, Nov. 7, 8, 1989

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo (Editor)

1990-01-01

Various papers on intelligent control and adaptive systems are presented. Individual topics addressed include: control architecture for a Mars walking vehicle, representation for error detection and recovery in robot task plans, real-time operating system for robots, execution monitoring of a mobile robot system, statistical mechanics models for motion and force planning, global kinematics for manipulator planning and control, exploration of unknown mechanical assemblies through manipulation, low-level representations for robot vision, harmonic functions for robot path construction, simulation of dual behavior of an autonomous system. Also discussed are: control framework for hand-arm coordination, neural network approach to multivehicle navigation, electronic neural networks for global optimization, neural network for L1 norm linear regression, planning for assembly with robot hands, neural networks in dynamical systems, control design with iterative learning, improved fuzzy process control of spacecraft autonomous rendezvous using a genetic algorithm.

Trajectory design for a rendezvous mission to Earth's Trojan asteroid 2010 TK7

NASA Astrophysics Data System (ADS)

Lei, Hanlun; Xu, Bo; Zhang, Lei

2017-12-01

In this paper a rendezvous mission to the Earth's Trojan asteroid 2010 TK7 is proposed, and preliminary transfer trajectories are designed. Due to the high inclination (∼ 20.9°) of the target asteroid relative to the ecliptic plane, direct transfers usually require large amounts of fuel consumption, which is beyond the capacity of current technology. As gravity assist technique could effectively change the inclination of spacecraft's trajectory, it is adopted to reduce the launch energy and rendezvous velocity maneuver. In practical computation, impulsive and low-thrust, gravity-assisted trajectories are considered. Among all the trajectories computed, the low-thrust gravity-assisted trajectory with Venus-Earth-Venus (V-E-V) swingby sequence performs the best in terms of propellant mass. For a spacecraft with initial mass of 800 kg , propellant mass of the best trajectory is 36.74 kg . Numerical results indicate that both the impulsive and low-thrust, gravity-assisted trajectories corresponding to V-E-V sequence could satisfy mission constraints, and can be applied to practical rendezvous mission.

Anti-Collision Function Design and Performances of the CNES Formation Flying Experiment on the PRISMA Mission

NASA Technical Reports Server (NTRS)

Cayeux, P.; Raballand, F.; Borde, J.; Berges, J.-C.; Meyssignac, B.

2007-01-01

Within the framework of a partnership agreement, EADS ASTRIUM has worked since June 2006 for the CNES formation flying experiment on the PRISMA mission. EADS ASTRIUM is responsible for the anti-collision function. This responsibility covers the design and the development of the function as a Matlab/Simulink library, as well as its functional validation and performance assessment. PRISMA is a technology in-orbit testbed mission from the Swedish National Space Board, mainly devoted to formation flying demonstration. PRISMA is made of two micro-satellites that will be launched in 2009 on a quasi-circular SSO at about 700 km of altitude. The CNES FFIORD experiment embedded on PRISMA aims at flight validating an FFRF sensor designed for formation control, and assessing its performances, in preparation to future formation flying missions such as Simbol X; FFIORD aims as well at validating various typical autonomous rendezvous and formation guidance and control algorithms. This paper presents the principles of the collision avoidance function developed by EADS ASTRIUM for FFIORD; three kinds of maneuvers were implemented and are presented in this paper with their performances.

The NASA Engineering and Safety Center (NESC) GN and C Technical Discipline Team (TDT): Its Purpose, Practices and Experiences

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.

2008-01-01

This paper will briefly define the vision, mission, and purpose of the NESC organization. The role of the GN&C TDT will then be described in detail along with an overview of how this team operates and engages in its objective engineering and safety assessments of critical NASA projects. This paper will then describe key issues and findings from several of the recent GN&C-related independent assessments and consultations performed and/or supported by the NESC GN&C TDT. Among the examples of the GN&C TDT s work that will be addressed in this paper are the following: the Space Shuttle Orbiter Repair Maneuver (ORM) assessment, the ISS CMG failure root cause assessment, the Demonstration of Autonomous Rendezvous Technologies (DART) spacecraft mishap consultation, the Phoenix Mars lander thruster-based controllability consultation, the NASA in-house Crew Exploration Vehicle (CEV) Smart Buyer assessment and the assessment of key engineering considerations for the Design, Development, Test & Evaluation (DDT&E) of robust and reliable GN&C systems for human-rated spacecraft.

Space Shuttle Projects

NASA Image and Video Library

1994-10-08

Designed by the crew members, the STS-63 crew patch depicts the orbiter maneuvering to rendezvous with Russia's Space Station Mir. The name is printed in Cyrillic on the side of the station. Visible in the Orbiter's payload bay are the commercial space laboratory Spacehab and the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) satellite which are major payloads on the flight. The six points on the rising sun and the three stars are symbolic of the mission's Space Transportation System (STS) numerical designation. Flags of the United States and Russia at the bottom of the patch symbolize the cooperative operations of this mission.

Rendezvous, proximity operations and capture quality function deployment report

NASA Technical Reports Server (NTRS)

Lamkin, Stephen L. (Editor)

1991-01-01

Rendezvous, Proximity Operations, and Capture (RPOC) is a missions operations area which is extremely important to present and future space initiatives and must be well planned and coordinated. To support this, a study team was formed to identify a specific plan of action using the Quality Function Deployment (QFD) process. This team was composed of members from a wide spectrum of engineering and operations organizations which are involved in the RPOC technology area. The key to this study's success is an understanding of the needs of potential programmatic customers and the technology base available for system implementation. To this end, the study team conducted interviews with a variety of near term and future programmatic customers and technology development sponsors. The QFD activity led to a thorough understanding of the needs of these customers in the RPOC area, as well as the relative importance of these needs.

Starshade Rendezvous Mission Probe Concept

NASA Astrophysics Data System (ADS)

Seager, Sara; Kasdin, Jeremy; Starshade Rendezvous Probe Team

2018-01-01

The Starshade Rendezvous Mission Concept Prove is a Starshade that works with the WFIRST Mission, but is built and launched separately, with a rendezvous on orbit. A 2015 Exo-S report first detailed the mission concept. In the current study we develop a new scientific vision for WFIRST exoplanet discovery and characterization, using the complementary coronagraph and starshade to execute the most sensitive and thorough direct imaging campaign ever attempted. The overarching goal of our proposal is to carry out the first “deep dive” direct imaging exploration of planetary systems orbiting the nearest sun-like stars in a search for Earth-like planets using only a fraction of the WFIRST telescope time. The study aims to improve on the Exo-S 2015 report with updated study of the key spacecraft and starshade technology development issues, as related to WFIRST design changes since 2015 that make the timely implementation of such a mission possible.

Fuzzy logic techniques for rendezvous and docking of two geostationary satellites

NASA Technical Reports Server (NTRS)

Ortega, Guillermo

1995-01-01

Large assemblings in space require the ability to manage rendezvous and docking operations. In future these techniques will be required for the gradual build up of big telecommunication platforms in the geostationary orbit. The paper discusses the use of fuzzy logic to model and implement a control system for the docking/berthing of two satellites in geostationary orbit. The system mounted in a chaser vehicle determines the actual state of both satellites and generates torques to execute maneuvers to establish the structural latching. The paper describes the proximity operations to collocate the two satellites in the same orbital window, the fuzzy guidance and navigation of the chaser approaching the target and the final Fuzzy berthing. The fuzzy logic system represents a knowledge based controller that realizes the close loop operations autonomously replacing the conventional control algorithms. The goal is to produce smooth control actions in the proximity of the target and during the docking to avoid disturbance torques in the final assembly orbit. The knowledge of the fuzzy controller consists of a data base of rules and the definitions of the fuzzy sets. The knowledge of an experienced spacecraft controller is captured into a set of rules forming the Rules Data Base.

Office of Space Flight standard spaceborne Global Positioning System user equipment project

NASA Technical Reports Server (NTRS)

Saunders, Penny E.

1991-01-01

The Global Positioning System (GPS) provides users autonomous, real-time navigation capability. A vehicle equipped with GPS user equipment can receive and process signals transmitted by a constellation of GPS satellites and derive from the resulting measurements the vehicle's position and velocity. Specified accuracies range from 16 to 76 meters and 0.1 to 1.0 meters/second for position and velocity, respectively. In a rendezvous and docking scenario, the use of a technique called relative GPS can provide range and range rate accuracies on the order of 1 meter and 0.01 meters/second, respectively. Relative GPS requires both vehicles to be equipped with GPS user equipment and a data communication link for transmission of GPS data and GPS satellite selection coordination information. Through coordinated satellite selection, GPS measurement errors common to both users are cancelled and improved relative position and velocity accuracies are achieved. The background, the design approach, the expected performance and capabilities, the development plan, and the project status are described. In addition, a description of relative GPS, the possible GPS hardware and software configurations, and its application to automated rendezvous and capture are presented.

The Space Operations Simulation Center (SOSC) and Closed-loop Hardware Testing for Orion Rendezvous System Design

NASA Technical Reports Server (NTRS)

D'Souza, Christopher; Milenkovich, Zoran; Wilson, Zachary; Huich, David; Bendle, John; Kibler, Angela

2011-01-01

The Space Operations Simulation Center (SOSC) at the Lockheed Martin (LM) Waterton Campus in Littleton, Colorado is a dynamic test environment focused on Autonomous Rendezvous and Docking (AR&D) development testing and risk reduction activities. The SOSC supports multiple program pursuits and accommodates testing Guidance, Navigation, and Control (GN&C) algorithms for relative navigation, hardware testing and characterization, as well as software and test process development. The SOSC consists of a high bay (60 meters long by 15.2 meters wide by 15.2 meters tall) with dual six degree-of-freedom (6DOF) motion simulators and a single fixed base 6DOF robot. The large testing area (maximum sensor-to-target effective range of 60 meters) allows for large-scale, flight-like simulations of proximity maneuvers and docking events. The facility also has two apertures for access to external extended-range outdoor target test operations. In addition, the facility contains four Mission Operations Centers (MOCs) with connectivity to dual high bay control rooms and a data/video interface room. The high bay is rated at Class 300,000 (. 0.5 m maximum particles/m3) cleanliness and includes orbital lighting simulation capabilities.

STS-63 crew insignia

NASA Technical Reports Server (NTRS)

1994-01-01

Designed by the crew members, the crew patch depicts the Orbiter maneuving to rendezvous with Russia's Space Station Mir. The name is printed in Cyrillic on the side of the station. Visible in the Orbiter's payload bay are the commercial space laboratory Spacehab and the Shuttle Pointed Autonomous Research Tool for Astronomy (SPARTAN) satellite which are major payloads on the flight. The six points on the rising sun and the three stars are symbolic of the mission's Space Transportation System (STS) numerical designation. Flags of the United States and Russia at the bottom of the patch symbolize the cooperative operations of this mission. The crew will be flying aboard the space shuttle Discovery.

An intelligent, free-flying robot

NASA Technical Reports Server (NTRS)

Reuter, G. J.; Hess, C. W.; Rhoades, D. E.; Mcfadin, L. W.; Healey, K. J.; Erickson, J. D.

1988-01-01

The ground-based demonstration of EVA Retriever, a voice-supervised, intelligent, free-flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out, (2) searches for and acquires the target, (3) plans and executes a rendezvous while continuously tracking the target, (4) avoids stationary and moving obstacles, (5) reaches for and grapples the target, (6) returns to transfer the object, and (7) returns to base.

An intelligent, free-flying robot

NASA Technical Reports Server (NTRS)

Reuter, G. J.; Hess, C. W.; Rhoades, D. E.; Mcfadin, L. W.; Healey, K. J.; Erickson, J. D.; Phinney, Dale E.

1989-01-01

The ground based demonstration of the extensive extravehicular activity (EVA) Retriever, a voice-supervised, intelligent, free flying robot, is designed to evaluate the capability to retrieve objects (astronauts, equipment, and tools) which have accidentally separated from the Space Station. The major objective of the EVA Retriever Project is to design, develop, and evaluate an integrated robotic hardware and on-board software system which autonomously: (1) performs system activation and check-out; (2) searches for and acquires the target; (3) plans and executes a rendezvous while continuously tracking the target; (4) avoids stationary and moving obstacles; (5) reaches for and grapples the target; (6) returns to transfer the object; and (7) returns to base.

A Reusable Design for Precision Lunar Landing Systems

NASA Technical Reports Server (NTRS)

Fuhrman, Linda; Brand, Timothy; Fill, Tom; Norris, Lee; Paschall, Steve

2005-01-01

The top-level architecture to accomplish NASA's Vision for Space Exploration is to use Lunar missions and systems not just as an end in themselves, but also as testbeds for the more ambitious goals of Human Mars Exploration (HME). This approach means that Lunar missions and systems are most likely going to be targeted for (Lunar) polar missions, and also for long-duration (months) surface stays. This overacting theme creates basic top-level requirements for any next-generation lander system: 1) Long duration stays: a) Multiple landers in close proximity; b) Pinpoint landings for "surface rendezvous"; c) Autonomous landing of pre-positioned assets; and d) Autonomous Hazard Detection and Avoidance. 2) Polar and deep-crater landings (dark); 3) Common/extensible systems for Moon and Mars, crew and cargo. These requirements pose challenging technology and capability needs. Compare and contrast: 4) Apollo: a) 1 km landing accuracy; b) Lunar near-side (well imaged and direct-to-Earth com. possible); c) Lunar equatorial (landing trajectories offer best navigation support from Earth); d) Limited lighting conditions; e) Significant ground-in-the-loop operations; 5) Lunar Access: a) 10-100m landing precision; b) "Anywhere" access includes polar (potentially poor nav. support from Earth) and far side (poor gravity and imaging; no direct-to-Earth com); c) "Anytime" access includes any lighting condition (including dark); d) Full autonomous landing capability; e) Extensible design for tele-operation or operator-in-the-loop; and f) Minimal ground support to reduce operations costs. The Lunar Access program objectives, therefore, are to: a) Develop a baseline Lunar Precision Landing System (PLS) design to enable pinpoint "anywhere, anytime" landings; b) landing precision 10m-100m; c) Any LAT, LON; and d) Any lighting condition; This paper will characterize basic features of the next generation Lunar landing system, including trajectory types, sensor suite options and a reference system architecture.

Modular High-Energy Systems for Solar Power Satellites

NASA Technical Reports Server (NTRS)

Howell, Joe T.; Carrington, Connie K.; Marzwell, Neville I.; Mankins, John C.

2006-01-01

Modular High-Energy Systems are Stepping Stones to provide capabilities for energy-rich infrastructure located in space to support a variety of exploration scenarios as well as provide a supplemental source of energy during peak demands to ground grid systems. Abundant renewable energy at lunar or other locations could support propellant production and storage in refueling scenarios that enable affordable exploration. Renewable energy platforms in geosynchronous Earth orbits can collect and transmit power to satellites, or to Earth-surface locations. Energy-rich space technologies also enable the use of electric-powered propulsion systems that could efficiently deliver cargo and exploration facilities to remote locations. A first step to an energy-rich space infrastructure is a 100-kWe class solar-powered platform in Earth orbit. The platform would utilize advanced technologies in solar power collection and generation, power management and distribution, thermal management, electric propulsion, wireless avionics, autonomous in space rendezvous and docking, servicing, and robotic assembly. It would also provide an energy-rich free-flying platform to demonstrate in space a portfolio of technology flight experiments. This paper summary a preliminary design concept for a 100-kWe solar-powered satellite system to demonstrate in-flight a variety of advanced technologies, each as a separate payload. These technologies include, but are not limited to state-of-the-art solar concentrators, highly efficient multi-junction solar cells, integrated thermal management on the arrays, and innovative deployable structure design and packaging to enable the 100-kW satellite feasible to launch on one existing launch vehicle. Higher voltage arrays and power distribution systems (PDS) reduce or eliminate the need for massive power converters, and could enable direct-drive of high-voltage solar electric thrusters.

Solar Electric Propulsion System Integration Technology (SEPSIT). Volume 2: Encke rendezvous mission and space vehicle functional description

NASA Technical Reports Server (NTRS)

Gardner, J. A.

1972-01-01

A solar electric propulsion system integration technology study is discussed. Detailed analyses in support of the solar electric propulsion module were performed. The thrust subsystem functional description is presented. The space vehicle and the space mission to which the propulsion system is applied are analyzed.

Orion Handling Qualities During ISS Rendezvous and Docking

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Stephens, J. P.; Spehar, P.; Bilimoria, K.; Foster, C.; Gonzalex, R.; Sullivan, K.; Jackson, B.; Brazzel, J.; Hart, J.

2011-01-01

The Orion spacecraft was designed to rendezvous with multiple vehicles in low earth orbit (LEO) and beyond. To perform the required rendezvous and docking task, Orion must provide enough control authority to perform coarse translational maneuvers while maintaining precision to perform the delicate docking corrections. While Orion has autonomous docking capabilities, it is expected that final approach and docking operations with the International Space Station (ISS) will initially be performed in a manual mode. A series of evaluations was conducted by NASA and Lockheed Martin at the Johnson Space Center to determine the handling qualities (HQ) of the Orion spacecraft during different docking and rendezvous conditions using the Cooper-Harper scale. This paper will address the specifics of the handling qualities methodology, vehicle configuration, scenarios flown, data collection tools, and subject ratings and comments. The initial Orion HQ assessment examined Orion docking to the ISS. This scenario demonstrates the Translational Hand Controller (THC) handling qualities of Orion. During this initial assessment, two different scenarios were evaluated. The first was a nominal docking approach to a stable ISS, with Orion initializing with relative position dispersions and a closing rate of approximately 0.1 ft/sec. The second docking scenario was identical to the first, except the attitude motion of the ISS was modeled to simulate a stress case ( 1 degree deadband per axis and 0.01 deg/sec rate deadband per axis). For both scenarios, subjects started each run on final approach at a docking port-to-port range of 20 ft. Subjects used the THC in pulse mode with cues from the docking camera image, window views, and range and range rate data displayed on the Orion display units. As in the actual design, the attitude of the Orion vehicle was held by the automated flight control system at 0.5 degree deadband per axis. Several error sources were modeled including Reaction Control System (RCS) jet angular and position misalignment, RCS thrust magnitude uncertainty, RCS jet force direction uncertainty due to self plume impingement, and Orion center of mass uncertainty.

The asteroid rendezvous spacecraft. An adaptation study of TIROS/DMSP technology

NASA Technical Reports Server (NTRS)

1982-01-01

The feasibility of using the TIROS/DMSP Earth orbiting meteorological satellite in application to a near Earth asteroid rendezvous mission. System and subsystems analysis was carried out to develop a configuration of the spacecraft suitable for this mission. Mission analysis studies were also done and maneuver/rendezvous scenarios developed for baseline missions to both Anteros and Eros. The fact that the Asteroid mission is the most complex of the Pioneer class missions currently under consideration notwithstanding, the basic conclusion very strongly supports the suitability of the basic TIROS bus for this mission in all systems and subsystems areas, including science accommodation. Further, the modifications which are required due to the unique mission are very low risk and can be accomplished readily. The key issue is that in virtually every key subsystem, the demands of the Asteroid mission are a subset of the basic meteorological satellite mission. This allows a relatively simple reconfiguration to be accomplished without a major system redesign.

A study of radar cross section measurement techniques

NASA Technical Reports Server (NTRS)

Mcdonald, Malcolm W.

1986-01-01

Past, present, and proposed future technologies for the measurement of radar cross section were studied. The purpose was to determine which method(s) could most advantageously be implemented in the large microwave anechoic chamber facility which is operated at the antenna test range site. The progression toward performing radar cross section measurements of space vehicles with which the Orbital Maneuvering Vehicle will be called upon to rendezvous and dock is a natural outgrowth of previous work conducted in recent years of developing a high accuracy range and velocity sensing radar system. The radar system was designed to support the rendezvous and docking of the Orbital Maneuvering Vehicle with various other space vehicles. The measurement of radar cross sections of space vehicles will be necessary in order to plan properly for Orbital Maneuvering Vehicle rendezvous and docking assignments. The methods which were studied include: standard far-field measurements; reflector-type compact range measurements; lens-type compact range measurement; near field/far field transformations; and computer predictive modeling. The feasibility of each approach is examined.

Cometary Matter Analyser (COMA/CRAF)

NASA Technical Reports Server (NTRS)

Buechler, K.; Igenbergs, E.; Klein, J. W.; Krueger, F. R.; Kuczera, H.; Morfill, G.; Palme, H.; Roessler, K.; Weishaupt, U.; Zerrull, R.;

Rendezvous with Toutatis from the Moon: The Chang'e-2 mission

NASA Astrophysics Data System (ADS)

Huang, J.; Tang, X.; Meng, L.

2014-07-01

Chang'e-2 probe was the second lunar probe of China, with the main objectives to demonstrate some key features of the new lunar soft landing technology, and its applications to future exploration missions. After completing the planned mission successfully, Chang'e-2 flew away from the Moon and entered into the interplanetary space. Later, at a distance of 7 million km from the Earth, Chang'e-2 encountered asteroid (4179) Toutatis with a very close fly-by distance and obtained colorful images with a 3-m resolution. Given some surplus velocity increment as well as the promotion of autonomous flight ability and improvement of control, propulsion, and thermal systems in the initial design, Chang'e-2 had the capabilities necessary for escaping from the Moon. By taking advantage of the unique features of the Lagrangian point, the first close fly-by of asteroid Toutatis was realized despite the tight constraints of propellant allocation, spacecraft-Earth communication, and coordination of execution sequences. Chang'e-2 realized the Toutatis flyby with a km-level distance at closest approach. In the absence of direct measurement method, based on the principle of relative navigation and through the use of the sequence of target images, we calculated the rendezvous parameters such as relative distance and image resolution. With the help of these parameters, some fine and new scientific discoveries about the asteroid were obtained by techniques of optical measurements and image processing. Starting with an innovative design, followed by high-fidelity testing and demonstration, elaborative implementation, and optimal usage of residual propellant, Chang'e-2 has for the first time successfully explored the Moon, L2 point and an asteroid, while achieving the purpose of 'faster, better, cheaper'. What Chang'e-2 has accomplished was far beyond our expectations. *J. Huang is the chief designer (PI) of Chang'e-2 probe, planned Chang'e-2's multi-objective and multitasking exploration mission.

Robust control for spacecraft rendezvous system with actuator unsymmetrical saturation: a gain scheduling approach

NASA Astrophysics Data System (ADS)

Wang, Qian; Xue, Anke

2018-06-01

This paper has proposed a robust control for the spacecraft rendezvous system by considering the parameter uncertainties and actuator unsymmetrical saturation based on the discrete gain scheduling approach. By changing of variables, we transform the actuator unsymmetrical saturation control problem into a symmetrical one. The main advantage of the proposed method is improving the dynamic performance of the closed-loop system with a region of attraction as large as possible. By the Lyapunov approach and the scheduling technology, the existence conditions for the admissible controller are formulated in the form of linear matrix inequalities. The numerical simulation illustrates the effectiveness of the proposed method.

Real-time simulations for automated rendezvous and capture

NASA Technical Reports Server (NTRS)

Cuseo, John A.

1991-01-01

Although the individual technologies for automated rendezvous and capture (AR&C) exist, they have not yet been integrated to produce a working system in the United States. Thus, real-time integrated systems simulations are critical to the development and pre-flight demonstration of an AR&C capability. Real-time simulations require a level of development more typical of a flight system compared to purely analytical methods, thus providing confidence in derived design concepts. This presentation will describe Martin Marietta's Space Operations Simulation (SOS) Laboratory, a state-of-the-art real-time simulation facility for AR&C, along with an implementation for the Satellite Servicer System (SSS) Program.

NASA Automated Rendezvous and Capture Review. A compilation of the abstracts

NASA Technical Reports Server (NTRS)

1991-01-01

This document presents a compilation of abstracts of papers solicited for presentation at the NASA Automated Rendezvous and Capture Review held in Williamsburg, VA on November 19-21, 1991. Due to limitations on time and other considerations, not all abstracts could be presented during the review. The organizing committee determined however, that all abstracts merited availability to all participants and represented data and information reflecting state-of-the-art of this technology which should be captured in one document for future use and reference. The organizing committee appreciates the interest shown in the review and the response by the authors in submitting these abstracts.

Short rendezvous missions for advanced Russian human spacecraft

NASA Astrophysics Data System (ADS)

Murtazin, Rafail F.; Budylov, Sergey G.

2010-10-01

The two-day stay of crew in a limited inhabited volume of the Soyuz-TMA spacecraft till docking to ISS is one of the most stressful parts of space flight. In this paper a number of possible ways to reduce the duration of the free flight phase are considered. The duration is defined by phasing strategy that is necessary for reduction of the phase angle between the chaser and target spacecraft. Some short phasing strategies could be developed. The use of such strategies creates more comfortable flight conditions for crew thanks to short duration and additionally it allows saving spacecraft's life support resources. The transition from the methods of direct spacecraft rendezvous using one orbit phasing (first flights of " Vostok" and " Soyuz" vehicles) to the currently used methods of two-day rendezvous mission can be observed in the history of Soviet manned space program. For an advanced Russian human rated spacecraft the short phasing strategy is recommended, which can be considered as a combination between the direct and two-day rendezvous missions. The following state of the art technologies are assumed available: onboard accurate navigation; onboard computations of phasing maneuvers; launch vehicle with high accuracy injection orbit, etc. Some operational requirements and constraints for the strategies are briefly discussed. In order to provide acceptable phase angles for possible launch dates the experience of the ISS altitude profile control can be used. As examples of the short phasing strategies, the following rendezvous missions are considered: direct ascent, short mission with the phasing during 3-7 orbits depending on the launch date (nominal or backup). For each option statistical modeling of the rendezvous mission is fulfilled, as well as an admissible phase angle range, accuracy of target state vector and addition fuel consumption coming out of emergency is defined. In this paper an estimation of pros and cons of all options is conducted.

Engineering Review of ANCAUS/AVATAR: An Enabling Technology for the Autonomous Land Systems Program?

DTIC Science & Technology

2003-12-01

technology for future Autonomous Land System (ALS) autonomous vehicles . Since 1989, forward thinking engineering has characterized the history of ANC/EUS and...technology for future autonomous vehicles and that; (2) ALS should adopt commercial/open source technology to support a new ALS architecture and (3) ALS

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2012 CFR

2012-01-01

....111 Rendezvous services. (a) A rendezvous mission involves the rendezvous of the Space Shuttle orbiter... Space Shuttle mission for an already orbiting spacecraft (or part thereof) and return of already... 14 Aeronautics and Space 5 2012-01-01 2012-01-01 false Rendezvous services. 1214.111 Section 1214...

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2013 CFR

2013-01-01

....111 Rendezvous services. (a) A rendezvous mission involves the rendezvous of the Space Shuttle orbiter... Space Shuttle mission for an already orbiting spacecraft (or part thereof) and return of already... 14 Aeronautics and Space 5 2013-01-01 2013-01-01 false Rendezvous services. 1214.111 Section 1214...

GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design

NASA Astrophysics Data System (ADS)

Jankovic, Marko; Paul, Jan; Kirchner, Frank

2016-04-01

Recent studies of the space debris population in low Earth orbit (LEO) have concluded that certain regions have already reached a critical density of objects. This will eventually lead to a cascading process called the Kessler syndrome. The time may have come to seriously consider active debris removal (ADR) missions as the only viable way of preserving the space environment for future generations. Among all objects in the current environment, the SL-8 (Kosmos 3M second stages) rocket bodies (R/Bs) are some of the most suitable targets for future robotic ADR missions. However, to date, an autonomous relative navigation to and capture of an non-cooperative target has never been performed. Therefore, there is a need for more advanced, autonomous and modular systems that can cope with uncontrolled, tumbling objects. The guidance, navigation and control (GNC) system is one of the most critical ones. The main objective of this paper is to present a preliminary concept of a modular GNC architecture that should enable a safe and fuel-efficient capture of a known but uncooperative target, such as Kosmos 3M R/B. In particular, the concept was developed having in mind the most critical part of an ADR mission, i.e. close range proximity operations, and state of the art algorithms in the field of autonomous rendezvous and docking. In the end, a brief description of the hardware in the loop (HIL) testing facility is made, foreseen for the practical evaluation of the developed architecture.

Intelligent Optical Systems Using Adaptive Optics

NASA Technical Reports Server (NTRS)

Clark, Natalie

2012-01-01

Until recently, the phrase adaptive optics generally conjured images of large deformable mirrors being integrated into telescopes to compensate for atmospheric turbulence. However, the development of smaller, cheaper devices has sparked interest for other aerospace and commercial applications. Variable focal length lenses, liquid crystal spatial light modulators, tunable filters, phase compensators, polarization compensation, and deformable mirrors are becoming increasingly useful for other imaging applications including guidance navigation and control (GNC), coronagraphs, foveated imaging, situational awareness, autonomous rendezvous and docking, non-mechanical zoom, phase diversity, and enhanced multi-spectral imaging. The active components presented here allow flexibility in the optical design, increasing performance. In addition, the intelligent optical systems presented offer advantages in size and weight and radiation tolerance.

Solar Electric Propulsion for Primitive Body Science Missions

NASA Technical Reports Server (NTRS)

Witzberger, Kevin E.

2006-01-01

This paper describes work that assesses the performance of solar electric propulsion (SEP) for three different primitive body science missions: 1) Comet Rendezvous 2) Comet Surface Sample Return (CSSR), and 3) a Trojan asteroid/Centaur object Reconnaissance Flyby. Each of these missions launches from Earth between 2010 and 2016. Beginning-of-life (BOL) solar array power (referenced at 1 A.U.) varies from 10 to 18 kW. Launch vehicle selections range from a Delta II to a Delta IV medium-class. The primary figure of merit (FOM) is net delivered mass (NDM). This analysis considers the effects of imposing various mission constraints on the Comet Rendezvous and CSSR missions. Specifically, the Comet Rendezvous mission analysis examines an arrival date constraint with a launch year variation, whereas the CSSR mission analysis investigates an Earth entry velocity constraint commensurate with past and current missions. Additionally, the CSSR mission analysis establishes NASA's New Frontiers (NF) Design Reference Mission (DRM) in order to evaluate current and future SEP technologies. The results show that transfer times range from 5 to 9 years (depending on the mission). More importantly, the spacecraft's primary propulsion system performs an average 5-degree plane change on the return leg of the CSSR mission to meet the previously mentioned Earth entry velocity constraint. Consequently, these analyses show that SEP technologies that have higher thrust-to-power ratios can: 1) reduce flight time, and 2) change planes more efficiently.

X-37 Space Vehicle: Starting a New Age in Space Control?

NASA Astrophysics Data System (ADS)

Jameson, Austin D.

2001-04-01

The U.S. can no longer rely on the "space as a sanctuary" policy, initiated by the Eisenhower Administration, to continue to exploit space for economic and military advantages. The X-37 space maneuvering vehicle demonstrator is an opportunity for the U.S. to begin to develop methods to more strategically defend and control the space environment. The X-37 is the first of NASA's x-vehicles intended to demonstrate leading edge technologies in orbit. This prototype space maneuvering vehicle co-sponsored by NASA, the Air Force and the Boeing Company is being designed to achieve the goals of reducing the cost to access space from 10,000 to 1000 per pound while improving reliability. The current project is funded to build an autonomous space maneuvering vehicle with on-orbit testing scheduled in 2002, The X-37 is an unmanned space plane that can carry a payload, and can conduct missions while orbiting, loitering, or rendezvousing with objects in space and then autonomously return to earth by landing on a conventional runway. If the Air Force develops the X-37 to its full potential the system could strategically support each of the Air Force's four space mission areas of force enhancement, space support, space control, and force application. Transition of the space maneuvering demonstrator into a space control platform will require a change in national policy. Capitalizing on the lessons from NASA's x-vehicles and partnering with the commercial sector can potentially save costs and shorten the development of a viable space platform that could be used for space control. Strategic development and funded evolution of the X-37 space vehicle is an immediate, tangible step the United States can take to actively pursue a more aggressive program to respond to threats in the space arena.

Selected tether applications in space: An analysis of five selected concepts

NASA Technical Reports Server (NTRS)

1984-01-01

Ground rules and assumptions; operations; orbit considerations/dynamics; tether system design and dynamics; functional requirements; hardware concepts; and safety factors are examined for five scenarios: tethered effected separation of an Earth bound shuttle from the space station; tether effected orbit boost of a spacecraft (AXAF) into its operational orbit from the shuttle; an operational science/technology platform tether deployed from space station; a tether mediated rendezvous involving an OMV tether deployed from space station to rendezvous with an aerobraked OTV returning to geosynchronous orbit from a payload delivery mission; and an electrodynamic tether used in a dual motor/generator mode to serve as the primary energy storage facility for space station.

Autonomous Science Operations Technologies for Deep Space Gateway

NASA Astrophysics Data System (ADS)

Barnes, P. K.; Haddock, A. T.; Cruzen, C. A.

2018-02-01

Autonomous Science Operations Technologies for Deep Space Gateway (DSG) is an overview of how the DSG would benefit from autonomous systems utilizing proven technologies performing telemetry monitoring and science operations.

3D Lasers Increase Efficiency, Safety of Moving Machines

NASA Technical Reports Server (NTRS)

2015-01-01

Canadian company Neptec Design Group Ltd. developed its Laser Camera System, used by shuttles to render 3D maps of their hulls for assessing potential damage. Using NASA funding, the firm incorporated LiDAR technology and created the TriDAR 3D sensor. Its commercial arm, Neptec Technologies Corp., has sold the technology to Orbital Sciences, which uses it to guide its Cygnus spacecraft during rendezvous and dock operations at the International Space Station.

G-Guidance Interface Design for Small Body Mission Simulation

NASA Technical Reports Server (NTRS)

Acikmese, Behcet; Carson, John; Phan, Linh

2008-01-01

The G-Guidance software implements a guidance and control (G and C) algorithm for small-body, autonomous proximity operations, developed under the Small Body GN and C task at JPL. The software is written in Matlab and interfaces with G-OPT, a JPL-developed optimization package written in C that provides G-Guidance with guaranteed convergence to a solution in a finite computation time with a prescribed accuracy. The resulting program is computationally efficient and is a prototype of an onboard, real-time algorithm for autonomous guidance and control. Two thruster firing schemes are available in G-Guidance, allowing tailoring of the software for specific mission maneuvers. For example, descent, landing, or rendezvous benefit from a thruster firing at the maneuver termination to mitigate velocity errors. Conversely, ascent or separation maneuvers benefit from an immediate firing to avoid potential drift toward a second body. The guidance portion of this software explicitly enforces user-defined control constraints and thruster silence times while minimizing total fuel usage. This program is currently specialized to small-body proximity operations, but the underlying method can be generalized to other applications.

