Sample records for rover graphical simulator

  1. Rover Graphical Simulator

    NASA Technical Reports Server (NTRS)

    Bon, Bruce; Seraji, Homayoun

    2007-01-01

    Rover Graphical Simulator (RGS) is a package of software that generates images of the motion of a wheeled robotic exploratory vehicle (rover) across terrain that includes obstacles and regions of varying traversability. The simulated rover moves autonomously, utilizing reasoning and decision-making capabilities of a fuzzy-logic navigation strategy to choose its path from an initial to a final state. RGS provides a graphical user interface for control and monitoring of simulations. The numerically simulated motion is represented as discrete steps with a constant time interval between updates. At each simulation step, a dot is placed at the old rover position and a graphical symbol representing the rover is redrawn at the new, updated position. The effect is to leave a trail of dots depicting the path traversed by the rover, the distances between dots being proportional to the local speed. Obstacles and regions of low traversability are depicted as filled circles, with buffer zones around them indicated by enclosing circles. The simulated robot is equipped with onboard sensors that can detect regional terrain traversability and local obstacles out to specified ranges. RGS won the NASA Group Achievement Award in 2002.

  2. Advanced Techniques for Simulating the Behavior of Sand

    NASA Astrophysics Data System (ADS)

    Clothier, M.; Bailey, M.

    2009-12-01

    Computer graphics and visualization techniques continue to provide untapped research opportunities, particularly when working with earth science disciplines. Through collaboration with the Oregon Space Grant and IGERT Ecosystem Informatics programs we are developing new techniques for simulating sand. In addition, through collaboration with the Oregon Space Grant, we’ve been communicating with the Jet Propulsion Laboratory (JPL) to exchange ideas and gain feedback on our work. More specifically, JPL’s DARTS Laboratory specializes in planetary vehicle simulation, such as the Mars rovers. This simulation utilizes a virtual "sand box" to test how planetary rovers respond to different terrains while traversing them. Unfortunately, this simulation is unable to fully mimic the harsh, sandy environments of those found on Mars. Ideally, these simulations should allow a rover to interact with the sand beneath it, particularly for different sand granularities and densities. In particular, there may be situations where a rover may become stuck in sand due to lack of friction between the sand and wheels. In fact, in May 2009, the Spirit rover became stuck in the Martian sand and has provided additional motivation for this research. In order to develop a new sand simulation model, high performance computing will play a very important role in this work. More specifically, graphics processing units (GPUs) are useful due to their ability to run general purpose algorithms and ability to perform massively parallel computations. In prior research, simulating vast quantities of sand has been difficult to compute in real-time due to the computational complexity of many colliding particles. With the use of GPUs however, each particle collision will be parallelized, allowing for a dramatic performance increase. In addition, spatial partitioning will also provide a speed boost as this will help limit the number of particle collision calculations. However, since the goal of this research is to simulate the look and behavior of sand, this work will go beyond simple particle collision. In particular, we can continue to use our parallel algorithms not only on single particles but on particle “clumps” that consist of multiple combined particles. Since sand is typically not spherical in nature, these particle “clumps” help to simulate the coarse nature of sand. In a simulation environment, multiple combined particles could be used to simulate the polygonal and granular nature of sand grains. Thus, a diversity of sand particles can be generated. The interaction between these particles can then be parallelized using GPU hardware. As such, this research will investigate different graphics and physics techniques and determine the tradeoffs in performance and visual quality for sand simulation. An enhanced sand model through the use of high performance computing and GPUs has great potential to impact research for both earth and space scientists. Interaction with JPL has provided an opportunity for us to refine our simulation techniques that can ultimately be used for their vehicle simulator. As an added benefit of this work, advancements in simulating sand can also benefit scientists here on earth, especially in regard to understanding landslides and debris flows.

  3. Mobility analysis, simulation, and scale model testing for the design of wheeled planetary rovers

    NASA Technical Reports Server (NTRS)

    Lindemann, Randel A.; Eisen, Howard J.

    1993-01-01

    The use of computer based techniques to model and simulate wheeled rovers on rough natural terrains is considered. Physical models of a prototype vehicle can be used to test the correlation of the simulations in scaled testing. The computer approaches include a quasi-static planar or two dimensional analysis and design tool based on the traction necessary for the vehicle to have imminent mobility. The computer program modeled a six by six wheel drive vehicle of original kinematic configuration, called the Rocker Bogie. The Rocker Bogie was optimized using the quasi-static software with respect to its articulation parameters prior to fabrication of a prototype. In another approach used, the dynamics of the Rocker Bogie vehicle in 3-D space was modeled on an engineering workstation using commercial software. The model included the complex and nonlinear interaction of the tire and terrain. The results of the investigation yielded numerical and graphical results of the rover traversing rough terrain on the earth, moon, and Mars. In addition, animations of the rover excursions were also generated. A prototype vehicle was then used in a series of testbed and field experiments. Correspondence was then established between the computer models and the physical model. The results indicated the utility of the quasi-static tool for configurational design, as well as the predictive ability of the 3-D simulation to model the dynamic behavior of the vehicle over short traverses.

  4. Simulating Sand Behavior through Terrain Subdivision and Particle Refinement

    NASA Astrophysics Data System (ADS)

    Clothier, M.

    2013-12-01

    Advances in computer graphics, GPUs, and parallel processing hardware have provided researchers with new methods to visualize scientific data. In fact, these advances have spurred new research opportunities between computer graphics and other disciplines, such as Earth sciences. Through collaboration, Earth and planetary scientists have benefited by using these advances in hardware technology to process large amounts of data for visualization and analysis. At Oregon State University, we are collaborating with the Oregon Space Grant and IGERT Ecosystem Informatics programs to investigate techniques for simulating the behavior of sand. In addition, we have also been collaborating with the Jet Propulsion Laboratory's DARTS Lab to exchange ideas on our research. The DARTS Lab specializes in the simulation of planetary vehicles, such as the Mars rovers. One aspect of their work is testing these vehicles in a virtual "sand box" to test their performance in different environments. Our research builds upon this idea to create a sand simulation framework to allow for more complex and diverse environments. As a basis for our framework, we have focused on planetary environments, such as the harsh, sandy regions on Mars. To evaluate our framework, we have used simulated planetary vehicles, such as a rover, to gain insight into the performance and interaction between the surface sand and the vehicle. Unfortunately, simulating the vast number of individual sand particles and their interaction with each other has been a computationally complex problem in the past. However, through the use of high-performance computing, we have developed a technique to subdivide physically active terrain regions across a large landscape. To achieve this, we only subdivide terrain regions where sand particles are actively participating with another object or force, such as a rover wheel. This is similar to a Level of Detail (LOD) technique, except that the density of subdivisions are determined by their proximity to the interacting object or force with the sand. To illustrate an example, as a rover wheel moves forward and approaches a particular sand region, that region will continue to subdivide until individual sand particles are represented. Conversely, if the rover wheel moves away, previously subdivided sand regions will recombine. Thus, individual sand particles are available when an interacting force is present but stored away if there is not. As such, this technique allows for many particles to be represented without the computational complexity. We have also further generalized these subdivision regions in our sand framework into any volumetric area suitable for use in the simulation. This allows for more compact subdivision regions and has fine-tuned our framework so that more emphasis can be placed on regions of actively participating sand. We feel that this increases the framework's usefulness across scientific applications and can provide for other research opportunities within the earth and planetary sciences. Through continued collaboration with our academic partners, we continue to build upon our sand simulation framework and look for other opportunities to utilize this research.

  5. Augmenting Sand Simulation Environments through Subdivision and Particle Refinement

    NASA Astrophysics Data System (ADS)

    Clothier, M.; Bailey, M.

    2012-12-01

    Recent advances in computer graphics and parallel processing hardware have provided disciplines with new methods to evaluate and visualize data. These advances have proven useful for earth and planetary scientists as many researchers are using this hardware to process large amounts of data for analysis. As such, this has provided opportunities for collaboration between computer graphics and the earth sciences. Through collaboration with the Oregon Space Grant and IGERT Ecosystem Informatics programs, we are investigating techniques for simulating the behavior of sand. We are also collaborating with the Jet Propulsion Laboratory's (JPL) DARTS Lab to exchange ideas and gain feedback on our research. The DARTS Lab specializes in simulation of planetary vehicles, such as the Mars rovers. Their simulations utilize a virtual "sand box" to test how a planetary vehicle responds to different environments. Our research builds upon this idea to create a sand simulation framework so that planetary environments, such as the harsh, sandy regions on Mars, are more fully realized. More specifically, we are focusing our research on the interaction between a planetary vehicle, such as a rover, and the sand beneath it, providing further insight into its performance. Unfortunately, this can be a computationally complex problem, especially if trying to represent the enormous quantities of sand particles interacting with each other. However, through the use of high-performance computing, we have developed a technique to subdivide areas of actively participating sand regions across a large landscape. Similar to a Level of Detail (LOD) technique, we only subdivide regions of a landscape where sand particles are actively participating with another object. While the sand is within this subdivision window and moves closer to the surface of the interacting object, the sand region subdivides into smaller regions until individual sand particles are left at the surface. As an example, let's say there is a planetary rover interacting with our sand simulation environment. Sand that is actively interacting with a rover wheel will be represented as individual particles whereas sand that is further under the surface will be represented by larger regions of sand. The result of this technique allows for many particles to be represented without the computational complexity. In developing this method, we have further generalized these subdivision regions into any volumetric area suitable for use in the simulation. This is a further improvement of our method as it allows for more compact subdivision sand regions. This helps to fine tune the simulation so that more emphasis can be placed on regions of actively participating sand. We feel that through the generalization of our technique, our research can provide other opportunities within the earth and planetary sciences. Through collaboration with our academic colleagues, we continue to refine our technique and look for other opportunities to utilize our research.

  6. Mountain Winds at Gale Crater

    NASA Image and Video Library

    2012-11-15

    This graphic shows the pattern of winds predicted to be swirling around and inside Gale Crater, where NASA Curiosity rover landed on Mars. Modeling the winds gives scientists a context for the data from Curiosity Rover Environmental Monitoring Station

  7. Robot Sequencing and Visualization Program (RSVP)

    NASA Technical Reports Server (NTRS)

    Cooper, Brian K.; Maxwell,Scott A.; Hartman, Frank R.; Wright, John R.; Yen, Jeng; Toole, Nicholas T.; Gorjian, Zareh; Morrison, Jack C

    2013-01-01

    The Robot Sequencing and Visualization Program (RSVP) is being used in the Mars Science Laboratory (MSL) mission for downlink data visualization and command sequence generation. RSVP reads and writes downlink data products from the operations data server (ODS) and writes uplink data products to the ODS. The primary users of RSVP are members of the Rover Planner team (part of the Integrated Planning and Execution Team (IPE)), who use it to perform traversability/articulation analyses, take activity plan input from the Science and Mission Planning teams, and create a set of rover sequences to be sent to the rover every sol. The primary inputs to RSVP are downlink data products and activity plans in the ODS database. The primary outputs are command sequences to be placed in the ODS for further processing prior to uplink to each rover. RSVP is composed of two main subsystems. The first, called the Robot Sequence Editor (RoSE), understands the MSL activity and command dictionaries and takes care of converting incoming activity level inputs into command sequences. The Rover Planners use the RoSE component of RSVP to put together command sequences and to view and manage command level resources like time, power, temperature, etc. (via a transparent realtime connection to SEQGEN). The second component of RSVP is called HyperDrive, a set of high-fidelity computer graphics displays of the Martian surface in 3D and in stereo. The Rover Planners can explore the environment around the rover, create commands related to motion of all kinds, and see the simulated result of those commands via its underlying tight coupling with flight navigation, motor, and arm software. This software is the evolutionary replacement for the Rover Sequencing and Visualization software used to create command sequences (and visualize the Martian surface) for the Mars Exploration Rover mission.

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

    NASA Technical Reports Server (NTRS)

    Stoker, Carol

    1994-01-01

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

  9. Methane Measurements by NASA Curiosity in Mars Gale Crater

    NASA Image and Video Library

    2014-12-16

    This graphic shows tenfold spiking in the abundance of methane in the Martian atmosphere surrounding NASA Curiosity Mars rover, as detected by a series of measurements made with the Tunable Laser Spectrometer instrument in the rover laboratory suite.

  10. Curiosity First Radiation Measurements on Mars

    NASA Image and Video Library

    2012-08-08

    Like a human working in a radiation environment, NASA Curiosity rover carries its own version of a dosimeter to measure radiation from outer space and the sun. This graphic shows the flux of radiation detected the rover Radiation Assessment Detector.

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

    NASA Technical Reports Server (NTRS)

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

    1976-01-01

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

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

    NASA Technical Reports Server (NTRS)

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

    1999-01-01

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

  13. The MITy micro-rover: Sensing, control, and operation

    NASA Technical Reports Server (NTRS)

    Malafeew, Eric; Kaliardos, William

    1994-01-01

    The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

  14. Mars Science Laboratory Rover System Thermal Test

    NASA Technical Reports Server (NTRS)

    Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Dudik, Brenda A.

    2012-01-01

    On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. The MSL rover is scheduled to land on Mars on August 5, 2012. Prior to launch, the Rover was successfully operated in simulated mission extreme environments during a 16-day long Rover System Thermal Test (STT). This paper describes the MSL Rover STT, test planning, test execution, test results, thermal model correlation and flight predictions. The rover was tested in the JPL 25-Foot Diameter Space Simulator Facility at the Jet Propulsion Laboratory (JPL). The Rover operated in simulated Cruise (vacuum) and Mars Surface environments (8 Torr nitrogen gas) with mission extreme hot and cold boundary conditions. A Xenon lamp solar simulator was used to impose simulated solar loads on the rover during a bounding hot case and during a simulated Mars diurnal test case. All thermal hardware was exercised and performed nominally. The Rover Heat Rejection System, a liquid-phase fluid loop used to transport heat in and out of the electronics boxes inside the rover chassis, performed better than predicted. Steady state and transient data were collected to allow correlation of analytical thermal models. These thermal models were subsequently used to predict rover thermal performance for the MSL Gale Crater landing site. Models predict that critical hardware temperatures will be maintained within allowable flight limits over the entire 669 Sol surface mission.

  15. Learning planar Ising models

    DOE PAGES

    Johnson, Jason K.; Oyen, Diane Adele; Chertkov, Michael; ...

    2016-12-01

    Inference and learning of graphical models are both well-studied problems in statistics and machine learning that have found many applications in science and engineering. However, exact inference is intractable in general graphical models, which suggests the problem of seeking the best approximation to a collection of random variables within some tractable family of graphical models. In this paper, we focus on the class of planar Ising models, for which exact inference is tractable using techniques of statistical physics. Based on these techniques and recent methods for planarity testing and planar embedding, we propose a greedy algorithm for learning the bestmore » planar Ising model to approximate an arbitrary collection of binary random variables (possibly from sample data). Given the set of all pairwise correlations among variables, we select a planar graph and optimal planar Ising model defined on this graph to best approximate that set of correlations. Finally, we demonstrate our method in simulations and for two applications: modeling senate voting records and identifying geo-chemical depth trends from Mars rover data.« less

  16. Learning planar Ising models

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

    Johnson, Jason K.; Oyen, Diane Adele; Chertkov, Michael

    Inference and learning of graphical models are both well-studied problems in statistics and machine learning that have found many applications in science and engineering. However, exact inference is intractable in general graphical models, which suggests the problem of seeking the best approximation to a collection of random variables within some tractable family of graphical models. In this paper, we focus on the class of planar Ising models, for which exact inference is tractable using techniques of statistical physics. Based on these techniques and recent methods for planarity testing and planar embedding, we propose a greedy algorithm for learning the bestmore » planar Ising model to approximate an arbitrary collection of binary random variables (possibly from sample data). Given the set of all pairwise correlations among variables, we select a planar graph and optimal planar Ising model defined on this graph to best approximate that set of correlations. Finally, we demonstrate our method in simulations and for two applications: modeling senate voting records and identifying geo-chemical depth trends from Mars rover data.« less

  17. Overhead View of Area Surrounding Pathfinder

    NASA Technical Reports Server (NTRS)

    1997-01-01

    Overhead view of the area surrounding the Pathfinder lander illustrating the Sojourner traverse. Red rectangles are rover positions at the end of sols 1-30. Locations of soil mechanics experiments, wheel abrasion experiments, and APXS measurements are shown. The A numbers refer to APXS measurements as discussed in the paper by Rieder et al. (p. 1770, Science Magazine, see image note). Coordinates are given in the LL frame.

    The photorealistic, interactive, three-dimensional virtual reality (VR) terrain models were created from IMP images using a software package developed for Pathfinder by C. Stoker et al. as a participating science project. By matching features in the left and right camera, an automated machine vision algorithm produced dense range maps of the nearfield, which were projected into a three-dimensional model as a connected polygonal mesh. Distance and angle measurements can be made on features viewed in the model using a mouse-driven three-dimensional cursor and a point-and-click interface. The VR model also incorporates graphical representations of the lander and rover and the sequence and spatial locations at which rover data were taken. As the rover moved, graphical models of the rover were added for each position that could be uniquely determined using stereo images of the rover taken by the IMP. Images taken by the rover were projected into the model as two-dimensional 'billboards' to show the proper perspective of these images.

    NOTE: original caption as published in Science Magazine

    Mars Pathfinder is the second in NASA's Discovery program of low-cost spacecraft with highly focused science goals. The Jet Propulsion Laboratory, Pasadena, CA, developed and manages the Mars Pathfinder mission for NASA's Office of Space Science, Washington, D.C. JPL is a division of the California Institute of Technology (Caltech).

  18. A Mars Rover Mission Simulation on Kilauea Volcano

    NASA Technical Reports Server (NTRS)

    Stoker, Carol; Cuzzi, Jeffery N. (Technical Monitor)

    1995-01-01

    A field experiment to simulate a rover mission on Mars was performed using the Russian Marsokhod rover deployed on Kilauea Volcano HI in February, 1995. A Russian Marsokhod rover chassis was equipped with American avionics equipment, stereo cameras on a pan and tilt platform, a digital high resolution body-mounted camera, and a manipulator arm on which was mounted a camera with a close-up lens. The six wheeled rover is 2 meters long and has a mass of 120 kg. The imaging system was designed to simulate that used on the planned "Mars Together" mission. The rover was deployed on Kilauea Volcano HI and operated from NASA Ames by a team of planetary geologists and exobiologists. Two modes of mission operations were simulated for three days each: (1) long time delay, low data bandwidth (simulating a Mars mission), and (2) live video, wide-bandwidth data (allowing active control simulating a Lunar rover mission or a Mars rover mission controlled from on or near the Martian surface). Simulated descent images (aerial photographs) were used to plan traverses to address a detailed set of science questions. The actual route taken was determined by the science team and the traverse path was frequently changed in response to the data acquired and to unforeseen operational issues. Traverses were thereby optimized to efficiently answer scientific questions. During the Mars simulation, the rover traversed a distance of 800 m. Based on the time delay between Earth and Mars, we estimate that the same operation would have taken 30 days to perform on Mars. This paper will describe the mission simulation and make recommendations about incorporating rovers into the Mars surveyor program.

  19. VIPER: Virtual Intelligent Planetary Exploration Rover

    NASA Technical Reports Server (NTRS)

    Edwards, Laurence; Flueckiger, Lorenzo; Nguyen, Laurent; Washington, Richard

    2001-01-01

    Simulation and visualization of rover behavior are critical capabilities for scientists and rover operators to construct, test, and validate plans for commanding a remote rover. The VIPER system links these capabilities. using a high-fidelity virtual-reality (VR) environment. a kinematically accurate simulator, and a flexible plan executive to allow users to simulate and visualize possible execution outcomes of a plan under development. This work is part of a larger vision of a science-centered rover control environment, where a scientist may inspect and explore the environment via VR tools, specify science goals, and visualize the expected and actual behavior of the remote rover. The VIPER system is constructed from three generic systems, linked together via a minimal amount of customization into the integrated system. The complete system points out the power of combining plan execution, simulation, and visualization for envisioning rover behavior; it also demonstrates the utility of developing generic technologies. which can be combined in novel and useful ways.

  20. Modeling and Simulation of the Dynamics of Dissipative, Inelastic Spheres with Applications to Planetary Rovers and Gravitational Billiards

    NASA Astrophysics Data System (ADS)

    Hartl, Alexandre E.

    This dissertation provides a thorough treatment on the dynamic modeling and simulation of spherical objects, and its applications to planetary rovers and gravitational billiards. First, the equations governing the motion of a wind-driven spherical rover are developed, and a numerical procedure for their implementation is shown. Dynamic simulations (considering the Earth and Mars atmospheres) for several terrain types and conditions illustrate how a rover may maneuver across flat terrain, channels and craters. The effects of aerodynamic forces on the rover's motion is studied. The results show the wind force may both push and hinder the rover's motion while sliding, rolling and bouncing. The rover will periodically transition between these modes of movement when the rover impacts sloped surfaces. Combinations of rolling and bouncing may be a more effective means of transport for a rover traveling through a channel when compared to rolling alone. The aerodynamic effects, of drag and the Magnus force, are contributing factors to the possible capture of the rover by a crater. Next, a strategy is formulated for creating randomized Martian rock fields based on statistical models, where the rover's interactions with these fields are analyzed. Novel procedures for creating randomized Martian rock fields are presented, where optimization techniques allow terrain generation to coincide with the rover's motion. Efficient collision detection routines reduce the number of tests of potential collisions between the rover and the terrain while establishing new contact constraints. The procedures allow for the exploration of large regions of terrain while minimizing computational costs. Simulations demonstrate that bouncing is the rover's dominant mode of travel through the rock fields. Monte-Carlo simulations illustrate how the rover's down-range position depends on the rover design and atmospheric conditions. Moreover, the simulations verify the rover's capacity for long distance travel over Martian rock fields. Finally, a mathematical model that captures the essential dynamics required for describing the motion of a real world billiard for arbitrary boundaries is presented. The model considers the more realistic situation of an inelastic, rotating, gravitational billiard in which there are retarding forces due to air resistance and friction. The simulations demonstrate that the parabola has stable, periodic motion, while the wedge and hyperbola, at high driving frequencies, appear chaotic. The hyperbola, at low driving frequencies, behaves similarly to the parabola, and has regular motion. Direct comparisons are made between the model's predictions and previously published experimental data. The representation of the coefficient of restitution employed in the model resulted in good agreement with the experimental data for all boundary shapes investigated. It is shown that the data can be successfully modeled with a simple set of parameters without an assumption of exotic energy dependence.

  1. Adams-Based Rover Terramechanics and Mobility Simulator - ARTEMIS

    NASA Technical Reports Server (NTRS)

    Trease, Brian P.; Lindeman, Randel A.; Arvidson, Raymond E.; Bennett, Keith; VanDyke, Lauren P.; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine

    2013-01-01

    The Mars Exploration Rovers (MERs), Spirit and Opportunity, far exceeded their original drive distance expectations and have traveled, at the time of this reporting, a combined 29 kilometers across the surface of Mars. The Rover Sequencing and Visualization Program (RSVP), the current program used to plan drives for MERs, is only a kinematic simulator of rover movement. Therefore, rover response to various terrains and soil types cannot be modeled. Although sandbox experiments attempt to model rover-terrain interaction, these experiments are time-intensive and costly, and they cannot be used within the tactical timeline of rover driving. Imaging techniques and hazard avoidance features on MER help to prevent the rover from traveling over dangerous terrains, but mobility issues have shown that these methods are not always sufficient. ARTEMIS, a dynamic modeling tool for MER, allows planned drives to be simulated before commands are sent to the rover. The deformable soils component of this model allows rover-terrain interactions to be simulated to determine if a particular drive path would take the rover over terrain that would induce hazardous levels of slip or sink. When used in the rover drive planning process, dynamic modeling reduces the likelihood of future mobility issues because high-risk areas could be identified before drive commands are sent to the rover, and drives planned over these areas could be rerouted. The ARTEMIS software consists of several components. These include a preprocessor, Digital Elevation Models (DEMs), Adams rover model, wheel and soil parameter files, MSC Adams GUI (commercial), MSC Adams dynamics solver (commercial), terramechanics subroutines (FORTRAN), a contact detection engine, a soil modification engine, and output DEMs of deformed soil. The preprocessor is used to define the terrain (from a DEM) and define the soil parameters for the terrain file. The Adams rover model is placed in this terrain. Wheel and soil parameter files can be altered in the respective text files. The rover model and terrain are viewed in Adams View, the GUI for ARTEMIS. The Adams dynamics solver calls terramechanics subroutines in FORTRAN containing the Bekker-Wong equations.

  2. Dynamic modeling of wheeled planetary rovers: A model based on the pseudo-coordiates approach

    NASA Astrophysics Data System (ADS)

    Chen, Feng; Genta, Giancarlo

    2012-12-01

    The paper deals with the dynamic modeling of wheeled planetary rovers operating on rough terrain. The dedicated model here presented, although kept as simple as possible, includes the effect of nonlinearities and models the suspensions in a realistic, albeit simplified, way. It can be interfaced with a model of the control system so that different control strategies can be studied in detail and, in case of teleoperated rovers, it can be used as a simulator for training the operators. Different implementations, with different degrees of complexity, are presented and compared with each other so that the user can simulate the dynamics of the rover making a tradeoff between simulation accuracy and computer time. The model allows to study the effects of the terrain characteristics, of the ground irregularities and the operating speed on the behavior of the rover. Some examples dealing with rovers with different configurations conclude the paper.

  3. Comparing Cumberland With Other Samples Analyzed by Curiosity

    NASA Image and Video Library

    2014-12-16

    This graphic offers comparisons between the amount of an organic chemical named chlorobenzene detected in the Cumberland rock sample and amounts of it in samples from three other Martian surface targets analyzed by NASA Curiosity Mars rover.

  4. First X-ray View of Martian Soil

    NASA Image and Video Library

    2012-10-30

    This graphic shows results of the first analysis of Martian soil by the CheMin experiment on NASA Curiosity rover. The image reveals the presence of crystalline feldspar, pyroxenes and olivine mixed with some amorphous non-crystalline material.

  5. Development and Buildup of a Stirling Radioisotope Generator Electrical Simulator

    NASA Technical Reports Server (NTRS)

    Prokop, Norman F.; Krasowski, Michael J.; Greer, Lawrence C.; Flatico, Joseph M.; Spina, Dan C.

    2008-01-01

    This paper describes the development of a Stirling Radioisotope Generator (SRG) Simulator for use in a prototype lunar robotic rover. The SRG developed at NASA Glenn Research Center (GRC) is a promising power source for the robotic exploration of the sunless areas of the moon. The simulator designed provides a power output similar to the SRG output of 5.7 A at 28 Vdc, while using ac wall power as the input power source. The designed electrical simulator provides rover developers the physical and electrical constraints of the SRG supporting parallel development of the SRG and rover. Parallel development allows the rover design team to embrace the SRG s unique constraints while development of the SRG is continued to a flight qualified version.

  6. Rover Attitude and Pointing System Simulation Testbed

    NASA Technical Reports Server (NTRS)

    Vanelli, Charles A.; Grinblat, Jonathan F.; Sirlin, Samuel W.; Pfister, Sam

    2009-01-01

    The MER (Mars Exploration Rover) Attitude and Pointing System Simulation Testbed Environment (RAPSSTER) provides a simulation platform used for the development and test of GNC (guidance, navigation, and control) flight algorithm designs for the Mars rovers, which was specifically tailored to the MERs, but has since been used in the development of rover algorithms for the Mars Science Laboratory (MSL) as well. The software provides an integrated simulation and software testbed environment for the development of Mars rover attitude and pointing flight software. It provides an environment that is able to run the MER GNC flight software directly (as opposed to running an algorithmic model of the MER GNC flight code). This improves simulation fidelity and confidence in the results. Further more, the simulation environment allows the user to single step through its execution, pausing, and restarting at will. The system also provides for the introduction of simulated faults specific to Mars rover environments that cannot be replicated in other testbed platforms, to stress test the GNC flight algorithms under examination. The software provides facilities to do these stress tests in ways that cannot be done in the real-time flight system testbeds, such as time-jumping (both forwards and backwards), and introduction of simulated actuator faults that would be difficult, expensive, and/or destructive to implement in the real-time testbeds. Actual flight-quality codes can be incorporated back into the development-test suite of GNC developers, closing the loop between the GNC developers and the flight software developers. The software provides fully automated scripting, allowing multiple tests to be run with varying parameters, without human supervision.

  7. Update on Rover Sequencing and Visualization Program

    NASA Technical Reports Server (NTRS)

    Cooper, Brian; Hartman, Frank; Maxwell, Scott; Yen, Jeng; Wright, John; Balacuit, Carlos

    2005-01-01

    The Rover Sequencing and Visualization Program (RSVP) has been updated. RSVP was reported in Rover Sequencing and Visualization Program (NPO-30845), NASA Tech Briefs, Vol. 29, No. 4 (April 2005), page 38. To recapitulate: The Rover Sequencing and Visualization Program (RSVP) is the software tool to be used in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (robotic arm) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities.

  8. Assessment of Proficiency During Simulated Rover Operations Following Long-Duration Spaceflight

    NASA Technical Reports Server (NTRS)

    Wood, S. J.; Dean, S. L.; De Dios, Y. E.; MacDougall, H. G.; Moore, S. T.

    2011-01-01

    Following long-duration space travel, pressurized rovers will enhance crew mobility to explore Mars and other planetary surfaces. Adaptive changes in sensorimotor function may limit the crew s proficiency when performing some rover operations shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify postflight decrements in operational proficiency in a motion-based rover simulation after International Space Station (ISS) expeditions. Given that postflight performance will also be influenced by the level of preflight proficiency attained, a ground-based normative study was conducted to characterize the acquisition of skills over multiple sessions.

  9. Bright Days Ahead for Curiosity Mars Rover

    NASA Image and Video Library

    2011-03-18

    This image shows preparation for March 2011 testing of the Mars Science Laboratory rover, Curiosity, in a space-simulation chamber; the rover will go through operational sequences in environmental conditions similar to what it will experience on Mars.

  10. Virtual Rover Takes its First Turn

    NASA Image and Video Library

    2004-01-13

    This image shows a screenshot from the software used by engineers to drive the Mars Exploration Rover Spirit. The software simulates the rover's movements across the martian terrain, helping to plot a safe course for the rover. The virtual 3-D world around the rover is built from images taken by Spirit's stereo navigation cameras. Regions for which the rover has not yet acquired 3-D data are represented in beige. This image depicts the state of the rover before it backed up and turned 45 degrees on Sol 11 (01-13-04). http://photojournal.jpl.nasa.gov/catalog/PIA05063

  11. Constructing an Educational Mars Simulation

    NASA Technical Reports Server (NTRS)

    Henke, Stephen A.

    2004-01-01

    January 14th 2004, President George Bush announces his plans to catalyst the space program into a new era of space exploration and discovery. His vision encompasses a robotics program to explore our solar system, a return to the moon, the human exploration of Mars, and to promote international prosperity towards our endeavors. We at NASA now have the task of constructing this vision in a very real timeframe. I have been chosen to begin phase 1 of making this vision a reality. I will be working on creating an Educational Mars Simulation of human exploration of Mars to stimulate interest and involvement with the project from investors and the community. GRC s Computer Services Division (CSD) in collaboration with the Office of Education Programs will be designing models, constructing terrain, and programming this simulation to create a realistic portrayal of human exploration on mars. With recent and past technological breakthroughs in computing, my primary goal can be accomplished with only the aid of 3-4 software packages. Lightwave 3D is the modeling package we have selected to use for the creation of our digital objects. This includes a Mars pressurized rover, rover cockpit, landscape/terrain, and habitat. Once we have the models completed they need textured so Photoshop and Macromedia Fireworks are handy for bringing these objects to life. Before directly importing all of this data into a simulation environment, it is necessary to first render a stunning animation of the desired final product. This animation with represent what we hope to capture out of the simulation and it will include all of the accessories like ray-tracing, fog effects, shadows, anti-aliasing, particle effects, volumetric lighting, and lens flares. Adobe Premier will more than likely be used for video editing and adding ambient noises and music. Lastly, V-Tree is the real-time 3D graphics engine which will facilitate our realistic simulation. Additional information is included in the original extended abstract.

  12. Survival of Bacillus subtilis endospores on ultraviolet-irradiated rover wheels and Mars regolith under simulated Martian conditions.

    PubMed

    Kerney, Krystal R; Schuerger, Andrew C

    2011-06-01

    Endospores of Bacillus subtilis HA101 were applied to a simulated Mars Exploration Rover (MER) wheel and exposed to Mars-normal UV irradiation for 1, 3, or 6 h. The experiment was designed to simulate a contaminated rover wheel sitting on its landing platform before rolling off onto the martian terrain, as was encountered during the Spirit and Opportunity missions. When exposed to 1 h of Mars UV, a reduction of 81% of viable endospores was observed compared to the non-UV irradiated controls. When exposed for 3 or 6 h, reductions of 94.6% and 96.6%, respectively, were observed compared to controls. In a second experiment, the contaminated rover wheel was rolled over a bed of heat-sterilized Mars analog soil; then the analog soil was exposed to full martian conditions of UV irradiation, low pressure (6.9 mbar), low temperature (-10°C), and an anaerobic CO(2) martian atmosphere for 24 h to determine whether endospores of B. subtilis on the contaminated rover wheel could be transferred to the surface of the analog soil and survive martian conditions. The experiment simulated conditions in which a rover wheel might come into contact with martian regolith immediately after landing, such as is designed for the upcoming Mars Science Laboratory (MSL) rover. The contaminated rover wheel transferred viable endospores of B. subtilis to the Mars analog soil, as demonstrated by 31.7% of samples showing positive growth. However, when contaminated soil samples were exposed to full martian conditions for 24 h, only 16.7% of samples exhibited positive growth-a 50% reduction in the number of soil samples positive for the transferred viable endospores.

  13. Filling the Simulated Sandtrap

    NASA Image and Video Library

    2009-06-30

    Rover team members Mike Seibert left and Paolo Bellutta add a barrowful of soil mixture to the sloped box where a test rover will be used for assessing possible maneuvers for NASA rover Spirit to use in escaping from a sandtrap on Mars.

  14. Assessment of Spatial Navigation and Docking Performance During Simulated Rover Tasks

    NASA Technical Reports Server (NTRS)

    Wood, S. J.; Dean, S. L.; De Dios, Y. E.; Moore, S. T.

    2010-01-01

    INTRODUCTION: Following long-duration exploration transits, pressurized rovers will enhance surface mobility to explore multiple sites across Mars and other planetary bodies. Multiple rovers with docking capabilities are envisioned to expand the range of exploration. However, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely navigate and perform docking tasks shortly after transition to the new gravitoinertial environment. The primary goal of this investigation is to quantify post-flight decrements in spatial navigation and docking performance during a rover simulation. METHODS: Eight crewmembers returning from the International Space Station will be tested on a motion simulator during four pre-flight and three post-flight sessions over the first 8 days following landing. The rover simulation consists of a serial presentation of discrete tasks to be completed within a scheduled 10 min block. The tasks are based on navigating around a Martian outpost spread over a 970 sq m terrain. Each task is subdivided into three components to be performed as quickly and accurately as possible: (1) Perspective taking: Subjects use a joystick to indicate direction of target after presentation of a map detailing current orientation and location of the rover with the task to be performed. (2) Navigation: Subjects drive the rover to the desired location while avoiding obstacles. (3) Docking: Fine positioning of the rover is required to dock with another object or align a camera view. Overall operator proficiency will be based on how many tasks the crewmember can complete during the 10 min time block. EXPECTED RESULTS: Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to a wide variety of simulated vehicle designs to provide sensorimotor assessments for other operational and civilian populations.

  15. Rover Sequencing and Visualization Program

    NASA Technical Reports Server (NTRS)

    Cooper, Brian; Hartman, Frank; Maxwell, Scott; Yen, Jeng; Wright, John; Balacuit, Carlos

    2005-01-01

    The Rover Sequencing and Visualization Program (RSVP) is the software tool for use in the Mars Exploration Rover (MER) mission for planning rover operations and generating command sequences for accomplishing those operations. RSVP combines three-dimensional (3D) visualization for immersive exploration of the operations area, stereoscopic image display for high-resolution examination of the downlinked imagery, and a sophisticated command-sequence editing tool for analysis and completion of the sequences. RSVP is linked with actual flight-code modules for operations rehearsal to provide feedback on the expected behavior of the rover prior to committing to a particular sequence. Playback tools allow for review of both rehearsed rover behavior and downlinked results of actual rover operations. These can be displayed simultaneously for comparison of rehearsed and actual activities for verification. The primary inputs to RSVP are downlink data products from the Operations Storage Server (OSS) and activity plans generated by the science team. The activity plans are high-level goals for the next day s activities. The downlink data products include imagery, terrain models, and telemetered engineering data on rover activities and state. The Rover Sequence Editor (RoSE) component of RSVP performs activity expansion to command sequences, command creation and editing with setting of command parameters, and viewing and management of rover resources. The HyperDrive component of RSVP performs 2D and 3D visualization of the rover s environment, graphical and animated review of rover-predicted and telemetered state, and creation and editing of command sequences related to mobility and Instrument Deployment Device (IDD) operations. Additionally, RoSE and HyperDrive together evaluate command sequences for potential violations of flight and safety rules. The products of RSVP include command sequences for uplink that are stored in the Distributed Object Manager (DOM) and predicted rover state histories stored in the OSS for comparison and validation of downlinked telemetry. The majority of components comprising RSVP utilize the MER command and activity dictionaries to automatically customize the system for MER activities. Thus, RSVP, being highly data driven, may be tailored to other missions with minimal effort. In addition, RSVP uses a distributed, message-passing architecture to allow multitasking, and collaborative visualization and sequence development by scattered team members.

  16. Mars Mission Surface Operation Simulation Testing of Lithium-Ion Batteries

    NASA Technical Reports Server (NTRS)

    Smart, M. C.; Bugga, R.; Whitcanack, L. D.; Chin, K. B.; Davies, E. D.; Surampudi, S.

    2003-01-01

    The objectives of this program are to 1) Assess viability of using lithium-ion technology for future NASA applications, with emphasis upon Mars landers and rovers which will operate on the planetary surface; 2) Support the JPL 2003 Mars Exploration Rover program to assist in the delivery and testing of a 8 AHr Lithium-Ion battery (Lithion/Yardney) which will power the rover; 3) Demonstrate applicability of using lithium-ion technologyfor future Mars applications: Mars 09 Science Laboratory (Smart Lander) and Future Mars Surface Operations (General). Mission simulation testing was carried out for cells and batteries on the Mars Surveyor 2001 Lander and the 2003 Mars Exploration Rover.

  17. Preparing for Solar and Thermal Testing of Curiosity Mars Rover

    NASA Image and Video Library

    2011-03-18

    This image shows preparation for March 2011 testing of the Mars Science Laboratory rover, Curiosity, in a space-simulation chamber; the rover will go through operational sequences in environmental conditions similar to what it will experience on Mars.

  18. A MATLAB based Distributed Real-time Simulation of Lander-Orbiter-Earth Communication for Lunar Missions

    NASA Astrophysics Data System (ADS)

    Choudhury, Diptyajit; Angeloski, Aleksandar; Ziah, Haseeb; Buchholz, Hilmar; Landsman, Andre; Gupta, Amitava; Mitra, Tiyasa

    Lunar explorations often involve use of a lunar lander , a rover [1],[2] and an orbiter which rotates around the moon with a fixed radius. The orbiters are usually lunar satellites orbiting along a polar orbit to ensure visibility with respect to the rover and the Earth Station although with varying latency. Communication in such deep space missions is usually done using a specialized protocol like Proximity-1[3]. MATLAB simulation of Proximity-1 have been attempted by some contemporary researchers[4] to simulate all features like transmission control, delay etc. In this paper it is attempted to simulate, in real time, the communication between a tracking station on earth (earth station), a lunar orbiter and a lunar rover using concepts of Distributed Real-time Simulation(DRTS).The objective of the simulation is to simulate, in real-time, the time varying communication delays associated with the communicating elements with a facility to integrate specific simulation modules to study different aspects e.g. response due to a specific control command from the earth station to be executed by the rover. The hardware platform comprises four single board computers operating as stand-alone real time systems (developed by MATLAB xPC target and inter-networked using UDP-IP protocol). A time triggered DRTS approach is adopted. The earth station, the orbiter and the rover are programmed as three standalone real-time processes representing the communicating elements in the system. Communication from one communicating element to another constitutes an event which passes a state message from one element to another, augmenting the state of the latter. These events are handled by an event scheduler which is the fourth real-time process. The event scheduler simulates the delay in space communication taking into consideration the distance between the communicating elements. A unique time synchronization algorithm is developed which takes into account the large latencies in space communication. The DRTS setup thus developed serves as an important and inexpensive test bench for trying out remote controlled applications on the rover, for example, from an earth station. The simulation is modular and the system is composable. Each of the processes can be aug-mented with relevant simulation modules that handle the events to simulate specific function-alities. With stringent energy saving requirements on most rovers, such a simulation set up, for example, can be used to design optimal rover movement control strategies from the orbiter in conjunction with autonomous systems on the rover itself. References 1. Lunar and Planetary Department, Moscow University, Lunokhod 1, "http://selena.sai.msu.ru/Home/Spa 2. NASA History Office, Guidelines for Advanced Manned Space Vehicle Program, "http://history.nasa.gov 35ann/AMSVPguidelines/top.htm" 3. Consultative Committee For Space Data Systems, "Proximity-1 Space Link Protocol" CCSDS 211.0-B-1 Blue Book. October 2002. 4. Segui, J. and Jennings, E., "Delay Tolerant Networking-Bundle Protocol Simulation", in Proceedings of the 2nd IEEE International Conference on Space Mission Challenges for Infor-mation Technology, 2006.

  19. Rocky 7 prototype Mars rover field geology experiments 1. Lavic Lake and sunshine volcanic field, California

    USGS Publications Warehouse

    Arvidson, R. E.; Acton, C.; Blaney, D.; Bowman, J.; Kim, S.; Klingelhofer, G.; Marshall, J.; Niebur, C.; Plescia, J.; Saunders, R.S.; Ulmer, C.T.

    1998-01-01

    Experiments with the Rocky 7 rover were performed in the Mojave Desert to better understand how to conduct rover-based, long-distance (kilometers) geological traverses on Mars. The rover was equipped with stereo imaging systems for remote sensing science and hazard avoidance and 57Fe Mo??ssbauer and nuclear magnetic resonance spectrometers for in situ determination of mineralogy of unprepared rock and soil surfaces. Laboratory data were also obtained using the spectrometers and an X ray diffraction (XRD)/XRF instrument for unprepared samples collected from the rover sites. Simulated orbital and descent image data assembled for the test sites were found to be critical for assessing the geologic setting, formulating hypotheses to be tested with rover observations, planning traverses, locating the rover, and providing a regional context for interpretation of rover-based observations. Analyses of remote sensing and in situ observations acquired by the rover confirmed inferences made from orbital and simulated descent images that the Sunshine Volcanic Field is composed of basalt flows. Rover data confirmed the idea that Lavic Lake is a recharge playa and that an alluvial fan composed of sediments with felsic compositions has prograded onto the playa. Rover-based discoveries include the inference that the basalt flows are mantled with aeolian sediment and covered with a dense pavement of varnished basalt cobbles. Results demonstrate that the combination of rover remote sensing and in situ analytical observations will significantly increase our understanding of Mars and provide key connecting links between orbital and descent data and analyses of returned samples. Copyright 1998 by the American Geophysical Union.

  20. Interface for Physics Simulation Engines

    NASA Technical Reports Server (NTRS)

    Damer, Bruce

    2007-01-01

    DSS-Prototyper is an open-source, realtime 3D virtual environment software that supports design simulation for the new Vision for Space Exploration (VSE). This is a simulation of NASA's proposed Robotic Lunar Exploration Program, second mission (RLEP2). It simulates the Lunar Surface Access Module (LSAM), which is designed to carry up to four astronauts to the lunar surface for durations of a week or longer. This simulation shows the virtual vehicle making approaches and landings on a variety of lunar terrains. The physics of the descent engine thrust vector, production of dust, and the dynamics of the suspension are all modeled in this set of simulations. The RLEP2 simulations are drivable (by keyboard or joystick) virtual rovers with controls for speed and motor torque, and can be articulated into higher or lower centers of gravity (depending on driving hazards) to enable drill placement. Gravity also can be set to lunar, terrestrial, or zero-g. This software has been used to support NASA's Marshall Space Flight Center in simulations of proposed vehicles for robotically exploring the lunar surface for water ice, and could be used to model all other aspects of the VSE from the Ares launch vehicles and Crew Exploration Vehicle (CEV) to the International Space Station (ISS). This simulator may be installed and operated on any Windows PC with an installed 3D graphics card.

  1. Robotic Follow-up for Human Exploration

    DTIC Science & Technology

    2010-09-01

    layering, structural anomalies and fracturing . While ground ice at Haughton is generally present as continuous permafrost, the depth to the thaw zone...geologist (M. Helper) and a geophysicist (E. Heggy) planned tra- verses using a HMMWV as a simulated pressur - ized crew rover. Each traverse was...mounted on the front of a simulated pressurized crew rover; right, GPR is manually deployed by suited crew. Table 3. Flight rules for simulated crew mission

  2. Path planning for planetary rover using extended elevation map

    NASA Technical Reports Server (NTRS)

    Nakatani, Ichiro; Kubota, Takashi; Yoshimitsu, Tetsuo

    1994-01-01

    This paper describes a path planning method for planetary rovers to search for paths on planetary surfaces. The planetary rover is required to travel safely over a long distance for many days over unfamiliar terrain. Hence it is very important how planetary rovers process sensory information in order to understand the planetary environment and to make decisions based on that information. As a new data structure for informational mapping, an extended elevation map (EEM) has been introduced, which includes the effect of the size of the rover. The proposed path planning can be conducted in such a way as if the rover were a point while the size of the rover is automatically taken into account. The validity of the proposed methods is verified by computer simulations.

  3. Characterization of Fillite as a planetary soil simulant in support of rover mobility assessment in high-sinkage/high-slip environments

    NASA Astrophysics Data System (ADS)

    Edwards, Michael

    This thesis presents the results of a research program characterizing a soil simulant called Fillite, which is composed of alumino-silicate hollow microspheres harvested from the pulverized fuel ash of coal-fired power plants. Fillite is available in large quantities at a reasonable cost and it is chemically inert. Fillite has been selected by the National Aeronautics and Space Administration (NASA) Glenn Research Center to simulate high-sinkage/high-slip environment in a large test bed such as the ones encountered by the Spirit rover on Mars in 2009 when it became entrapped in a pocket of soft, loose regolith on Mars. The terms high-sinkage and high-slip used here describe the interaction of soils with typical rover wheels. High-sinkage refers to a wheel sinking with little to no applied force while high-slip refers to a spinning wheel with minimal traction. Standard material properties (density, specific gravity, compression index, Young's modulus, and Poisson's ratio) of Fillite were determined from a series of laboratory tests conducted in general accordance with ASTM standards. Tests were also performed to determine some less standard material properties of Fillite such as the small strain shear wave velocity, maximum shear modulus, and several pressure-sinkage parameters for use in pressure-sinkage models. The experiments include an extensive series of triaxial compression tests, bender element tests, and normal and shear bevameter tests. The unit weight of Fillite on Earth ranges between 3.9 and 4.8 kN/m 3, which is similar to that of Martian regolith (about 3.7 -- 5.6 kN/m3) on Mars and close to the range of the unit weight of lunar regolith (about 1.4 -- 2.9 kN/m3) on the Moon. The data presented here support that Fillite has many physical and mechanical properties that are similar to what is known about Martian regolith. These properties are also comparable to lunar regolith. Fillite is quite dilatant; its peak and critical angles of internal friction are smaller than those of most other simulants. Smaller shear strength, coupled with much smaller bulk unit weight as compared to other simulants, results in smaller bearing and shearing resistances allowing for better simulation of the intended high-sinkage, high-slip behavior for rover mobility studies. The results of the normal bevameter tests were used to determine parameters for two models available in the literature - the Bekker model and the New Model of Mobility (N2M) model. These parameters were then used to predict the sinkage of a Spirit rover wheel if the rover were to be used on Fillite. The predicted sinkage of a Spirit rover wheel in Fillite was 84% of the wheel diameter, which was within the observed sinkage of 50 to 90% of the wheel diameter of the Spirit rover on Mars. Shear bevameter tests were also performed on Fillite to assess the shear stresses and shear deformations imparted by wheels under torsional loads. The results compared well to the estimated shear stresses and deformations of Martian soil caused by the wheels of the Spirit rover. When compared to other simulants (e.g. GRC-1), the pressure-sinkage and shear stress-shear deformation behaviors of Fillite confirm that Fillite is more suitable for high-sinkage and high-slip rover studies than other typical simulants derived from natural terrestrial soils and rocks.

  4. Mars Tumbleweed Simulation Using Singular Perturbation Theory

    NASA Technical Reports Server (NTRS)

    Raiszadeh, Behzad; Calhoun, Phillip

    2005-01-01

    The Mars Tumbleweed is a new surface rover concept that utilizes Martian winds as the primary source of mobility. Several designs have been proposed for the Mars Tumbleweed, all using aerodynamic drag to generate force for traveling about the surface. The Mars Tumbleweed, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from the Martian surface. This paper discusses the dynamic simulation details of a candidate Tumbleweed design. The dynamic simulation model must properly evaluate and characterize the motion of the tumbleweed rover to support proper selection of system design parameters. Several factors, such as model flexibility, simulation run times, and model accuracy needed to be considered in modeling assumptions. The simulation was required to address the flexibility of the rover and its interaction with the ground, and properly evaluate its mobility. Proper assumptions needed to be made such that the simulated dynamic motion is accurate and realistic while not overly burdened by long simulation run times. This paper also shows results that provided reasonable correlation between the simulation and a drop/roll test of a tumbleweed prototype.

  5. Development of a Rover Simulation to Assess Operational Proficiency Following Long Duration Spaceflights

    NASA Technical Reports Server (NTRS)

    DeDios, Y. E.; Dean, S. L.; Rpsemtja (. K/); < acdpig (as/ J/ G/); Moore, S. T.; Wood, S. J.