Angles-only relative orbit determination in low earth orbit

NASA Astrophysics Data System (ADS)

Ardaens, Jean-Sébastien; Gaias, Gabriella

2018-06-01

The paper provides an overview of the angles-only relative orbit determination activities conducted to support the Autonomous Vision Approach Navigation and Target Identification (AVANTI) experiment. This in-orbit endeavor was carried out by the German Space Operations Center (DLR/GSOC) in autumn 2016 to demonstrate the capability to perform spaceborne autonomous close-proximity operations using solely line-of-sight measurements. The images collected onboard have been reprocessed by an independent on-ground facility for precise relative orbit determination, which served as ultimate instance to monitor the formation safety and to characterize the onboard navigation and control performances. During two months, several rendezvous have been executed, generating a valuable collection of images taken at distances ranging from 50 km to only 50 m. Despite challenging experimental conditions characterized by a poor visibility and strong orbit perturbations, angles-only relative positioning products could be continuously derived throughout the whole experiment timeline, promising accuracy at the meter level during the close approaches. The results presented in the paper are complemented with former angles-only experience gained with the PRISMA satellites to better highlight the specificities induced by different orbits and satellite designs.

Technology for an intelligent, free-flying robot for crew and equipment retrieval in space

NASA Technical Reports Server (NTRS)

Erickson, J. D.; Reuter, G. J.; Healey, Kathleen J.; Phinney, D. E.

1990-01-01

Crew rescue and equipment retrieval is a Space Station Freedom requirement. During Freedom's lifetime, there is a high probability that a number of objects will accidently become separated. Members of the crew, replacement units, and key tools are examples. Retrieval of these objects within a short time is essential. Systems engineering studies were conducted to identify system requirements and candidate approaches. One such approach, based on a voice-supervised, intelligent, free-flying robot was selected for further analysis. A ground-based technology demonstration, now in its second phase, was designed to provide an integrated robotic hardware and software testbed supporting design of a space-borne system. The ground system, known as the EVA Retriever, is examining the problem of autonomously planning and executing a target rendezvous, grapple, and return to base while avoiding stationary and moving obstacles. The current prototype is an anthropomorphic manipulator unit with dexterous arms and hands attached to a robot body and latched in a manned maneuvering unit. A precision air-bearing floor is used to simulate space. Sensor data include two vision systems and force/proximity/tactile sensors on the hands and arms. Planning for a shuttle file experiment is underway. A set of scenarios and strawman requirements were defined to support conceptual development. Initial design activities are expected to begin in late 1989 with the flight occurring in 1994. The flight hardware and software will be based on lessons learned from both the ground prototype and computer simulations.

Flight Test Results from Real-Time Relative Global Positioning System Flight Experiment on STS-69

NASA Technical Reports Server (NTRS)

Park, Young W.; Brazzel, Jack P., Jr.; Carpenter, J. Russell; Hinkel, Heather D.; Newman, James H.

1996-01-01

A real-time global positioning system (GPS) Kalman filter has been developed to support automated rendezvous with the International Space Station (ISS). The filter is integrated with existing Shuttle rendezvous software running on a 486 laptop computer under Windows. In this work, we present real-time and postflight results achieved with the filter on STS-69. The experiment used GPS data from an Osborne/Jet propulsion Laboratory TurboRouge receiver carried on the Wake Shield Facility (WSF) free flyer and a Rockwell Collins 3M receiver carried on the Orbiter. Real time filter results, processed onboard the Shuttle and replayed in near-time on the ground, are based on single vehicle mode operation and on 5 to 20 minute snapshots of telemetry provided by WSF for dual-vehicle mode operation. The Orbiter and WSF state vectors calculated using our filter compare favorably with precise reference orbits determined by the University of Texas Center for Space Research. The lessons learned from this experiment will be used in conjunction with future experiments to mitigate the technology risk posed by automated rendezvous and docking to the ISS.

Two-phase framework for near-optimal multi-target Lambert rendezvous

NASA Astrophysics Data System (ADS)

Bang, Jun; Ahn, Jaemyung

2018-03-01

This paper proposes a two-phase framework to obtain a near-optimal solution of multi-target Lambert rendezvous problem. The objective of the problem is to determine the minimum-cost rendezvous sequence and trajectories to visit a given set of targets within a maximum mission duration. The first phase solves a series of single-target rendezvous problems for all departure-arrival object pairs to generate the elementary solutions, which provides candidate rendezvous trajectories. The second phase formulates a variant of traveling salesman problem (TSP) using the elementary solutions prepared in the first phase and determines the final rendezvous sequence and trajectories of the multi-target rendezvous problem. The validity of the proposed optimization framework is demonstrated through an asteroid exploration case study.

Advancing Autonomous Operations Technologies for NASA Missions

NASA Technical Reports Server (NTRS)

Cruzen, Craig; Thompson, Jerry Todd

2013-01-01

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce operations cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing operations cost, ameliorating inefficiencies, and mitigating catastrophic anomalies.

Advancing Autonomous Operations Technologies for NASA Missions

NASA Technical Reports Server (NTRS)

Cruzen, Craig; Thompson, Jerry T.

2013-01-01

This paper discusses the importance of implementing advanced autonomous technologies supporting operations of future NASA missions. The ability for crewed, uncrewed and even ground support systems to be capable of mission support without external interaction or control has become essential as space exploration moves further out into the solar system. The push to develop and utilize autonomous technologies for NASA mission operations stems in part from the need to reduce cost while improving and increasing capability and safety. This paper will provide examples of autonomous technologies currently in use at NASA and will identify opportunities to advance existing autonomous technologies that will enhance mission success by reducing cost, ameliorating inefficiencies, and mitigating catastrophic anomalies

AVGS, AR and D for Satellites, ISS, the Moon, Mars and Beyond

NASA Technical Reports Server (NTRS)

Hintze, Geoffrey C.; Cornett, Keith G.; Rahmatipour, Michael H.; Heaton, Andrew F.; Newman, Larry E.; Fleischmann, Kevin D.; Hamby, Byron J.

2007-01-01

With the continuous need to rotate crew and re-supply the International Space Station (ISS) and the desire to return humans to the Moon and for the first time, place humans on Mars, NASA must develop a more robust and highly reliable capability to perform Autonomous Rendezvous and Capture (AR&C) because, unlike the Apollo missions, NASA plans to send the entire crew to the Lunar or Martian surface and must be able to dock with the Orion spacecraft upon return. In 1997, NASA developed the Video Guidance Sensor (VGS) which was flown and tested on STS-87 and STS-95. In 2001, NASA designed and built a more enhanced version of the VGS, called the Advanced Video Guidance Sensor (AVGS). The AVGS offered significant technology improvements to the precursor VGS design. This paper will describe the AVGS as it was in the DART mission of 2005 and the Orbital Express mission of 2007. The paper will describe the capabilities and design concepts of the AVGS as it was flown on the DART 2005 Mission and the DARPA Orbital Express Mission slated to fly in 2007. The paper will cover the Flight Software, problems encountered, testing for Orbital Express and where NASA is going in the future.

Rendezvous Integration Complexities of NASA Human Flight Vehicles

NASA Technical Reports Server (NTRS)

Brazzel, Jack P.; Goodman, John L.

2009-01-01

Propellant-optimal trajectories, relative sensors and navigation, and docking/capture mechanisms are rendezvous disciplines that receive much attention in the technical literature. However, other areas must be considered. These include absolute navigation, maneuver targeting, attitude control, power generation, software development and verification, redundancy management, thermal control, avionics integration, robotics, communications, lighting, human factors, crew timeline, procedure development, orbital debris risk mitigation, structures, plume impingement, logistics, and in some cases extravehicular activity. While current and future spaceflight programs will introduce new technologies and operations concepts, the complexity of integrating multiple systems on multiple spacecraft will remain. The systems integration task may become more difficult as increasingly complex software is used to meet current and future automation, autonomy, and robotic operation requirements.

Holographic Weapons Sight as Crew Optical Alignment Sight

NASA Technical Reports Server (NTRS)

Merancy, Nujoud; Dehmlow, Brian; Brazzel, Jack P.

2011-01-01

Crew Optical Alignment Sights (COAS) are used by spacecraft pilots to provide a visual reference to a target spacecraft for lateral relative position during rendezvous and docking operations. NASA s Orion vehicle, which is currently under development, has not included a COAS in favor of automated sensors, but the crew office has requested such a device be added for situational awareness and contingency support. The current Space Shuttle COAS was adopted from Apollo heritage, weighs several pounds, and is no longer available for procurement which would make re-use difficult. In response, a study was conducted to examine the possibility of converting a commercially available weapons sight to a COAS for the Orion spacecraft. The device used in this study was the XPS series Holographic Weapon Sight (HWS) procured from L-3 EOTech. This device was selected because the targeting reticule can subtend several degrees, and display a graphic pattern tailored to rendezvous and docking operations. Evaluations of the COAS were performed in both the Orion low-fidelity mockup and rendezvous simulations in the Reconfigurable Operational Cockpit (ROC) by crewmembers, rendezvous engineering experts, and flight controllers at Johnson Space Center. These evaluations determined that this unit s size and mounting options can support proper operation and that the reticule visual qualities are as good as or better than the current Space Shuttle COAS. The results positively indicate that the device could be used as a functional COAS and supports a low-cost technology conversion solution.

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.

Interactive optimization approach for optimal impulsive rendezvous using primer vector and evolutionary algorithms

NASA Astrophysics Data System (ADS)

Luo, Ya-Zhong; Zhang, Jin; Li, Hai-yang; Tang, Guo-Jin

2010-08-01

In this paper, a new optimization approach combining primer vector theory and evolutionary algorithms for fuel-optimal non-linear impulsive rendezvous is proposed. The optimization approach is designed to seek the optimal number of impulses as well as the optimal impulse vectors. In this optimization approach, adding a midcourse impulse is determined by an interactive method, i.e. observing the primer-magnitude time history. An improved version of simulated annealing is employed to optimize the rendezvous trajectory with the fixed-number of impulses. This interactive approach is evaluated by three test cases: coplanar circle-to-circle rendezvous, same-circle rendezvous and non-coplanar rendezvous. The results show that the interactive approach is effective and efficient in fuel-optimal non-linear rendezvous design. It can guarantee solutions, which satisfy the Lawden's necessary optimality conditions.

Mission options for rendezvous with the most accessible Near-Earth Asteroid - 1989 ML

NASA Technical Reports Server (NTRS)

Mcadams, Jim V.

1992-01-01

The recent discovery of the Amor-class 1989 ML, the most accessible known asteroid for minimum-energy rendezvous missions, has expedited the search for frequent, low-cost Near-Earth Asteroid rendezvous and round-trip missions. This paper identifies trajectory characteristics and assesses mass performance for low Delta V ballistic rendezvous opportunities to 1989 ML during the period 1996-2010. This asteroid also offers occasional unique extended mission opportunities, such as the lowest known Delta V requirement for any asteroid sample return mission as well as pre-rendezvous asteroid flyby and post-rendezvous comet flyby opportunities requiring less than 5.25 km/sec total Delta V. This paper also briefly comments concerning mission opportunities for asteroid 1991 JW, which recently replaced other known asteroids as the most accessible Near-Earth Asteroid for fast rendezvous and round-trip missions.

Automated Rendezvous and Docking: 1994-2004

NASA Technical Reports Server (NTRS)

2004-01-01

This custom bibliography from the NASA Scientific and Technical Information Program lists a sampling of records found in the NASA Aeronautics and Space Database. The scope of this topic includes technologies for human exploration and robotic sample return missions. This area of focus is one of the enabling technologies as defined by NASA s Report of the President s Commission on Implementation of United States Space Exploration Policy, published in June 2004.

The Rendezvous Monitoring Display Capabilities of the Rendezvous and Proximity Operations Program

NASA Technical Reports Server (NTRS)

Brazzel, Jack; Spehar, Pete; Clark, Fred; Foster, Chris; Eldridge, Erin

2013-01-01

The Rendezvous and Proximity Operations Program (RPOP) is a laptop computer- based relative navigation tool and piloting aid that was developed during the Space Shuttle program. RPOP displays a graphical representation of the relative motion between the target and chaser vehicles in a rendezvous, proximity operations and capture scenario. After being used in over 60 Shuttle rendezvous missions, some of the RPOP display concepts have become recognized as a minimum standard for cockpit displays for monitoring the rendezvous task. To support International Space Station (ISS) based crews in monitoring incoming visiting vehicles, RPOP has been modified to allow crews to compare the Cygnus visiting vehicle s onboard navigated state to processed range measurements from an ISS-based, crew-operated Hand Held Lidar sensor. This paper will discuss the display concepts of RPOP that have proven useful in performing and monitoring rendezvous and proximity operations.

Use of automated rendezvous trajectory planning to improve spacecraft operations efficiency

NASA Technical Reports Server (NTRS)

Mulder, Tom A.

1991-01-01

The current planning process for space shuttle rendezvous with a second Earth-orbiting vehicle is time consuming and costly. It is a labor-intensive, manual process performed pre-mission with the aid of specialized maneuver processing tools. Real-time execution of a rendezvous plan must closely follow a predicted trajectory, and targeted solutions leading up to the terminal phase are computed on the ground. Despite over 25 years of Gemini, Apollo, Skylab, and shuttle vehicle-to-vehicle rendezvous missions flown to date, rendezvous in Earth orbit still requires careful monitoring and cannot be taken for granted. For example, a significant trajectory offset was experienced during terminal phase rendezvous of the STS-32 Long Duration Exposure Facility retrieval mission. Several improvements can be introduced to the present rendezvous planning process to reduce costs, produce more fuel-efficient profiles, and increase the probability of mission success.

Shuttle OFT Level C navigation requirements

NASA Technical Reports Server (NTRS)

1980-01-01

Detailed requirements for the orbital operations computer loads, OPS 2, and OPS 8 are given. These requirements represent the total on-orbit/rendezvous navigation baseline requirements for the following principal functions: on-orbital/rendezvous navigation sequencer; on-orbit/rendezvous UPP sequencer; on-orbit rendezvous navigation; on-orbit prediction; on-orbit user parameter processing; and landing Site update.

Optical design of space cameras for automated rendezvous and docking systems

NASA Astrophysics Data System (ADS)

Zhu, X.

2018-05-01

Visible cameras are essential components of a space automated rendezvous and docking (AR and D) system, which is utilized in many space missions including crewed or robotic spaceship docking, on-orbit satellite servicing, autonomous landing and hazard avoidance. Cameras are ubiquitous devices in modern time with countless lens designs that focus on high resolution and color rendition. In comparison, space AR and D cameras, while are not required to have extreme high resolution and color rendition, impose some unique requirements on lenses. Fixed lenses with no moving parts and separated lenses for narrow and wide field-of-view (FOV) are normally used in order to meet high reliability requirement. Cemented lens elements are usually avoided due to wide temperature swing and outgassing requirement in space environment. The lenses should be designed with exceptional straylight performance and minimum lens flare given intense sun light and lacking of atmosphere scattering in space. Furthermore radiation resistant glasses should be considered to prevent glass darkening from space radiation. Neptec has designed and built a narrow FOV (NFOV) lens and a wide FOV (WFOV) lens for an AR and D visible camera system. The lenses are designed by using ZEMAX program; the straylight performance and the lens baffles are simulated by using TracePro program. This paper discusses general requirements for space AR and D camera lenses and the specific measures for lenses to meet the space environmental requirements.

Optimal four-impulse rendezvous between coplanar elliptical orbits

NASA Astrophysics Data System (ADS)

Wang, JianXia; Baoyin, HeXi; Li, JunFeng; Sun, FuChun

2011-04-01

Rendezvous in circular or near circular orbits has been investigated in great detail, while rendezvous in arbitrary eccentricity elliptical orbits is not sufficiently explored. Among the various optimization methods proposed for fuel optimal orbital rendezvous, Lawden's primer vector theory is favored by many researchers with its clear physical concept and simplicity in solution. Prussing has applied the primer vector optimization theory to minimum-fuel, multiple-impulse, time-fixed orbital rendezvous in a near circular orbit and achieved great success. Extending Prussing's work, this paper will employ the primer vector theory to study trajectory optimization problems of arbitrary eccentricity elliptical orbit rendezvous. Based on linearized equations of relative motion on elliptical reference orbit (referred to as T-H equations), the primer vector theory is used to deal with time-fixed multiple-impulse optimal rendezvous between two coplanar, coaxial elliptical orbits with arbitrary large eccentricity. A parameter adjustment method is developed for the prime vector to satisfy the Lawden's necessary condition for the optimal solution. Finally, the optimal multiple-impulse rendezvous solution including the time, direction and magnitudes of the impulse is obtained by solving the two-point boundary value problem. The rendezvous error of the linearized equation is also analyzed. The simulation results confirmed the analyzed results that the rendezvous error is small for the small eccentricity case and is large for the higher eccentricity. For better rendezvous accuracy of high eccentricity orbits, a combined method of multiplier penalty function with the simplex search method is used for local optimization. The simplex search method is sensitive to the initial values of optimization variables, but the simulation results show that initial values with the primer vector theory, and the local optimization algorithm can improve the rendezvous accuracy effectively with fast convergence, because the optimal results obtained by the primer vector theory are already very close to the actual optimal solution. If the initial values are taken randomly, it is difficult to converge to the optimal solution.

Boom Rendezvous Alternative Docking Approach

NASA Technical Reports Server (NTRS)

Bonometti, Joseph A.

2006-01-01

Space rendezvous and docking has always been attempted with primarily one philosophic methodology. The slow matching of one vehicle's orbit by a second vehicle and then a final closing sequence that ends in matching the orbits with perfect precision and with near zero relative velocities. The task is time consuming, propellant intensive, risk inherent (plume impingement, collisions, fuel depletion, etc.) and requires substantial hardware mass. The historical background and rationale as to why this approach is used is discussed in terms of the path-not-taken and in light of an alternate methodology. Rendezvous and docking by boom extension is suggested to have inherent advantages that today s technology can readily exploit. Extension from the primary spacecraft, beyond its inherent large inertia, allows low inertia connections to be made rapidly and safely. Plume contamination issues are eliminated as well as the extra propellant mass and risk required for the final thruster (docking) operations. Space vehicle connection hardware can be significantly lightened. Also, docking sensors and controls require less fidelity; allowing them to be more robust and less sensitive. It is the potential safety advantage and mission risk reduction that makes this approach attractive, besides the prospect of nominal time and mass savings.

COMPASS Final Report: Near Earth Asteroids Rendezvous and Sample Earth Returns (NEARER)

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; McGuire, Melissa L.

2009-01-01

In this study, the Collaborative Modeling for Parametric Assessment of Space Systems (COMPASS) team completed a design for a multi-asteroid (Nereus and 1996 FG3) sample return capable spacecraft for the NASA In-Space Propulsion Office. The objective of the study was to support technology development and assess the relative benefits of different electric propulsion systems on asteroid sample return design. The design uses a single, heritage Orion solar array (SA) (approx.6.5 kW at 1 AU) to power a single NASA Evolutionary Xenon Thruster ((NEXT) a spare NEXT is carried) to propel a lander to two near Earth asteroids. After landing and gathering science samples, the Solar Electric Propulsion (SEP) vehicle spirals back to Earth where it drops off the first sample s return capsule and performs an Earth flyby to assist the craft in rendezvousing with a second asteroid, which is then sampled. The second sample is returned in a similar fashion. The vehicle, dubbed Near Earth Asteroids Rendezvous and Sample Earth Returns (NEARER), easily fits in an Atlas 401 launcher and its cost estimates put the mission in the New Frontier s (NF's) class mission.

Adaptive Power Control for Space Communications

NASA Technical Reports Server (NTRS)

Thompson, Willie L., II; Israel, David J.

2008-01-01

This paper investigates the implementation of power control techniques for crosslinks communications during a rendezvous scenario of the Crew Exploration Vehicle (CEV) and the Lunar Surface Access Module (LSAM). During the rendezvous, NASA requires that the CEV supports two communication links: space-to-ground and crosslink simultaneously. The crosslink will generate excess interference to the space-to-ground link as the distances between the two vehicles decreases, if the output power is fixed and optimized for the worst-case link analysis at the maximum distance range. As a result, power control is required to maintain the optimal power level for the crosslink without interfering with the space-to-ground link. A proof-of-concept will be described and implemented with Goddard Space Flight Center (GSFC) Communications, Standard, and Technology Lab (CSTL).

Hyperbolic Rendezvous at Mars: Risk Assessments and Mitigation Strategies

NASA Technical Reports Server (NTRS)

Jedrey, Ricky; Landau, Damon; Whitley, Ryan

2015-01-01

Given the current interest in the use of flyby trajectories for human Mars exploration, a key requirement is the capability to execute hyperbolic rendezvous. Hyperbolic rendezvous is used to transport crew from a Mars centered orbit, to a transiting Earth bound habitat that does a flyby. Representative cases are taken from future potential missions of this type, and a thorough sensitivity analysis of the hyperbolic rendezvous phase is performed. This includes early engine cutoff, missed burn times, and burn misalignment. A finite burn engine model is applied that assumes the hyperbolic rendezvous phase is done with at least two burns.

Adaptive relative pose control for autonomous spacecraft rendezvous and proximity operations with thrust misalignment and model uncertainties

NASA Astrophysics Data System (ADS)

Sun, Liang; Zheng, Zewei

2017-04-01

An adaptive relative pose control strategy is proposed for a pursue spacecraft in proximity operations on a tumbling target. Relative position vector between two spacecraft is required to direct towards the docking port of the target while the attitude of them must be synchronized. With considering the thrust misalignment of pursuer, an integrated controller for relative translational and relative rotational dynamics is developed by using norm-wise adaptive estimations. Parametric uncertainties, unknown coupled dynamics, and bounded external disturbances are compensated online by adaptive update laws. It is proved via Lyapunov stability theory that the tracking errors of relative pose converge to zero asymptotically. Numerical simulations including six degrees-of-freedom rigid body dynamics are performed to demonstrate the effectiveness of the proposed controller.

Ground Simulation of an Autonomous Satellite Rendezvous and Tracking System Using Dual Robotic Systems

NASA Technical Reports Server (NTRS)

Trube, Matthew J.; Hyslop, Andrew M.; Carignan, Craig R.; Easley, Joseph W.

2012-01-01

A hardware-in-the-loop ground system was developed for simulating a robotic servicer spacecraft tracking a target satellite at short range. A relative navigation sensor package "Argon" is mounted on the end-effector of a Fanuc 430 manipulator, which functions as the base platform of the robotic spacecraft servicer. Machine vision algorithms estimate the pose of the target spacecraft, mounted on a Rotopod R-2000 platform, relay the solution to a simulation of the servicer spacecraft running in "Freespace", which performs guidance, navigation and control functions, integrates dynamics, and issues motion commands to a Fanuc platform controller so that it tracks the simulated servicer spacecraft. Results will be reviewed for several satellite motion scenarios at different ranges. Key words: robotics, satellite, servicing, guidance, navigation, tracking, control, docking.

Requirements for a near-earth space tug vehicle

NASA Technical Reports Server (NTRS)

Gunn, Charles R.

1990-01-01

The requirement for a small but powerful space tug, which will be capable of autonomous orbital rendezvous, docking and translating cargos between near-earth orbits by the end of this decade to support the growing national and international space infrastructure focused near the Space Station Freedom, is described. An aggregate of missions drives the need for a space tug including reboosting decaying satellites back to their operational altitudes, retrieving failed or exhausted satellites to Shuttle or SSF for on-orbit refueling or repair, and transporting a satellite servicer system with an FTS to ailing satellites for supervised in-place repair. It is shown that the development and operation of a space tug to perform such numerous missions is more cost effective than separate module and satellite systems to perform the same tasks.

Autonomous Path Planning for On-Orbit Servicing Vehicles

NASA Astrophysics Data System (ADS)

McInnes, C. R.

On-orbit servicing has long been considered as a means of reducing mission costs. While automated on-orbit servicing of satellites in LEO and GEO has yet to be realised, the International Space Station (ISS) will require servicing in a number of forms for re-supply, external visual inspection and maintenance. This paper will discuss a unified approach to path planning for such servicing vehicles using artificial potential field methods. In particular, path constrained rendezvous and docking of the ESA Automated Transfer Vehicle (ATV) at the ISS will be investigated as will mission and path planning tools for the Daimler-Chrysler Aerospace ISS Inspector free-flying camera. Future applications for free-flying microcameras and co-operative control between multiple free-flyers for on-orbit assembly will also be considered.

The role of smart systems in rendezvous, close proximity operations and docking maneuvers

NASA Astrophysics Data System (ADS)

Szatkowski, Gerard P.

Various missions scenarios (Space Station logistics, LEO and GEO services, and SEI operation) will involve flexibility in mission management. This means operations will be one or a combination of the following: autonomous, supervised autonomous, and machine aided manual control. Smart Systems will likely play a significant role in making these missions successful from a safety/reliability perspective and less costly from an operations perspective. This does not imply that Smart Systems need to be super sophisticated. On the contrary, Smart Systems have been described as automated intelligence that if a person had done it wrong, it would be considered stupid. The first part of this paper will describe the types of Smart System techniques involved in AR and CC, their specifications, duties, and interactions. Next will be a discussion of the work performed under the auspice of the ALS Program to further Expert Systems applications imbedded in the control process, NASA/JSC CRAD, and other related IRAD projects. This will include issues pertaining to the following: integration, speed, knowledge encapsulation, and cooperative systems. Finally, a brief description will be offered to outline the major obstacles for the acceptance of Smart Systems in critical applications.

Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Schmerling, Edward; Maher, Gabriel D.; Barbee, Brent W.; Pavone, Marco

2016-01-01

This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the field of robot motion planning to the problem of impulsively actuated, propellant- optimized rendezvous and proximity operations under the Clohessy-Wiltshire-Hill dynamics model. The approach calls upon a modified version of the FMT* algorithm to grow a set of feasible trajectories over a deterministic, low-dispersion set of sample points covering the free state space. To enforce safety, the tree is only grown over the subset of actively safe samples, from which there exists a feasible one-burn collision-avoidance maneuver that can safely circularize the spacecraft orbit along its coasting arc under a given set of potential thruster failures. Key features of the proposed algorithm include 1) theoretical guarantees in terms of trajectory safety and performance, 2) amenability to real-time implementation, and 3) generality, in the sense that a large class of constraints can be handled directly. As a result, the proposed algorithm offers the potential for widespread application, ranging from on-orbit satellite servicing to orbital debris removal and autonomous inspection missions.

Study of a comet rendezvous mission. Volume 2: Appendices

NASA Technical Reports Server (NTRS)

1972-01-01

Appendices to the comet Encke rendezvous mission consider relative positions of comet, earth and sun; viewing condition for Encke; detection of Taurid meteor streams; ephemeris of comet Encke; microwave and optical techniques in rendezvous mission; approach instruments; electrostatic equilibrium of ion engine spacecraft; comet flyby data for rendezvous spacecraft assembly; observations of P/Encke extracted from a compilation; and summary of technical innovations.

SEL2 servicing: increased science return via on-orbit propellant replenishment

NASA Astrophysics Data System (ADS)

Reed, Benjamin B.; DeWeese, Keith; Kienlen, Michael; Aranyos, Thomas; Pellegrino, Joseph; Bacon, Charles; Qureshi, Atif

2016-07-01

Spacecraft designers are driving observatories to the distant Sun-Earth Lagrange Point 2 (SEL2) to meet ever-increasing science requirements. The mass fraction dedicated to propellant for these observatories to reach and operate at SEL2 will be allocated with the upmost care, as it comes at the expense of optics and instrument masses. As such, these observatories could benefit from on-orbit refueling, allowing greater dry-to-wet mass ratio at launch and/or longer mission life. NASA is developing technologies, capabilities and integrated mission designs for multiple servicing applications in low Earth orbit (LEO), geosynchronous Earth orbit (GEO) and cisluner locations. Restore-L, a mission officially in formulation, will launch a free-flying robotic servicer to refuel a government-owned satellite in LEO by mid 2020. This paper will detail the results of a point design mission study to extend Restore-L servicing technologies from LEO to SEL2. This SEL2 mission would launch an autonomous, robotic servicer spacecraft equipped to extend the life of two space assets through refueling. Two space platforms were chosen to 1) drive the requirements for achieving SEL2 orbit and rendezvous with a spacecraft, and 2) to drive the requirements to translate within SEL2 to conduct a follow-on servicing mission. Two fuels, xenon and hydrazine, were selected to assess a multiple delivery system. This paper will address key mission drivers, such as servicer autonomy (necessitated due to communications latency at L2). Also discussed will be the value of adding cooperative servicing elements to the client observatories to reduce mission risk.

Conference proceedings of the Northeast Autonomous Vehicle Summit.

DOT National Transportation Integrated Search

2017-05-24

The development of autonomous vehicle technology and potential adoption of autonomous vehicles is occurring at a rapid rate in the United States. As this technology evolves, there are many technical, logistical and legal issues that need to be addres...

Overview: Solar Electric Propulsion Concept Designs for SEP Technology Demonstration Mission

NASA Technical Reports Server (NTRS)

Mcguire, Melissa L.; Hack, Kurt J.; Manzella, David; Herman, Daniel

2014-01-01

JPC presentation of the Concept designs for NASA Solar Electric Propulsion Technology Demonstration mission paper. Multiple Solar Electric Propulsion Technology Demonstration Missions were developed to assess vehicle performance and estimated mission cost. Concepts ranged from a 10,000 kg spacecraft capable of delivering 4000 kg of payload to one of the Earth Moon Lagrange points in support of future human-crewed outposts to a 180 kg spacecraft capable of performing an asteroid rendezvous mission after launched to a geostationary transfer orbit as a secondary payload.

Nuclear electric propulsion mission engineering study. Volume 2: Final report

NASA Technical Reports Server (NTRS)

1973-01-01

Results of a mission engineering analysis of nuclear-thermionic electric propulsion spacecraft for unmanned interplanetary and geocentric missions are summarized. Critical technologies associated with the development of nuclear electric propulsion (NEP) are assessed, along with the impact of its availability on future space programs. Outer planet and comet rendezvous mission analysis, NEP stage design for geocentric and interplanetary missions, NEP system development cost and unit costs, and technology requirements for NEP stage development are studied.

Designing the STS-134 Re-Rendezvous: A Preparation for Future Crewed Rendezvous Missions

NASA Technical Reports Server (NTRS)

Stuit, Timothy D.

2011-01-01

In preparation to provide the capability for the Orion spacecraft, also known as the Multi-Purpose Crew Vehicle (MPCV), to rendezvous with the International Space Station (ISS) and future spacecraft, a new suite of relative navigation sensors are in development and were tested on one of the final Space Shuttle missions to ISS. The National Aeronautics and Space Administration (NASA) commissioned a flight test of prototypes of the Orion relative navigation sensors on STS-134, in order to test their performance in the space environment during the nominal rendezvous and docking, as well as a re-rendezvous dedicated to testing the prototype sensors following the undocking of the Space Shuttle orbiter at the end of the mission. Unlike the rendezvous and docking at the beginning of the mission, the re-rendezvous profile replicates the newly designed Orion coelliptic approach trajectory, something never before attempted with the shuttle orbiter. Therefore, there were a number of new parameters that needed to be conceived of, designed, and tested for this rerendezvous to make the flight test successful. Additionally, all of this work had to be integrated with the normal operations of the ISS and shuttle and had to conform to the constraints of the mission and vehicles. The result of this work is a separation and rerendezvous trajectory design that would not only prove the design of the relative navigation sensors for the Orion vehicle, but also would serve as a proof of concept for the Orion rendezvous trajectory itself. This document presents the analysis and decision making process involved in attaining the final STS-134 re-rendezvous design.

Progress towards autonomous, intelligent systems

NASA Technical Reports Server (NTRS)

Lum, Henry; Heer, Ewald

1987-01-01

An aggressive program has been initiated to develop, integrate, and implement autonomous systems technologies starting with today's expert systems and evolving to autonomous, intelligent systems by the end of the 1990s. This program includes core technology developments and demonstration projects for technology evaluation and validation. This paper discusses key operational frameworks in the content of systems autonomy applications and then identifies major technological challenges, primarily in artificial intelligence areas. Program content and progress made towards critical technologies and demonstrations that have been initiated to achieve the required future capabilities in the year 2000 era are discussed.

Spacecraft Autonomy and Automation: A Comparative Analysis of Strategies for Cost Effective Mission Operations

NASA Technical Reports Server (NTRS)

Wright, Nathaniel, Jr.

2000-01-01

The evolution of satellite operations over the last 40 years has drastically changed. October 4, 1957 (during the cold war) the Soviet Union launched the world's first spacecraft into orbit. The Sputnik satellite orbited Earth for three months and catapulted the United States into a race for dominance in space. A year after Sputnik, President Dwight Eisenhower formed the National Space and Aeronautics Administration (NASA). With a team of scientists and engineers, NASA successfully launched Explorer 1, the first US satellite to orbit Earth. During these early years, massive amounts of ground support equipment and operators were required to successfully operate spacecraft vehicles. Today, budget reductions and technological advances have forced new approaches to spacecraft operations. These approaches require increasingly complex, on board spacecraft systems, that enable autonomous operations, resulting in more cost-effective mission operations. NASA's Goddard Space Flight Center, considered world class in satellite development and operations, has developed and operated over 200 satellites during its 40 years of existence. NASA Goddard is adopting several new millennium initiatives that lower operational costs through the spacecraft autonomy and automation. This paper examines NASA's approach to spacecraft autonomy and ground system automation through a comparative analysis of satellite missions for Hubble Space Telescope-HST, Near Earth Asteroid Rendezvous-NEAR, and Solar Heliospheric Observatory-SoHO, with emphasis on cost reduction methods, risk analysis and anomalies and strategies employed for mitigating risk.

A Ground Systems Template for Remote Sensing Systems

NASA Astrophysics Data System (ADS)

McClanahan, Timothy P.; Trombka, Jacob I.; Floyd, Samuel R.; Truskowski, Walter; Starr, Richard D.; Clark, Pamela E.; Evans, Larry G.

2002-10-01

Spaceborne remote sensing using gamma and X-ray spectrometers requires particular attention to the design and development of reliable systems. These systems must ensure the scientific requirements of the mission within the challenging technical constraints of operating instrumentation in space. The Near Earth Asteroid Rendezvous (NEAR) spacecraft included X-ray and gamma-ray spectrometers (XGRS), whose mission was to map the elemental chemistry of the 433 Eros asteroid. A remote sensing system template, similar to a blackboard systems approach used in artificial intelligence, was identified in which the spacecraft, instrument, and ground system was designed and developed to monitor and adapt to evolving mission requirements in a complicated operational setting. Systems were developed for ground tracking of instrument calibration, instrument health, data quality, orbital geometry, solar flux as well as models of the asteroid's surface characteristics, requiring an intensive human effort. In the future, missions such as the Autonomous Nano-Technology Swarm (ANTS) program will have to rely heavily on automation to collectively encounter and sample asteroids in the outer asteroid belt. Using similar instrumentation, ANTS will require information similar to data collected by the NEAR X-ray/Gamma-Ray Spectrometer (XGRS) ground system for science and operations management. The NEAR XGRS systems will be studied to identify the equivalent subsystems that may be automated for ANTS. The effort will also investigate the possibility of applying blackboard style approaches to automated decision making required for ANTS.

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.

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.

Critical Perspectives on TEL: Art and Design Education, Theory, Communities and Space

ERIC Educational Resources Information Center

Sclater, Madeleine; Lally, Vic

2016-01-01

This paper explores three themes, emerging from the Inter-Life project, an Art and Design education and social skills project set in a virtual world. We argue that they connect with the concerns raised by critical Technology-Enhanced Learning (TEL) researchers at the Alpine Rendezvous workshop entitled "TEL: the Crisis and the Response."…

Handshaking Protocols and Jamming Mechanisms for Blind Rendezvous in a Dynamic Spectrum Access Environment

DTIC Science & Technology

2010-03-01

communications have become a staple of modern society, promoted by newer technologies such as netbooks and smartphones . The boom of wireless...69 4.2.2 TTH Analysis vs . Simulation ........................................................................... 75 4.2.4 Effects of...Total node receive range, both radios in same channel ................................... 54 Figure 21: Probability of initial beacon reception vs

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.

Modular Autonomous Systems Technology Framework: A Distributed Solution for System Monitoring and Control

NASA Technical Reports Server (NTRS)

Badger, Julia M.; Claunch, Charles; Mathis, Frank

2017-01-01

The Modular Autonomous Systems Technology (MAST) framework is a tool for building distributed, hierarchical autonomous systems. Originally intended for the autonomous monitoring and control of spacecraft, this framework concept provides support for variable autonomy, assume-guarantee contracts, and efficient communication between subsystems and a centralized systems manager. MAST was developed at NASA's Johnson Space Center (JSC) and has been applied to an integrated spacecraft example scenario.

Earthwork haul-truck cycle-time monitoring : a case study.

DOT National Transportation Integrated Search

2016-03-01

Recent developments in autonomous technologies have motivated practitioners to adopt new technologies in highway and : earthwork construction projects. This project set out to (1) identify new and emerging autonomous earthwork technologies and : (2) ...

Orbital Express AVGS Validation and Calibration for Automated Rendezvous

NASA Technical Reports Server (NTRS)

Heaton, Andrew F.; Howard, Richard T.; Pinson, Robin M.

2008-01-01

From March to July of 2007, the DARPA Orbital Express mission achieved a number of firsts in autonomous spacecraft operations. The NASA Advanced Video Guidance Sensor (AVGS) was the primary docking sensor during the first two dockings and was used in a blended mode three other automated captures. The AVGS performance exceeded its specification by approximately an order of magnitude. One reason that the AVGS functioned so well during the mission was that the validation and calibration of the sensor prior to the mission advanced the state-of-the-art for proximity sensors. Some factors in this success were improvements in ground test equipment and truth data, the capability for ILOAD corrections for optical and other effects, and the development of a bias correction procedure. Several valuable lessons learned have applications to future proximity sensors.

Astronaut Carl Meade mans pilots station during trajectory control exercise

NASA Image and Video Library

1994-09-12

STS064-22-024 (9-20 Sept. 1994) --- With a manual and lap top computer in front of him, astronaut Carl J. Meade, STS-64 mission specialist, supports operations with the Trajectory Control Sensor (TCS) aboard the Earth-orbiting space shuttle Discovery. For this exercise, Meade temporarily mans the pilot's station on the forward flight deck. The TCS is the work of a team of workers at NASA's Johnson Space Center. Data gathered during this flight was expected to prove valuable in designing and developing a sensor for use during the rendezvous and mating phases of orbiter missions to the space station. For this demonstration, the Shuttle Pointed Autonomous Research Tool for Astronomy 201 (SPARTAN 201) was used as the target vehicle during release and retrieval operations. Photo credit: NASA or National Aeronautics and Space Administration

Perceptions of seniors with heart failure regarding autonomous zero-effort monitoring of physiological parameters in the smart-home environment.

PubMed

Grace, Sherry L; Taherzadeh, Golnoush; Jae Chang, Isaac Sung; Boger, Jennifer; Arcelus, Amaya; Mak, Susanna; Chessex, Caroline; Mihailidis, Alex

Technological advances are leading to the ability to autonomously monitor patient's health status in their own homes, to enable aging-in-place. To understand the perceptions of seniors with heart failure (HF) regarding smart-home systems to monitor their physiological parameters. In this qualitative study, HF outpatients were invited to a smart-home lab, where they completed a sequence of activities, during which the capacity of 5 autonomous sensing modalities was compared to gold standard measures. Afterwards, a semi-structured interview was undertaken. These were transcribed and analyzed using an interpretive-descriptive approach. Five themes emerged from the 26 interviews: (1) perceptions of technology, (2) perceived benefits of autonomous health monitoring, (3) disadvantages of autonomous monitoring, (4) lack of perceived need for continuous health monitoring, and (5) preferences for autonomous monitoring. Patient perception towards autonomous monitoring devices was positive, lending credence to zero-effort technology as a viable and promising approach. Copyright © 2017 Elsevier Inc. All rights reserved.

Spacecraft rendezvous operational considerations affecting vehicle systems design and configuration

NASA Astrophysics Data System (ADS)

Prust, Ellen E.

One lesson learned from Orbiting Maneuvering Vehicle (OMV) program experience is that Design Reference Missions must include an appropriate balance of operations and performance inputs to effectively drive vehicle systems design and configuration. Rendezvous trajectory design is based on vehicle characteristics (e.g., mass, propellant tank size, and mission duration capability) and operational requirements, which have evolved through the Gemini, Apollo, and STS programs. Operational constraints affecting the rendezvous final approach are summarized. The two major objectives of operational rendezvous design are vehicle/crew safety and mission success. Operational requirements on the final approach which support these objectives include: tracking/targeting/communications; trajectory dispersion and navigation uncertainty handling; contingency protection; favorable sunlight conditions; acceptable relative state for proximity operations handover; and compliance with target vehicle constraints. A discussion of the ways each of these requirements may constrain the rendezvous trajectory follows. Although the constraints discussed apply to all rendezvous, the trajectory presented in 'Cargo Transfer Vehicle Preliminary Reference Definition' (MSFC, May 1991) was used as the basis for the comments below.

Optimal cooperative time-fixed impulsive rendezvous

NASA Technical Reports Server (NTRS)

Mirfakhraie, Koorosh; Conway, Bruce A.; Prussing, John E.

1988-01-01

A method has been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method presently assumes that the vehicles perform a total of three impulsive maneuvers with each vehicle being active, that is, making at least one maneuver. The cost of a feasible 'reference' trajectory is improved by an optimizer which uses an analytical gradient developed using primer vector theory and a new solution for the optimal terminal (rendezvous) maneuver. Results are presented for a large number of cases in which the initial orbits of both vehicles are circular but in which the initial positions of the vehicles and the allotted time for rendezvous are varied. In general, the cost of the cooperative rendezvous is less than that of rendezvous with one vehicle passive. Further improvement in cost may be obtained in the future when additional, i.e., midcourse, impulses are allowed and inserted as indicated for some cases by the primer vector histories which are generated by the program.

Rendezvous and Proximity Operations of the Space Shuttle

NASA Technical Reports Server (NTRS)

Goodman, John L.

2005-01-01

Space Shuttle rendezvous missions present unique challenges that were not fully recognized when the Shuttle was designed. Rendezvous targets could be passive (i.e., no lights or transponders), and not designed to facilitate Shuttle rendezvous, proximity operations, and retrieval. Shuttle reaction control system jet plume impingement on target spacecraft presented induced dynamics, structural loading, and contamination concerns. These issues, along with limited reaction control system propellant in the Shuttle nose, drove a change from the legacy Gemini/Apollo coelliptic profile to a stable orbit profile, and the development of new proximity operations techniques. Multiple scientific and on-orbit servicing missions, and crew exchange, assembly and replenishment flights to Mir and to the International Space Station drove further profile and piloting technique changes. These changes included new proximity operations, relative navigation sensors, and new computer generated piloting cues. However, the Shuttle's baseline rendezvous navigation system has not required modification to place the Shuttle at the proximity operations initiation point for all rendezvous missions flown.

Gossip-based solutions for discrete rendezvous in populations of communicating agents.

PubMed

Hollander, Christopher D; Wu, Annie S

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm.

Gossip-Based Solutions for Discrete Rendezvous in Populations of Communicating Agents

PubMed Central

Hollander, Christopher D.; Wu, Annie S.

2014-01-01

The objective of the rendezvous problem is to construct a method that enables a population of agents to agree on a spatial (and possibly temporal) meeting location. We introduce the buffered gossip algorithm as a general solution to the rendezvous problem in a discrete domain with direct communication between decentralized agents. We compare the performance of the buffered gossip algorithm against the well known uniform gossip algorithm. We believe that a buffered solution is preferable to an unbuffered solution, such as the uniform gossip algorithm, because the use of a buffer allows an agent to use multiple information sources when determining its desired rendezvous point, and that access to multiple information sources may improve agent decision making by reinforcing or contradicting an initial choice. To show that the buffered gossip algorithm is an actual solution for the rendezvous problem, we construct a theoretical proof of convergence and derive the conditions under which the buffered gossip algorithm is guaranteed to produce a consensus on rendezvous location. We use these results to verify that the uniform gossip algorithm also solves the rendezvous problem. We then use a multi-agent simulation to conduct a series of simulation experiments to compare the performance between the buffered and uniform gossip algorithms. Our results suggest that the buffered gossip algorithm can solve the rendezvous problem faster than the uniform gossip algorithm; however, the relative performance between these two solutions depends on the specific constraints of the problem and the parameters of the buffered gossip algorithm. PMID:25397882

Automatic procedures generator for orbital rendezvous maneuver

NASA Technical Reports Server (NTRS)

Kohn, W.; Van Valkenburg, J. A.; Dunn, C. K.

1985-01-01

This paper describes the development of an expert system for defining and dynamically updating procedures for an orbital rendezvous maneuver. The product of the expert system is a procedure represented by a Moore automaton. The construction is recursive and driven by a simulation of the rendezvousing bodies.

A Robust Compositional Architecture for Autonomous Systems

NASA Technical Reports Server (NTRS)

Brat, Guillaume; Deney, Ewen; Farrell, Kimberley; Giannakopoulos, Dimitra; Jonsson, Ari; Frank, Jeremy; Bobby, Mark; Carpenter, Todd; Estlin, Tara

2006-01-01

Space exploration applications can benefit greatly from autonomous systems. Great distances, limited communications and high costs make direct operations impossible while mandating operations reliability and efficiency beyond what traditional commanding can provide. Autonomous systems can improve reliability and enhance spacecraft capability significantly. However, there is reluctance to utilizing autonomous systems. In part this is due to general hesitation about new technologies, but a more tangible concern is that of reliability of predictability of autonomous software. In this paper, we describe ongoing work aimed at increasing robustness and predictability of autonomous software, with the ultimate goal of building trust in such systems. The work combines state-of-the-art technologies and capabilities in autonomous systems with advanced validation and synthesis techniques. The focus of this paper is on the autonomous system architecture that has been defined, and on how it enables the application of validation techniques for resulting autonomous systems.

Design and Implementation of the Automated Rendezvous Targeting Algorithms for Orion

NASA Technical Reports Server (NTRS)

DSouza, Christopher; Weeks, Michael

2010-01-01

The Orion vehicle will be designed to perform several rendezvous missions: rendezvous with the ISS in Low Earth Orbit (LEO), rendezvous with the EDS/Altair in LEO, a contingency rendezvous with the ascent stage of the Altair in Low Lunar Orbit (LLO) and a contingency rendezvous in LLO with the ascent and descent stage in the case of an aborted lunar landing. Therefore, it is not difficult to realize that each of these scenarios imposes different operational, timing, and performance constraints on the GNC system. To this end, a suite of on-board guidance and targeting algorithms have been designed to meet the requirement to perform the rendezvous independent of communications with the ground. This capability is particularly relevant for the lunar missions, some of which may occur on the far side of the moon. This paper will describe these algorithms which are designed to be structured and arranged in such a way so as to be flexible and able to safely perform a wide variety of rendezvous trajectories. The goal of the algorithms is not to merely fly one specific type of canned rendezvous profile. Conversely, it was designed from the start to be general enough such that any type of trajectory profile can be flown.(i.e. a coelliptic profile, a stable orbit rendezvous profile, and a expedited LLO rendezvous profile, etc) all using the same rendezvous suite of algorithms. Each of these profiles makes use of maneuver types which have been designed with dual goals of robustness and performance. They are designed to converge quickly under dispersed conditions and they are designed to perform many of the functions performed on the ground today. The targeting algorithms consist of a phasing maneuver (NC), an altitude adjust maneuver (NH), and plane change maneuver (NPC), a coelliptic maneuver (NSR), a Lambert targeted maneuver, and several multiple-burn targeted maneuvers which combine one of more of these algorithms. The derivation and implementation of each of these algorithms will be discussed in detail, as well and the Rendezvous Targeting "wrapper" which will sequentially tie them all together into a single onboard targeting tool which can produce a final integrated rendezvous trajectory. In a similar fashion, the various guidance modes available for flying out each of these maneuvers will be discussed as well. This paradigm of having the onboard guidance & targeting capability described above is different than the way the Space Shuttle has operated thus far. As a result, a discussion of these differences in terms of operations and ground and crew intervention will also be discussed. However, the general framework of how the mission designers on the ground first perform all mission design and planning functions, and then uplink that burn plan to the vehicle ensures that the ground will be involved to ensure safety and reliability. The only real difference is which of these functions will be done onboard vs. on the ground as done currently. Finally, this paper will describe the performance of each of these algorithms individually as well as the entire suite of algorithms as applied to the Orion ISS and EDS/Altair rendezvous missions in LEO. These algorithms have been incorporated in both a Linear Covariance environment and a Monte Carlo environment and the results of these dispersion analyses will be presented in the paper as well.

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.

"Cascades, Torrents & Drowning" in Information: Seeking Help in the Contemporary General Practitioner Practice in the UK

ERIC Educational Resources Information Center

Holley, Debbie; Santos, Patricia; Cook, John; Kerr, Micky

2016-01-01

This paper responds to the Alpine Rendez-Vous "crisis" in technology-enhanced learning. It takes a contested area of policy as well as a rapid change in the National Health Service, and documents the responses to "information overload" by a group of general practitioners practices in the North of England. Located between the…

Impact of the Intracoronary Rendezvous technique on coronary angioplasty for chronic total occlusion.

PubMed

Nihei, Taro; Yamamoto, Yoshito; Kudo, Shun; Hanawa, Kenichiro; Hasebe, Yuhi; Takagi, Yusuke; Minatoya, Yutaka; Sugi, Masafumi; Shimokawa, Hiroaki

2017-10-01

The Rendezvous technique, which requires bidirectional wiring, is one of the useful methods for improving the success rate of recanalization for chronic total occlusion (CTO) in the field of peripheral intervention. Recently, advanced new devices for percutaneous coronary intervention have enabled us to perform the Rendezvous technique for peripheral as well as for coronary CTO lesions. We used the Intracoronary Rendezvous technique to perform angioplasty for coronary CTO. "Intracoronary Rendezvous" means that Rendezvous was achieved within the CTO lesion. From March 2009 to November 2015, 189 patients underwent CTO angioplasty at our institute, and we treated 10 patients with the Intracoronary Rendezvous technique. This technique involves crossing the Gaia series guidewire to the contralateral Corsair microcatheter located inside the plaque of CTO lesions. The majority of the CTO sites examined were in the proximal RCA (60 %). Lesion length of the occlusion was relatively long (64.4 ± 12.2 mm). Using the biplane imaging system, we were able to control the Gaia guidewires in a specific direction. Furthermore, if the antegrade and retrograde wires can be advanced into contiguous space inside the CTO lesion, we intentionally entered either wire into the contralateral Corsair microcatheter, followed by successful CTO crossing. CTO recanalization was completed for all patients without controlled antegrade retrograde subintimal tracking (CART) or reverse CART. No major complications occurred during hospitalization. These results indicate that the Rendezvous technique, assisted by new devices and a biplane imaging system, represents one of the primary options to achieve successful coronary CTO recanalization.

Apollo Rendezvous Docking Simulator

NASA Image and Video Library

1964-11-02

Originally the Rendezvous was used by the astronauts preparing for Gemini missions. The Rendezvous Docking Simulator was then modified and used to develop docking techniques for the Apollo program. The pilot is shown maneuvering the LEM into position for docking with a full-scale Apollo Command Module. From A.W. Vogeley, Piloted Space-Flight Simulation at Langley Research Center, Paper presented at the American Society of Mechanical Engineers, 1966 Winter Meeting, New York, NY, November 27 - December 1, 1966. The Rendezvous Docking Simulator and also the Lunar Landing Research Facility are both rather large moving-base simulators. It should be noted, however, that neither was built primarily because of its motion characteristics. The main reason they were built was to provide a realistic visual scene. A secondary reason was that they would provide correct angular motion cues (important in control of vehicle short-period motions) even though the linear acceleration cues would be incorrect. Apollo Rendezvous Docking Simulator: Langley s Rendezvous Docking Simulator was developed by NASA scientists to study the complex task of docking the Lunar Excursion Module with the Command Module in Lunar orbit.

Rendezvous missions to temporarily captured near Earth asteroids

NASA Astrophysics Data System (ADS)

Brelsford, S.; Chyba, M.; Haberkorn, T.; Patterson, G.

2016-04-01

Missions to rendezvous with or capture an asteroid present significant interest both from a geophysical and safety point of view. They are key to the understanding of our solar system and are stepping stones for interplanetary human flight. In this paper, we focus on a rendezvous mission with 2006 RH120, an asteroid classified as a Temporarily Captured Orbiter (TCO). TCOs form a new population of near Earth objects presenting many advantages toward that goal. Prior to the mission, we consider the spacecraft hibernating on a Halo orbit around the Earth-Moon's L2 libration point. The objective is to design a transfer for the spacecraft from the parking orbit to rendezvous with 2006 RH120 while minimizing the fuel consumption. Our transfers use indirect methods, based on the Pontryagin Maximum Principle, combined with continuation techniques and a direct method to address the sensitivity of the initialization. We demonstrate that a rendezvous mission with 2006 RH120 can be accomplished with low delta-v. This exploratory work can be seen as a first step to identify good candidates for a rendezvous on a given TCO trajectory.

History of Space Shuttle Rendezvous

NASA Technical Reports Server (NTRS)

Goodman, John L.

2011-01-01

This technical history is intended to provide a technical audience with an introduction to the rendezvous and proximity operations history of the Space Shuttle Program. It details the programmatic constraints and technical challenges encountered during shuttle development in the 1970s and over thirty years of shuttle missions. An overview of rendezvous and proximity operations on many shuttle missions is provided, as well as how some shuttle rendezvous and proximity operations systems and flight techniques evolved to meet new programmatic objectives. This revised edition provides additional information on Mercury, Gemini, Apollo, Skylab, and Apollo/Soyuz. Some chapters on the Space Shuttle have been updated and expanded. Four special focus chapters have been added to provide more detailed information on shuttle rendezvous. A chapter on the STS-39 mission of April/May 1991 describes the most complex deploy/retrieve mission flown by the shuttle. Another chapter focuses on the Hubble Space Telescope servicing missions. A third chapter gives the reader a detailed look at the February 2010 STS-130 mission to the International Space Station. The fourth chapter answers the question why rendezvous was not completely automated on the Gemini, Apollo, and Space Shuttle vehicles.

Autonomous Landing and Hazard Avoidance Technology (ALHAT)

NASA Technical Reports Server (NTRS)

Epp, Chirold

2007-01-01

This viewgraph presentation reviews the work towards technology that will result in an autonomous landing on the lunar surface, that will avoid the hazards of lunar landing. In October 2005, the Exploration Systems Mission Directorate at NASA Headquarters assigned the development of new technologies to support the return to the moon. One of these was Autonomous Precision Landing and Hazard Detection and Avoidance Technology now known as ALHAT ALHAT is a lunar descent and landing GNC technology development project led by Johnson Space Center (JSC) with team members from Langley Research Center (LaRC), Jet Propulsion Laboratory (JPL), Draper Laboratories (CSDL) and the Applied Physics Laboratory (APL)

A Two-Impulse Plan for Performing Rendezvous on a Once-A-Day Basis

NASA Technical Reports Server (NTRS)

Bird, John D.; Thomas, David F., Jr.

1960-01-01

An investigation of a two-impulse plan for performing rendezvous on a once-a-day basis with a near-earth satellite station indicates that launch into rendezvous from slightly less than maximum satellite latitude is an unusually favorable circumstance in that no appreciable expense in mass ratio is incurred. In addition, it was found for the two-impulse maneuver employed in this study that the optimum angular travel of the ferry vehicle to rendezvous was considerably less than the 1800 transfer which is optimum for the two-impulse in-plane launch.

Main-belt asteroid exploration - Mission options for the 1990s

NASA Technical Reports Server (NTRS)

Yen, Chen-Wan L.

1989-01-01

An extensive investigation of the ways to rendezvous with diverse groups of asteroids residing between 2.0 and 5.0 AU is made, and the extent of achievable missions using the STS upper-stage launch vehicles (IUS 2-Stage/Star-48 or NASA Centaur) is examined. With judicious use of earth, Mars, and Jupiter gravity assists, rendezvous with some asteroids in all regions of space is possible. It is also shown that the STS upper stages are capable of carrying out missions beyond a single rendezvous, namely with several flybys and/or multiple rendezvous.

Aerospace applications of atmospheric rendezvous.

NASA Technical Reports Server (NTRS)

Bird, J. D.; Schaezler, A. D.

1972-01-01

This paper studies the feasibility of the use of an atmospheric rendezvous concept to increase the efficiency and flexibility of space transportation systems. In this concept the second stage of a recoverable orbital launch vehicle or hypersonic transport would be built without wings, landing gear, or subsonic flight propulsion, and would be received in an atmospheric rendezvous by a carrier vehicle at the terminal point of flight for subsequent ferry to a landing site. Significant possibilities for weight improvement are shown and the attractiveness of a subsonic form of atmospheric rendezvous in either a towing or docking mode is illustrated.

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.

Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA Technical Reports Server (NTRS)

Folta, David C.; Hawkins, Albin; Bauer, Frank H. (Technical Monitor)

2001-01-01

NASA's first autonomous formation flying mission completed its primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center (GSFC) implemented a universal 3-axis formation flying algorithm in an autonomous executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard flight design and presents the validation results of this unique system. Results from functionality assessment through fully autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a standalone algorithm.

Millennials: Rendezvous with Destiny?

DTIC Science & Technology

2008-03-05

St ra te gy R es ea rc h Pr oj ec t MILLENNIALS : RENDEZVOUS WITH DESTINY? BY COLONEL FREDERICK L. FAHLBUSCH United States Air Force...AND SUBTITLE Millennials Rendezvou with Destiny? 5a. CONTRACT NUMBER 5b. GRANT NUMBER 5c. PROGRAM ELEMENT NUMBER 6. AUTHOR(S) Frederick...PROJECT MILLENNIALS : RENDEZVOUS WITH DESTINY? by Colonel Frederick L. Fahlbusch United States Air Force

Comet rendezvous mission study

NASA Technical Reports Server (NTRS)

Friedlander, A. L.; Wells, W. C.

1971-01-01

Four periodic comets with perihelia between 1980 and 1986 (Encke, d'Arrest, Kipff, and Halley) are used as candidates for the comet rendezvous mission study. All these comet apparitions are especially favorable for rendezvous missions, because of early earth-based comet recovery, good opportunities to view their activity from earth, and reasonable launch vehicle and trajectory requirements for nominal payloads.

Nuclear electric propulsion mission engineering study. Volume 1: Executive summary

NASA Technical Reports Server (NTRS)

1973-01-01

Results of a mission engineering analysis of nuclear-thermionic electric propulsion spacecraft for unmanned interplanetary and geocentric missions are summarized. Critical technologies associated with the development of nuclear electric propulsion (NEP) are assessed. Outer planet and comet rendezvous mission analysis, NEP stage design for geocentric and interplanetary missions, NEP system development cost and unit costs, and technology requirements for NEP stage development are studied. The NEP stage design provides both inherent reliability and high payload mass capability. The NEP stage and payload integration was found to be compatible with the space shuttle.

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.

Scannerless laser range imaging using loss modulation

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

Sandusky, John V

2011-08-09

A scannerless 3-D imaging apparatus is disclosed which utilizes an amplitude modulated cw light source to illuminate a field of view containing a target of interest. Backscattered light from the target is passed through one or more loss modulators which are modulated at the same frequency as the light source, but with a phase delay .delta. which can be fixed or variable. The backscattered light is demodulated by the loss modulator and detected with a CCD, CMOS or focal plane array (FPA) detector to construct a 3-D image of the target. The scannerless 3-D imaging apparatus, which can operate inmore » the eye-safe wavelength region 1.4-1.7 .mu.m and which can be constructed as a flash LADAR, has applications for vehicle collision avoidance, autonomous rendezvous and docking, robotic vision, industrial inspection and measurement, 3-D cameras, and facial recognition.« less

Accurate State Estimation and Tracking of a Non-Cooperative Target Vehicle

NASA Technical Reports Server (NTRS)

Thienel, Julie K.; Sanner, Robert M.

2006-01-01

Autonomous space rendezvous scenarios require knowledge of the target vehicle state in order to safely dock with the chaser vehicle. Ideally, the target vehicle state information is derived from telemetered data, or with the use of known tracking points on the target vehicle. However, if the target vehicle is non-cooperative and does not have the ability to maintain attitude control, or transmit attitude knowledge, the docking becomes more challenging. This work presents a nonlinear approach for estimating the body rates of a non-cooperative target vehicle, and coupling this estimation to a tracking control scheme. The approach is tested with the robotic servicing mission concept for the Hubble Space Telescope (HST). Such a mission would not only require estimates of the HST attitude and rates, but also precision control to achieve the desired rate and maintain the orientation to successfully dock with HST.

Single-Frequency GPS Relative Navigation in a High Ionosphere Orbital Environment

NASA Technical Reports Server (NTRS)

Conrad, Patrick R.; Naasz, Bo J.

2007-01-01

The Global Positioning System (GPS) provides a convenient source for space vehicle relative navigation measurements, especially for low Earth orbit formation flying and autonomous rendezvous mission concepts. For single-frequency GPS receivers, ionospheric path delay can be a significant error source if not properly mitigated. In particular, ionospheric effects are known to cause significant radial position error bias and add dramatically to relative state estimation error if the onboard navigation software does not force the use of measurements from common or shared GPS space vehicles. Results from GPS navigation simulations are presented for a pair of space vehicles flying in formation and using GPS pseudorange measurements to perform absolute and relative orbit determination. With careful measurement selection techniques relative state estimation accuracy to less than 20 cm with standard GPS pseudorange processing and less than 10 cm with single-differenced pseudorange processing is shown.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Cepollina, Frank J. (Inventor); Corbo, James E. (Inventor); Burns, Richard D. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR, and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time as well as the ability to intervene using manual override to teleoperate the robot.

Orbital Express Advanced Video Guidance Sensor: Ground Testing, Flight Results and Comparisons

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Howard, Richard T.; Heaton, Andrew F.

2008-01-01

Orbital Express (OE) was a successful mission demonstrating automated rendezvous and docking. The 2007 mission consisted of two spacecraft, the Autonomous Space Transport Robotic Operations (ASTRO) and the Next Generation Serviceable Satellite (NEXTSat) that were designed to work together and test a variety of service operations in orbit. The Advanced Video Guidance Sensor, AVGS, was included as one of the primary proximity navigation sensors on board the ASTRO. The AVGS was one of four sensors that provided relative position and attitude between the two vehicles. Marshall Space Flight Center was responsible for the AVGS software and testing (especially the extensive ground testing), flight operations support, and analyzing the flight data. This paper briefly describes the historical mission, the data taken on-orbit, the ground testing that occurred, and finally comparisons between flight data and ground test data for two different flight regimes.

Scannerless laser range imaging using loss modulation

DOEpatents

Sandusky, John V [Albuquerque, NM

2011-08-09

A scannerless 3-D imaging apparatus is disclosed which utilizes an amplitude modulated cw light source to illuminate a field of view containing a target of interest. Backscattered light from the target is passed through one or more loss modulators which are modulated at the same frequency as the light source, but with a phase delay .delta. which can be fixed or variable. The backscattered light is demodulated by the loss modulator and detected with a CCD, CMOS or focal plane array (FPA) detector to construct a 3-D image of the target. The scannerless 3-D imaging apparatus, which can operate in the eye-safe wavelength region 1.4-1.7 .mu.m and which can be constructed as a flash LADAR, has applications for vehicle collision avoidance, autonomous rendezvous and docking, robotic vision, industrial inspection and measurement, 3-D cameras, and facial recognition.

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2008-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Jedhrich, Nicholas M. (Inventor); Cepollina, Frank J. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2007-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Holz, Jill M. (Inventor); Corbo, James E. (Inventor); Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor)

2009-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Method and associated apparatus for capturing, servicing, and de-orbiting earth satellites using robotics

NASA Technical Reports Server (NTRS)

Burns, Richard D. (Inventor); Cepollina, Frank J. (Inventor); Jedhrich, Nicholas M. (Inventor); Holz, Jill M. (Inventor); Corbo, James E. (Inventor)

2007-01-01

This invention is a method and supporting apparatus for autonomously capturing, servicing and de-orbiting a free-flying spacecraft, such as a satellite, using robotics. The capture of the spacecraft includes the steps of optically seeking and ranging the satellite using LIDAR; and matching tumble rates, rendezvousing and berthing with the satellite. Servicing of the spacecraft may be done using supervised autonomy, which is allowing a robot to execute a sequence of instructions without intervention from a remote human-occupied location. These instructions may be packaged at the remote station in a script and uplinked to the robot for execution upon remote command giving authority to proceed. Alternately, the instructions may be generated by Artificial Intelligence (AI) logic onboard the robot. In either case, the remote operator maintains the ability to abort an instruction or script at any time, as well as the ability to intervene using manual override to teleoperate the robot.In one embodiment, a vehicle used for carrying out the method of this invention comprises an ejection module, which includes the robot, and a de-orbit module. Once servicing is completed by the robot, the ejection module separates from the de-orbit module, leaving the de-orbit module attached to the satellite for de-orbiting the same at a future time. Upon separation, the ejection module can either de-orbit itself or rendezvous with another satellite for servicing. The ability to de-orbit a spacecraft further allows the opportunity to direct the landing of the spent satellite in a safe location away from population centers, such as the ocean.

Flight deck rendezvous activities

NASA Image and Video Library

1997-05-16

STS084-357-015 (15-24 May 1997) --- Astronaut Charles J. Precourt (right), STS-84 commander, controls the rate of the Space Shuttle Atlantis' approach to Russia's Mir Space Station during rendezvous operations. Carlos I. Noriega (left), Elena V. Kondakova (bottom center) and an unidentified crew member (far left) crowd into the scene -- typical of the busy rendezvous in-cabin scenarios on all Mir-Atlantis missions.

Electro-optical rendezvous and docking sensors

NASA Technical Reports Server (NTRS)

Tubbs, David J.; Kesler, Lynn O.; Sirko, Robert J.

1991-01-01

Electro-optical sensors provide unique and critical functionality for space missions requiring rendezvous, docking, and berthing. McDonnell Douglas is developing a complete rendezvous and docking system for both manned and unmanned missions. This paper examines our sensor development and the systems and missions which benefit from rendezvous and docking sensors. Simulation results quantifying system performance improvements in key areas are given, with associated sensor performance requirements. A brief review of NASA-funded development activities and the current performance of electro-optical sensors for space applications is given. We will also describe current activities at McDonnell Douglas for a fully functional demonstration to address specific NASA mission needs.

Mars Sample Return - Launch and Detection Strategies for Orbital Rendezvous

NASA Technical Reports Server (NTRS)

Woolley, Ryan C.; Mattingly, Richard L.; Riedel, Joseph E.; Sturm, Erick J.

2011-01-01

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/cache rover in 2018, an orbiter with an Earth return vehicle in 2022, and a fetch rover and ascent vehicle in 2024. Strategies are presented to launch the sample into a coplanar orbit with the Orbiter which facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits exist at 457 and 572 km which provide multiple launch opportunities with similar geometries for detection and rendezvous.

Mars Sample Return: Launch and Detection Strategies for Orbital Rendezvous

NASA Technical Reports Server (NTRS)

Woolley, Ryan C.; Mattingly, Richard L.; Riedel, Joseph E.; Sturm, Erick J.