    2011-01-01

    Following long-duration space transits, adaptive changes in sensorimotor and cognitive function may impair the crew s ability to safely control pressurized rovers designed to explore the new environment. We describe a rover simulation developed to quantify post-flight decrements in operational proficiency following International Space Station expeditions. The rover simulation consists of a serial presentation of discrete tasks to be completed as quickly and accurately as possible. Each task consists of 1) perspective taking using a map that defines a docking target, 2) navigation toward the target around a Martian outpost, and 3) docking a side hatch of the rover to a visually guided target. The simulator utilizes a Stewart-type motion base (CKAS, Australia), single seat cabin with triple scene projection covering approximately 150 horizontal by 40 vertical, and joystick controller. The software was implemented using Unity3 with next-gen PhysX engine to tightly synchronize simulation and motion platform commands. Separate C# applications allow investigators to customize session sequences with different lighting and gravitational conditions, and then execute tasks to be performed as well as record performance data. Preliminary tests resulted in low incidence of motion sickness (<15% unable to complete first session), with only negligible after effects and symptoms after familiarization sessions. Functionally relevant testing early post-flight will develop evidence regarding the limitations to early surface operations and what countermeasures are needed. This approach can be easily adapted to other vehicle designs to provide a platform to safely assess how sensorimotor and cognitive function impact manual control performance.

  6. 2016 ROVER CHALLENGE EVENTS

    NASA Image and Video Library

    2015-01-08

    2016 ROVER CHALLENGE EVENTS AT THE U.S. SPACE AND ROCKET CENTER IN HUNTSVILLE, ALABAMA. NATIONAL AND INTERNATIONAL COLLEGE AND HIGH SCHOOL STUDENTS COME TOGETHER TO TEST THEIR ENGINEERING SKILLS OVER A SIMULATED OUTER PLANET OBSTACLE COURSE.

  7. Tests to Help Plan Opportunity Moves

    NASA Image and Video Library

    2005-05-06

    Rover engineers check how a test rover moves in material chosen to simulate some difficult Mars driving conditions. The scene is inside the In-Situ Instrument Laboratory at NASA Jet Propulsion Laboratory, Pasadena, Calif.

  8. Curiosity Rover Martian Mission, Exaggerated Cross Section

    NASA Image and Video Library

    2016-12-13

    This graphic depicts aspects of the driving distance, elevation, geological units and time intervals of NASA's Curiosity Mars rover mission, as of late 2016. The vertical dimension is exaggerated 14-fold compared with the horizontal dimension, for presentation-screen proportions. As of early December 2016, Curiosity had driven 9.3 miles (15 kilometers) since its August 2012 landing on the floor of Gale Crater near the base of Mount Sharp. It had climbed 541 feet (165 meters) in elevation. Elevation values shown on the vertical scale of this chart denote meters below an established zero-elevation level on Mars, which lacks a planetary "sea level." Because Curiosity is below the zero elevation, the numbers are negative. http://photojournal.jpl.nasa.gov/catalog/PIA21145

  9. Preliminary Dynamic Feasibility and Analysis of a Spherical, Wind-Driven (Tumbleweed), Martian Rover

    NASA Technical Reports Server (NTRS)

    Flick, John J.; Toniolo, Matthew D.

    2005-01-01

    The process and findings are presented from a preliminary feasibility study examining the dynamics characteristics of a spherical wind-driven (or Tumbleweed) rover, which is intended for exploration of the Martian surface. The results of an initial feasibility study involving several worst-case mobility situations that a Tumbleweed rover might encounter on the surface of Mars are discussed. Additional topics include the evaluation of several commercially available analysis software packages that were examined as possible platforms for the development of a Monte Carlo Tumbleweed mission simulation tool. This evaluation lead to the development of the Mars Tumbleweed Monte Carlo Simulator (or Tumbleweed Simulator) using the Vortex physics software package from CM-Labs, Inc. Discussions regarding the development and evaluation of the Tumbleweed Simulator, as well as the results of a preliminary analysis using the tool are also presented. Finally, a brief conclusions section is presented.

  10. RESOLVE 2010 Field Test

    NASA Technical Reports Server (NTRS)

    Captain, J.; Quinn, J.; Moss, T.; Weis, K.

    2010-01-01

    This slide presentation reviews the field tests conducted in 2010 of the Regolith Environment Science & Oxygen & Lunar Volatile Extraction (RESOLVE). The Resolve program consist of several mechanism: (1) Excavation and Bulk Regolith Characterization (EBRC) which is designed to act as a drill and crusher, (2) Regolith Volatiles Characterization (RVC) which is a reactor and does gas analysis,(3) Lunar Water Resources Demonstration (LWRD) which is a fluid system, water and hydrogen capture device and (4) the Rover. The scientific goal of this test is to demonstrate evolution of low levels of hydrogen and water as a function of temperature. The Engineering goals of this test are to demonstrate:(1) Integration onto new rover (2) Miniaturization of electronics rack (3) Operation from battery packs (elimination of generator) (4) Remote command/control and (5) Operation while roving. Views of the 2008 and the 2010 mechanisms, a overhead view of the mission path, a view of the terrain, the two drill sites, and a graphic of the Master Events Controller Graphical User Interface (MEC GUI) are shown. There are descriptions of the Gas chromatography (GC), the operational procedure, water and hydrogen doping of tephra. There is also a review of some of the results, and future direction for research and tests.

  11. The Little Rover that Could

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This image taken at NASA's Jet Propulsion Laboratory shows a rover test drive up a manmade slope. The slope simulates one that the Mars Exploration Rover Opportunity will face on Mars if it is sent commands to explore rock outcrop that lies farther into 'Endurance Crater.' Using sand, dirt and rocks, scientists and engineers at JPL constructed the overall platform of the slope at a 25-degree angle, with a 40-degree step in the middle. The test rover successfully descended and climbed the platform, adding confidence that Opportunity could cross a similar hurdle in Endurance Crater.

  12. Electrostatic Charging of the Pathfinder Rover

    NASA Technical Reports Server (NTRS)

    Siebert, Mark W.; Kolecki, Joseph C.

    1996-01-01

    The Mars Pathfinder mission will send a lander and a rover to the martian surface. Because of the extremely dry conditions on Mars, electrostatic charging of the rover is expected to occur as it moves about. Charge accumulation may result in high electrical potentials and discharge through the martian atmosphere. Such discharge could interfere with the operation of electrical elements on the rover. A strategy was sought to mitigate this charge accumulation as a precautionary measure. Ground tests were performed to demonstrate charging in laboratory conditions simulating the surface conditions expected at Mars. Tests showed that a rover wheel, driven at typical rover speeds, will accumulate electrical charge and develop significant electrical potentials (average observed, 110 volts). Measurements were made of wheel electrical potential, and wheel capacitance. From these quantities, the amount of absolute charge was estimated. An engineering solution was developed and recommended to mitigate charge accumulation. That solution has been implemented on the actual rover.

  13. Acquisition of Skill Proficiency Over Multiple Sessions of a Novel Rover Simulation

    NASA Technical Reports Server (NTRS)

    Dean, S. L.; DeDios,Y. E.; MacDougall, H. G.; Moore, S. T.; Wood, S. J.

    2011-01-01

    Following long-duration exploration transits, adaptive changes in sensorimotor function may impair the crew's ability to safely perform manual control tasks such as operating pressurized rovers. Postflight performance will also be influenced by the level of preflight skill proficiency they have attained. The purpose of this study was to characterize the acquisition of skills in a motion-based rover simulation over multiple sessions, and to investigate the effects of varying the simulation scenarios. METHODS: Twenty healthy subjects were tested in 5 sessions, with 1-3 days between sessions. Each session consisted of a serial presentation of 8 discrete tasks to be completed as quickly and accurately as possible. Each task consisted of 1) perspective-taking, using a map that defined a docking target, 2) navigation toward the target around a Martian outpost, and 3) docking a side hatch of the rover to a visually guided target. The simulator utilized a Stewart-type motion base (CKAS, Australia), single-seat cabin with triple scene projection covering 150 deg horizontal by 50 deg vertical, and joystick controller. Subjects were randomly assigned to a control group (tasks identical in the first 4 sessions) or a varied-practice group. The dependent variables for each task included accuracy toward the target and time to completion. RESULTS: The greatest improvements in time to completion occurred during the docking phase. The varied-practice group showed more improvement in perspective-taking accuracy. Perspective-taking accuracy was also affected by the relative orientation of the rover to the docking target. Skill acquisition was correlated with self-ratings of previous gaming experience. DISCUSSION: Varying task selection and difficulty will optimize the preflight acquisition of skills when performing novel operational tasks. Simulation of operational manual control will provide functionally relevant evidence regarding the impact of sensorimotor adaptation on early surface operations and what countermeasures are needed. Learning Objective: The use of a motion-based simulation to investigate decrements in the proficiency to operate pressurized rovers during early surface operations of space exploration missions, along with the acquisition of skill proficiency needed during the preflight phase of the mission.

  14. Curiosity Landscape Portrait in Context

    NASA Image and Video Library

    2012-08-07

    This picture from NASA Curiosity rover puts a color view obtained by the rover in the context of a computer simulation derived from images acquired from orbiting spacecraft. The view looks north, showing the distant ridge of Gale Crater.

  15. Surface Telerobotics: Development and Testing of a Crew Controlled Planetary Rover System

    NASA Technical Reports Server (NTRS)

    Fong, Terry; Bualat, Maria; Allan, Mark B; Bouyssounouse, Xavier; Cohen, Tamar

    2013-01-01

    During Summer 2013, we conducted a series of tests to examine how astronauts in the In- ternational Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed mission, in which an astronaut in lunar orbit remotely operates a planetary rover to deploy a radio telescope on the lunar farside. In this paper, we present the design, implementation, and preliminary test results.

  16. Mast Camera View of Curiosity Deck

    NASA Image and Video Library

    2011-05-31

    NASA Mars rover Curiosity took the images combined into this mosaic of the rover upper deck. The images were taken in March 2011. At the time, Curiosity was inside a space simulation chamber at NASA Jet Propulsion Laboratory, Pasadena, Calif.

  17. Rover Slip Validation and Prediction Algorithm

    NASA Technical Reports Server (NTRS)

    Yen, Jeng

    2009-01-01

    A physical-based simulation has been developed for the Mars Exploration Rover (MER) mission that applies a slope-induced wheel-slippage to the rover location estimator. Using the digital elevation map from the stereo images, the computational method resolves the quasi-dynamic equations of motion that incorporate the actual wheel-terrain speed to estimate the gross velocity of the vehicle. Based on the empirical slippage measured by the Visual Odometry software of the rover, this algorithm computes two factors for the slip model by minimizing the distance of the predicted and actual vehicle location, and then uses the model to predict the next drives. This technique, which has been deployed to operate the MER rovers in the extended mission periods, can accurately predict the rover position and attitude, mitigating the risk and uncertainties in the path planning on high-slope areas.

  18. Construction of the Hunveyor-Husar space probe model system for planetary science education and analog studies and simulations in universities and colleges of Hungary.

    NASA Astrophysics Data System (ADS)

    Bérczi, Sz.; Hegyi, S.; Hudoba, Gy.; Hargitai, H.; Kokiny, A.; Drommer, B.; Gucsik, A.; Pintér, A.; Kovács, Zs.

    Several teachers and students had the possibility to visit International Space Camp in the vicinity of the MSFC NASA in Huntsville Alabama USA where they learned the success of simulators in space science education To apply these results in universities and colleges in Hungary we began a unified complex modelling in planetary geology robotics electronics and complex environmental analysis by constructing an experimental space probe model system First a university experimental lander HUNVEYOR Hungarian UNiversity surVEYOR then a rover named HUSAR Hungarian University Surface Analyser Rover has been built For Hunveyor the idea and example was the historical Surveyor program of NASA in the 1960-ies for the Husar the idea and example was the Pathfinder s rover Sojouner rover The first step was the construction of the lander a year later the rover followed The main goals are 1 to build the lander structure and basic electronics from cheap everyday PC compatible elements 2 to construct basic experiments and their instruments 3 to use the system as a space activity simulator 4 this simulator contains lander with on board computer for works on a test planetary surface and a terrestrial control computer 5 to harmonize the assemblage of the electronic system and instruments in various levels of autonomy from the power and communication circuits 6 to use the complex system in education for in situ understanding complex planetary environmental problems 7 to build various planetary environments for application of the

  19. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Trease, Brian; Arvidson, Raymond; Lindemann, Randel; Bennett, Keith; Zhou, Feng; Iagnemma, Karl; Senatore, Carmine; Van Dyke, Lauren

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover (MER) project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting tool, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction Simulator), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using MSC-Adams dynamic modeling software. Newly modeled terrain-rover interactions include the rut-formation effect of deformable soils, using the classical Bekker-Wong implementation of compaction resistances and bull-dozing effects. The paper presents the details and implementation of the model with two case studies based on actual MER telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  20. KSC-03pd0536

    NASA Image and Video Library

    2003-02-24

    KENNEDY SPACE CENTER, FLA. -- The cruise stage, aeroshell and lander for the Mars Exploration Rover-1 mission and the MER-2 rover arrive at KSC. The same flight hardware for the MER-2 rover arrived Jan. 27; however, the MER-2 rover is scheduled to arrive at KSC in March. While at KSC, each of the two rovers, the aeroshells and the landers will undergo a full mission simulation. All of these flight elements will then be integrated together. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers will be identical to each other, but will land at different regions of Mars. Launch of the MER-1 is scheduled for May 30. MER-2 will follow June 25.

  1. Assessment of the Mars Science Laboratory Entry, Descent, and Landing Simulation

    NASA Technical Reports Server (NTRS)

    Way, David W.; Davis, J. L.; Shidner, Jeremy D.

    2013-01-01

    On August 5, 2012, the Mars Science Laboratory rover, Curiosity, successfully landed inside Gale Crater. This landing was only the seventh successful landing and fourth rover to be delivered to Mars. Weighing nearly one metric ton, Curiosity is the largest and most complex rover ever sent to investigate another planet. Safely landing such a large payload required an innovative Entry, Descent, and Landing system, which included the first guided entry at Mars, the largest supersonic parachute ever flown at Mars, and a novel and untested Sky Crane landing system. A complete, end-to-end, six degree-of-freedom, multi-body computer simulation of the Mars Science Laboratory Entry, Descent, and Landing sequence was developed at the NASA Langley Research Center. In-flight data gathered during the successful landing is compared to pre-flight statistical distributions, predicted by the simulation. These comparisons provide insight into both the accuracy of the simulation and the overall performance of the vehicle.

  2. Preliminary assessment of the Mars Science Laboratory entry, descent, and landing simulation

    NASA Astrophysics Data System (ADS)

    Way, David W.

    On August 5, 2012, the Mars Science Laboratory rover, Curiosity, successfully landed inside Gale Crater. This landing was the seventh successful landing and fourth rover to be delivered to Mars. Weighing nearly one metric ton, Curiosity is the largest and most complex rover ever sent to investigate another planet. Safely landing such a large payload required an innovative Entry, Descent, and Landing system, which included the first guided entry at Mars, the largest supersonic parachute ever flown at Mars, and the novel Sky Crane landing system. A complete, end-to-end, six degree-of-freedom, multi-body computer simulation of the Mars Science Laboratory Entry, Descent, and Landing sequence was developed at the NASA Langley Research Center. In-flight data gathered during the successful landing is compared to pre-flight statistical distributions, predicted by the simulation. These comparisons provide insight into both the accuracy of the simulation and the overall performance of the Entry, Descent, and Landing system.

  3. Preliminary Assessment of the Mars Science Laboratory Entry, Descent, and Landing Simulation

    NASA Technical Reports Server (NTRS)

    Way, David W.

    2013-01-01

    On August 5, 2012, the Mars Science Laboratory rover, Curiosity, successfully landed inside Gale Crater. This landing was only the seventh successful landing and fourth rover to be delivered to Mars. Weighing nearly one metric ton, Curiosity is the largest and most complex rover ever sent to investigate another planet. Safely landing such a large payload required an innovative Entry, Descent, and Landing system, which included the first guided entry at Mars, the largest supersonic parachute ever flown at Mars, and a novel and untested Sky Crane landing system. A complete, end-to-end, six degree-of-freedom, multibody computer simulation of the Mars Science Laboratory Entry, Descent, and Landing sequence was developed at the NASA Langley Research Center. In-flight data gathered during the successful landing is compared to pre-flight statistical distributions, predicted by the simulation. These comparisons provide insight into both the accuracy of the simulation and the overall performance of the vehicle.

  4. A Real-Time Rover Executive based On Model-Based Reactive Planning

    NASA Technical Reports Server (NTRS)

    Bias, M. Bernardine; Lemai, Solange; Muscettola, Nicola; Korsmeyer, David (Technical Monitor)

    2003-01-01

    This paper reports on the experimental verification of the ability of IDEA (Intelligent Distributed Execution Architecture) effectively operate at multiple levels of abstraction in an autonomous control system. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting control agents, each organized around the same fundamental structure. Two IDEA agents, a system-level agent and a mission-level agent, are designed and implemented to autonomously control the K9 rover in real-time. The system is evaluated in the scenario where the rover must acquire images from a specified set of locations. The IDEA agents are responsible for enabling the rover to achieve its goals while monitoring the execution and safety of the rover and recovering from dangerous states when necessary. Experiments carried out both in simulation and on the physical rover, produced highly promising results.

  5. Simulation of Hazards and Poses for a Rocker-Bogie Rover

    NASA Technical Reports Server (NTRS)

    Backes, Paul; Norris, Jeffrey; Powell, Mark; Tharp, Gregory

    2004-01-01

    Provisions for specification of hazards faced by a robotic vehicle (rover) equipped with a rocker-bogie suspension, for prediction of collisions between the vehicle and the hazards, and for simulation of poses of the vehicle at selected positions on the terrain have been incorporated into software that simulates the movements of the vehicle on planned paths across the terrain. The software in question is that of the Web Interface for Telescience (WITS), selected aspects of which have been described in a number of prior NASA Tech Briefs articles. To recapitulate: The WITS is a system of computer software that enables scientists, located at geographically dispersed computer terminals connected to the World Wide Web, to command instrumented robotic vehicles (rovers) during exploration of Mars and perhaps eventually of other planets. The WITS also has potential for adaptation to terrestrial use in telerobotics and other applications that involve computer-based remote monitoring, supervision, control, and planning.

  6. Performance Simulation & Engineering Analysis/Design and Verification of a Shock Mitigation System for a Rover Landing on Mars

    NASA Astrophysics Data System (ADS)

    Ullio, Roberto; Gily, Alessandro; Jones, Howard; Geelen, Kelly; Larranaga, Jonan

    2014-06-01

    In the frame of the ESA Mars Robotic Exploration Preparation (MREP) programme and within its Technology Development Plan [1] the activity "E913- 007MM Shock Mitigation Operating Only at Touch- down by use of minimalist/dispensable Hardware" (SMOOTH) was conducted under the framework of Rover technologies and to support the ESA MREP Mars Precision Lander (MPL) Phase A system study with the objectives to:• study the behaviour of the Sample Fetching Rover (SFR) landing on Mars on its wheels• investigate and implement into the design of the SFR Locomotion Sub-System (LSS) an impact energy absorption system (SMOOTH)• verify by simulation the performances of SMOOTH The main purpose of this paper is to present the obtained numerical simulation results and to explain how these results have been utilized first to iterate on the design of the SMOOTH concept and then to validate its performances.

  7. Mars methane analogue mission: Mission simulation and rover operations at Jeffrey Mine and Norbestos Mine Quebec, Canada

    NASA Astrophysics Data System (ADS)

    Qadi, A.; Cloutis, E.; Samson, C.; Whyte, L.; Ellery, A.; Bell, J. F.; Berard, G.; Boivin, A.; Haddad, E.; Lavoie, J.; Jamroz, W.; Kruzelecky, R.; Mack, A.; Mann, P.; Olsen, K.; Perrot, M.; Popa, D.; Rhind, T.; Sharma, R.; Stromberg, J.; Strong, K.; Tremblay, A.; Wilhelm, R.; Wing, B.; Wong, B.

    2015-05-01

    The Canadian Space Agency (CSA), through its Analogue Missions program, supported a microrover-based analogue mission designed to simulate a Mars rover mission geared toward identifying and characterizing methane emissions on Mars. The analogue mission included two, progressively more complex, deployments in open-pit asbestos mines where methane can be generated from the weathering of olivine into serpentine: the Jeffrey mine deployment (June 2011) and the Norbestos mine deployment (June 2012). At the Jeffrey Mine, testing was conducted over 4 days using a modified off-the-shelf Pioneer rover and scientific instruments including Raman spectrometer, Picarro methane detector, hyperspectral point spectrometer and electromagnetic induction sounder for testing rock and gas samples. At the Norbestos Mine, we used the research Kapvik microrover which features enhanced autonomous navigation capabilities and a wider array of scientific instruments. This paper describes the rover operations in terms of planning, deployment, communication and equipment setup, rover path parameters and instrument performance. Overall, the deployments suggest that a search strategy of “follow the methane” is not practical given the mechanisms of methane dispersion. Rather, identification of features related to methane sources based on image tone/color and texture from panoramic imagery is more profitable.

  8. Autonomous localisation of rovers for future planetary exploration

    NASA Astrophysics Data System (ADS)

    Bajpai, Abhinav

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

  9. Mars Exploration Rover -2

    NASA Image and Video Library

    2003-03-06

    In the Payload Hazardous Servicing Facility resides one of the Mars Exploration Rovers, MER-2. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

  10. Mars Exploration Rover -2

    NASA Image and Video Library

    2003-03-06

    Technicians in the Payload Hazardous Servicing Facility look over the Mars Exploration Rover -2. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

  11. Kinect Engineering with Learning (KEWL)

    NASA Technical Reports Server (NTRS)

    Goza, Sharon; Shores, David; Menzies, Alexander; Kong, Dara; Clausen, Matt; Leu, William; Kraesig, Raymond; Richeson, Eric; Wallace, Clinton; Hernandez, Moses; hide

    2013-01-01

    According to a Nielsen survey at the time of this reporting, 41% of all households have a game console. This is one market in which NASA has been absent from education and outreach efforts. Kinect Engineering with Learning (KEWL) is made to enter into that market and bring NASA education and outreach to a very familiar venue. KEWL creates an education and outreach experience that is more participatory, both in a school and museum environment. KEWL is a set of applications that runs on an Xbox 360 using the Kinect controller used for education and outreach. These applications currently include: Train R2, a visual simulation of Robonaut 2 that allows students to control a virtual R2 in a game environment; Drive R2, an interface using the Xbox 360 and Kinect controller that allows students to control the real R2 using the methods they learned playing Train R2; ISS experience, a visual tour of the interior of the International Space Station where students use their body to fly through the virtual ISS; Gravity Ball, a simulation of throwing balls in the gravity of different planets; Solar Array repair, a simulation of the simplified STS-121 solar array repair mission; and PlaySpace, a Mars/Moon application that allows students to experience different aspects of Mars/Moon. Users can "fly through" the ISS using their body, allowing an experience similar to what an astronaut would have on orbit. In PlaySpace, users can fly over the surface of Mars and view surface data obtained by Mars rovers. Users of Train R2 and Drive R2 can experience what it is like to control a robot over a distance with a time delay, simulating the time delay that would occur between ground control and an on-orbit robot. The initial ISS experiences were built using parts of code from the NASA Enigma software. The models used in these experiences were also from the Integrated Graphics Operations and Analysis Lab model database. The PlaySpace experience incorporates surface data obtained from NASA rovers and satellites and was built by NASA JPL.

  12. Stirling Convertor Control for a Concept Rover at NASA Glenn Research Center

    NASA Technical Reports Server (NTRS)

    Blaze-Dugala, Gina M.

    2009-01-01

    The U.S. Department of Energy (DOE), Lockheed Martin Space Systems Company (LMSSC), Sunpower Inc., and NASA Glenn Research Center (GRC) have been developing an Advanced Stirling Radioisotope Generator (ASRG) for potential use as an electric power system for space science missions. This generator would make use of the free-piston Stirling cycle to achieve higher conversion efficiency than currently used alternatives. NASA GRC initiated an experiment with an ASRG simulator to demonstrate the functionality of a Stirling convertor on a mobile application, such as a rover. The ASRG simulator made use of two Advanced Stirling Convertors to convert thermal energy from a heat source to electricity. The ASRG simulator was designed to incorporate a minimum amount of support equipment, allowing integration onto a rover powered directly by the convertors. Support equipment to provide control was designed including a linear AC regulator controller, constant power controller, and Li-ion battery charger controller. The ASRG simulator is controlled by a linear AC regulator controller. The rover is powered by both a Stirling convertor and Li-ion batteries. A constant power controller enables the Stirling convertor to maintain a constant power output when additional power is supplied by the Li-ion batteries. A Li-ion battery charger controller limits the charging current and cut off current of the batteries. This paper discusses the design, fabrication, and implementation of these three controllers.

  13. The Test Drive

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This image taken at NASA's Jet Propulsion Laboratory shows engineers rehearsing the sol 133 (June 8, 2004) drive into 'Endurance' crater by NASA's Mars Exploration Rover Opportunity. Engineers and scientists have recreated the martian surface and slope the rover will encounter using a combination of bare and thinly sand-coated rocks, simulated martian 'blueberries' and a platform tilted at a 25-degree angle. The results of this test convinced engineers that the rover was capable of driving up and down a straight slope before it attempted the actual drive on Mars.

  14. Students Compete in NASA's Human Exploration Rover Challenge

    NASA Image and Video Library

    2018-04-03

    NASA's Human Exploration Rover Challenge invites high school and college teams to design, build and test human-powered roving vehicles inspired by the Apollo lunar missions and future exploration missions to the Moon, Mars and beyond. The nearly three-quarter-mile course boasts grueling obstacles that simulate terrain found throughout the solar system. Hosted by NASA’s Marshall Space Flight Center in Huntsville, Alabama, and the U.S. Space & Rocket Center, Rover Challenge is managed by Marshall's Academic Affairs Office.

  15. KSC-03pd0537

    NASA Image and Video Library

    2003-02-24

    KENNEDY SPACE CENTER, FLA. -- The cruise stage, aeroshell and lander for the Mars Exploration Rover-1 mission and the MER-2 rover arrive at KSC's Multi-Payload Processing Facility. The same flight hardware for the MER-2 rover arrived Jan. 27; however, the MER-2 rover is scheduled to arrive at KSC in March. While at KSC, each of the two rovers, the aeroshells and the landers will undergo a full mission simulation. All of these flight elements will then be integrated together. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers will be identical to each other, but will land at different regions of Mars. Launch of the MER-1 is scheduled for May 30. MER-2 will follow June 25.

  16. Simulation of the Mars surface solar spectra for optimized performance of triple junction solar cells

    NASA Technical Reports Server (NTRS)

    Edmondson, Kenneth M.; Joslin, David E.; Fetzer, Chris M.; King, Richard R.; Karam, Nasser H.; Mardesich, Nick; Stella, Paul M.; Rapp, Donald; Mueller, Robert

    2005-01-01

    The unparalleled success of the Mars Exploration Rovers (MER) powered by GaInP/GaAs/Ge triple-junction solar cells has demonstrated a lifetime for the rovers that exceeded the baseline mission duration by more than a factor of five.

  17. Robust Coordination for Large Sets of Simple Rovers

    NASA Technical Reports Server (NTRS)

    Tumer, Kagan; Agogino, Adrian

    2006-01-01

    The ability to coordinate sets of rovers in an unknown environment is critical to the long-term success of many of NASA;s exploration missions. Such coordination policies must have the ability to adapt in unmodeled or partially modeled domains and must be robust against environmental noise and rover failures. In addition such coordination policies must accommodate a large number of rovers, without excessive and burdensome hand-tuning. In this paper we present a distributed coordination method that addresses these issues in the domain of controlling a set of simple rovers. The application of these methods allows reliable and efficient robotic exploration in dangerous, dynamic, and previously unexplored domains. Most control policies for space missions are directly programmed by engineers or created through the use of planning tools, and are appropriate for single rover missions or missions requiring the coordination of a small number of rovers. Such methods typically require significant amounts of domain knowledge, and are difficult to scale to large numbers of rovers. The method described in this article aims to address cases where a large number of rovers need to coordinate to solve a complex time dependent problem in a noisy environment. In this approach, each rover decomposes a global utility, representing the overall goal of the system, into rover-specific utilities that properly assign credit to the rover s actions. Each rover then has the responsibility to create a control policy that maximizes its own rover-specific utility. We show a method of creating rover-utilities that are "aligned" with the global utility, such that when the rovers maximize their own utility, they also maximize the global utility. In addition we show that our method creates rover-utilities that allow the rovers to create their control policies quickly and reliably. Our distributed learning method allows large sets rovers be used unmodeled domains, while providing robustness against rover failures and changing environments. In experimental simulations we show that our method scales well with large numbers of rovers in addition to being robust against noisy sensor inputs and noisy servo control. The results show that our method is able to scale to large numbers of rovers and achieves up to 400% performance improvement over standard machine learning methods.

  18. Mars Exploration Rover -2

    NASA Image and Video Library

    2003-03-06

    Technicians in the Payload Hazardous Servicing Facility work on components of the Mars Exploration Rovers. In the center is a lander. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

  19. Opportunity on 'Cabo Frio' (Simulated)

    NASA Technical Reports Server (NTRS)

    2006-01-01

    This image superimposes an artist's concept of the Mars Exploration Rover Opportunity atop the 'Cabo Frio' promontory on the rim of 'Victoria Crater' in the Meridiani Planum region of Mars. It is done to give a sense of scale. The underlying image was taken by Opportunity's panoramic camera during the rover's 952nd Martian day, or sol (Sept. 28, 2006).

    This synthetic image of NASA's Opportunity Mars Exploration Rover at Victoria Crater was produced using 'Virtual Presence in Space' technology. Developed at NASA's Jet Propulsion Laboratory, Pasadena, Calif., this technology combines visualization and image processing tools with Hollywood-style special effects. The image was created using a photorealistic model of the rover and an approximately full-color mosaic.

  20. The Traverse Planning Process for the Drats 2010 Analog Field Simulations

    NASA Technical Reports Server (NTRS)

    Horz, Friedrich; Gruener, John; Lofgren, Gary; Skinner, James A., Jr.; Graf, Jodi; Seibert, Marc

    2011-01-01

    Traverse planning concentrates on optimizing the science return within the overall objectives of planetary surface missions or their analog field simulations. Such simulations were conducted in the San Francisco Volcanic Field, northern Arizona, from Aug. 26 to Sept 17, 2010 and involved some 200 individuals in the field, with some 40 geoscientists composing the science team. The purpose of these Desert Research and Technology Studies (DRATS) is to exercise and evaluate developmental hardware, software and operational concepts in a mission-like, fully-integrated, setting under the direction of an onsite Mobile Mission Control Center(MMCC). DRATS 2010 focused on the simultaneous operation of 2 rovers, a historic first. Each vehicle was manned by an astronaut-commander and an experienced field geologist. Having 2 rovers and crews in the field mandated substantially more complex science and mission control operations compared to the single rover DRATS tests of 2008 and 2009, or the Apollo lunar missions. For instance, the science support function was distributed over 2 "back rooms", one for each rover, with both "tactical" teams operating independently and simultaneously during the actual traverses. Synthesis and integration of the daily findings and forward planning for the next day(s) was accomplished overnight by yet another "strategic" science team.

  1. Electromagnetic Simulations of Ground-Penetrating Radar Propagation near Lunar Pits and Lava Tubes

    NASA Technical Reports Server (NTRS)

    Zimmerman, M. I.; Carter, L. M.; Farrell, W. M.; Bleacher, J. E.; Petro, N. E.

    2013-01-01

    Placing an Orion capsule at the Earth-Moon L2 point (EML2) would potentially enable telerobotic operation of a rover on the lunar surface. The Human Exploration Virtual Institute (HEVI) is proposing that rover operations be carried out near one of the recently discovered lunar pits, which may provide radiation shielding for long duration human stays as well as a cross-disciplinary, science-rich target for nearer-term telerobotic exploration. Ground penetrating radar (GPR) instrumentation included onboard a rover has the potential to reveal many details of underground geologic structures near a pit, as well as characteristics of the pit itself. In the present work we employ the full-wave electromagnetic code MEEP to simulate such GPR reflections from a lunar pit and other subsurface features including lava tubes. These simulations will feed forward to mission concepts requiring knowledge of where to hide from harmful radiation and other environmental hazards such as plama charging and extreme diurnal temperatures.

  2. Environmental Test Program for the Mars Exploration Rover Project

    NASA Technical Reports Server (NTRS)

    Fisher, Terry C.; VanVelzer, Paul L.

    2004-01-01

    On June 10 and July 7, 2003 the National Aeronautics and Space Administration (NASA) launched two spacecraft from Cape Canaveral, Florida for a six (6) months flight to the Red Planet, Mars. The two Mars Exploration Rover spacecraft landed safely on the planet in January 2004. Prior to the successful launch, both of the spacecraft were involved in a comprehensive test campaign that included development, qualification, and protoflight test programs. Testing was performed to simulate the environments associated with launch, inter-planetary cruise, landing on the planet and Mars surface operations. Unique test requirements included operating the spacecraft while the chamber pressure was controlled to simulate the decent to the planet from deep space, high impact landing loads and rover operations on the surface of the planet at 8 Torr and -130 C. This paper will present an overview of the test program that included vibration, pyro-shock, landing loads, acoustic noise, thermal vacuum and solar simulation testing at the Jet Propulsion Laboratory (JPL) Environmental Test Laboratory facilities in Pasadena, California.

  3. MARS Science Laboratory Post-Landing Location Estimation Using Post2 Trajectory Simulation

    NASA Technical Reports Server (NTRS)

    Davis, J. L.; Shidner, Jeremy D.; Way, David W.

    2013-01-01

    The Mars Science Laboratory (MSL) Curiosity rover landed safely on Mars August 5th, 2012 at 10:32 PDT, Earth Received Time. Immediately following touchdown confirmation, best estimates of position were calculated to assist in determining official MSL locations during entry, descent and landing (EDL). Additionally, estimated balance mass impact locations were provided and used to assess how predicted locations compared to actual locations. For MSL, the Program to Optimize Simulated Trajectories II (POST2) was the primary trajectory simulation tool used to predict and assess EDL performance from cruise stage separation through rover touchdown and descent stage impact. This POST2 simulation was used during MSL operations for EDL trajectory analyses in support of maneuver decisions and imaging MSL during EDL. This paper presents the simulation methodology used and results of pre/post-landing MSL location estimates and associated imagery from Mars Reconnaissance Orbiter s (MRO) High Resolution Imaging Science Experiment (HiRISE) camera. To generate these estimates, the MSL POST2 simulation nominal and Monte Carlo data, flight telemetry from onboard navigation, relay orbiter positions from MRO and Mars Odyssey and HiRISE generated digital elevation models (DEM) were utilized. A comparison of predicted rover and balance mass location estimations against actual locations are also presented.

  4. Mars Exploration Rover -2

    NASA Image and Video Library

    2003-03-06

    Components of the two Mars Exploration Rovers (MER) reside in the Payload Hazardous Servicing Facility. At right MER-2. At left is a lander. In the background is one of the aeroshells. MER-1 and MER-2, their aeroshells and landers will undergo a full mission simulation before being integrated. After spin balance testing, each spacecraft will be mated to a solid propellant upper stage booster that will propel the spacecraft out of Earth orbit. Approximately 10 days before launch they will be transported to the launch pad for mating with their respective Boeing Delta II rockets. The rovers will serve as robotic geologists to seek answers about the evolution of Mars, particularly for a history of water. The rovers are identical to each other, but will land at different regions of Mars. Launch of the first rover is scheduled for May 30 from Cape Canaveral Air Force Station. The second will follow June 25.

  5. Dynamic Modeling and Soil Mechanics for Path Planning of the Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Trease, Brian

    2011-01-01

    To help minimize risk of high sinkage and slippage during drives and to better understand soil properties and rover terramechanics from drive data, a multidisciplinary team was formed under the Mars Exploration Rover project to develop and utilize dynamic computer-based models for rover drives over realistic terrains. The resulting system, named ARTEMIS (Adams-based Rover Terramechanics and Mobility Interaction System), consists of the dynamic model, a library of terramechanics subroutines, and the high-resolution digital elevation maps of the Mars surface. A 200-element model of the rovers was developed and validated for drop tests before launch, using Adams dynamic modeling software. The external library was built in Fortran and called by Adams to model the wheel-soil interactions include the rut-formation effect of deformable soils, lateral and longitudinal forces, bull-dozing effects, and applied wheel torque. The paper presents the details and implementation of the system. To validate the developed system, one study case is presented from a realistic drive on Mars of the Opportunity rover. The simulation results match well from the measurement of on-board telemetry data. In its final form, ARTEMIS will be used in a predictive manner to assess terrain navigability and will become part of the overall effort in path planning and navigation for both Martian and lunar rovers.

  6. Geospatial Authentication

    NASA Technical Reports Server (NTRS)

    Lyle, Stacey D.

    2009-01-01

    A software package that has been designed to allow authentication for determining if the rover(s) is/are within a set of boundaries or a specific area to access critical geospatial information by using GPS signal structures as a means to authenticate mobile devices into a network wirelessly and in real-time has been developed. The advantage lies in that the system only allows those with designated geospatial boundaries or areas into the server. The Geospatial Authentication software has two parts Server and Client. The server software is a virtual private network (VPN) developed in Linux operating system using Perl programming language. The server can be a stand-alone VPN server or can be combined with other applications and services. The client software is a GUI Windows CE software, or Mobile Graphical Software, that allows users to authenticate into a network. The purpose of the client software is to pass the needed satellite information to the server for authentication.

  7. The meteorology of Gale crater as determined from rover environmental monitoring station observations and numerical modeling. Part I: Comparison of model simulations with observations

    NASA Astrophysics Data System (ADS)

    Pla-Garcia, Jorge; Rafkin, Scot C. R.; Kahre, Melinda; Gomez-Elvira, Javier; Hamilton, Victoria E.; Navarro, Sara; Torres, Josefina; Marín, Mercedes; Vasavada, Ashwin R.

    2016-12-01

    Air temperature, ground temperature, pressure, and wind speed and direction data obtained from the Rover Environmental Monitoring Station onboard the Mars Science Laboratory rover Curiosity are compared to data from the Mars Regional Atmospheric Modeling System. A full diurnal cycle at four different seasons (Ls 0, 90, 180 and 270) is investigated at the rover location within Gale crater, Mars. Model results are shown to be in good agreement with observations when considering the uncertainties in the observational data set. The good agreement provides justification for utilizing the model results to investigate the broader meteorological environment of the Gale crater region, which is described in the second, companion paper.

  8. 'Endurance Crater' Overview

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This overview of 'Endurance Crater' traces the path of the Mars Exploration Rover Opportunity from sol 94 (April 29, 2004) to sol 205 (August 21, 2004). The route charted to enter the crater was a bit circuitous, but well worth the extra care engineers took to ensure the rover's safety. On sol 94, Opportunity sat on the edge of this impressive, football field-sized crater while rover team members assessed the scene. After traversing around the 'Karatepe' region and past 'Burns Cliff,' the rover engineering team assessed the possibility of entering the crater. Careful analysis of the angles Opportunity would face, including testing an Earth-bound model on simulated martian terrain, led the team to decide against entering the crater at that particular place. Opportunity then backed up before finally dipping into the crater on its 130th sol (June 5, 2004). The rover has since made its way down the crater's inner slope, grinding, trenching and examining fascinating rocks and soil targets along the way. The rover nearly made it to the intriguing dunes at the bottom of the crater, but when it got close, the terrain did not look safe enough to cross.

  9. Comparative Field Tests of Pressurised Rover Prototypes

    NASA Astrophysics Data System (ADS)

    Mann, G. A.; Wood, N. B.; Clarke, J. D.; Piechochinski, S.; Bamsey, M.; Laing, J. H.

    The conceptual designs, interior layouts and operational performances of three pressurised rover prototypes - Aonia, ARES and Everest - were field tested during a recent simulation at the Mars Desert Research Station in Utah. A human factors experiment, in which the same crew of three executed the same simulated science mission in each of the three vehicles, yielded comparative data on the capacity of each vehicle to safely and comfortably carry explorers away from the main base, enter and exit the vehicle in spacesuits, perform science tasks in the field, and manage geological and biological samples. As well as offering recommendations for design improvements for specific vehicles, the results suggest that a conventional Sports Utility Vehicle (SUV) would not be suitable for analog field work; that a pressurised docking tunnel to the main habitat is essential; that better provisions for spacesuit storage are required; and that a crew consisting of one driver/navigator and two field science crew specialists may be optimal. From a field operations viewpoint, a recurring conflict between rover and habitat crews at the time of return to the habitat was observed. An analysis of these incidents leads to proposed refinements of operational protocols, specific crew training for rover returns and again points to the need for a pressurised docking tunnel. Sound field testing, circulating of results, and building the lessons learned into new vehicles is advocated as a way of producing ever higher fidelity rover analogues.

  10. NASA Tech Briefs, May 2007

    NASA Technical Reports Server (NTRS)

    2007-01-01

    Topics include: Noise-Canceling Helmet Audio System; Program Analyzes Spacecraft/Ground Radio Links; Two-Way Communication Using RFID Equipment and Techniques; Six-Message Electromechanical Display System; Scanning Terahertz Heterodyne Imaging Systems; Master Clock and Time-Signal-Distribution System; Synchronous Phase-Resolving Flash Range Imaging; Integrated Radial Probe Transition From MMIC to Waveguide; Bar-Code System for a Microbiological Laboratory; MMIC Amplifier Produces Gain of 10 dB at 235 GHz; Mapping Nearby Terrain in 3D by Use of a Grid of Laser Spots; Digital Beam Deflectors Based Partly on Liquid Crystals; Narrow-Band WGM Optical Filters With Tunable FSRs; Better Finite-Element Analysis of Composite Shell Structures; Computing Spacecraft-Pointing Vectors for Limb Tracking; Enhanced Master Controller Unit Tester; Rover Graphical Simulator; Increasing Durability of Flame-Sprayed Strain Gauges; Multifunctional, High-Temperature Nanocomposites; Multilayer Impregnated Fibrous Thermal Insulation Tiles; Radiation-Shielding Polymer/Soil Composites; Film/Adhesive Processing Module for Fiber-Placement Processing of Composites; Fabrication of Submillimeter Axisymmetric Optical Components; Electrochemical Disposal of Hydrazines in Water; Statistical Model of Evaporating Multicomponent Fuel Drops; Resistively Heated SiC Nozzle for Generating Molecular Beams; Compact Packaging of Photonic Millimeter-Wave Receiver; Diffractive Combiner of Single-Mode Pump Laser-Diode Beams; Wide-Band, High-Quantum-Efficiency Photodetector; A Robustly Stabilizing Model Predictive Control Algorithm; Modeling Evaporation of Drops of Different Kerosenes; Development of Vapor-Phase Catalytic Ammonia Removal System; Several Developments in Space Tethers; Design Concept for a Nuclear Reactor-Powered Mars Rover; Formation-Initialization Algorithm for N Spacecraft; and DNSs of Multicomponent Gaseous and Drop-Laden Mixing Layers Achieving Transition to Turbulence.

  11. Designing a Distributed Space Systems Simulation in Accordance with the Simulation Interoperability Standards Organization (SISO)

    NASA Technical Reports Server (NTRS)

    Cowen, Benjamin

    2011-01-01

    Simulations are essential for engineering design. These virtual realities provide characteristic data to scientists and engineers in order to understand the details and complications of the desired mission. A standard development simulation package known as Trick is used in developing a source code to model a component (federate in HLA terms). The runtime executive is integrated into an HLA based distributed simulation. TrickHLA is used to extend a Trick simulation for a federation execution, develop a source code for communication between federates, as well as foster data input and output. The project incorporates international cooperation along with team collaboration. Interactions among federates occur throughout the simulation, thereby relying on simulation interoperability. Communication through the semester went on between participants to figure out how to create this data exchange. The NASA intern team is designing a Lunar Rover federate and a Lunar Shuttle federate. The Lunar Rover federate supports transportation across the lunar surface and is essential for fostering interactions with other federates on the lunar surface (Lunar Shuttle, Lunar Base Supply Depot and Mobile ISRU Plant) as well as transporting materials to the desired locations. The Lunar Shuttle federate transports materials to and from lunar orbit. Materials that it takes to the supply depot include fuel and cargo necessary to continue moon-base operations. This project analyzes modeling and simulation technologies as well as simulation interoperability. Each team from participating universities will work on and engineer their own federate(s) to participate in the SISO Spring 2011 Workshop SIW Smackdown in Boston, Massachusetts. This paper will focus on the Lunar Rover federate.

  12. Strengthening the Mars Telecommunications Network

    NASA Image and Video Library

    2016-11-29

    On Nov. 22, 2016, a NASA radio aboard the European Space Agency's (ESA's) Trace Gas Orbiter, which arrived at Mars the previous month, succeeded in its first test of receiving data transmitted from NASA Mars rovers, both Opportunity and Curiosity. This graphic depicts the geometry of Opportunity transmitting data to the orbiter, using the ultra-high frequency (UHF) band of radio wavelengths. The orbiter received that data using one of its twin Electra UHF-band radios. Data that the orbiter's Electra received from the two rovers was subsequently transmitted from the orbiter to Earth, using the orbiter's main X-band radio. The Trace Gas Orbiter is part of ESA's ExoMars program. During the initial months after its Oct. 19, 2016, arrival, it is flying in a highly elliptical orbit. Each loop takes 4.2 days to complete, with distances between the orbiter and the planet's surface ranging from about 60,000 miles (about 100,000 kilometers) to less than 200 miles (less than 310 kilometers). Later, the mission will reshape the orbit to a near-circular path about 250 miles (400 kilometers) above the surface of Mars. Three NASA orbiters and one other ESA orbiter currently at Mars also have relayed data from Mars rovers to Earth. This strategy enables receiving much more data from the surface missions than would be possible with a direct-to-Earth radio link from rovers or stationary landers. Successful demonstration of the capability added by the Trace Gas Orbiter strengthens and extends the telecommunications network at Mars for supporting future missions to the surface of the Red Planet. http://photojournal.jpl.nasa.gov/catalog/PIA21139

  13. Microcomputer Simulated CAD for Engineering Graphics.

    ERIC Educational Resources Information Center

    Huggins, David L.; Myers, Roy E.

    1983-01-01

    Describes a simulated computer-aided-graphics (CAD) program at The Pennsylvania State University. Rationale for the program, facilities, microcomputer equipment (Apple) used, and development of a software package for simulating applied engineering graphics are considered. (JN)

  14. Attitude determination of planetary exploration rovers using solar panels characteristics and accelerometer

    NASA Astrophysics Data System (ADS)

    Ishida, Takayuki; Takahashi, Masaki

    2014-12-01

    In this study, we propose a new attitude determination system, which we call Irradiance-based Attitude Determination (IRAD). IRAD employs the characteristics and geometry of solar panels. First, the sun vector is estimated using data from solar panels including current, voltage, temperature, and the normal vectors of each solar panel. Because these values are obtained using internal sensors, it is easy for rovers to provide redundancy for IRAD. The normal vectors are used to apply to various shapes of rovers. Second, using the gravity vector obtained from an accelerometer, the attitude of a rover is estimated using a three-axis attitude determination method. The effectiveness of IRAD is verified through numerical simulations and experiments that show IRAD can estimate all the attitude angles (roll, pitch, and yaw) within a few degrees of accuracy, which is adequate for planetary explorations.

  15. VR Simulation Testbed: Improving Surface Telerobotics for the Deep Space Gateway

    NASA Astrophysics Data System (ADS)

    Walker, M. E.; Burns, J. O.; Szafir, D. J.

    2018-02-01

    Design of a virtual reality simulation testbed for prototyping surface telerobotics. The goal is to create a framework with robust physics and kinematics to allow simulated teleoperation and supervised control of lunar rovers and rapid UI prototyping.

  16. Testing the Capture Magnet

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This image of a model capture magnet was taken after an experiment in a Mars simulation chamber at the University of Aarhus, Denmark. It has some dust on it, but not as much as that on the Mars Exploration Rover Spirit's capture magnet. The capture and filter magnets on both Mars Exploration Rovers were delivered by the magnetic properties team at the Center for Planetary Science, Copenhagen, Denmark.

  17. FIDO - Video File

    NASA Technical Reports Server (NTRS)

    1999-01-01

    Field Integrated Design and Operations (FIDO) rover is a prototype of the Mars Sample Return rovers that will carry the integrated Athena Science Payload to Mars in 2003 and 2005. The purpose of FIDO is to simulate, using Mars analog settings, the complex surface operations that will be necessary to find, characterize, obtain, cache, and return samples to the ascent vehicles on the landers. This videotape shows tests of the FIDO in the Mojave Desert. These tests include drilling through rock and movement of the rover. Also included in this tape are interviews with Dr Raymond Arvidson, the test director for FIDO, and Dr. Eric Baumgartner, Robotics Engineer at the Jet Propulsion Laboratory.