2011-01-01

This study sets forth conceptual mission design strategies for the ascent and rendezvous phase of the proposed NASA/ESA joint Mars Sample Return Campaign. The current notional mission architecture calls for the launch of an acquisition/ caching rover in 2018, an Earth return orbiter in 2022, and a fetch rover with ascent vehicle in 2024. Strategies are presented to launch the sample into a nearly coplanar orbit with the Orbiter which would facilitate robust optical detection, orbit determination, and rendezvous. Repeating ground track orbits existat 457 and 572 km which would provide multiple launch opportunities with similar geometries for detection and rendezvous.

Preliminary Results of NASA's First Autonomous Formation Flying Experiment: Earth Observing-1 (EO-1)

NASA Technical Reports Server (NTRS)

Folta, David; Hawkins, Albin

2001-01-01

NASA's first autonomous formation flying mission is completing a primary goal of demonstrating an advanced technology called enhanced formation flying. To enable this technology, the Guidance, Navigation, and Control center at the Goddard Space Flight Center has implemented an autonomous universal three-axis formation flying algorithm in executive flight code onboard the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft. This paper describes the mathematical background of the autonomous formation flying algorithm and the onboard design and presents the preliminary validation results of this unique system. Results from functionality assessment and autonomous maneuver control are presented as comparisons between the onboard EO-1 operational autonomous control system called AutoCon(tm), its ground-based predecessor, and a stand-alone algorithm.

Autonomous intelligent cars: proof that the EPSRC Principles are future-proof

NASA Astrophysics Data System (ADS)

de Cock Buning, Madeleine; de Bruin, Roeland

2017-07-01

Principle 2 of the EPSRC's principles of robotics (AISB workshop on Principles of Robotics, 2016) proves to be future proof when applied to the current state of the art of law and technology surrounding autonomous intelligent cars (AICs). Humans, not AICS, are responsible agents. AICs should be designed; operated as far as is practicable to comply with existing laws and fundamental rights and freedoms, including privacy by design. It will show that some legal questions arising from autonomous intelligent driving technology can be answered by the technology itself.

A relative navigation sensor for CubeSats based on LED fiducial markers

NASA Astrophysics Data System (ADS)

Sansone, Francesco; Branz, Francesco; Francesconi, Alessandro

2018-05-01

Small satellite platforms are becoming very appealing both for scientific and commercial applications, thanks to their low cost, short development times and availability of standard components and subsystems. The main disadvantage with such vehicles is the limitation of available resources to perform mission tasks. To overcome this drawback, mission concepts are under study that foresee cooperation between autonomous small satellites to accomplish complex tasks; among these, on-orbit servicing and on-orbit assembly of large structures are of particular interest and the global scientific community is putting a significant effort in the miniaturization of critical technologies that are required for such innovative mission scenarios. In this work, the development and the laboratory testing of an accurate relative navigation package for nanosatellites compliant to the CubeSat standard is presented. The system features a small camera and two sets of LED fiducial markers, and is conceived as a standard package that allows small spacecraft to perform mutual tracking during rendezvous and docking maneuvers. The hardware is based on off-the-shelf components assembled in a compact configuration that is compatible with the CubeSat standard. The image processing and pose estimation software was custom developed. The experimental evaluation of the system allowed to determine both the static and dynamic performances. The system is capable to determine the close range relative position and attitude faster than 10 S/s, with errors always below 10 mm and 2 deg.

Raven: An On-Orbit Relative Navigation Demonstration Using International Space Station Visiting Vehicles

NASA Technical Reports Server (NTRS)

Strube, Matthew; Henry, Ross; Skeleton, Eugene; Eepoel, John Van; Gill, Nat; McKenna, Reed

2015-01-01

Since the last Hubble Servicing Mission five years ago, the Satellite Servicing Capabilities Office (SSCO) at the NASA Goddard Space Flight Center (GSFC) has been focusing on maturing the technologies necessary to robotically service orbiting legacy assets-spacecraft not necessarily designed for in-flight service. Raven, SSCO's next orbital experiment to the International Space Station (ISS), is a real-time autonomous non-cooperative relative navigation system that will mature the estimation algorithms required for rendezvous and proximity operations for a satellite-servicing mission. Raven will fly as a hosted payload as part of the Space Test Program's STP-H5 mission, which will be mounted on an external ExPRESS Logistics Carrier (ELC) and will image the many visiting vehicles arriving and departing from the ISS as targets for observation. Raven will host multiple sensors: a visible camera with a variable field of view lens, a long-wave infrared camera, and a short-wave flash lidar. This sensor suite can be pointed via a two-axis gimbal to provide a wide field of regard to track the visiting vehicles as they make their approach. Various real-time vision processing algorithms will produce range, bearing, and six degree of freedom pose measurements that will be processed in a relative navigation filter to produce an optimal relative state estimate. In this overview paper, we will cover top-level requirements, experimental concept of operations, system design, and the status of Raven integration and test activities.

GEMINI RENDEZVOUS EVALUATION POD (REP) - ARTIST CONCEPT

NASA Image and Video Library

1965-08-01

S65-28653 (August 1965) --- Rendezvous Evaluation Pod (REP) in orbit is approached by Gemini spacecraft as seen in this artist's concept using an actual photograph taken on the Gemini-4 mission. The REP is superimposed over a Gemini-4 Earth-sky picture of cloud formations over an ocean. The REP will be used by the crew of the Gemini-5 spacecraft to practice rendezvous techniques.

Performance Modeling of the ADA Rendezvous

DTIC Science & Technology

1991-10-01

queueing network of figure 2, SERVERTASK can complete only one rendezvous at a time. Thus, the rate that the rendezvous requests are processed at the... Network 1, SERVERTASK competes with the traffic tasks of Server Processor. Each time SERVERTASK gains access to the processor, SERVERTASK completes...Client Processor Server Processor Software Server Nek Netork2 Figure 10. A conceptualization of the algorithm. The SERVERTASK software server of Network 2

SEP ENCKE-87 and Halley rendezvous studies and improved S/C model implementation in HILTOP

NASA Technical Reports Server (NTRS)

Horsewood, J. L.; Mann, F. I.

1978-01-01

Studies were conducted to determine the performance requirements for projected state-of-the-art SEP spacecrafts boosted by the Shuttle/IUS to perform a rendezvous with the comet Halley and a rendezvous with the comet Encke during its 1977 apparition. The spacecraft model of the standard HILTOP computer program was assumed. Numerical and graphical results summarizing the studies are presented.

A CubeSat Asteroid Mission: Design Study and Trade-Offs

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.; Oleson, Steven R.; McGuire, Melissa; Hepp, Aloysius; Stegeman, James; Bur, Mike; Burke, Laura; Martini, Michael; Fittje, James E.; Kohout, Lisa;

Gemini rendezvous docking simulator

NASA Image and Video Library

1963-11-04

Multiple exposure of Gemini rendezvous docking simulator. Francis B. Smith wrote in his paper "Simulators for Manned Space Research," "The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. [This figure] illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft." A.W. Vogeley further described the simulator in his paper "Discussion of Existing and Planned Simulators For Space Research," "Docking operations are considered to start when the pilot first can discern vehicle target size and aspect and terminate, of course, when soft contact is made. ... This facility enables simulation of the docking operation from a distance of 200 feet to actual contact with the target. A full-scale mock-up of the target vehicle is suspended near one end of the track. ... On [the Agena target] we have mounted the actual Agena docking mechanism and also various types of visual aids. We have been able to devise visual aids which have made it possible to accomplish nighttime docking with as much success as daytime docking." -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203; Francis B. Smith, "Simulators for Manned Space Research," Paper presented at the 1966 IEEE International convention, March 21-25, 1966; A.W. Vogeley, "Discussion of Existing and Planned Simulators For Space Research," Paper presented at the Conference on the Role of Simulation in Space Technology, August 17-21, 1964.

Enabling technologies for space exploration systems: The STEPS project results and perspectives

NASA Astrophysics Data System (ADS)

Messidoro, Piero; Perino, Maria Antonietta; Boggiatto, Dario

2013-05-01

The project STEPS (Sistemi e Tecnologie per l'EsPlorazione Spaziale) is a joint development of technologies and systems for Space Exploration supported by Regione Piemonte, the European Regional Development Fund (E.R.D.F.) 2007-2013, Thales Alenia Space Italia (TAS-I), SMEs, Universities and public Research Centres belonging to the network "Comitato Distretto Aerospaziale del Piemonte" the Piedmont Aerospace District (PAD) in Italy. The project first part terminated in May 2012 with a final demonstration event that summarizes the technological results of research activities carried-out during a period the three years and half. The project developed virtual and hardware demonstrators for a range of technologies for the descent, soft landing and surface mobility of robotic and manned equipment for Moon and Mars exploration. The two key hardware demonstrators—a Mars Lander and a Lunar Rover—fit in a context of international cooperation for the exploration of Moon and Mars, as envisaged by Space Agencies worldwide. The STEPS project included also the development and utilization of a system of laboratories equipped for technology validation, teleoperations, concurrent design environments, and virtual reality simulation of the Exploration Systems in typical Moon and Mars environments. This paper presents the reached results in several technology domains like: vision-based GNC for the last portion of Mars Entry, Descent and Landing sequence, Hazard avoidance and complete spacecraft autonomy; Autonomous Rover Navigation, based on the determination of the terrain morphology by a stereo camera; Mobility and Mechanisms providing an Integrated Ground Mobility System, Rendezvous and Docking equipment, and protection from Environment effects; innovative Structures such as Inflatable, Smart and Multifunction Structures, an Active Shock Absorber for safe landing, balance restoring and walking; Composite materials Modelling and Monitoring; Human-machine interface features of a predictive Command and Control System; Energy Management systems based on Regenerative Fuel Cells; aerothermodynamic solutions for Atmospheric Re-entry of Commercial Transportation Systems; novel Design and Development Tools, such as a Rover S/W simulator and prototypes of the DEM viewer and of a S/W Rock Creator/visualizator. The paper also provides perspectives on the proposed STEPS 2 project that will likely continue the development of a subset of the above technologies in view of their possible in-flight validation within next five years.

Solving Autonomy Technology Gaps through Wireless Technology and Orion Avionics Architectural Principles

NASA Astrophysics Data System (ADS)

Black, Randy; Bai, Haowei; Michalicek, Andrew; Shelton, Blaine; Villela, Mark

2008-01-01

Currently, autonomy in space applications is limited by a variety of technology gaps. Innovative application of wireless technology and avionics architectural principles drawn from the Orion crew exploration vehicle provide solutions for several of these gaps. The Vision for Space Exploration envisions extensive use of autonomous systems. Economic realities preclude continuing the level of operator support currently required of autonomous systems in space. In order to decrease the number of operators, more autonomy must be afforded to automated systems. However, certification authorities have been notoriously reluctant to certify autonomous software in the presence of humans or when costly missions may be jeopardized. The Orion avionics architecture, drawn from advanced commercial aircraft avionics, is based upon several architectural principles including partitioning in software. Robust software partitioning provides "brick wall" separation between software applications executing on a single processor, along with controlled data movement between applications. Taking advantage of these attributes, non-deterministic applications can be placed in one partition and a "Safety" application created in a separate partition. This "Safety" partition can track the position of astronauts or critical equipment and prevent any unsafe command from executing. Only the Safety partition need be certified to a human rated level. As a proof-of-concept demonstration, Honeywell has teamed with the Ultra WideBand (UWB) Working Group at NASA Johnson Space Center to provide tracking of humans, autonomous systems, and critical equipment. Using UWB the NASA team can determine positioning to within less than one inch resolution, allowing a Safety partition to halt operation of autonomous systems in the event that an unplanned collision is imminent. Another challenge facing autonomous systems is the coordination of multiple autonomous agents. Current approaches address the issue as one of networking and coordination of multiple independent units, each with its own mission. As a proof-of-concept Honeywell is developing and testing various algorithms that lead to a deterministic, fault tolerant, reliable wireless backplane. Just as advanced avionics systems control several subsystems, actuators, sensors, displays, etc.; a single "master" autonomous agent (or base station computer) could control multiple autonomous systems. The problem is simplified to controlling a flexible body consisting of several sensors and actuators, rather than one of coordinating multiple independent units. By filling technology gaps associated with space based autonomous system, wireless technology and Orion architectural principles provide the means for decreasing operational costs and simplifying problems associated with collaboration of multiple autonomous systems.

The comet rendezvous asteroid flyby mission to Comet Kopff - Getting there is half the fun

NASA Technical Reports Server (NTRS)

Sweetser, Theodore H.; Kiedron, Krystyna

1990-01-01

The goal of the Comet Rendezvous Asteroid Flyby mission (CRAF) is to fly 'outward to the beginning', to examine closely what are thought to be remnants of the origins of the solar system. In particular, the CRAF spacecraft will use a two-year delta-V-earth-gravity-assist (delta-V-EGA) trajectory to reach a rendezvous point near the aphelion of the Comet Kopff, flying by the asteroid 449 Hamburga on the way. This paper discusses the trajectory used to get to the comet. Topics covered include the launch period, possible additional asteroid flybys, the earth flyby, the Hamburga flyby, and the rendezvous with Comet Kopff.

Model predictive control for spacecraft rendezvous in elliptical orbit

NASA Astrophysics Data System (ADS)

Li, Peng; Zhu, Zheng H.

2018-05-01

This paper studies the control of spacecraft rendezvous with attitude stable or spinning targets in an elliptical orbit. The linearized Tschauner-Hempel equation is used to describe the motion of spacecraft and the problem is formulated by model predictive control. The control objective is to maximize control accuracy and smoothness simultaneously to avoid unexpected change or overshoot of trajectory for safe rendezvous. It is achieved by minimizing the weighted summations of control errors and increments. The effects of two sets of horizons (control and predictive horizons) in the model predictive control are examined in terms of fuel consumption, rendezvous time and computational effort. The numerical results show the proposed control strategy is effective.

Methodology for Prototyping Increased Levels of Automation for Spacecraft Rendezvous Functions

NASA Technical Reports Server (NTRS)

Hart, Jeremy J.; Valasek, John

2007-01-01

The Crew Exploration Vehicle necessitates higher levels of automation than previous NASA vehicles, due to program requirements for automation, including Automated Rendezvous and Docking. Studies of spacecraft development often point to the locus of decision-making authority between humans and computers (i.e. automation) as a prime driver for cost, safety, and mission success. Therefore, a critical component in the Crew Exploration Vehicle development is the determination of the correct level of automation. To identify the appropriate levels of automation and autonomy to design into a human space flight vehicle, NASA has created the Function-specific Level of Autonomy and Automation Tool. This paper develops a methodology for prototyping increased levels of automation for spacecraft rendezvous functions. This methodology is used to evaluate the accuracy of the Function-specific Level of Autonomy and Automation Tool specified levels of automation, via prototyping. Spacecraft rendezvous planning tasks are selected and then prototyped in Matlab using Fuzzy Logic techniques and existing Space Shuttle rendezvous trajectory algorithms.

Science, technology and the future of small autonomous drones.

PubMed

Floreano, Dario; Wood, Robert J

2015-05-28

We are witnessing the advent of a new era of robots - drones - that can autonomously fly in natural and man-made environments. These robots, often associated with defence applications, could have a major impact on civilian tasks, including transportation, communication, agriculture, disaster mitigation and environment preservation. Autonomous flight in confined spaces presents great scientific and technical challenges owing to the energetic cost of staying airborne and to the perceptual intelligence required to negotiate complex environments. We identify scientific and technological advances that are expected to translate, within appropriate regulatory frameworks, into pervasive use of autonomous drones for civilian applications.

Flight data results of estimate fusion for spacecraft rendezvous navigation from shuttle mission STS-69

NASA Technical Reports Server (NTRS)

Carpenter, J. Russell; Bishop, Robert H.

1996-01-01

A recently developed rendezvous navigation fusion filter that optimally exploits existing distributed filters for rendezvous and GPS navigation to achieve the relative and inertial state accuracies of both in a global solution is utilized here to process actual flight data. Space Shuttle Mission STS-69 was the first mission to date which gathered data from both the rendezvous and Global Positioning System filters allowing, for the first time, a test of the fusion algorithm with real flight data. Furthermore, a precise best estimate of trajectory is available for portions of STS-69, making possible a check on the performance of the fusion filter. In order to successfully carry out this experiment with flight data, two extensions to the existing scheme were necessary: a fusion edit test based on differences between the filter state vectors, and an underweighting scheme to accommodate the suboptimal perfect target assumption made by the Shuttle rendezvous filter. With these innovations, the flight data was successfully fused from playbacks of downlinked and/or recorded measurement data through ground analysis versions of the Shuttle rendezvous filter and a GPS filter developed for another experiment. The fusion results agree with the best estimate of trajectory at approximately the levels of uncertainty expected from the fusion filter's covariance matrix.

The Ion Propulsion System on NASA's Space Technology 4/Champollion Comet Rendezvous Mission

NASA Technical Reports Server (NTRS)

Brophy, John R.; Garner, Charles E.; Weiss, Jeffery M.

1999-01-01

The ST4/Champollion mission is designed to rendezvous with and land on the comet Tempel 1 and return data from the first-ever sampling of a comet surface. Ion propulsion is an enabling technology for this mission. The ion propulsion system on ST4 consists of three ion engines each essentially identical to the single engine that flew on the DS1 spacecraft. The ST4 propulsion system will operate at a maximum input power of 7.5 kW (3.4 times greater than that demonstrated on DS1), will produce a maximum thrust of 276 mN, and will provide a total (Delta)V of 11.4 km/s. To accomplish this the propulsion system will carry 385 kg of xenon. All three engines will be operated simultaneously for the first 168 days of the mission. The nominal mission requires that each engine be capable of processing 118 kg. If one engine fails after 168 days, the remaining two engines can perform the mission, but must be capable of processing 160 kg of xenon, or twice the original thruster design requirement. Detailed analyses of the thruster wear-out failure modes coupled with experience from long-duration engine tests indicate that the thrusters have a high probability of meeting the 160-kg throughput requirement.

A Briefing on Metrics and Risks for Autonomous Decision-Making in Aerospace Applications

NASA Technical Reports Server (NTRS)

Frost, Susan; Goebel, Kai Frank; Galvan, Jose Ramon

2012-01-01

Significant technology advances will enable future aerospace systems to safely and reliably make decisions autonomously, or without human interaction. The decision-making may result in actions that enable an aircraft or spacecraft in an off-nominal state or with slightly degraded components to achieve mission performance and safety goals while reducing or avoiding damage to the aircraft or spacecraft. Some key technology enablers for autonomous decision-making include: a continuous state awareness through the maturation of the prognostics health management field, novel sensor development, and the considerable gains made in computation power and data processing bandwidth versus system size. Sophisticated algorithms and physics based models coupled with these technological advances allow reliable assessment of a system, subsystem, or components. Decisions that balance mission objectives and constraints with remaining useful life predictions can be made autonomously to maintain safety requirements, optimal performance, and ensure mission objectives. This autonomous approach to decision-making will come with new risks and benefits, some of which will be examined in this paper. To start, an account of previous work to categorize or quantify autonomy in aerospace systems will be presented. In addition, a survey of perceived risks in autonomous decision-making in the context of piloted aircraft and remotely piloted or completely autonomous unmanned autonomous systems (UAS) will be presented based on interviews that were conducted with individuals from industry, academia, and government.

Advanced Multipurpose Rendezvous Tracking System Study

NASA Technical Reports Server (NTRS)

Laurie, R. J.; Sterzer, F.

1982-01-01

Rendezvous and docking (R&D) sensors needed to support Earth orbital operations of vehicles were investigated to determine the form they should take. An R&D sensor must enable an interceptor vehicle to determine both the relative position and the relative attitude of a target vehicle. Relative position determination is fairly straightforward and places few constraints on the sensor. Relative attitude determination, however, is more difficult. The attitude is calculated based on relative position measurements of several reflectors placed in a known arrangement on the target vehicle. The constraints imposed on the sensor by the attitude determination method are severe. Narrow beamwidth, wide field of view (fov), high range accuracy, and fast random scan capability are all required to determine attitude by this method. A consideration of these constraints as well as others imposed by expected operating conditions and the available technology led to the conclusion that the sensor should be a cw optical radar employing a semiconductor laser transmitter and an image dissector receiver.

Near Earth asteroid rendezvous

NASA Technical Reports Server (NTRS)

1992-01-01

The Spacecraft Design Course is the capstone design class for the M.S. in astronautics at the Naval Postgraduate School. The Fall 92 class designed a spacecraft for the Near Earth Asteroid Rendezvous Mission (NEAR). The NEAR mission uses a robotic spacecraft to conduct up-close reconnaissance of a near-earth asteroid. Such a mission will provide information on Solar System formation and possible space resources. The spacecraft is intended to complete a NEAR mission as a relatively low-budget program while striving to gather as much information about the target asteroid as possible. A complete mission analysis and detailed spacecraft design were completed. Mission analysis includes orbit comparison and selection, payload and telemetry requirements, spacecraft configuration, and launch vehicle selection. Spacecraft design includes all major subsystems: structure, electrical power, attitude control, propulsion, payload integration, and thermal control. The resulting spacecraft demonstrates the possibility to meet the NEAR mission requirements using existing technology, 'off-the-shelf' components, and a relatively low-cost launch vehicle.

Shuttle on-orbit rendezvous targeting: Circular orbits

NASA Technical Reports Server (NTRS)

Bentley, E. L.

1972-01-01

The strategy and logic used in a space shuttle on-orbit rendezvous targeting program are described. The program generates ascent targeting conditions for boost to insertion into an intermediate parking orbit, and generates on-orbit targeting and timeline bases for each maneuver to effect rendezvous with a space station. Time of launch is determined so as to eliminate any plane change, and all work was performed for a near-circular space station orbit.

A feasibility study of unmanned rendezvous and docking in Mars orbit: Midterm review

NASA Technical Reports Server (NTRS)

1974-01-01

The ascent, rendezvous, docking and sample transfer operations in a potential MSSR mission that uses the Mars orbital rendezvous mode are considered. In order that the design choices made for these operations remain compatible with the rest of the mission, the impact on the Earth launch, Mars landing and orbiting and Earth return phase are also being assessed. The selection and description of a preliminary baseline concept are presented.

Low Earth Orbit Rendezvous Strategy for Lunar Missions

NASA Technical Reports Server (NTRS)

Cates, Grant R.; Cirillo, William M.; Stromgren, Chel

2006-01-01

On January 14, 2004 President George W. Bush announced a new Vision for Space Exploration calling for NASA to return humans to the moon. In 2005 NASA decided to use a Low Earth Orbit (LEO) rendezvous strategy for the lunar missions. A Discrete Event Simulation (DES) based model of this strategy was constructed. Results of the model were then used for subsequent analysis to explore the ramifications of the LEO rendezvous strategy.

A Summary of the Rendezvous, Proximity Operations, Docking, and Undocking (RPODU) Lessons Learned from the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) Demonstration System Mission

NASA Technical Reports Server (NTRS)

Dennehy, Cornelius J.; Carpenter, James R.

2011-01-01

The Guidance, Navigation, and Control (GN&C) Technical Discipline Team (TDT) sponsored Dr. J. Russell Carpenter, a Navigation and Rendezvous Subject Matter Expert (SME) from NASA's Goddard Space Flight Center (GSFC), to provide support to the Defense Advanced Research Project Agency (DARPA) Orbital Express (OE) rendezvous and docking flight test that was conducted in 2007. When that DARPA OE mission was completed, Mr. Neil Dennehy, NASA Technical Fellow for GN&C, requested Dr. Carpenter document his findings (lessons learned) and recommendations for future rendezvous missions resulting from his OE support experience. This report captures lessons specifically from anomalies that occurred during one of OE's unmated operations.

Autonomous intelligent assembly systems LDRD 105746 final report.

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

Anderson, Robert J.

2013-04-01

This report documents a three-year to develop technology that enables mobile robots to perform autonomous assembly tasks in unstructured outdoor environments. This is a multi-tier problem that requires an integration of a large number of different software technologies including: command and control, estimation and localization, distributed communications, object recognition, pose estimation, real-time scanning, and scene interpretation. Although ultimately unsuccessful in achieving a target brick stacking task autonomously, numerous important component technologies were nevertheless developed. Such technologies include: a patent-pending polygon snake algorithm for robust feature tracking, a color grid algorithm for uniquely identification and calibration, a command and control frameworkmore » for abstracting robot commands, a scanning capability that utilizes a compact robot portable scanner, and more. This report describes this project and these developed technologies.« less

Automated and Autonomous Systems for Combat Service Support: Scoping Study and Technology Prioritisation

DTIC Science & Technology

2016-10-01

workshop, and use case development for automated and autonomous systems for CSS. The scoping study covers key concepts and trends, a technology scan, and...requirements and delimiters for the selected technologies. The report goes on to present detailed use cases for two technologies of interest: semi...selected use cases . As a result of the workshop, the large list of technologies and applications from the scoping study was narrowed down to the top

Paving the Way for Autonomous and Connected Vehicle Technologies in the Motor Carrier Industry

DOT National Transportation Integrated Search

2018-03-01

This study provides potential safety considerations and infrastructure needs that will support the mass adoption of autonomous vehicle (AV) and connected vehicle (CV) technologies in the motor carrier industry. Using large truck crash data from 2013 ...

Miniaturization of components and systems for space using MEMS-technology

NASA Astrophysics Data System (ADS)

Grönland, Tor-Arne; Rangsten, Pelle; Nese, Martin; Lang, Martin

2007-06-01

Development of MEMS-based (micro electro mechanical system) components and subsystems for space applications has been pursued by various research groups and organizations around the world for at least two decades. The main driver for developing MEMS-based components for space is the miniaturization that can be achieved. Miniaturization can not only save orders of magnitude in mass and volume of individual components, but it can also allow increased redundancy, and enable novel spacecraft designs and mission scenarios. However, the commercial breakthrough of MEMS has not occurred within the space business as it has within other branches such as the IT/telecom or automotive industries, or as it has in biotech or life science applications. A main explanation to this is the highly conservative attitude to new technology within the space community. This conservatism is in many senses motivated by a very low risk acceptance in the few and costly space projects that actually ends with a space flight. To overcome this threshold there is a strong need for flight opportunities where reasonable risks can be accepted. Currently there are a few flight opportunities allowing extensive use of new technology in space, but one of the exceptions is the PRISMA program. PRISMA is an international (Sweden, Germany, France, Denmark, Norway, Greece) technology demonstration program with focus on rendezvous and formation flying. It is a two satellite LEO mission with a launch scheduled for the first half of 2009. On PRISMA, a number of novel technologies e.g. RF metrology sensor for Darwin, autonomous formation flying based on GPS and vision-based sensors, ADN-based "green propulsion" will be demonstrated in space for the first time. One of the satellites will also have a miniaturized propulsion system onboard based on MEMS-technology. This novel propulsion system includes two microthruster modules, each including four thrusters with micro- to milli-Newton thrust capability. The novelty of this micropropulsion system is that all critical components such as thrust chamber/nozzle assembly including internal heaters, valves and filters are manufactured using MEMS technology. Moreover, miniaturized pressure sensors, relying on MEMS technology, is also part of the system as a self-standing component. The flight opportunity on PRISMA represents one of the few and thus important opportunities to demonstrate MEMS technology in space. The present paper aims at describing this development effort and highlights the benefits of miniaturized components and systems for space using MEMS technology.

Methodology for Developing a Probabilistic Risk Assessment Model of Spacecraft Rendezvous and Dockings

NASA Technical Reports Server (NTRS)

Farnham, Steven J., II; Garza, Joel, Jr.; Castillo, Theresa M.; Lutomski, Michael

2011-01-01

In 2007 NASA was preparing to send two new visiting vehicles carrying logistics and propellant to the International Space Station (ISS). These new vehicles were the European Space Agency s (ESA) Automated Transfer Vehicle (ATV), the Jules Verne, and the Japanese Aerospace and Explorations Agency s (JAXA) H-II Transfer Vehicle (HTV). The ISS Program wanted to quantify the increased risk to the ISS from these visiting vehicles. At the time, only the Shuttle, the Soyuz, and the Progress vehicles rendezvoused and docked to the ISS. The increased risk to the ISS was from an increase in vehicle traffic, thereby, increasing the potential catastrophic collision during the rendezvous and the docking or berthing of the spacecraft to the ISS. A universal method of evaluating the risk of rendezvous and docking or berthing was created by the ISS s Risk Team to accommodate the increasing number of rendezvous and docking or berthing operations due to the increasing number of different spacecraft, as well as the future arrival of commercial spacecraft. Before the first docking attempt of ESA's ATV and JAXA's HTV to the ISS, a probabilistic risk model was developed to quantitatively calculate the risk of collision of each spacecraft with the ISS. The 5 rendezvous and docking risk models (Soyuz, Progress, Shuttle, ATV, and HTV) have been used to build and refine the modeling methodology for rendezvous and docking of spacecrafts. This risk modeling methodology will be NASA s basis for evaluating the addition of future ISS visiting spacecrafts hazards, including SpaceX s Dragon, Orbital Science s Cygnus, and NASA s own Orion spacecraft. This paper will describe the methodology used for developing a visiting vehicle risk model.

Automatic rendezvous and docking systems functional and performance requirements

NASA Technical Reports Server (NTRS)

1985-01-01

A generalized mission design scheme which utilizes a standard mission profile for all OMV rendezvous operations, recognizes typical operational constraints, and minimizes propellant penalties due to nodal regression effects was developed. This scheme has been used to demonstrate a unified guidance and navigation maneuver processor (the UMP), which supports all mission phases through station-keeping. The initial demonstration version of the Orbital Rendezvous Mission Planner (ORMP) was provided for evaluation purposes, and program operation was discussed.

NASA MSFC hardware in the loop simulations of automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Tobbe, Patrick A.; Naumann, Charles B.; Sutton, William; Bryan, Thomas C.

1991-01-01

Two complementary hardware-in-the-loop simulation facilities for automatic rendezvous and capture systems at MSFC are described. One, the Flight Robotics Laboratory, uses an 8 DOF overhead manipulator with a work volume of 160 by 40 by 23 feet to evaluate automatic rendezvous algorithms and range/rate sensing systems. The other, the Space Station/Station Operations Mechanism Test Bed, uses a 6 DOF hydraulic table to perform docking and berthing dynamics simulations.

Sail film materials and supporting structure for a solar sail, a preliminary design, volume 4

NASA Technical Reports Server (NTRS)

Rowe, W. M. (Editor)

1978-01-01

Solar sailing technology was examined in relation to a mission to rendezvous with Halley's Comet. Development of an ultra-light, highly reflecting material system capable of operating at high solar intensity for long periods of time was emphasized. Data resulting from the sail materials study are reported. Topics covered include: basic film; coatings and thermal control; joining and handling; system performance; and supporting structures assessment for the heliogyro.

A Reconfigurable Testbed Environment for Spacecraft Autonomy

NASA Technical Reports Server (NTRS)

Biesiadecki, Jeffrey; Jain, Abhinandan

1996-01-01

A key goal of NASA's New Millennium Program is the development of technology for increased spacecraft on-board autonomy. Achievement of this objective requires the development of a new class of ground-based automony testbeds that can enable the low-cost and rapid design, test, and integration of the spacecraft autonomy software. This paper describes the development of an Autonomy Testbed Environment (ATBE) for the NMP Deep Space I comet/asteroid rendezvous mission.

Path scheduling for multiple mobile actors in wireless sensor network

NASA Astrophysics Data System (ADS)

Trapasiya, Samir D.; Soni, Himanshu B.

2017-05-01

In wireless sensor network (WSN), energy is the main constraint. In this work we have addressed this issue for single as well as multiple mobile sensor actor network. In this work, we have proposed Rendezvous Point Selection Scheme (RPSS) in which Rendezvous Nodes are selected by set covering problem approach and from that, Rendezvous Points are selected in a way to reduce the tour length. The mobile actors tour is scheduled to pass through those Rendezvous Points as per Travelling Salesman Problem (TSP). We have also proposed novel rendezvous node rotation scheme for fair utilisation of all the nodes. We have compared RPSS with Stationery Actor scheme as well as RD-VT, RD-VT-SMT and WRP-SMT for performance metrics like energy consumption, network lifetime, route length and found the better outcome in all the cases for single actor. We have also applied RPSS for multiple mobile actor case like Multi-Actor Single Depot (MASD) termination and Multi-Actor Multiple Depot (MAMD) termination and observed by extensive simulation that MAMD saves the network energy in optimised way and enhance network lifetime compared to all other schemes.

Automated Transfer Vehicle Proximity Flight Safety Overview

NASA Astrophysics Data System (ADS)

Cornier, Dominique; Berthelier, David; Requiston, Helene; Zekri, Eric; Chase, Richard

2005-12-01

The European Automated Transfer Vehicle (ATV) is an unmanned transportation spacecraft designed to contribute to the logistic servicing of the ISS. The ATV will be launched by ARIANE 5 and, after phasing and rendezvous maneuvers, it autonomously docks to the International Space Station (ISS).The ATV control is nominally handled by the Guidance, Navigation and Control (GNC) function using computers, software, sensors and actuators. During rendezvous operations, in order to cover the extreme situations where the GNC function fails to ensure a safe trajectory with respect to the ISS, a segregated Proximity Flight Safety (PFS) function is activated : this function will initiate a collision avoidance maneuver which will place the ATV on a trajectory ensuring safety with respect to the ISS. The PFS function relies on segregated computers, the Monitoring and Safing Units (MSUs) running specific software, on four dedicated thrusters, on dedicated batteries and on specific interfaces with ATV gyrometers.The PFS function being the ultimate protection to ensure ISS safety in case of ATV malfunction, specific rules have been applied to its implementation, in particular for the development of the MSU software, which is critical since any failure of this software may result in catastrophic consequences.This paper provides an overview of the ATV Proximity Flight Safety function. After a short description of the overall ATV avionics architecture and its rationale, the second part of the paper presents more details on the PFS function both in terms of hardware and software implementation. The third part of the paper is dedicated to the MSU software validation method that is specific considering its criticality. The last part of the paper provides information on the different operations related to the use of the PFS function during an ATV flight.

STS-63 Space Shuttle report

NASA Technical Reports Server (NTRS)

Fricke, Robert W., Jr.