  18. The PRo3D View Planner - interactive simulation of Mars rover camera views to optimise capturing parameters

    NASA Astrophysics Data System (ADS)

    Traxler, Christoph; Ortner, Thomas; Hesina, Gerd; Barnes, Robert; Gupta, Sanjeev; Paar, Gerhard

    2017-04-01

    High resolution Digital Terrain Models (DTM) and Digital Outcrop Models (DOM) are highly useful for geological analysis and mission planning in planetary rover missions. PRo3D, developed as part of the EU-FP7 PRoViDE project, is a 3D viewer in which orbital DTMs and DOMs derived from rover stereo imagery can be rendered in a virtual environment for exploration and analysis. It allows fluent navigation over planetary surface models and provides a variety of measurement and annotation tools to complete an extensive geological interpretation. A key aspect of the image collection during planetary rover missions is determining the optimal viewing positions of rover instruments from different positions ('wide baseline stereo'). For the collection of high quality panoramas and stereo imagery the visibility of regions of interest from those positions, and the amount of common features shared by each stereo-pair, or image bundle is crucial. The creation of a highly accurate and reliable 3D surface, in the form of an Ordered Point Cloud (OPC), of the planetary surface, with a low rate of error and a minimum of artefacts, is greatly enhanced by using images that share a high amount of features and a sufficient overlap for wide baseline stereo or target selection. To support users in the selection of adequate viewpoints an interactive View Planner was integrated into PRo3D. The users choose from a set of different rovers and their respective instruments. PRo3D supports for instance the PanCam instrument of ESA's ExoMars 2020 rover mission or the Mastcam-Z camera of NASA's Mars2020 mission. The View Planner uses a DTM obtained from orbiter imagery, which can also be complemented with rover-derived DOMs as the mission progresses. The selected rover is placed onto a position on the terrain - interactively or using the current rover pose as known from the mission. The rover's base polygon and its local coordinate axes, and the chosen instrument's up- and forward vectors are visualised. The parameters of the instrument's pan and tilt unit (PTU) can be altered via the user interface, or alternatively calculated by selecting a target point on the visualised DTM. In the 3D view, the visible region of the planetary surface, resulting from these settings and the camera field-of-view is visualised by a highlighted region with a red border, representing the instruments footprint. The camera view is simulated and rendered in a separate window and PTU parameters can be interactively adjusted, allowing viewpoints, directions, and the expected image to be visualised in real-time in order to allow users the fine-tuning of these settings. In this way, ideal viewpoints and PTU settings for various rover models and instruments can efficiently be defined, resulting in an optimum imagery of the regions of interest.

  19. Dynamic modeling and mobility analysis of the transforming roving-rolling explorer (TRREx) as it Traverses Rugged Martian Terrain

    NASA Astrophysics Data System (ADS)

    Edwin, Lionel E.; Mazzoleni, Andre P.

    2016-03-01

    All planetary surface exploration missions thus far have employed traditional rovers with a rocker-bogie suspension. These rovers can navigate moderately rough and flat terrain, but are not designed to traverse rugged terrain with steep slopes. The fact is, however, that the most scientifically interesting missions require exploration platforms with capabilities for navigating such types of rugged terrain. This issue motivates the development of new kinds of rovers that take advantage of the latest advances in robotic technologies to traverse rugged terrain efficiently. This work analyzes one such rover concept called the Transforming Roving-Rolling Explorer (TRREx) that is principally aimed at addressing the above issue. Biologically inspired by the way the armadillo curls up into a ball when threatened, and the way the golden wheel spider uses the dynamic advantages of a sphere to roll down hills when escaping danger, the TRREx rover can traverse like a traditional 6-wheeled rover over conventional terrain, but can also transform itself into a sphere, when necessary, to travel down steep inclines, or navigate rough terrain. This paper investigates the mobility of the TRREx when it is in its rolling mode, i.e. when it is a sphere and can steer itself through actuations that shift its center of mass to achieve the desired direction of roll. A mathematical model describing the dynamics of the rover in this spherical configuration is presented, and actuated rolling is demonstrated through computer simulation. Parametric analyzes that investigate the rover's mobility as a function of its design parameters are also presented. This work highlights the contribution of the spherical rolling mode to the enhanced mobility of the TRREx rover and how it could enable challenging surface exploration missions in the future.

  20. Determining Wheel-Soil Interaction Loads Using a Meshfree Finite Element Approach Assisting Future Missions with Rover Wheel Design

    NASA Technical Reports Server (NTRS)

    Contreras, Michael T.; Peng, Chia-Yen; Wang, Dongdong; Chen, Jiun-Shyan

    2012-01-01

    A wheel experiencing sinkage and slippage events poses a high risk to rover missions as evidenced by recent mobility challenges on the Mars Exploration Rover (MER) project. Because several factors contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc., there are significant benefits to modeling these events to a sufficient degree of complexity. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree finite element approaches enable simulations that capture sufficient detail of wheel-soil interaction while remaining computationally feasible. This study demonstrates some of the large deformation modeling capability of meshfree methods and the realistic solutions obtained by accounting for the soil material properties. A benchmark wheel-soil interaction problem is developed and analyzed using a specific class of meshfree methods called Reproducing Kernel Particle Method (RKPM). The benchmark problem is also analyzed using a commercially available finite element approach with Lagrangian meshing for comparison. RKPM results are comparable to classical pressure-sinkage terramechanics relationships proposed by Bekker-Wong. Pending experimental calibration by future work, the meshfree modeling technique will be a viable simulation tool for trade studies assisting rover wheel design.

  1. Students Race Rovers on a Martian and Lunar-themed Obstacle Course

    NASA Image and Video Library

    2017-01-05

    NASA's Human Exploration Rover Challenge encourages STEM-based research and development of new technologies focusing on current plans to explore planets, moons, asteroids and comets -- all members of the solar system family. This year's race will be held March 30 - April 1, 2017, at the U.S. Space & Rocket Center in Huntsville, Alabama. The challenge will focus on designing, constructing and testing technologies for mobility devices to perform in these different environments, and it will provide valuable experiences that engage students in the technologies and concepts that will be needed in future exploration missions. Rovers will be human-powered and carry two students, one female and one male, over a half-mile obstacle course of simulated extraterrestrial terrain of craters, boulders, ridges, inclines, crevasses and depressions. Follow them on social media at: TWITTER: https://twitter.com/RoverChallenge FACEBOOK: https://www.facebook.com/roverchallenge/ Or visit the website at: www.nasa.gov/roverchallenge

  2. Grace: A cross-platform micromagnetic simulator on graphics processing units

    NASA Astrophysics Data System (ADS)

    Zhu, Ru

    2015-12-01

    A micromagnetic simulator running on graphics processing units (GPUs) is presented. Different from GPU implementations of other research groups which are predominantly running on NVidia's CUDA platform, this simulator is developed with C++ Accelerated Massive Parallelism (C++ AMP) and is hardware platform independent. It runs on GPUs from venders including NVidia, AMD and Intel, and achieves significant performance boost as compared to previous central processing unit (CPU) simulators, up to two orders of magnitude. The simulator paved the way for running large size micromagnetic simulations on both high-end workstations with dedicated graphics cards and low-end personal computers with integrated graphics cards, and is freely available to download.

  3. SIGMA--A Graphical Approach to Teaching Simulation.

    ERIC Educational Resources Information Center

    Schruben, Lee W.

    1992-01-01

    SIGMA (Simulation Graphical Modeling and Analysis) is a computer graphics environment for building, testing, and experimenting with discrete event simulation models on personal computers. It uses symbolic representations (computer animation) to depict the logic of large, complex discrete event systems for easier understanding and has proven itself…

  4. Mars rotation determination from a moving rover using Doppler tracking data: What could be done?

    NASA Astrophysics Data System (ADS)

    Le Maistre, Sebastien; Rosenblatt, Pascal; Dehant, Veronique; Marty, Jean-Charles; Yseboodt, Marie

    2018-09-01

    This paper is a case study providing some insights on what improvement could be achieved on the Mars Orientation and rotation Parameters (MOP) determination using radio tracking data from a moving rover. Thanks to high-performance mobility systems onboard new generation of rovers like ExoMars 2020, the position of the rover can be precisely known with respect to its previous position. This characteristic, together with the long life of the rovers and their steerable high-gain-antenna communication system, is shown here to provide an unexpected opportunity to improve the MOP determination. This paper presents the results of numerical simulations involving radio-science experiments between the moving rover and the Earth ground stations as well as between the rover and an orbiting spacecraft. The benefits of combining both links (direct-to-Earth and rover-orbiter) for the MOP determination is also assessed. The impacts of the spacecraft position accuracy as well as the frequency band used to communicate with it are quantified. It is shown that, after one Martian year of operation, the polar motion could be determined with 5 milliarcsecond (mas) of precision (formal error) from the rover-orbiter Doppler link, while it cannot be determined with usual equatorial lander-to-Earth radio link. This would allow for the first time the direct detection of the Chandler wobble amplitude in the polar motion of Mars, which is an important quantity to constrain the planet interior and atmospheric models. Although the moving rover Doppler data alone barely improve the current precision on the other MOP (like the length-of-day and nutation), a combination of those together with historical and future lander data would definitely help to fill gaps in the MOP signal and to decorrelate between the estimated parameters, thereby reducing the uncertainties in their determination.

  5. An Analog Rover Exploration Mission for Education and Outreach

    NASA Astrophysics Data System (ADS)

    Moores, John; Campbell, Charissa L.; Smith, Christina L.; Cooper, Brittney A.

    2017-10-01

    This abstract describes an analog rover exploration mission designed as an outreach program for high school and undergraduate students. This program is used to teach them about basic mission control operations, how to manage a rover as if it were on another planetary body, and employing the rover remotely to complete mission objectives. One iteration of this program has been completed and another is underway. In both trials, participants were shown the different operation processes involved in a real-life mission. Modifications were made to these processes to decrease complexity and better simulate a mission control environment in a short time period (three 20-minute-long mission “days”). In the first run of the program, participants selected a landing site, what instruments would be on the rover - subject to cost, size, and weight limitations - and were randomly assigned one of six different mission operations roles, each with specific responsibilities. For example, a Science Planner/Integrator (SPI) would plan science activities whilst a Rover Engineer (RE) would keep on top of rover constraints. Planning consisted of a series of four meetings to develop and verify the current plan, pre-plan the next day's activities and uplink the activities to the “rover” (a human colleague). Participants were required to attend certain meetings depending upon their assigned role. To conclude the mission, students viewed the site to understand any differences between remote viewing and reality in relation to the rover. Another mission is currently in progress with revisions from the earlier run to improve the experience. This includes broader roles and meetings and pre-selecting the landing site and rover. The new roles are: Mission Lead, Rover Engineer and Science Planner. The SPI role was previously popular so most of the students were placed in this category. The meetings were reduced to three but extended in length. We are also planning to integrate this program into the Ontario Science Center (OSC) to educate and fascinate people of all ages.

  6. Sensitivity of simulated Martian atmospheric temperature to prescribed dust opacity distribution: Comparison of model results with reconstructed data from Mars Exploration Rover missions

    NASA Astrophysics Data System (ADS)

    Natarajan, Murali; Dwyer Cianciolo, Alicia; Fairlie, T. Duncan; Richardson, Mark I.; McConnochie, Timothy H.

    2015-11-01

    We use the Mars Weather Research and Forecasting (MarsWRF) general circulation model to simulate the atmospheric structure corresponding to the landing location and time of the Mars Exploration Rovers (MER) Spirit (A) and Opportunity (B) in 2004. The multiscale capability of MarsWRF facilitates high-resolution nested model runs centered near the landing site of each of the rovers. Dust opacity distributions based on measurements by Thermal Emission Spectrometer (TES) aboard the Mars Global Surveyor spacecraft, and those from an old version of the Mars Climate Database (MCD v3.1 released in 2001) are used to study the sensitivity of the model temperature profile to variations in the dust prescription. The reconstructed entry, descent, and landing (EDL) data from the rover missions are used for comparisons. We show that the model using dust opacity from TES limb and nadir data for the year of MER EDL, Mars Year 26 (MY26), yields temperature profiles in closer agreement with the reconstructed data than the prelaunch EDL simulations and models using other dust opacity specifications. The temperature at 100 Pa from the model (MY26) and the reconstruction are within 5°K. These results highlight the role of vertical dust opacity distribution in determining the atmospheric thermal structure. Similar studies involving data from past missions and models will be useful in understanding the extent to which atmospheric variability is captured by the models and in developing realistic preflight characterization required for future lander missions to Mars.

  7. A Java-Enabled Interactive Graphical Gas Turbine Propulsion System Simulator

    NASA Technical Reports Server (NTRS)

    Reed, John A.; Afjeh, Abdollah A.

    1997-01-01

    This paper describes a gas turbine simulation system which utilizes the newly developed Java language environment software system. The system provides an interactive graphical environment which allows the quick and efficient construction and analysis of arbitrary gas turbine propulsion systems. The simulation system couples a graphical user interface, developed using the Java Abstract Window Toolkit, and a transient, space- averaged, aero-thermodynamic gas turbine analysis method, both entirely coded in the Java language. The combined package provides analytical, graphical and data management tools which allow the user to construct and control engine simulations by manipulating graphical objects on the computer display screen. Distributed simulations, including parallel processing and distributed database access across the Internet and World-Wide Web (WWW), are made possible through services provided by the Java environment.

  8. Robot graphic simulation testbed

    NASA Technical Reports Server (NTRS)

    Cook, George E.; Sztipanovits, Janos; Biegl, Csaba; Karsai, Gabor; Springfield, James F.

    1991-01-01

    The objective of this research was twofold. First, the basic capabilities of ROBOSIM (graphical simulation system) were improved and extended by taking advantage of advanced graphic workstation technology and artificial intelligence programming techniques. Second, the scope of the graphic simulation testbed was extended to include general problems of Space Station automation. Hardware support for 3-D graphics and high processing performance make high resolution solid modeling, collision detection, and simulation of structural dynamics computationally feasible. The Space Station is a complex system with many interacting subsystems. Design and testing of automation concepts demand modeling of the affected processes, their interactions, and that of the proposed control systems. The automation testbed was designed to facilitate studies in Space Station automation concepts.

  9. User's instructions for the GE cardiovascular model to simulate LBNP and tilt experiments, with graphic capabilities

    NASA Technical Reports Server (NTRS)

    1974-01-01

    The present form of this cardiovascular model simulates both 1-g and zero-g LBNP (lower body negative pressure) experiments and tilt experiments. In addition, the model simulates LBNP experiments at any body angle. The model is currently accessible on the Univac 1110 Time-Shared System in an interactive operational mode. Model output may be in tabular form and/or graphic form. The graphic capabilities are programmed for the Tektronix 4010 graphics terminal and the Univac 1110.

  10. Science Activity Planner for the MER Mission

    NASA Technical Reports Server (NTRS)

    Norris, Jeffrey S.; Crockett, Thomas M.; Fox, Jason M.; Joswig, Joseph C.; Powell, Mark W.; Shams, Khawaja S.; Torres, Recaredo J.; Wallick, Michael N.; Mittman, David S.

    2008-01-01

    The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.

  11. Tele-Operated Lunar Rover Navigation Using Lidar

    NASA Technical Reports Server (NTRS)

    Pedersen, Liam; Allan, Mark B.; Utz, Hans, Heinrich; Deans, Matthew C.; Bouyssounouse, Xavier; Choi, Yoonhyuk; Fluckiger, Lorenzo; Lee, Susan Y.; To, Vinh; Loh, Jonathan; hide

    2012-01-01

    Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moon s relative proximity. As part of our work within NASA s Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user interface. The system has been installed and tested on two distinct NASA rovers-JSC s Centaur2 lunar rover prototype and ARC s KRex research rover- and tested over several kilometers of tele-operated driving at average sustained speeds of 0.15 - 0.25 m/s around rocks, slopes and simulated lunar craters using a deliberately constrained telemetry link. The navigation system builds onboard terrain and hazard maps, returning highest priority sections to the off-board operator as permitted by bandwidth availability. It also analyzes hazard maps onboard and can stop the vehicle prior to contacting hazards. It is robust to severe pose errors and uses a novel scan alignment algorithm to compensate for attitude and elevation errors.

  12. a Performance Comparison of Feature Detectors for Planetary Rover Mapping and Localization

    NASA Astrophysics Data System (ADS)

    Wan, W.; Peng, M.; Xing, Y.; Wang, Y.; Liu, Z.; Di, K.; Teng, B.; Mao, X.; Zhao, Q.; Xin, X.; Jia, M.

    2017-07-01

    Feature detection and matching are key techniques in computer vision and robotics, and have been successfully implemented in many fields. So far there is no performance comparison of feature detectors and matching methods for planetary mapping and rover localization using rover stereo images. In this research, we present a comprehensive evaluation and comparison of six feature detectors, including Moravec, Förstner, Harris, FAST, SIFT and SURF, aiming for optimal implementation of feature-based matching in planetary surface environment. To facilitate quantitative analysis, a series of evaluation criteria, including distribution evenness of matched points, coverage of detected points, and feature matching accuracy, are developed in the research. In order to perform exhaustive evaluation, stereo images, simulated under different baseline, pitch angle, and interval of adjacent rover locations, are taken as experimental data source. The comparison results show that SIFT offers the best overall performance, especially it is less sensitive to changes of image taken at adjacent locations.

  13. User's Guide for Flight Simulation Data Visualization Workstation

    NASA Technical Reports Server (NTRS)

    Kaplan, Joseph A.; Chen, Ronnie; Kenney, Patrick S.; Koval, Christopher M.; Hutchinson, Brian K.

    1996-01-01

    Today's modern flight simulation research produces vast amounts of time sensitive data. The meaning of this data can be difficult to assess while in its raw format. Therefore, a method of breaking the data down and presenting it to the user in a graphical format is necessary. Simulation Graphics (SimGraph) is intended as a data visualization software package that will incorporate simulation data into a variety of animated graphical displays for easy interpretation by the simulation researcher. This document is intended as an end user's guide.

  14. Conceptual Design and Dynamics Testing and Modeling of a Mars Tumbleweed Rover

    NASA Technical Reports Server (NTRS)

    Calhoun Philip C.; Harris, Steven B.; Raiszadeh, Behzad; Zaleski, Kristina D.

    2005-01-01

    The NASA Langley Research Center has been developing a novel concept for a Mars planetary rover called the Mars Tumbleweed. This concept utilizes the wind to propel the rover along the Mars surface, bringing it the potential to cover vast distances not possible with current Mars rover technology. This vehicle, in its deployed configuration, must be large and lightweight to provide the ratio of drag force to rolling resistance necessary to initiate motion from rest on the Mars surface. One Tumbleweed design concept that satisfies these considerations is called the Eggbeater-Dandelion. This paper describes the basic design considerations and a proposed dynamics model of the concept for use in simulation studies. It includes a summary of rolling/bouncing dynamics tests that used videogrammetry to better understand, characterize, and validate the dynamics model assumptions, especially the effective rolling resistance in bouncing/rolling dynamic conditions. The dynamics test used cameras to capture the motion of 32 targets affixed to a test article s outer structure. Proper placement of the cameras and alignment of their respective fields of view provided adequate image resolution of multiple targets along the trajectory as the test article proceeded down the ramp. Image processing of the frames from multiple cameras was used to determine the target positions. Position data from a set of these test runs was compared with results of a three dimensional, flexible dynamics model. Model input parameters were adjusted to match the test data for runs conducted. This process presented herein provided the means to characterize the dynamics and validate the simulation of the Eggbeater-Dandelion concept. The simulation model was used to demonstrate full scale Tumbleweed motion from a stationary condition on a flat-sloped terrain using representative Mars environment parameters.

  15. Software for Secondary-School Learning About Robotics

    NASA Technical Reports Server (NTRS)

    Shelton, Robert O.; Smith, Stephanie L.; Truong, Dat; Hodgson, Terry R.

    2005-01-01

    The ROVer Ranch is an interactive computer program designed to help secondary-school students learn about space-program robotics and related basic scientific concepts by involving the students in simplified design and programming tasks that exercise skills in mathematics and science. The tasks involve building simulated robots and then observing how they behave. The program furnishes (1) programming tools that a student can use to assemble and program a simulated robot and (2) a virtual three-dimensional mission simulator for testing the robot. First, the ROVer Ranch presents fundamental information about robotics, mission goals, and facts about the mission environment. On the basis of this information, and using the aforementioned tools, the student assembles a robot by selecting parts from such subsystems as propulsion, navigation, and scientific tools, the student builds a simulated robot to accomplish its mission. Once the robot is built, it is programmed and then placed in a three-dimensional simulated environment. Success or failure in the simulation depends on the planning and design of the robot. Data and results of the mission are available in a summary log once the mission is concluded.

  16. Evaluation of graphic cardiovascular display in a high-fidelity simulator.

    PubMed

    Agutter, James; Drews, Frank; Syroid, Noah; Westneskow, Dwayne; Albert, Rob; Strayer, David; Bermudez, Julio; Weinger, Matthew B

    2003-11-01

    "Human error" in anesthesia can be attributed to misleading information from patient monitors or to the physician's failure to recognize a pattern. A graphic representation of monitored data may provide better support for detection, diagnosis, and treatment. We designed a graphic display to show hemodynamic variables. Twenty anesthesiologists were asked to assume care of a simulated patient. Half the participants used the graphic cardiovascular display; the other half used a Datex As/3 monitor. One scenario was a total hip replacement with a transfusion reaction to mismatched blood. The second scenario was a radical prostatectomy with 1.5 L of blood loss and myocardial ischemia. Subjects who used the graphic display detected myocardial ischemia 2 min sooner than those who did not use the display. Treatment was initiated sooner (2.5 versus 4.9 min). There were no significant differences between groups in the hip replacement scenario. Systolic blood pressure deviated less from baseline, central venous pressure was closer to its baseline, and arterial oxygen saturation was higher at the end of the case when the graphic display was used. The study lends some support for the hypothesis that providing clinical information graphically in a display designed with emergent features and functional relationships can improve clinicians' ability to detect, diagnose, manage, and treat critical cardiovascular events in a simulated environment. A graphic representation of monitored data may provide better support for detection, diagnosis, and treatment. A user-centered design process led to a novel object-oriented graphic display of hemodynamic variables containing emergent features and functional relationships. In a simulated environment, this display appeared to support clinicians' ability to diagnose, manage, and treat a critical cardiovascular event in a simulated environment. We designed a graphic display to show hemodynamic variables. The study provides some support for the hypothesis that providing clinical information graphically in a display designed with emergent features and functional relationships can improve clinicians' ability to detect, diagnosis, mange, and treat critical cardiovascular events in a simulated environment.

  17. Platform for Testing Robotic Vehicles on Simulated Terrain

    NASA Technical Reports Server (NTRS)

    Lindemann, Randel

    2006-01-01

    The variable terrain tilt platform (VTTP) is a means of providing simulated terrain for mobility testing of engineering models of the Mars Exploration Rovers. The VTTP could also be used for testing the ability of other robotic land vehicles (and small vehicles in general) to move across terrain under diverse conditions of slope and surface texture, and in the presence of obstacles of various sizes and shapes. The VTTP consists mostly of a 16-ft-(4.88-m)-square tilt table. The tilt can be adjusted to any angle between 0 (horizontal) and 25 . The test surface of the table can be left bare; can be covered with hard, high-friction material; or can be covered with sand, gravel, and/or other ground-simulating material or combination of materials to a thickness of as much as 6 in. (approx. 15 cm). Models of rocks, trenches, and other obstacles can be placed on the simulated terrain. For example, for one of the Mars- Rover tests, a high-friction mat was attached to the platform, then a 6-in.- ( 15 cm) deep layer of dry, loose beach sand was deposited on the mat. The choice of these two driving surface materials was meant to bound the range of variability of terrain that the rover was expected to encounter on the Martian surface. At each of the different angles at which tests were performed, for some of the tests, rocklike concrete obstacles ranging in height from 10 to 25 cm were placed in the path of the rover (see figure). The development of the VTTP was accompanied by development of a methodology of testing to characterize the performance and modes of failure of a vehicle under test. In addition to variations in slope, ground material, and obstacles, testing typically includes driving up-slope, down-slope, cross-slope, and at intermediate angles relative to slope. Testing includes recording of drive-motor currents, wheel speeds, articulation of suspension mechanisms, and the actual path of the vehicle over the simulated terrain. The collected data can be used to compute curves that summarize torque, speed, power-demand, and slip characteristics of wheels during the traverse.

  18. Mineral Content Comparison at Two Gale Crater Sites

    NASA Image and Video Library

    2016-12-13

    This graphic shows proportions of minerals identified in mudstone exposures at the "Yellowknife Bay" location where NASA's Curiosity Mars rover first analyzed bedrock, in 2013, and at the "Murray Buttes" area investigated in 2016. Minerals were identified by X-ray diffraction analysis of sample powder from the rocks. The samples were acquired by drilling and delivered to the Chemistry and Mineralogy (CheMin) instrument inside the rover. Two key differences in the Murray Buttes mudstone include hematite rather than magnetite, and far less abundance of crystalline mafic minerals, compared to the Yellowknife Bay mudstone composition. Hematite and magnetite are both iron oxide minerals, with hematite as a more oxidized one. That difference could result from the Murray Buttes mudstone layer experiencing more weathering than the Yellowknife Bay mudstone. More weathering could also account for the lower abundance of crystalline mafics, which are volcanic-origin minerals such as pyroxene and olivine. The Yellowknife Bay site is on the floor of Gale Crater. The Murray Buttes site is on lower Mount Sharp, the layered mound in the center of the crater. http://photojournal.jpl.nasa.gov/catalog/PIA21149

  19. Plan Execution Interchange Language (PLEXIL)

    NASA Technical Reports Server (NTRS)

    Estlin, Tara; Jonsson, Ari; Pasareanu, Corina; Simmons, Reid; Tso, Kam; Verma, Vandi

    2006-01-01

    Plan execution is a cornerstone of spacecraft operations, irrespective of whether the plans to be executed are generated on board the spacecraft or on the ground. Plan execution frameworks vary greatly, due to both different capabilities of the execution systems, and relations to associated decision-making frameworks. The latter dependency has made the reuse of execution and planning frameworks more difficult, and has all but precluded information sharing between different execution and decision-making systems. As a step in the direction of addressing some of these issues, a general plan execution language, called the Plan Execution Interchange Language (PLEXIL), is being developed. PLEXIL is capable of expressing concepts used by many high-level automated planners and hence provides an interface to multiple planners. PLEXIL includes a domain description that specifies command types, expansions, constraints, etc., as well as feedback to the higher-level decision-making capabilities. This document describes the grammar and semantics of PLEXIL. It includes a graphical depiction of this grammar and illustrative rover scenarios. It also outlines ongoing work on implementing a universal execution system, based on PLEXIL, using state-of-the-art rover functional interfaces and planners as test cases.

  20. Grid Visualization Tool

    NASA Technical Reports Server (NTRS)

    Chouinard, Caroline; Fisher, Forest; Estlin, Tara; Gaines, Daniel; Schaffer, Steven

    2005-01-01

    The Grid Visualization Tool (GVT) is a computer program for displaying the path of a mobile robotic explorer (rover) on a terrain map. The GVT reads a map-data file in either portable graymap (PGM) or portable pixmap (PPM) format, representing a gray-scale or color map image, respectively. The GVT also accepts input from path-planning and activity-planning software. From these inputs, the GVT generates a map overlaid with one or more rover path(s), waypoints, locations of targets to be explored, and/or target-status information (indicating success or failure in exploring each target). The display can also indicate different types of paths or path segments, such as the path actually traveled versus a planned path or the path traveled to the present position versus planned future movement along a path. The program provides for updating of the display in real time to facilitate visualization of progress. The size of the display and the map scale can be changed as desired by the user. The GVT was written in the C++ language using the Open Graphics Library (OpenGL) software. It has been compiled for both Sun Solaris and Linux operating systems.

  1. Applying FastSLAM to Articulated Rovers

    NASA Astrophysics Data System (ADS)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  2. A manipulator arm for zero-g simulations

    NASA Technical Reports Server (NTRS)

    Brodie, S. B.; Grant, C.; Lazar, J. J.

    1975-01-01

    A 12-ft counterbalanced Slave Manipulator Arm (SMA) was designed and fabricated to be used for resolving the questions of operational applications, capabilities, and limitations for such remote manned systems as the Payload Deployment and Retrieval Mechanism (PDRM) for the shuttle, the Free-Flying Teleoperator System, the Advanced Space Tug, and Planetary Rovers. As a developmental tool for the shuttle manipulator system (or PDRM), the SMA represents an approximate one-quarter scale working model for simulating and demonstrating payload handling, docking assistance, and satellite servicing. For the Free-Flying Teleoperator System and the Advanced Tug, the SMA provides a near full-scale developmental tool for satellite servicing, docking, and deployment/retrieval procedures, techniques, and support equipment requirements. For the Planetary Rovers, it provides an oversize developmental tool for sample handling and soil mechanics investigations. The design of the SMA was based on concepts developed for a 40-ft NASA technology arm to be used for zero-g shuttle manipulator simulations.

  3. Real-time interactive simulation: using touch panels, graphics tablets, and video-terminal keyboards

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

    Venhuizen, J.R.

    1983-01-01

    A Simulation Laboratory utilizing only digital computers for interactive computing must rely on CRT based graphics devices for output devices, and keyboards, graphics tablets, and touch panels, etc., for input devices. The devices all work well, with the combination of a CRT with a touch panel mounted on it as the most flexible combination of input/output devices for interactive simulation.

  4. 'Gibson' Panorama by Spirit at 'Home Plate' (False Color)

    NASA Technical Reports Server (NTRS)

    2006-01-01

    NASA's Mars Exploration Rover Spirit acquired this high-resolution view of intricately layered exposures of rock while parked on the northwest edge of the bright, semi-circular feature known as 'Home Plate.' The rover was perched at a 27-degree upward tilt while creating the panorama, resulting in the 'U' shape of the mosaic. In reality, the features along the 1-meter to 2-meter (1-foot to 6.5-foot) vertical exposure of the rim of Home Plate in this vicinity are relatively level. Rocks near the rover in this view, known as the 'Gibson' panorama, include 'Barnhill,' 'Rogan,' and 'Mackey.'

    Spirit acquired 246 separate images of this scene using 6 different filters on the panoramic camera (Pancam) during the rover's Martian days, or sols, 748 through 751 (Feb. 9 through Feb. 12, 2006). The field of view covers 160 degrees of terrain around the rover. This image is a false-color rendering using using Pancam's 753-nanometer, 535-namometer, and 432-nanometer filters, presented to enhance many subtle color differences between rocks and soils in the scene. Image-to-image seams have been eliminated from the sky portion of the mosaic to better simulate the vista a person standing on Mars would see.

  5. 'Gibson' Panorama by Spirit at 'Home Plate'

    NASA Technical Reports Server (NTRS)

    2006-01-01

    [figure removed for brevity, see original site] Click on the image for 'Gibson' Panorama by Spirit at 'Home Plate' (QTVR)

    NASA's Mars Exploration Rover Spirit acquired this high-resolution view of intricately layered exposures of rock while parked on the northwest edge of the bright, semi-circular feature known as 'Home Plate.' The rover was perched at a 27-degree upward tilt while creating the panorama, resulting in the 'U' shape of the mosaic. In reality, the features along the 1-meter to 2-meter (1-foot to 6.5-foot) vertical exposure of the rim of Home Plate in this vicinity are relatively level. Rocks near the rover in this view, known as the 'Gibson' panorama, include 'Barnhill,' 'Rogan,' and 'Mackey.'

    Spirit acquired 246 separate images of this scene using 6 different filters on the panoramic camera (Pancam) during the rover's Martian days, or sols, 748 through 751 (Feb. 9 through Feb. 12, 2006). The field of view covers 160 degrees of terrain around the rover. This image is an approximately true-color rendering using Pancam's 753-nanometer, 535-namometer, and 432-nanometer filters. Image-to-image seams have been eliminated from the sky portion of the mosaic to better simulate the vista a person standing on Mars would see.

  6. Interactive Graphics Simulator: Design, Development, and Effectiveness/Cost Evaluation. Final Report.

    ERIC Educational Resources Information Center

    Pieper, William J.; And Others

    This study was initiated to design, develop, implement, and evaluate a videodisc-based simulator system, the Interactive Graphics Simulator (IGS) for 6883 Converter Flight Control Test Station training at Lowry Air Force Base, Colorado. The simulator provided a means for performing task analysis online, developing simulations from the task…

  7. Characterizing Wheel-Soil Interaction Loads Using Meshfree Finite Element Methods: A Sensitivity Analysis for Design Trade Studies

    NASA Technical Reports Server (NTRS)

    Contreras, Michael T.; Trease, Brian P.; Bojanowski, Cezary; Kulakx, Ronald F.

    2013-01-01

    A wheel experiencing sinkage and slippage events poses a high risk to planetary rover missions as evidenced by the mobility challenges endured by the Mars Exploration Rover (MER) project. Current wheel design practice utilizes loads derived from a series of events in the life cycle of the rover which do not include (1) failure metrics related to wheel sinkage and slippage and (2) performance trade-offs based on grouser placement/orientation. Wheel designs are rigorously tested experimentally through a variety of drive scenarios and simulated soil environments; however, a robust simulation capability is still in development due to myriad of complex interaction phenomena that contribute to wheel sinkage and slippage conditions such as soil composition, large deformation soil behavior, wheel geometry, nonlinear contact forces, terrain irregularity, etc. For the purposes of modeling wheel sinkage and slippage at an engineering scale, meshfree nite element approaches enable simulations that capture su cient detail of wheel-soil interaction while remaining computationally feasible. This study implements the JPL wheel-soil benchmark problem in the commercial code environment utilizing the large deformation modeling capability of Smooth Particle Hydrodynamics (SPH) meshfree methods. The nominal, benchmark wheel-soil interaction model that produces numerically stable and physically realistic results is presented and simulations are shown for both wheel traverse and wheel sinkage cases. A sensitivity analysis developing the capability and framework for future ight applications is conducted to illustrate the importance of perturbations to critical material properties and parameters. Implementation of the proposed soil-wheel interaction simulation capability and associated sensitivity framework has the potential to reduce experimentation cost and improve the early stage wheel design proce

  8. Solar Storm's Radiation at Martian Orbit and Surface

    NASA Image and Video Library

    2017-09-29

    Energetic particles from a large solar storm in September 2017 were seen both in Mars orbit and on the surface of Mars by NASA missions to the Red Planet. The horizontal axis for both parts of this graphic is the time from Sept. 10 to Sept. 15, 2017. The upper portion of this graphic shows the increase in protons in two ranges of energy levels (15- to-100 million electron volts and 80-to-220 million electron volts), as recorded by the Solar Energetic Particle instrument on NASA's on NASA's Mars Atmosphere and Volatile Evolution orbiter, or MAVEN. The lower portion shows the radiation dose on the Martian surface, in micrograys per day, as measured by the Radiation Assessment Monitor instrument on NASA' Curiosity Mars rover. Micrograys are unit of measurement for absorbed radiation dose. Note that only protons in the higher bracket of energy levels penetrate the atmosphere enough to be detected on the surface. https://photojournal.jpl.nasa.gov/catalog/PIA21856

  9. Pre- and postprocessing for reservoir simulation

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

    Rogers, W.L.; Ingalls, L.J.; Prasad, S.J.

    1991-05-01

    This paper describes the functionality and underlying programing paradigms of Shell's simulator-related reservoir-engineering graphics system. THis system includes the simulation postprocessing programs Reservoir Display System (RDS) and Fast Reservoir Engineering Displays (FRED), a hypertext-like on-line documentation system (DOC), and a simulator input preprocessor (SIMPLSIM). RDS creates displays of reservoir simulation results. These displays represent the areal or cross-section distribution of computer reservoir parameters, such as pressure, phase saturation, or temperature. Generation of these images at real-time animation rates is discussed. FRED facilitates the creation of plot files from reservoir simulation output. The use of dynamic memory allocation, asynchronous I/O, amore » table-driven screen manager, and mixed-language (FORTRAN and C) programming are detailed. DOC is used to create and access on-line documentation for the pre-and post-processing programs and the reservoir simulators. DOC can be run by itself or can be accessed from within any other graphics or nongraphics application program. DOC includes a text editor, which is that basis for a reservoir simulation tutorial and greatly simplifies the preparation of simulator input. The use of sharable images, graphics, and the documentation file network are described. Finally, SIMPLSIM is a suite of program that uses interactive graphics in the preparation of reservoir description data for input into reservoir simulators. The SIMPLSIM user-interface manager (UIM) and its graphic interface for reservoir description are discussed.« less

  10. An Object-Oriented Graphical User Interface for a Reusable Rocket Engine Intelligent Control System

    NASA Technical Reports Server (NTRS)

    Litt, Jonathan S.; Musgrave, Jeffrey L.; Guo, Ten-Huei; Paxson, Daniel E.; Wong, Edmond; Saus, Joseph R.; Merrill, Walter C.

    1994-01-01

    An intelligent control system for reusable rocket engines under development at NASA Lewis Research Center requires a graphical user interface to allow observation of the closed-loop system in operation. The simulation testbed consists of a real-time engine simulation computer, a controls computer, and several auxiliary computers for diagnostics and coordination. The system is set up so that the simulation computer could be replaced by the real engine and the change would be transparent to the control system. Because of the hard real-time requirement of the control computer, putting a graphical user interface on it was not an option. Thus, a separate computer used strictly for the graphical user interface was warranted. An object-oriented LISP-based graphical user interface has been developed on a Texas Instruments Explorer 2+ to indicate the condition of the engine to the observer through plots, animation, interactive graphics, and text.

  11. An advanced terrain modeler for an autonomous planetary rover

    NASA Technical Reports Server (NTRS)

    Hunter, E. L.

    1980-01-01

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

  12. Extreme Mapping: Looking for Water on the Moon

    NASA Technical Reports Server (NTRS)

    Cohen, Tamar

    2016-01-01

    There are many challenges when exploring extreme environments. Gathering accurate data to build maps about places that you cannot go is incredibly complex. NASA supports scientists by remotely operating robotic rovers to explore uncharted territories. One potential upcoming mission is to look for water near a lunar pole (the Resource Prospector mission). Learn about the technical hurdles and research steps that NASA takes before the mission. NASA practices on Earth with Mission Analogs which simulate the proposed mission. This includes going to lunar-type landscapes, building field networks, testing out rovers, instruments and operational procedures. NASA sets up remote science back rooms just as there are for actual missions. NASA develops custom Ground Data Systems software to support scientific mission planning and monitoring over variable time delays, and separate commanding software and infrastructure to operate the rovers.

  13. The use of computer graphic simulation in the development of on-orbit tele-robotic systems

    NASA Technical Reports Server (NTRS)

    Fernandez, Ken; Hinman, Elaine

    1987-01-01

    This paper describes the use of computer graphic simulation techniques to resolve critical design and operational issues for robotic systems used for on-orbit operations. These issues are robot motion control, robot path-planning/verification, and robot dynamics. The major design issues in developing effective telerobotic systems are discussed, and the use of ROBOSIM, a NASA-developed computer graphic simulation tool, to address these issues is presented. Simulation plans for the Space Station and the Orbital Maneuvering Vehicle are presented and discussed.

  14. Ground Contact Model for Mars Science Laboratory Mission Simulations

    NASA Technical Reports Server (NTRS)

    Raiszadeh, Behzad; Way, David

    2012-01-01

    The Program to Optimize Simulated Trajectories II (POST 2) has been successful in simulating the flight of launch vehicles and entry bodies on earth and other planets. POST 2 has been the primary simulation tool for the Entry Descent, and Landing (EDL) phase of numerous Mars lander missions such as Mars Pathfinder in 1997, the twin Mars Exploration Rovers (MER-A and MER-B) in 2004, Mars Phoenix lander in 2007, and it is now the main trajectory simulation tool for Mars Science Laboratory (MSL) in 2012. In all previous missions, the POST 2 simulation ended before ground impact, and a tool other than POST 2 simulated landing dynamics. It would be ideal for one tool to simulate the entire EDL sequence, thus avoiding errors that could be introduced by handing off position, velocity, or other fight parameters from one simulation to the other. The desire to have one continuous end-to-end simulation was the motivation for developing the ground interaction model in POST 2. Rover landing, including the detection of the postlanding state, is a very critical part of the MSL mission, as the EDL landing sequence continues for a few seconds after landing. The method explained in this paper illustrates how a simple ground force interaction model has been added to POST 2, which allows simulation of the entire EDL from atmospheric entry through touchdown.

  15. ARC-2008-ACD08-0260-007

    NASA Image and Video Library

    2008-11-05

    K-10 'Red' planetary rover in the Nasa Ames Marscape: operations tests at Marscape (Ames Mars Yard) with remote operations from Ames Future Flight Centeral (FFC) Simulator with Susan Y. Lee observing.

  16. SimGraph: A Flight Simulation Data Visualization Workstation

    NASA Technical Reports Server (NTRS)

    Kaplan, Joseph A.; Kenney, Patrick S.

    1997-01-01

    Today's modern flight simulation research produces vast amounts of time sensitive data, making a qualitative analysis of the data difficult while it remains in a numerical representation. Therefore, a method of merging related data together and presenting it to the user in a more comprehensible format is necessary. Simulation Graphics (SimGraph) is an object-oriented data visualization software package that presents simulation data in animated graphical displays for easy interpretation. Data produced from a flight simulation is presented by SimGraph in several different formats, including: 3-Dimensional Views, Cockpit Control Views, Heads-Up Displays, Strip Charts, and Status Indicators. SimGraph can accommodate the addition of new graphical displays to allow the software to be customized to each user s particular environment. A new display can be developed and added to SimGraph without having to design a new application, allowing the graphics programmer to focus on the development of the graphical display. The SimGraph framework can be reused for a wide variety of visualization tasks. Although it was created for the flight simulation facilities at NASA Langley Research Center, SimGraph can be reconfigured to almost any data visualization environment. This paper describes the capabilities and operations of SimGraph.

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

    NASA Technical Reports Server (NTRS)

    Jones, Brandon M.

    2005-01-01

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

  18. Thermo-msf-parser: an open source Java library to parse and visualize Thermo Proteome Discoverer msf files.

    PubMed

    Colaert, Niklaas; Barsnes, Harald; Vaudel, Marc; Helsens, Kenny; Timmerman, Evy; Sickmann, Albert; Gevaert, Kris; Martens, Lennart

    2011-08-05

    The Thermo Proteome Discoverer program integrates both peptide identification and quantification into a single workflow for peptide-centric proteomics. Furthermore, its close integration with Thermo mass spectrometers has made it increasingly popular in the field. Here, we present a Java library to parse the msf files that constitute the output of Proteome Discoverer. The parser is also implemented as a graphical user interface allowing convenient access to the information found in the msf files, and in Rover, a program to analyze and validate quantitative proteomics information. All code, binaries, and documentation is freely available at http://thermo-msf-parser.googlecode.com.

  19. Project of the planetary terrain analogs research for technology development and education in geodesy and image processing.

    NASA Astrophysics Data System (ADS)

    Semenov, Mikhail; Gavrushin, Nikolay; Bataev, Mikhail; Kruzhkov, Maxim; Oberst, Juergen

    2013-04-01

    The MIIGAiK Extraterrestrial Laboratory (MExLab) is currently finalizing the development the robotic mobile science platform MExRover, designed for simulating rover activities on the surface of earth-type planets and satellites. In the project, we develop a hardware and software platform for full rover operation and telemetry processing from onboard instruments, as a means of training undergraduate and postgraduate students and young scientists working in the field of planetary exploration. 1. Introduction The main aim of the project is to provide the research base for image processing development and geodesy survey. Other focus is the development of research programs with participation of students and young scientists of the University, for digital terrain model creation for macro- and microrelief surveying. MExRover would be a bridge from the old soviet Lunokhod experience to the new research base for the future rover technology development support. 2. Rover design The design of the rover and its instrument suite allows acquiring images and navigation data satisfying the requirements for photogrammetric processing. The high-quality color panoramas as well as DTMs (Digital Terrain Models) will be produced aboard and could be used for the real-time track correction and environment analysis. A local operator may control the rover remotely from a distance up to 3 km and continuously monitor all systems. The MExRover has a modular design, which provides maximum flexibility for accomplishing different tasks with different sets of additional equipment weighing up to 15 kg. The framework can be easily disassembled and fit into 3 transport boxes, which allows transporting them on foot, by car, train or plane as a the ordinary luggage. The imaging system included in the present design comprises low resolution video cameras, high resolution stereo camera, microphone and IR camera. More instruments are planned to be installed later as auxiliary equipment, such as: spectrometer, odometer, solar radiation sensor, temperature sensor, wind sensor, magnetometer and radiation detector. The first version of the MExRover is operational and now is in testing process. We are open to proposals of mutual exploitation of MExRover platform for science, education and outreach purposes. 3. Specification Dimensions W×L×H 600×1000×400/1700 mm Maximum weight 60 kg Payload weight 20 kg Cruising range 3 km Mean velocity 1 km/h Acknowledgements This work is supported by the Ministry of Education and Science of the Russian Federation (MEGA-GRANT, Project name: "Geodesy, cartography and the study of planets and satellites", contract # 11.G34.31.0021 dd. 30.11.2010).

  20. Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6

    NASA Astrophysics Data System (ADS)

    Ratliff, Hunter N.; Smith, Michael B. R.; Heilbronn, Lawrence

    2017-08-01

    The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 μGy/day while RAD measured 233 μGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 μSv/day while RAD reported 710 μSv/day.

  1. Bringing Home a Piece of Mars from the Utah Desert: A Canadian Robotic Deployment in Support of Mars Sample Return

    NASA Astrophysics Data System (ADS)

    Haltigin, T.; Hipkin, V.; Picard, M.

    2016-12-01

    Mars Sample Return (MSR) remains one of the highest priorities of the international planetary science community. While the overall mission architecture required for MSR is relatively well defined, there remain a number of open questions regarding its implementation. In preparing for an eventual MSR campaign, simulating portions of the sample collection mission can provide important insight to address existing knowledge gaps. In 2015 and 2016, the Canadian Space Agency (CSA) led robotic deployments to address a variety of technical, scientific, operational, and educational objectives. Here we report on the results. The deployments were conducted at a field site near Hanskville, UT, USA, chosen to satisfy scientific, technical, and logistical considerations. The geology of the region is dominated by Jurassic-aged sandstones and mudstones, indicative of an ancient sedimentary environment. Moreover, a series of linear topographically inverted features are present, similar to morphologies observed in particular Martian landscapes. On both Earth and Mars, these features are interpreted as lithified and exhumed river channels. A science operations center was established in London, ON, Canada, at Western University. Here, a science team of > 30 students and professionals - unaware of the rover's actual location - were responsible for generating daily science plans, requesting observations, and interpreting downloaded data, all while respecting Mars-realistic flight rules and constraints for power, scheduling, and data. Rover commanding was performed by an engineering team at CSA headquarters in St. Hubert, QC, Canada, while a small out-of-simulation field team was present on-site to ensure safe operations of the rover and to provide data transfers. Between the 2015 and 2016 campaigns, nearly five weeks of operations were conducted. The team successfully collected scientifically-selected samples to address the group objectives, and the rover demonstrated system integration and a variety of navigational techniques. Forward work involves laboratory-based validation of the returned samples to evaluate the efficiency of the in-simulation operational decision-making.

  2. ARC-2008-ACD08-0260-019

    NASA Image and Video Library

    2008-11-04

    K-10 (red) plaentary rover at Marscape (Ames Mars Yard): with prototype flight control team remotely operating K-10 'Red' from Ames Future Flight Centeral (FFC) Simulator, with Rob Landis and Steve Riley.

  3. The development of the Canadian Mobile Servicing System Kinematic Simulation Facility

    NASA Technical Reports Server (NTRS)

    Beyer, G.; Diebold, B.; Brimley, W.; Kleinberg, H.

    1989-01-01

    Canada will develop a Mobile Servicing System (MSS) as its contribution to the U.S./International Space Station Freedom. Components of the MSS will include a remote manipulator (SSRMS), a Special Purpose Dexterous Manipulator (SPDM), and a mobile base (MRS). In order to support requirements analysis and the evaluation of operational concepts related to the use of the MSS, a graphics based kinematic simulation/human-computer interface facility has been created. The facility consists of the following elements: (1) A two-dimensional graphics editor allowing the rapid development of virtual control stations; (2) Kinematic simulations of the space station remote manipulators (SSRMS and SPDM), and mobile base; and (3) A three-dimensional graphics model of the space station, MSS, orbiter, and payloads. These software elements combined with state of the art computer graphics hardware provide the capability to prototype MSS workstations, evaluate MSS operational capabilities, and investigate the human-computer interface in an interactive simulation environment. The graphics technology involved in the development and use of this facility is described.

  4. Assessment of environments for Mars Science Laboratory entry, descent, and surface operations

    USGS Publications Warehouse

    Vasavada, Ashwin R.; Chen, Allen; Barnes, Jeffrey R.; Burkhart, P. Daniel; Cantor, Bruce A.; Dwyer-Cianciolo, Alicia M.; Fergason, Robini L.; Hinson, David P.; Justh, Hilary L.; Kass, David M.; Lewis, Stephen R.; Mischna, Michael A.; Murphy, James R.; Rafkin, Scot C.R.; Tyler, Daniel; Withers, Paul G.

    2012-01-01

    The Mars Science Laboratory mission aims to land a car-sized rover on Mars' surface and operate it for at least one Mars year in order to assess whether its field area was ever capable of supporting microbial life. Here we describe the approach used to identify, characterize, and assess environmental risks to the landing and rover surface operations. Novel entry, descent, and landing approaches will be used to accurately deliver the 900-kg rover, including the ability to sense and "fly out" deviations from a best-estimate atmospheric state. A joint engineering and science team developed methods to estimate the range of potential atmospheric states at the time of arrival and to quantitatively assess the spacecraft's performance and risk given its particular sensitivities to atmospheric conditions. Numerical models are used to calculate the atmospheric parameters, with observations used to define model cases, tune model parameters, and validate results. This joint program has resulted in a spacecraft capable of accessing, with minimal risk, the four finalist sites chosen for their scientific merit. The capability to operate the landed rover over the latitude range of candidate landing sites, and for all seasons, was verified against an analysis of surface environmental conditions described here. These results, from orbital and model data sets, also drive engineering simulations of the rover's thermal state that are used to plan surface operations.

  5. Remotely-Sensed Geology from Lander-Based to Orbital Perspectives: Results for FIDO Rover Field Tests

    NASA Technical Reports Server (NTRS)

    Jolliff, B.; Moersch, J.; Knoll, A.; Morris, R.; Arvidson, R.; Gilmore, M.; Greeley, R.; Herkenhoff, K.; McSween, H.; Squyres, S.

    2000-01-01

    Tests of the FIDO (Field Integration Design and Operations) rover and Athena-like operational scenarios were conducted May 7-16, 2000. A group located at the Jet Propulsion Lab, Pasadena, CA, formed the Core Operations Team (COT) that designed experiments and command sequences while another team tracked, maintained, and secured the rover in the field. The COT had no knowledge of the specific field location, thus the tests were done "blind." In addition to FIDO rover instrumentation, the COT had access to LANDSAT 7, TIMS, and AVIRIS regional coverage and color descent images. Using data from the FIDO instruments, primarily a color microscopic imager (CMI), infrared point spectrometer (IPS; 1.5-2.4 microns), and a three-color stereo panoramic camera (Pancam), the COT correlated lithologic features (mineralogy, rock types) from the simulated landing site to a regional scale. The May test results provide an example of how to relate site geology from landed rover investigations to the regional geology using remote sensing. The capability to relate mineralogic signatures using the point IR spectrometer to remotely sensed, multispectral or hyperspectral data proved to be key to integration of the in-situ and remote data. This exercise demonstrated the potential synergy between lander-based and orbital data, and highlighted the need to investigate a landing site in detail and at multiple scales.