1995-01-01

The STS-63 Space Shuttle Program Mission Report summarizes the Payload activities and provides detailed data on the Orbiter, External Tank (ET), Solid Rocket Booster (SRB), Reusable Solid Rocket Motor (RSRM), and the Space Shuttle Main Engine (SSME) systems performance during this sixty-seventh flight of the Space Shuttle Program, the forty-second since the return to flight, and twentieth flight of the Orbiter vehicle Discovery (OV-103). In addition to the OV-103 Orbiter vehicle, the flight vehicle consisted of an ET that was designated ET-68; three SSME's that were designated 2035, 2109, and 2029 in positions 1, 2, and 3, respectively; and two SRB's that were designated BI-070. The RSRM's that were an integral part of the SRB's were designated 360Q042A for the left SRB and 360L042B for the right SRB. The STS-63 mission was planned as an 8-day duration mission with two contingency days available for weather avoidance or Orbiter contingency operations. The primary objectives of the STS-63 mission were to perform the Mir rendezvous operations, accomplish the Spacehab-3 experiments, and deploy and retrieve the Shuttle Pointed Autonomous Research Tool for Astronomy-204 (SPARTAN-204) payload. The secondary objectives were to perform the Cryogenic Systems Experiment (CSE)/Shuttle Glo-2 Experiment (GLO-2) Payload (CGP)/Orbital Debris Radar Calibration Spheres (ODERACS-2) (CGP/ODERACS-2) payload objectives, the Solid Surface Combustion Experiment (SSCE), and the Air Force Maui Optical Site Calibration Tests (AMOS). The objectives of the Mir rendezvous/flyby were to verify flight techniques, communication and navigation-aid sensor interfaces, and engineering analyses associated with Shuttle/Mir proximity operations in preparation for the STS-71 docking mission.

Human Exploration and Avionic Technology Challenges

NASA Technical Reports Server (NTRS)

Benjamin, Andrew L.

2005-01-01

For this workshop, I will identify critical avionic gaps, enabling technologies, high-pay off investment opportunities, promising capabilities, and space applications for human lunar and Mars exploration. Key technology disciplines encompass fault tolerance, miniaturized instrumentation sensors, MEMS-based guidance, navigation, and controls, surface communication networks, and rendezvous and docking. Furthermore, I will share bottom-up strategic planning relevant to manned mission -driven needs. Blending research expertise, facilities, and personnel with internal NASA is vital to stimulating collaborative technology solutions that achieve NASA grand vision. Retaining JSC expertise in unique and critical areas is paramount to our long-term success. Civil servants will maintain key roles in setting technology agenda, ensuring quality results, and integrating technologies into avionic systems and manned missions. Finally, I will present to NASA, academia, and the aerospace community some on -going and future advanced avionic technology programs and activities that are relevant to our mission goals and objectives.

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.

Polynomial filter estimation of range and range rate for terminal rendezvous

NASA Technical Reports Server (NTRS)

Philips, R.

1970-01-01

A study was made of a polynomial filter for computing range rate information from CSM VHF range data. The filter's performance during the terminal phase of the rendezvous is discussed. Two modifications of the filter were also made and tested. A manual terminal rendezvous was simulated and desired accuracies were achieved for vehicles on an intercept trajectory, except for short periods following each braking maneuver when the estimated range rate was initially in error by the magnitude of the burn.

Solar electric propulsion for terminal flight to rendezvous with comets and asteroids. [using guidance algorithm

NASA Technical Reports Server (NTRS)

Bennett, A.

1973-01-01

A guidance algorithm that provides precise rendezvous in the deterministic case while requiring only relative state information is developed. A navigation scheme employing only onboard relative measurements is built around a Kalman filter set in measurement coordinates. The overall guidance and navigation procedure is evaluated in the face of measurement errors by a detailed numerical simulation. Results indicate that onboard guidance and navigation for the terminal phase of rendezvous is possible with reasonable limits on measurement errors.

Gemini Capsule and Rendezvous Docking Simulator

NASA Image and Video Library

1962-12-19

Practicing with a full-scale model of the Gemini Capsule in Langley's Rendezvous Docking Simulator. -- Caption and photograph published in Winds of Change, 75th Anniversary NASA publication, (page 89), by James Schultz.

Automated technologies needed to prevent radioactive materials from reentering the atmosphere

NASA Astrophysics Data System (ADS)

Buden, David; Angelo, Joseph A., Jr.

Project SIREN (Search, Intercept, Retrieve, Expulsion Nuclear) has been created to identify and evaluate the technologies and operational strategies needed to rendezvous with and capture aerospace radioactive materials (e.g., a distressed or spent space reactor core) before such materials can reenter the terrestrial atmosphere and then to safely move these captured materials to an acceptable space destination for proper disposal. A major component of the current Project SIREN effort is the development of an interactive technology model (including a computerized data base) that explores in building block fashion the interaction of the technologies and procedures needed to successfully accomplish a SIREN mission. This SIREN model will include appropriate national and international technology elements-both contemporary and projected into the next century. To permit maximum flexibility and use, the SIREN technology data base is being programmed for use on 386-class PC's.

Optimum Multi-Impulse Rendezvous Program

NASA Technical Reports Server (NTRS)

Glandorf, D. R.; Onley, A. G.; Rozendaal, H. L.

1970-01-01

OMIRPROGRAM determines optimal n-impulse rendezvous trajectories under the restrictions of two-body motion in free space. Lawden's primer vector theory is applied to determine optimum number of midcourse impulse applications. Global optimality is not guaranteed.

Investigation of technical problems related to deployment and retrieval of spinning satellites

NASA Technical Reports Server (NTRS)

Kaplan, M. H.

1973-01-01

Results of a three-year research effort on retrieval and deployment problems associated with orbiting payloads are summarized. Answers to several basic questions about rendezvous, docking, and deployment dynamics and controls were obtained. A basic retrieval mission profile was formulated in order to develop relevant technology. A remotely controlled retrieval package was conceived. Special deployment dynamics problems associated with high altitude deployment were investigated, and new knowledge of payload spin reorientation was obtained.

Simulation of the dusty plasma environment of 65803 Didymos for the Asteroid Impact Mission (AIM)

NASA Astrophysics Data System (ADS)

Cipriani, Fabrice; Rodgers, David; Hilgers, Alain; Hess, Sebastien; Carnelli, Ian

2016-10-01

The Asteroid Impact and Deflection Assessment mission (AIDA) is a joint European-US technology demonstrator mission including the DART asteroid impactor (NASA/JHU/APL) and the AIM asteroid rendezvous platform (ESA/DLR/OCA) set to reach Near Earth binary Object 65803 Didymos in October 2022. Besides technology demonstration in the deep space communications domain and the realization of a kinetic impact on the moonlet to study deflection parameters, this asteroid rendezvous mission is an opportunity to carry out in-situ observations of the close environment of a binary system, addressing some fundamental science questions. The MASCOT-2 lander will be released from the AIM platform and operate at the surface of the moonlet of 65803 Didymos, complemented by the ability of the Cubesat Opportunity Payloads (COPINS) to sample the close environment of the binary.In this context, we have developed an model describing the plasma and charged dust components of the near surface environment of the moonlet (170m in diameter), targeted by the MASCOT-2 lander and of the DART impactor. We performed numerical simulations in order to estimate the electrostatic surface potentials at various locations of the surface, resulting from its interaction with the solar wind plasma and solar photons. In addition, we describe charging levels, density profiles, and velocity distribution of regolith grains lifted out from the surface up to about 70m above the surface.

Microgravity experiments of nano-satellite docking mechanism for final rendezvous approach and docking phase

NASA Astrophysics Data System (ADS)

Ui, Kyoichi; Matunaga, Saburo; Satori, Shin; Ishikawa, Tomohiro

2005-09-01

Laboratory for Space Systems (LSS), Tokyo Institute of Technology (Tokyo Tech) conducted three-dimensional microgravity environment experiments about a docking mechanism for mothership-daughtership (MS-DS) nano-satellite using the facility of Japan Micro Gravity Center (JAMIC) with Hokkaido Institute of Technology (HIT). LSS has studied and developed a docking mechanism for MS-DS nano-satellite system in final rendezvous approach and docking phase since 2000. Consideration of the docking mechanism is to mate a nano-satellite stably while remaining control error of relative velocity and attitude because it is difficult for nano-satellite to have complicated attitude control and mating systems. Objective of the experiments is to verify fundamental grasping function based on our proposed docking methodology. The proposed docking sequence is divided between approach/grasping phase and guiding phase. In the approach/grasping phase, the docking mechanism grasps the nano-satellite even though the nano-satellite has relative position and attitude control errors as well as relative velocity in a docking space. In the guiding function, the docking mechanism guides the nano-satellite to a docking port while adjusting its attitude in order to transfer electrical power and fuel to the nano-satellite. In the paper, we describe the experimental system including the docking mechanism, control system, the daughtership system and the release mechanism, and describe results of microgravity experiments in JAMIC.

Comet nucleus and asteroid sample return missions

NASA Technical Reports Server (NTRS)

Melton, Robert G.; Thompson, Roger C.; Starchville, Thomas F., Jr.; Adams, C.; Aldo, A.; Dobson, K.; Flotta, C.; Gagliardino, J.; Lear, M.; Mcmillan, C.

1992-01-01

During the 1991-92 academic year, the Pennsylvania State University has developed three sample return missions: one to the nucleus of comet Wild 2, one to the asteroid Eros, and one to three asteroids located in the Main Belt. The primary objective of the comet nucleus sample return mission is to rendezvous with a short period comet and acquire a 10 kg sample for return to Earth. Upon rendezvous with the comet, a tethered coring and sampler drill will contact the surface and extract a two-meter core sample from the target site. Before the spacecraft returns to Earth, a monitoring penetrator containing scientific instruments will be deployed for gathering long-term data about the comet. A single asteroid sample return mission to the asteroid 433 Eros (chosen for proximity and launch opportunities) will extract a sample from the asteroid surface for return to Earth. To limit overall mission cost, most of the mission design uses current technologies, except the sampler drill design. The multiple asteroid sample return mission could best be characterized through its use of future technology including an optical communications system, a nuclear power reactor, and a low-thrust propulsion system. A low-thrust trajectory optimization code (QuickTop 2) obtained from the NASA LeRC helped in planning the size of major subsystem components, as well as the trajectory between targets.

Lunar Flight Study Series: Volume 8. Earth-Moon Transit Studies Based on Ephemeris Data and Using Best Available Computer Program. Part 3: Analysis of Some Lunar Landing Site Problems Utilizing Two Fundamental Principles

NASA Technical Reports Server (NTRS)

Tucker, W. B.; Hooper, H. L.

1963-01-01

This report presents two fundamental properties of lunar trajectories and makes use of these properties to solve various lunar landing site problems. Not only are various problems treated and solved but the properties and methods are established for use in the solution of other problems. This report presents an analysis of lunar landing site problems utilizing the direct mission mode as well as the orbital mission mode. A particular landing site is then specified and different flight profiles are analyzed for getting an exploration vehicle to that landing site. Rendezvous compatible lunar orbits for various stay-times at the landing site are treated. Launch opportunities are discussed for establishing rendezvous compatible lunar orbits without powered plane changes. Then, the minimum required plane changes for rendezvous in the lunar orbit are discussed for launching from earth on any day. On days that afford rendezvous compatible opportunities, there are no powered plane change requirements in the operations from launch at AMR through the rendezvous in lunar orbit, after the stay at the lunar site.

Integrated guidance and control for microsatellite real-time automated proximity operations

NASA Astrophysics Data System (ADS)

Chen, Ying; He, Zhen; Zhou, Ding; Yu, Zhenhua; Li, Shunli

2018-07-01

This paper investigates the trajectory planning and control of autonomous spacecraft proximity operations with impulsive dynamics. A new integrated guidance and control scheme is developed to perform automated close-range rendezvous for underactuated microsatellites. To efficiently prevent collision, a modified RRT* trajectory planning algorithm is proposed under this context. Several engineering constraints such as collision avoidance, plume impingement, field of view and control feasibility are considered simultaneously. Then, the feedback controller that employs a turn-burn-turn strategy with a combined impulsive orbital control and finite-time attitude control is designed to ensure the implementation of planned trajectory. Finally, the performance of trajectory planner and controller are evaluated through numerical tests. Simulation results indicate the real-time implementability of the proposed integrated guidance and control scheme with position control error less than 0.5 m and velocity control error less than 0.05 m/s. Consequently, the proposed scheme offers the potential for wide applications, such as on-orbit maintenance, space surveillance and debris removal.

New millennium program ST6: autonomous technologies for future NASA spacecraft

NASA Technical Reports Server (NTRS)

Chmielewski, Arthur B.; Chien, Steve; Sherwood, Robert; Wyman, William; Brady, T.; Buckley, S.; Tillier, C.

2005-01-01

The purpose of NASA's New Millennium Program (NMP) is to validate advanced technologies in space and thus lower the risk for the first mission user. The focus of NMP is only on those technologies which need space environment for proper validation. The ST6 project has developed two advanced, experimental technologies for use on spacecraft of the future. These technologies are the Autonomous Sciencecraft Experiment and the Inertial Stellar Compass. These technologies will improve spacecraft's ability to: make decisions on what information to gather and send back to the ground, determine its own attitude and adjust its pointing.

Low Impact Docking System (LIDS)

NASA Technical Reports Server (NTRS)

LaBauve, Tobie E.

2009-01-01

Since 1996, NASA has been developing a docking system that will simplify operations and reduce risks associated with mating spacecraft. This effort has focused on developing and testing an original, reconfigurable, active, closed-loop, force-feedback controlled docking system using modern technologies. The primary objective of this effort has been to design a docking interface that is tunable to the unique performance requirements for all types of mating operations (i.e. docking and berthing, autonomous and piloted rendezvous, and in-space assembly of vehicles, modules and structures). The docking system must also support the transfer of crew, cargo, power, fluid, and data. As a result of the past 10 years of docking system advancement, the Low Impact Docking System or LIDS was developed. The current LIDS design incorporates the lessons learned and development experiences from both previous and existing docking systems. LIDS feasibility was established through multiple iterations of prototype hardware development and testing. Benefits of LIDS include safe, low impact mating operations, more effective and flexible mission implementation with an anytime/anywhere mating capability, system level redundancy, and a more affordable and sustainable mission architecture with reduced mission and life cycle costs. In 1996 the LIDS project, then known as the Advanced Docking Berthing System (ADBS) project, launched a four year developmental period. At the end of the four years, the team had built a prototype of the soft-capture hardware and verified the control system that will be used to control the soft-capture system. In 2001, the LIDS team was tasked to work with the X- 38 Crew Return Vehicle (CRV) project and build its first Engineering Development Unit (EDU).

Autonomous formation flying sensor for the Star Light Mission

NASA Technical Reports Server (NTRS)

Aung, M.; Purcell, G.; Tien, J.; Young, L.; Srinivasan, J.; Ciminera, M. A.; Chong, Y. J.; Amaro, L. R.; Young, L. E.

2002-01-01

The StarLight Mission, an element of NASA's Origins Program, was designed for first-time demonstration of two technologies: formation flying optical interferometry between spacecraft and autonomous precise formation flying of an array of spacecraft to support optical interferometry. The design overview and results of the technology effort are presented in this paper.

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.

Automation and robotics technology for intelligent mining systems

NASA Technical Reports Server (NTRS)

Welsh, Jeffrey H.

1989-01-01

The U.S. Bureau of Mines is approaching the problems of accidents and efficiency in the mining industry through the application of automation and robotics to mining systems. This technology can increase safety by removing workers from hazardous areas of the mines or from performing hazardous tasks. The short-term goal of the Automation and Robotics program is to develop technology that can be implemented in the form of an autonomous mining machine using current continuous mining machine equipment. In the longer term, the goal is to conduct research that will lead to new intelligent mining systems that capitalize on the capabilities of robotics. The Bureau of Mines Automation and Robotics program has been structured to produce the technology required for the short- and long-term goals. The short-term goal of application of automation and robotics to an existing mining machine, resulting in autonomous operation, is expected to be accomplished within five years. Key technology elements required for an autonomous continuous mining machine are well underway and include machine navigation systems, coal-rock interface detectors, machine condition monitoring, and intelligent computer systems. The Bureau of Mines program is described, including status of key technology elements for an autonomous continuous mining machine, the program schedule, and future work. Although the program is directed toward underground mining, much of the technology being developed may have applications for space systems or mining on the Moon or other planets.

A modified proportional navigation scheme for rendezvous and docking with tumbling targets: The Planar case

NASA Technical Reports Server (NTRS)

Fitz-Coy, Norman; Liu, Ming-Cheng

1995-01-01

A two-phase proportional navigation scheme is developed for the case of two rigid bodies engaged in a rendezvous/docking maneuver. The target vehicle is nonmaneuvering, but does have constant nonzero angular and linear velocities. Under these conditions, it is shown that previously obtained solutions are not applicable. Analytical solutions are obtained leading to relationships between the transverse and LOS navigation constants. It is shown that the transverse navigation constant for the second phase of the maneuver must be 2. Also, initial conditions necessary for rendezvous are presented.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Astrophysics Data System (ADS)

Alhorn, Dean C.

2005-02-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete sub-systems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Autonomous Assembly of Modular Structures in Space and on Extraterrestrial Locations

NASA Technical Reports Server (NTRS)

Alhorn, Dean C.

2005-01-01

The new U.S. National Vision for Space Exploration requires many new enabling technologies to accomplish the goals of space commercialization and returning humans to the moon and extraterrestrial environments. Traditionally, flight elements are complete subsystems requiring humans to complete the integration and assembly. These bulky structures also require the use of heavy launch vehicles to send the units to a desired location. This philosophy necessitates a high degree of safety, numerous space walks at a significant cost. Future space mission costs must be reduced and safety increased to reasonably achieve exploration goals. One proposed concept is the autonomous assembly of space structures. This concept is an affordable, reliable solution to in-space and extraterrestrial assembly. Assembly is autonomously performed when two components join after determining that specifications are correct. Local sensors continue monitor joint integrity post assembly, which is critical for safety and structural reliability. Achieving this concept requires a change in space structure design philosophy and the development of innovative technologies to perform autonomous assembly. Assembly of large space structures will require significant numbers of integrity sensors. Thus simple, low-cost sensors are integral to the success of this concept. This paper addresses these issues and proposes a novel concept for assembling space structures autonomously. Core technologies required to achieve in space assembly are presented. These core technologies are critical to the goal of utilizing space in a cost efficient and safe manner. Additionally, these novel technologies can be applied to other systems both on earth and extraterrestrial environments.

Autonomous execution of the Precision Immobilization Technique

NASA Astrophysics Data System (ADS)

Mascareñas, David D. L.; Stull, Christopher J.; Farrar, Charles R.

2017-03-01

Over the course of the last decade great advances have been made in autonomously driving cars. The technology has advanced to the point that driverless car technology is currently being tested on publicly accessed roadways. The introduction of these technologies onto publicly accessed roadways not only raises questions of safety, but also security. Autonomously driving cars are inherently cyber-physical systems and as such will have novel security vulnerabilities that couple both the cyber aspects of the vehicle including the on-board computing and any network data it makes use of, with the physical nature of the vehicle including its sensors, actuators, and the vehicle chassis. Widespread implementation of driverless car technology will require that both the cyber, as well as physical security concerns surrounding these vehicles are addressed. In this work, we specifically developed a control policy to autonomously execute the Precision Immobilization Technique, a.k.a. the PIT maneuver. The PIT maneuver was originally developed by law enforcement to end high-speed vehicular pursuits in a quasi-safe manner. However, there is still a risk of damage/roll-over to both the vehicle executing the PIT maneuver as well as to the vehicle subject to the PIT maneuver. In law enforcement applications, it would be preferable to execute the PIT maneuver using an autonomous vehicle, thus removing the danger to law-enforcement officers. Furthermore, it is entirely possible that unscrupulous individuals could inject code into an autonomously-driving car to use the PIT maneuver to immobilize other vehicles while maintaining anonymity. For these reasons it is useful to know how the PIT maneuver can be implemented on an autonomous car. In this work a simple control policy based on velocity pursuit was developed to autonomously execute the PIT maneuver using only a vision and range measurements that are both commonly collected by contemporary driverless cars. The ability of this control policy to execute the PIT maneuver was demonstrated both in simulation and experimentally. The results of this work can help inform the design of autonomous car with regards to ensuring their cyber-physical security.

A Delta-V map of the known Main Belt Asteroids

NASA Astrophysics Data System (ADS)

Taylor, Anthony; McDowell, Jonathan C.; Elvis, Martin

2018-05-01

With the lowered costs of rocket technology and the commercialization of the space industry, asteroid mining is becoming both feasible and potentially profitable. Although the first targets for mining will be the most accessible near Earth objects (NEOs), the Main Belt contains 106 times more material by mass. The large scale expansion of this new asteroid mining industry is contingent on being able to rendezvous with Main Belt asteroids (MBAs), and so on the velocity change required of mining spacecraft (delta-v). This paper develops two different flight burn schemes, both starting from Low Earth Orbit (LEO) and ending with a successful MBA rendezvous. These methods are then applied to the ∼700,000 asteroids in the Minor Planet Center (MPC) database with well-determined orbits to find low delta-v mining targets among the MBAs. There are 3986 potential MBA targets with a delta-v < 8 km s-1 , but the distribution is steep and reduces to just 4 with delta-v < 7 km s-1. The two burn methods are compared and the orbital parameters of low delta-v MBAs are explored.

Social technology restriction alters state-anxiety but not autonomic activity in humans.

PubMed

Durocher, John J; Lufkin, Kelly M; King, Michelle E; Carter, Jason R

2011-12-01

Social technology is extensively used by young adults throughout the world, and it has been suggested that interrupting access to this technology induces anxiety. However, the influence of social technology restriction on anxiety and autonomic activity in young adults has not been formally examined. Therefore, we hypothesized that restriction of social technology would increase state-anxiety and alter neural cardiovascular regulation of arterial blood pressure. Twenty-one college students (age 18-23 yr) were examined during two consecutive weeks in which social technology use was normal or restricted (randomized crossover design). Mean arterial pressure (MAP), heart rate, and muscle sympathetic nerve activity (MSNA) were measured at rest and during several classic autonomic stressors, including isometric handgrip, postexercise muscle ischemia, cold pressor test, and mental stress. Tertile analysis revealed that restriction of social technology was associated with increases (12 ± 2 au; range 5 to 21; n = 7), decreases (-6 ± 2 au; range -2 to -11; n = 6), or no change (0 ± 0 au; range -1 to 3; n = 8) in state-anxiety. Social technology restriction did not alter MAP (74 ± 1 vs. 73 ± 1 mmHg), heart rate (62 ± 2 vs. 61 ± 2 beats/min), or MSNA (9 ± 1 vs. 9 ± 1 bursts/min) at rest, and it did not alter neural or cardiovascular responses to acute stressors. In conclusion, social technology restriction appears to have an interindividual influence on anxiety, but not autonomic activity. It remains unclear how repeated bouts, or chronic restriction of social technology, influence long-term psychological and cardiovascular health.

The Adam language: Ada extended with support for multiway activities

NASA Technical Reports Server (NTRS)

Charlesworth, Arthur

1993-01-01

The Adam language is an extension of Ada that supports multiway activities, which are cooperative activities involving two or more processes. This support is provided by three new constructs: diva procedures, meet statements, and multiway accept statements. Diva procedures are recursive generic procedures having a particular restrictive syntax that facilitates translation for parallel computers. Meet statements and multiway accept statements provide two ways to express a multiway rendezvous, which is an n-way rendezvous generalizing Ada's 2-way rendezvous. While meet statements tend to have simpler rules than multiway accept statements, the latter approach is a more straightforward extension of Ada. The only nonnull statements permitted within meet statements and multiway accept statements are calls on instantiated diva procedures. A call on an instantiated diva procedure is also permitted outside a multiway rendezvous; thus sequential Adam programs using diva procedures can be written. Adam programs are translated into Ada programs appropriate for use on parallel computers.

Apoptosis and Self-Destruct: A Contribution to Autonomic Agents?

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2004-01-01

Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward in designing reliable systems. Agent technologies have been identified as a key enabler for engineering autonomicity in systems, both in terms of retrofitting autonomicity into legacy systems and designing new systems. The AC initiative provides an opportunity to consider other biological systems and principles in seeking new design strategies. This paper reports on one such investigation; utilizing the apoptosis metaphor of biological systems to provide a dynamic health indicator signal between autonomic agents.

Usachev uses a laser range finder during rendezvous ops

NASA Image and Video Library

2001-03-10

STS102-E-5085 (10 March 2001) --- Cosmonaut Yury V. Usachev, STS-102 mission specialist, uses a laser ranging device on Discovery's aft flight deck during rendezvous operations. The photograph was recorded with a digital still camera.

Precision Landing and Hazard Avoidance Doman

NASA Technical Reports Server (NTRS)

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

2016-01-01

The Precision Landing and Hazard Avoidance (PL&HA) domain addresses the development, integration, testing, and spaceflight infusion of sensing, processing, and GN&C functions critical to the success and safety of future human and robotic exploration missions. PL&HA sensors also have applications to other mission events, such as rendezvous and docking. Autonomous PL&HA builds upon the core GN&C capabilities developed to enable soft, controlled landings on the Moon, Mars, and other solar system bodies. Through the addition of a Terrain Relative Navigation (TRN) function, precision landing within tens of meters of a map-based target is possible. The addition of a 3-D terrain mapping lidar sensor improves the probability of a safe landing via autonomous, real-time Hazard Detection and Avoidance (HDA). PL&HA significantly improves the probability of mission success and enhances access to sites of scientific interest located in challenging terrain. PL&HA can also utilize external navigation aids, such as navigation satellites and surface beacons. Advanced Lidar Sensors High precision ranging, velocimetry, and 3-D terrain mapping Terrain Relative Navigation (TRN) TRN compares onboard reconnaissance data with real-time terrain imaging data to update the S/C position estimate Hazard Detection and Avoidance (HDA) Generates a high-resolution, 3-D terrain map in real-time during the approach trajectory to identify safe landing targets Inertial Navigation During Terminal Descent High precision surface relative sensors enable accurate inertial navigation during terminal descent and a tightly controlled touchdown within meters of the selected safe landing target.

Operational Experience with Autonomous Star Trackers on ESA Interplanetary Spacecraft

NASA Technical Reports Server (NTRS)

Lauer, Mathias; Jauregui, Libe; Kielbassa, Sabine

2007-01-01

Mars Express (MEX), Rosetta and Venus Express (VEX) are ESA interplanetary spacecrafts (S/C) launched in June 2003, March 2004 and November 2005, respectively. Mars Express was injected into Mars orbit end of 2003 with routine operations starting in spring 2004. Rosetta is since launch on its way to rendezvous comet Churyumov-Gerasimenko in 2014. It has completed several test and commissioning activities and is performing several planetary swingbys (Earth in spring 2005, Mars in spring 2007, Earth in autumn 2007 and again two years later). Venus Express has also started routine operations since the completion of the Venus orbit insertion maneuver sequence beginning of May 2006. All three S/C are three axes stabilized with a similar attitude and orbit control system (AOCS). The attitude is estimated on board using star and rate sensors and controlled using four reaction wheels. A bipropellant reaction control system with 10N thrusters serves for wheel off loadings and attitude control in safe mode. Mars Express and Venus Express have an additional 400N engine for the planetary orbit insertion. Nominal Earth communication is accomplished through a high gain antenna. All three S/C are equipped with a redundant set of autonomous star trackers (STR) which are based on almost the same hardware. The STR software is especially adapted for the respective mission. This paper addresses several topics related to the experience gained with the STR operations on board the three S/C so far.

University Student and Teacher Perceptions of Teacher Roles in Promoting Autonomous Language Learning with Technology outside the Classroom

ERIC Educational Resources Information Center

Lai, Chun; Yeung, Yuk; Hu, Jingjing

2016-01-01

Helping students to become autonomous learners, who actively utilize technologies for learning outside the classroom, is important for successful language learning. Teachers, as significant social agents who shape students' intellectual and social experiences, have a critical role to play. This study examined students' and teachers' perceptions of…

IUS/TUG orbital operations and mission support study. Volume 4: Project planning data

NASA Technical Reports Server (NTRS)

1975-01-01

Planning data are presented for the development phases of interim upper stage (IUS) and tug systems. Major project planning requirements, major event schedules, milestones, system development and operations process networks, and relevant support research and technology requirements are included. Topics discussed include: IUS flight software; tug flight software; IUS/tug ground control center facilities, personnel, data systems, software, and equipment; IUS mission events; tug mission events; tug/spacecraft rendezvous and docking; tug/orbiter operations interface, and IUS/orbiter operations interface.

Space Technology and the Soviet/US Strategic Competition: A Perspective and Forecast Using Twelve-Year Cycles

DTIC Science & Technology

1988-05-01

was opened. The original Soviet ICBM, the SS-6 " Sapwood ," while not deployed in any significant numbers, was continuously refined and used as a space...concern. Although still less capable than her adversary’s, the Soviet Navy was expanding rapidly. Even in the traditional area of American preeminence...work area , was 9.1 meters long and was sandwiched between the forward docking portion and the rear service module. After a preliminary rendezvous and

Spatial Mapping of NEO 2008 EV5 Using Small Satellite Formation Flying and Steresoscopic Technology

NASA Astrophysics Data System (ADS)

Gonzalez, Juan; Singh Derewa, Chrishma

2016-10-01

NASA is currently developing the first-ever robotic Asteroid Redirect Robotic Mission (ARRM) to the near-Earth asteroid 2008 EV5 with the objective to capture a multi-ton boulder from the asteroids surface and use its mass to redirect its parent into a CIS lunar orbit where astronauts will study its physical and chemical composition.A critical step towards achieving this mission is to effectively map the target asteroid, identify the candidate boulder for retrieval and characterize its critical parameters. Currently, ARRM utilizes a laser altimeter to characterize the height of the boulders and mapping for final autonomous control of the capture. The proposed Lava-Kusha mission provides the increased of stereoscopic imaging and mapping, not only the Earthward side of the asteroid which has been observed for possible landing sites, but mapping the whole asteroid. LKM will enhance the fidelity of the data collected by the laser altimeter and gather improved topographic data for future Orion missions to 2008 EV5 once in cis lunar space.LKM consists of two low cost small satellites (6U) as a part of the ARRM. They will launch with ARRM as an integrated part of the system. Once at the target, this formation of pathfinder satellites will image the mission critical boulder to ensure the system design can support its removal. LKM will conduct a series of flybys prior to ARRM's rendezvous. LKMs stereoscopic cameras will provide detailed surveys of the boulder's terrain and environment to ensure ARRM can operate safely, reach the location and interface with the boulder. The LKM attitude control and cold gas propulsion system will enable formation maintenance maneuvers for global mapping of asteroid 2008 EV5 at an altitude of 100 km to a high-spatial resolution imaging altitude of 5 km.LKM will demonstrate formation flying in deep space and the reliability of stereoscopic cameras to precisely identify a specific target and provide physical characterization of an asteroid. An assessment of the off-the-shelf technology used at JPL will be provided also with technology readiness descriptions, mission architecture, cost analysis and future work required to make the proposed LKM mission a partner to ARRM.

Autonomous docking system for space structures and satellites

NASA Astrophysics Data System (ADS)

Prasad, Guru; Tajudeen, Eddie; Spenser, James

2005-05-01

Aximetric proposes Distributed Command and Control (C2) architecture for autonomous on-orbit assembly in space with our unique vision and sensor driven docking mechanism. Aximetric is currently working on ip based distributed control strategies, docking/mating plate, alignment and latching mechanism, umbilical structure/cord designs, and hardware/software in a closed loop architecture for smart autonomous demonstration utilizing proven developments in sensor and docking technology. These technologies can be effectively applied to many transferring/conveying and on-orbit servicing applications to include the capturing and coupling of space bound vehicles and components. The autonomous system will be a "smart" system that will incorporate a vision system used for identifying, tracking, locating and mating the transferring device to the receiving device. A robustly designed coupler for the transfer of the fuel will be integrated. Advanced sealing technology will be utilized for isolation and purging of resulting cavities from the mating process and/or from the incorporation of other electrical and data acquisition devices used as part of the overall smart system.

Autonomic responses to correct outcomes and interaction errors during single-switch scanning among children with severe spastic quadriplegic cerebral palsy.

PubMed

Leung, Brian; Chau, Tom

2014-03-08

The combination of single-switch access technology and scanning is the most promising means of augmentative and alternative communication for many children with severe physical disabilities. However, the physical impairment of the child and the technology's limited ability to interpret the child's intentions often lead to false positives and negatives (corresponding to accidental and missed selections, respectively) occurring at rates that frustrate the user and preclude functional communication. Multiple psychophysiological studies have associated cardiac deceleration and increased phasic electrodermal activity with self-realization of errors among able-bodied individuals. Thus, physiological measurements have potential utility at enhancing single-switch access, provided that such prototypical autonomic responses exist in persons with profound disabilities. The present case series investigated the autonomic responses of three pediatric single-switch users with severe spastic quadriplegic cerebral palsy, in the context of a single-switch letter matching activity. Each participant exhibited distinct autonomic responses to activity engagement. Our analysis confirmed the presence of the autonomic response pattern of cardiac deceleration and increased phasic electrodermal activity following true positives, false positives and false negatives errors, but not subsequent to true negative outcomes. These findings suggest that there may be merit in complementing single-switch input with autonomic measurements to improve augmentative and alternative communications for pediatric access technology users.

The Exploration of Near-Earth Objects

NASA Astrophysics Data System (ADS)

1998-01-01

Near-Earth objects (NEOs) are asteroids and comets with orbits that intersect or pass near that of our planet. About 400 NEOs are currently known, but the entire population contains perhaps 3000 objects with diameters larger than 1 km. These objects, thought to be similar in many ways to the ancient planetesimal swarms that accreted to form the planets, are interesting and highly accessible targets for scientific research. They carry records of the solar system's birth and the geologic evolution of small bodies in the interplanetary region. Because collisions of NEOs with Earth pose a finite hazard to life, the exploration of these objects is particularly urgent. Devising appropriate risk-avoidance strategies requires quantitative characterization of NEOS. They may also serve as resources for use by future human exploration missions. The scientific goals of a focused NEO exploration program are to determine their orbital distribution, physical characteristics, composition, and origin. Physical characteristics, such as size, shape, and spin properties, have been measured for approximately 80 NEOs using observations at infrared, radar, and visible wavelengths. Mineralogical compositions of a comparable number of NEOs have been inferred from visible and near-infrared spectroscopy. The formation and geologic histories of NEOs and related main-belt asteroids are currently inferred from studies of meteorites and from Galileo and Near-Earth Asteroid Rendezvous spacecraft flybys of three main-belt asteroids. Some progress has also been made in associating specific types of meteorites with main-belt asteroids, which probably are the parent bodies of most NEOs. The levels of discovery of NEOs in the future will certainly increase because of the application of new detection systems. The rate of discovery may increase by an order of magnitude, allowing the majority of Earth-crossing asteroids and comets with diameters greater than 1 km to he discovered in the next decade. A small fraction of NEOs are particularly accessible for exploration by spacecraft. To identify the exploration targets of highest scientific interest, the orbits and classification of a large number of NEOs should be determined by telescopic observations. Desired characterization would also include measurements of size, mass, shape, surface composition and heterogeneity, gas and dust emission, and rotation. Laboratory studies of meteorites can focus NEO exploration objectives and quantify the information obtained from telescopes. Once high-priority targets have been identified, various kinds of spacecraft missions (flyby, rendezvous, and sample return) can be designed. Some currently operational (Near-Earth Asteroid Rendezvous [NEAR]) or planned (Deep Space 1) U.S. missions are of the first two types, and other planned U.S. and Japanese spacecraft missions will return samples. Rendezvous missions with sample return are particularly desirable from a scientific perspective because of the very great differences in the analytical capabilities that can be brought to bear in orbit and in the laboratory setting. Although it would be difficult to justify human exploration of NEOs on the basis of cost-benefit analysis of scientific results alone, a strong case can be made for starting with NEOs if the decision to carry out human exploration beyond low Earth orbit is made for other reasons. Some NEOs are especially attractive targets for astronaut missions because of their orbital accessibility and short flight duration. Because they represent deep space exploration at an intermediate level of technical challenge, these missions would also serve as stepping stones for human missions to Mars. Human exploration of NEOs would provide significant advances in observational and sampling capabilities. With respect to ground based telescopic studies, the recommended baseline is that NASA and other appropriate agencies suupport research programs for interpreting the spectra of near-Earth objects (NEOs), continue and coordinate currently supported surveys to discover and determine the orbits of NEOs and develop policies for the public disclosure of results relating to potential hazards. Augmentation to this baseline program include in priority order: (1) provide routine or priority access to existiing ground-based optical and infrared telescopes and radar facilities for characterization of NEOs during favorable encounters; or (2) provide expanded, dedicated telescope access for characterization of NEOs. Appropriate augmentations to existing programs include the following: (1) Develop technological advances in spacecraft capabilities, including nonchemical propulsion and autonomous navigation systems, low-power and low-mass anlaytical instrumentation for remote and in situ studies, and multiple penetrators and other sampling and sample-handling systems to allow low-cost rendezvous and sample return missions; and (2) study technical requirements for human expeditions to NEOs. Although studies evaluating the risk of asteroid collisions with Earth and the means of averting them are desirable, they are beyond the scope of this report.

Advances in Autonomous Systems for Missions of Space Exploration

NASA Astrophysics Data System (ADS)

Gross, A. R.; Smith, B. D.; Briggs, G. A.; Hieronymus, J.; Clancy, D. J.

New missions of space exploration will require unprecedented levels of autonomy to successfully accomplish their objectives. Both inherent complexity and communication distances will preclude levels 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 meeting the greatly increased space exploration requirements, along with dramatically reduced 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 monitoring and maintenance 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 space exploration, since the science and operational requirements specified by such missions, as well as the budgetary constraints that limit the ability to monitor and control these 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 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 communications distance as are not otherwise possible, as well as many more efficient and low cost applications. One notable example of such missions are those to explore for the existence of water on planets such as Mars and the moons of Jupiter. It is clear that water does not exist on the surfaces of such bodies, but may well be located at some considerable depth below the surface, thus requiring a subsurface drilling capability. Subsurface drilling on planetary surfaces will require a robust autonomous control and analysis system, currently a major challenge, but within conceivable reach of planned technology developments. This paper will focus on new and innovative software for remote, autonomous, space systems flight operations, including flight test results, lessons learned, and implications for the future. An additional focus will be on technologies for planetary exploration using autonomous systems and astronaut-assistance systems that employ new spoken language technology. Topics to be presented will include a description of key autonomous control concepts, illustrated by 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 software for autonomous science data acquisition for planetary exploration will also be described, as well as advanced systems for safe planetary landings. Current results of autonomous planetary drilling system research will be presented. A key thrust within NASA is to develop technologies that will leverage the capabilities of human astronauts during planetary surface explorations. One such technology is spoken dialogue interfaces, which would allow collaboration with semi-autonomous agents that are engaged in activities that are normally accomplished using language, e.g., astronauts in space suits interacting with groups of semi-autonomous rovers and other astronauts. This technology will be described and discussed in the context of future exploration missions and the major new capabilities enabled by such systems. Finally, plans and directions for the future of autonomous systems will be presented.

A study of system requirements for Phobos/Deimos missions. Volume 2: Phase 1 results, satellite rendezvous and landing missions

NASA Technical Reports Server (NTRS)

1972-01-01

The feasibility of a satellite rendezvous, landing, and roving mission to the Martian satellites Phobos and Deimos is considered. Mission-oriented analysis, systems analysis, and conceptual design studies are presented.

Apollo experience report: Lunar module landing radar and rendezvous radar

NASA Technical Reports Server (NTRS)

Rozas, P.; Cunningham, A. R.

1972-01-01

A developmental history of the Apollo lunar module landing and rendezvous radar subsystems is presented. The Apollo radar subsystems are discussed from initial concept planning to flight configuration testing. The major radar subsystem accomplishments and problems are discussed.

Development of a cooperative operational rendezvous plan for Eureca and other maneuvering Shuttle payloads

NASA Technical Reports Server (NTRS)

Gavin, R. T.

1987-01-01

This paper discusses the development of a new class of US Space Shuttle rendezvous missions which involve a maneuvering target vehicle. The objective of the analysis was to develop an operational plan to take advantage of the target spacecraft's maneuvering ability by making it responsible for a portion of the maneuvers necessary to achieve rendezvous. This work resulted in the development of a region in space relative to the Shuttle, called the control box, into which the target vehicle maneuvers. Furthermore, a mission operations plan was developed to implement the control box technique.

Optimal cooperative time-fixed impulsive rendezvous

NASA Technical Reports Server (NTRS)

Mirfakhraie, Koorosh; Conway, Bruce A.

1990-01-01

New capabilities have been added to a method that had been developed for determining optimal, i.e., minimum fuel, trajectories for the fixed-time cooperative rendezvous of two spacecraft. The method utilizes the primer vector theory. The new capabilities enable the method to accomodate cases in which there are fuel constraints on the spacecraft and/or enable the addition of a mid-course impulse to one of the vehicle's trajectories. Results are presented for a large number of cases, and the effect of varying parameters, such as vehicle fuel constraints, vehicle initial masses, and time allowed for the rendezvous, is demonstrated.

Powered Descent Trajectory Guidance and Some Considerations for Human Lunar Landing

NASA Technical Reports Server (NTRS)

Sostaric, Ronald R.

2007-01-01

The Autonomous Precision Landing and Hazard Detection and Avoidance Technology development (ALHAT) will enable an accurate (better than 100m) landing on the lunar surface. This technology will also permit autonomous (independent from ground) avoidance of hazards detected in real time. A preliminary trajectory guidance algorithm capable of supporting these tasks has been developed and demonstrated in simulations. Early results suggest that with expected improvements in sensor technology and lunar mapping, mission objectives are achievable.

From Here to Autonomicity: Self-Managing Agents and the Biological Metaphors that Inspire Them

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2005-01-01

We seek inspiration for self-managing systems from (obviously, pre-existing) biological mechanisms. Autonomic Computing (AC), a self-managing systems initiative based on the biological metaphor of the autonomic nervous system, is increasingly gaining momentum as the way forward for integrating and designing reliable systems, while agent technologies have been identified as a key enabler for engineering autonomicity in systems. This paper looks at other biological metaphors such as reflex and healing, heart- beat monitors, pulse monitors and apoptosis for assisting in the realization of autonomicity.

Development and Evaluation of Positioning Systems for Autonomous Vehicle Navigation

DTIC Science & Technology

2001-12-01

generation of autonomous vehicles to utilize NTV technology is built on a commercially-available vehicle built by ASV. The All-Purpose Remote Transport...larger scale, AFRL and CIMAR are involved in the development of a standard approach in the design and specification of autonomous vehicles being...1996. Shi92 Shin, D.H., Sanjiv, S., and Lee, J.J., “Explicit Path Tracking by Autonomous Vehicles ,” Robotica, 10, (1992), 69-87. Ste95

The study of stereo vision technique for the autonomous vehicle

NASA Astrophysics Data System (ADS)

Li, Pei; Wang, Xi; Wang, Jiang-feng

2015-08-01

The stereo vision technology by two or more cameras could recovery 3D information of the field of view. This technology can effectively help the autonomous navigation system of unmanned vehicle to judge the pavement conditions within the field of view, and to measure the obstacles on the road. In this paper, the stereo vision technology in measuring the avoidance of the autonomous vehicle is studied and the key techniques are analyzed and discussed. The system hardware of the system is built and the software is debugged, and finally the measurement effect is explained by the measured data. Experiments show that the 3D reconstruction, within the field of view, can be rebuilt by the stereo vision technology effectively, and provide the basis for pavement condition judgment. Compared with unmanned vehicle navigation radar used in measuring system, the stereo vision system has the advantages of low cost, distance and so on, it has a good application prospect.

Autonomous System Technologies for Resilient Airspace Operations

NASA Technical Reports Server (NTRS)

Houston, Vincent E.; Le Vie, Lisa R.

2017-01-01

Increasing autonomous systems within the aircraft cockpit begins with an effort to understand what autonomy is and developing the technology that encompasses it. Autonomy allows an agent, human or machine, to act independently within a circumscribed set of goals; delegating responsibility to the agent(s) to achieve overall system objective(s). Increasingly Autonomous Systems (IAS) are the highly sophisticated progression of current automated systems toward full autonomy. Working in concert with humans, these types of technologies are expected to improve the safety, reliability, costs, and operational efficiency of aviation. IAS implementation is imminent, which makes the development and the proper performance of such technologies, with respect to cockpit operation efficiency, the management of air traffic and data communication information, vital. A prototype IAS agent that attempts to optimize the identification and distribution of "relevant" air traffic data to be utilized by human crews during complex airspace operations has been developed.

Solar Electric Propulsion System Integration Technology (SEPSIT). Volume 1: Technical summary

NASA Technical Reports Server (NTRS)

Gardner, J. A.

1972-01-01

The use of solar electric propulsion as a means of exploring space beyond the reach of ballistic missions was investigated. The method used was to study the application of this new propulsion technology to a future flight project. A 1980 Encke rendezvous mission was chosen because a design successful for Encke could be used for less difficult, but scientifically rewarding, missions. Design points for the mission and for the thrust subsystem were specified. The baseline-vehicle design was defined. A preliminary functional description document for the thrust subsystem was originated. Analyses were performed in support of the design point selection for the SEP-module thrust subsystem to specify parameters, to clarify and optimize the interface requirements, and to assure feasibility of some of the more critical technological aspects of SEP application.

Developing an Advanced Life Support System for the Flexible Path into Deep Space

NASA Technical Reports Server (NTRS)

Jones, Harry W.; Kliss, Mark H.

2010-01-01

Long duration human missions beyond low Earth orbit, such as a permanent lunar base, an asteroid rendezvous, or exploring Mars, will use recycling life support systems to preclude supplying large amounts of metabolic consumables. The International Space Station (ISS) life support design provides a historic guiding basis for future systems, but both its system architecture and the subsystem technologies should be reconsidered. Different technologies for the functional subsystems have been investigated and some past alternates appear better for flexible path destinations beyond low Earth orbit. There is a need to develop more capable technologies that provide lower mass, increased closure, and higher reliability. A major objective of redesigning the life support system for the flexible path is achieving the maintainability and ultra-reliability necessary for deep space operations.

Resolving external pancreatic fistulas in patients with disconnected pancreatic duct syndrome: using rendezvous techniques to avoid surgery (with video).

PubMed

Irani, Shayan; Gluck, Michael; Ross, Andrew; Gan, S Ian; Crane, Robert; Brandabur, John J; Hauptmann, Ellen; Fotoohi, Mehran; Kozarek, Richard A

2012-09-01

An external pancreatic fistula (EPF) generally results from an iatrogenic manipulation of a pancreatic fluid collection (PFC), such as walled-off pancreatic necrosis (WOPN). Severe necrotizing pancreatitis can lead to complete duct disruption, causing disconnected pancreatic duct syndrome (DPDS) with viable upstream pancreas draining out of a low-pressure fistula created surgically or by a percutaneous catheter. The EPF can persist for months to years, and distal pancreatectomy, often the only permanent solution, carries a high morbidity and defined mortality. To describe 3 endoscopic and percutaneous rendezvous techniques to completely resolve EPFs in the setting of DPDS. A retrospective review of a prospective database of 15 patients who underwent rendezvous internalization of EPFs. Tertiary-care pancreatic referral center. Fifteen patients between October 2002 and October 2011 with EPFs in the setting of DPDS and resolved WOPN. Three rendezvous techniques that combined endoscopic and percutaneous procedures to internalize EPFs by transgastric, transduodenal, or transpapillary methods. EPF resolution and morbidity. Fifteen patients (12 men) with a median age of 51 years (range 24-65 years) with EPFs and DPDS (cutoff/blowout of pancreatic duct, with inability to demonstrate upstream body/tail of pancreas on pancreatogram) resulting from severe necrotizing pancreatitis underwent 1 of 3 rendezvous procedures to eliminate the EPFs. All patients were either poor surgical candidates or refused surgery. At the time of the rendezvous procedure, WOPN had fully resolved, DPDS was confirmed on pancreatography, and the EPF had persisted for a median of 5 months (range 1-48 months), producing a median output of 200 mL/day (range 50-700 mL/day). The rendezvous technique in 10 patients used the existing percutaneous drainage fistula to puncture into the stomach/duodenum to deliver wires that were captured endoscopically. The transenteric fistula was dilated and two endoprostheses placed into the lesser sac. A second technique was used in 3 patients where EUS was used to avoid large varices and create a fistula to the percutaneous drainage catheter. Wires were delivered transenterally then grasped by an interventional radiologist. The new fistula was dilated, and, again, two endoprostheses were placed. Two patients underwent a rendezvous technique that resulted in transpapillary stents and removal of percutaneous catheters. The median duration to EPF closure was 7 days (range 1-73 days) during a median follow-up of 25 months (range 6-113 months). No EPF has recurred in any patient, although 3 symptomatic fluid collections have occurred. These collections have been successfully treated with combined percutaneous and endoscopic treatment or endoscopic treatment alone. One patient had postprocedural fever. There were no associated deaths. Small, selected group of patients without a comparative group. The management of EPFs in the setting of DPDS is challenging but can be treated effectively by combined endoscopic and percutaneous rendezvous techniques. The rendezvous procedures were associated with minimal morbidity, no mortality, avoidance of surgery, and complete elimination of the EPFs. Copyright © 2012. Published by Mosby, Inc.

GEMINI-TITAN (GT)-12 - EARTH SKY - AGENA RENDEZVOUS - OUTER SPACE

NASA Image and Video Library

1966-11-11

S66-62755 (11 Nov. 1966) --- Excellent stereo and side view of the Agena Target Docking Vehicle as seen from the Gemini-12 spacecraft during rendezvous and docking mission in space. The two spacecraft are 50 feet apart. Photo credit: NASA

Multiple NEO Rendezvous Using Solar Sails

NASA Technical Reports Server (NTRS)

Johnson, Les; Alexander, Leslie; Fabisinski, Leo; Heaton, Andy; Miernik, Janie; Stough, Rob; Wright, Roosevelt; Young, Roy

2012-01-01

Mission concept is to assess the feasibility of using solar sail propulsion to enable a robotic precursor that would survey multiple Near Earth Objects (NEOs) for potential future human visits. Single spacecraft will rendezvous with and image 3 NEOs within 6 years of launch

Rendezvous radar modification and evaluation. [for space shuttles

NASA Technical Reports Server (NTRS)

1976-01-01

The purpose of this effort was to continue the implementation and evaluation of the changes necessary to add the non-cooperative mode capability with frequency diversity and a doppler filter bank to the Apollo Rendezvous Radar while retaining the cooperative mode capability.

Space science: Causes and impacts of cutbacks to NASA's outer solar system exploration missions. Report to the Chairman, Subcommittee on Investigations and Oversight, Committee on Science, Space, and Technology, House of Representatives

NASA Astrophysics Data System (ADS)

Degnan, Frank

1993-12-01

The Comet Rendezvous Asteroid Flyby (CRAF)/Cassini program was first funded by the Congress in fiscal year 1990. Since then, it has encountered difficulties that resulted in the cancellation of CRAF, reduction of Cassini's original scientific capabilities, and extension of its launch date. At the request of the former Chairman of the Investigations and Oversight Subcommittee, House Committee on Science, Space, and Technology, GAO reviewed the program to identify the factors that led to the cancellation of the CRAF project and the prospects for continuation of the Cassini project.

Enabling Exploration Missions Now: Applications of On-orbit Staging

NASA Technical Reports Server (NTRS)

Folta, David C.; Vaughn, Frank; Westmeyer, Paul; Rawitscher, Gary; Bordi, Francesco

2005-01-01

Future NASA Exploration goals are difficult to meet using current launch vehicle implementations and techniques. We introduce a concept of On-Orbit Staging (OOS) using multiple launches into a Low Earth orbit (LEO) staging area to increase payload mass and reduce overall cost for exploration initiative missions. This concept is a forward-looking implementation of ideas put forth by Oberth and Von Braun to address the total mission design. Applying staging throughout the mission and utilizing technological advances in propulsion efficiency and architecture enable us to show that exploration goals can be met in the next decade. As part of this architecture, we assume the readiness of automated rendezvous, docking, and assembly technology.

Smart radio: spectrum access for first responders

NASA Astrophysics Data System (ADS)

Silvius, Mark D.; Ge, Feng; Young, Alex; MacKenzie, Allen B.; Bostian, Charles W.

2008-04-01

This paper details the Wireless at Virginia Tech Center for Wireless Telecommunications' (CWT) design and implementation of its Smart Radio (SR) communication platform. The CWT SR can identify available spectrum within a pre-defined band, rendezvous with an intended receiver, and transmit voice and data using a selected quality of service (QoS). This system builds upon previous cognitive technologies developed by CWT for the public safety community, with the goal of providing a prototype mobile communications package for military and public safety First Responders. A master control (MC) enables spectrum awareness by characterizing the radio environment with a power spectrum sensor and an innovative signal detection and classification module. The MC also enables spectrum and signal memory by storing sensor results in a knowledge database. By utilizing a family radio service (FRS) waveform database, the CWT SR can create a new communication link on any designated FRS channel frequency using FM, BPSK, QPSK, or 8PSK modulations. With FM, it supports analog voice communications with legacy hand-held FRS radios. With digital modulations, it supports IP data services, including a CWT developed CVSD-based VoIP protocol. The CWT SR coordinates spectrum sharing between analog primary users and digital secondary users by applying a simple but effective channel-change protocol. It also demonstrates a novel rendezvous protocol to facilitate the detection and initialization of communications links with neighboring SR nodes through the transmission of frequency-hopped rendezvous beacons. By leveraging the GNU Radio toolkit, writing key modules entirely in Python, and utilizing the USRP hardware front-end, the CWT SR provides a dynamic spectrum test bed for future smart and cognitive radio research.

Autonomy, Automation, and Systems

NASA Astrophysics Data System (ADS)

Turner, Philip R.

1987-02-01

Aerospace industry interest in autonomy and automation, given fresh impetus by the national goal of establishing a Space Station, is becoming a major item of research and technology development. The promise of new technology arising from research in Artificial Intelligence (AI) has focused much attention on its potential in autonomy and automation. These technologies can improve performance in autonomous control functions that involve planning, scheduling, and fault diagnosis of complex systems. There are, however, many aspects of system and subsystem design in an autonomous system that impact AI applications, but do not directly involve AI technology. Development of a system control architecture, establishment of an operating system within the design, providing command and sensory data collection features appropriate to automated operation, and the use of design analysis tools to support system engineering are specific examples of major design issues. Aspects such as these must also receive attention and technology development support if we are to implement complex autonomous systems within the realistic limitations of mass, power, cost, and available flight-qualified technology that are all-important to a flight project.

14 CFR 1214.111 - Rendezvous services.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 5 2010-01-01 2010-01-01 false Rendezvous services. 1214.111 Section 1214.111 Aeronautics and Space NATIONAL AERONAUTICS AND SPACE ADMINISTRATION SPACE FLIGHT General Provisions Regarding Space Shuttle Flights of Payloads for Non-U.S. Government, Reimbursable Customers § 1214...

Fortran 4 program for two-impulse rendezvous analysis

NASA Technical Reports Server (NTRS)

Barling, W. H., Jr.; Brothers, W. J.; Darling, W. H., Jr.

1967-01-01

Program determines if rendezvous in near space is possible, and performs an analysis to determine the approximate required values of the magnitude and direction of two thrust applications of the upper stage of a rocket firing. The analysis is performed by using ordinary Keplerian mechanics.

Spaceflight mechanics, 1993; AAS/AIAA Spaceflight Mechanics Meeting, 3rd, Pasadena, CA, Feb. 22-24, 1993, Parts 1 & 2

NASA Technical Reports Server (NTRS)

Melton, Robert G. (Editor); Wood, Lincoln J. (Editor); Thompson, Roger C. (Editor); Kerridge, Stuart J. (Editor)

1993-01-01

Papers from the third annual Spaceflight Mechanics Meeting are presented. The topics covered include the following: attitude dynamics and control; large flexible structures; intercept and rendezvous; rendezvous and orbit transfer; and trajectory optimization.

Rendezvous Docking Simulator

NASA Image and Video Library

1964-10-29

Originally the Rendezvous was used by the astronauts preparing for Gemini missions. The Rendezvous Docking Simulator was then modified and used to develop docking techniques for the Apollo program. "The LEM pilot's compartment, with overhead window and the docking ring (idealized since the pilot cannot see it during the maneuvers), is shown docked with the full-scale Apollo Command Module." A.W. Vogeley described the simulator as follows: "The Rendezvous Docking Simulator and also the Lunar Landing Research Facility are both rather large moving-base simulators. It should be noted, however, that neither was built primarily because of its motion characteristics. The main reason they were built was to provide a realistic visual scene. A secondary reason was that they would provide correct angular motion cues (important in control of vehicle short-period motions) even though the linear acceleration cues would be incorrect." -- Published in A.W. Vogeley, "Piloted Space-Flight Simulation at Langley Research Center," Paper presented at the American Society of Mechanical Engineers, 1966 Winter Meeting, New York, NY, November 27 - December 1, 1966;

Multiple Exposure of Rendezvous Docking Simulator - Gemini Program

NASA Image and Video Library

1964-02-07

Multiple exposure of Rendezvous Docking Simulator. Francis B. Smith, described the simulator as follows: The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. This figure illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft. -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203 Francis B. Smith, Simulators for Manned Space Research, Paper presented at the 1966 IEEE International convention, March 21-25, 1966.

Time-fixed rendezvous by impulse factoring with an intermediate timing constraint. [for transfer orbits

NASA Technical Reports Server (NTRS)

Green, R. N.; Kibler, J. F.; Young, G. R.

1974-01-01

A method is presented for factoring a two-impulse orbital transfer into a three- or four-impulse transfer which solves the rendezvous problem and satisfies an intermediate timing constraint. Both the time of rendezvous and the intermediate time of a alinement are formulated as any element of a finite sequence of times. These times are integer multiples of a constant plus an additive constant. The rendezvous condition is an equality constraint, whereas the intermediate alinement is an inequality constraint. The two timing constraints are satisfied by factoring the impulses into collinear parts that vectorially sum to the original impulse and by varying the resultant period differences and the number of revolutions in each orbit. Five different types of solutions arise by considering factoring either or both of the two impulses into two or three parts with a limit for four total impulses. The impulse-factoring technique may be applied to any two-impulse transfer which has distinct orbital periods.

Relative navigation requirements for automatic rendezvous and capture systems

NASA Technical Reports Server (NTRS)

Kachmar, Peter M.; Polutchko, Robert J.; Chu, William; Montez, Moises

1991-01-01

This paper will discuss in detail the relative navigation system requirements and sensor trade-offs for Automatic Rendezvous and Capture. Rendezvous navigation filter development will be discussed in the context of navigation performance requirements for a 'Phase One' AR&C system capability. Navigation system architectures and the resulting relative navigation performance for both cooperative and uncooperative target vehicles will be assessed. Relative navigation performance using rendezvous radar, star tracker, radiometric, laser and GPS navigation sensors during appropriate phases of the trajectory will be presented. The effect of relative navigation performance on the Integrated AR&C system performance will be addressed. Linear covariance and deterministic simulation results will be used. Evaluation of relative navigation and IGN&C system performance for several representative relative approach profiles will be presented in order to demonstrate the full range of system capabilities. A summary of the sensor requirements and recommendations for AR&C system capabilities for several programs requiring AR&C will be presented.

Guidance, navigation, and control study for a solar electric propulsion spacecraft

NASA Technical Reports Server (NTRS)

Kluever, Craig A.

1995-01-01

A preliminary investigation of a lunar-comet rendezvous mission using a solar electric propulsion (SEP) spacecraft was performed in two phases.The first phase involved exploration of the moon and the second involved rendezvous with a comet. The initial phase began with a chemical propulsion translunar injection and chemical insertion into a lunar orbit, followed by a low thrust SEP transfer to a circular, polar, low-lunar orbit. After collecting scientific data at the moon, the SEP spacecraft performed a spiral lunar escape maneuver to begin the interplanetary leg of the mission. After escape from the Earth-moon system, the SEP spacecraft maneuvered in interplanetary space and performed a rendezvous with a comet.The immediate goal of this study was to demonstrate the feasibility of using a low-thrust SEP spacecraft for orbit transfer to both the moon and a comet. Another primary goal was to develop a computer optimization code which would be robust enough to obtain minimum-fuel rendezvous trajectories for a wide range of comets.

Protecting Networks Via Automated Defense of Cyber Systems

DTIC Science & Technology

2016-09-01

autonomics, and artificial intelligence . Our conclusion is that automation is the future of cyber defense, and that advances are being made in each of...SUBJECT TERMS Internet of Things, autonomics, sensors, artificial intelligence , cyber defense, active cyber defense, automated indicator sharing...called Automated Defense of Cyber Systems, built upon three core technological components: sensors, autonomics, and artificial intelligence . Our

Safe and Autonomous Drones for Urban Flight

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje

2016-01-01

Autonomous vehicles are no longer futuristic technology; in fact, there are already cars with self-driving features on the road. Over the next five years, the connected vehicles will disrupt the entire automotive and UAS ecosystems. The industry will undergo fundamental change as semi-autonomous driving and flying emerges, followed by an eventual shift to full autonomy.

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.

Mission Architecture Comparison for Human Lunar Exploration

NASA Technical Reports Server (NTRS)

Geffre, Jim; Robertson, Ed; Lenius, Jon

2006-01-01

The Vision for Space Exploration outlines a bold new national space exploration policy that holds as one of its primary objectives the extension of human presence outward into the Solar System, starting with a return to the Moon in preparation for the future exploration of Mars and beyond. The National Aeronautics and Space Administration is currently engaged in several preliminary analysis efforts in order to develop the requirements necessary for implementing this objective in a manner that is both sustainable and affordable. Such analyses investigate various operational concepts, or mission architectures , by which humans can best travel to the lunar surface, live and work there for increasing lengths of time, and then return to Earth. This paper reports on a trade study conducted in support of NASA s Exploration Systems Mission Directorate investigating the relative merits of three alternative lunar mission architecture strategies. The three architectures use for reference a lunar exploration campaign consisting of multiple 90-day expeditions to the Moon s polar regions, a strategy which was selected for its high perceived scientific and operational value. The first architecture discussed incorporates the lunar orbit rendezvous approach employed by the Apollo lunar exploration program. This concept has been adapted from Apollo to meet the particular demands of a long-stay polar exploration campaign while assuring the safe return of crew to Earth. Lunar orbit rendezvous is also used as the baseline against which the other alternate concepts are measured. The first such alternative, libration point rendezvous, utilizes the unique characteristics of the cislunar libration point instead of a low altitude lunar parking orbit as a rendezvous and staging node. Finally, a mission strategy which does not incorporate rendezvous after the crew ascends from the Moon is also studied. In this mission strategy, the crew returns directly to Earth from the lunar surface, and is thus referred to as direct return. Figures of merit in the areas of safety and mission success, mission effectiveness, extensibility, and affordability are used to evaluate and compare the lunar orbit rendezvous, libration point rendezvous, and direct return architectures, and this paper summarizes the results of those assessments.

Imaging lidar technology: development of a 3D-lidar elegant breadboard for rendezvous and docking, test results, and prospect to future sensor application

NASA Astrophysics Data System (ADS)

Moebius, B.; Pfennigbauer, M.; Pereira do Carmo, J.

2017-11-01

During the previous 15 years, Rendezvous and Docking Sensors (RVS) were developed, manufactured and qualified. In the mean time they were successfully applied in some space missions: For automatic docking of the European ATV "Jules Verne" on the International Space Station in 2008; for automatic berthing of the first Japanese HTV in 2009, and even the precursor model ARP-RVS for measurements during Shuttle Atlantis flights STS-84 and STS-86 to the MIR station. Up to now, about twenty RVS Flight Models for application on ATV, HTV and the American Cygnus Spacecraft were manufactured and delivered to the respective customers. RVS is designed for tracking of customer specific, cooperative targets (i.e. retro reflectors that are arranged in specific geometries). Once RVS has acquired the target, the sensor measures the distance to the target by timeof- flight determination of a pulsed laser beam. Any echo return provokes an interrupt signal and thus the readout of the according encoder positions of the two scan mirrors that represent Azimuth and Elevation measurement direction to the target. [2], [3]. The capability of the RVS for 3D mapping of the scene makes the fully space qualified RVS to be real 3D Lidar sensors; thus they are a sound technical base for the compact 3D Lidar breadboard that was developed in the course of the Imaging Lidar Technology (ILT) project.

Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers

NASA Astrophysics Data System (ADS)

Pomares, Jorge; Felicetti, Leonard; Pérez, Javier; Emami, M. Reza

2018-02-01

An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations.

NASA Advisory Council Task Force on the Shuttle-Mir Rendezvous and Docking Missions

NASA Technical Reports Server (NTRS)

1994-01-01

The NASA Advisory Council Task Force on the Shuttle-Mir rendezvous and docking convened on May 24 and 25, 1994. Based on the meetings, the Task Force made the following recommendations: at a minimum, the mission commander and payload commander for all subsequent Shuttle-Mir missions should be named at least 18 months in advance of the scheduled launch date; in order to derive early operational experience in advance of the first Mir docking mission, the primary objective of STS-63 should be Mir rendezvous and proximity operations; and if at all possible, the launch date for STS-63 should be moved forward.

A Comparison of Trajectory Optimization Methods for the Impulsive Minimum Fuel Rendezvous Problem

NASA Technical Reports Server (NTRS)

Hughes, Steven P.; Mailhe, Laurie M.; Guzman, Jose J.

2002-01-01

In this paper we present a comparison of optimization approaches to the minimum fuel rendezvous problem. Both indirect and direct methods are compared for a variety of test cases. The indirect approach is based on primer vector theory. The direct approaches are implemented numerically and include Sequential Quadratic Programming (SQP), Quasi-Newton, Simplex, Genetic Algorithms, and Simulated Annealing. Each method is applied to a variety of test cases including, circular to circular coplanar orbits, LEO to GEO, and orbit phasing in highly elliptic orbits. We also compare different constrained optimization routines on complex orbit rendezvous problems with complicated, highly nonlinear constraints.

Multiple NEO Rendezvous, Reconnaissance and In Situ Exploration

NASA Astrophysics Data System (ADS)

Klaus, K.; Elsperman, M. S.; Cook, T.; Smith, D.

2010-12-01

We propose a two spacecraft mission (Mother Ship and Small Body Lander) rendezvous with multiple Near Earth Objects (NEO). This two spacecraft mission mimics the likely architecture approach that human explorers will use: a “mother ship”(MS) designed to get from Earth to the NEO and a “Small Body Lander”(SBL) that performs in situ investigation on or close to the NEO’s surface. The MS carries the SBL to the target NEO. Once at the target NEO, the MS conducts an initial reconnaissance in order to produce a high resolution map of the surface. This map is used to identify coordinates of interest which are sent to the SBL. The SBL un-docks from the MS to rendezvous with the NEO and collect data. Landings are possible, though the challenges of anchoring to the NEO surface are significant. The SBL design is flexible and adaptable, enabling science data collection on or near the surface. After surface investigations are completed on the first NEO, the SBL will return and autonomously rendezvous and dock with the MS. The MS then goes to the next NEO target. During transit to the next NEO, the SBL could be refueled by the MS, a TRL8 capability demonstrated on the DARPA/NASA Orbital Express mission in 2007, or alternately sized to operate without requiring refueling depending on the mission profile. The mission goals are to identify surface hazards; quantify engineering boundary conditions for future human visits, and identify resources for future exploitation. The mission goals will be accomplished through the execution of key mission objectives: (1) high-resolution surface topography; (2) surface composition and mineralogy; (3) radiation environment near NEO; and (4) mechanical properties of the surface. Essential SBL instruments include: a) LIDAR (Obj. 1); b) 3D, high- resolution hyperspectral imaging cameras (Obj. 2); c) radiation sensor package (Obj. 3); and d) strain gauges (Obj. 4). Additional or alternative instruments could include: e) x-ray fluorescence or laser-induced breakdown spectroscopy (LIBS) sensor package (Obj. 2); f) gamma ray/neutron spectrometry package (Obj. 2); and g) radiometer package (to address variations in thermal environment). The ability to reach, survey, sample, and analyze multiple NEOs at close proximity is an enormous capability that can enable NASA to rapidly achieve the primary Exploration Precursor Robotic Mission (xPRM) Program goal of characterizing NEOs for future human exploration. Instead of launching multiple dedicated missions to each NEO of interest, a multi-NEO sortie mission can be planned and executed to achieve the same mission objectives with one launch, dramatically reducing the cost of NEO exploration. Collectively, our NEO Exploration System Architecture provides solutions for a wide variety of exploration activities using a common spacecraft bus and common core instrumentation for the spacecraft. This engineering consistency will substantially improve the probability of mission success, increase the likelihood of maintaining an aggressive launch schedule, and decrease the total cost of multiple missions. NASA successfully used this approach with the robotic precursors leading up to the Apollo missions, and we see significant benefits from this same programmatic approach for the xPRM program.