  6. Simulation of Robot Kinematics Using Interactive Computer Graphics.

    ERIC Educational Resources Information Center

    Leu, M. C.; Mahajan, R.

    1984-01-01

    Development of a robot simulation program based on geometric transformation softwares available in most computer graphics systems and program features are described. The program can be extended to simulate robots coordinating with external devices (such as tools, fixtures, conveyors) using geometric transformations to describe the…

  7. Web-based Interactive Simulator for Rotating Machinery.

    ERIC Educational Resources Information Center

    Sirohi, Vijayalaxmi

    1999-01-01

    Baroma (Balance of Rotating Machinery), the Web-based educational engineering interactive software for teaching/learning combines didactical and software ergonomical approaches. The software in tutorial form simulates a problem using Visual Interactive Simulation in graphic display, and animation is brought about through graphical user interface…

  8. Mimicking Mars: a vacuum simulation chamber for testing environmental instrumentation for Mars exploration.

    PubMed

    Sobrado, J M; Martín-Soler, J; Martín-Gago, J A

    2014-03-01

    We have built a Mars environmental simulation chamber, designed to test new electromechanical devices and instruments that could be used in space missions. We have developed this environmental system aiming at validating the meteorological station Rover Environment Monitoring Station of NASA's Mars Science Laboratory mission currently installed on Curiosity rover. The vacuum chamber has been built following a modular configuration and operates at pressures ranging from 1000 to 10(-6) mbars, and it is possible to control the gas composition (the atmosphere) within this pressure range. The device (or sample) under study can be irradiated by an ultraviolet source and its temperature can be controlled in the range from 108 to 423 K. As an important improvement with respect to other simulation chambers, the atmospheric gas into the experimental chamber is cooled at the walls by the use of liquid-nitrogen heat exchangers. This chamber incorporates a dust generation mechanism designed to study Martian-dust deposition while modifying the conditions of temperature, and UV irradiated.

  9. A graphical workstation based part-task flight simulator for preliminary rapid evaluation of advanced displays

    NASA Technical Reports Server (NTRS)

    Wanke, Craig; Kuchar, James; Hahn, Edward; Pritchett, A.; Hansman, R. John

    1994-01-01

    Advances in avionics and display technology are significantly changing the cockpit environment in current transport aircraft. The MIT Aeronautical Systems Lab (ASL) developed a part-task flight simulator specifically to study the effects of these new technologies on flight crew situational awareness and performance. The simulator is based on a commercially-available graphics workstation, and can be rapidly reconfigured to meet the varying demands of experimental studies. The simulator was successfully used to evaluate graphical microbursts alerting displays, electronic instrument approach plates, terrain awareness and alerting displays, and ATC routing amendment delivery through digital datalinks.

  10. Evaluation of Human vs. Teleoperated Robotic Performance in Field Geology Tasks at a Mars Analog Site

    NASA Technical Reports Server (NTRS)

    Glass, B.; Briggs, G.

    2003-01-01

    Exploration mission designers and planners have costing models used to assess the affordability of given missions - but very little data exists on the relative science return produced by different ways of exploring a given region. Doing cost-benefit analyses for future missions requires a way to compare the relative field science productivity of spacesuited humans vs. virtual presence/teleoperation from a nearby habitat or orbital station, vs. traditional terrestrial-controlled rover operations. The goal of this study was to define science-return metrics for comparing human and robotic fieldwork, and then obtain quantifiable science-return performance comparisons between teleoperated rovers and spacesuited humans. Test runs with a simulated 2015-class rover and with spacesuited geologists were conducted at Haughton Crater in the Canadian Arctic in July 2002. Early results imply that humans will be 1-2 orders of magnitude more productive per unit time in exploration than future terrestrially-controlled robots.

  11. Mars Exploration Rover Six-Degree-Of-Freedom Entry Trajectory Analysis

    NASA Technical Reports Server (NTRS)

    Desai, Prasun N.; Schoenenberger, Mark; Cheatwood, F. M.

    2003-01-01

    The Mars Exploration Rover mission will be the next opportunity for surface exploration of Mars in January 2004. Two rovers will be delivered to the surface of Mars using the same entry, descent, and landing scenario that was developed and successfully implemented by Mars Pathfinder. This investigation describes the trajectory analysis that was performed for the hypersonic portion of the MER entry. In this analysis, a six-degree-of-freedom trajectory simulation of the entry is performed to determine the entry characteristics of the capsules. In addition, a Monte Carlo analysis is also performed to statistically assess the robustness of the entry design to off-nominal conditions to assure that all entry requirements are satisfied. The results show that the attitude at peak heating and parachute deployment are well within entry limits. In addition, the parachute deployment dynamics pressure and Mach number are also well within the design requirements.

  12. Results from Testing Crew-Controlled Surface Telerobotics on the International Space Station

    NASA Technical Reports Server (NTRS)

    Bualat, Maria; Schreckenghost, Debra; Pacis, Estrellina; Fong, Terrence; Kalar, Donald; Beutter, Brent

    2014-01-01

    During Summer 2013, the Intelligent Robotics Group at NASA Ames Research Center conducted a series of tests to examine how astronauts in the International Space Station (ISS) can remotely operate a planetary rover. The tests simulated portions of a proposed lunar mission, in which an astronaut in lunar orbit would remotely operate a planetary rover to deploy a radio telescope on the lunar far side. Over the course of Expedition 36, three ISS astronauts remotely operated the NASA "K10" planetary rover in an analogue lunar terrain located at the NASA Ames Research Center in California. The astronauts used a "Space Station Computer" (crew laptop), a combination of supervisory control (command sequencing) and manual control (discrete commanding), and Ku-band data communications to command and monitor K10 for 11 hours. In this paper, we present and analyze test results, summarize user feedback, and describe directions for future research.

  13. Procedures for the interpretation and use of elevation scanning laser/multi-sensor data for short range hazard detection and avoidance for an autonomous planetary rover

    NASA Technical Reports Server (NTRS)

    Troiani, N.; Yerazunis, S. W.

    1978-01-01

    An autonomous roving science vehicle that relies on terrain data acquired by a hierarchy of sensors for navigation was one method of carrying out such a mission. The hierarchy of sensors included a short range sensor with sufficient resolution to detect every possible obstacle and with the ability to make fast and reliable terrain characterizations. A multilaser, multidetector triangulation system was proposed as a short range sensor. The general system was studied to determine its perception capabilities and limitations. A specific rover and low resolution sensor system was then considered. After studying the data obtained, a hazard detection algorithm was developed that accounts for all possible terrains given the sensor resolution. Computer simulation of the rover on various terrains was used to test the entire hazard detection system.

  14. Real-time graphics for the Space Station Freedom cupola, developed in the Systems Engineering Simulator

    NASA Technical Reports Server (NTRS)

    Red, Michael T.; Hess, Philip W.

    1989-01-01

    Among the Lyndon B. Johnson Space Center's responsibilities for Space Station Freedom is the cupola. Attached to the resource node, the cupola is a windowed structure that will serve as the space station's secondary control center. From the cupola, operations involving the mobile service center and orbital maneuvering vehicle will be conducted. The Systems Engineering Simulator (SES), located in building 16, activated a real-time man-in-the-loop cupola simulator in November 1987. The SES cupola is an engineering tool with the flexibility to evolve in both hardware and software as the final cupola design matures. Two workstations are simulated with closed-circuit television monitors, rotational and translational hand controllers, programmable display pushbuttons, and graphics display with trackball and keyboard. The displays and controls of the SES cupola are driven by a Silicon Graphics Integrated Raster Imaging System (IRIS) 4D/70 GT computer. Through the use of an interactive display builder program, SES, cupola display pages consisting of two dimensional and three dimensional graphics are constructed. These display pages interact with the SES via the IRIS real-time graphics interface. The focus is on the real-time graphics interface applications software developed on the IRIS.

  15. Development of a Flight Simulation Data Visualization Workstation

    NASA Technical Reports Server (NTRS)

    Kaplan, Joseph A.; Chen, Ronnie; Kenney, Patrick S.; Koval, Christopher M.; Hutchinson, Brian K.

    1996-01-01

    Today's moderm flight simulation research produces vast amounts of time sensitive data. The meaning of this data can be difficult to assess while in its raw format . Therefore, a method of breaking the data down and presenting it to the user in a graphical format is necessary. Simulation Graphics (SimGraph) is intended as a data visualization software package that will incorporate simulation data into a variety of animated graphical displays for easy interpretation by the simulation researcher. Although it was created for the flight simulation facilities at NASA Langley Research Center, SimGraph can be reconfigured to almost any data visualization environment. This paper traces the design, development and implementation of the SimGraph program, and is intended to be a programmer's reference guide.

  16. Reviews Equipment: Vibration detector Equipment: SPARK Science Learning System PS-2008 Equipment: Pelton wheel water turbine Book: Atomic: The First War of Physics and the Secret History of the Atom Bomb 1939-49 Book: Outliers: The Story of Success Book: T-Minus: The Race to the Moon Equipment: Fridge Rover Equipment: Red Tide School Spectrophotometer Web Watch

    NASA Astrophysics Data System (ADS)

    2010-03-01

    WE RECOMMEND Vibration detector SEP equipment measures minor tremors in the classroom SPARK Science Learning System PS-2008 Datalogger is easy to use and has lots of added possibilities Atomic: The First War of Physics and the Secret History of the Atom Bomb 1939-49 Book is crammed with the latest on the atom bomb T-Minus: The Race to the Moon Graphic novel depicts the politics as well as the science Fridge Rover Toy car can teach magnetics and energy, and is great fun Red Tide School Spectrophotometer Professional standard equipment for the classroom WORTH A LOOK Pelton wheel water turbine Classroom-sized version of the classic has advantages Outliers: The Story of Success Study of why maths is unpopular is relevant to physics teaching WEB WATCH IOP webcasts are improving but are still not as impressive as Jodrell Bank's Chromoscope website

  17. Final Report: MaRSPlus Sensor System Electrical Cable Management and Distributed Motor Control Computer Interface

    NASA Technical Reports Server (NTRS)

    Reil, Robin

    2011-01-01

    The success of JPL's Next Generation Imaging Spectrometer (NGIS) in Earth remote sensing has inspired a follow-on instrument project, the MaRSPlus Sensor System (MSS). One of JPL's responsibilities in the MSS project involves updating the documentation from the previous JPL airborne imagers to provide all the information necessary for an outside customer to operate the instrument independently. As part of this documentation update, I created detailed electrical cabling diagrams to provide JPL technicians with clear and concise build instructions and a database to track the status of cables from order to build to delivery. Simultaneously, a distributed motor control system is being developed for potential use on the proposed 2018 Mars rover mission. This system would significantly reduce the mass necessary for rover motor control, making more mass space available to other important spacecraft systems. The current stage of the project consists of a desktop computer talking to a single "cold box" unit containing the electronics to drive a motor. In order to test the electronics, I developed a graphical user interface (GUI) using MATLAB to allow a user to send simple commands to the cold box and display the responses received in a user-friendly format.

  18. Quantitative analysis of digital outcrop data obtained from stereo-imagery using an emulator for the PanCam camera system for the ExoMars 2020 rover

    NASA Astrophysics Data System (ADS)

    Barnes, Robert; Gupta, Sanjeev; Gunn, Matt; Paar, Gerhard; Balme, Matt; Huber, Ben; Bauer, Arnold; Furya, Komyo; Caballo-Perucha, Maria del Pilar; Traxler, Chris; Hesina, Gerd; Ortner, Thomas; Banham, Steven; Harris, Jennifer; Muller, Jan-Peter; Tao, Yu

    2017-04-01

    A key focus of planetary rover missions is to use panoramic camera systems to image outcrops along rover traverses, in order to characterise their geology in search of ancient life. This data can be processed to create 3D point clouds of rock outcrops to be quantitatively analysed. The Mars Utah Rover Field Investigation (MURFI 2016) is a Mars Rover field analogue mission run by the UK Space Agency (UKSA) in collaboration with the Canadian Space Agency (CSA). It took place between 22nd October and 13th November 2016 and consisted of a science team based in Harwell, UK, and a field team including an instrumented Rover platform at the field site near Hanksville (Utah, USA). The Aberystwyth University PanCam Emulator 3 (AUPE3) camera system was used to collect stereo panoramas of the terrain the rover encountered during the field trials. Stereo-imagery processed in PRoViP is rendered as Ordered Point Clouds (OPCs) in PRo3D, enabling the user to zoom, rotate and translate the 3D outcrop model. Interpretations can be digitised directly onto the 3D surface, and simple measurements can be taken of the dimensions of the outcrop and sedimentary features, including grain size. Dip and strike of bedding planes, stratigraphic and sedimentological boundaries and fractures is calculated within PRo3D from mapped bedding contacts and fracture traces. Merging of rover-derived imagery with UAV and orbital datasets, to build semi-regional multi-resolution 3D models of the area of operations for immersive analysis and contextual understanding. In-simulation, AUPE3 was mounted onto the rover mast, collecting 16 stereo panoramas over 9 'sols'. 5 out-of-simulation datasets were collected in the Hanksville-Burpee Quarry. Stereo panoramas were processed using an automated pipeline and data transfer through an ftp server. PRo3D has been used for visualisation and analysis of this stereo data. Features of interest in the area could be annotated, and their distances between to the rover position can be measured to aid prioritisation of science targeting. Where grains or rocks are present and visible, their dimensions can be measured. Interpretation of the sedimentological features of the outcrops has also been carried out. OPCs created from stereo imagery collected in the Hanskville-Burpee Quarry showed a general coarsening-up succession with a red, well-layered mudstone overlain by stacked layers of irregular thickness and medium-coarse to pebbly sandstone layers. Cross beds/laminations, and lenses of finer sandstone were common. These features provide valuable information on their depositional environment. Development of Pro3D in preparation for application to the ExoMars 2020 and NASA 2020 missions will be centred on validation of the data and measurements. Collection of in-situ field data by a human geologist allows for direct comparison of viewer-derived measurements with those taken in the field. The research leading to these results has received funding from the UK Space Agency Aurora programme and the European Community's Seventh Framework Programme (FP7/2007-2013) under grant agreement n° 312377 PRoViDE, ESA PRODEX Contracts 4000105568 "ExoMars PanCam 3D Vision" and 4000116566 "Mars 2020 Mastcam-Z 3D Vision".

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

    NASA Astrophysics Data System (ADS)

    Ganji, Farid

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

  20. ARC-2008-ACD08-0260-022

    NASA Image and Video Library

    2008-11-04

    K-10 (red) plaentary rover at Marscape (Ames Mars Yard): with prototype flight control team remotely operating K-10 'Red' from Ames Future Flight Centeral (FFC) Simulator, L-R; Pascal Lee, Melissa Rice, David Lees, Trey Smith

  1. Human Habitation in a Lunar Electric Rover During a 14-Day Field Trial

    NASA Technical Reports Server (NTRS)

    Litaker, Harry, Jr.; Thompson, Shelby; Howard, Robert, Jr.

    2010-01-01

    Various military and commercial entities, as well as the National Aeronautics and Space Administration (NASA), have conducted space cabin confinement studies. However, after an extensive literature search, only one study was found using a simulated lunar rover (LUNEX II), under laboratory conditions, with a crew of two for an eighteen day lunar mission. Forty-three years later, NASA human factors engineers conducted a similar study using the Lunar Electric Rover (LER) in a dynamic real-world lunar simulation at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicle s interior volume with respect to human-system interfaces, crew accommodations, and habitation over a 14-day mission. Though part of a larger study including 212 overall operational elements, this paper will discuss only the performance of fifty different daily habitational elements within the confines of the vehicle carried out by two male subjects. Objective timing data and subjective questionnaire data were collected. Results indicate, much like the LUNEX II study, the LER field study suggest that a crew of two was able to maintain a satisfactory performance of tasks throughout the 14-day field trail within a relative small vehicle volume.

  2. Position estimation and driving of an autonomous vehicle by monocular vision

    NASA Astrophysics Data System (ADS)

    Hanan, Jay C.; Kayathi, Pavan; Hughlett, Casey L.

    2007-04-01

    Automatic adaptive tracking in real-time for target recognition provided autonomous control of a scale model electric truck. The two-wheel drive truck was modified as an autonomous rover test-bed for vision based guidance and navigation. Methods were implemented to monitor tracking error and ensure a safe, accurate arrival at the intended science target. Some methods are situation independent relying only on the confidence error of the target recognition algorithm. Other methods take advantage of the scenario of combined motion and tracking to filter out anomalies. In either case, only a single calibrated camera was needed for position estimation. Results from real-time autonomous driving tests on the JPL simulated Mars yard are presented. Recognition error was often situation dependent. For the rover case, the background was in motion and may be characterized to provide visual cues on rover travel such as rate, pitch, roll, and distance to objects of interest or hazards. Objects in the scene may be used as landmarks, or waypoints, for such estimations. As objects are approached, their scale increases and their orientation may change. In addition, particularly on rough terrain, these orientation and scale changes may be unpredictable. Feature extraction combined with the neural network algorithm was successful in providing visual odometry in the simulated Mars environment.

  3. A graphical workstation based part-task flight simulator for preliminary rapid evaluation of advanced displays

    NASA Technical Reports Server (NTRS)

    Wanke, Craig; Kuchar, James; Hahn, Edward; Pritchett, Amy; Hansman, R. J.

    1992-01-01

    Advances in avionics and display technology are significantly changing the cockpit environment in current transport aircraft. The MIT Aeronautical Systems Lab (ASL) has developed a part-task flight simulator specifically to study the effects of these new technologies on flight crew situational awareness and performance. The simulator is based on a commercially-available graphics workstation, and can be rapidly reconfigured to meet the varying demands of experimental studies. The simulator has been successfully used to evaluate graphical microburst alerting displays, electronic instrument approach plates, terrain awareness and alerting displays, and ATC routing amendment delivery through digital datalinks.

  4. Searching for Subsurface Lunar Water Ice using a Nuclear-Powered Rover

    NASA Astrophysics Data System (ADS)

    Randolph, James E.; Abelson, Robert D.; Oxnevad, Knut I.; Shirley, James H.

    2005-02-01

    The Vision for Space Exploration has identified the Earth's moon as a future destination for human explorers as a stepping-stone for further manned deep space exploration. The feasibility of building and maintaining a human presence on the moon could be directly related to whether in-situ resources, especially water ice, can be obtained and utilized by astronauts. With the recent success of both Mars Exploration Rovers (MERs), it is clear that a lunar rover could be a desirable platform with which to search for evidence of lunar water prior to the arrival of astronauts. However, since surface water can only exist in permanently shadowed areas of the moon (i.e., deep craters near the poles), conventionally powered rovers would not be practical for exploring these areas for extended periods. Thus, a study was performed to assess the feasibility of a lunar rover mission enabled by small radioisotope power systems (RPS), i.e., systems that use single GPHSs. Small RPSs, the feasibility of which has been looked at by the Department of Energy, would be capable of providing sufficient electrical and thermal power to allow scientific measurements and operations of a small rover on the floor of dark lunar craters. A conceptual study was completed that considered the science instruments that could be accommodated on a MER-type rover using RPS power. To investigate the subsurface characteristics of the crater floor, a pulsed gamma ray/neutron spectrometer and a ground-penetrating radar would be used. Also, a drill would provide core samples from a depth of 1 meter. A rover architecture consistent with MER capabilities included a mast with panoramic cameras and navigation cameras as well as an instrument deployment device (IDD) that allowed direct contact between the instrument head and surface materials to be measured. Because the crater floor is eternally dark, artificial illumination must be used for both landing and roving operations. The rover design included of dual headlights that would be operated during visual imaging observations. During the landing approach, the lander would use a laser imaging technique to image the approaching surface and react to that image to avoid hazards. The baseline rover concept used four GPHS power sources for a total of about 50 We in conjunction with a 25 A hr battery to supply power during peak loads. A detailed analysis of energy usage for various operational scenarios (e.g. roving, science instrument operations, and telecommunications) was completed using an elaborate power simulation tool. The results show that very demanding activities are possible on a daily basis while maintaining the battery charging.

  5. First results from the Mojave Volatiles Prospector (MVP) Field Campaign, a Lunar Polar Rover Mission Analog

    NASA Astrophysics Data System (ADS)

    Heldmann, J. L.; Colaprete, A.; Cook, A.; Deans, M. C.; Elphic, R. C.; Lim, D. S. S.; Skok, J. R.

    2014-12-01

    The Mojave Volatiles Prospector (MVP) project is a science-driven field program with the goal to produce critical knowledge for conducting robotic exploration of the Moon. MVP will feed science, payload, and operational lessons learned to the development of a real-time, short-duration lunar polar volatiles prospecting mission. MVP achieves these goals through a simulated lunar rover mission to investigate the composition and distribution of surface and subsurface volatiles in a natural and a priori unknown environment within the Mojave Desert, improving our understanding of how to find, characterize, and access volatiles on the Moon. The MVP field site is the Mojave Desert, selected for its low, naturally occurring water abundance. The Mojave typically has on the order of 2-6% water, making it a suitable lunar analog for this field test. MVP uses the Near Infrared and Visible Spectrometer Subsystem (NIRVSS), Neutron Spectrometer Subsystem (NSS), and a downward facing GroundCam camera on the KREX-2 rover to investigate the relationship between the distribution of volatiles and soil crust variation. Through this investigation, we mature robotic in situ instruments and concepts of instrument operations, improve ground software tools for real time science, and carry out publishable research on the water cycle and its connection to geomorphology and mineralogy in desert environments. A lunar polar rover mission is unlike prior space missions and requires a new concept of operations. The rover must navigate 3-5 km of terrain and examine multiple sites in in just ~6 days. Operational decisions must be made in real time, requiring constant situational awareness, data analysis and rapid turnaround decision support tools. This presentation will focus on the first science results and operational architecture findings from the MVP field deployment relevant to a lunar polar rover mission.

  6. Performance Testing of Yardney Li-Ion Cells and Batteries in Support of JPL's 2009 Mars Science Laboratory Mission

    NASA Technical Reports Server (NTRS)

    Smart, M.C.; Ratnakumar, B.V.; Whitcanack, L. D.; Dewell, E. A.; Jones, L. E.; Salvo, C. G.; Puglia, F. J.; Cohen, S.; Gitzendanner, R.

    2008-01-01

    In 2009, JPL is planning to launch an unmanned rover mission to the planet Mars. This mission, referred to as the Mars Science Laboratory (MSL), will involve the use of a rover that is much larger than the previously developed Spirit and Opportunity Rovers for the 2003 Mars Exploration Rover (MER) mission, that are currently still in operation on the surface of the planet after more than three years. Part of the reason that the MER rovers have operated so successfully, far exceeding the required mission duration of 90 sols, is that they possess robust Li-ion batteries, manufactured by Yardney Technical Products, which have demonstrated excellent life characteristics. Given the excellent performance characteristics displayed, similar lithium-ion batteries have been projected to successfully meet the mission requirements of the up-coming MSL mission. Although comparable in many facets, such as being required to operate over a wide temperature range (-20 to 40 C), the MSL mission has more demanding performance requirements compared to the MER mission, including much longer mission duration (approx. 687 sols vs. 90 sols), higher power capability, and the need to withstand higher temperature excursions. In addition, due to the larger rover size, the MSL mission necessitates the use of a much larger battery to meet the energy, life, and power requirements. In order to determine the viability of meeting these requirements, a number of performance verification tests were performed on 10 Ah Yardney lithium-ion cells (MER design) under MSL-relevant conditions, including mission surface operation simulation testing. In addition, the performance of on-going ground life testing of 10 Ah MER cells and 8-cell batteries will be discussed in the context of capacity loss and impedance growth predictions.

  7. Performance Testing of Lithium Li-ion Cells and Batteries in Support of JPL's 2003 Mars Exploration Rover Mission

    NASA Technical Reports Server (NTRS)

    Smart, Marshall C.; Ratnakumar, B. V.; Ewell, R. C.; Whitcanack, L. D.; Surampudi, S.; Puglia, F.; Gitzendanner, R.

    2007-01-01

    In early 2004, JPL successfully landed two Rovers, named Spirit and Opportunity, on the surface of Mars after traveling > 300 million miles over a 6-7 month period. In order to operate for extended duration on the surface of Mars, both Rovers are equipped with rechargeable Lithium-ion batteries, which were designed to aid in the launch, correct anomalies during cruise, and support surface operations in conjunction with a triple-junction deployable solar arrays. The requirements of the Lithium-ion battery include the ability to provide power at least 90 sols on the surface of Mars, operate over a wide temperature range (-20(super 0)C to +40(super 0)C), withstand long storage periods (e.g., including pre-launch and cruise period), operate in an inverted position, and support high currents (e.g., firing pyro events). In order to determine the inability of meeting these requirements, ground testing was performed on a Rover Battery Assembly Unit RBAU), consisting of two 8-cell 8 Ah lithium-ion batteries connected in parallel. The RBAU upon which the performance testing was performed is nearly identical to the batteries incorporated into the two Rovers currently on Mars. The primary focus of this paper is to communicate the latest results regarding Mars surface operation mission simulation testing, as well as, the corresponding performance capacity loss and impedance characteristics as a function of temperature and life. As will be discussed, the lithium-ion batteries (fabricated by Yardney Technical Products, Inc.) have been demonstrated to far exceed the requirements defined by the mission, being able to support the operation of the rovers for over three years, and are projected to support an even further extended mission.

  8. Spirit's 'Paige' Panorama of the Interior of 'Home Plate' (False Color)

    NASA Technical Reports Server (NTRS)

    2006-01-01

    On Feb. 19, 2006, the 758th Martian day of exploration of the red planet by NASA's Mars Exploration Rover Spirit, the rover acquired this panoramic view of the interior of 'Home Plate,' a circular topographic feature amid the 'Columbia Hills.' This view, called the 'Paige' panorama, is from the top of Home Plate. It shows layered rocks exposed at the edge as well as dark rocks exhibiting both smooth and sponge-like 'scoriaceous' textures. To the east from this vantage point, 'McCool Hill' looms on the horizon. At the base of McCool Hill is a reddish outcrop called 'Oberth,' which Spirit may explore during the rapidly approaching Martian winter. 'Von Braun' and 'Goddard' hills are partially visible beyond the opposite rim of Home Plate.

    The limited spatial coverage of this panorama is the result of steadily decreasing power available to the rover for science activities as the Martian winter arrives and the sun traces a lower path across the sky. The rover team anticipates that the north-facing slopes of McCool Hill should sufficiently tilt the rover's solar panels toward the sun to allow Spirit to survive the winter.

    The view covers about 230 degrees of terrain around the rover. Spirit's panoramic camera (Pancam) took 72 separate images of this scene with four different Pancam filters. This is a false-color rendering using the Pancam's 75-nanometer, 535-nanometer, and 432-nanometer filters, enhanced to show many subtle color differences in rocks, soils, and hills in the scene. Image-to-image seams have been eliminated from the sky portion of the mosaic to better simulate the vista a person standing on Mars would see.

  9. Spirit's 'Paige' Panorama of the Interior of 'Home Plate'

    NASA Technical Reports Server (NTRS)

    2006-01-01

    [figure removed for brevity, see original site] Click on the image for Spirit's 'Paige' Panorama of the Interior of 'Home Plate' (QTVR)

    On Feb. 19, 2006, the 758th Martian day of exploration of the red planet by NASA's Mars Exploration Rover Spirit, the rover acquired this panoramic view of the interior of 'Home Plate,' a circular topographic feature amid the 'Columbia Hills.' This view, called the 'Paige' panorama, is from the top of Home Plate. It shows layered rocks exposed at the edge as well as dark rocks exhibiting both smooth and sponge-like 'scoriaceous' textures. To the east from this vantage point, 'McCool Hill' looms on the horizon. At the base of McCool Hill is a reddish outcrop called 'Oberth,' which Spirit may explore during the rapidly approaching Martian winter. 'Von Braun' and 'Goddard' hills are partially visible beyond the opposite rim of Home Plate.

    The limited spatial coverage of this panorama is the result of steadily decreasing power available to the rover for science activities as the Martian winter arrives and the sun traces a lower path across the sky. The rover team anticipates that the north-facing slopes of McCool Hill should sufficiently tilt the rover's solar panels toward the sun to allow Spirit to survive the winter.

    The view covers about 230 degrees of terrain around the rover. Spirit's panoramic camera (Pancam) took 72 separate images of this scene with four different Pancam filters. This is an approximately true-color rendering using the Pancam's 75-nanometer, 535-nanometer, and 432-nanometer filters. Image-to-image seams have been eliminated from the sky portion of the mosaic to better simulate the vista a person standing on Mars would see.

  10. Graphics simulation and training aids for advanced teleoperation

    NASA Technical Reports Server (NTRS)

    Kim, Won S.; Schenker, Paul S.; Bejczy, Antal K.

    1993-01-01

    Graphics displays can be of significant aid in accomplishing a teleoperation task throughout all three phases of off-line task analysis and planning, operator training, and online operation. In the first phase, graphics displays provide substantial aid to investigate work cell layout, motion planning with collision detection and with possible redundancy resolution, and planning for camera views. In the second phase, graphics displays can serve as very useful tools for introductory training of operators before training them on actual hardware. In the third phase, graphics displays can be used for previewing planned motions and monitoring actual motions in any desired viewing angle, or, when communication time delay prevails, for providing predictive graphics overlay on the actual camera view of the remote site to show the non-time-delayed consequences of commanded motions in real time. This paper addresses potential space applications of graphics displays in all three operational phases of advanced teleoperation. Possible applications are illustrated with techniques developed and demonstrated in the Advanced Teleoperation Laboratory at JPL. The examples described include task analysis and planning of a simulated Solar Maximum Satellite Repair task, a novel force-reflecting teleoperation simulator for operator training, and preview and predictive displays for on-line operations.

  11. A space systems perspective of graphics simulation integration

    NASA Technical Reports Server (NTRS)

    Brown, R.; Gott, C.; Sabionski, G.; Bochsler, D.

    1987-01-01

    Creation of an interactive display environment can expose issues in system design and operation not apparent from nongraphics development approaches. Large amounts of information can be presented in a short period of time. Processes can be simulated and observed before committing resources. In addition, changes in the economics of computing have enabled broader graphics usage beyond traditional engineering and design into integrated telerobotics and Artificial Intelligence (AI) applications. The highly integrated nature of space operations often tend to rely upon visually intensive man-machine communication to ensure success. Graphics simulation activities at the Mission Planning and Analysis Division (MPAD) of NASA's Johnson Space Center are focusing on the evaluation of a wide variety of graphical analysis within the context of present and future space operations. Several telerobotics and AI applications studies utilizing graphical simulation are described. The presentation includes portions of videotape illustrating technology developments involving: (1) coordinated manned maneuvering unit and remote manipulator system operations, (2) a helmet mounted display system, and (3) an automated rendezous application utilizing expert system and voice input/output technology.

  12. Interactive Classroom Graphics--Simulating Non-Linear Arrhenius Plots.

    ERIC Educational Resources Information Center

    Ben-Zion, M.; Hoz, S.

    1980-01-01

    Describes two simulation programs using an interactive graphic display terminal that were developed for a course in physical organic chemistry. Demonstrates the energetic conditions that give rise to deviations from linearity in the Arrhenius equation. (CS)

  13. The design and implementation of CRT displays in the TCV real-time simulation

    NASA Technical Reports Server (NTRS)

    Leavitt, J. B.; Tariq, S. I.; Steinmetz, G. G.

    1975-01-01

    The design and application of computer graphics to the Terminal Configured Vehicle (TCV) program were described. A Boeing 737-100 series aircraft was modified with a second flight deck and several computers installed in the passenger cabin. One of the elements in support of the TCV program is a sophisticated simulation system developed to duplicate the operation of the aft flight deck. This facility consists of an aft flight deck simulator, equipped with realistic flight instrumentation, a CDC 6600 computer, and an Adage graphics terminal; this terminal presents to the simulator pilot displays similar to those used on the aircraft with equivalent man-machine interactions. These two displays form the primary flight instrumentation for the pilot and are dynamic images depicting critical flight information. The graphics terminal is a high speed interactive refresh-type graphics system. To support the cockpit display, two remote CRT's were wired in parallel with two of the Adage scopes.

  14. Development of automation and robotics for space via computer graphic simulation methods

    NASA Technical Reports Server (NTRS)

    Fernandez, Ken

    1988-01-01

    A robot simulation system, has been developed to perform automation and robotics system design studies. The system uses a procedure-oriented solid modeling language to produce a model of the robotic mechanism. The simulator generates the kinematics, inverse kinematics, dynamics, control, and real-time graphic simulations needed to evaluate the performance of the model. Simulation examples are presented, including simulation of the Space Station and the design of telerobotics for the Orbital Maneuvering Vehicle.

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

    NASA Astrophysics Data System (ADS)

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

    2015-12-01

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

  16. Experimental evaluation of candidate graphical microburst alert displays

    NASA Technical Reports Server (NTRS)

    Wanke, Craig; Hansman, R. John

    1992-01-01

    The topics addressed are: (1) experimental evaluation of candidate graphical microburst displays; (2) microburst detection and alerting; (3) previous part-task simulator experiment-comparison of presentation modes; (4) presentation mode comparison-results; (5) advantages of graphical mode of presentation; (6) graphical microburst alert experiment-objectives; and graphical microburst alert experiment-overview; and (7) candidate display design.

  17. ARC-2008-ACD08-0260-023

    NASA Image and Video Library

    2008-11-04

    K-10 (red) plaentary rover at Marscape (Ames Mars Yard): with prototype flight control team remotely operating K-10 'Red' from Ames Future Flight Centeral (FFC) Simulator. L-R; Jeff Tripp, David Lees, Trey Smith, Mark Helper, Simon Rutishauser

  18. Tool for Statistical Analysis and Display of Landing Sites

    NASA Technical Reports Server (NTRS)

    Wawrzyniak, Geoffrey; Kennedy, Brian; Knocke, Philip; Michel, John

    2006-01-01

    MarsLS is a software tool for analyzing statistical dispersion of spacecraft-landing sites and displaying the results of its analyses. Originally intended for the Mars Explorer Rover (MER) mission, MarsLS is also applicable to landing sites on Earth and non-MER sites on Mars. MarsLS is a collection of interdependent MATLAB scripts that utilize the MATLAB graphical-user-interface software environment to display landing-site data (see figure) on calibrated image-maps of the Martian or other terrain. The landing-site data comprise latitude/longitude pairs generated by Monte Carlo runs of other computer programs that simulate entry, descent, and landing. Using these data, MarsLS can compute a landing-site ellipse a standard means of depicting the area within which the spacecraft can be expected to land with a given probability. MarsLS incorporates several features for the user s convenience, including capabilities for drawing lines and ellipses, overlaying kilometer or latitude/longitude grids, drawing and/or specifying lines and/or points, entering notes, defining and/or displaying polygons to indicate hazards or areas of interest, and evaluating hazardous and/or scientifically interesting areas. As part of such an evaluation, MarsLS can compute the probability of landing in a specified polygonal area.

  19. Soil simulant sourcing for the ExoMars rover testbed

    NASA Astrophysics Data System (ADS)

    Gouache, Thibault P.; Patel, Nildeep; Brunskill, Christopher; Scott, Gregory P.; Saaj, Chakravarthini M.; Matthews, Marcus; Cui, Liang

    2011-06-01

    ExoMars is the European Space Agency (ESA) mission to Mars planned for launch in 2018, focusing on exobiology with the primary objective of searching for any traces of extant or extinct carbon-based micro-organisms. The on-surface mission is performed by a near-autonomous mobile robotic vehicle (also referred to as the rover) with a mission design life of 180 sols (Patel et al., 2010). In order to obtain useful data on the tractive performance of the ExoMars rover before flight, it is necessary to perform mobility tests on representative soil simulant materials producing a Martian terrain analogue under terrestrial laboratory conditions. Three individual types of regolith shown to be found extensively on the Martian surface were identified for replication using commercially available terrestrial materials, sourced from UK sites in order to ensure easy supply and reduce lead times for delivery. These materials (also referred to as the Engineering Soil (ES-x) simulants) are: a fine dust analogue (ES-1); a fine aeolian sand analogue (ES-2); and a coarse sand analogue (ES-3). Following a detailed analysis, three fine sand regolith types were identified from commercially available products. Each material was used in its off-the-shelf state, except for ES-2, where further processing methods were used to reduce the particle size range. These materials were tested to determine their physical characteristics, including the particle size distribution, particle density, particle shape (including angularity/sphericity) and moisture content. The results are analysed to allow comparative analysis with existing soil simulants and the published results regarding in situ analysis of Martian soil on previous NASA (National Aeronautics and Space Administration) missions. The findings have shown that in some cases material properties vary significantly from the specifications provided by material suppliers. This has confirmed the need for laboratory testing to determine the actual parameters to prove that standard geotechnical processes are indeed suitable. The outcomes have allowed the confirmation of each simulant material as suitable for replicating their respective regolith types.

  20. Flight Telerobotic Servicer prototype simulator

    NASA Astrophysics Data System (ADS)

    Schein, Rob; Krauze, Linda; Hartley, Craig; Dickenson, Alan; Lavecchia, Tom; Working, Bob

    A prototype simulator for the Flight Telerobotic Servicer (FTS) system is described for use in the design development of the FTS, emphasizing the hand controller and user interface. The simulator utilizes a graphics workstation based on rapid prototyping tools for systems analyses of the use of the user interface and the hand controller. Kinematic modeling, manipulator-control algorithms, and communications programs are contained in the software for the simulator. The hardwired FTS panels and operator interface for use on the STS Orbiter are represented graphically, and the simulated controls function as the final FTS system configuration does. The robotic arm moves based on the user hand-controller interface, and the joint angles and other data are given on the prototype of the user interface. This graphics simulation tool provides the means for familiarizing crewmembers with the FTS system operation, displays, and controls.

  1. Designer: A Knowledge-Based Graphic Design Assistant.

    ERIC Educational Resources Information Center

    Weitzman, Louis

    This report describes Designer, an interactive tool for assisting with the design of two-dimensional graphic interfaces for instructional systems. The system, which consists of a color graphics interface to a mathematical simulation, provides enhancements to the Graphics Editor component of Steamer (a computer-based training system designed to aid…

  2. Swarmie User Manual: A Rover Used for Multi-agent Swarm Research

    NASA Technical Reports Server (NTRS)

    Montague, Gilbert

    2014-01-01

    The ability to create multiple functional yet cost effective robots is crucial for conducting swarming robotics research. The Center Innovation Fund (CIF) swarming robotics project is a collaboration among the KSC Granular Mechanics and Regolith Operations (GMRO) group, the University of New Mexico Biological Computation Lab, and the NASA Ames Intelligent Robotics Group (IRG) that uses rovers, dubbed "Swarmies", as test platforms for genetic search algorithms. This fall, I assisted in the development of the software modules used on the Swarmies and created this guide to provide thorough instructions on how to configure your workspace to operate a Swarmie both in simulation and out in the field.

  3. Battery Control Boards for Li-Ion Batteries on Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Ewell, R.; Ratnakumar, B. V.; Smart, M.; Chin, K. B.; Whitcanack, L.; Narayanan, S. R.; Surampudi, S.

    2006-01-01

    Rechargeable Lithium-ion batteries have been operating successfully on both Spirit and Opportunity rovers for the last two years, which includes six months of Assembly Launch and Test Operations (ATLO), seven months of cruise and about eleven months of surface operations. The Battery Control Boards designed and fabricated in-house would protect cells against overcharge and over-discharge and provide cell balance. Their performance has thus far been quite satisfactory. The ground data o the mission simulation battery project little capacity loss of less than 3% during cruise and 180 sols. Batteries are poised to extend the mission beyond six months, if not a couple of years.

  4. ARC-2008-ACD08-0260-016

    NASA Image and Video Library

    2008-11-04

    K-10 (red) plaentary rover at Marscape (Ames Mars Yard): with prototype flight control team remotely operating K-10 'Red' from Ames Future Flight Centeral (FFC) Simulator, L-R Eric Park, Debra Schreckenghost, Rob Landis, Tod Milam, Steve Riley, Estrellina Pacis

  5. Mars Methane Analogue Mission (M3): Analytical Techniques and Operations

    NASA Astrophysics Data System (ADS)

    Cloutis, E.; Vrionis, H.; Qadi, A.; Bell, J. F.; Berard, G.; Boivin, A.; Ellery, A.; Jamroz, W.; Kruzelecky, R.; Mann, P.; Samson, C.; Stromberg, J.; Strong, K.; Tremblay, A.; Whyte, L.; Wing, B.

    2011-03-01

    The Mars Methane Analogue Mission (M3) project is designed to simulate a rover-based search for, and analysis of, methane sources on Mars at a serpentinite open pit mine in Quebec, using a variety of instruments.

  6. Obtaining higher-accuracy estimates of water-rich rocks and water-poor sand dunes on Mars in active neutron experiments

    NASA Astrophysics Data System (ADS)

    Gabriel, T. S. J.; Hardgrove, C.; Litvak, M. L.; Nowicki, S.; Mitrofanov, I. G.; Boynton, W. V.; Fedosov, F.; Golovin, D.; Jun, I.; Mischna, M.; Tate, C. G.; Moersch, J.; Harshman, K.; Kozyrev, A.; Malakhov, A. V.; Mokrousov, M.; Nikiforov, S.; Sanin, A. B.; Vostrukhin, A.; Thompson, L. M.

    2017-12-01

    The Dynamic Albedo of Neutrons (DAN) experiment on the Mars Science Laboratory Curiosity Rover delivers high-energy (14.1 MeV) pulses of neutrons into the surface when operating in "active" mode. Neutrons are moderated in the subsurface and return to two detectors to provide a time-of-flight profile in 64 time-bins in epithermal and thermal energy ranges. Results are compared to simulations of the experiment in the Monte Carlo N-Particle Transport Code where several aspects are modeled including the DAN detectors, neutron source, rover components, and underlying rock. Models can be improved by increasing the fidelity of the rock geochemistry as informed by instruments including the Alpha Particle X-Ray Spectrometer (APXS). Furthermore, increasing the fidelity of the rock morphology in models is enabled by the suite of imaging instruments on the rover.To rapidly interpret DAN data a set of pre-simulated generic rock density and bulk geochemistry models are compared to several DAN active observations. While, to first order, this methodology provides an indication of significant geochemical changes in the subsurface, higher-fidelity models should be used to provide accurate constraints on water content, depth of geologic layers, or abundance of neutron absorbers. For example, in high-silicon, low-iron rocks observed along the rover's traverse, generic models can differ by several wt%H2O from models that use APXS measurements of nearby drill samples. Accurate measurements of high-silicon targets are necessary in outlining the extent of aqueous alteration and hydrothermal activity in Gale Crater. Additionally, we find that for DAN active experiments over sand dunes best-fit models can differ by greater than 0.5 wt%HO when the upper layer density is reduced by 0.6 g/cm3 to account for the low-bulk density of sand. In areas where the rock geochemistry differs little from generic models the difference in results is expectedly less disparate. We report refined wt%HO values for high-silicon, aqueously-altered rock and comparatively dry sand dunes along the rover traverse. We also outline the methodology for providing accurate geochemical and morphological constraints using DAN active measurements.

  7. Mimicking Mars: A vacuum simulation chamber for testing environmental instrumentation for Mars exploration

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

    Sobrado, J. M., E-mail: sobradovj@inta.es; Martín-Soler, J.; Martín-Gago, J. A.

    We have built a Mars environmental simulation chamber, designed to test new electromechanical devices and instruments that could be used in space missions. We have developed this environmental system aiming at validating the meteorological station Rover Environment Monitoring Station of NASA's Mars Science Laboratory mission currently installed on Curiosity rover. The vacuum chamber has been built following a modular configuration and operates at pressures ranging from 1000 to 10{sup −6} mbars, and it is possible to control the gas composition (the atmosphere) within this pressure range. The device (or sample) under study can be irradiated by an ultraviolet source andmore » its temperature can be controlled in the range from 108 to 423 K. As an important improvement with respect to other simulation chambers, the atmospheric gas into the experimental chamber is cooled at the walls by the use of liquid-nitrogen heat exchangers. This chamber incorporates a dust generation mechanism designed to study Martian-dust deposition while modifying the conditions of temperature, and UV irradiated.« less

  8. Study of sample drilling techniques for Mars sample return missions

    NASA Technical Reports Server (NTRS)

    Mitchell, D. C.; Harris, P. T.

    1980-01-01

    To demonstrate the feasibility of acquiring various surface samples for a Mars sample return mission the following tasks were performed: (1) design of a Mars rover-mounted drill system capable of acquiring crystalline rock cores; prediction of performance, mass, and power requirements for various size systems, and the generation of engineering drawings; (2) performance of simulated permafrost coring tests using a residual Apollo lunar surface drill, (3) design of a rock breaker system which can be used to produce small samples of rock chips from rocks which are too large to return to Earth, but too small to be cored with the Rover-mounted drill; (4)design of sample containers for the selected regolith cores, rock cores, and small particulate or rock samples; and (5) design of sample handling and transfer techniques which will be required through all phase of sample acquisition, processing, and stowage on-board the Earth return vehicle. A preliminary design of a light-weight Rover-mounted sampling scoop was also developed.

  9. A high-accuracy two-position alignment inertial navigation system for lunar rovers aided by a star sensor with a calibration and positioning function

    NASA Astrophysics Data System (ADS)

    Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

    2016-12-01

    An integrated inertial/celestial navigation system (INS/CNS) has wide applicability in lunar rovers as it provides accurate and autonomous navigational information. Initialization is particularly vital for a INS. This paper proposes a two-position initialization method based on a standard Kalman filter. The difference between the computed star vector and the measured star vector is measured. With the aid of a star sensor and the two positions, the attitudinal and positional errors can be greatly reduced, and the biases of three gyros and accelerometers can also be estimated. The semi-physical simulation results show that the positional and attitudinal errors converge within 0.07″ and 0.1 m, respectively, when the given initial positional error is 1 km and the attitudinal error is 10°. These good results show that the proposed method can accomplish alignment, positioning and calibration functions simultaneously. Thus the proposed two-position initialization method has the potential for application in lunar rover navigation.

  10. Thermal Vacuum Test of Ice as a Phase Change Material Integrated with a Radiator

    NASA Technical Reports Server (NTRS)

    Lee, Steve; Le, Hung; Leimkuehler, Thomas O.; Stephan, Ryan A.

    2009-01-01

    Water may be used as radiation shielding for Solar Particle Events (SPE) to protect crewmembers in the Lunar Electric Rover (LER). Because the water is already present for radiation protection, it could also provide a mass efficient solution to the vehicle's thermal control system. This water can be frozen by heat rejection from a radiator and used as a Phase Change Material (PCM) for thermal storage. Use of this water as a PCM can eliminate the need for a pumped fluid loop thermal control system as well as reduce the required size of the radiator. This paper describes the testing and analysis performed for the Rover Engineering Development Unit (REDU), a scaled-down version of a water PCM heat sink for the LER. The REDU was tested in a thermal-vacuum chamber at environmental temperatures similar to those of a horizontal radiator panel on the lunar surface. Testing included complete freeze and melt cycles along with scaled transient heat load profiles simulating a 24-hour day for the rover.

  11. WISDOM GPR investigations in a Mars-analog environment during the SAFER rover operation simulation

    NASA Astrophysics Data System (ADS)

    Dorizon, S.; Ciarletti, V.; Plettemeier, D.; Vieau, A.-J.; Benedix, W.-S.; Mütze, M.; Hassen-Kodja, R.; Humeau, O.

    2014-04-01

    The WISDOM (Water Ice Subsurface Deposits Observations on Mars) Ground Penetrating Radar has been selected to be onboard the ExoMars 2018 rover mission [1]. This instrument will investigate the Martian shallow subsurface and provide the geological context of the mission, by characterizing the subsurface in terms of structure, stratigraphy and potential buried objects. It will also quantify the geoelectrical properties of the medium, which are directly related to its nature, its water or salts content and its hardness [2]. WISDOM data will provide important clues to guide the drilling operations to location of potential exobiological interest. A prototype available in LATMOS, France, is currently tested in a wide range of natural environments. In this context, the WISDOM team participated in the SAFER (Sample Acquisition Field Experiment with a Rover) field trial that occurred from 7th to 13th October 2013 in the Atacama Desert, Chile. Designed to gather together scientists and engineers in a context of a real Martian mission with a rover, the SAFER trial was the opportunity to use three onboard ExoMars instruments, namely CLUPI (Close- UP Imager), PANCAM (Panoramic Camera) and WISDOM, to investigate the chosen area. We present the results derived from WISDOM data acquired over the SAFER trial site to characterize the shallow subsurface of the area.

  12. Haughton-Mars Project/NASA 2006 Lunar Medical Contingency Simulation: Equipment and Methods for Medical Evacuation of an Injured Crewmember

    NASA Technical Reports Server (NTRS)

    Chappell, S. P.; Scheuring, R. A.; Jones, J. A.; Lee, P.; Comtois, J. M.; Chase, T.; Gernhardt M.; Wilkinson, N.

    2007-01-01

    Introduction: Achieving NASA's Space Exploration Vision scientific objectives will require human access into cratered and uneven terrain for the purpose of sample acquisition to assess geological, and perhaps even biological features and experiments. Operational risk management is critical to safely conduct the anticipated tasks. This strategy, along with associated contingency plans, will be a driver of EVA system requirements. Therefore, a medical contingency EVA scenario was performed with the Haughton-Mars Project/NASA to develop belay and medical evacuation techniques for exploration and rescue respectively. Methods: A rescue system to allow two rescuer astronauts to evacuate one in incapacitated astronaut was evaluated. The systems main components were a hard-bottomed rescue litter, hand-operated winch, rope, ground picket anchors, and a rover-winch attachment adapter. Evaluation was performed on 15-25deg slopes of dirt with embedded rock. The winch was anchored either by adapter to the rover or by pickets hammered into the ground. The litter was pulled over the surface by rope attached to the winch. Results: The rescue system was utilized effectively to extract the injured astronaut up a slope and to a waiting rover for transport to a simulated habitat for advanced medical care, although several challenges to implementation were identified and overcome. Rotational stabilization of the winch was found to be important to get maximize mechanical advantage from the extraction system. Discussion: Further research and testing needs to be performed to be able to fully consider synergies with the other Exploration surface systems, in conducting contingency operations. Structural attachment points on the surface EVA suits may be critical to assist in incapacitated evacuation. Such attach points could be helpful in microgravity incapacitated crewmember transport as well. Wheeled utility carts or wheels that may be attachable to a litter may also aid in extraction and transport. Utilizing parts of the rover (e.g. seats) to deploy as a litter may be considered. Testing in simulated 1/6-g to determine feasibility of winch operation and anchor establishment will further reduce implementation uncertainties.

  13. Light reflection models for computer graphics.

    PubMed

    Greenberg, D P

    1989-04-14

    During the past 20 years, computer graphic techniques for simulating the reflection of light have progressed so that today images of photorealistic quality can be produced. Early algorithms considered direct lighting only, but global illumination phenomena with indirect lighting, surface interreflections, and shadows can now be modeled with ray tracing, radiosity, and Monte Carlo simulations. This article describes the historical development of computer graphic algorithms for light reflection and pictorially illustrates what will be commonly available in the near future.

  14. ARC-2008-ACD08-0260-024

    NASA Image and Video Library

    2008-11-04

    K-10 (red) plaentary rover at Marscape (Ames Mars Yard): with prototype flight control team remotely operating K-10 'Red' from Ames Future Flight Centeral (FFC) Simulator, L-R; Kip Hodges, Mark Helper, Marwan Hussein, Pascal Lee, Melissa Rice, Trey Smith, David Lees

  15. Science Operations for the 2008 NASA Lunar Analog Field Test at Black Point Lava Flow, Arizona

    NASA Technical Reports Server (NTRS)

    Garry W. D.; Horz, F.; Lofgren, G. E.; Kring, D. A.; Chapman, M. G.; Eppler, D. B.; Rice, J. W., Jr.; Nelson, J.; Gernhardt, M. L.; Walheim, R. J.

    2009-01-01

    Surface science operations on the Moon will require merging lessons from Apollo with new operation concepts that exploit the Constellation Lunar Architecture. Prototypes of lunar vehicles and robots are already under development and will change the way we conduct science operations compared to Apollo. To prepare for future surface operations on the Moon, NASA, along with several supporting agencies and institutions, conducted a high-fidelity lunar mission simulation with prototypes of the small pressurized rover (SPR) and unpressurized rover (UPR) (Fig. 1) at Black Point lava flow (Fig. 2), 40 km north of Flagstaff, Arizona from Oct. 19-31, 2008. This field test was primarily intended to evaluate and compare the surface mobility afforded by unpressurized and pressurized rovers, the latter critically depending on the innovative suit-port concept for efficient egress and ingress. The UPR vehicle transports two astronauts who remain in their EVA suits at all times, whereas the SPR concept enables astronauts to remain in a pressurized shirt-sleeve environment during long translations and while making contextual observations and enables rapid (less than or equal to 10 minutes) transfer to and from the surface via suit-ports. A team of field geologists provided realistic science scenarios for the simulations and served as crew members, field observers, and operators of a science backroom. Here, we present a description of the science team s operations and lessons learned.

  16. Astronomy Simulation with Computer Graphics.

    ERIC Educational Resources Information Center

    Thomas, William E.

    1982-01-01

    "Planetary Motion Simulations" is a system of programs designed for students to observe motions of a superior planet (one whose orbit lies outside the orbit of the earth). Programs run on the Apple II microcomputer and employ high-resolution graphics to present the motions of Saturn. (Author/JN)

  17. Computer Graphics Simulations of Sampling Distributions.

    ERIC Educational Resources Information Center

    Gordon, Florence S.; Gordon, Sheldon P.

    1989-01-01

    Describes the use of computer graphics simulations to enhance student understanding of sampling distributions that arise in introductory statistics. Highlights include the distribution of sample proportions, the distribution of the difference of sample means, the distribution of the difference of sample proportions, and the distribution of sample…

  18. Automatic programming of simulation models

    NASA Technical Reports Server (NTRS)

    Schroer, Bernard J.; Tseng, Fan T.; Zhang, Shou X.; Dwan, Wen S.

    1990-01-01

    The concepts of software engineering were used to improve the simulation modeling environment. Emphasis was placed on the application of an element of rapid prototyping, or automatic programming, to assist the modeler define the problem specification. Then, once the problem specification has been defined, an automatic code generator is used to write the simulation code. The following two domains were selected for evaluating the concepts of software engineering for discrete event simulation: manufacturing domain and a spacecraft countdown network sequence. The specific tasks were to: (1) define the software requirements for a graphical user interface to the Automatic Manufacturing Programming System (AMPS) system; (2) develop a graphical user interface for AMPS; and (3) compare the AMPS graphical interface with the AMPS interactive user interface.

  19. Interactive graphic editing tools in bioluminescent imaging simulation

    NASA Astrophysics Data System (ADS)

    Li, Hui; Tian, Jie; Luo, Jie; Wang, Ge; Cong, Wenxiang

    2005-04-01

    It is a challenging task to accurately describe complicated biological tissues and bioluminescent sources in bioluminescent imaging simulation. Several graphic editing tools have been developed to efficiently model each part of the bioluminescent simulation environment and to interactively correct or improve the initial models of anatomical structures or bioluminescent sources. There are two major types of graphic editing tools: non-interactive tools and interactive tools. Geometric building blocks (i.e. regular geometric graphics and superquadrics) are applied as non-interactive tools. To a certain extent, complicated anatomical structures and bioluminescent sources can be approximately modeled by combining a sufficient large number of geometric building blocks with Boolean operators. However, those models are too simple to describe the local features and fine changes in 2D/3D irregular contours. Therefore, interactive graphic editing tools have been developed to facilitate the local modifications of any initial surface model. With initial models composed of geometric building blocks, interactive spline mode is applied to conveniently perform dragging and compressing operations on 2D/3D local surface of biological tissues and bioluminescent sources inside the region/volume of interest. Several applications of the interactive graphic editing tools will be presented in this article.

  20. Students, Teachers, and Scientists Partner to Explore Mars

    NASA Astrophysics Data System (ADS)

    Bowman, C. D.; Bebak, M.; Curtis, K.; Daniel, C.; Grigsby, B.; Herman, T.; Haynes, E.; Lineberger, D. H.; Pieruccini, S.; Ransom, S.; Reedy, K.; Spencer, C.; Steege, A.

    2003-12-01

    The Mars Exploration Rovers began their journey to the red planet in the summer of 2003 and, in early 2004, will begin an unprecedented level of scientific exploration on Mars, attracting the attention of scientists and the public worldwide. In an effort to engage students and teachers in this exciting endeavor, NASA's Mars Public Engagement Office, partnering with the Athena Science Investigation, coordinates a student-scientist research partnership program called the Athena Student Interns Program. The Athena Student Interns Program \\(ASIP\\) began in early 1999 as the LAPIS program, a pilot hands-on educational effort associated with the FIDO prototype Mars rover field tests \\(Arvidson, 2000\\). In ASIP, small groups of students and teachers selected through a national application process are paired with mentors from the mission's Athena Science Team to carry out an aspect of the mission. To prepare for actual operations during the landed rover mission, the students and teachers participate in one of the Science Team's Operational Readiness Tests \\(ORTs\\) at JPL using a prototype rover in a simulated Mars environment \\(Crisp, et al., in press. See also http://mars.jpl.nasa.gov/mer/fido/\\). Once the rovers have landed, each ASIP group will spend one week at JPL in mission operations, working as part of their mentor's own team to help manage and interpret data coming from Mars. To reach other teachers and students, each group gives school and community presentations, contributes to publications such as web articles and conference abstracts, and participates in NASA webcasts and webchats. Partnering with other groups and organizations, such as NASA's Solar System Ambassadors and the Housing and Urban Development Neighborhood Networks helps reach an even broader audience. ASIP is evaluated through the use of empowerment evaluation, a technique that actively involves participants in program assessment \\(Fetterman and Bowman, 2002\\). With the knowledge they gain through the ASIP program and their participation in the empowerment evaluation, ASIP members will help refine the current program and provide a model for student-scientist research partnerships associated with future space missions to Mars and beyond. Arvidson, R.E., et al. \\(2000\\) Students participate in Mars Sample Return Rover field tests. Eos, 81(11). Crisp, J.A., et al. \\(in press\\) The Mars Exploration Rover Mission. J. Geophys. Research-Planets. Fetterman, D. and C.D. Bowman. \\(2002\\) Experiential Education and Empowerment Evaluation: Mars Rover Educational Program Case Example. J. Experiential Education, 25(2).

  1. Curiosity First 16 Rock or Soil Sampling Sites on Mars

    NASA Image and Video Library

    2016-10-03

    This graphic maps locations of the sites where NASA's Curiosity Mars rover collected its first 18 rock or soil samples for analysis by laboratory instruments inside the vehicle. It also presents images of the drilled holes where 14 rock-powder samples were acquired. Curiosity scooped two soil samples at each of the other two sites: Rocknest and Gobabeb. The diameter of each drill hole is about 0.6 inch (1.6 centimeters), slightly smaller than a U.S. dime. The images used here are raw color, as recorded by the rover's Mars Hand Lens Imager (MAHLI) camera. Notice the differences in color of the material at different drilling sites. For the map, north is toward upper left corner. The scale bar represents 2 kilometers (1.2 miles). The base map is from the High Resolution Imaging Science Experiment (HiRISE) camera on NASA's Mars Reconnaissance Orbiter. The latest sample site included is "Quela,"where Curiosity drilled into bedrock of the Murray formation on Sept. 18, 2016, during the 1,464th Martian day, or sol, of the mission. Curiosity landed in August 2012 on the plain (named Aeolis Palus) near Mount Sharp (or Aeolis Mons). More drilling samples collected by MSL are available at http://photojournal.jpl.nasa.gov/catalog/PIA20845

  2. Dynamics of a thermally driven film climbing the outside of a vertical cylinder.

    PubMed

    Smolka, Linda B

    2017-10-01

    The dynamics of a film climbing the outside of a vertical cylinder under the competing effects of a thermally driven surface tension gradient and gravity is examined through numerical simulations of a thin-film model for the film height. The model, including boundary conditions, depends on three parameters, the scaled cylinder radius R[over ̂], the upstream film height h_{∞}, and the downstream precursor film thickness b, and reduces to the model for Marangoni driven film climbing a vertical plate in the limit R[over ̂]→∞. The axisymmetric advancing front displays dynamics similar to that found along a vertical plate where, depending on h_{∞}, the film forms a single Lax shock, an undercompressive double shock, or a rarefaction-undercompressive shock. A linear stability analysis of the Lax shock reveals the number of fingers that form along the contact line increases linearly with cylinder circumference while no fingers form for sufficiently small cylinders (below R[over ̂]≈1.15 when b=0.1). The substrate curvature controls the height of the Lax shock, bounds on h_{∞} that define the three distinct solutions, and the maximum growth rate of contact line perturbations to the Lax shock when R[over ̂]=O(1), whereas the three solutions and the stability of the Lax shock converge to the behavior one observes on a vertical plate when R[over ̂]≥O(10). An energy analysis reveals that the azimuthal curvatures of the base state and perturbation, which arise from the annular geometry of the film, promote instability of the advancing contact line.

  3. Computer graphics and the graphic artist

    NASA Technical Reports Server (NTRS)

    Taylor, N. L.; Fedors, E. G.; Pinelli, T. E.

    1985-01-01

    A centralized computer graphics system is being developed at the NASA Langley Research Center. This system was required to satisfy multiuser needs, ranging from presentation quality graphics prepared by a graphic artist to 16-mm movie simulations generated by engineers and scientists. While the major thrust of the central graphics system was directed toward engineering and scientific applications, hardware and software capabilities to support the graphic artists were integrated into the design. This paper briefly discusses the importance of computer graphics in research; the central graphics system in terms of systems, software, and hardware requirements; the application of computer graphics to graphic arts, discussed in terms of the requirements for a graphic arts workstation; and the problems encountered in applying computer graphics to the graphic arts. The paper concludes by presenting the status of the central graphics system.

  4. Self calibration of the stereo vision system of the Chang'e-3 lunar rover based on the bundle block adjustment

    NASA Astrophysics Data System (ADS)

    Zhang, Shuo; Liu, Shaochuang; Ma, Youqing; Qi, Chen; Ma, Hao; Yang, Huan

    2017-06-01

    The Chang'e-3 was the first lunar soft landing probe of China. It was composed of the lander and the lunar rover. The Chang'e-3 successful landed in the northwest of the Mare Imbrium in December 14, 2013. The lunar rover completed the movement, imaging and geological survey after landing. The lunar rover equipped with a stereo vision system which was made up of the Navcam system, the mast mechanism and the inertial measurement unit (IMU). The Navcam system composed of two cameras with the fixed focal length. The mast mechanism was a robot with three revolute joints. The stereo vision system was used to determine the position of the lunar rover, generate the digital elevation models (DEM) of the surrounding region and plan the moving paths of the lunar rover. The stereo vision system must be calibrated before use. The control field could be built to calibrate the stereo vision system in the laboratory on the earth. However, the parameters of the stereo vision system would change after the launch, the orbital changes, the braking and the landing. Therefore, the stereo vision system should be self calibrated on the moon. An integrated self calibration method based on the bundle block adjustment is proposed in this paper. The bundle block adjustment uses each bundle of ray as the basic adjustment unit and the adjustment is implemented in the whole photogrammetric region. The stereo vision system can be self calibrated with the proposed method under the unknown lunar environment and all parameters can be estimated simultaneously. The experiment was conducted in the ground lunar simulation field. The proposed method was compared with other methods such as the CAHVOR method, the vanishing point method, the Denavit-Hartenberg method, the factorization method and the weighted least-squares method. The analyzed result proved that the accuracy of the proposed method was superior to those of other methods. Finally, the proposed method was practical used to self calibrate the stereo vision system of the Chang'e-3 lunar rover on the moon.

  5. Analyzing Robotic Kinematics Via Computed Simulations

    NASA Technical Reports Server (NTRS)

    Carnahan, Timothy M.

    1992-01-01

    Computing system assists in evaluation of kinematics of conceptual robot. Displays positions and motions of robotic manipulator within work cell. Also displays interactions between robotic manipulator and other objects. Results of simulation displayed on graphical computer workstation. System includes both off-the-shelf software originally developed for automotive industry and specially developed software. Simulation system also used to design human-equivalent hand, to model optical train in infrared system, and to develop graphical interface for teleoperator simulation system.

  6. Graphical Interfaces for Simulation.

    ERIC Educational Resources Information Center

    Hollan, J. D.; And Others

    This document presents a discussion of the development of a set of software tools to assist in the construction of interfaces to simulations and real-time systems. Presuppositions to the approach to interface design that was used are surveyed, the tools are described, and the conclusions drawn from these experiences in graphical interface design…

  7. Using Lotus 1-2-3 for "Non-Stop" Graphic Simulation.

    ERIC Educational Resources Information Center

    Godin, Victor B.; Rao, Ashok

    1988-01-01

    Discusses the use of Lotus 1-2-3 to create non-stop graphic displays of simulation models. Describes a simple application of this technique using the distribution resulting from repeated throws of dice. Lists other software used with this technique. Stresses the advantages of this approach in education. (CW)

  8. Interactive Mathematica Simulations in Chemical Engineering Courses

    ERIC Educational Resources Information Center

    Falconer, John L.; Nicodemus, Garret D.

    2014-01-01

    Interactive Mathematica simulations with graphical displays of system behavior are an excellent addition to chemical engineering courses. The Manipulate command in Mathematica creates on-screen controls that allow users to change system variables and see the graphical output almost instantaneously. They can be used both in and outside class. More…

  9. Designing Better Scaffolding in Teaching Complex Systems with Graphical Simulations

    ERIC Educational Resources Information Center

    Li, Na

    2013-01-01

    Complex systems are an important topic in science education today, but they are usually difficult for secondary-level students to learn. Although graphic simulations have many advantages in teaching complex systems, scaffolding is a critical factor for effective learning. This dissertation study was conducted around two complementary research…

  10. Simulation of the Mars Surface Solar Spectra for Optimized Performance of Triple-Junction Solar Cells

    NASA Technical Reports Server (NTRS)

    Edmondson, Kenneth M.; Joslin, David E.; Fetzer, Chris M.; King, RIchard R.; Karam, Nasser H.; Mardesich, Nick; Stella, Paul M.; Rapp, Donald; Mueller, Robert

    2007-01-01

    The unparalleled success of the Mars Exploration Rovers (MER) powered by GaInP/GaAs/Ge triple-junction solar cells has demonstrated a lifetime for the rovers that exceeded the baseline mission duration by more than a factor of five. This provides confidence in future longer-term solar powered missions on the surface of Mars. However, the solar cells used on the rovers are not optimized for the Mars surface solar spectrum, which is attenuated at shorter wavelengths due to scattering by the dusty atmosphere. The difference between the Mars surface spectrum and the AM0 spectrum increases with solar zenith angle and optical depth. The recent results of a program between JPL and Spectrolab to optimize GaInP/GaAs/Ge solar cells for Mars are presented. Initial characterization focuses on the solar spectrum at 60-degrees zenith angle at an optical depth of 0.5. The 60-degree spectrum is reduced to 1/6 of the AM0 intensity and is further reduced in the blue portion of the spectrum. JPL has modeled the Mars surface solar spectra, modified an X-25 solar simulator, and completed testing of Mars-optimized solar cells previously developed by Spectrolab with the modified X-25 solar simulator. Spectrolab has focused on the optimization of the higher efficiency Ultra Triple-Junction (UTJ) solar cell for Mars. The attenuated blue portion of the spectrum requires the modification of the top sub-cell in the GaInP/GaAs/Ge solar cell for improved current balancing in the triple-junction cell. Initial characterization confirms the predicted increase in power and current matched operation for the Mars surface 60-degree zenith angle solar spectrum.

  11. Software Tool for Computing Maximum Von Mises Stress

    NASA Technical Reports Server (NTRS)

    Chen, Long Y.; Knutson, Kurt; Martin, Eric

    2007-01-01

    The maximum Van Mises stress and stress direction are of interest far analyzing launch accelerations such as with the Mass Acceleration Curves developed by JPL. Maximum launch stresses can be combined with appropriate load cases at consistent locations with resulting stress tensors. Maximum Van Mises stress is also of interest for understanding maximum operational loading such as traverse events. - For example, planetary traversing simulations may prescribe bounding acceleration values during traverse for a rover such as Mars Science Lab (MSL) in (X,Y,Z) of the rover. - Such accelerations can be really in any directions for many parts such as a mast or head mounted components which can be in numerous configurations and orientations when traversing a planet surface.

  12. A new strategic neurosurgical planning tool for brainstem cavernous malformations using interactive computer graphics with multimodal fusion images.

    PubMed

    Kin, Taichi; Nakatomi, Hirofumi; Shojima, Masaaki; Tanaka, Minoru; Ino, Kenji; Mori, Harushi; Kunimatsu, Akira; Oyama, Hiroshi; Saito, Nobuhito

    2012-07-01

    In this study, the authors used preoperative simulation employing 3D computer graphics (interactive computer graphics) to fuse all imaging data for brainstem cavernous malformations. The authors evaluated whether interactive computer graphics or 2D imaging correlated better with the actual operative field, particularly in identifying a developmental venous anomaly (DVA). The study population consisted of 10 patients scheduled for surgical treatment of brainstem cavernous malformations. Data from preoperative imaging (MRI, CT, and 3D rotational angiography) were automatically fused using a normalized mutual information method, and then reconstructed by a hybrid method combining surface rendering and volume rendering methods. With surface rendering, multimodality and multithreshold techniques for 1 tissue were applied. The completed interactive computer graphics were used for simulation of surgical approaches and assumed surgical fields. Preoperative diagnostic rates for a DVA associated with brainstem cavernous malformation were compared between conventional 2D imaging and interactive computer graphics employing receiver operating characteristic (ROC) analysis. The time required for reconstruction of 3D images was 3-6 hours for interactive computer graphics. Observation in interactive mode required approximately 15 minutes. Detailed anatomical information for operative procedures, from the craniotomy to microsurgical operations, could be visualized and simulated three-dimensionally as 1 computer graphic using interactive computer graphics. Virtual surgical views were consistent with actual operative views. This technique was very useful for examining various surgical approaches. Mean (±SEM) area under the ROC curve for rate of DVA diagnosis was significantly better for interactive computer graphics (1.000±0.000) than for 2D imaging (0.766±0.091; p<0.001, Mann-Whitney U-test). The authors report a new method for automatic registration of preoperative imaging data from CT, MRI, and 3D rotational angiography for reconstruction into 1 computer graphic. The diagnostic rate of DVA associated with brainstem cavernous malformation was significantly better using interactive computer graphics than with 2D images. Interactive computer graphics was also useful in helping to plan the surgical access corridor.

  13. Simulation of the GCR spectrum in the Mars curiosity rover's RAD detector using MCNP6.

    PubMed

    Ratliff, Hunter N; Smith, Michael B R; Heilbronn, Lawrence

    2017-08-01

    The paper presents results from MCNP6 simulations of galactic cosmic ray (GCR) propagation down through the Martian atmosphere to the surface and comparison with RAD measurements made there. This effort is part of a collaborative modeling workshop for space radiation hosted by Southwest Research Institute (SwRI). All modeling teams were tasked with simulating the galactic cosmic ray (GCR) spectrum through the Martian atmosphere and the Radiation Assessment Detector (RAD) on-board the Curiosity rover. The detector had two separate particle acceptance angles, 4π and 30 ° off zenith. All ions with Z = 1 through Z = 28 were tracked in both scenarios while some additional secondary particles were only tracked in the 4π cases. The MCNP6 4π absorbed dose rate was 307.3 ± 1.3 µGy/day while RAD measured 233 µGy/day. Using the ICRP-60 dose equivalent conversion factors built into MCNP6, the simulated 4π dose equivalent rate was found to be 473.1 ± 2.4 µSv/day while RAD reported 710 µSv/day. Copyright © 2017 The Committee on Space Research (COSPAR). Published by Elsevier Ltd. All rights reserved.

  14. Real-Time Visualization of an HPF-based CFD Simulation

    NASA Technical Reports Server (NTRS)

    Kremenetsky, Mark; Vaziri, Arsi; Haimes, Robert; Chancellor, Marisa K. (Technical Monitor)

    1996-01-01

    Current time-dependent CFD simulations produce very large multi-dimensional data sets at each time step. The visual analysis of computational results are traditionally performed by post processing the static data on graphics workstations. We present results from an alternate approach in which we analyze the simulation data in situ on each processing node at the time of simulation. The locally analyzed results, usually more economical and in a reduced form, are then combined and sent back for visualization on a graphics workstation.

  15. On the utility of graphics cards to perform massively parallel simulation of advanced Monte Carlo methods

    PubMed Central

    Lee, Anthony; Yau, Christopher; Giles, Michael B.; Doucet, Arnaud; Holmes, Christopher C.

    2011-01-01

    We present a case-study on the utility of graphics cards to perform massively parallel simulation of advanced Monte Carlo methods. Graphics cards, containing multiple Graphics Processing Units (GPUs), are self-contained parallel computational devices that can be housed in conventional desktop and laptop computers and can be thought of as prototypes of the next generation of many-core processors. For certain classes of population-based Monte Carlo algorithms they offer massively parallel simulation, with the added advantage over conventional distributed multi-core processors that they are cheap, easily accessible, easy to maintain, easy to code, dedicated local devices with low power consumption. On a canonical set of stochastic simulation examples including population-based Markov chain Monte Carlo methods and Sequential Monte Carlo methods, we nd speedups from 35 to 500 fold over conventional single-threaded computer code. Our findings suggest that GPUs have the potential to facilitate the growth of statistical modelling into complex data rich domains through the availability of cheap and accessible many-core computation. We believe the speedup we observe should motivate wider use of parallelizable simulation methods and greater methodological attention to their design. PMID:22003276

  16. The Mars Methane Analogue Mission (M3): Results of the 2011 Field Deployment

    NASA Astrophysics Data System (ADS)

    Cloutis, E. A.; Whyte, L.; Qadi, A.; Bell, J. F.; Berard, G.; Boivin, A.; Ellery, A.; Haddad, E.; Jamroz, W.; Kruzelecky, R.; Mann, P.; Olsen, K.; Perrot, M.; Popa, D.; Rhind, T.; Samson, C.; Sharma, R.; Stromberg, J.; Strong, K.; Tremblay, A.; Wilhelm, R.; Wing, B.; Wong, B.

    2012-03-01

    The M3 mission simulated a rover mission to Mars to search for sources of methane. The 2011 campaign found that methane plumes from serpentinite are very localized and target selection based on imagery is preferred over direct methane detection.

  17. Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

    NASA Astrophysics Data System (ADS)

    Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

    2018-05-01

    This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

  18. A Comparison Between The NORCAT Rover Test Results and the ISRU Excavation System Model Predictions Results

    NASA Technical Reports Server (NTRS)

    Gallo, Christopher A.; Agui, Juan H.; Creager, Colin M.; Oravec, Heather A.

    2012-01-01

    An Excavation System Model has been written to simulate the collection and transportation of regolith on the moon. The calculations in this model include an estimation of the forces on the digging tool as a result of excavation into the regolith. Verification testing has been performed and the forces recorded from this testing were compared to the calculated theoretical data. The Northern Centre for Advanced Technology Inc. rovers were tested at the NASA Glenn Research Center Simulated Lunar Operations facility. This testing was in support of the In-Situ Resource Utilization program Innovative Partnership Program. Testing occurred in soils developed at the Glenn Research Center which are a mixture of different types of sands and whose soil properties have been well characterized. This testing is part of an ongoing correlation of actual field test data to the blade forces calculated by the Excavation System Model. The results from this series of tests compared reasonably with the predicted values from the code.

  19. Inter-Level Scaffolding and Sequences of Representational Activities in Teaching a Chemical System with Graphical Simulations

    ERIC Educational Resources Information Center

    Li, Na; Black, John B.

    2016-01-01

    Chemistry knowledge can be represented at macro-, micro- and symbolic levels, and learning a chemistry topic requires students to engage in multiple representational activities. This study focused on scaffolding for inter-level connection-making in learning chemistry knowledge with graphical simulations. We also tested whether different sequences…

  20. The Communicability of Graphical Alternatives to Tabular Displays of Statistical Simulation Studies

    PubMed Central

    Cook, Alex R.; Teo, Shanice W. L.

    2011-01-01

    Simulation studies are often used to assess the frequency properties and optimality of statistical methods. They are typically reported in tables, which may contain hundreds of figures to be contrasted over multiple dimensions. To assess the degree to which these tables are fit for purpose, we performed a randomised cross-over experiment in which statisticians were asked to extract information from (i) such a table sourced from the literature and (ii) a graphical adaptation designed by the authors, and were timed and assessed for accuracy. We developed hierarchical models accounting for differences between individuals of different experience levels (under- and post-graduate), within experience levels, and between different table-graph pairs. In our experiment, information could be extracted quicker and, for less experienced participants, more accurately from graphical presentations than tabular displays. We also performed a literature review to assess the prevalence of hard-to-interpret design features in tables of simulation studies in three popular statistics journals, finding that many are presented innumerately. We recommend simulation studies be presented in graphical form. PMID:22132184

  1. The communicability of graphical alternatives to tabular displays of statistical simulation studies.

    PubMed

    Cook, Alex R; Teo, Shanice W L

    2011-01-01

    Simulation studies are often used to assess the frequency properties and optimality of statistical methods. They are typically reported in tables, which may contain hundreds of figures to be contrasted over multiple dimensions. To assess the degree to which these tables are fit for purpose, we performed a randomised cross-over experiment in which statisticians were asked to extract information from (i) such a table sourced from the literature and (ii) a graphical adaptation designed by the authors, and were timed and assessed for accuracy. We developed hierarchical models accounting for differences between individuals of different experience levels (under- and post-graduate), within experience levels, and between different table-graph pairs. In our experiment, information could be extracted quicker and, for less experienced participants, more accurately from graphical presentations than tabular displays. We also performed a literature review to assess the prevalence of hard-to-interpret design features in tables of simulation studies in three popular statistics journals, finding that many are presented innumerately. We recommend simulation studies be presented in graphical form.

  2. Advanced graphical user interface for multi-physics simulations using AMST

    NASA Astrophysics Data System (ADS)

    Hoffmann, Florian; Vogel, Frank

    2017-07-01

    Numerical modelling of particulate matter has gained much popularity in recent decades. Advanced Multi-physics Simulation Technology (AMST) is a state-of-the-art three dimensional numerical modelling technique combining the eX-tended Discrete Element Method (XDEM) with Computational Fluid Dynamics (CFD) and Finite Element Analysis (FEA) [1]. One major limitation of this code is the lack of a graphical user interface (GUI) meaning that all pre-processing has to be made directly in a HDF5-file. This contribution presents the first graphical pre-processor developed for AMST.

  3. Mars Pathfinder Spacecraft, Lander, and Rover Testing in Simulated Deep Space and Mars Surface Environments

    NASA Technical Reports Server (NTRS)

    Johnson, Kenneth R.

    1997-01-01

    The Mars Pathfinder (MPF) Spacecraft was built and tested at the Jet Propulsion Laboratory during 1995/96. MPF is scheduled to launch in December 1996 and to land on Mars on July 4, 1997. The testing program for MPF required subjecting the mission hardware to both deep space and Mars surface conditions. A series of tests were devised and conducted from 1/95 to 7/96 to study the thermal response of the MPF spacecraft to the environmental conditions in which it will be exposed during the cruise phase (on the way to Mars) and the lander phase (landed on Mars) of the mission. Also, several tests were conducted to study the thermal characteristics of the Mars rover, Sojourner, under Mars surface environmental conditions. For these tests, several special test fixtures and methods were devised to simulate the required environmental conditions. Creating simulated Mars surface conditions was a challenging undertaking since Mars' surface is subjected to diurnal cycling between -20 C and -85 C, with windspeeds to 20 m/sec, occurring in an 8 torr CO2 atmosphere. This paper describes the MPF test program which was conducted at JPL to verify the MPF thermal design.

  4. Performance Testing of Yardney Li-Ion Cells and Batteries in Support of Future NASA Missions

    NASA Technical Reports Server (NTRS)

    Smart, M. C.; Ratnakumar, B. V.; Whitcanack, L. D.; Puglia, F. J.; Santee, S.; Gitzendanner, R.

    2009-01-01

    NASA requires lightweight rechargeable batteries for future missions to Mars and the outer planets that are capable of operating over a wide range of temperatures, with high specific energy and energy densities. Due to the attractive performance characteristics, Li-ion batteries have been identified as the battery chemistry of choice for a number of future applications. For example, JPL is planning to launch another unmanned rover mission to the planet Mars. This mission, referred to as the Mars Science Laboratory (MSL), will involve the use of a rover that is much larger than the previously developed Spirit and Opportunity Rovers for the 2003 Mars Exploration Rover (MER) mission, that are currently still in operation on the surface of the planet after more than five years. Part of the reason that the MER rovers have operated so successfully, far exceeding the required mission duration of 90 sols, is that they possess robust Li-ion batteries, manufactured by Yardney Technical Products, which have demonstrated excellent life characteristics. Given the excellent performance characteristics displayed, similar Li-ion batteries have been projected to successfully meet the mission requirements of the up-coming MSL mission. In addition to future missions to Mars, Li-ion technology is attractive for a number of other future NASA applications which require high specific energy, rechargeable batteries. To ascertain the viability of using Li-ion batteries for these applications, a number of performance validation tests have been performed on both Yardney cells and batteries of various sizes. These tests include mission simulation tests, charge and discharge rate characterization testing, cycle life testing under various conditions, and storage testing.

  5. She's an Engineer

    NASA Image and Video Library

    2016-11-05

    Junior Girl Scouts from two locals conceils, Girl Scouts of Central Maryland and Girl Scouts of Nations Capital, participated in She's an Engineer! Girl Scout program on November 3, 2016. They met with female NASA engineers and tested rover models in simulated I&T stations to explore the Engineering Design process.

  6. Lunar rovers and local positioning system

    NASA Astrophysics Data System (ADS)

    Avery, James; Su, Renjeng

    1991-11-01

    Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running.

  7. Lunar rovers and local positioning system

    NASA Technical Reports Server (NTRS)

    Avery, James; Su, Renjeng

    1991-01-01

    Telerobotic rovers equipped with adequate actuators and sensors are clearly necessary for extraterrestrial construction. They will be employed as substitutes for humans, to perform jobs like surveying, sensing, signaling, manipulating, and the handling of small materials. Important design criteria for these rovers include versatility and robustness. They must be easily programmed and reprogrammed to perform a wide variety of different functions, and they must be robust so that construction work will not be jeopardized by parts failures. The key qualities and functions necessary for these rovers to achieve the required versatility and robustness are modularity, redundancy, and coordination. Three robotic rovers are being built by CSC as a test bed to implement the concepts of modularity and coordination. The specific goal of the design and construction of these robots is to demonstrate the software modularity and multirobot control algorithms required for the physical manipulation of constructible elements. Each rover consists of a transporter platform, bus manager, simple manipulator, and positioning receivers. These robots will be controlled from a central control console via a radio-frequency local area network (LAN). To date, one prototype transporter platform frame was built with batteries, motors, a prototype single-motor controller, and two prototype internal LAN boards. Software modules were developed in C language for monitor functions, i/o, and parallel port usage in each computer board. Also completed are the fabrication of half of the required number of computer boards, the procurement of 19.2 Kbaud RF modems for inter-robot communications, and the simulation of processing requirements for positioning receivers. In addition to the robotic platform, the fabrication of a local positioning system based on infrared signals is nearly completed. This positioning system will make the rovers into a moving reference system capable of performing site surveys. In addition, a four degree mechanical manipulator especially suited for coordinated teleoperation was conceptually designed and is currently being analyzed. This manipulator will be integrated into the rovers as their end effector. Twenty internal LAN cards fabricated by a commercial firm are being used, a prototype manipulator and a range finder for a positioning system were built, a prototype two-motor controller was designed, and one of the robots is performing its first telerobotic motion. In addition, the robots' internal LAN's were coordinated and tested, hardware design upgrades based on fabrication and fit experience were completed, and the positioning system is running. The rover system is able to perform simple tasks such as sensing and signaling; coordination systems which allow construction tasks to begin were established, and soon coordinated teams of robots in the laboratory will be able to manipulate common objects.

  8. Numerical simulation of turbulent flows over crater-like obstacles: application to Gale crater, landing site of the Curiosity rover

    NASA Astrophysics Data System (ADS)

    Anderson, W.; Day, M. D.

    2017-12-01

    Mars is a dry planet with a thin atmosphere. Aeolian processes - wind-driven mobilization of sediment and dust - are the dominant mode of landscape variability on the dessicated landscapes of Mars. Craters are common topographic features on the surface of Mars, and many craters on Mars contain a prominent central mound (NASA's Curiosity rover was landed in Gale crater, with the rover journeying across an inner plan and towards Gale's central mound, Aeolus Mons). These mounds are composed of sedimentary fill, and, therefore, they contain rich information on the evolution of climatic conditions on Mars embodied in the stratigraphic "layering" of sediments. Many other craters no longer house a mound, but contain sediment and dust from which dune fields and other features form. Using density-normalized large-eddy simulations, we have modeled turbulent flows over crater-like topographies that feature a central mound. Resultant datasets suggest a deflationary mechanism wherein vortices shed from the upwind crater rim are realigned to conform to the crater profile via stretching and tilting. This insight was gained using three-dimensional datasets (momentum, vorticity, and turbulent stresses) retrieved from LES, and assessment of the relative influence of constituent terms responsible for the sustenance of mean vorticity. The helical, counter-rotating vortices occupy the inner region of the crater, and, therefore, are argued to be of great importance for aeolian morphodynamics in the crater (radial katabatic flows are also important to aeolian processes within the crater).

  9. Thermal Vacuum Test of Ice as a Phase Change Material Integrated with a Radiator

    NASA Technical Reports Server (NTRS)

    Lee, Steve A.; Leimkuehler, Thomas O.; Stephan, Ryan; Le, Hung V.

    2010-01-01

    Water may be used as radiation shielding for Solar Particle Events (SPE) to protect crewmembers in the Lunar Electric Rover (LER). Because the water is already present for radiation protection, it could also provide a mass efficient solution to the vehicle's thermal control system. This water can be frozen by heat rejection from a radiator and used as a Phase Change Material (PC1V1) for thermal storage. Use of this water as a PCM can eliminate the need for a pumped fluid loop thermal control system as well as reduce the required size of the radiator. This paper describes the testing and analysis performed for the Rover Engineering Development Unit (REDU), a scaled-down version of a water PCM heat sink for the LER. The REDU was tested in a thermal-vacuum chamber at environmental temperatures similar to those of a horizontal radiator panel on the lunar surface. Testing included complete freeze and melt cycles along with scaled transient heat load profiles simulating a 24-hour day for the rover.

  10. Brahms Mobile Agents: Architecture and Field Tests

    NASA Technical Reports Server (NTRS)

    Clancey, William J.; Sierhuis, Maarten; Kaskiris, Charis; vanHoof, Ron

    2002-01-01

    We have developed a model-based, distributed architecture that integrates diverse components in a system designed for lunar and planetary surface operations: an astronaut's space suit, cameras, rover/All-Terrain Vehicle (ATV), robotic assistant, other personnel in a local habitat, and a remote mission support team (with time delay). Software processes, called agents, implemented in the Brahms language, run on multiple, mobile platforms. These mobile agents interpret and transform available data to help people and robotic systems coordinate their actions to make operations more safe and efficient. The Brahms-based mobile agent architecture (MAA) uses a novel combination of agent types so the software agents may understand and facilitate communications between people and between system components. A state-of-the-art spoken dialogue interface is integrated with Brahms models, supporting a speech-driven field observation record and rover command system (e.g., return here later and bring this back to the habitat ). This combination of agents, rover, and model-based spoken dialogue interface constitutes a personal assistant. An important aspect of the methodology involves first simulating the entire system in Brahms, then configuring the agents into a run-time system.

  11. SutraPlot, a graphical post-processor for SUTRA, a model for ground-water flow with solute or energy transport

    USGS Publications Warehouse

    Souza, W.R.

    1999-01-01

    This report documents a graphical display post-processor (SutraPlot) for the U.S. Geological Survey Saturated-Unsaturated flow and solute or energy TRAnsport simulation model SUTRA, Version 2D3D.1. This version of SutraPlot is an upgrade to SutraPlot for the 2D-only SUTRA model (Souza, 1987). It has been modified to add 3D functionality, a graphical user interface (GUI), and enhanced graphic output options. Graphical options for 2D SUTRA (2-dimension) simulations include: drawing the 2D finite-element mesh, mesh boundary, and velocity vectors; plots of contours for pressure, saturation, concentration, and temperature within the model region; 2D finite-element based gridding and interpolation; and 2D gridded data export files. Graphical options for 3D SUTRA (3-dimension) simulations include: drawing the 3D finite-element mesh; plots of contours for pressure, saturation, concentration, and temperature in 2D sections of the 3D model region; 3D finite-element based gridding and interpolation; drawing selected regions of velocity vectors (projected on principal coordinate planes); and 3D gridded data export files. Installation instructions and a description of all graphic options are presented. A sample SUTRA problem is described and three step-by-step SutraPlot applications are provided. In addition, the methodology and numerical algorithms for the 2D and 3D finite-element based gridding and interpolation, developed for SutraPlot, are described. 1

  12. United States planetary rover status: 1989

    NASA Technical Reports Server (NTRS)

    Pivirotto, Donna L. S.; Dias, William C.

    1990-01-01

    A spectrum of concepts for planetary rovers and rover missions, is covered. Rovers studied range from tiny micro rovers to large and highly automated vehicles capable of traveling hundreds of kilometers and performing complex tasks. Rover concepts are addressed both for the Moon and Mars, including a Lunar/Mars common rover capable of supporting either program with relatively small modifications. Mission requirements considered include both Science and Human Exploration. Studies include a range of autonomy in rovers, from interactive teleoperated systems to those requiring and onboard System Executive making very high level decisions. Both high and low technology rover options are addressed. Subsystems are described for a representative selection of these rovers, including: Mobility, Sample Acquisition, Science, Vehicle Control, Thermal Control, Local Navigation, Computation and Communications. System descriptions of rover concepts include diagrams, technology levels, system characteristics, and performance measurement in terms of distance covered, samples collected, and area surveyed for specific representative missions. Rover development schedules and costs are addressed for Lunar and Mars exploration initiatives.

  13. Applications for Mission Operations Using Multi-agent Model-based Instructional Systems with Virtual Environments

    NASA Technical Reports Server (NTRS)

    Clancey, William J.

    2004-01-01

    This viewgraph presentation provides an overview of past and possible future applications for artifical intelligence (AI) in astronaut instruction and training. AI systems have been used in training simulation for the Hubble Space Telescope repair, the International Space Station, and operations simulation for the Mars Exploration Rovers. In the future, robots such as may work as partners with astronauts on missions such as planetary exploration and extravehicular activities.

  14. Promoting Real-Time Science in the Classroom using Wireless PDA Technology

    NASA Technical Reports Server (NTRS)

    Matusow, David; Sparmo, Joe; Weidow, Dave; Obenschain, Arthur F. (Technical Monitor)

    2002-01-01

    The year is 2004, NASA has landed and deployed a fleet of rovers on the surface of Mars to continue the exploration of that planet and prepare the way for human visitors. Middle school students at Milton Elementary have been following the mission through the media and Internet as part of Mr. Johnson's Earth and space sciences class. The kids have been working in teams to track the rovers as they move across the surface of Mars on a scale model of the landing site they built from sand and rocks using pictures and video downloaded from the Internet. They also built their own version of a rover that can be driven around the model. The time is 3:36pm. Jim and a couple of his fellow students from class are sitting in the cafeteria waiting for a student council meeting to begin. Mary and several others are on the bus riding home. Kathy is in her father's car waiting to leave the parking lot. On Mars, Rover-3 has just stopped and issued an alert to ground control at NASA's Jet Propulsion Laboratory (JPL). Back at Milton Elementary chimes can be heard going off in the cafeteria, on the school bus, and in Kathy's car. The students are familiar with the drill and each brings up the Mars mission status display on their hand-held PDA device. They've been using their PDAs (those Palm devices that seem to be everywhere today) to obtain real-time position information for each of the rovers throughout the mission. The mission status display tells them that Rover-3 has stopped on the edge of a small gully and isn't quite sure what to do. The students begin considering the options amongst themselves. Should the rover just drive through the gully? If it does, what happens if it gets stuck? Maybe it should turnaround and look for away around the gully? Trough questions. Real questions. Real problems. The students know they will need to be prepared to discuss the options and conduct their own simulations using the models they built in Mr. Johnson's class tomorrow. Much the same way engineers and scientists will be working to solve the problem at NASA. It's a couple of days later, NASA has made a decision on what to do and has issued new commands for Rover-3 to execute at 9:15am Milton Elementary time. Interestingly, NASA's solution to the problem differs from the one favored by the students. 9:16am, chimes can be heard going off throughout Milton Elementary.

  15. A Graphics Design Framework to Visualize Multi-Dimensional Economic Datasets

    ERIC Educational Resources Information Center

    Chandramouli, Magesh; Narayanan, Badri; Bertoline, Gary R.

    2013-01-01

    This study implements a prototype graphics visualization framework to visualize multidimensional data. This graphics design framework serves as a "visual analytical database" for visualization and simulation of economic models. One of the primary goals of any kind of visualization is to extract useful information from colossal volumes of…

  16. Computer Graphics and Physics Teaching.

    ERIC Educational Resources Information Center

    Bork, Alfred M.; Ballard, Richard

    New, more versatile and inexpensive terminals will make computer graphics more feasible in science instruction than before. This paper describes the use of graphics in physics teaching at the University of California at Irvine. Commands and software are detailed in established programs, which include a lunar landing simulation and a program which…

  17. Two demonstrators and a simulator for a sparse, distributed memory

    NASA Technical Reports Server (NTRS)

    Brown, Robert L.

    1987-01-01

    Described are two programs demonstrating different aspects of Kanerva's Sparse, Distributed Memory (SDM). These programs run on Sun 3 workstations, one using color, and have straightforward graphically oriented user interfaces and graphical output. Presented are descriptions of the programs, how to use them, and what they show. Additionally, this paper describes the software simulator behind each program.

  18. A Graphical Simulation of Vapor-Liquid Equilibrium for Use as an Undergraduate Laboratory Experiment and to Demonstrate the Concept of Mathematical Modeling.

    ERIC Educational Resources Information Center

    Whitman, David L.; Terry, Ronald E.

    1985-01-01

    Demonstrating petroleum engineering concepts in undergraduate laboratories often requires expensive and time-consuming experiments. To eliminate these problems, a graphical simulation technique was developed for junior-level laboratories which illustrate vapor-liquid equilibrium and the use of mathematical modeling. A description of this…

  19. Motion control of 7-DOF arms - The configuration control approach

    NASA Technical Reports Server (NTRS)

    Seraji, Homayoun; Long, Mark K.; Lee, Thomas S.

    1993-01-01

    Graphics simulation and real-time implementation of configuration control schemes for a redundant 7-DOF Robotics Research arm are described. The arm kinematics and motion control schemes are described briefly. This is followed by a description of a graphics simulation environment for 7-DOF arm control on the Silicon Graphics IRIS Workstation. Computer simulation results are presented to demonstrate elbow control, collision avoidance, and optimal joint movement as redundancy resolution goals. The laboratory setup for experimental validation of motion control of the 7-DOF Robotics Research arm is then described. The configuration control approach is implemented on a Motorola-68020/VME-bus-based real-time controller, with elbow positioning for redundancy resolution. Experimental results demonstrate the efficacy of configuration control for real-time control.

  20. Design of a dynamic test platform for autonomous robot vision systems

    NASA Technical Reports Server (NTRS)

    Rich, G. C.

    1980-01-01

    The concept and design of a dynamic test platform for development and evluation of a robot vision system is discussed. The platform is to serve as a diagnostic and developmental tool for future work with the RPI Mars Rover's multi laser/multi detector vision system. The platform allows testing of the vision system while its attitude is varied, statically or periodically. The vision system is mounted on the test platform. It can then be subjected to a wide variety of simulated can thus be examined in a controlled, quantitative fashion. Defining and modeling Rover motions and designing the platform to emulate these motions are also discussed. Individual aspects of the design process are treated separately, as structural, driving linkages, and motors and transmissions.

  1. Using Planning, Scheduling and Execution for Autonomous Mars Rover Operations

    NASA Technical Reports Server (NTRS)

    Estlin, Tara A.; Gaines, Daniel M.; Chouinard, Caroline M.; Fisher, Forest W.; Castano, Rebecca; Judd, Michele J.; Nesnas, Issa A.

    2006-01-01

    With each new rover mission to Mars, rovers are traveling significantly longer distances. This distance increase raises not only the opportunities for science data collection, but also amplifies the amount of environment and rover state uncertainty that must be handled in rover operations. This paper describes how planning, scheduling and execution techniques can be used onboard a rover to autonomously generate and execute rover activities and in particular to handle new science opportunities that have been identified dynamically. We also discuss some of the particular challenges we face in supporting autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations. Finally, we describe our experiences in testing this work using several Mars rover prototypes in a realistic environment.

  2. Development of a Turbofan Engine Simulation in a Graphical Simulation Environment

    NASA Technical Reports Server (NTRS)

    Parker, Khary I.; Guo, Ten-Heui

    2003-01-01

    This paper presents the development of a generic component level model of a turbofan engine simulation with a digital controller, in an advanced graphical simulation environment. The goal of this effort is to develop and demonstrate a flexible simulation platform for future research in propulsion system control and diagnostic technology. A previously validated FORTRAN-based model of a modern, high-performance, military-type turbofan engine is being used to validate the platform development. The implementation process required the development of various innovative procedures, which are discussed in the paper. Open-loop and closed-loop comparisons are made between the two simulations. Future enhancements that are to be made to the modular engine simulation are summarized.

  3. Modeling and simulation of dust behaviors behind a moving vehicle

    NASA Astrophysics Data System (ADS)

    Wang, Jingfang

    Simulation of physically realistic complex dust behaviors is a difficult and attractive problem in computer graphics. A fast, interactive and visually convincing model of dust behaviors behind moving vehicles is very useful in computer simulation, training, education, art, advertising, and entertainment. In my dissertation, an experimental interactive system has been implemented for the simulation of dust behaviors behind moving vehicles. The system includes physically-based models, particle systems, rendering engines and graphical user interface (GUI). I have employed several vehicle models including tanks, cars, and jeeps to test and simulate in different scenarios and conditions. Calm weather, winding condition, vehicle turning left or right, and vehicle simulation controlled by users from the GUI are all included. I have also tested the factors which play against the physical behaviors and graphics appearances of the dust particles through GUI or off-line scripts. The simulations are done on a Silicon Graphics Octane station. The animation of dust behaviors is achieved by physically-based modeling and simulation. The flow around a moving vehicle is modeled using computational fluid dynamics (CFD) techniques. I implement a primitive variable and pressure-correction approach to solve the three dimensional incompressible Navier Stokes equations in a volume covering the moving vehicle. An alternating- direction implicit (ADI) method is used for the solution of the momentum equations, with a successive-over- relaxation (SOR) method for the solution of the Poisson pressure equation. Boundary conditions are defined and simplified according to their dynamic properties. The dust particle dynamics is modeled using particle systems, statistics, and procedure modeling techniques. Graphics and real-time simulation techniques, such as dynamics synchronization, motion blur, blending, and clipping have been employed in the rendering to achieve realistic appearing dust behaviors. In addition, I introduce a temporal smoothing technique to eliminate the jagged effect caused by large simulation time. Several algorithms are used to speed up the simulation. For example, pre-calculated tables and display lists are created to replace some of the most commonly used functions, scripts and processes. The performance study shows that both time and space costs of the algorithms are linear in the number of particles in the system. On a Silicon Graphics Octane, three vehicles with 20,000 particles run at 6-8 frames per second on average. This speed does not include the extra calculations of convergence of the numerical integration for fluid dynamics which usually takes about 4-5 minutes to achieve steady state.