Science and Technology, Autonomous and More Interdependent Every Time

NASA Astrophysics Data System (ADS)

Santilli, Haydée

2012-06-01

In a School of Engineering scientific and technological knowledge live together. Science teachers usually try to understand the role that scientific disciplines have over the engineer training. In this paper are descript three historical case studies that could help teachers and students for better understanding the interdependence between science and technology, and the way in which both are related to society. The cases clearly show that both kind of knowledge, scientific and technological, are autonomous, and that their growths involve complex processes. On this way, learners could have an insight of both, the NOS and the NOT.

The Ion Propulsion System for the Asteroid Redirect Robotic Mission

NASA Technical Reports Server (NTRS)

Herman, Daniel A.; Santiago, Walter; Kamhawi, Hani; Polk, James E.; Snyder, John Steven; Hofer, Richard R.; Sekerak, Michael J.

2016-01-01

The Asteroid Redirect Robotic Mission is a Solar Electric Propulsion Technology Demonstration Mission (ARRM) whose main objectives are to develop and demonstrate a high-power solar electric propulsion capability for the Agency and return an asteroidal mass for rendezvous and characterization in a companion human-crewed mission. This high-power solar electric propulsion capability, or an extensible derivative of it, has been identified as a critical part of NASA'a future beyond-low-Earth-orbit, human-crewed exploration plans. Under the NASA Space Technology Mission Directorate the critical electric propulsion and solar array technologies are being developed. This paper presents the conceptual design of the ARRM ion propulsion system, the status of the NASA in-house thruster and power processing development activities, the status of the planned technology maturation for the mission through flight hardware delivery, and the status of the mission formulation and spacecraft acquisition.

Rick Husband gives thumbs-up from flight deck during rendezvous

NASA Image and Video Library

2017-04-20

S96-E-5037 (29 May 1999) --- Astronaut Rick D. Husband, pilot, signals with thumbs up during Discovery's rendezvous operations with the International Space Station (ISS). The photo was taken with an electronic still camera (ESC) at 03:34:23 GMT, May 29, 1999.

Automated Detection and Classification in High-Resolution Sonar Imagery for Autonomous Underwater Vehicle Operations

DTIC Science & Technology

2008-12-01

n. , ’>, ,. Australian Government Department of Defence Defence Science and Technology Organisation Automated Detection and Classification in... Organisation DSTO-GD-0537 ABSTRACT Autonomous Underwater Vehicles (AUVs) are increasingly being used by military forces to acquire high-resolution sonar...release Published by Maritime Operations Division DsTO Defrnce sdence and Technology Organisation PO Box 1500 Edinburgh South Australia 5111 Australia

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.

The NASA/Army Autonomous Rotorcraft Project

NASA Technical Reports Server (NTRS)

Whalley, M.; Freed, M.; Takahashi, M.; Christian, D.; Patterson-Hine, A.; Schulein, G.; Harris, R.

2002-01-01

An overview of the NASA Ames Research Center Autonomous Rotorcraft Project (ARP) is presented. The project brings together several technologies to address NASA and US Army autonomous vehicle needs, including a reactive planner for mission planning and execution, control system design incorporating a detailed understanding of the platform dynamics, and health monitoring and diagnostics. A candidate reconnaissance and surveillance mission is described. The autonomous agent architecture and its application to the candidate mission are presented. Details of the vehicle hardware and software development are provided.

In Situ Surveying of Saturn's Rings

NASA Technical Reports Server (NTRS)

Clark, P. E.; Curtis, S. A.; Rilee, M. L.; Cheung, C.

2004-01-01

The Saturn Autonomous Ring Array (SARA) mission concept is a new application for the Autonomous Nano-Technology Swarm (ANTS) architecture, a paradigm being developed for exploration of high surface area and/or multibody targets to minimize costs and maximize effectiveness of survey operations. Systems designed with ANTS architecture are built from potentially very large numbers of highly autonomous, yet socially interactive, specialists, in approximately ten specialist classes. Here, we analyze requirements for such a mission as well as specialized autonomous operations which would support this application.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Cryan, Scott; Zipay, John; Strube, Matthew

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2015-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR and D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR and D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion crew vehicle. The commonality assessment also considered several future exploration and science missions requiring an AR and D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a threedimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build time instead of at design time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal nonrecurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR and D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Flight demonstration of new thruster and green propellant technology on the PRISMA satellite

NASA Astrophysics Data System (ADS)

Anflo, K.; Möllerberg, R.

2009-11-01

The concept of a storable liquid monopropellant blend for space applications based on ammonium dinitramide (ADN) was invented in 1997, within a co-operation between the Swedish Space Corporation (SSC) and the Swedish Defense Research Agency (FOI). The objective was to develop a propellant which has higher performance and is safer than hydrazine. The work has been performed under contract from the Swedish National Space Board and ESA. The progress of the development has been presented in several papers since 2000. ECAPS, a subsidiary of the Swedish Space Corporation was established in 2000 with the aim to develop and market the novel "high performance green propellant" (HPGP) technology for space applications. The new technology is based on several innovations and patents w.r.t. propellant formulation and thruster design, including a high temperature resistant catalyst and thrust chamber. The first flight demonstration of the HPGP propulsion system will be performed on PRISMA. PRISMA is an international technology demonstration program with Swedish Space Corporation as the Prime Contractor. This paper describes the performance, characteristics, design and verification of the HPGP propulsion system for PRISMA. Compatibility issues related to using a new propellant with COTS components is also discussed. The PRISMA mission includes two satellites in LEO orbit were the focus is on rendezvous and formation flying. One of the satellites will act as a "target" and the main spacecraft performs rendezvous and formation flying maneuvers, where the ECAPS HPGP propulsion system will provide delta-V capability. The PRISMA CDR was held in January 2007. Integration of the flight propulsion system is about to be finalized. The flight opportunity on PRISMA represents a unique opportunity to demonstrate the HPGP propulsion system in space, and thus take a significant step towards its use in future space applications. The launch of PRISMA scheduled to 2009.

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather; Strube, Matthew; Zipay, John J.; Cryan, Scott

2016-01-01

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Rendezvous terminal phase automatic braking sequencing and targeting. [for space shuttle orbiter

NASA Technical Reports Server (NTRS)

Kachmar, P. M.

1973-01-01

The purpose of the rendezvous terminal phase braking program is to provide the means of automatically bringing the primary orbiter within desired station keeping boundaries relative to the target satellite. A detailed discussion is presented on the braking program and its navigation, targeting, and guidance functions.

Horowitz at the aft flight deck during rendezvous ops

NASA Image and Video Library

2001-08-12

STS105-E-5061 (12 August 2001) --- Astronaut Scott J. Horowitz, STS-105 mission commander, looks over a checklist on the aft flight deck of the Space Shuttle Discovery during rendezvous operations with the International Space Station (ISS). The image was recorded with a digital still camera.

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2014-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks , through innovative signal processing, coding, and...4. TITLE AND SUBTITLE Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and...coding: 3) OFDM modulated dynamic coded cooperation in underwater acoustic channels; 3 Localization, Networking , and Testbed: 4) On-demand

Autonomous RPRV Navigation, Guidance and Control

NASA Technical Reports Server (NTRS)

Johnston, Donald E.; Myers, Thomas T.; Zellner, John W.

1983-01-01

Dryden Flight Research Center has the responsibility for flight testing of advanced remotely piloted research vehicles (RPRV) to explore highly maneuverable aircraft technology, and to test advanced structural concepts, and related aeronautical technologies which can yield important research results with significant cost benefits. The primary purpose is to provide the preliminary design of an upgraded automatic approach and landing control system and flight director display to improve landing performance and reduce pilot workload. A secondary purpose is to determine the feasibility of an onboard autonomous navigation, orbit, and landing capability for safe vehicle recovery in the event of loss of telemetry uplink communication with the vehicles. The current RPRV approach and landing method, the proposed automatic and manual approach and autoland system, and an autonomous navigation, orbit, and landing system concept which is based on existing operational technology are described.

Research on key technology of prognostic and health management for autonomous underwater vehicle

NASA Astrophysics Data System (ADS)

Zhou, Zhi

2017-12-01

Autonomous Underwater Vehicles (AUVs) are non-cable and autonomous motional underwater robotics. With a wide range of activities, it can reach thousands of kilometers. Because it has the advantages of wide range, good maneuverability, safety and intellectualization, it becomes an important tool for various underwater tasks. How to improve diagnosis accuracy of the AUVs electrical system faults, and how to repair AUVs by the information are the focus of navy in the world. In turn, ensuring safe and reliable operation of the system has very important significance to improve AUVs sailing performance. To solve these problems, in the paper the prognostic and health management(PHM) technology is researched and used to AUV, and the overall framework and key technology are proposed, such as data acquisition, feature extraction, fault diagnosis, failure prediction and so on.

Optimal starting conditions for the rendezvous maneuver: Analytical and computational approach

NASA Astrophysics Data System (ADS)

Ciarcia, Marco

The three-dimensional rendezvous between two spacecraft is considered: a target spacecraft on a circular orbit around the Earth and a chaser spacecraft initially on some elliptical orbit yet to be determined. The chaser spacecraft has variable mass, limited thrust, and its trajectory is governed by three controls, one determining the thrust magnitude and two determining the thrust direction. We seek the time history of the controls in such a way that the propellant mass required to execute the rendezvous maneuver is minimized. Two cases are considered: (i) time-to-rendezvous free and (ii) time-to-rendezvous given, respectively equivalent to (i) free angular travel and (ii) fixed angular travel for the target spacecraft. The above problem has been studied by several authors under the assumption that the initial separation coordinates and the initial separation velocities are given, hence known initial conditions for the chaser spacecraft. In this paper, it is assumed that both the initial separation coordinates and initial separation velocities are free except for the requirement that the initial chaser-to-target distance is given so as to prevent the occurrence of trivial solutions. Two approaches are employed: optimal control formulation (Part A) and mathematical programming formulation (Part B). In Part A, analyses are performed with the multiple-subarc sequential gradient-restoration algorithm for optimal control problems. They show that the fuel-optimal trajectory is zero-bang, namely it is characterized by two subarcs: a long coasting zero-thrust subarc followed by a short powered max-thrust braking subarc. While the thrust direction of the powered subarc is continuously variable for the optimal trajectory, its replacement with a constant (yet optimized) thrust direction produces a very efficient guidance trajectory. Indeed, for all values of the initial distance, the fuel required by the guidance trajectory is within less than one percent of the fuel required by the optimal trajectory. For the guidance trajectory, because of the replacement of the variable thrust direction of the powered subarc with a constant thrust direction, the optimal control problem degenerates into a mathematical programming problem with a relatively small number of degrees of freedom, more precisely: three for case (i) time-to-rendezvous free and two for case (ii) time-to-rendezvous given. In particular, we consider the rendezvous between the Space Shuttle (chaser) and the International Space Station (target). Once a given initial distance SS-to-ISS is preselected, the present work supplies not only the best initial conditions for the rendezvous trajectory, but simultaneously the corresponding final conditions for the ascent trajectory. In Part B, an analytical solution of the Clohessy-Wiltshire equations is presented (i) neglecting the change of the spacecraft mass due to the fuel consumption and (ii) and assuming that the thrust is finite, that is, the trajectory includes powered subarcs flown with max thrust and coasting subarc flown with zero thrust. Then, employing the found analytical solution, we study the rendezvous problem under the assumption that the initial separation coordinates and initial separation velocities are free except for the requirement that the initial chaser-to-target distance is given. The main contribution of Part B is the development of analytical solutions for the powered subarcs, an important extension of the analytical solutions already available for the coasting subarcs. One consequence is that the entire optimal trajectory can be described analytically. Another consequence is that the optimal control problems degenerate into mathematical programming problems. A further consequence is that, vis-a-vis the optimal control formulation, the mathematical programming formulation reduces the CPU time by a factor of order 1000. Key words. Space trajectories, rendezvous, optimization, guidance, optimal control, calculus of variations, Mayer problems, Bolza problems, transformation techniques, multiple-subarc sequential gradient-restoration algorithm.

Integrated synoptic surveys using an autonomous underwater vehicle and manned boats

USGS Publications Warehouse

Jackson, P. Ryan

2013-01-01

Traditional surface-water surveys are being combined with autonomous technology to produce integrated surveys of bathymetry, water quality, and velocity in inland lakes and reservoirs. This new technology provides valuable, high-resolution, integrated data that allow a systems-based approach to understanding common environmental problems. This fact sheet presents several example applications of integrated surveys within inland lakes and coastal Lake Michigan and Lake Erie.

Advancing Underwater Acoustic Communication for Autonomous Distributed Networks via Sparse Channel Sensing, Coding, and Navigation Support

DTIC Science & Technology

2013-09-30

underwater acoustic communication technologies for autonomous distributed underwater networks, through innovative signal processing, coding, and navigation...in real enviroments , an offshore testbed has been developed to conduct field experimetns. The testbed consists of four nodes and has been deployed...Leadership by the Connecticut Technology Council. Dr. Zhaohui Wang joined the faculty of the Department of Electrical and Computer Engineering at

From 'automation' to 'autonomy': the importance of trust repair in human-machine interaction.

PubMed

de Visser, Ewart J; Pak, Richard; Shaw, Tyler H

2018-04-09

Modern interactions with technology are increasingly moving away from simple human use of computers as tools to the establishment of human relationships with autonomous entities that carry out actions on our behalf. In a recent commentary, Peter Hancock issued a stark warning to the field of human factors that attention must be focused on the appropriate design of a new class of technology: highly autonomous systems. In this article, we heed the warning and propose a human-centred approach directly aimed at ensuring that future human-autonomy interactions remain focused on the user's needs and preferences. By adapting literature from industrial psychology, we propose a framework to infuse a unique human-like ability, building and actively repairing trust, into autonomous systems. We conclude by proposing a model to guide the design of future autonomy and a research agenda to explore current challenges in repairing trust between humans and autonomous systems. Practitioner Summary: This paper is a call to practitioners to re-cast our connection to technology as akin to a relationship between two humans rather than between a human and their tools. To that end, designing autonomy with trust repair abilities will ensure future technology maintains and repairs relationships with their human partners.

Project Integration Architecture as a Foundation for Autonomous Solution Systems: The Postulation of a Meaningful "SolveYourself" Method

NASA Technical Reports Server (NTRS)

Jones, William Henry

2005-01-01

The Project Integration Architecture (PIA) uses object-oriented technology to implement self-revelation and semantic infusion through class derivation. That is, the kind of an object can be discovered through program inquiry and the well-known, well-defined meaning of that object can be utilized as a result of that discovery. This technology has already been demonstrated by the PIA effort in its parameter object classes. It is proposed that, by building on this technology, an autonomous, automatic, goal-seeking, solution system may be devised.

Roboter in der Raumfahrt

NASA Astrophysics Data System (ADS)

Hirzinger, G.

(Robots in space)—The paper emphasizes the enormous automation impact in industry caused by microelectronics, a "byproduct" of space-technology. The evolutionary stages of robotic are outlined and it is shown that there are a lot of reasons for more automation, artificial intelligence and robotic in space, too. The telemanipulator concept is compared with the industrial robot concept, both showing up an increasing degree of similarity. The state of the art in sensory systems is discussed. By hand of the typical operations needed in space as rendezvous, assembly and docking the required robot skill is indicated. As a conclusion it is stated that the basic technologies available with industrial robots today could solve a lot of space problems. What remains to do—apart of course from ongoing research—is better integration and adaption of industrial techniques to the need of space technology.

Fuzzy logic applications to expert systems and control

NASA Technical Reports Server (NTRS)

Lea, Robert N.; Jani, Yashvant

1991-01-01

A considerable amount of work on the development of fuzzy logic algorithms and application to space related control problems has been done at the Johnson Space Center (JSC) over the past few years. Particularly, guidance control systems for space vehicles during proximity operations, learning systems utilizing neural networks, control of data processing during rendezvous navigation, collision avoidance algorithms, camera tracking controllers, and tether controllers have been developed utilizing fuzzy logic technology. Several other areas in which fuzzy sets and related concepts are being considered at JSC are diagnostic systems, control of robot arms, pattern recognition, and image processing. It has become evident, based on the commercial applications of fuzzy technology in Japan and China during the last few years, that this technology should be exploited by the government as well as private industry for energy savings.

NEOShield - A global approach to NEO Impact Threat Mitigation

NASA Astrophysics Data System (ADS)

Michel, Patrick

2015-03-01

NEOShield is a European-Union funded project coordinated by the German Aero-space Center, DLR, to address near-Earth object (NEO) impact hazard mitigation issues. The NEOShield consortium consists of 13 research institutes, universities, and industrial partners from 6 countries and includes leading US and Russian space organizations. The project is funded for a period of 3.5 years from January 2012 with a total of 5.8 million euros. The primary aim of the project is to investigate in detail promising mitigation techniques, such as the kinetic impactor, blast deflection, and the gravity tractor, and devise feasible demonstration missions. Options for an international strategy for implementation when an actual impact threat arises will also be investigated. The NEOShield work plan consists of scientific investigations into the nature of the impact hazard and the physical properties of NEOs, and technical and engineering studies of practical means of deflecting NEOs. There exist many ideas for asteroid deflection techniques, many of which would require considerable scientific and technological development. The emphasis of NEOShield is on techniques that are feasible with current technology, requiring a minimum of research and development work. NEOShield aims to provide detailed designs of feasible mitigation demonstration missions, targeting NEOs of the kind most likely to trigger the first space-based mitigation action. Most of the asteroid deflection techniques proposed to date require physical contact with the threatening object, an example being the kinetic impactor. NEOShield includes research into the mitigation-relevant physical properties of NEOs on the basis of remotely-sensed astronomical data and the results of rendezvous missions, the observational techniques required to efficiently gather mitigation-relevant data on the dynamical state and physical properties of a threatening NEO, and laboratory investigations using gas guns to fire projectiles into asteroid regolith analog materials. The gas-gun investigations enable state-of-the-art numerical models to be verified at small scales. Computer simulations at realistic NEO scales are used to investigate how NEOs with a range of properties would respond to a pulse of energy applied in a deflection attempt. The technical work includes the development of crucial technologies, such as the autonomous guidance of a kinetic impactor to a precise point on the surface of the target, and the detailed design of realistic missions for the purpose of demonstrating the applicability and feasibility of one or more of the techniques investigated. Theoretical work on the blast deflection method of mitigation is designed to probe the circumstances in which this last line of defense may be the only viable option and the issues relating to its deployment. A global response campaign roadmap will be developed based on realistic scenarios presented, for example, by the discovery of an object such as 99942 Apophis or 2011 AG5 on a threatening orbit. The work will include considerations of the timeline of orbit knowledge and impact probability development, reconnaissance observations and fly-by or rendezvous missions, the political decision to mount a mitigation attempt, and the design, development, and launch of the mitigation mission. Collaboration with colleagues outside the NEOShield Consortium involved in complementary activities (e.g. under the auspices of the UN, NASA, or ESA) is being sought in order to establish a broad international strategy. We present a brief overview of the history and planned scope of the project, and progress made to date. The NEOShield project (http://www.neoshield.net) has received funding from the European Union Seventh Framework Program (FP7/2007-2013) under Grant Agreement no. 282703.

Mission requirements CSM-111/DM-2 Apollo/Soyuz test project

NASA Technical Reports Server (NTRS)

Blackmer, S. M.

1974-01-01

Test systems are developed for rendezvous and docking of manned spacecraft and stations that are suitable for use as a standard international system. This includes the rendezvous and docking of Apollo and Soyuz spacecraft, and crew transfer. The conduct of the mission will include: (1) testing of compatible rendezvous systems in orbit; (2) testing of universal docking assemblies; (3) verifying the techniques for transfer of cosmonauts and astronauts; (4) performing certain activities by U.S.A. and U.S.S.R. crews in joint flight; and (5) gaining of experience in conducting joint flights by U.S.A. and U.S.S.R. spacecraft, including, in case of necessity, rendering aid in emergency situations.

Multiple main-belt asteroid mission options for a Mariner Mark II spacecraft

NASA Astrophysics Data System (ADS)

Sauer, Carl G., Jr.; Yen, Chen-Wan L.

This paper presents the trajectory options available for a MMII spacecraft mission to asteroids and introduces systematic methods of uncovering attractive mission opportunities. The analysis presented considers multiple synchronous gravity assists of Mars and introduces a terminal resonant or phasing orbit; a concept useful for both increasing the number of asteroid rendezvous targets attainable during a launch opportunity, and also in increasing the number of potential asteroid flybys. Systematic examinations of the requirements for superior asteroidal alignments are made and a comprehensive set of asteroid rendezvous opportunities for the 1998 to 2010 period are presented. Examples of candidate missions involving one or more rendezvous and several flybys are also presented.

Multiple main-belt asteroid mission options for a Mariner Mark II spacecraft

NASA Technical Reports Server (NTRS)

Sauer, Carl G., Jr.; Yen, Chen-Wan L.

1990-01-01

This paper presents the trajectory options available for a MMII spacecraft mission to asteroids and introduces systematic methods of uncovering attractive mission opportunities. The analysis presented considers multiple synchronous gravity assists of Mars and introduces a terminal resonant or phasing orbit; a concept useful for both increasing the number of asteroid rendezvous targets attainable during a launch opportunity, and also in increasing the number of potential asteroid flybys. Systematic examinations of the requirements for superior asteroidal alignments are made and a comprehensive set of asteroid rendezvous opportunities for the 1998 to 2010 period are presented. Examples of candidate missions involving one or more rendezvous and several flybys are also presented.

Primer-optimized results and trends for circular phasing and other circle-to-circle impulsive coplanar rendezvous

NASA Astrophysics Data System (ADS)

Sandrik, Suzannah

Optimal solutions to the impulsive circular phasing problem, a special class of orbital maneuver in which impulsive thrusts shift a vehicle's orbital position by a specified angle, are found using primer vector theory. The complexities of optimal circular phasing are identified and illustrated using specifically designed Matlab software tools. Information from these new visualizations is applied to explain discrepancies in locally optimal solutions found by previous researchers. Two non-phasing circle-to-circle impulsive rendezvous problems are also examined to show the applicability of the tools developed here to a broader class of problems and to show how optimizing these rendezvous problems differs from the circular phasing case.

Tracking techniques for space shuttle rendezvous

NASA Technical Reports Server (NTRS)

1975-01-01

The space shuttle rendezvous radar has a requirement to track cooperative and non-cooperative targets. For this reason the Lunar Module (LM) Rendezvous Radar was modified to incorporate the capability of tracking a non-cooperative target. The modifications are discussed. All modifications except those relating to frequency diversity were completed, and system tests were performed to confirm proper performance in the non-cooperative mode. Frequency diversity was added to the radar and to the special test equipment, and then system tests were performed. This last set of tests included re-running the tests of the non-cooperative mode without frequency diversity, followed by tests with frequency diversity and tests of operation in the original cooperative mode.

Comet rendezvous mission design using Solar Electric Propulsion

NASA Technical Reports Server (NTRS)

Sackett, L. L.; Hastrup, R. C.; Yen, C.-W. L.; Wood, L. J.

1979-01-01

A dual comet (Halley Flyby/Tempel 2 Rendezvous) mission, which is planned to be the first to use the Solar Electric Propulsion System (SEPS), is to be launched in 1985. The purpose of this paper is to describe how the mission design attempts to maximize science return while working within spacecraft and other constraints. Science requirements and desires are outlined and specific instruments are considered. Emphasis is on the strategy for operations in the vicinity of Tempel 2, for which a representative profile is described. The mission is planned to extend about one year past initial rendezvous. Because of the large uncertainty in the comet environment the Tempel 2 operations strategy must be highly adaptive.

21st century early mission concepts for Mars delivery and earth return

NASA Technical Reports Server (NTRS)

Cruz, Manuel I.; Ilgen, Marc R.

1990-01-01

In the 21st century, the early missions to Mars will entail unmanned Rover and Sample Return reconnaissance missions to be followed by manned exploration missions. High performance leverage technologies will be required to reach Mars and return to earth. This paper describes the mission concepts currently identified for these early Mars missions. These concepts include requirements and capabilities for Mars and earth aerocapture, Mars surface operations and ascent, and Mars and earth rendezvous. Although the focus is on the unmanned missions, synergism with the manned missions is also discussed.

Proceedings of the Near-Earth-Object Interception Workshop

NASA Technical Reports Server (NTRS)

Canavan, G. J. (Editor); Solem, J. C. (Editor); Rather, John D. G. (Editor)

1993-01-01

The National Aeronautics and Space Administration Headquarters sponsored the Near-Earth-Object Interception Workshop hosted by the Los Alamos National Laboratory on 14-16 Jan. 1992 at the J. Robert Oppenheimer Study Center in Los Alamos, New Mexico. The Workshop evaluated the issues involved in intercepting celestial objects that could hit the Earth. It covered the technologies for acquiring, tracking, and homing, as well as those for sending interceptors to inspect, rendezvous with, land on, irradiate, deflect, or destroy them. This report records the presentations and technical options reviewed.

Biologically-Inspired Concepts for Autonomic Self-Protection in Multiagent Systems

NASA Technical Reports Server (NTRS)

Sterritt, Roy; Hinchey, Mike

2006-01-01

Biologically-inspired autonomous and autonomic systems (AAS) are essentially concerned with creating self-directed and self-managing systems based on metaphors &om nature and the human body, such as the autonomic nervous system. Agent technologies have been identified as a key enabler for engineering autonomy and autonomicity in systems, both in terms of retrofitting into legacy systems and in designing new systems. Handing over responsibility to systems themselves raises concerns for humans with regard to safety and security. This paper reports on the continued investigation into a strand of research on how to engineer self-protection mechanisms into systems to assist in encouraging confidence regarding security when utilizing autonomy and autonomicity. This includes utilizing the apoptosis and quiescence metaphors to potentially provide a self-destruct or self-sleep signal between autonomic agents when needed, and an ALice signal to facilitate self-identification and self-certification between anonymous autonomous agents and systems.

Development of a Commercially Viable, Modular Autonomous Robotic Systems for Converting any Vehicle to Autonomous Control

NASA Technical Reports Server (NTRS)

Parish, David W.; Grabbe, Robert D.; Marzwell, Neville I.

1994-01-01

A Modular Autonomous Robotic System (MARS), consisting of a modular autonomous vehicle control system that can be retrofit on to any vehicle to convert it to autonomous control and support a modular payload for multiple applications is being developed. The MARS design is scalable, reconfigurable, and cost effective due to the use of modern open system architecture design methodologies, including serial control bus technology to simplify system wiring and enhance scalability. The design is augmented with modular, object oriented (C++) software implementing a hierarchy of five levels of control including teleoperated, continuous guidepath following, periodic guidepath following, absolute position autonomous navigation, and relative position autonomous navigation. The present effort is focused on producing a system that is commercially viable for routine autonomous patrolling of known, semistructured environments, like environmental monitoring of chemical and petroleum refineries, exterior physical security and surveillance, perimeter patrolling, and intrafacility transport applications.

Exploring with PAM: Prospecting ANTS Missions for Solar System Surveys

NASA Astrophysics Data System (ADS)

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

2003-03-01

ANTS (Autonomous Nano Technology Swarm of hundreds of picoclass autonomous spacecraft) have many applications. A version designed for surveying and the resource potential of the asteroid belt, called PAM (Prospecting ANTS Mission), is examined here.

In Situ Surveying of Saturn's Rings

NASA Astrophysics Data System (ADS)

Clark, P. E.; Rilee, M. L.; Curtis, S. A.; Cheung, C.

2004-03-01

Saturn Autonomous Ring Array (SARA) mission concept is an application for the Autonomous Nano-Technology Swarm (ANTS) architecture that would perform in situ observations of compositional and dynamic properties of ring particles, a challenge unachievable by previous mission designs.

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.

Exploring with PAM: Prospecting ANTS Missions for Solar System Surveys

NASA Technical Reports Server (NTRS)

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

2003-01-01

ANTS (Autonomous Nano-Technology Swarm), a large (1000 member) swarm of nano to picoclass (10 to 1 kg) totally autonomous spacecraft, are being developed as a NASA advanced mission concept. ANTS, based on a hierarchical insect social order, use an evolvable, self-similar, hierarchical neural system in which individual spacecraft represent the highest level nodes. ANTS uses swarm intelligence attained through collective, cooperative interactions of the nodes at all levels of the system. At the highest levels this can take the form of cooperative, collective behavior among the individual spacecraft in a very large constellation. The ANTS neural architecture is designed for totally autonomous operation of complex systems including spacecraft constellations. The ANTS (Autonomous Nano Technology Swarm) concept has a number of possible applications. A version of ANTS designed for surveying and determining the resource potential of the asteroid belt, called PAM (Prospecting ANTS Mission), is examined here.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

How to Develop College Students' Autonomous English Learning Skills--Take Reading Course in Joint-Program in HCFT as an Example

ERIC Educational Resources Information Center

Wang, Jihui

2010-01-01

The studies on autonomous learning based on the theories of constructivism and the advantages of technology propose valuable ideas for modern teaching theories and practices. In this paper, we put forward ways and methods in developing learner awareness, learning strategies and habits of autonomous learning in Henan College of Finance and Taxation…

CORSAIR (COmet Rendezvous, Sample Acquisition, Investigation, and Return): A New Frontiers Mission Concept to Collect Samples from a Comet and Return Them to Earth for Study

NASA Astrophysics Data System (ADS)

Sandford, S. A.; Chabot, N. L.; Dello Russo, N.; Leary, J. C.; Reynolds, E. L.; Weaver, H. A.; Wooden, D. H.

2017-07-01

CORSAIR (COmet Rendezvous, Sample Acquisition, Investigation, and Return) is a mission concept submitted in response to NASA's New Frontiers 4 call. CORSAIR's proposed mission is to return comet nucleus samples to Earth for detailed analysis.

ALHAT System Validation

NASA Technical Reports Server (NTRS)

Brady, Tye; Bailey, Erik; Crain, Timothy; Paschall, Stephen

2011-01-01

NASA has embarked on a multiyear technology development effort to develop a safe and precise lunar landing capability. The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project is investigating a range of landing hazard detection methods while developing a hazard avoidance capability to best field test the proper set of relevant autonomous GNC technologies. Ultimately, the advancement of these technologies through the ALHAT Project will provide an ALHAT System capable of enabling next generation lunar lander vehicles to globally land precisely and safely regardless of lighting condition. This paper provides an overview of the ALHAT System and describes recent validation experiments that have advanced the highly capable GNC architecture.

Cometary exploration in the shuttle era

NASA Technical Reports Server (NTRS)

Farquhar, R. W.; Wooden, W. H., II

1978-01-01

A comprehensive program plan for cometary exploration in the 1980-2000 time frame is proposed. Plans for ground-based observations, a Spacelab cometary observatory, and the Space Telescope are included in the observational program. The cometary mission sequence begins with a dual-spacecraft flyby of Halley's comet. The nominal mission strategy calls for a simultaneous launch of two spacecraft towards an intercept with Halley in March 1986. After the Halley encounter, the spacecraft are retargeted: one to intercept comet Borrelly in January 1988 and the other to intercept comet Tempel-2 in September 1988. The additional cometary intercepts are accomplished by utilizing a novel Earth-swingby technique. The next mission in the cometary program plan, a rendezvous with Encke's comet, is scheduled for launch in early 1990. It is planned to rendezvous with Encke in September 1992 at a heliocentric distance of 4 AU. Following this near-aphelion rendezvous, the spacecraft will remain with with Encke through the next two perihelion passages in February 1994 and May 1997. The rendezvous mission will be terminated about seven months after the second perihelion passage.

Gemini Rendezvous Docking Simulator

NASA Image and Video Library

1964-05-11

Gemini Rendezvous Docking Simulator suspended from the roof of the Langley Research Center s aircraft hangar. Francis B. Smith wrote: The rendezvous and docking operation of the Gemini spacecraft with the Agena and of the Apollo Command Module with the Lunar Excursion Module have been the subject of simulator studies for several years. This figure illustrates the Gemini-Agena rendezvous docking simulator at Langley. The Gemini spacecraft was supported in a gimbal system by an overhead crane and gantry arrangement which provided 6 degrees of freedom - roll, pitch, yaw, and translation in any direction - all controllable by the astronaut in the spacecraft. Here again the controls fed into a computer which in turn provided an input to the servos driving the spacecraft so that it responded to control motions in a manner which accurately simulated the Gemini spacecraft. -- Published in Barton C. Hacker and James M. Grimwood, On the Shoulders of Titans: A History of Project Gemini, NASA SP-4203 Francis B. Smith, Simulators for Manned Space Research, Paper presented at the 1966 IEEE International convention, March 21-25, 1966.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Solar Electric Propulsion for Future NASA Missions

NASA Technical Reports Server (NTRS)

Landis, Geoffrey A.; Oleson, Steven R.; Mercer, Carolyn R.

2015-01-01

Use of high-power solar arrays, at power levels ranging from approximately 500 KW to several megawatts, has been proposed for a solar-electric propulsion (SEP) demonstration mission, using a photovoltaic array to provide energy to a high-power xenon-fueled engine. One of the proposed applications of the high-power SEP technology is a mission to rendezvous with an asteroid and move it into lunar orbit for human exploration, the Asteroid Retrieval mission. The Solar Electric Propulsion project is dedicated to developing critical technologies to enable trips to further away destinations such as Mars or asteroids. NASA needs to reduce the cost of these ambitious exploration missions. High power and high efficiency SEP systems will require much less propellant to meet those requirements.