  4. Scout Rover Applications for Forward Acquisition of Soil and Terrain Data

    NASA Astrophysics Data System (ADS)

    Sonsalla, R.; Ahmed, M.; Fritsche, M.; Akpo, J.; Voegele, T.

    2014-04-01

    As opposed to the present mars exploration missions future mission concepts ask for a fast and safe traverse through vast and varied expanses of terrain. As seen during the Mars Exploration Rover (MER) mission the rovers suffered a lack of detailed soil and terrain information which caused Spirit to get permanently stuck in soft soil. The goal of the FASTER1 EU-FP7 project is to improve the mission safety and the effective traverse speed for planetary rover exploration by determining the traversability of the terrain and lowering the risk to enter hazardous areas. To achieve these goals, a scout rover will be used for soil and terrain sensing ahead of the main rover. This paper describes a highly mobile, and versatile micro scout rover that is used for soil and terrain sensing and is able to co-operate with a primary rover as part of the FASTER approach. The general reference mission idea and concept is addressed within this paper along with top-level requirements derived from the proposed ESA/NASA Mars Sample Return mission (MSR) [4]. Following the mission concept and requirements [3], a concept study for scout rover design and operations has been performed [5]. Based on this study the baseline for the Coyote II rover was designed and built as shown in Figure 1. Coyote II is equipped with a novel locomotion concept, providing high all terrain mobility and allowing to perform side-to-side steering maneuvers which reduce the soil disturbance as compared to common skid steering [6]. The rover serves as test platform for various scout rover application tests ranging from locomotion testing to dual rover operations. From the lessons learned from Coyote II and for an enhanced design, a second generation rover (namely Coyote III) as shown in Figure 2 is being built. This rover serves as scout rover platform for the envisaged FASTER proof of concept field trials. The rover design is based on the test results gained by the Coyote II trials. Coyote III is equipped with two soil sensors,(1) the Wheel Leg Soil Interaction Observation (WLSIO) system, and (2) a Dynamic Plate (DP). These two soil sensors are designed by [2] and proposed to evaluate the trafficability of terrain in front of the primary rover. While the main body houses the WLSIO system, the DP sensor is mounted to the rover via an electro-mechanical interface (EMI) [7], providing a modular payload bay. Within the FASTER approach the scout rover will travel ahead of a primary exploration rover acting as 'remote' sensor platform. This requires a specialized software setup for the scout rover, allowing to safely follow a predefined path while conducting soil measurements. The general operational concept of the scout rover acting in a dual rover team is addressed while focusing on the scout rover software implementation to allow autonomous traversal. A set of integration tests for dual rover operations is planned using the Coyote II and/or Coyote III platforms. Furthermore, it is intended to perform proof of concept field trials with Coyote III as scout rover and the ExoMars breadboard BRIDGET [1] as primary rover. Along with the test results from interface integration testing, the first test results of dual rover field operation may be presented.

  5. Top of Mars Rover Curiosity Remote Sensing Mast

    NASA Image and Video Library

    2011-04-06

    The remote sensing mast on NASA Mars rover Curiosity holds two science instruments for studying the rover surroundings and two stereo navigation cameras for use in driving the rover and planning rover activities.

  6. ERM TLB Teaching-Learning Behavior News

    ERIC Educational Resources Information Center

    LeBold, William K., Ed.

    1978-01-01

    Describes a graduate electrical engineering mini-course, computer graphics gaming and simulation, classroom management and student progress records, student reaction to instruction, and computer graphics in undergraduate education. (SL)

  7. Amorphous Rover

    NASA Technical Reports Server (NTRS)

    Curtis, Steven A.

    2010-01-01

    A proposed mobile robot, denoted the amorphous rover, would vary its own size and shape in order to traverse terrain by means of rolling and/or slithering action. The amorphous rover was conceived as a robust, lightweight alternative to the wheeled rover-class robotic vehicle heretofore used in exploration of Mars. Unlike a wheeled rover, the amorphous rover would not have a predefined front, back, top, bottom, or sides. Hence, maneuvering of the amorphous rover would be more robust: the amorphous rover would not be vulnerable to overturning, could move backward or sideways as well as forward, and could even narrow itself to squeeze through small openings.

  8. Computer-Aided System Engineering and Analysis (CASE/A) Programmer's Manual, Version 5.0

    NASA Technical Reports Server (NTRS)

    Knox, J. C.

    1996-01-01

    The Computer Aided System Engineering and Analysis (CASE/A) Version 5.0 Programmer's Manual provides the programmer and user with information regarding the internal structure of the CASE/A 5.0 software system. CASE/A 5.0 is a trade study tool that provides modeling/simulation capabilities for analyzing environmental control and life support systems and active thermal control systems. CASE/A has been successfully used in studies such as the evaluation of carbon dioxide removal in the space station. CASE/A modeling provides a graphical and command-driven interface for the user. This interface allows the user to construct a model by placing equipment components in a graphical layout of the system hardware, then connect the components via flow streams and define their operating parameters. Once the equipment is placed, the simulation time and other control parameters can be set to run the simulation based on the model constructed. After completion of the simulation, graphical plots or text files can be obtained for evaluation of the simulation results over time. Additionally, users have the capability to control the simulation and extract information at various times in the simulation (e.g., control equipment operating parameters over the simulation time or extract plot data) by using "User Operations (OPS) Code." This OPS code is written in FORTRAN with a canned set of utility subroutines for performing common tasks. CASE/A version 5.0 software runs under the VAX VMS(Trademark) environment. It utilizes the Tektronics 4014(Trademark) graphics display system and the VTIOO(Trademark) text manipulation/display system.

  9. The Graphical Display of Simulation Results, with Applications to the Comparison of Robust IRT Estimators of Ability.

    ERIC Educational Resources Information Center

    Thissen, David; Wainer, Howard

    Simulation studies of the performance of (potentially) robust statistical estimation produce large quantities of numbers in the form of performance indices of the various estimators under various conditions. This report presents a multivariate graphical display used to aid in the digestion of the plentiful results in a current study of Item…

  10. A modern approach to storing of 3D geometry of objects in machine engineering industry

    NASA Astrophysics Data System (ADS)

    Sokolova, E. A.; Aslanov, G. A.; Sokolov, A. A.

    2017-02-01

    3D graphics is a kind of computer graphics which has absorbed a lot from the vector and raster computer graphics. It is used in interior design projects, architectural projects, advertising, while creating educational computer programs, movies, visual images of parts and products in engineering, etc. 3D computer graphics allows one to create 3D scenes along with simulation of light conditions and setting up standpoints.

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

    KLARER,PAUL R.; BINDER,ALAN B.; LENARD,ROGER X.

    A preliminary set of requirements for a robotic rover mission to the lunar polar region are described and assessed. Tasks to be performed by the rover include core drill sample acquisition, mineral and volatile soil content assay, and significant wide area traversals. Assessment of the postulated requirements is performed using first order estimates of energy, power, and communications throughput issues. Two potential rover system configurations are considered, a smaller rover envisioned as part of a group of multiple rovers, and a larger single rover envisioned along more traditional planetary surface rover concept lines.

  12. Design of Flight Control Panel Layout using Graphical User Interface in MATLAB

    NASA Astrophysics Data System (ADS)

    Wirawan, A.; Indriyanto, T.

    2018-04-01

    This paper introduces the design of Flight Control Panel (FCP) Layout using Graphical User Interface in MATLAB. The FCP is the interface to give the command to the simulation and to monitor model variables while the simulation is running. The command accommodates by the FCP are altitude command, the angle of sideslip command, heading command, and setting command for turbulence model. The FCP was also designed to monitor the flight parameter while the simulation is running.

  13. OpenSim: A Flexible Distributed Neural Network Simulator with Automatic Interactive Graphics.

    PubMed

    Jarosch, Andreas; Leber, Jean Francois

    1997-06-01

    An object-oriented simulator called OpenSim is presented that achieves a high degree of flexibility by relying on a small set of building blocks. The state variables and algorithms put in this framework can easily be accessed through a command shell. This allows one to distribute a large-scale simulation over several workstations and to generate the interactive graphics automatically. OpenSim opens new possibilities for cooperation among Neural Network researchers. Copyright 1997 Elsevier Science Ltd.

  14. Web-Based Computational Chemistry Education with CHARMMing I: Lessons and Tutorial

    PubMed Central

    Miller, Benjamin T.; Singh, Rishi P.; Schalk, Vinushka; Pevzner, Yuri; Sun, Jingjun; Miller, Carrie S.; Boresch, Stefan; Ichiye, Toshiko; Brooks, Bernard R.; Woodcock, H. Lee

    2014-01-01

    This article describes the development, implementation, and use of web-based “lessons” to introduce students and other newcomers to computer simulations of biological macromolecules. These lessons, i.e., interactive step-by-step instructions for performing common molecular simulation tasks, are integrated into the collaboratively developed CHARMM INterface and Graphics (CHARMMing) web user interface (http://www.charmming.org). Several lessons have already been developed with new ones easily added via a provided Python script. In addition to CHARMMing's new lessons functionality, web-based graphical capabilities have been overhauled and are fully compatible with modern mobile web browsers (e.g., phones and tablets), allowing easy integration of these advanced simulation techniques into coursework. Finally, one of the primary objections to web-based systems like CHARMMing has been that “point and click” simulation set-up does little to teach the user about the underlying physics, biology, and computational methods being applied. In response to this criticism, we have developed a freely available tutorial to bridge the gap between graphical simulation setup and the technical knowledge necessary to perform simulations without user interface assistance. PMID:25057988

  15. OMV mission simulator

    NASA Technical Reports Server (NTRS)

    Cok, Keith E.

    1989-01-01

    The Orbital Maneuvering Vehicle (OMV) will be remotely piloted during rendezvous, docking, or proximity operations with target spacecraft from a ground control console (GCC). The real-time mission simulator and graphics being used to design a console pilot-machine interface are discussed. A real-time orbital dynamics simulator drives the visual displays. The dynamics simulator includes a J2 oblate earth gravity model and a generalized 1962 rotating atmospheric and drag model. The simulator also provides a variable-length communication delay to represent use of the Tracking and Data Relay Satellite System (TDRSS) and NASA Communications (NASCOM). Input parameter files determine the graphics display. This feature allows rapid prototyping since displays can be easily modified from pilot recommendations. A series of pilot reviews are being held to determine an effective pilot-machine interface. Pilots fly missions with nominal to 3-sigma dispersions in translational or rotational axes. Console dimensions, switch type and layout, hand controllers, and graphic interfaces are evaluated by the pilots and the GCC simulator is modified for subsequent runs. Initial results indicate a pilot preference for analog versus digital displays and for two 3-degree-of-freedom hand controllers.

  16. Web-based computational chemistry education with CHARMMing I: Lessons and tutorial.

    PubMed

    Miller, Benjamin T; Singh, Rishi P; Schalk, Vinushka; Pevzner, Yuri; Sun, Jingjun; Miller, Carrie S; Boresch, Stefan; Ichiye, Toshiko; Brooks, Bernard R; Woodcock, H Lee

    2014-07-01

    This article describes the development, implementation, and use of web-based "lessons" to introduce students and other newcomers to computer simulations of biological macromolecules. These lessons, i.e., interactive step-by-step instructions for performing common molecular simulation tasks, are integrated into the collaboratively developed CHARMM INterface and Graphics (CHARMMing) web user interface (http://www.charmming.org). Several lessons have already been developed with new ones easily added via a provided Python script. In addition to CHARMMing's new lessons functionality, web-based graphical capabilities have been overhauled and are fully compatible with modern mobile web browsers (e.g., phones and tablets), allowing easy integration of these advanced simulation techniques into coursework. Finally, one of the primary objections to web-based systems like CHARMMing has been that "point and click" simulation set-up does little to teach the user about the underlying physics, biology, and computational methods being applied. In response to this criticism, we have developed a freely available tutorial to bridge the gap between graphical simulation setup and the technical knowledge necessary to perform simulations without user interface assistance.

  17. Broadening the interface bandwidth in simulation based training

    NASA Technical Reports Server (NTRS)

    Somers, Larry E.

    1989-01-01

    Currently most computer based simulations rely exclusively on computer generated graphics to create the simulation. When training is involved, the method almost exclusively used to display information to the learner is text displayed on the cathode ray tube. MICROEXPERT Systems is concentrating on broadening the communications bandwidth between the computer and user by employing a novel approach to video image storage combined with sound and voice output. An expert system is used to combine and control the presentation of analog video, sound, and voice output with computer based graphics and text. Researchers are currently involved in the development of several graphics based user interfaces for NASA, the U.S. Army, and the U.S. Navy. Here, the focus is on the human factors considerations, software modules, and hardware components being used to develop these interfaces.

  18. Size Comparison: Three Generations of Mars Rovers

    NASA Image and Video Library

    2008-11-19

    Full-scale models of three generations of NASA Mars rovers show the increase in size from the Sojourner rover of the Mars Pathfinder project, to the twin Mars Exploration Rovers Spirit and Opportunity, to the Mars Science Laboratory rover.

  19. Rover 2 Moved to Workstand

    NASA Technical Reports Server (NTRS)

    2003-01-01

    January 28, 2003

    The Mars Exploration Rover -2 is moved to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the Mars. Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  20. Robotics On-Board Trainer (ROBoT)

    NASA Technical Reports Server (NTRS)

    Johnson, Genevieve; Alexander, Greg

    2013-01-01

    ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

  1. The effect of a graphical interpretation of a statistic trend indicator (Trigg's Tracking Variable) on the detection of simulated changes.

    PubMed

    Kennedy, R R; Merry, A F

    2011-09-01

    Anaesthesia involves processing large amounts of information over time. One task of the anaesthetist is to detect substantive changes in physiological variables promptly and reliably. It has been previously demonstrated that a graphical trend display of historical data leads to more rapid detection of such changes. We examined the effect of a graphical indication of the magnitude of Trigg's Tracking Variable, a simple statistically based trend detection algorithm, on the accuracy and latency of the detection of changes in a micro-simulation. Ten anaesthetists each viewed 20 simulations with four variables displayed as the current value with a simple graphical trend display. Values for these variables were generated by a computer model, and updated every second; after a period of stability a change occurred to a new random value at least 10 units from baseline. In 50% of the simulations an indication of the rate of change was given by a five level graphical representation of the value of Trigg's Tracking Variable. Participants were asked to indicate when they thought a change was occurring. Changes were detected 10.9% faster with the trend indicator present (mean 13.1 [SD 3.1] cycles vs 14.6 [SD 3.4] cycles, 95% confidence interval 0.4 to 2.5 cycles, P = 0.013. There was no difference in accuracy of detection (median with trend detection 97% [interquartile range 95 to 100%], without trend detection 100% [98 to 100%]), P = 0.8. We conclude that simple statistical trend detection may speed detection of changes during routine anaesthesia, even when a graphical trend display is present.

  2. Observation of the geology and geomorphology of the 1999 Marsokhod test site

    USGS Publications Warehouse

    De Hon, R. A.; Barlow, N.G.; Reagan, M.K.; Bettis, E. Arthur; Foster, C.T.; Gulick, V.C.; Crumpler, L.S.; Aubele, J.C.; Chapman, M.G.; Tanaka, K.L.

    2001-01-01

    The Marsokhod rover returned data from six stations that were used to decipher the geomorphology and geology of a region not previously visited by members of the geomorphology field team. Satellite images and simulated descent images provided information about the regional setting. The landing zone was on an alluvial apron flanking a mountain block to the west and a playa surface to the east. Rover color images, infrared spectra analysis of the mountains, and the apron surface provided insight into the rock composition of the nearby mountains. From the return data the geomorphology team interpreted the region to consist of compressionally deformed, ancient marine sediments and igneous rocks exposed by more recent extensional tectonics. Unconsolidated alluvial materials blanket the lower flanks of the mountains. An ancient shoreline cut into alluvial material marks a high stand of water during a past, wetter climate period. Playa sediments floor a present-day, seasonally, dry lake. Observations made by the rover using panoramic and close-up (hand specimens-scale) image data and color scene data confirmed the presence of boulders, cobbles, and fines of various provinces. Rover traverses to sites identified as geologically distinct, such as fan, channel, shoreline, and playa, provided useful clues to the geologic interpretations. Analysis of local rocks was given context only through comparison with distant geologic features. These results demonstrated the importance of a multifaceted approach to site interpretation through comparison of interpretations derived by differing geologic techniques. Copyright 2001 by the American Geophysical Union.

  3. A Reliable Service-Oriented Architecture for NASA's Mars Exploration Rover Mission

    NASA Technical Reports Server (NTRS)

    Mak, Ronald; Walton, Joan; Keely, Leslie; Hehner, Dennis; Chan, Louise

    2005-01-01

    The Collaborative Information Portal (CIP) was enterprise software developed jointly by the NASA Ames Research Center and the Jet Propulsion Laboratory (JPL) for NASA's highly successful Mars Exploration Rover (MER) mission. Both MER and CIP have performed far beyond their original expectations. Mission managers and engineers ran CIP inside the mission control room at JPL, and the scientists ran CIP in their laboratories, homes, and offices. All the users connected securely over the Internet. Since the mission ran on Mars time, CIP displayed the current time in various Mars and Earth time zones, and it presented staffing and event schedules with Martian time scales. Users could send and receive broadcast messages, and they could view and download data and image files generated by the rovers' instruments. CIP had a three-tiered, service-oriented architecture (SOA) based on industry standards, including J2EE and web services, and it integrated commercial off-the-shelf software. A user's interactions with the graphical interface of the CIP client application generated web services requests to the CIP middleware. The middleware accessed the back-end data repositories if necessary and returned results for these requests. The client application could make multiple service requests for a single user action and then present a composition of the results. This happened transparently, and many users did not even realize that they were connecting to a server. CIP performed well and was extremely reliable; it attained better than 99% uptime during the course of the mission. In this paper, we present overviews of the MER mission and of CIP. We show how CIP helped to fulfill some of the mission needs and how people used it. We discuss the criteria for choosing its architecture, and we describe how the developers made the software so reliable. CIP's reliability did not come about by chance, but was the result of several key design decisions. We conclude with some of the important lessons we learned form developing, deploying, and supporting the software.

  4. Newest is Biggest: Three Generations of NASA Mars Rovers

    NASA Image and Video Library

    2008-11-19

    Full-scale models of three generations of NASA Mars rovers show the increase in size from the Sojourner rover of the Mars Pathfinder project, to the twin Mars Exploration Rovers Spirit and Opportunity, to the Mars Science Laboratory rover.

  5. A proposal for an open source graphical environment for simulating x-ray optics

    NASA Astrophysics Data System (ADS)

    Sanchez del Rio, Manuel; Rebuffi, Luca; Demsar, Janez; Canestrari, Niccolo; Chubar, Oleg

    2014-09-01

    A new graphic environment to drive X-ray optics simulation packages such as SHADOW and SRW is proposed. The aim is to simulate a virtual experiment, including the description of the electron beam and simulate the emitted radiation, the optics, the scattering by the sample and radiation detection. Python is chosen as common interaction language. The ingredients of the new application, a glossary of variables for optical component, the selection of visualization tools, and the integration of all these components in a high level workflow environment built on Orange are presented.

  6. The three-dimensional Event-Driven Graphics Environment (3D-EDGE)

    NASA Technical Reports Server (NTRS)

    Freedman, Jeffrey; Hahn, Roger; Schwartz, David M.

    1993-01-01

    Stanford Telecom developed the Three-Dimensional Event-Driven Graphics Environment (3D-EDGE) for NASA GSFC's (GSFC) Communications Link Analysis and Simulation System (CLASS). 3D-EDGE consists of a library of object-oriented subroutines which allow engineers with little or no computer graphics experience to programmatically manipulate, render, animate, and access complex three-dimensional objects.

  7. Realistic natural atmospheric phenomena and weather effects for interactive virtual environments

    NASA Astrophysics Data System (ADS)

    McLoughlin, Leigh

    Clouds and the weather are important aspects of any natural outdoor scene, but existing dynamic techniques within computer graphics only offer the simplest of cloud representations. The problem that this work looks to address is how to provide a means of simulating clouds and weather features such as precipitation, that are suitable for virtual environments. Techniques for cloud simulation are available within the area of meteorology, but numerical weather prediction systems are computationally expensive, give more numerical accuracy than we require for graphics and are restricted to the laws of physics. Within computer graphics, we often need to direct and adjust physical features or to bend reality to meet artistic goals, which is a key difference between the subjects of computer graphics and physical science. Pure physically-based simulations, however, evolve their solutions according to pre-set rules and are notoriously difficult to control. The challenge then is for the solution to be computationally lightweight and able to be directed in some measure while at the same time producing believable results. This work presents a lightweight physically-based cloud simulation scheme that simulates the dynamic properties of cloud formation and weather effects. The system simulates water vapour, cloud water, cloud ice, rain, snow and hail. The water model incorporates control parameters and the cloud model uses an arbitrary vertical temperature profile, with a tool described to allow the user to define this. The result of this work is that clouds can now be simulated in near real-time complete with precipitation. The temperature profile and tool then provide a means of directing the resulting formation..

  8. Data Management for Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Snyder, Joseph F.; Smyth, David E.

    2004-01-01

    Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

  9. Feasibility of Suited 10-km Ambulation "Walkback" on the Moon

    NASA Technical Reports Server (NTRS)

    Norcross, Jason; Lee, Lesley; DeWitt, John K.; Klein, Jill; Wessell, James; Gernhardt, Michael L.

    2008-01-01

    This viewgraph presentation reviews a study that examined the feasibility of having astronauts walk about 10 kilometers to the base in the event of a breakdown of the lunar rover. This was done in part to examine the possibility of having a single rover on the lunar exploration missions. Other objectives of the study are to: (1) Understand specific biomedical and human performance limitations of the suit compared to matched shirt-sleeve controls; (2) Collect metabolic and ground-reaction force data to develop an EVA simulator for use on future prebr eathe protocol verification tests (3) Provide data to estimate consum ables usage for input to suit and portable life support system (PLSS) design (4) Assess the cardiovascular and resistance exercise associa ted with partialgravity EVA for planning appropriate exploration exer cise countermeasures

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

    PubMed

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

    2014-01-01

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

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

    PubMed Central

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

    2014-01-01

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

  12. Mars Exploration Rover Mission: Entry, Descent, and Landing System Validation

    NASA Technical Reports Server (NTRS)

    Mitcheltree, Robert A.; Lee, Wayne; Steltzner, Adam; SanMartin, Alejanhdro

    2004-01-01

    System validation for a Mars entry, descent, and landing system is not simply a demonstration that the electrical system functions in the associated environments. The function of this system is its interaction with the atmospheric and surface environment. Thus, in addition to traditional test-bed, hardware-in-the-loop, testing, a validation program that confirms the environmental interaction is required. Unfortunately, it is not possible to conduct a meaningful end-to-end test of a Mars landing system on Earth. The validation plan must be constructed from an interconnected combination of simulation, analysis and test. For the Mars Exploration Rover mission, this combination of activities and the logic of how they combined to the system's validation was explicitly stated, reviewed, and tracked as part of the development plan.

  13. A Simulated Geochemical Rover Mission to the Taurus-Littrow Valley of the Moon

    NASA Technical Reports Server (NTRS)

    Korotev, Randy L.; Haskin, Larry A.; Jolliff, Bradley L.

    1995-01-01

    We test the effectiveness of using an alpha backscatter, alpha-proton, X ray spectrometer on a remotely operated rover to analyze soils and provide geologically useful information about the Moon during a simulated mission to a hypothetical site resembling the Apollo 17 landing site. On the mission, 100 soil samples are "analyzed" for major elements at moderate analytical precision (e.g., typical relative sample standard deviation from counting statistics: Si[11%], Al[18%], Fe[6%], Mg[20%], Ca[5%]). Simulated compositions of soils are generated by combining compositions of components representing the major lithologies occurring at the site in known proportions. Simulated analyses are generated by degrading the simulated compositions according to the expected analytical precision of the analyzer. Compositions obtained from the simulated analyses are modeled by least squares mass balance as mixtures of the components, and the relative proportions of those components as predicted by the model are compared with the actual proportions used to generate the simulated composition. Boundary conditions of the modeling exercise are that all important lithologic components of the regolith are known and are represented by model components, and that the compositions of these components are well known. The effect of having the capability of determining one incompatible element at moderate precision (25%) is compared with the effect of the lack of this capability. We discuss likely limitations and ambiguities that would be encountered, but conclude that much of our knowledge about the Apollo 17 site (based on the return samples) regarding the distribution and relative abundances of lithologies in the regolith could be obtained. This success requires, however, that at least one incompatible element be determined.

  14. Numerical simulation of nonlinear feedback model of saccade generation circuit implemented in the LabView graphical programming language.

    PubMed

    Jackson, M E; Gnadt, J W

    1999-03-01

    The object-oriented graphical programming language LabView was used to implement the numerical solution to a computational model of saccade generation in primates. The computational model simulates the activity and connectivity of anatomical strictures known to be involved in saccadic eye movements. The LabView program provides a graphical user interface to the model that makes it easy to observe and modify the behavior of each element of the model. Essential elements of the source code of the LabView program are presented and explained. A copy of the model is available for download from the internet.

  15. Results From Mars Show Electrostatic Charging of the Mars Pathfinder Sojourner Rover

    NASA Technical Reports Server (NTRS)

    Kolecki, Joseph C.; Siebert, Mark W.

    1998-01-01

    Indirect evidence (dust accumulation) has been obtained indicating that the Mars Pathfinder rover, Sojourner, experienced electrostatic charging on Mars. Lander camera images of the Sojourner rover provide distinctive evidence of dust accumulation on rover wheels during traverses, turns, and crabbing maneuvers. The sol 22 (22nd Martian "day" after Pathfinder landed) end-of-day image clearly shows fine red dust concentrated around the wheel edges with additional accumulation in the wheel hubs. A sol 41 image of the rover near the rock "Wedge" (see the next image) shows a more uniform coating of dust on the wheel drive surfaces with accumulation in the hubs similar to that in the previous image. In the sol 41 image, note particularly the loss of black-white contrast on the Wheel Abrasion Experiment strips (center wheel). This loss of contrast was also seen when dust accumulated on test wheels in the laboratory. We believe that this accumulation occurred because the Martian surface dust consists of clay-sized particles, similar to those detected by Viking, which have become electrically charged. By adhering to the wheels, the charged dust carries a net nonzero charge to the rover, raising its electrical potential relative to its surroundings. Similar charging behavior was routinely observed in an experimental facility at the NASA Lewis Research Center, where a Sojourner wheel was driven in a simulated Martian surface environment. There, as the wheel moved and accumulated dust (see the following image), electrical potentials in excess of 100 V (relative to the chamber ground) were detected by a capacitively coupled electrostatic probe located 4 mm from the wheel surface. The measured wheel capacitance was approximately 80 picofarads (pF), and the calculated charge, 8 x 10(exp -9) coulombs (C). Voltage differences of 100 V and greater are believed sufficient to produce Paschen electrical discharge in the Martian atmosphere. With an accumulated net charge of 8 x 10(exp -9) C, and average arc time of 1 msec, arcs can also occur with estimated arc currents approaching 10 milliamperes (mA). Discharges of this magnitude could interfere with the operation of sensitive electrical or electronic elements and logic circuits. Sojourner rover wheel tested in laboratory before launch to Mars. Before launch, we believed that the dust would become triboelectrically charged as it was moved about and compacted by the rover wheels. In all cases observed in the laboratory, the test wheel charged positively, and the wheel tracks charged negatively. Dust samples removed from the laboratory wheel averaged a few ones to tens of micrometers in size (clay size). Coarser grains were left behind in the wheel track. On Mars, grain size estimates of 2 to 10 mm were derived for the Martian surface materials from the Viking Gas Exchange Experiment. These size estimates approximately match the laboratory samples. Our tentative conclusion for the Sojourner observations is that fine clay-sized particles acquired an electrostatic charge during rover traverses and adhered to the rover wheels, carrying electrical charge to the rover. Since the Sojourner rover carried no instruments to measure this mission's onboard electrical charge, confirmatory measurements from future rover missions on Mars are desirable so that the physical and electrical properties of the Martian surface dust can be characterized. Sojourner was protected by discharge points, and Faraday cages were placed around sensitive electronics. But larger systems than Sojourner are being contemplated for missions to the Martian surface in the foreseeable future. The design of such systems will require a detailed knowledge of how they will interact with their environment. Validated environmental interaction models and guidelines for the Martian surface must be developed so that design engineers can test new ideas prior to cutting hardware. These models and guidelines cannot be validated without actual flighata. Electrical charging of vehicles and, one day, astronauts moving across the Martian surface may have moderate to severe consequences if large potential differences develop. The observations from Sojourner point to just such a possibility. It is desirable to quantify these results. The various lander/rover missions being planned for the upcoming decade provide the means for doing so. They should, therefore, carry instruments that will not only measure vehicle charging but characterize all the natural and induced electrical phenomena occurring in the environment and assess their impact on future missions.

  16. Pancam Imaging of the Mars Exploration Rover Landing Sites in Gusev Crater and Meridiani Planum

    NASA Technical Reports Server (NTRS)

    Bell, J. F., III; Squyres, S. W.; Arvidson, R. E.; Arneson, H. M.; Bass, D.; Cabrol, N.; Calvin, W.; Farmer, J.; Farrand, W. H.

    2004-01-01

    The Mars Exploration Rovers carry four Panoramic Camera (Pancam) instruments (two per rover) that have obtained high resolution multispectral and stereoscopic images for studies of the geology, mineralogy, and surface and atmospheric physical properties at both rover landing sites. The Pancams are also providing significant mission support measurements for the rovers, including Sun-finding for rover navigation, hazard identification and digital terrain modeling to help guide long-term rover traverse decisions, high resolution imaging to help guide the selection of in situ sampling targets, and acquisition of education and public outreach imaging products.

  17. KSC-03pd0752

    NASA Image and Video Library

    2003-03-17

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers align the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  18. LAVA subsystem integration and testing for the Resolve payload of the Resource Prospector mission: mass spectrometers and gas chromatography

    NASA Astrophysics Data System (ADS)

    Stewart, Elaine M.; Coan, Mary R.; Captain, Janine; Santiago-Bond, Josephine

    2016-09-01

    In-Situ Resource Utilization (ISRU) is a key NASA initiative to exploit resources at the site of planetary exploration for mission-critical consumables, propellants, and other supplies. The Resource Prospector mission, part of ISRU, is scheduled to launch in 2020 and will include a rover and lander hosting the Regolith and Environment Science and Oxygen and Lunar Volatile Extraction (RESOLVE) payload for extracting and analyzing lunar resources, particularly low molecular weight volatiles for fuel, air, and water. RESOLVE contains the Lunar Advanced Volatile Analysis (LAVA) subsystem with a Gas Chromatograph-Mass Spectrometer (GC-MS). RESOLVE subsystems, including the RP15 rover and LAVA, are in NASA's Engineering Test Unit (ETU) phase to assure that all vital components of the payload are space-flight rated and will perform as expected during the mission. Integration and testing of LAVA mass spectrometry verified reproducibility and accuracy of the candidate MS for detecting nitrogen, oxygen, and carbon dioxide. The RP15 testing comprised volatile analysis of water-doped simulant regolith to enhance integration of the RESOLVE payload with the rover. Multiple tests show the efficacy of the GC to detect 2% and 5% water-doped samples.

  19. Mission control team structure and operational lessons learned from the 2009 and 2010 NASA desert RATS simulated lunar exploration field tests

    NASA Astrophysics Data System (ADS)

    Bell, Ernest R.; Badillo, Victor; Coan, David; Johnson, Kieth; Ney, Zane; Rosenbaum, Megan; Smart, Tifanie; Stone, Jeffry; Stueber, Ronald; Welsh, Daren; Guirgis, Peggy; Looper, Chris; McDaniel, Randall

    2013-10-01

    The NASA Desert Research and Technology Studies (Desert RATS) is an annual field test of advanced concepts, prototype hardware, and potential modes of operation to be used on human planetary surface space exploration missions. For the 2009 and 2010 NASA Desert RATS field tests, various engineering concepts and operational exercises were incorporated into mission timelines with the focus of the majority of daily operations being on simulated lunar geological field operations and executed in a manner similar to current Space Shuttle and International Space Station missions. The field test for 2009 involved a two week lunar exploration simulation utilizing a two-man rover. The 2010 Desert RATS field test took this two week simulation further by incorporating a second two-man rover working in tandem with the 2009 rover, as well as including docked operations with a Pressurized Excursion Module (PEM). Personnel for the field test included the crew, a mission management team, engineering teams, a science team, and the mission operations team. The mission operations team served as the core of the Desert RATS mission control team and included certified NASA Mission Operations Directorate (MOD) flight controllers, former flight controllers, and astronaut personnel. The backgrounds of the flight controllers were in the areas of Extravehicular Activity (EVA), onboard mechanical systems and maintenance, robotics, timeline planning (OpsPlan), and spacecraft communicator (Capcom). With the simulated EVA operations, mechanized operations (the rover), and expectations of replanning, these flight control disciplines were especially well suited for the execution of the 2009 and 2010 Desert RATS field tests. The inclusion of an operations team has provided the added benefit of giving NASA mission operations flight control personnel the opportunity to begin examining operational mission control techniques, team compositions, and mission scenarios. This also gave the mission operations team the opportunity to gain insight into functional hardware requirements via lessons learned from executing the Desert RATS field test missions. This paper will detail the mission control team structure that was used during the 2009 and 2010 Desert RATS Lunar analog missions. It will also present a number of the lessons learned by the operations team during these field tests. Major lessons learned involved Mission Control Center (MCC) operations, pre-mission planning and training processes, procedure requirements, communication requirements, and logistic support for analogs. This knowledge will be applied to future Desert RATS field tests, and other Earth based analog testing for space exploration, to continue the evolution of manned space operations in preparation for human planetary exploration. It is important that operational knowledge for human space exploration missions be obtained during Earth-bound field tests to the greatest extent possible. This allows operations personnel the ability to examine various flight control and crew operations scenarios in preparation for actual space missions.

  20. CONFIG: Qualitative simulation tool for analyzing behavior of engineering devices

    NASA Technical Reports Server (NTRS)

    Malin, Jane T.; Basham, Bryan D.; Harris, Richard A.

    1987-01-01

    To design failure management expert systems, engineers mentally analyze the effects of failures and procedures as they propagate through device configurations. CONFIG is a generic device modeling tool for use in discrete event simulation, to support such analyses. CONFIG permits graphical modeling of device configurations and qualitative specification of local operating modes of device components. Computation requirements are reduced by focussing the level of component description on operating modes and failure modes, and specifying qualitative ranges of variables relative to mode transition boundaries. Simulation processing occurs only when modes change or variables cross qualitative boundaries. Device models are built graphically, using components from libraries. Components are connected at ports by graphical relations that define data flow. The core of a component model is its state transition diagram, which specifies modes of operation and transitions among them.

  1. Rapid Assessment of Agility for Conceptual Design Synthesis

    NASA Technical Reports Server (NTRS)

    Biezad, Daniel J.

    1996-01-01

    This project consists of designing and implementing a real-time graphical interface for a workstation-based flight simulator. It is capable of creating a three-dimensional out-the-window scene of the aircraft's flying environment, with extensive information about the aircraft's state displayed in the form of a heads-up-display (HUD) overlay. The code, written in the C programming language, makes calls to Silicon Graphics' Graphics Library (GL) to draw the graphics primitives. Included in this report is a detailed description of the capabilities of the code, including graphical examples, as well as a printout of the code itself

  2. 3D Graphics For Interactive Surgical Simulation And Implant Design

    NASA Astrophysics Data System (ADS)

    Dev, P.; Fellingham, L. L.; Vassiliadis, A.; Woolson, S. T.; White, D. N.; Young, S. L.

    1984-10-01

    The combination of user-friendly, highly interactive software, 3D graphics, and the high-resolution detailed views of anatomy afforded by X-ray computer tomography and magnetic resonance imaging can provide surgeons with the ability to plan and practice complex surgeries. In addition to providing a realistic and manipulable 3D graphics display, this system can drive a milling machine in order to produce physical models of the anatomy or prosthetic devices and implants which have been designed using its interactive graphics editing facilities.

  3. Survey of currently available high-resolution raster graphics systems

    NASA Technical Reports Server (NTRS)

    Jones, Denise R.

    1987-01-01

    Presented are data obtained on high-resolution raster graphics engines currently available on the market. The data were obtained through survey responses received from various vendors and also from product literature. The questionnaire developed for this survey was basically a list of characteristics desired in a high performance color raster graphics system which could perform real-time aircraft simulations. Several vendors responded to the survey, with most reporting on their most advanced high-performance, high-resolution raster graphics engine.

  4. User's manual for the two-dimensional transputer graphics toolkit

    NASA Technical Reports Server (NTRS)

    Ellis, Graham K.

    1988-01-01

    The user manual for the 2-D graphics toolkit for a transputer based parallel processor is presented. The toolkit consists of a package of 2-D display routines that can be used for the simulation visualizations. It supports multiple windows, double buffered screens for animations, and simple graphics transformations such as translation, rotation, and scaling. The display routines are written in occam to take advantage of the multiprocessing features available on transputers. The package is designed to run on a transputer separate from the graphics board.

  5. A graphical weather system design for the NASA transport systems research vehicle B-737

    NASA Technical Reports Server (NTRS)

    Scanlon, Charles H.

    1992-01-01

    A graphical weather system was designed for testing in the NASA Transport Systems Research Vehicle B-737 airplane and simulator. The purpose of these tests was to measure the impact of graphical weather products on aircrew decision processes, weather situation awareness, reroute clearances, workload, and weather monitoring. The flight crew graphical weather interface is described along with integration of the weather system with the flight navigation system, and data link transmission methods for sending weather data to the airplane.

  6. Rover Family Photo

    NASA Technical Reports Server (NTRS)

    2002-01-01

    Members of the Mars Exploration Rovers Assembly, Test and Launch Operations team gather around Rover 2 and its predecessor, a flight spare of the Pathfinder mission's Sojourner rover, named Marie Curie.

  7. Rover Family Photo

    NASA Image and Video Library

    2003-02-26

    Members of the Mars Exploration Rovers Assembly, Test and Launch Operations team gather around NASA Rover 2 and its predecessor, a flight spare of the Pathfinder mission Sojourner rover, named Marie Curie.

  8. Efficient particle-in-cell simulation of auroral plasma phenomena using a CUDA enabled graphics processing unit

    NASA Astrophysics Data System (ADS)

    Sewell, Stephen

    This thesis introduces a software framework that effectively utilizes low-cost commercially available Graphic Processing Units (GPUs) to simulate complex scientific plasma phenomena that are modeled using the Particle-In-Cell (PIC) paradigm. The software framework that was developed conforms to the Compute Unified Device Architecture (CUDA), a standard for general purpose graphic processing that was introduced by NVIDIA Corporation. This framework has been verified for correctness and applied to advance the state of understanding of the electromagnetic aspects of the development of the Aurora Borealis and Aurora Australis. For each phase of the PIC methodology, this research has identified one or more methods to exploit the problem's natural parallelism and effectively map it for execution on the graphic processing unit and its host processor. The sources of overhead that can reduce the effectiveness of parallelization for each of these methods have also been identified. One of the novel aspects of this research was the utilization of particle sorting during the grid interpolation phase. The final representation resulted in simulations that executed about 38 times faster than simulations that were run on a single-core general-purpose processing system. The scalability of this framework to larger problem sizes and future generation systems has also been investigated.

  9. SES cupola interactive display design environment

    NASA Technical Reports Server (NTRS)

    Vu, Bang Q.; Kirkhoff, Kevin R.

    1989-01-01

    The Systems Engineering Simulator, located at the Lyndon B. Johnson Space Center in Houston, Texas, is tasked with providing a real-time simulator for developing displays and controls targeted for the Space Station Freedom. These displays and controls will exist inside an enclosed workstation located on the space station. The simulation is currently providing the engineering analysis environment for NASA and contractor personnel to design, prototype, and test alternatives for graphical presentation of data to an astronaut while he performs specified tasks. A highly desirable aspect of this environment is to have the capability to rapidly develop and bring on-line a number of different displays for use in determining the best utilization of graphics techniques in achieving maximum efficiency of the test subject fulfilling his task. The Systems Engineering Simulator now has available a tool which assists in the rapid development of displays for these graphic workstations. The Display Builder was developed in-house to provide an environment which allows easy construction and modification of displays within minutes of receiving requirements for specific tests.

  10. Experiences modeling ocean circulation problems on a 30 node commodity cluster with 3840 GPU processor cores.

    NASA Astrophysics Data System (ADS)

    Hill, C.

    2008-12-01

    Low cost graphic cards today use many, relatively simple, compute cores to deliver support for memory bandwidth of more than 100GB/s and theoretical floating point performance of more than 500 GFlop/s. Right now this performance is, however, only accessible to highly parallel algorithm implementations that, (i) can use a hundred or more, 32-bit floating point, concurrently executing cores, (ii) can work with graphics memory that resides on the graphics card side of the graphics bus and (iii) can be partially expressed in a language that can be compiled by a graphics programming tool. In this talk we describe our experiences implementing a complete, but relatively simple, time dependent shallow-water equations simulation targeting a cluster of 30 computers each hosting one graphics card. The implementation takes into account the considerations (i), (ii) and (iii) listed previously. We code our algorithm as a series of numerical kernels. Each kernel is designed to be executed by multiple threads of a single process. Kernels are passed memory blocks to compute over which can be persistent blocks of memory on a graphics card. Each kernel is individually implemented using the NVidia CUDA language but driven from a higher level supervisory code that is almost identical to a standard model driver. The supervisory code controls the overall simulation timestepping, but is written to minimize data transfer between main memory and graphics memory (a massive performance bottle-neck on current systems). Using the recipe outlined we can boost the performance of our cluster by nearly an order of magnitude, relative to the same algorithm executing only on the cluster CPU's. Achieving this performance boost requires that many threads are available to each graphics processor for execution within each numerical kernel and that the simulations working set of data can fit into the graphics card memory. As we describe, this puts interesting upper and lower bounds on the problem sizes for which this technology is currently most useful. However, many interesting problems fit within this envelope. Looking forward, we extrapolate our experience to estimate full-scale ocean model performance and applicability. Finally we describe preliminary hybrid mixed 32-bit and 64-bit experiments with graphics cards that support 64-bit arithmetic, albeit at a lower performance.

  11. KSC-03pd0753

    NASA Image and Video Library

    2003-03-17

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers check alignment of the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) with the Warm Electronics Box (WEB). Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  12. KSC-03pd0756

    NASA Image and Video Library

    2003-03-17

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  13. KSC-03pd0754

    NASA Image and Video Library

    2003-03-17

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Rover Equipment Deck (RED) on one of the Mars Exploration Rovers (MER) is integrated to the Warm Electronics Box (WEB) on the WEB cart. Processing of the rovers, plus cruise stage, lander and heat shield elements, is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  14. Conceptual Design and Architecture of Mars Exploration Rover (MER) for Seismic Experiments Over Martian Surfaces

    NASA Astrophysics Data System (ADS)

    Garg, Akshay; Singh, Amit

    2012-07-01

    Keywords: MER, Mars, Rover, Seismometer Mars has been a subject of human interest for exploration missions for quite some time now. Both rover as well as orbiter missions have been employed to suit mission objectives. Rovers have been preferentially deployed for close range reconnaissance and detailed experimentation with highest accuracy. However, it is essential to strike a balance between the chosen science objectives and the rover operations as a whole. The objective of this proposed mechanism is to design a vehicle (MER) to carry out seismic studies over Martian surface. The conceptual design consists of three units i.e. Mother Rover as a Surrogate (Carrier) and Baby Rovers (two) as seeders for several MEMS-based accelerometer / seismometer units (Nodes). Mother Rover can carry these Baby Rovers, having individual power supply with solar cells and with individual data transmission capabilities, to suitable sites such as Chasma associated with Valles Marineris, Craters or Sand Dunes. Mother rover deploys these rovers in two opposite direction and these rovers follow a triangulation pattern to study shock waves generated through firing tungsten carbide shells into the ground. Till the time of active experiments Mother Rover would act as a guiding unit to control spatial spread of detection instruments. After active shock experimentation, the babies can still act as passive seismometer units to study and record passive shocks from thermal quakes, impact cratering & landslides. Further other experiments / payloads (XPS / GAP / APXS) can also be carried by Mother Rover. Secondary power system consisting of batteries can also be utilized for carrying out further experiments over shallow valley surfaces. The whole arrangement is conceptually expected to increase the accuracy of measurements (through concurrent readings) and prolong life cycle of overall experimentation. The proposed rover can be customised according to the associated scientific objectives and further needs.

  15. KSC-03pd0209

    NASA Image and Video Library

    2003-01-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lift the cover from the Mars Exploration Rover -2. Set to launch in 2003, the Mars Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  16. KSC-03pd0916

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - A worker makes the final launch preparations on the rover equipment deck (RED) for the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  17. Mars Exploration Rover (MER) aeroshell

    NASA Image and Video Library

    2003-01-31

    In the Payload Hazardous Servicing Facility, workers prepare the Mars Exploration Rover (MER) aeroshell for transfer to a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  18. KSC-03pd0212

    NASA Image and Video Library

    2003-01-28

    KENNEDY SPACE CENTER, FLA. -- The Mars Exploration Rover -2 is moved to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the Mars Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  19. KSC-03pd0210

    NASA Image and Video Library

    2003-01-28

    KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, workers get ready to remove the plastic covering from the Mars Exploration Rover -2. Set to launch in 2003, the Mars Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  20. KSC-03pd0785

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - Workers in the Payload Hazardous Servicing Facility check different parts of the Mars Exploration Rover-2 (MER-2) after testing the rover's mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  1. KSC-03pd0213

    NASA Image and Video Library

    2003-01-28

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility move the Mars Exploration Rover -2 to a workstand in the high bay. Set to launch in 2003, the Mars Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  2. Advanced computer graphic techniques for laser range finder (LRF) simulation

    NASA Astrophysics Data System (ADS)

    Bedkowski, Janusz; Jankowski, Stanislaw

    2008-11-01

    This paper show an advanced computer graphic techniques for laser range finder (LRF) simulation. The LRF is the common sensor for unmanned ground vehicle, autonomous mobile robot and security applications. The cost of the measurement system is extremely high, therefore the simulation tool is designed. The simulation gives an opportunity to execute algorithm such as the obstacle avoidance[1], slam for robot localization[2], detection of vegetation and water obstacles in surroundings of the robot chassis[3], LRF measurement in crowd of people[1]. The Axis Aligned Bounding Box (AABB) and alternative technique based on CUDA (NVIDIA Compute Unified Device Architecture) is presented.

  3. Exomars Mission Verification Approach

    NASA Astrophysics Data System (ADS)

    Cassi, Carlo; Gilardi, Franco; Bethge, Boris

    According to the long-term cooperation plan established by ESA and NASA in June 2009, the ExoMars project now consists of two missions: A first mission will be launched in 2016 under ESA lead, with the objectives to demonstrate the European capability to safely land a surface package on Mars, to perform Mars Atmosphere investigation, and to provide communi-cation capability for present and future ESA/NASA missions. For this mission ESA provides a spacecraft-composite, made up of an "Entry Descent & Landing Demonstrator Module (EDM)" and a Mars Orbiter Module (OM), NASA provides the Launch Vehicle and the scientific in-struments located on the Orbiter for Mars atmosphere characterisation. A second mission with it launch foreseen in 2018 is lead by NASA, who provides spacecraft and launcher, the EDL system, and a rover. ESA contributes the ExoMars Rover Module (RM) to provide surface mobility. It includes a drill system allowing drilling down to 2 meter, collecting samples and to investigate them for signs of past and present life with exobiological experiments, and to investigate the Mars water/geochemical environment, In this scenario Thales Alenia Space Italia as ESA Prime industrial contractor is in charge of the design, manufacturing, integration and verification of the ESA ExoMars modules, i.e.: the Spacecraft Composite (OM + EDM) for the 2016 mission, the RM for the 2018 mission and the Rover Operations Control Centre, which will be located at Altec-Turin (Italy). The verification process of the above products is quite complex and will include some pecu-liarities with limited or no heritage in Europe. Furthermore the verification approach has to be optimised to allow full verification despite significant schedule and budget constraints. The paper presents the verification philosophy tailored for the ExoMars mission in line with the above considerations, starting from the model philosophy, showing the verification activities flow and the sharing of tests between the different levels (system, modules, subsystems, etc) and giving an overview of the main test defined at Spacecraft level. The paper is mainly focused on the verification aspects of the EDL Demonstrator Module and the Rover Module, for which an intense testing activity without previous heritage in Europe is foreseen. In particular the Descent Module has to survive to the Mars atmospheric entry and landing, its surface platform has to stay operational for 8 sols on Martian surface, transmitting scientific data to the Orbiter. The Rover Module has to perform 180 sols mission in Mars surface environment. These operative conditions cannot be verified only by analysis; consequently a test campaign is defined including mechanical tests to simulate the entry loads, thermal test in Mars environment and the simulation of Rover operations on a 'Mars like' terrain. Finally, the paper present an overview of the documentation flow defined to ensure the correct translation of the mission requirements in verification activities (test, analysis, review of design) until the final verification close-out of the above requirements with the final verification reports.

  4. Instrument Deployment for Mars Rovers

    NASA Technical Reports Server (NTRS)

    Pedersen, Liam; Bualat, Maria; Kunz, C.; Lee, Susan; Sargent, Randy; Washington, Rich; Wright, Anne; Clancy, Daniel (Technical Monitor)

    2002-01-01

    Future Mars rovers, such as the planned 2009 MSL rover, require sufficient autonomy to robustly approach rock targets and place an instrument in contact with them. It took the 1997 Sojourner Mars rover between 3 and 5 communications cycles to accomplish this. This paper describes the technologies being developed and integrated onto the NASA Ames K9 prototype Mars rover to both accomplish this in one cycle, and to extend the complexity and duration of operations that a Mars rover can accomplish without intervention from mission control.

  5. Using the PhysX engine for physics-based virtual surgery with force feedback.

    PubMed

    Maciel, Anderson; Halic, Tansel; Lu, Zhonghua; Nedel, Luciana P; De, Suvranu

    2009-09-01

    The development of modern surgical simulators is highly challenging, as they must support complex simulation environments. The demand for higher realism in such simulators has driven researchers to adopt physics-based models, which are computationally very demanding. This poses a major problem, since real-time interactions must permit graphical updates of 30 Hz and a much higher rate of 1 kHz for force feedback (haptics). Recently several physics engines have been developed which offer multi-physics simulation capabilities, including rigid and deformable bodies, cloth and fluids. While such physics engines provide unique opportunities for the development of surgical simulators, their higher latencies, compared to what is necessary for real-time graphics and haptics, offer significant barriers to their use in interactive simulation environments. In this work, we propose solutions to this problem and demonstrate how a multimodal surgical simulation environment may be developed based on NVIDIA's PhysX physics library. Hence, models that are undergoing relatively low-frequency updates in PhysX can exist in an environment that demands much higher frequency updates for haptics. We use a collision handling layer to interface between the physical response provided by PhysX and the haptic rendering device to provide both real-time tissue response and force feedback. Our simulator integrates a bimanual haptic interface for force feedback and per-pixel shaders for graphics realism in real time. To demonstrate the effectiveness of our approach, we present the simulation of the laparoscopic adjustable gastric banding (LAGB) procedure as a case study. To develop complex and realistic surgical trainers with realistic organ geometries and tissue properties demands stable physics-based deformation methods, which are not always compatible with the interaction level required for such trainers. We have shown that combining different modelling strategies for behaviour, collision and graphics is possible and desirable. Such multimodal environments enable suitable rates to simulate the major steps of the LAGB procedure.

  6. Applications of graphics to support a testbed for autonomous space vehicle operations

    NASA Technical Reports Server (NTRS)

    Schmeckpeper, K. R.; Aldridge, J. P.; Benson, S.; Horner, S.; Kullman, A.; Mulder, T.; Parrott, W.; Roman, D.; Watts, G.; Bochsler, Daniel C.

    1989-01-01

    Researchers describe their experience using graphics tools and utilities while building an application, AUTOPS, that uses a graphical Machintosh (TM)-like interface for the input and display of data, and animation graphics to enhance the presentation of results of autonomous space vehicle operations simulations. AUTOPS is a test bed for evaluating decisions for intelligent control systems for autonomous vehicles. Decisions made by an intelligent control system, e.g., a revised mission plan, might be displayed to the user in textual format or he can witness the effects of those decisions via out of window graphics animations. Although a textual description conveys essentials, a graphics animation conveys the replanning results in a more convincing way. Similarily, iconic and menu-driven screen interfaces provide the user with more meaningful options and displays. Presented here are experiences with the SunView and TAE Plus graphics tools used for interface design, and the Johnson Space Center Interactive Graphics Laboratory animation graphics tools used for generating out out of the window graphics.

  7. A conceptual design and operational characteristics for a Mars rover for a 1979 or 1981 Viking science mission

    NASA Technical Reports Server (NTRS)

    Darnell, W. L.; Wessel, V. W.

    1974-01-01

    The feasibility of a small Mars rover for use on a 1979 or 1981 Viking mission was studied and a preliminary design concept was developed. Three variations of the concept were developed to provide comparisons in mobility and science capability of the rover. Final masses of the three rover designs were approximately 35 kg, 40 kg, and 69 kg. The smallest rover is umbilically connected to the lander for power and communications purposes whereas the larger two rovers have secondary battery power and a 2-way very high frequency communication link to the lander. The capability for carrying Viking rovers (including development system) to the surface of Mars was considered first. It was found to be feasible to carry rovers of over 100 kg. Virtually all rover systems were then studied briefly to determine a feasible system concept and a practical interface with the comparable system of a 1979 or 1981 lander vehicle.

  8. Preliminary Surface Thermal Design of the Mars 2020 Rover

    NASA Technical Reports Server (NTRS)

    Novak, Keith S.; Kempenaar, Jason G.; Redmond, Matthew J.; Bhandari, Pradeep

    2015-01-01

    The Mars 2020 rover, scheduled for launch in July 2020, is currently being designed at NASA's Jet Propulsion Laboratory. The Mars 2020 rover design is derived from the Mars Science Laboratory (MSL) rover, Curiosity, which has been exploring the surface of Mars in Gale Crater for over 2.5 years. The Mars 2020 rover will carry a new science payload made up of 7 instruments. In addition, the Mars 2020 rover is responsible for collecting a sample cache of Mars regolith and rock core samples that could be returned to Earth in a future mission. Accommodation of the new payload and the Sampling Caching System (SCS) has driven significant thermal design changes from the original MSL rover design. This paper describes the similarities and differences between the heritage MSL rover thermal design and the new Mars 2020 thermal design. Modifications to the MSL rover thermal design that were made to accommodate the new payload and SCS are discussed. Conclusions about thermal design flexibility are derived from the Mars 2020 preliminary thermal design experience.

  9. Lunar Surface Operations with Dual Rovers

    NASA Technical Reports Server (NTRS)

    Horz, Friedrich; Lofgren, Gary E.; Eppler, Dean E.; Ming, Douglas

    2010-01-01

    Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.

  10. KSC-03pd0764

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  11. KSC-03pd0765

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, Fla. - With cables released, this Mars Exploration Rover (MER) sits on the floor of the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  12. KSC-03pd0762

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, Fla. - A worker in the Payload Hazardous Servicing Facility makes adjustments on one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  13. KSC-03pd0784

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) has rotated. Atop the rover can be seen the cameras, mounted on a Pancam Mast Assembly (PMA). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  14. KSC-03pd0761

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, Fla. - Workers in the Payload Hazardous Servicing Facility look over one of the Mars Exploration Rovers (MER). Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  15. KSC-03pd0758

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, FLA. - One of the Mars Exploration Rovers (MER) sits on a stand in the Payload Hazardous Servicing Facility. Processing of the rovers, cruise stage, lander and heat shield elements is ongoing. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  16. KSC-03pd0211

    NASA Image and Video Library

    2003-01-28

    KENNEDY SPACE CENTER, FLA. - After being cleaned up, the Mars Exploration Rover -2 is ready to be moved to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the Mars Exploration Rover Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, 2003, and the second rover a window opening June 25, 2003.

  17. Dakota Graphical User Interface v. 1.0

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

    Friedman-Hill, Ernest; Glickman, Matthew; Gibson, Marcus

    Graphical analysis environment for Sandia’s Dakota software for optimization and uncertainty quantification. The Dakota GUI is an interactive graphical analysis environment for creating, running, and interpreting Dakota optimization and uncertainty quantification studies. It includes problem (Dakota study) set-up, option specification, simulation interfacing, analysis execution, and results visualization. Through the use of wizards, templates, and views, Dakota GUI helps uses navigate Dakota’s complex capability landscape.

  18. Martian Surface Mineralogy from Rovers with Spirit, Opportunity, and Curiosity

    NASA Technical Reports Server (NTRS)

    Morris, Richard V.

    2016-01-01

    Beginning in 2004, NASA has landed three well-instrumented rovers on the equatorial martian surface. The Spirit rover landed in Gusev crater in early January, 2004, and the Opportunity rover landed on the opposite side of Mars at Meridian Planum 21 days later. The Curiosity rover landed in Gale crater to the west of Gusev crater in August, 2012. Both Opportunity and Curiosity are currently operational. The twin rovers Spirit and Opportunity carried Mossbauer spectrometers to determine the oxidation state of iron and its mineralogical composition. The Curiosity rover has an X-ray diffraction instrument for identification and quantification of crystalline materials including clay minerals. Instrument suites on all three rovers are capable of distinguishing primary rock-forming minerals like olivine, pyroxene and magnetite and products of aqueous alteration in including amorphous iron oxides, hematite, goethite, sulfates, and clay minerals. The oxidation state of iron ranges from that typical for unweathered rocks and soils to nearly completely oxidized (weathered) rocks and soils as products of aqueous and acid-sulfate alteration. The in situ rover mineralogy also serves as ground-truth for orbital observations, and orbital mineralogical inferences are used for evaluating and planning rover exploration.

  19. Computer graphics testbed to simulate and test vision systems for space applications

    NASA Technical Reports Server (NTRS)

    Cheatham, John B.

    1991-01-01

    Artificial intelligence concepts are applied to robotics. Artificial neural networks, expert systems and laser imaging techniques for autonomous space robots are being studied. A computer graphics laser range finder simulator developed by Wu has been used by Weiland and Norwood to study use of artificial neural networks for path planning and obstacle avoidance. Interest is expressed in applications of CLIPS, NETS, and Fuzzy Control. These applications are applied to robot navigation.

  20. SpineCreator: a Graphical User Interface for the Creation of Layered Neural Models.

    PubMed

    Cope, A J; Richmond, P; James, S S; Gurney, K; Allerton, D J

    2017-01-01

    There is a growing requirement in computational neuroscience for tools that permit collaborative model building, model sharing, combining existing models into a larger system (multi-scale model integration), and are able to simulate models using a variety of simulation engines and hardware platforms. Layered XML model specification formats solve many of these problems, however they are difficult to write and visualise without tools. Here we describe a new graphical software tool, SpineCreator, which facilitates the creation and visualisation of layered models of point spiking neurons or rate coded neurons without requiring the need for programming. We demonstrate the tool through the reproduction and visualisation of published models and show simulation results using code generation interfaced directly into SpineCreator. As a unique application for the graphical creation of neural networks, SpineCreator represents an important step forward for neuronal modelling.

  1. Wide-angle display developments by computer graphics

    NASA Technical Reports Server (NTRS)

    Fetter, William A.

    1989-01-01

    Computer graphics can now expand its new subset, wide-angle projection, to be as significant a generic capability as computer graphics itself. Some prior work in computer graphics is presented which leads to an attractive further subset of wide-angle projection, called hemispheric projection, to be a major communication media. Hemispheric film systems have long been present and such computer graphics systems are in use in simulators. This is the leading edge of capabilities which should ultimately be as ubiquitous as CRTs (cathode-ray tubes). These assertions are not from degrees in science or only from a degree in graphic design, but in a history of computer graphics innovations, laying groundwork by demonstration. The author believes that it is timely to look at several development strategies, since hemispheric projection is now at a point comparable to the early stages of computer graphics, requiring similar patterns of development again.

  2. DspaceOgre 3D Graphics Visualization Tool

    NASA Technical Reports Server (NTRS)

    Jain, Abhinandan; Myin, Steven; Pomerantz, Marc I.

    2011-01-01

    This general-purpose 3D graphics visualization C++ tool is designed for visualization of simulation and analysis data for articulated mechanisms. Examples of such systems are vehicles, robotic arms, biomechanics models, and biomolecular structures. DspaceOgre builds upon the open-source Ogre3D graphics visualization library. It provides additional classes to support the management of complex scenes involving multiple viewpoints and different scene groups, and can be used as a remote graphics server. This software provides improved support for adding programs at the graphics processing unit (GPU) level for improved performance. It also improves upon the messaging interface it exposes for use as a visualization server.

  3. Physics of the zero- photonic gap: fundamentals and latest developments

    NASA Astrophysics Data System (ADS)

    Zhou, Lei; Song, Zhengyong; Huang, Xueqin; Chan, C. T.

    2012-12-01

    A short overview is presented on the research works related to the zero- gap, which appears as the volume-averaged refraction index vanishes in photonic structures containing both positive and negative-index materials. After introducing the basic concept of the zero- gap based on both rigorous mathematics and numerical simulations, the unique properties of such a band gap are discussed, including its robustness against weak disorder, wide-incidence-angle operation and scaling invariance, which do not belong to a conventional Bragg gap. We then describe the simulation and experimental verifications on the zero- gap and its extraordinary properties in different frequency domains. After that, the unusual photonic and physical effects discovered based on the zero- gap and their potential applications are reviewed, including beam manipulations and nonlinear effects. Before concluding this review, several interesting ideas inspired from the zero- gap works will be introduced, including the zero-phase gaps, zero-permittivity and zero-permeability gaps, complete band gaps, and zero-refraction-index materials with Dirac-Cone dispersion.

  4. Simulation Based Studies of Low Latency Teleoperations for NASA Exploration Missions

    NASA Technical Reports Server (NTRS)

    Gernhardt, Michael L.; Crues, Edwin Z.; Bielski, Paul; Dexter, Dan; Litaker, Harry L.; Chappell, Steven P.; Beaton, Kara H.; Bekdash, Omar S.

    2017-01-01

    Human exploration of Mars will involve both crewed and robotic systems. Many mission concepts involve the deployment and assembly of mission support assets prior to crew arrival on the surface. Some of these deployment and assembly activities will be performed autonomously while others will be performed using teleoperations. However, significant communications latencies between the Earth and Mars make teleoperations challenging. Alternatively, low latency teleoperations are possible from locations in Mars orbit like Mars' moons Phobos and Deimos. To explore these latency opportunities, NASA is conducting a series of studies to investigate the effects of latency on telerobotic deployment and assembly activities. These studies are being conducted in laboratory environments at NASA's Johnson Space Center (JSC), the Human Exploration Research Analog (HERA) at JSC and the NASA Extreme Environment Mission Operations (NEEMO) underwater habitat off the coast of Florida. The studies involve two human-in-the-loop interactive simulations developed by the NASA Exploration Systems Simulations (NExSyS) team at JSC. The first simulation investigates manipulation related activities while the second simulation investigates mobility related activities. The first simulation provides a simple real-time operator interface with displays and controls for a simulated 6 degree of freedom end effector. The initial version of the simulation uses a simple control mode to decouple the robotic kinematic constraints and a communications delay to model latency effects. This provides the basis for early testing with more detailed manipulation simulations planned for the future. Subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. Subject performance is measured and correlated with three distance-to-target zones of interest. Each zone represents a target distance ranging from beyond 10m in Zone 1, through 1 cm to contact in Zone 5 with a step size factor of 10. Collected data consists of both objective simulation data (time, distance, hand controller inputs, velocity) and subjective questionnaire data. The second simulation provides a simple real-time operator interface with displays and control of a simulated surface rover. The rover traverses a synthetic Mars-like terrain and must be maneuvered to avoid obstacles while progressing to its destination. Like the manipulator simulation, subjects are tested using five operating latencies that represent teleoperation conditions from local surface operations to orbital operations at Phobos, Deimos and ultimately high Martian orbit. The rover is also operated at three different traverse speeds to assess the correlation between latency and speed. Collected data consisted of both objective simulation data (time, distance, hand controller inputs, braking) and subjective questionnaire data. These studies are exploring relationships between task complexity, operating speeds, operator efficiencies, and communications latencies for low latency teleoperations in support of human planetary exploration. This paper presents early results from these studies along with the current observations and conclusions. These and planned future studies will help to inform NASA on the potential for low latency teleoperations to support human exploration of Mars and inform the design of robotic systems and exploration missions.

  5. Advanced Methods for Determining Prediction Uncertainty in Model-Based Prognostics with Application to Planetary Rovers

    NASA Technical Reports Server (NTRS)

    Daigle, Matthew J.; Sankararaman, Shankar

    2013-01-01

    Prognostics is centered on predicting the time of and time until adverse events in components, subsystems, and systems. It typically involves both a state estimation phase, in which the current health state of a system is identified, and a prediction phase, in which the state is projected forward in time. Since prognostics is mainly a prediction problem, prognostic approaches cannot avoid uncertainty, which arises due to several sources. Prognostics algorithms must both characterize this uncertainty and incorporate it into the predictions so that informed decisions can be made about the system. In this paper, we describe three methods to solve these problems, including Monte Carlo-, unscented transform-, and first-order reliability-based methods. Using a planetary rover as a case study, we demonstrate and compare the different methods in simulation for battery end-of-discharge prediction.

  6. Ground tests of the Dynamic Albedo of Neutron instrument operation in the passive mode with a Martian soil model

    NASA Astrophysics Data System (ADS)

    Shvetsov, V. N.; Dubasov, P. V.; Golovin, D. V.; Kozyrev, A. S.; Krylov, A. R.; Krylov, V. A.; Litvak, M. L.; Malakhov, A. V.; Mitrofanov, I. G.; Mokrousov, M. I.; Sanin, A. B.; Timoshenko, G. N.; Vostrukhin, A. A.; Zontikov, A. O.

    2017-07-01

    The results of the Dynamic Albedo of Neutrons (DAN) instrument ground tests in the passive mode of operation are presented in comparison with the numerical calculations. These test series were conducted to support the current surface measurements of DAN onboard the MSL Curiosity rover. The instrument sensitivity to detect thin subsurface layers of water ice buried at different depths in the analog of Martian soil has been evaluated during these tests. The experiments have been done with a radioisotope Pu-Be neutron source (analog of the MMRTG neutron source onboard the Curiosity rover) and the Martian soil model assembled from silicon-rich window glass pane. Water ice layers were simulated with polyethylene sheets. All experiments have been performed at the test facility built at the Joint Institute for Nuclear Research (Dubna, Russia).

  7. Rovers as Geological Helpers for Planetary Surface Exploration

    NASA Technical Reports Server (NTRS)

    Stoker, Carol; DeVincenzi, Donald (Technical Monitor)

    2000-01-01

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

  8. Rover-based visual target tracking validation and mission infusion

    NASA Technical Reports Server (NTRS)

    Kim, Won S.; Steele, Robert D.; Ansar, Adnan I.; Ali, Khaled; Nesnas, Issa

    2005-01-01

    The Mars Exploration Rovers (MER'03), Spirit and Opportunity, represent the state of the art in rover operations on Mars. This paper presents validation experiments of different visual tracking algorithms using the rover's navigation camera.

  9. CubeRovers for Lunar Exploration

    NASA Astrophysics Data System (ADS)

    Tallaksen, A. P.; Horchler, A. D.; Boirum, C.; Arnett, D.; Jones, H. L.; Fang, E.; Amoroso, E.; Chomas, L.; Papincak, L.; Sapunkov, O. B.; Whittaker, W. L.

    2017-10-01

    CubeRover is a 2-kg class of lunar rover that seeks to standardize and democratize surface mobility and science, analogous to CubeSats. This CubeRover will study in-situ lunar surface trafficability and descent engine blast ejecta phenomena.

  10. Search for life on Mars in surface samples: Lessons from the 1999 Marsokhod rover field experiment

    USGS Publications Warehouse

    Newsom, Horton E.; Bishop, J.L.; Cockell, C.; Roush, T.L.; Johnson, J. R.

    2001-01-01

    The Marsokhod 1999 field experiment in the Mojave Desert included a simulation of a rover-based sample selection mission. As part of this mission, a test was made of strategies and analytical techniques for identifying past or present life in environments expected to be present on Mars. A combination of visual clues from high-resolution images and the detection of an important biomolecule (chlorophyll) with visible/near-infrared (NIR) spectroscopy led to the successful identification of a rock with evidence of cryptoendolithic organisms. The sample was identified in high-resolution images (3 times the resolution of the Imager for Mars Pathfinder camera) on the basis of a green tinge and textural information suggesting the presence of a thin, partially missing exfoliating layer revealing the organisms. The presence of chlorophyll bands in similar samples was observed in visible/NIR spectra of samples in the field and later confirmed in the laboratory using the same spectrometer. Raman spectroscopy in the laboratory, simulating a remote measurement technique, also detected evidence of carotenoids in samples from the same area. Laboratory analysis confirmed that the subsurface layer of the rock is inhabited by a community of coccoid Chroococcidioposis cyanobacteria. The identification of minerals in the field, including carbonates and serpentine, that are associated with aqueous processes was also demonstrated using the visible/NIR spectrometer. Other lessons learned that are applicable to future rover missions include the benefits of web-based programs for target selection and for daily mission planning and the need for involvement of the science team in optimizing image compression schemes based on the retention of visual signature characteristics. Copyright 2000 by the American Geophysical Union.

  11. Graphics modelling of non-contact thickness measuring robotics work cell

    NASA Technical Reports Server (NTRS)

    Warren, Charles W.

    1990-01-01

    A system was developed for measuring, in real time, the thickness of a sprayable insulation during its application. The system was graphically modelled, off-line, using a state-of-the-art graphics workstation and associated software. This model was to contain a 3D color model of a workcell containing a robot and an air bearing turntable. A communication link was established between the graphics workstations and the robot's controller. Sequences of robot motion generated by the computer simulation are transmitted to the robot for execution.

  12. Viking '79 Rover study. Volume 1: Summary report

    NASA Technical Reports Server (NTRS)

    1974-01-01

    The results of a study to define a roving vehicle suitable for inclusion in a 1979 Viking mission to Mars are presented. The study focused exclusively on the 1979 mission incorporating a rover that would be stowed on and deployed from a modified Viking lander. The overall objective of the study was to define a baseline rover, the lander/rover interfaces, a mission operations concept, and a rover development program compatible with the 1979 launch opportunity. During the study, numerous options at the rover system and subsystem levels were examined and a baseline configuration was selected. Launch vehicle, orbiter, and lander performance capabilities were examined to ensure that the baseline rover could be transported to Mars using minimum-modified Viking '75 hardware and designs.

  13. Remote image analysis for Mars Exploration Rover mobility and manipulation operations

    NASA Technical Reports Server (NTRS)

    Leger, Chris; Deen, Robert G.; Bonitz, Robert G.

    2005-01-01

    NASA's Mars Exploration Rovers are two sixwheeled, 175-kg robotic vehicles which have operated on Mars for over a year as of March 2005. The rovers are controlled by teams who must understand the rover's surroundings and develop command sequences on a daily basis. The tight tactical planning timeline and everchanging environment call for tools that allow quick assessment of potential manipulator targets and traverse goals, since command sequences must be developed in a matter of hours after receipt of new data from the rovers. Reachability maps give a visual indication of which targets are reachable by each rover's manipulator, while slope and solar energy maps show the rover operator which terrain areas are safe and unsafe from different standpoints.

  14. Graphical user interface for wireless sensor networks simulator

    NASA Astrophysics Data System (ADS)

    Paczesny, Tomasz; Paczesny, Daniel; Weremczuk, Jerzy

    2008-01-01

    Wireless Sensor Networks (WSN) are currently very popular area of development. It can be suited in many applications form military through environment monitoring, healthcare, home automation and others. Those networks, when working in dynamic, ad-hoc model, need effective protocols which must differ from common computer networks algorithms. Research on those protocols would be difficult without simulation tool, because real applications often use many nodes and tests on such a big networks take much effort and costs. The paper presents Graphical User Interface (GUI) for simulator which is dedicated for WSN studies, especially in routing and data link protocols evaluation.

  15. Centralized Planning for Multiple Exploratory Robots

    NASA Technical Reports Server (NTRS)

    Estlin, Tara; Rabideau, Gregg; Chien, Steve; Barrett, Anthony

    2005-01-01

    A computer program automatically generates plans for a group of robotic vehicles (rovers) engaged in geological exploration of terrain. The program rapidly generates multiple command sequences that can be executed simultaneously by the rovers. Starting from a set of high-level goals, the program creates a sequence of commands for each rover while respecting hardware constraints and limitations on resources of each rover and of hardware (e.g., a radio communication terminal) shared by all the rovers. First, a separate model of each rover is loaded into a centralized planning subprogram. The centralized planning software uses the models of the rovers plus an iterative repair algorithm to resolve conflicts posed by demands for resources and by constraints associated with the all the rovers and the shared hardware. During repair, heuristics are used to make planning decisions that will result in solutions that will be better and will be found faster than would otherwise be possible. In particular, techniques from prior solutions of the multiple-traveling- salesmen problem are used as heuristics to generate plans in which the paths taken by the rovers to assigned scientific targets are shorter than they would otherwise be.

  16. Easy GROMACS: A Graphical User Interface for GROMACS Molecular Dynamics Simulation Package

    NASA Astrophysics Data System (ADS)

    Dizkirici, Ayten; Tekpinar, Mustafa

    2015-03-01

    GROMACS is a widely used molecular dynamics simulation package. Since it is a command driven program, it is difficult to use this program for molecular biologists, biochemists, new graduate students and undergraduate researchers who are interested in molecular dynamics simulations. To alleviate the problem for those researchers, we wrote a graphical user interface that simplifies protein preparation for a classical molecular dynamics simulation. Our program can work with various GROMACS versions and it can perform essential analyses of GROMACS trajectories as well as protein preparation. We named our open source program `Easy GROMACS'. Easy GROMACS can give researchers more time for scientific research instead of dealing with technical intricacies.

  17. WATER ON MARS: EVIDENCE FROM MER MISSION RESULTS

    NASA Technical Reports Server (NTRS)

    Landis, Geoffrey A.

    2006-01-01

    The Mars Exploration Rover (MER) mission landed two rovers on Mars, equipped with a highly-capable suite of science instruments. The Spirit rover landed on the inside Gusev Crater on January 5, 2004, and the Opportunity rover three weeks later on Meridiani Planum. This paper summarizes some of the findings from the MER rovers related to the NASA science strategy of investigating past and present water on Mars.

  18. Spirit Ascent Movie, Rover's-Eye View

    NASA Technical Reports Server (NTRS)

    2005-01-01

    A movie assembled from frames taken by the rear hazard-identification camera on NASA's Mars Exploration Rover Spirit shows the last few days of the rover's ascent to the crest of 'Husband Hill' inside Mars' Gusev Crater. The rover was going in reverse. Rover planners often drive Spirit backwards to keep wheel lubrication well distributed. The images in this clip span a timeframe from Spirit's 573rd martian day, or sol (Aug, 13, 2005) to sol 582 (Aug. 22, 2005), the day after the rover reached the crest. During that period, Spirit drove 136 meters (446 feet),

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

    NASA Technical Reports Server (NTRS)

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

    2015-01-01

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

  20. Analysis of Fully Polarimetric Laboratory Measurements Performed with the WISDOM Radar

    NASA Astrophysics Data System (ADS)

    Plettemeier, D.; Ciarletti, V.; Cais, P.; Benedix, W.-S.; Zhang, H.; Hamran, S.-E.; Clifford, S.

    2012-04-01

    The Ground Penetrating Radar WISDOM (Water Ice Subsurface Deposit Observation on Mars) is one of the instruments selected to be part of the Pasteur payload of ESA's ExoMars Rover mission. The main scientific objectives of the Pasteur payload are to search for evidence of past and present life on Mars and to characterize the nature of the shallow subsurface. WISDOM is capable to obtain subsurface information along the rover path and to explore the first 3 meters of the soil with a vertical resolution of a few centimeters. WISDOM will help identify the location of sedimentary layers, where organic molecules are most likely to be found. By investigating geometry, location and properties of buried reflectors, WISDOM will contribute to the understanding of the 3D geological structure, electromagnetic nature, and, possibly, the state of water and ice in the shallow subsurface. WISDOM measurements will be performed 1) by conducting periodic soundings along the Rover traverse, which will provide a coarse, non-uniform, but positionally well-determined investigation of the landing site and 2) by selected high-resolution surveys of areas of strong scientific interest, which are identified for potential investigation and sampling by the Rover's drill. Such surveys will generally be conducted by acquiring a number of closely spaced parallel profiles. Supported by specific hardware features, like the arrangement of the fully polarimetric antenna system, an interpolated 3-D subsurface map of the local stratigraphy can be constructed from these radar measurements. Laboratory measurements are performed on a planar scanner in the anechoic chamber to simulate the closely spaced parallel profiles of selected high-resolution surveys. To characterize the performance of the radar and to be able to analyze the influence of radiation coupling effects between the rover and the antennas, the fully polarimetric WISDOM antenna system was mounted on a simple rover-like mockup. Calibration algorithms were applied to reduce the interference from radiation coupling and cross-talk between transmitting and receiving antenna. The analysis of the laboratory measurement will show features of the fully polarimetric radar system and quantify most of the important performance parameters. Synthetic aperture processing is implemented to increase the azimuth resolution of radar. The three dimensional reconstruction of the positioning of an arrangement of discrete objects will be shown.

  1. Adding tactile realism to a virtual reality laparoscopic surgical simulator with a cost-effective human interface device

    NASA Astrophysics Data System (ADS)

    Mack, Ian W.; Potts, Stephen; McMenemy, Karen R.; Ferguson, R. S.

    2006-02-01

    The laparoscopic technique for performing abdominal surgery requires a very high degree of skill in the medical practitioner. Much interest has been focused on using computer graphics to provide simulators for training surgeons. Unfortunately, these tend to be complex and have a very high cost, which limits availability and restricts the length of time over which individuals can practice their skills. With computer game technology able to provide the graphics required for a surgical simulator, the cost does not have to be high. However, graphics alone cannot serve as a training simulator. Human interface hardware, the equivalent of the force feedback joystick for a flight simulator game, is required to complete the system. This paper presents a design for a very low cost device to address this vital issue. The design encompasses: the mechanical construction, the electronic interfaces and the software protocols to mimic a laparoscopic surgical set-up. Thus the surgeon has the capability of practicing two-handed procedures with the possibility of force feedback. The force feedback and collision detection algorithms allow surgeons to practice realistic operating theatre procedures with a good degree of authenticity.

  2. MuSim, a Graphical User Interface for Multiple Simulation Programs

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

    Roberts, Thomas; Cummings, Mary Anne; Johnson, Rolland

    2016-06-01

    MuSim is a new user-friendly program designed to interface to many different particle simulation codes, regardless of their data formats or geometry descriptions. It presents the user with a compelling graphical user interface that includes a flexible 3-D view of the simulated world plus powerful editing and drag-and-drop capabilities. All aspects of the design can be parametrized so that parameter scans and optimizations are easy. It is simple to create plots and display events in the 3-D viewer (with a slider to vary the transparency of solids), allowing for an effortless comparison of different simulation codes. Simulation codes: G4beamline, MAD-X,more » and MCNP; more coming. Many accelerator design tools and beam optics codes were written long ago, with primitive user interfaces by today's standards. MuSim is specifically designed to make it easy to interface to such codes, providing a common user experience for all, and permitting the construction and exploration of models with very little overhead. For today's technology-driven students, graphical interfaces meet their expectations far better than text-based tools, and education in accelerator physics is one of our primary goals.« less

  3. NASA Mars Rover Curiosity at JPL, Side View

    NASA Image and Video Library

    2011-04-06

    The rover for NASA Mars Science Laboratory mission, named Curiosity, is about 3 meters 10 feet long, not counting the additional length that the rover arm can be extended forward. The front of the rover is on the left in this side view.

  4. Curiosity: The Next Mars Rover Artist Concept

    NASA Image and Video Library

    2011-05-19

    This artist concept features NASA Mars Science Laboratory Curiosity rover, a mobile robot for investigating Mars past or present ability to sustain microbial life. The rover examines a rock on Mars with a set of tools at the end of the rover arm.

  5. Test Rover Aids Preparations in California for Curiosity Rover on Mars

    NASA Image and Video Library

    2012-05-11

    NASA Mars Science Laboratory mission team members ran mobility tests on the test rover called Scarecrow on sand dunes near Death Valley, Ca. in early May 2012 in preparation for operating the Curiosity rover, currently en route to Mars.

  6. Probabilistic Graphical Model Representation in Phylogenetics

    PubMed Central

    Höhna, Sebastian; Heath, Tracy A.; Boussau, Bastien; Landis, Michael J.; Ronquist, Fredrik; Huelsenbeck, John P.

    2014-01-01

    Recent years have seen a rapid expansion of the model space explored in statistical phylogenetics, emphasizing the need for new approaches to statistical model representation and software development. Clear communication and representation of the chosen model is crucial for: (i) reproducibility of an analysis, (ii) model development, and (iii) software design. Moreover, a unified, clear and understandable framework for model representation lowers the barrier for beginners and nonspecialists to grasp complex phylogenetic models, including their assumptions and parameter/variable dependencies. Graphical modeling is a unifying framework that has gained in popularity in the statistical literature in recent years. The core idea is to break complex models into conditionally independent distributions. The strength lies in the comprehensibility, flexibility, and adaptability of this formalism, and the large body of computational work based on it. Graphical models are well-suited to teach statistical models, to facilitate communication among phylogeneticists and in the development of generic software for simulation and statistical inference. Here, we provide an introduction to graphical models for phylogeneticists and extend the standard graphical model representation to the realm of phylogenetics. We introduce a new graphical model component, tree plates, to capture the changing structure of the subgraph corresponding to a phylogenetic tree. We describe a range of phylogenetic models using the graphical model framework and introduce modules to simplify the representation of standard components in large and complex models. Phylogenetic model graphs can be readily used in simulation, maximum likelihood inference, and Bayesian inference using, for example, Metropolis–Hastings or Gibbs sampling of the posterior distribution. [Computation; graphical models; inference; modularization; statistical phylogenetics; tree plate.] PMID:24951559

  7. Three Dimensional Computer Graphics Federates for the 2012 Smackdown Simulation

    NASA Technical Reports Server (NTRS)

    Fordyce, Crystal; Govindaiah, Swetha; Muratet, Sean; O'Neil, Daniel A.; Schricker, Bradley C.

    2012-01-01

    The Simulation Interoperability Standards Organization (SISO) Smackdown is a two-year old annual event held at the 2012 Spring Simulation Interoperability Workshop (SIW). A primary objective of the Smackdown event is to provide college students with hands-on experience in developing distributed simulations using High Level Architecture (HLA). Participating for the second time, the University of Alabama in Huntsville (UAHuntsville) deployed four federates, two federates simulated a communications server and a lunar communications satellite with a radio. The other two federates generated 3D computer graphics displays for the communication satellite constellation and for the surface based lunar resupply mission. Using the Light-Weight Java Graphics Library, the satellite display federate presented a lunar-texture mapped sphere of the moon and four Telemetry Data Relay Satellites (TDRS), which received object attributes from the lunar communications satellite federate to drive their motion. The surface mission display federate was an enhanced version of the federate developed by ForwardSim, Inc. for the 2011 Smackdown simulation. Enhancements included a dead-reckoning algorithm and a visual indication of which communication satellite was in line of sight of Hadley Rille. This paper concentrates on these two federates by describing the functions, algorithms, HLA object attributes received from other federates, development experiences and recommendations for future, participating Smackdown teams.

  8. 'X' Marks the Spot

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This map of the Mars Exploration Rover Opportunity's new neighborhood at Meridiani Planum, Mars, shows the surface features used to locate the rover. By imaging these 'bumps' on the horizon from the perspective of the rover, mission members were able to pin down the rover's precise location. The image consists of data from the Mars Global Surveyor orbiter, the Mars Odyssey orbiter and the descent image motion estimation system located on the bottom of the rover.

  9. A Low Cost Simulation System to Demonstrate Pilot Induced Oscillation Phenomenon

    NASA Technical Reports Server (NTRS)

    Ali, Syed Firasat

    1997-01-01

    A flight simulation system with graphics and software on Silicon Graphics computer workstations has been installed in the Flight Vehicle Design Laboratory at Tuskegee University. The system has F-15E flight simulation software from NASA Dryden which uses the graphics of SGI flight simulation demos. On the system, thus installed, a study of pilot induced oscillations is planned for future work. Preliminary research is conducted by obtaining two sets of straight level flights with pilot in the loop. In one set of flights no additional delay is used between the stick input and the appearance of airplane response on the computer monitor. In another set of flights, a 500 ms additional delay is used. The flight data is analyzed to find cross correlations between deflections of control surfaces and response of the airplane. The pilot dynamics features depicted from cross correlations of straight level flights are discussed in this report. The correlations presented here will serve as reference material for the corresponding correlations in a future study of pitch attitude tracking tasks involving pilot induced oscillations.

  10. Pathfinder Lander Rover Recharge System, and MARCO POLO Controls and ACME Regolith Feed System Controls and Integration

    NASA Technical Reports Server (NTRS)

    Tran, Sarah Diem

    2015-01-01

    This project stems from the Exploration, Research, and Technology Directorate (UB) Projects Division, and one of their main initiatives is the "Journey to Mars". Landing on the surface of Mars which is millions of miles away is an incredibly large challenge. The terrain is covered in boulders, deep canyons, volcanic mountains, and spotted with sand dunes. The robotic lander is a kind of spacecraft with multiple purposes. One purpose is to be the protective shell for the Martian rover and absorb the impact from the landing forces; another purpose is to be a place where the rovers can come back to, actively communicate with, and recharge their batteries from. Rovers have been instrumental to the Journey to Mars initiative. They have been performing key research on the terrain of the red planet, trying to unlock the mysteries of the land for over a decade. The rovers that will need charging will not all have the same kind of internal battery either. RASSOR batteries may differ from the PbAC batteries inside Red Rover's chassis. NASA has invested heavily in the exploration of the surface of Mars. A driving force behind further exploration is the need for a more efficient operation of Martian rovers. One way is to reduce the weight as much as possible to reduce power consumption given the same mission parameters. In order to reduce the mass of the rovers, power generation, communication, and sample analysis systems currently onboard Martian rovers can be moved to a stationary lander deck. Positioning these systems from the rover to the Lander deck allows a taskforce of smaller, lighter rovers to perform the same tasks currently performed by or planned for larger rovers. A major task in transferring these systems to a stationary lander deck is ensuring that power can be transferred to the rovers.

  11. Airbag Seams Leave Trails

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This image taken by the Mars Exploration Rover Opportunity's panoramic camera shows where the rover's airbag seams left impressions in the martian soil. The drag marks were made after the rover successfully landed at Meridiani Planum and its airbags were retracted. The rover can be seen in the foreground.

  12. Inlet Cover On the Curiosity Rover

    NASA Image and Video Library

    2018-06-04

    The drill bit of NASA's Curiosity Mars rover over one of the sample inlets on the rover's deck. The inlets lead to Curiosity's onboard laboratories. This image was taken on Sol 2068 by the rover's Mast Camera (Mastcam). https://photojournal.jpl.nasa.gov/catalog/PIA22327

  13. Airbag Impressions in Soil

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This image taken by the Mars Exploration Rover Opportunity's panoramic camera shows where the rover's airbags left impressions in the martian soil. The drag marks were made after the rover successfully landed at Meridiani Planum and its airbags were retracted. The rover can be seen in the foreground.

  14. Using RSVP for analyzing state and previous activities for the Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Cooper, Brian K.; Hartman, Frank; Maxwell, Scott; Wright, John; Yen, Jeng

    2004-01-01

    Current developments in immersive environments for mission planning include several tools which make up a system for performing and rehearsing missions. This system, known as the Rover Sequencing and Visualization Program (RSVP), includes tools for planning long range sorties for highly autonomous rovers, tools for planning operations with robotic arms, and advanced tools for visualizing telemetry from remote spacecraft and landers. One of the keys to successful planning of rover activities is knowing what the rover has accomplished to date and understanding the current rover state. RSVP builds on the lessons learned and the heritage of the Mars Pathfinder mission This paper will discuss the tools and methodologies present in the RSVP suite for examining rover state, reviewing previous activities, visually comparing telemetered results to rehearsed results, and reviewing science and engineering imagery. In addition we will present how this tool suite was used on the Mars Exploration Rovers (MER) project to explore the surface of Mars.

  15. A Wind-powered Rover for a Low-Cost Venus Mission

    NASA Technical Reports Server (NTRS)

    Benigno, Gina; Hoza, Kathleen; Motiwala, Samira; Landis, Geoffrey A.; Colozza, Anthony J.

    2013-01-01

    Venus, with a surface temperature of 450 C and an atmospheric pressure 90 times higher than that of the Earth, is a difficult target for exploration. However, high-temperature electronics and power systems now being developed make it possible that future missions may be able to operate in the Venus environment. Powering such a rover within the scope of a Discovery class mission will be difficult, but harnessing Venus' surface winds provides a possible way to keep a powered rover small and light. This project scopes out the feasibility of a wind-powered rover for Venus surface missions. Two rover concepts, a land-sailing rover and a wind-turbine-powered rover, were considered. The turbine-powered rover design is selected as being a low-risk and low-cost strategy. Turbine detailed analysis and design shows that the turbine can meet mission requirements across the desired range of wind speeds by utilizing three constant voltage generators at fixed gear ratios.

  16. Control technique for planetary rover

    NASA Technical Reports Server (NTRS)

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

    1994-01-01

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

  17. Face and construct validity of a computer-based virtual reality simulator for ERCP.

    PubMed

    Bittner, James G; Mellinger, John D; Imam, Toufic; Schade, Robert R; Macfadyen, Bruce V

    2010-02-01

    Currently, little evidence supports computer-based simulation for ERCP training. To determine face and construct validity of a computer-based simulator for ERCP and assess its perceived utility as a training tool. Novice and expert endoscopists completed 2 simulated ERCP cases by using the GI Mentor II. Virtual Education and Surgical Simulation Laboratory, Medical College of Georgia. Outcomes included times to complete the procedure, reach the papilla, and use fluoroscopy; attempts to cannulate the papilla, pancreatic duct, and common bile duct; and number of contrast injections and complications. Subjects assessed simulator graphics, procedural accuracy, difficulty, haptics, overall realism, and training potential. Only when performance data from cases A and B were combined did the GI Mentor II differentiate novices and experts based on times to complete the procedure, reach the papilla, and use fluoroscopy. Across skill levels, overall opinions were similar regarding graphics (moderately realistic), accuracy (similar to clinical ERCP), difficulty (similar to clinical ERCP), overall realism (moderately realistic), and haptics. Most participants (92%) claimed that the simulator has definite training potential or should be required for training. Small sample size, single institution. The GI Mentor II demonstrated construct validity for ERCP based on select metrics. Most subjects thought that the simulated graphics, procedural accuracy, and overall realism exhibit face validity. Subjects deemed it a useful training tool. Study repetition involving more participants and cases may help confirm results and establish the simulator's ability to differentiate skill levels based on ERCP-specific metrics.

  18. Extraterrestrial Virtual Field Experience: Water at Meridiani

    NASA Astrophysics Data System (ADS)

    Duggan-Haas, D.; Million, C.; Sullivan, R. J., Jr.; Hayes, A. G., Jr.; Ross, R. M.; St Clair, M.

    2014-12-01

    The Spacecraft Planetary Imaging Facility (SPIF) at Cornell University, in collaboration with Million Concepts and the Paleontological Research Institute (PRI), has developed the Extraterrestrial Virtual Field Experience (EVFE), a web-based, game-like and inquiry-driven classroom activity targeted to middle school through undergraduate introductory Earth science classrooms. Students play the role of mission scientists for a NASA rover mission, tasked with targeting the rover's scientific instruments to investigate a specific scientific question about the landing site. As with the real mission, the student operators must optimize the efficient use of limited resources and time against the need to make observations to address working hypotheses. The activity uses only real--not artificial or simulated--mission data, and students are guided throughout by a "Mission Manager" who provides hints and advice about the scientific meaning of observations within the broader context of the mission objectives. The MER Opportunity EVFE is a pilot effort, the first of five EVFE modules planned a rate of one per year that will feature different NASA missions and scientific topics. The MER Opportunity EVFE has already been developed and focuses on the investigation of the history of water on Mars at the Meridiani landing site of the Opportunity rover. The module includes a teacher guide and is currently available to educators through the SPIF website.

  19. Using Engineering Cameras on Mars Landers and Rovers to Retrieve Atmospheric Dust Loading

    NASA Astrophysics Data System (ADS)

    Wolfe, C. A.; Lemmon, M. T.

    2014-12-01

    Dust in the Martian atmosphere influences energy deposition, dynamics, and the viability of solar powered exploration vehicles. The Viking, Pathfinder, Spirit, Opportunity, Phoenix, and Curiosity landers and rovers each included the ability to image the Sun with a science camera that included a neutral density filter. Direct images of the Sun provide the ability to measure extinction by dust and ice in the atmosphere. These observations have been used to characterize dust storms, to provide ground truth sites for orbiter-based global measurements of dust loading, and to help monitor solar panel performance. In the cost-constrained environment of Mars exploration, future missions may omit such cameras, as the solar-powered InSight mission has. We seek to provide a robust capability of determining atmospheric opacity from sky images taken with cameras that have not been designed for solar imaging, such as lander and rover engineering cameras. Operational use requires the ability to retrieve optical depth on a timescale useful to mission planning, and with an accuracy and precision sufficient to support both mission planning and validating orbital measurements. We will present a simulation-based assessment of imaging strategies and their error budgets, as well as a validation based on archival engineering camera data.

  20. Bringing Terramechanics to bear on Planetary Rover Design

    NASA Astrophysics Data System (ADS)

    Richter, L.

    2007-08-01

    Thus far, planetary rovers have been successfully operated on the Earth's moon and on Mars. In particular, the two NASA Mars Exploration Rovers (MERs) ,Spirit' and ,Opportunity' are still in sustained daily operations at two sites on Mars more than 3 years after landing there. Currently, several new planetary rover missions are in development targeting Mars (the US Mars Science Lab vehicle for launch in 2009 and ESA's ExoMars rover for launch in 2013), with lunar rover missions under study by China and Japan for launches around 2012. Moreover, the US Constellation program is preparing pre-development of lunar rovers for initially unmanned and, subsequently, human missions to the Moon with a corresponding team dedicated to mobility system development having been set up at the NASA Glenn Research Center. Given this dynamic environment, it was found timely to establish an expert group on off-the-road mobility as relevant for robotic vehicles that would involve individuals representing the various on-going efforts on the different continents. This was realized through the International Society of Terrain-Vehicle Systems (ISTVS), a research organisation devoted to terramechanics and to the ,science' of off-the-road vehicle development which as a result is just now establishing a Technical Group on Terrestrial and Planetary Rovers. Members represent space-related as well as military research institutes and universities from the US, Germany, Italy, and Japan. The group's charter for 2007 is to define its objectives, functions, organizational structure and recommended research objectives to support planetary rover design and development. Expected areas of activity of the ISTVS-sponsored group include: the problem of terrain specification for planetary rovers; identification of limitations in modelling of rover mobility; a survey of existing rover mobility testbeds; the consolidation of mobility predictive models and their state of validation; sensing and real-time processing issues; improvements in modelling of vehicle slippage and traction; study of methods to achieve rover design robustness. This paper will present the charter of the ISTVS Rovers Technical Group and its upcoming activities and therefore will be of a programmatic nature.

  1. Integration of Modelling and Graphics to Create an Infrared Signal Processing Test Bed

    NASA Astrophysics Data System (ADS)

    Sethi, H. R.; Ralph, John E.

    1989-03-01

    The work reported in this paper was carried out as part of a contract with MoD (PE) UK. It considers the problems associated with realistic modelling of a passive infrared system in an operational environment. Ideally all aspects of the system and environment should be integrated into a complete end-to-end simulation but in the past limited computing power has prevented this. Recent developments in workstation technology and the increasing availability of parallel processing techniques makes the end-to-end simulation possible. However the complexity and speed of such simulations means difficulties for the operator in controlling the software and understanding the results. These difficulties can be greatly reduced by providing an extremely user friendly interface and a very flexible, high power, high resolution colour graphics capability. Most system modelling is based on separate software simulation of the individual components of the system itself and its environment. These component models may have their own characteristic inbuilt assumptions and approximations, may be written in the language favoured by the originator and may have a wide variety of input and output conventions and requirements. The models and their limitations need to be matched to the range of conditions appropriate to the operational scenerio. A comprehensive set of data bases needs to be generated by the component models and these data bases must be made readily available to the investigator. Performance measures need to be defined and displayed in some convenient graphics form. Some options are presented for combining available hardware and software to create an environment within which the models can be integrated, and which provide the required man-machine interface, graphics and computing power. The impact of massively parallel processing and artificial intelligence will be discussed. Parallel processing will make real time end-to-end simulation possible and will greatly improve the graphical visualisation of the model output data. Artificial intelligence should help to enhance the man-machine interface.

  2. Virtual reality simulation: basic concepts and use in endoscopic neurosurgery training.

    PubMed

    Cohen, Alan R; Lohani, Subash; Manjila, Sunil; Natsupakpong, Suriya; Brown, Nathan; Cavusoglu, M Cenk

    2013-08-01

    Virtual reality simulation is a promising alternative to training surgical residents outside the operating room. It is also a useful aide to anatomic study, residency training, surgical rehearsal, credentialing, and recertification. Surgical simulation is based on a virtual reality with varying degrees of immersion and realism. Simulators provide a no-risk environment for harmless and repeatable practice. Virtual reality has three main components of simulation: graphics/volume rendering, model behavior/tissue deformation, and haptic feedback. The challenge of accurately simulating the forces and tactile sensations experienced in neurosurgery limits the sophistication of a virtual simulator. The limited haptic feedback available in minimally invasive neurosurgery makes it a favorable subject for simulation. Virtual simulators with realistic graphics and force feedback have been developed for ventriculostomy, intraventricular surgery, and transsphenoidal pituitary surgery, thus allowing preoperative study of the individual anatomy and increasing the safety of the procedure. The authors also present experiences with their own virtual simulation of endoscopic third ventriculostomy.

  3. KSC-03pd1249

    NASA Image and Video Library

    2003-04-25

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 1 (MER-1) as it is moved to the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

  4. KSC-03pd1250

    NASA Image and Video Library

    2003-04-25

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility guide the Mars Exploration Rover 1 (MER-1) as it is lowered onto the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

  5. KSC-03pd1251

    NASA Image and Video Library

    2003-04-25

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility guide the Mars Exploration Rover 1 (MER-1) as it is lowered onto the lander base petal for installation. The MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening June 5, and the second rover a window opening June 25. The rovers will be launched from Cape Canaveral Air Force Station.

  6. The mass of massive rover software

    NASA Technical Reports Server (NTRS)

    Miller, David P.

    1993-01-01

    A planetary rover, like a spacecraft, must be fully self contained. Once launched, a rover can only receive information from its designers, and if solar powered, power from the Sun. As the distance from Earth increases, and the demands for power on the rover increase, there is a serious tradeoff between communication and computation. Both of these subsystems are very power hungry, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover. This situation and software techniques that can be used to reduce the requirements on both communication and computation, allowing the overall robot mass to be greatly reduced, are discussed.