Flight Dynamics and GN&C for Spacecraft Servicing Missions

NASA Technical Reports Server (NTRS)

Naasz, Bo; Zimpfer, Doug; Barrington, Ray; Mulder, Tom

2010-01-01

Future human exploration missions and commercial opportunities will be enabled through In-space assembly and satellite servicing. Several recent efforts have developed technologies and capabilities to support these exciting future missions, including advances in flight dynamics and Guidance, Navigation and Control. The Space Shuttle has demonstrated significant capabilities for crewed servicing of the Hubble Space Telescope (HST) and assembly of the International Space Station (ISS). Following the Columbia disaster NASA made significant progress in developing a robotic mission to service the HST. The DARPA Orbital Express mission demonstrated automated rendezvous and capture, In-space propellant transfer, and commodity replacement. This paper will provide a summary of the recent technology developments and lessons learned, and provide a focus for potential future missions.

An Abstract Plan Preparation Language

NASA Technical Reports Server (NTRS)

Butler, Ricky W.; Munoz, Cesar A.

2006-01-01

This paper presents a new planning language that is more abstract than most existing planning languages such as the Planning Domain Definition Language (PDDL) or the New Domain Description Language (NDDL). The goal of this language is to simplify the formal analysis and specification of planning problems that are intended for safety-critical applications such as power management or automated rendezvous in future manned spacecraft. The new language has been named the Abstract Plan Preparation Language (APPL). A translator from APPL to NDDL has been developed in support of the Spacecraft Autonomy for Vehicles and Habitats Project (SAVH) sponsored by the Explorations Technology Development Program, which is seeking to mature autonomy technology for application to the new Crew Exploration Vehicle (CEV) that will replace the Space Shuttle.

Q-Learning and p-persistent CSMA based rendezvous protocol for cognitive radio networks operating with shared spectrum activity

NASA Astrophysics Data System (ADS)

Watson, Clifton L.; Biswas, Subir

2014-06-01

With an increasing demand for spectrum, dynamic spectrum access (DSA) has been proposed as viable means for providing the flexibility and greater access to spectrum necessary to meet this demand. Within the DSA concept, unlicensed secondary users temporarily "borrow" or access licensed spectrum, while respecting the licensed primary user's rights to that spectrum. As key enablers for DSA, cognitive radios (CRs) are based on software-defined radios which allow them to sense, learn, and adapt to the spectrum environment. These radios can operate independently and rapidly switch channels. Thus, the initial setup and maintenance of cognitive radio networks are dependent upon the ability of CR nodes to find each other, in a process known as rendezvous, and create a link on a common channel for the exchange of data and control information. In this paper, we propose a novel rendezvous protocol, known as QLP, which is based on Q-learning and the p-persistent CSMA protocol. With the QLP protocol, CR nodes learn which channels are best for rendezvous and thus adapt their behavior to visit those channels more frequently. We demonstrate through simulation that the QLP protocol provides a rendevous capability for DSA environments with different dynamics of PU activity, while attempting to achieve the following performance goals: (1) minimize the average time-to-rendezvous, (2) maximize system throughput, (3) minimize primary user interference, and (4) minimize collisions among CR nodes.

Hubble Space Telescope Servicing Mission 3A Rendezvous Operations

NASA Technical Reports Server (NTRS)

Lee, S.; Anandakrishnan, S.; Connor, C.; Moy, E.; Smith, D.; Myslinski, M.; Markley, L.; Vernacchio, A.

2001-01-01

The Hubble Space Telescope (HST) hardware complement includes six gas bearing, pulse rebalanced rate integrating gyros, any three of which are sufficient to conduct the science mission. After the loss of three gyros between April 1997 and April 1999 due to a known corrosion mechanism, NASA decided to split the third HST servicing mission into SM3A, accelerated to October 1999, and SM3B, scheduled for November 2001. SM3A was developed as a quick turnaround 'Launch on Need' mission to replace all six gyros. Loss of a fourth gyro in November 1999 caused HST to enter Zero Gyro Sunpoint (ZGSP) safemode, which uses sun sensors and magnetometers for attitude determination and momentum bias to maintain attitude stability during orbit night. Several instances of large attitude excursions during orbit night were observed, but ZGSP performance was adequate to provide power-positive sun pointing and to support low gain antenna communications. Body rates in ZGSP were estimated to exceed the nominal 0.1 deg/sec rendezvous limit, so rendezvous operations were restructured to utilize coarse, limited life, Retrieval Mode Gyros (RMGs) under Hardware Sunpoint (HWSP) safemode. Contingency procedures were developed to conduct the rendezvous in ZGSP in the event of RMGA or HWSP computer failure. Space Shuttle Mission STS-103 launched on December 19, 1999 after a series of weather and Shuttle-related delays. After successful rendezvous and grapple under HWSP/RMGA, the crew changed out all six gyros. Following deploy and systems checkout, HST returned to full science operations.

Adaptive nonlinear robust relative pose control of spacecraft autonomous rendezvous and proximity operations.

PubMed

Sun, Liang; Huo, Wei; Jiao, Zongxia

2017-03-01

This paper studies relative pose control for a rigid spacecraft with parametric uncertainties approaching to an unknown tumbling target in disturbed space environment. State feedback controllers for relative translation and relative rotation are designed in an adaptive nonlinear robust control framework. The element-wise and norm-wise adaptive laws are utilized to compensate the parametric uncertainties of chaser and target spacecraft, respectively. External disturbances acting on two spacecraft are treated as a lumped and bounded perturbation input for system. To achieve the prescribed disturbance attenuation performance index, feedback gains of controllers are designed by solving linear matrix inequality problems so that lumped disturbance attenuation with respect to the controlled output is ensured in the L 2 -gain sense. Moreover, in the absence of lumped disturbance input, asymptotical convergence of relative pose are proved by using the Lyapunov method. Numerical simulations are performed to show that position tracking and attitude synchronization are accomplished in spite of the presence of couplings and uncertainties. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

A thermal control approach for a solar electric propulsion thrust subsystem

NASA Technical Reports Server (NTRS)

Maloy, J. E.; Oglebay, J. C.

1979-01-01

A thrust subsystem thermal control design is defined for a Solar Electric Propulsion System (SEPS) proposed for the comet Halley Flyby/comet Tempel 2 rendezvous mission. A 114 node analytic model, developed and coded on the systems improved numerical differencing analyzer program, was employed. A description of the resulting thrust subsystem thermal design is presented as well as a description of the analytic model and comparisons of the predicted temperature profiles for various SEPS thermal configurations that were generated using this model. It was concluded that: (1) a BIMOD engine system thermal design can be autonomous; (2) an independent thrust subsystem thermal design is feasible; (3) the interface module electronics temperatures can be controlled by a passive radiator and supplementary heaters; (4) maintaining heat pipes above the freezing point would require an additional 322 watts of supplementary heating power for the situation where no thrusters are operating; (5) insulation is required around the power processors, and between the interface module and the avionics module, as well as in those areas which may be subjected to solar heating; and (6) insulation behind the heat pipe radiators is not necessary.

A new approach to impulsive rendezvous near circular orbit

NASA Astrophysics Data System (ADS)

Carter, Thomas; Humi, Mayer

2012-04-01

A new approach is presented for the problem of planar optimal impulsive rendezvous of a spacecraft in an inertial frame near a circular orbit in a Newtonian gravitational field. The total characteristic velocity to be minimized is replaced by a related characteristic-value function and this related optimization problem can be solved in closed form. The solution of this problem is shown to approach the solution of the original problem in the limit as the boundary conditions approach those of a circular orbit. Using a form of primer-vector theory the problem is formulated in a way that leads to relatively easy calculation of the optimal velocity increments. A certain vector that can easily be calculated from the boundary conditions determines the number of impulses required for solution of the optimization problem and also is useful in the computation of these velocity increments. Necessary and sufficient conditions for boundary conditions to require exactly three nonsingular non-degenerate impulses for solution of the related optimal rendezvous problem, and a means of calculating these velocity increments are presented. A simple example of a three-impulse rendezvous problem is solved and the resulting trajectory is depicted. Optimal non-degenerate nonsingular two-impulse rendezvous for the related problem is found to consist of four categories of solutions depending on the four ways the primer vector locus intersects the unit circle. Necessary and sufficient conditions for each category of solutions are presented. The region of the boundary values that admit each category of solutions of the related problem are found, and in each case a closed-form solution of the optimal velocity increments is presented. Similar results are presented for the simpler optimal rendezvous that require only one-impulse. For brevity degenerate and singular solutions are not discussed in detail, but should be presented in a following study. Although this approach is thought to provide simpler computations than existing methods, its main contribution may be in establishing a new approach to the more general problem.

Project : transit demand and routing after autonomous vehicle availability.

DOT National Transportation Integrated Search

2015-12-01

Autonomous vehicles (AVs) create the potential for improvements in traffic operations as well as : new behaviors for travelers such as car sharing among trips through driverless repositioning. Most studies : on AVs have focused on technology or traff...

Proving autonomous vehicle and advanced driver assistance systems safety : final research report.

DOT National Transportation Integrated Search

2016-02-15

The main objective of this project was to provide technology for answering : crucial safety and correctness questions about verification of autonomous : vehicle and advanced driver assistance systems based on logic. : In synergistic activities, we ha...

Applying the System Component and Operationally Relevant Evaluation (SCORE) Framework to Evaluate Advanced Military Technologies

DTIC Science & Technology

2010-03-01

and charac- terize the actions taken by the soldier (e.g., running, walking, climbing stairs ). Real-time image capture and exchange N The ability of...multimedia information sharing among soldiers in the field, two-way speech translation systems, and autonomous robotic platforms. Key words: Emerging...soldiers in the field, two-way speech translation systems, and autonomous robotic platforms. It has been the foundation for 10 technology evaluations

Autonomous urban reconnaissance ingress system (AURIS): providing a tactically relevant autonomous door-opening kit for unmanned ground vehicles

NASA Astrophysics Data System (ADS)

Shane, David J.; Rufo, Michael A.; Berkemeier, Matthew D.; Alberts, Joel A.

2012-06-01

The Autonomous Urban Reconnaissance Ingress System (AURIS™) addresses a significant limitation of current military and first responder robotics technology: the inability of reconnaissance robots to open doors. Leveraging user testing as a baseline, the program has derived specifications necessary for military personnel to open doors with fielded UGVs (Unmanned Ground Vehicles), and evaluates the technology's impact on operational mission areas: duration, timing, and user patience in developing a tactically relevant, safe, and effective system. Funding is provided through the US ARMY Tank Automotive Research, Development and Engineering Center (TARDEC) and the project represents a leap forward in perception, autonomy, robotic implements, and coordinated payload operation in UGVs. This paper describes high level details of specification generation, status of the last phase of development, an advanced view of the system autonomy capability, and a short look ahead towards the ongoing work on this compelling and important technology.

Autonomous technology - sources of confusion: a model for explanation and prediction of conceptual shifts.

PubMed

Stensson, Patrik; Jansson, Anders

2014-01-01

Today, autonomous is often used for technology with a more intelligent self-management capability than common automation. This concept usage is maladaptive, ignoring both the distinction between autonomy and heteronomy according to Kant's categorical imperative and that the meaning of autonomy implies qualities technology cannot have. Being autonomous is about having the right to be wrong, a right justified by accountability and insightful understanding of real-life values, and it is about being externally uncontrollable. The contemporary use of autonomy as well as similar concepts is discussed and a model is presented showing how six sources of confusion interact in a vicious circle that impede human authority and autonomy. Our goal is to sort out these confusions and contribute to a development in which the different roles of machines and people, and human responsibilities, are explicated rather than blurred, which should facilitate the forming of truly beneficial and complementary systems.

Autonomous Science Analysis with the New Millennium Program-Autonomous Sciencecraft Experiment

NASA Astrophysics Data System (ADS)

Doggett, T.; Davies, A. G.; Castano, R. A.; Baker, V. R.; Dohm, J. M.; Greeley, R.; Williams, K. K.; Chien, S.; Sherwood, R.

2002-12-01

The NASA New Millennium Program (NMP) is a testbed for new, high-risk technologies, including new software and hardware. The Autonomous Sciencecraft Experiment (ASE) will fly on the Air Force Research Laboratory TechSat-21 mission in 2006 is such a NMP mission, and is managed by the Jet Propulsion Laboratory, California Institute of Technology. TechSat-21 consists of three satellites, each equipped with X-band Synthetic Aperture Radar (SAR) that will occupy a 13-day repeat track Earth orbit. The main science objectives of ASE are to demonstrate that process-related change detection and feature identification can be conducted autonomously during space flight, leading to autonomous onboard retargeting of the spacecraft. This mission will observe transient geological and environmental processes using SAR. Examples of geologic processes that may be observed and investigated include active volcanism, the movement of sand dunes and transient features in desert environments, water flooding, and the formation and break-up of lake ice. Science software onboard the spacecraft will allow autonomous processing and formation of SAR images and extraction of scientific information. The subsequent analyses, performed on images formed onboard from the SAR data, will include feature identification using scalable feature "templates" for each target, change detection through comparison of current and archived images, and science discovery, a search for other features of interest in each image. This approach results in obtaining the same science return for a reduced amount of resource use (such as downlink) when compared to that from a mission operating without ASE technology. Redundant data is discarded. The science-driven goals of ASE will evolve during the ASE mission through onboard replanning software that can re-task satellite operations. If necessary, as a result of a discovery made autonomously by onboard science processing, existing observation sequences will be pre-empted to obtain data of potential high scientific content. Flight validation of this software will enable radically different missions with significant onboard decision-making and novel science concepts (onboard decision making and selective data return). This work has been carried out at the Jet Propulsion Laboratory-California Institute of Technology, under contract to NASA.

Recent Advances in Bathymetric Surveying of Continental Shelf Regions Using Autonomous Vehicles

NASA Astrophysics Data System (ADS)

Holland, K. T.; Calantoni, J.; Slocum, D.

2016-02-01

Obtaining bathymetric observations within the continental shelf in areas closer to the shore is often time consuming and dangerous, especially when uncharted shoals and rocks present safety concerns to survey ships and launches. However, surveys in these regions are critically important to numerical simulation of oceanographic processes, as bathymetry serves as the bottom boundary condition in operational forecasting models. We will present recent progress in bathymetric surveying using both traditional vessels retrofitted for autonomous operations and relatively inexpensive, small team deployable, Autonomous Underwater Vehicles (AUV). Both systems include either high-resolution multibeam echo sounders or interferometric sidescan sonar sensors with integrated inertial navigation system capabilities consistent with present commercial-grade survey operations. The advantages and limitations of these two configurations employing both unmanned and autonomous strategies are compared using results from several recent survey operations. We will demonstrate how sensor data collected from unmanned platforms can augment or even replace traditional data collection technologies. Oceanographic observations (e.g., sound speed, temperature and currents) collected simultaneously with bathymetry using autonomous technologies provide additional opportunities for advanced data assimilation in numerical forecasts. Discussion focuses on our vision for unmanned and autonomous systems working in conjunction with manned or in-situ systems to optimally and simultaneously collect data in environmentally hostile or difficult to reach areas.

Multi-agent robotic systems and applications for satellite missions

NASA Astrophysics Data System (ADS)

Nunes, Miguel A.

A revolution in the space sector is happening. It is expected that in the next decade there will be more satellites launched than in the previous sixty years of space exploration. Major challenges are associated with this growth of space assets such as the autonomy and management of large groups of satellites, in particular with small satellites. There are two main objectives for this work. First, a flexible and distributed software architecture is presented to expand the possibilities of spacecraft autonomy and in particular autonomous motion in attitude and position. The approach taken is based on the concept of distributed software agents, also referred to as multi-agent robotic system. Agents are defined as software programs that are social, reactive and proactive to autonomously maximize the chances of achieving the set goals. Part of the work is to demonstrate that a multi-agent robotic system is a feasible approach for different problems of autonomy such as satellite attitude determination and control and autonomous rendezvous and docking. The second main objective is to develop a method to optimize multi-satellite configurations in space, also known as satellite constellations. This automated method generates new optimal mega-constellations designs for Earth observations and fast revisit times on large ground areas. The optimal satellite constellation can be used by researchers as the baseline for new missions. The first contribution of this work is the development of a new multi-agent robotic system for distributing the attitude determination and control subsystem for HiakaSat. The multi-agent robotic system is implemented and tested on the satellite hardware-in-the-loop testbed that simulates a representative space environment. The results show that the newly proposed system for this particular case achieves an equivalent control performance when compared to the monolithic implementation. In terms on computational efficiency it is found that the multi-agent robotic system has a consistent lower CPU load of 0.29 +/- 0.03 compared to 0.35 +/- 0.04 for the monolithic implementation, a 17.1 % reduction. The second contribution of this work is the development of a multi-agent robotic system for the autonomous rendezvous and docking of multiple spacecraft. To compute the maneuvers guidance, navigation and control algorithms are implemented as part of the multi-agent robotic system. The navigation and control functions are implemented using existing algorithms, but one important contribution of this section is the introduction of a new six degrees of freedom guidance method which is part of the guidance, navigation and control architecture. This new method is an explicit solution to the guidance problem, and is particularly useful for real time guidance for attitude and position, as opposed to typical guidance methods which are based on numerical solutions, and therefore are computationally intensive. A simulation scenario is run for docking four CubeSats deployed radially from a launch vehicle. Considering fully actuated CubeSats, the simulations show docking maneuvers that are successfully completed within 25 minutes which is approximately 30% of a full orbital period in low earth orbit. The final section investigates the problem of optimization of satellite constellations for fast revisit time, and introduces a new method to generate different constellation configurations that are evaluated with a genetic algorithm. Two case studies are presented. The first is the optimization of a constellation for rapid coverage of the oceans of the globe in 24 hours or less. Results show that for an 80 km sensor swath width 50 satellites are required to cover the oceans with a 24 hour revisit time. The second constellation configuration study focuses on the optimization for the rapid coverage of the North Atlantic Tracks for air traffic monitoring in 3 hours or less. The results show that for a fixed swath width of 160 km and for a 3 hour revisit time 52 satellites are required.

Autonomous dial-a-ride transit. Part 1, technical overview

DOT National Transportation Integrated Search

1998-11-01

Is autonomous-dial-a-ride (ADART) and idea whose time has come with the advent of technologies. This report describes the essential features of an experimental ADART service and establishes a context for ADART implementation based on urban transit in...

Views of the Mir Space Station during rendezvous

NASA Image and Video Library

1997-05-16

STS084-350-023 (15-24 May 1997) --- A Space Shuttle point-of-view frame showing the docking port and target during rendezvous with Russia's Mir Space Station. The picture should be held horizontally with the retracted Kristall solar array at top. Other elements partially visible are Kvant-2 (left), Spektr (right) and Core Module (bottom).

Thomas uses laser range finder during rendezvous ops

NASA Image and Video Library

2001-03-10

STS102-E-5064 (10 March 2001) --- Astronaut Andrew S.W. Thomas, STS-102 mission specialist, uses a laser ranging device on aft flight deck of the Space Shuttle Discovery. This instrument is a regularly called-on tool during rendezvous operations with the International Space Station (ISS). The photograph was recorded with a digital still camera.

Optimal impulsive time-fixed orbital rendezvous and interception with path constraints

NASA Technical Reports Server (NTRS)

Taur, D.-R.; Prussing, J. E.; Coverstone-Carroll, V.

1990-01-01

Minimum-fuel, impulsive, time-fixed solutions are obtained for the problem of orbital rendezvous and interception with interior path constraints. Transfers between coplanar circular orbits in an inverse-square gravitational field are considered, subject to a circular path constraint representing a minimum or maximum permissible orbital radius. Primer vector theory is extended to incorporate path constraints. The optimal number of impulses, their times and positions, and the presence of initial or final coasting arcs are determined. The existence of constraint boundary arcs and boundary points is investigated as well as the optimality of a class of singular arc solutions. To illustrate the complexities introduced by path constraints, an analysis is made of optimal rendezvous in field-free space subject to a minimum radius constraint.

Pose Measurement Performance of the Argon Relative Navigation Sensor Suite in Simulated Flight Conditions

NASA Technical Reports Server (NTRS)

Galante, Joseph M.; Eepoel, John Van; Strube, Matt; Gill, Nat; Gonzalez, Marcelo; Hyslop, Andrew; Patrick, Bryan

2012-01-01

Argon is a flight-ready sensor suite with two visual cameras, a flash LIDAR, an on- board flight computer, and associated electronics. Argon was designed to provide sensing capabilities for relative navigation during proximity, rendezvous, and docking operations between spacecraft. A rigorous ground test campaign assessed the performance capability of the Argon navigation suite to measure the relative pose of high-fidelity satellite mock-ups during a variety of simulated rendezvous and proximity maneuvers facilitated by robot manipulators in a variety of lighting conditions representative of the orbital environment. A brief description of the Argon suite and test setup are given as well as an analysis of the performance of the system in simulated proximity and rendezvous operations.

Atmospheric rendezvous feasibility study

NASA Technical Reports Server (NTRS)

Schaezler, A. D.

1972-01-01

A study was carried out to determine the feasibility of using atmospheric rendezvous to increase the efficiency of space transportation and to determine the most effective implementation. It is concluded that atmospheric rendezvous is feasible and can be utilized in a space transportation system to reduce size of the orbiter vehicle, provide a powered landing with go-around capability for every mission, and achieve lateral range performance that exceeds requirements. A significantly lighter booster and reduced launch fuel requirements are additional benefits that can be realized with a system that includes a large subsonic airplane for recovery of the orbiter. Additional reduction in booster size is possible if the airplane is designed for recovery of the booster by towing. An airplane about the size of the C-5A is required.

Technology initiatives for the autonomous guidance, navigation, and control of single and multiple satellites

NASA Astrophysics Data System (ADS)

Croft, John; Deily, John; Hartman, Kathy; Weidow, David

1998-01-01

In the twenty-first century, NASA envisions frequent low-cost missions to explore the solar system, observe the universe, and study our planet. To realize NASA's goal, the Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center sponsors technology programs that enhance spacecraft performance, streamline processes and ultimately enable cheaper science. Our technology programs encompass control system architectures, sensor and actuator components, electronic systems, design and development of algorithms, embedded systems and space vehicle autonomy. Through collaboration with government, universities, non-profit organizations, and industry, the GNCC incrementally develops key technologies that conquer NASA's challenges. This paper presents an overview of several innovative technology initiatives for the autonomous guidance, navigation, and control (GN&C) of satellites.

Life Science Research in Outer Space: New Platform Technologies for Low-Cost, Autonomous Small Satellite Missions

NASA Technical Reports Server (NTRS)

Ricco, Antonio J.; Parra, Macarena P.; Niesel, David; McGinnis, Michael; Ehrenfreund, Pascale; Nicholson, Wayne; Mancinelli, Rocco; Piccini, Matthew E.; Beasley, Christopher C.; Timucin, Linda R.;

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements.

PubMed

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-04-09

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology.

Secure, Autonomous, Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations

NASA Astrophysics Data System (ADS)

Ivancic, W. D.; Paulsen, P. E.; Miller, E. M.; Sage, S. P.

This report describes a Secure, Autonomous, and Intelligent Controller for Integrating Distributed Emergency Response Satellite Operations. It includes a description of current improvements to existing Virtual Mission Operations Center technology being used by US Department of Defense and originally developed under NASA funding. The report also highlights a technology demonstration performed in partnership with the United States Geological Service for Earth Resources Observation and Science using DigitalGlobe® satellites to obtain space-based sensor data.

SMART Power Systems for ANTS Missions

NASA Astrophysics Data System (ADS)

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

2005-02-01

Autonomous NanoTechnology Swarm (ANTS) Architecture is based on Addressable Reconfigurable Technology (ART) adaptable for the full spectrum of activities in space. ART systems based on currently available electromechanical (EMS) technology could support human crews on the lunar surface within the next 10 to 15 years. Two or more decades from now, NEMS (Super Miniaturized ART or SMART) technology could perform fully autonomous surveys and operations beyond the reach of human crews. Power system requirements would range from 1 kg to generate tens of Watts for near term ART applications, such as a lunar or Mars Lander Amorphous Rover Antenna (LARA), to <0.1 kg to generate hundreds of mWatts for more advanced SMART applications.

Application of Autonomous Spacecraft Power Control Technology to Terrestrial Microgrids

NASA Technical Reports Server (NTRS)

Dever, Timothy P.; Trase, Larry M.; Soeder, James F.

2014-01-01

This paper describes the potential of the power campus located at the NASA Glenn Research Center (GRC) in Cleveland, Ohio for microgrid development. First, the benefits provided by microgrids to the terrestrial power grid are described, and an overview of Technology Needs for microgrid development is presented. Next, GRC's work on development of autonomous control for manned deep space vehicles, which are essentially islanded microgrids, is covered, and contribution of each of these developments to the microgrid Technology Needs is detailed. Finally, a description is provided of GRC's existing physical assets which can be applied to microgrid technology development, and a phased plan for development of a microgrid test facility is presented.

Infrastructure-Based Sensors Augmenting Efficient Autonomous Vehicle Operations: Preprint

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

Jun, Myungsoo; Markel, Anthony J

Autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehicles is seen as a potential barrier to broad adoption and achieving system energy efficiency gains. Since traffic in autonomous vehicle technology development relies on an on-board network of fused sensor inputs for safe and efficient operation. The fused sensors offer multiple perspectives of similar information aiding in system decision robustness. The high cost of full systems on individual vehiclesmore » is seen as a potential barrier to broad adoption and achieving system energy efficiency gains.« less

Experiments in teleoperator and autonomous control of space robotic vehicles

NASA Technical Reports Server (NTRS)

Alexander, Harold L.

1990-01-01

A research program and strategy are described which include fundamental teleoperation issues and autonomous-control issues of sensing and navigation for satellite robots. The program consists of developing interfaces for visual operation and studying the consequences of interface designs as well as developing navigation and control technologies based on visual interaction. A space-robot-vehicle simulator is under development for use in virtual-environment teleoperation experiments and neutral-buoyancy investigations. These technologies can be utilized in a study of visual interfaces to address tradeoffs between head-tracking and manual remote cameras, panel-mounted and helmet-mounted displays, and stereoscopic and monoscopic display systems. The present program can provide significant data for the development of control experiments for autonomously controlled satellite robots.

Autonomous onboard crew operations: A review and developmental approach

NASA Technical Reports Server (NTRS)

Rogers, J. G.

1982-01-01

A review of the literature generated by an intercenter mission approach and consolidation team and their contractors was performed to obtain background information on the development of autonomous operations concepts for future space shuttle and space platform missions. The Boeing 757/767 flight management system was examined to determine the relevance for transfer of the developmental approach and technology to the performance of the crew operations function. In specific, the engine indications and crew alerting system was studied to determine the relevance of this display for the performance of crew operations onboard the vehicle. It was concluded that the developmental approach and technology utilized in the aeronautics industry would be appropriate for development of an autonomous operations concept for the space platform.

Advanced optical technologies for space exploration

NASA Astrophysics Data System (ADS)

Clark, Natalie

2007-09-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems

Advanced Optical Technologies for Space Exploration

NASA Technical Reports Server (NTRS)

Clark, Natalie

2007-01-01

NASA Langley Research Center is involved in the development of photonic devices and systems for space exploration missions. Photonic technologies of particular interest are those that can be utilized for in-space communication, remote sensing, guidance navigation and control, lunar descent and landing, and rendezvous and docking. NASA Langley has recently established a class-100 clean-room which serves as a Photonics Fabrication Facility for development of prototype optoelectronic devices for aerospace applications. In this paper we discuss our design, fabrication, and testing of novel active pixels, deformable mirrors, and liquid crystal spatial light modulators. Successful implementation of these intelligent optical devices and systems in space, requires careful consideration of temperature and space radiation effects in inorganic and electronic materials. Applications including high bandwidth inertial reference units, lightweight, high precision star trackers for guidance, navigation, and control, deformable mirrors, wavefront sensing, and beam steering technologies are discussed. In addition, experimental results are presented which characterize their performance in space exploration systems.

Rendezvous and Docking Strategy for Crewed Segment of the Asteroid Redirect Mission

NASA Technical Reports Server (NTRS)

Hinkel, Heather D.; Cryan, Scott P.; D'Souza, Christopher; Dannemiller, David P.; Brazzel, Jack P.; Condon, Gerald L.; Othon, William L.; Williams, Jacob

2014-01-01

This paper will describe the overall rendezvous, proximity operations and docking (RPOD) strategy in support of the Asteroid Redirect Crewed Mission (ARCM), as part of the Asteroid Redirect Mission (ARM). The focus of the paper is on the crewed mission phase of ARM, starting with the establishment of Orion in the Distant Retrograde Orbit (DRO) and ending with docking to the Asteroid Redirect Vechicle (ARV). The paper will detail the sequence of maneuvers required to execute the rendezvous and proximity operations mission phases along with the on-board navigation strategies, including the final approach phase. The trajectories to be considered will include target vehicles in a DRO. The paper will also discuss the sensor requirements for rendezvous and docking and the various trade studies associated with the final sensor selection. Building on the sensor requirements and trade studies, the paper will include a candidate sensor concept of operations, which will drive the selection of the sensor suite; concurrently, it will be driven by higher level requirements on the system, such as crew timeline constraints and vehicle consummables. This paper will address how many of the seemingly competing requirements will have to be addressed to create a complete system and system design. The objective is to determine a sensor suite and trajectories that enable Orion to successfully rendezvous and dock with a target vehicle in trans lunar space. Finally, the paper will report on the status of a NASA action to look for synergy within RPOD, across the crewed and robotic asteroid missions.

Mapping a Path to Autonomous Flight in the National Airspace

NASA Technical Reports Server (NTRS)

Lodding, Kenneth N.

2011-01-01

The introduction of autonomous flight, whether military, commercial, or civilian, into the National Airspace System (NAS) will present significant challenges. Minimizing the impact and preventing the changes from becoming disruptive, rather than an enhancing technology will not be without difficulty. From obstacle detection and avoidance to real-time verification and validation of system behavior, there are significant problems which must be solved prior to the general acceptance of autonomous systems. This paper examines some of the key challenges and the multi-disciplinary collaboration which must occur for autonomous systems to be accepted as equal partners in the NAS.

Nominal Profile Refinements Report: Target in 120 Nautical Mile Circular Orbit

NASA Technical Reports Server (NTRS)

1974-01-01

The compability of the nominal rendezvous sequence with low target orbits is addressed. It was found that for targets in low earth orbits certain modifications of the nominal sequence are required to achieve a feasible anytime liftoff capability, notably the use of elliptical phasing orbits and the allowance of up to two days for rendezvous under certain phasing conditions.

Human Mars Mission Performance Crew Taxi Profile

NASA Technical Reports Server (NTRS)

Duaro, Vince A.

1999-01-01

Using the results from Integrated Mission Program (IMP), a simulation language and code used to model present and future Earth Moon, or Mars missions, this report presents six different case studies of a manned Mars mission. The mission profiles, timelines, propellant requirements, feasibility and perturbation analysis is presented for two aborted, two delayed rendezvous, and two normal rendezvous cases for a future Mars mission.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

NASA Astrophysics Data System (ADS)

Noble, R. J.; Sykes, M. V.

The scientific activities undertaken to explore our Solar System will be very similar to those required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution, as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of the technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.

Small Body Exploration Technologies as Precursors for Interstellar Robotics

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

Noble, Robert; /SLAC; Sykes, Mark V.

The scientific activities undertaken to explore our Solar System will be the same as required someday at other stars. The systematic exploration of primitive small bodies throughout our Solar System requires new technologies for autonomous robotic spacecraft. These diverse celestial bodies contain clues to the early stages of the Solar System's evolution as well as information about the origin and transport of water-rich and organic material, the essential building blocks for life. They will be among the first objects studied at distant star systems. The technologies developed to address small body and outer planet exploration will form much of themore » technical basis for designing interstellar robotic explorers. The Small Bodies Assessment Group, which reports to NASA, initiated a Technology Forum in 2011 that brought together scientists and technologists to discuss the needs and opportunities for small body robotic exploration in the Solar System. Presentations and discussions occurred in the areas of mission and spacecraft design, electric power, propulsion, avionics, communications, autonomous navigation, remote sensing and surface instruments, sampling, intelligent event recognition, and command and sequencing software. In this paper, the major technology themes from the Technology Forum are reviewed, and suggestions are made for developments that will have the largest impact on realizing autonomous robotic vehicles capable of exploring other star systems.« less

Computational Fluid Dynamics of the Boundary Layer Characteristics of a Pacific Bluefin Tuna

DTIC Science & Technology

2015-09-18

17  LIST OF ABBREVIATIONS AND ACRONYMS 2D Two Dimensional 3D Three Dimensional AUV Autonomous...Finally, this research has the potential to advance technology of various Navy systems, e.g., torpedo and autonomous underwater vehicle ( AUV ) drag

Bringing smart transport to Texans : ensuring the benefits of a connected and autonomous transport system in Texas--final report.

DOT National Transportation Integrated Search

2016-11-01

Link to appendices is included. : This project develops and demonstrates a variety of smart-transport technologies, policies, and practices for : highways and freeways using connected autonomous vehicles (CAVs), smartphones, roadside equipment, and r...

NASA's Autonomous Formation Flying Technology Demonstration, Earth Observing-1(EO-1)

NASA Technical Reports Server (NTRS)

Folta, David; Bristow, John; Hawkins, Albin; Dell, Greg

2002-01-01

NASA's first autonomous formation flying mission, the New Millennium Program's (NMP) Earth Observing-1 (EO-1) spacecraft, recently completed its principal goal of demonstrating advanced formation control technology. This paper provides an overview of the evolution of an onboard system that was developed originally as a ground mission planning and operations tool. We discuss the Goddard Space Flight Center s formation flying algorithm, the onboard flight design and its implementation, the interface and functionality of the onboard system, and the implementation of a Kalman filter based GPS data smoother. A number of safeguards that allow the incremental phasing in of autonomy and alleviate the potential for mission-impacting anomalies from the on- board autonomous system are discussed. A comparison of the maneuvers planned onboard using the EO-1 autonomous control system to those from the operational ground-based maneuver planning system is presented to quantify our success. The maneuvers discussed encompass reactionary and routine formation maintenance. Definitive orbital data is presented that verifies all formation flying requirements.