  7. Crane Lowers Aeroshell

    NASA Technical Reports Server (NTRS)

    2003-01-01

    January 31, 2003

    In the Payload Hazardous Servicing Facility, an overhead crane lowers the Mars Exploration Rover (MER) aeroshell toward a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  8. KSC-03pd1221

    NASA Image and Video Library

    2003-04-23

    KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 2 (MER-A) is ready for final closure of the petals on the lander. The lander and rover will be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

  9. KSC-03pd0771

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, Fla. - The solar arrays on the Mars Exploration Rover-2 (MER-2) are fully opened during a test in the Payload Hazardous Servicing Facility. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  10. KSC-03pd0957

    NASA Image and Video Library

    2003-04-02

    KENNEDY SPACE CENTER, FLA. - The Mars Exploration Rover 1 (MER-1) is seen in the foreground after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  11. KSC-03pd0909

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - Workers gather around the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  12. KSC-03pd1223

    NASA Image and Video Library

    2003-04-23

    KENNEDY SPACE CENTER, FLA. - While workers watch the process, the petals on the lander close up around the Mars Exploration Rover 2 (MER-A). The lander and rover will be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

  13. KSC-03pd0232

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, an overhead crane lifts the Mars Exploration Rover (MER) aeroshell for transfer to a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  14. KSC-03pd0913

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - Workers begin closing the solar panels on the Mars Exploration Rover 2 (MER-2) for flight stow. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  15. KSC-03pd0438

    NASA Image and Video Library

    2003-02-04

    KENNEDY SPACE CENTER, FLA. -- The aeroshell for Mars Exploration Rover 2 rests on a rotation stand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  16. KSC-03pd0230

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover (MER) aeroshell is being prepared for transfer to a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  17. KSC-03pd0768

    NASA Image and Video Library

    2003-03-20

    KENNEDY SPACE CENTER, FLA. -- The Mars Exploration Rover-2 (MER-2) is ready for solar array testing in the Payload Hazardous Servicing Facility. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  18. KSC-03pd0786

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) is tested for mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  19. KSC-03pd0234

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. -- In the Payload Hazardous Servicing Facility, an overhead crane lowers the Mars Exploration Rover (MER) aeroshell toward a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  20. KSC-03pd0457

    NASA Image and Video Library

    2003-02-06

    KENNEDY SPACE CENTER, FLA. -- Technicians secure the aeroshell for Mars Exploration Rover 2 to a workstand in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25, 2003.

  1. KSC-03pd0439

    NASA Image and Video Library

    2003-02-04

    KENNEDY SPACE CENTER, FLA. -- The aeroshell for Mars Exploration Rover 2 rests on end after rotation in the Payload Hazardous Servicing Facility. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  2. KSC-03pd0236

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. -- Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover (MER) aeroshell onto a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  3. KSC-03pd0235

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover (MER) aeroshell as it is lowered toward a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  4. KSC-03pd0440

    NASA Image and Video Library

    2003-02-04

    KENNEDY SPACE CENTER, FLA. - During processing, workers in the Payload Hazardous Servicing Facility work on part of the aeroshell for Mars Exploration Rover 2. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  5. KSC-03pd0955

    NASA Image and Video Library

    2003-04-02

    KENNEDY SPACE CENTER, FLA. - A worker examines the Mars Exploration Rover 1 (MER-1) after the science boom was deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  6. KSC-03pd0911

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - A worker checks a component of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  7. KSC-03pd0886

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) rests on the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  8. KSC-03pd0958

    NASA Image and Video Library

    2003-04-02

    KENNEDY SPACE CENTER, FLA. - On the Mars Exploration Rover 1 (MER-1), the science boom, below the front petal, is deployed. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  9. KSC-03pd0910

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - Workers make additional checks of the Mars Exploration Rover 2 (MER-2) before flight stow of the solar panels, still extended. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  10. KSC-03pd0793

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  11. KSC-03pd0914

    NASA Image and Video Library

    2003-03-29

    KENNEDY SPACE CENTER, FLA. - After closing the solar panels for flight stow, workers examine the Mars Exploration Rover 2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. The rovers will be identical to each other, but will land at different regions of Mars. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  12. Arusha Rover Deployable Medical Workstation

    NASA Technical Reports Server (NTRS)

    Boswell, Tyrone; Hopson, Sonya; Marzette, Russell; Monroe, Gilena; Mustafa, Ruqayyah

    2014-01-01

    The NSBE Arusha rover concept offers a means of human transport and habitation during long-term exploration missions on the moon. This conceptual rover calls for the availability of medical supplies and equipment for crew members in order to aid in mission success. This paper addresses the need for a dedicated medical work station aboard the Arusha rover. The project team investigated multiple options for implementing a feasible deployable station to address both the medical and workstation layout needs of the rover and crew. Based on layout specifications and medical workstation requirements, the team has proposed a deployable workstation concept that can be accommodated within the volumetric constraints of the Arusha rover spacecraft

  13. Mars rover 1988 concepts

    NASA Technical Reports Server (NTRS)

    Pivirotto, Donna Shirley; Penn, Thomas J.; Dias, William C.

    1989-01-01

    Results of FY88 studies of a sample-collecting Mars rover are presented. A variety of rover concepts are discussed which include different technical approaches to rover functions. The performance of rovers with different levels of automation is described and compared to the science requirement for 20 to 40 km to be traversed on the Martian surface and for 100 rock and soil samples to be collected. The analysis shows that a considerable amount of automation in roving and sampling is required to meet this requirement. Additional performance evaluation shows that advanced RTG's producing 500 W and 350 WHr of battery storage are needed to supply the rover.

  14. A workstation based simulator for teaching compressible aerodynamics

    NASA Technical Reports Server (NTRS)

    Benson, Thomas J.

    1994-01-01

    A workstation-based interactive flow simulator has been developed to aid in the teaching of undergraduate compressible aerodynamics. By solving the equations found in NACA 1135, the simulator models three basic fluids problems encountered in supersonic flow: flow past a compression corner, flow past two wedges in series, and flow past two opposed wedges. The study can vary the geometry or flow conditions through a graphical user interface and the new conditions are calculated immediately. Various graphical formats present the results of the flow calculations to the student. The simulator includes interactive questions and answers to aid in both the use of the tool and to develop an understanding of some of the complexities of compressible aerodynamics. A series of help screens make the simulator easy to learn and use.

  15. Onboard planning for geological investigations using a rover team

    NASA Technical Reports Server (NTRS)

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

    2004-01-01

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

  16. Driving on the surface of Mars with the rover sequencing and visualization program

    NASA Technical Reports Server (NTRS)

    Wright, J.; Hartman, F.; Cooper, B.; Maxwell, S.; Yen, J.; Morrison, J.

    2005-01-01

    Operating a rover on Mars is not possible using teleoperations due to the distance involved and the bandwith limitations. To operate these rovers requires sophisticated tools to make operators knowledgeable of the terrain, hazards, features of interest, and rover state and limitations, and to support building command sequences and rehearsing expected operations. This paper discusses how the Rover Sequencing and Visualization program and a small set of associated tools support this requirement.

  17. Design of a Mars rover and sample return mission

    NASA Technical Reports Server (NTRS)

    Bourke, Roger D.; Kwok, Johnny H.; Friedlander, Alan

    1990-01-01

    The design of a Mars Rover Sample Return (MRSR) mission that satisfies scientific and human exploration precursor needs is described. Elements included in the design include an imaging rover that finds and certifies safe landing sites and maps rover traverse routes, a rover that operates the surface with an associated lander for delivery, and a Mars communications orbiter that allows full-time contact with surface elements. A graph of MRSR candidate launch vehice performances is presented.

  18. Smoldyn on graphics processing units: massively parallel Brownian dynamics simulations.

    PubMed

    Dematté, Lorenzo

    2012-01-01

    Space is a very important aspect in the simulation of biochemical systems; recently, the need for simulation algorithms able to cope with space is becoming more and more compelling. Complex and detailed models of biochemical systems need to deal with the movement of single molecules and particles, taking into consideration localized fluctuations, transportation phenomena, and diffusion. A common drawback of spatial models lies in their complexity: models can become very large, and their simulation could be time consuming, especially if we want to capture the systems behavior in a reliable way using stochastic methods in conjunction with a high spatial resolution. In order to deliver the promise done by systems biology to be able to understand a system as whole, we need to scale up the size of models we are able to simulate, moving from sequential to parallel simulation algorithms. In this paper, we analyze Smoldyn, a widely diffused algorithm for stochastic simulation of chemical reactions with spatial resolution and single molecule detail, and we propose an alternative, innovative implementation that exploits the parallelism of Graphics Processing Units (GPUs). The implementation executes the most computational demanding steps (computation of diffusion, unimolecular, and bimolecular reaction, as well as the most common cases of molecule-surface interaction) on the GPU, computing them in parallel on each molecule of the system. The implementation offers good speed-ups and real time, high quality graphics output

  19. Determining the transferability of flight simulator data

    NASA Technical Reports Server (NTRS)

    Green, David

    1992-01-01

    This paper presented a method for collecting and graphically correlating subjective ratings and objective flight test data. The method enables flight-simulation engineers to enhance the simulator characterization of rotor craft flight in order to achieve maximum transferability of simulator experience.

  20. Enabling Autonomous Rover Science through Dynamic Planning and Scheduling

    NASA Technical Reports Server (NTRS)

    Estlin, Tara A.; Gaines, Daniel; Chouinard, Caroline; Fisher, Forest; Castano, Rebecca; Judd, Michele; Nesnas, Issa

    2005-01-01

    This paper describes how dynamic planning and scheduling techniques can be used onboard a rover to autonomously adjust rover activities in support of science goals. These goals could be identified by scientists on the ground or could be identified by onboard data-analysis software. Several different types of dynamic decisions are described, including the handling of opportunistic science goals identified during rover traverses, preserving high priority science targets when resources, such as power, are unexpectedly over-subscribed, and dynamically adding additional, ground-specified science targets when rover actions are executed more quickly than expected. After describing our specific system approach, we discuss some of the particular challenges we have examined to support autonomous rover decision-making. These include interaction with rover navigation and path-planning software and handling large amounts of uncertainty in state and resource estimations.

  1. Operating Room of the Future: Advanced Technologies in Safe and Efficient Operating Rooms

    DTIC Science & Technology

    2010-10-01

    research, and treatment purposes. A laser optical mouse and a graphics tablet were used by radiologists to segment 12 simulated reference lesions per...radiologists seg- mented a total of 132 simulated lesions. Overall error in contour segmentation was less with the graphics tablet than with the mouse...PG0.0001). Error in area of segmentation was not significantly different between the tablet and the mouse (P=0.62). Time for segmen- tation was less with

  2. Designer: A Knowledge-Based Graphic Design Assistant.

    DTIC Science & Technology

    1986-07-01

    pro- pulsion. The system consists of a color graphics interface to a mathematical simulation. One can view and manipulate this simulation at a number of...valve vaive graph 50- mufi -plot graph 100 4 0 80 6.. 30 60 4 20 .... 40 2 10 V 20 0 2 4 6 8 10 0 20 40 60 80 100 FIGURE 4. Icon Sampler. This view...in Computing Systems. New York: ACM, 1983. 8306. Paul Smolensky. Harmony Theory: A Mathematical Framework for Stochastic Parallel Pro- cessing

  3. Performance of the Mechanically Pumped Fluid Loop Rover Heat Rejection System Used for Thermal Control of the Mars Science Laboratory Curiosity Rover on the Surface of Mars

    NASA Technical Reports Server (NTRS)

    Bhandari, Pradeep; Birur, Gajanana; Bame, David; Mastropietro, A. J.; Miller, Jennifer; Karlmann, Paul; Liu, Yuanming; Anderson, Kevin

    2013-01-01

    The challenging range of landing sites for which the Mars Science Laboratory Rover was designed, required a rover thermal management system that is capable of keeping temperatures controlled across a wide variety of environmental conditions. On the Martian surface where temperatures can be as cold as -123 C and as warm as 38 C, the Rover relies upon a Mechanically Pumped Fluid Loop (MPFL) Rover Heat Rejection System (RHRS) and external radiators to maintain the temperature of sensitive electronics and science instruments within a -40 C to +50 C range. The RHRS harnesses some of the waste heat generated from the Rover power source, known as the Multi Mission Radioisotope Thermoelectric Generator (MMRTG), for use as survival heat for the rover during cold conditions. The MMRTG produces 110 Watts of electrical power while generating waste heat equivalent to approximately 2000 Watts. Heat exchanger plates (hot plates) positioned close to the MMRTG pick up this survival heat from it by radiative heat transfer and supply it to the rover. This design is the first instance of use of a RHRS for thermal control of a rover or lander on the surface of a planet. After an extremely successful landing on Mars (August 5), the rover and the RHRS have performed flawlessly for close to an earth year (half the nominal mission life). This paper will share the performance of the RHRS on the Martian surface as well as compare it to its predictions.

  4. EXPLORING MARS WITH SOLAR-POWERED ROVERS

    NASA Technical Reports Server (NTRS)

    Landis, Geoffrey A.

    2006-01-01

    The Mars Exploration Rover (MER) project landed two solar-powered rovers, "Spirit" and "Opportunity," on the surface of Mars in January of 2003. This talk reviews the history of solar-powered missions to Mars and looks at the science mission of the MER rovers, focusing on the solar energy and array performance.

  5. Virtual Reality Calibration for Telerobotic Servicing

    NASA Technical Reports Server (NTRS)

    Kim, W.

    1994-01-01

    A virtual reality calibration technique of matching a virtual environment of simulated graphics models in 3-D geometry and perspective with actual camera views of the remote site task environment has been developed to enable high-fidelity preview/predictive displays with calibrated graphics overlay on live video.

  6. Engineering graphics data entry for space station data base

    NASA Technical Reports Server (NTRS)

    Lacovara, R. C.

    1986-01-01

    The entry of graphical engineering data into the Space Station Data Base was examined. Discussed were: representation of graphics objects; representation of connectivity data; graphics capture hardware; graphics display hardware; site-wide distribution of graphics, and consolidation of tools and hardware. A fundamental assumption was that existing equipment such as IBM based graphics capture software and VAX networked facilities would be exploited. Defensible conclusions reached after study and simulations of use of these systems at the engineering level are: (1) existing IBM based graphics capture software is an adequate and economical means of entry of schematic and block diagram data for present and anticipated electronic systems for Space Station; (2) connectivity data from the aforementioned system may be incorporated into the envisioned Space Station Data Base with modest effort; (3) graphics and connectivity data captured on the IBM based system may be exported to the VAX network in a simple and direct fashion; (4) graphics data may be displayed site-wide on VT-125 terminals and lookalikes; (5) graphics hard-copy may be produced site-wide on various dot-matrix printers; and (6) the system may provide integrated engineering services at both the engineering and engineering management level.

  7. Documentation of a graphical display program for the saturated- unsaturated transport (SUTRA) finite-element simulation model

    USGS Publications Warehouse

    Souza, W.R.

    1987-01-01

    This report documents a graphical display program for the U. S. Geological Survey finite-element groundwater flow and solute transport model. Graphic features of the program, SUTRA-PLOT (SUTRA-PLOT = saturated/unsaturated transport), include: (1) plots of the finite-element mesh, (2) velocity vector plots, (3) contour plots of pressure, solute concentration, temperature, or saturation, and (4) a finite-element interpolator for gridding data prior to contouring. SUTRA-PLOT is written in FORTRAN 77 on a PRIME 750 computer system, and requires Version 9.0 or higher of the DISSPLA graphics library. The program requires two input files: the SUTRA input data list and the SUTRA simulation output listing. The program is menu driven and specifications for individual types of plots are entered and may be edited interactively. Installation instruction, a source code listing, and a description of the computer code are given. Six examples of plotting applications are used to demonstrate various features of the plotting program. (Author 's abstract)

  8. Testing Mars-inspired operational strategies for semi-autonomous rovers on the Moon: The GeoHeuristic Operational Strategies Test in New Mexico.

    PubMed

    Yingst, R Aileen; Cohen, B A; Crumpler, L; Schmidt, M E; Schrader, C M

    2011-01-01

    We tested the science operational strategy used for the Mars Exploration Rover (MER) mission on Mars to determine its suitability for conducting remote geology on the Moon by conducting a field test at Cerro de Santa Clara, New Mexico. This region contains volcanic and sedimentary products from a variety of provenances, mimicking the variety that might be found at a lunar site such as South Pole-Aitken Basin. At each site a Science Team broke down observational "days" into a sequence of observations of features and targets of interest. The number, timing, and sequence of observations was chosen to mimic those used by the MERs when traversing. Images simulating high-resolution stereo and hand lens-scale images were taken using a professional SLR digital camera; multispectral and XRD data were acquired from samples to mimic the availability of geochemical data. A separate Tiger Team followed the Science Team and examined each site using traditional terrestrial field methods, facilitating comparison between what was revealed by human versus rover-inspired methods. We conclude from this field test that MER-inspired methodology is not conducive to utilizing all acquired data in a timely manner for the case of any lunar architecture that involves the acquisition of rover data in near real-time. We additionally conclude that a methodology similar to that used for MER can be adapted for use on the Moon if mission goals are focused on reconnaissance. If the goal is to locate and identify a specific feature or material, such as water ice, a different methodology will likely be needed.

  9. Testing Mars-inspired operational strategies for semi-autonomous rovers on the Moon: The GeoHeuristic Operational Strategies Test in New Mexico

    PubMed Central

    Yingst, R. Aileen; Cohen, B. A.; Crumpler, L.; Schmidt, M. E.; Schrader, C. M.

    2017-01-01

    Background We tested the science operational strategy used for the Mars Exploration Rover (MER) mission on Mars to determine its suitability for conducting remote geology on the Moon by conducting a field test at Cerro de Santa Clara, New Mexico. This region contains volcanic and sedimentary products from a variety of provenances, mimicking the variety that might be found at a lunar site such as South Pole-Aitken Basin. Method At each site a Science Team broke down observational “days” into a sequence of observations of features and targets of interest. The number, timing, and sequence of observations was chosen to mimic those used by the MERs when traversing. Images simulating high-resolution stereo and hand lens-scale images were taken using a professional SLR digital camera; multispectral and XRD data were acquired from samples to mimic the availability of geochemical data. A separate Tiger Team followed the Science Team and examined each site using traditional terrestrial field methods, facilitating comparison between what was revealed by human versus rover-inspired methods. Lessons Learned We conclude from this field test that MER-inspired methodology is not conducive to utilizing all acquired data in a timely manner for the case of any lunar architecture that involves the acquisition of rover data in near real-time. We additionally conclude that a methodology similar to that used for MER can be adapted for use on the Moon if mission goals are focused on reconnaissance. If the goal is to locate and identify a specific feature or material, such as water ice, a different methodology will likely be needed. PMID:29309066

  10. Mars Rover Sample Return mission study

    NASA Technical Reports Server (NTRS)

    Bourke, Roger D.

    1989-01-01

    The Mars Rover/Sample Return mission is examined as a precursor to a manned mission to Mars. The value of precursor missions is noted, using the Apollo lunar program as an example. The scientific objectives of the Mars Rover/Sample Return mission are listed and the basic mission plans are described. Consideration is given to the options for mission design, launch configurations, rover construction, and entry and lander design. Also, the potential for international cooperation on the Mars Rover/Sample Return mission is discussed.

  11. Automated Planning and Scheduling for Planetary Rover Distributed Operations

    NASA Technical Reports Server (NTRS)

    Backes, Paul G.; Rabideau, Gregg; Tso, Kam S.; Chien, Steve

    1999-01-01

    Automated planning and Scheduling, including automated path planning, has been integrated with an Internet-based distributed operations system for planetary rover operations. The resulting prototype system enables faster generation of valid rover command sequences by a distributed planetary rover operations team. The Web Interface for Telescience (WITS) provides Internet-based distributed collaboration, the Automated Scheduling and Planning Environment (ASPEN) provides automated planning and scheduling, and an automated path planner provided path planning. The system was demonstrated on the Rocky 7 research rover at JPL.

  12. Design and Performance of the WISDOM Antenna System aboard the ExoMars Rover

    NASA Astrophysics Data System (ADS)

    Plettemeier, D.; Ciarletti, V.; Hamran, S.; Corbel, C.; Linke, S.; Benedix, W.

    2009-04-01

    A full polarimetric antenna system on board the ExoMars rover is part of the Experiment "Water Ice and Subsurface Deposit Observations on Mars" (WISDOM). The WISDOM-Experiment is a Ground Penetrating Radar (GPR) selected to be part of the Pasteur payload aboard the rover of the ExoMars mission. The Pasteur Panoramic Instruments (wide angle camera PANCAM, infrared spectrometer MIMA and WISDOM) will perform large-scale scientific investigations at the sites the Rover will visit. Among these instruments, WISDOM is the only one that can provide a view of the subsurface structure prior to drilling. WISDOM is the first space borne GPR aboard a rover and has been designed to characterize the shallow subsurface structure of Mars. WISDOM will give for the first time access to the geological structure, electromagnetic nature, and, possibly, of hydrological state of the shallow subsurface by retrieving the layering and properties of the buried reflectors. It will address some important related science questions regarding the planet present state and past evolution. The measured data will also be used to determine the most promising locations at which to obtain underground samples with the drilling system mounted on board the rover. The instrument objective for WISDOM is to get high-resolution measurements down to 2-meters depth in the Martian crust. The radar is a gated step frequency system covering the frequency range from 500 MHz to 3 GHz. The radar is fully polarimetric and makes use of four ultra wideband Vivaldi antennas. This poster describes the requirements, the design and the realization of the WISDOM antenna system accommodated on the ExoMars rover. Simulated antenna performance and measured antenna parameters as well as preliminary antenna test measurements performed in the lab and in permafrost regions on earth will be discussed in this poster presentation. The main design requirements of the WISDOM antenna system are driven one hand by the required science return of the Experiment and on the other hand by the specific GPR configuration and accommodation on the Mars Rover. The resolution of a few centimetres and a penetration depth of more than two meters results in a bandwidth of 2.5 GHz. To be able to study depolarization effects in the subsurface a fully polarimetric antenna system is required. To realize the best radar performance the antenna system is equipped with two perpendicular linear polarized transmitting antennas and two co- and cross-polar oriented antennas for reception. Usually GPR antennas are placed on ground or accommodated in a close-by ground configuration with respect to the wavelength. Considering the requirements for the design of the ExoMars rover the GPR antenna system has to have a ground clearance of about 30 cm, which is equal to 3 wavelengths for the highest operating frequency. Taking into account that the GPR antennas on the rover are not able to use the advantages of a close-by ground arrangement and that due to mass, volume and planetary protection requirements the application of absorbing material and reflectors are not appropriate, the antenna pattern of each single antenna element should be directed towards ground and should provide a large forward to backward ratio. The radiation pattern should be wide in rover path direction, so that a visibility of point reflectors for long distance is possible. The across path pattern should be narrow. These and other constraints like EMC requirements as well as pattern deformation due to radiation coupling effects with the rover structure led to an antenna design that is based on two perpendicular oriented Vivaldi structures for each antenna. The antennas will be covered by thin dielectric foil to protect the sensitive parts from Martian dust particles. The overall size of the dual polarized transmitting and receiving antenna is less than 20 cm x 20 cm x 20 cm. The total mass for a whole antenna unit is about 200 g. Taking into account all the requirements, a very powerful space qualified broad band antenna system is developed and successfully tested in different environments.

  13. LAVA web-based remote simulation: enhancements for education and technology innovation

    NASA Astrophysics Data System (ADS)

    Lee, Sang Il; Ng, Ka Chun; Orimoto, Takashi; Pittenger, Jason; Horie, Toshi; Adam, Konstantinos; Cheng, Mosong; Croffie, Ebo H.; Deng, Yunfei; Gennari, Frank E.; Pistor, Thomas V.; Robins, Garth; Williamson, Mike V.; Wu, Bo; Yuan, Lei; Neureuther, Andrew R.

    2001-09-01

    The Lithography Analysis using Virtual Access (LAVA) web site at http://cuervo.eecs.berkeley.edu/Volcano/ has been enhanced with new optical and deposition applets, graphical infrastructure and linkage to parallel execution on networks of workstations. More than ten new graphical user interface applets have been designed to support education, illustrate novel concepts from research, and explore usage of parallel machines. These applets have been improved through feedback and classroom use. Over the last year LAVA provided industry and other academic communities 1,300 session and 700 rigorous simulations per month among the SPLAT, SAMPLE2D, SAMPLE3D, TEMPEST, STORM, and BEBS simulators.

  14. CyberMedVPS: visual programming for development of simulators.

    PubMed

    Morais, Aline M; Machado, Liliane S

    2011-01-01

    Computer applications based on Virtual Reality (VR) has been outstanding in training and teaching in the medical filed due to their ability to simulate realistic in which users can practice skills and decision making in different situations. But was realized in these frameworks a hard interaction of non-programmers users. Based on this problematic will be shown the CyberMedVPS, a graphical module which implement Visual Programming concepts to solve an interaction trouble. Frameworks to develop such simulators are available but their use demands knowledge of programming. Based on this problematic will be shown the CyberMedVPS, a graphical module for the CyberMed framework, which implements Visual Programming concepts to allow the development of simulators by non-programmers professionals of the medical field.

  15. KSC-03pd0883

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers adjust the position of the Mars Exploration Rover-2 (MER-2) on the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  16. KSC-03pd1224

    NASA Image and Video Library

    2003-04-23

    KENNEDY SPACE CENTER, FLA. - Workers check different areas of the lander as the petals close in around the Mars Exploration Rover 2 (MER-A). The lander and rover will subsequently be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

  17. KSC-03pd0795

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  18. KSC-03pd1225

    NASA Image and Video Library

    2003-04-23

    KENNEDY SPACE CENTER, FLA. - Workers check different areas of the lander as the petals close in around the Mars Exploration Rover 2 (MER-A). The lander and rover will subsequently be enclosed within an aeroshell for launch. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA's two Mars Exploration Rover missions is scheduled no earlier than June 6.

  19. KSC-03pd0791

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  20. KSC-03pd0790

    NASA Image and Video Library

    2003-03-21

    KENNEDY SPACE CENTER, Fla. - In the Payload Hazardous Servicing Facility, workers watch as the Mars Exploration Rover-2 (MER-2) rolls over ramps to test its mobility and maneuverability. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  1. KSC-03pd0879

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers move the Mars Exploration Rover-2 (MER-2) into position over the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  2. KSC-03pd0881

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers lower the Mars Exploration Rover-2 (MER-2) onto the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  3. KSC-03pd0877

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers prepare the base petal of a lander assembly to receive the Mars Exploration Rover-2 (MER-2). Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  4. KSC-03pd0441

    NASA Image and Video Library

    2003-02-04

    KENNEDY SPACE CENTER, FLA. - Shown are the Lander pedals for MER-1. These pedals fold up covering the Rover, which will be attached to the base pedal (not shown--empty spot in the center.) Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  5. KSC-03pd0878

    NASA Image and Video Library

    2003-03-28

    KENNEDY SPACE CENTER, FLA. - In the Payload Hazardous Servicing Facility, workers move the Mars Exploration Rover-2 (MER-2) towards the base petal of its lander assembly. Set to launch in Spring 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover, a window opening June 25.

  6. KSC-03pd0233

    NASA Image and Video Library

    2003-01-31

    KENNEDY SPACE CENTER, FLA. - Suspended by an overhead crane in the Payload Hazardous Servicing Facility, the Mars Exploration Rover (MER) aeroshell is guided by workers as it moves to a rotation stand. Set to launch in 2003, the MER Mission will consist of two identical rovers designed to cover roughly 110 yards (100 meters) each Martian day. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The rovers will be identical to each other, but will land at different regions of Mars. The first rover has a launch window opening May 30, and the second rover a window opening June 25, 2003.

  7. Mobility performance analysis of an innovation lunar rover with diameter-variable wheel

    NASA Astrophysics Data System (ADS)

    Sun, Gang; Gao, Feng; Sun, Peng; Xu, Guoyan

    2007-11-01

    To achieve excellent mobility performance, a four-wheel, all-wheel drive lunar rover with diameter-variable wheel was presented, the wheel can be contracted and extended by the motor equipped in the wheel hub, accompanied with wheel diameter varying from 200mm to 390mm. The wheel sinkage and drawbar pull force were predicated with terramechanics formulae and lunar regolith mechanic parameters employed, furthermore, the slope traversability was investigated through quasi-static modeling mechanic analysis, also the obstacle resistance and the maximum negotiable obstacle height for different wheel radius were derived from the equations of static equilibrium of the rover. Analysis results show that for the innovation lunar rover presented, it will bring much better slope traveling stability and obstacle climbing capability than rovers with normal wheels, these will improve the rover mobility performance and stabilize the rover's frame, smooth the motion of sensors.

  8. Test Rover at JPL During Preparation for Mars Rover Low-Angle Selfie

    NASA Image and Video Library

    2015-08-19

    This view of a test rover at NASA's Jet Propulsion Laboratory, Pasadena, California, results from advance testing of arm positions and camera pointings for taking a low-angle self-portrait of NASA's Curiosity Mars rover. This rehearsal in California led to a dramatic Aug. 5, 2015, selfie of Curiosity, online at PIA19807. Curiosity's arm-mounted Mars Hand Lens Imager (MAHLI) camera took 92 of component images that were assembled into that mosaic. The rover team positioned the camera lower in relation to the rover body than for any previous full self-portrait of Curiosity. This practice version was taken at JPL's Mars Yard in July 2013, using the Vehicle System Test Bed (VSTB) rover, which has a test copy of MAHLI on its robotic arm. MAHLI was built by Malin Space Science Systems, San Diego. JPL, a division of the California Institute of Technology in Pasadena, manages the Mars Science Laboratory Project for the NASA Science Mission Directorate, Washington. JPL designed and built the project's Curiosity rover. http://photojournal.jpl.nasa.gov/catalog/PIA19810

  9. Improvement in Visual Target Tracking for a Mobile Robot

    NASA Technical Reports Server (NTRS)

    Kim, Won; Ansar, Adnan; Madison, Richard

    2006-01-01

    In an improvement of the visual-target-tracking software used aboard a mobile robot (rover) of the type used to explore the Martian surface, an affine-matching algorithm has been replaced by a combination of a normalized- cross-correlation (NCC) algorithm and a template-image-magnification algorithm. Although neither NCC nor template-image magnification is new, the use of both of them to increase the degree of reliability with which features can be matched is new. In operation, a template image of a target is obtained from a previous rover position, then the magnification of the template image is based on the estimated change in the target distance from the previous rover position to the current rover position (see figure). For this purpose, the target distance at the previous rover position is determined by stereoscopy, while the target distance at the current rover position is calculated from an estimate of the current pose of the rover. The template image is then magnified by an amount corresponding to the estimated target distance to obtain a best template image to match with the image acquired at the current rover position.

  10. KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - The overhead crane settles the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  11. Autonomously Generating Operations Sequences for a Mars Rover Using Artificial Intelligence-Based Planning

    NASA Astrophysics Data System (ADS)

    Sherwood, R.; Mutz, D.; Estlin, T.; Chien, S.; Backes, P.; Norris, J.; Tran, D.; Cooper, B.; Rabideau, G.; Mishkin, A.; Maxwell, S.

    2001-07-01

    This article discusses a proof-of-concept prototype for ground-based automatic generation of validated rover command sequences from high-level science and engineering activities. This prototype is based on ASPEN, the Automated Scheduling and Planning Environment. This artificial intelligence (AI)-based planning and scheduling system will automatically generate a command sequence that will execute within resource constraints and satisfy flight rules. An automated planning and scheduling system encodes rover design knowledge and uses search and reasoning techniques to automatically generate low-level command sequences while respecting rover operability constraints, science and engineering preferences, environmental predictions, and also adhering to hard temporal constraints. This prototype planning system has been field-tested using the Rocky 7 rover at JPL and will be field-tested on more complex rovers to prove its effectiveness before transferring the technology to flight operations for an upcoming NASA mission. Enabling goal-driven commanding of planetary rovers greatly reduces the requirements for highly skilled rover engineering personnel. This in turn greatly reduces mission operations costs. In addition, goal-driven commanding permits a faster response to changes in rover state (e.g., faults) or science discoveries by removing the time-consuming manual sequence validation process, allowing rapid "what-if" analyses, and thus reducing overall cycle times.

  12. Thermal Performance of the Mars Science Laboratory Rover During Mars Surface Operations

    NASA Technical Reports Server (NTRS)

    Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Lee, Chern-Jiin

    2013-01-01

    On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. Eight months later, on August 5, 2012, the MSL rover (Curiosity) successfully touched down on the surface of Mars. As of the writing of this paper, the rover had completed over 200 Sols of Mars surface operations in the Gale Crater landing site (4.5 deg S latitude). This paper describes the thermal performance of the MSL Rover during the early part of its two Earth-0.year (670 Sols) prime surface mission. Curiosity landed in Gale Crater during early Spring (Ls=151) in the Southern Hemisphere of Mars. This paper discusses the thermal performance of the rover from landing day (Sol 0) through Summer Solstice (Sol 197) and out to Sol 204. The rover surface thermal design performance was very close to pre-landing predictions. The very successful thermal design allowed a high level of operational power dissipation immediately after landing without overheating and required a minimal amount of survival heating. Early morning operations of cameras and actuators were aided by successful heating activities. MSL rover surface operations thermal experiences are discussed in this paper. Conclusions about the rover surface operations thermal performance are also presented.

  13. Thermal Performance of the Mars Science Laboratory Rover During Mars Surface Operations

    NASA Technical Reports Server (NTRS)

    Novak, Keith S.; Kempenaar, Joshua E.; Liu, Yuanming; Bhandari, Pradeep; Lee, Chern-Jiin

    2013-01-01

    On November 26, 2011, NASA launched a large (900 kg) rover as part of the Mars Science Laboratory (MSL) mission to Mars. Eight months later, on August 5, 2012, the MSL rover (Curiosity) successfully touched down on the surface of Mars. As of the writing of this paper, the rover had completed over 200 Sols of Mars surface operations in the Gale Crater landing site (4.5 degrees South latitude). This paper describes the thermal performance of the MSL Rover during the early part of its two Earth-0.year (670 Sols) prime surface mission. Curiosity landed in Gale Crater during early Spring (Solar longitude=151) in the Southern Hemisphere of Mars. This paper discusses the thermal performance of the rover from landing day (Sol 0) through Summer Solstice (Sol 197) and out to Sol 204. The rover surface thermal design performance was very close to pre-landing predictions. The very successful thermal design allowed a high level of operational power dissipation immediately after landing without overheating and required a minimal amount of survival heating. Early morning operations of cameras and actuators were aided by successful heating activities. MSL rover surface operations thermal experiences are discussed in this paper. Conclusions about the rover surface operations thermal performance are also presented.

  14. Mars Science Laboratory Engineering Cameras

    NASA Technical Reports Server (NTRS)

    Maki, Justin N.; Thiessen, David L.; Pourangi, Ali M.; Kobzeff, Peter A.; Lee, Steven W.; Dingizian, Arsham; Schwochert, Mark A.

    2012-01-01

    NASA's Mars Science Laboratory (MSL) Rover, which launched to Mars in 2011, is equipped with a set of 12 engineering cameras. These cameras are build-to-print copies of the Mars Exploration Rover (MER) cameras, which were sent to Mars in 2003. The engineering cameras weigh less than 300 grams each and use less than 3 W of power. Images returned from the engineering cameras are used to navigate the rover on the Martian surface, deploy the rover robotic arm, and ingest samples into the rover sample processing system. The navigation cameras (Navcams) are mounted to a pan/tilt mast and have a 45-degree square field of view (FOV) with a pixel scale of 0.82 mrad/pixel. The hazard avoidance cameras (Haz - cams) are body-mounted to the rover chassis in the front and rear of the vehicle and have a 124-degree square FOV with a pixel scale of 2.1 mrad/pixel. All of the cameras utilize a frame-transfer CCD (charge-coupled device) with a 1024x1024 imaging region and red/near IR bandpass filters centered at 650 nm. The MSL engineering cameras are grouped into two sets of six: one set of cameras is connected to rover computer A and the other set is connected to rover computer B. The MSL rover carries 8 Hazcams and 4 Navcams.

  15. Using Computer Graphics in Statistics.

    ERIC Educational Resources Information Center

    Kerley, Lyndell M.

    1990-01-01

    Described is software which allows a student to use simulation to produce analytical output as well as graphical results. The results include a frequency histogram of a selected population distribution, a frequency histogram of the distribution of the sample means, and test the normality distributions of the sample means. (KR)

  16. Computer graphics testbed to simulate and test vision systems for space applications

    NASA Technical Reports Server (NTRS)

    Cheatham, John B.

    1991-01-01

    Research activity has shifted from computer graphics and vision systems to the broader scope of applying concepts of artificial intelligence to robotics. Specifically, the research is directed toward developing Artificial Neural Networks, Expert Systems, and Laser Imaging Techniques for Autonomous Space Robots.

  17. KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and Mars Exploration Rover 2 (MER-A) are ready for the third launch attempt after weather concerns postponed earlier attempts. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

    NASA Image and Video Library

    2003-06-10

    KENNEDY SPACE CENTER, FLA. - On Launch Complex 17-A, Cape Canaveral Air Force Station, the Boeing Delta II rocket and Mars Exploration Rover 2 (MER-A) are ready for the third launch attempt after weather concerns postponed earlier attempts. MER-A is the first of two rovers being launched to Mars. When the two rovers arrive at Mars in 2004, they will bounce to airbag-cushioned landings at sites offering a balance of favorable conditions for safe landings and interesting science. The rovers see sharper images, can explore farther and examine rocks better than anything that has ever landed on Mars. The designated site for MER-A mission is Gusev Crater, which appears to have been a crater lake. The second rover, MER-B, is scheduled to launch June 25.

  18. The backshell for the Mars Exploration Rover 1 (MER-1) is moved toward the rover (foreground, left). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

    NASA Image and Video Library

    2003-05-10

    The backshell for the Mars Exploration Rover 1 (MER-1) is moved toward the rover (foreground, left). The backshell is a protective cover for the rover. NASA's twin Mars Exploration Rovers are designed to study the history of water on Mars. These robotic geologists are equipped with a robotic arm, a drilling tool, three spectrometers, and four pairs of cameras that allow them to have a human-like, 3D view of the terrain. Each rover could travel as far as 100 meters in one day to act as Mars scientists' eyes and hands, exploring an environment where humans can't yet go. MER-1 is scheduled to launch June 25 as MER-B aboard a Delta II rocket from Cape Canaveral Air Force Station.

  19. SIMPAVE : evaluation of virtual environments for pavement construction simulations

    DOT National Transportation Integrated Search

    2007-05-01

    In the last couple of years, the authors have been developing virtual simulations for modeling the construction of asphalt pavements. The simulations are graphically rich, interactive, three-dimensional, with realistic physics, and allow multiple peo...

  20. Real time flight simulation methodology

    NASA Technical Reports Server (NTRS)

    Parrish, E. A.; Cook, G.; Mcvey, E. S.

    1977-01-01

    Substitutional methods for digitization, input signal-dependent integrator approximations, and digital autopilot design were developed. The software framework of a simulator design package is described. Included are subroutines for iterative designs of simulation models and a rudimentary graphics package.

  1. The State of Simulations: Soft-Skill Simulations Emerge as a Powerful New Form of E-Learning.

    ERIC Educational Resources Information Center

    Aldrich, Clark

    2001-01-01

    Presents responses of leaders from six simulation companies about challenges and opportunities of soft-skills simulations in e-learning. Discussion includes: evaluation metrics; role of subject matter experts in developing simulations; video versus computer graphics; technology needed to run simulations; technology breakthroughs; pricing;…

  2. Multimedia category preferences of working engineers

    NASA Astrophysics Data System (ADS)

    Baukal, Charles E.; Ausburn, Lynna J.

    2016-09-01

    Many have argued for the importance of continuing engineering education (CEE), but relatively few recommendations were found in the literature for how to use multimedia technologies to deliver it most effectively. The study reported here addressed this gap by investigating the multimedia category preferences of working engineers. Four categories of multimedia, with two types in each category, were studied: verbal (text and narration), static graphics (drawing and photograph), dynamic non-interactive graphics (animation and video), and dynamic interactive graphics (simulated virtual reality (VR) and photo-real VR). The results showed that working engineers strongly preferred text over narration and somewhat preferred drawing over photograph, animation over video, and simulated VR over photo-real VR. These results suggest that a variety of multimedia types should be used in the instructional design of CEE content.

  3. Visualizing the phenomena of wave interference, phase-shifting and polarization by interactive computer simulations

    NASA Astrophysics Data System (ADS)

    Rivera-Ortega, Uriel; Dirckx, Joris

    2015-09-01

    In this manuscript a computer based simulation is proposed for teaching concepts of interference of light (under the scheme of a Michelson interferometer), phase-shifting and polarization states. The user can change some parameters of the interfering waves, such as their amplitude and phase difference in order to graphically represent the polarization state of a simulated travelling wave. Regarding to the interference simulation, the user is able to change the wavelength and type of the interfering waves by selecting combinations between planar and Gaussian profiles, as well as the optical path difference by translating or tilting one of the two mirrors in the interferometer setup, all of this via a graphical user interface (GUI) designed in MATLAB. A theoretical introduction and simulation results for each phenomenon will be shown. Due to the simulation characteristics, this GUI can be a very good non-formal learning resource.

  4. Design of teleoperation system with a force-reflecting real-time simulator

    NASA Technical Reports Server (NTRS)

    Hirata, Mitsunori; Sato, Yuichi; Nagashima, Fumio; Maruyama, Tsugito

    1994-01-01

    We developed a force-reflecting teleoperation system that uses a real-time graphic simulator. This system eliminates the effects of communication time delays in remote robot manipulation. The simulator provides the operator with predictive display and feedback of computed contact forces through a six-degree of freedom (6-DOF) master arm on a real-time basis. With this system, peg-in-hole tasks involving round-trip communication time delays of up to a few seconds were performed at three support levels: a real image alone, a predictive display with a real image, and a real-time graphic simulator with computed-contact-force reflection and a predictive display. The experimental results indicate the best teleoperation efficiency was achieved by using the force-reflecting simulator with two images. The shortest work time, lowest sensor maximum, and a 100 percent success rate were obtained. These results demonstrate the effectiveness of simulated-force-reflecting teleoperation efficiency.

  5. Microbial Ecology of a Crewed Rover Traverse in the Arctic: Low Microbial Dispersal and Implications for Planetary Protection on Human Mars Missions.

    PubMed

    Schuerger, Andrew C; Lee, Pascal

    2015-06-01

    Between April 2009 and July 2011, the NASA Haughton-Mars Project (HMP) led the Northwest Passage Drive Expedition (NWPDX), a multi-staged long-distance crewed rover traverse along the Northwest Passage in the Arctic. In April 2009, the HMP Okarian rover was driven 496 km over sea ice along the Northwest Passage, from Kugluktuk to Cambridge Bay, Nunavut, Canada. During the traverse, crew members collected samples from within the rover and from undisturbed snow-covered surfaces around the rover at three locations. The rover samples and snow samples were stored at subzero conditions (-20°C to -1°C) until processed for microbial diversity in labs at the NASA Kennedy Space Center, Florida. The objective was to determine the extent of microbial dispersal away from the rover and onto undisturbed snow. Interior surfaces of the rover were found to be associated with a wide range of bacteria (69 unique taxa) and fungi (16 unique taxa). In contrast, snow samples from the upwind, downwind, uptrack, and downtrack sample sites exterior to the rover were negative for both bacteria and fungi except for two colony-forming units (cfus) recovered from one downwind (1 cfu; site A4) and one uptrack (1 cfu; site B6) sample location. The fungus, Aspergillus fumigatus (GenBank JX517279), and closely related bacteria in the genus Brevibacillus were recovered from both snow (B. agri, GenBank JX517278) and interior rover surfaces. However, it is unknown whether the microorganisms were deposited onto snow surfaces at the time of sample collection (i.e., from the clothing or skin of the human operator) or via airborne dispersal from the rover during the 12-18 h layovers at the sites prior to collection. Results support the conclusion that a crewed rover traveling over previously undisturbed terrain may not significantly contaminate the local terrain via airborne dispersal of propagules from the vehicle.

  6. Deep Unsupervised Learning on a Desktop PC: A Primer for Cognitive Scientists.

    PubMed

    Testolin, Alberto; Stoianov, Ivilin; De Filippo De Grazia, Michele; Zorzi, Marco

    2013-01-01

    Deep belief networks hold great promise for the simulation of human cognition because they show how structured and abstract representations may emerge from probabilistic unsupervised learning. These networks build a hierarchy of progressively more complex distributed representations of the sensory data by fitting a hierarchical generative model. However, learning in deep networks typically requires big datasets and it can involve millions of connection weights, which implies that simulations on standard computers are unfeasible. Developing realistic, medium-to-large-scale learning models of cognition would therefore seem to require expertise in programing parallel-computing hardware, and this might explain why the use of this promising approach is still largely confined to the machine learning community. Here we show how simulations of deep unsupervised learning can be easily performed on a desktop PC by exploiting the processors of low cost graphic cards (graphic processor units) without any specific programing effort, thanks to the use of high-level programming routines (available in MATLAB or Python). We also show that even an entry-level graphic card can outperform a small high-performance computing cluster in terms of learning time and with no loss of learning quality. We therefore conclude that graphic card implementations pave the way for a widespread use of deep learning among cognitive scientists for modeling cognition and behavior.

  7. Deep Unsupervised Learning on a Desktop PC: A Primer for Cognitive Scientists

    PubMed Central

    Testolin, Alberto; Stoianov, Ivilin; De Filippo De Grazia, Michele; Zorzi, Marco

    2013-01-01

    Deep belief networks hold great promise for the simulation of human cognition because they show how structured and abstract representations may emerge from probabilistic unsupervised learning. These networks build a hierarchy of progressively more complex distributed representations of the sensory data by fitting a hierarchical generative model. However, learning in deep networks typically requires big datasets and it can involve millions of connection weights, which implies that simulations on standard computers are unfeasible. Developing realistic, medium-to-large-scale learning models of cognition would therefore seem to require expertise in programing parallel-computing hardware, and this might explain why the use of this promising approach is still largely confined to the machine learning community. Here we show how simulations of deep unsupervised learning can be easily performed on a desktop PC by exploiting the processors of low cost graphic cards (graphic processor units) without any specific programing effort, thanks to the use of high-level programming routines (available in MATLAB or Python). We also show that even an entry-level graphic card can outperform a small high-performance computing cluster in terms of learning time and with no loss of learning quality. We therefore conclude that graphic card implementations pave the way for a widespread use of deep learning among cognitive scientists for modeling cognition and behavior. PMID:23653617

  8. Meteorological predictions for Mars 2020 Exploration Rover high-priority landing sites throug MRAMS Mesoscale Modeling

    NASA Astrophysics Data System (ADS)

    Pla-García, Jorge; Rafkin, Scot C. R.

    2015-04-01

    The Mars Regional Atmospheric Modeling System (MRAMS) is used to predict meteorological conditions that are likely to be encountered by the Mars 2020 Exploration Rover at several proposed landing sites during entry, descent, and landing (EDL). The meteorology during the EDL window at most of the sites is dynamic. The intense heating of the lower atmosphere drives intense thermals and mesoscale thermal circulations. Moderate mean winds, wind shear, turbulence, and vertical air currents associated with convection are present and potentially hazardous to EDL [1]. Nine areas with specific high-priority landing ellipses of the 2020 Rover, are investigated: NE Syrtis, Nili Fossae, Nili Fossae Carbonates, Jezero Crater Delta, Holden Crater, McLaughlin Crater, Southwest Melas Basin, Mawrth Vallis and East Margaritifer Chloride. MRAMS was applied to the landing site regions using nested grids with a spacing of 330 meters on the innermost grid that is centered over each landing site. MRAMS is ideally suited for this investigation; the model is explicitly designed to simulate Mars' atmospheric thermal circulations at the mesoscale and smaller with realistic, high-resolution surface properties [2, 3]. Horizontal wind speeds, both vertical profiles and vertical cross-sections wind speeds, are studied. For some landing sites simulations, two example configurations -including and not including Hellas basin in the mother domain- were generated, in order to study how the basin affects the innermost grids circulations. Afternoon circulations at all sites pose some risk entry, descent, and landing. Most of the atmospheric hazards are not evident in current observational data and general circulation model simulations and can only be ascertained through mesoscale modeling of the region. Decide where to go first and then design a system that can tolerate the environment would greatly minimize risk. References: [1] Rafkin, S. C. R., and T. I. Michaels (2003), J. Geophys. Res., 108(E12), 8091. [2] Rafkin, S. C. R., R. M. Haberle, and T. I. Michaels (2001), Icarus, 151, 228-256.
[3] Rafkin, S. C. R., M. R. V. Sta. Maria, and T. I. Michaels (2002), Nature, 419, 697-699.

  9. Interactive-graphic flowpath plotting for turbine engines

    NASA Technical Reports Server (NTRS)

    Corban, R. R.

    1981-01-01

    An engine cycle program capable of simulating the design and off-design performance of arbitrary turbine engines, and a computer code which, when used in conjunction with the cycle code, can predict the weight of the engines are described. A graphics subroutine was added to the code to enable the engineer to visualize the designed engine with more clarity by producing an overall view of the designed engine for output on a graphics device using IBM-370 graphics subroutines. In addition, with the engine drawn on a graphics screen, the program allows for the interactive user to make changes to the inputs to the code for the engine to be redrawn and reweighed. These improvements allow better use of the code in conjunction with the engine program.

  10. Justification for, and design of, an economical programmable multiple flight simulator

    NASA Technical Reports Server (NTRS)

    Kreifeldt, J. G.; Wittenber, J.; Macdonald, G.

    1981-01-01

    The considered research interests in air traffic control (ATC) studies revolve about the concept of distributed ATC management based on the assumption that the pilot has a cockpit display of traffic and navigation information (CDTI) via CRT graphics. The basic premise is that a CDTI equipped pilot can, in coordination with a controller, manage a part of his local traffic situation thereby improving important aspects of ATC performance. A modularly designed programmable flight simulator system is prototyped as a means of providing an economical facility of up to eight simulators to interface with a mainframe/graphics system for ATC experimentation, particularly CDTI-distributed management in which pilot-pilot interaction can have a determining effect on system performance. Need for a multiman simulator facility is predicted on results from an earlier three simulator facility.

  11. Modeling cation/anion-water interactions in functional aluminosilicate structures.

    PubMed

    Richards, A J; Barnes, P; Collins, D R; Christodoulos, F; Clark, S M

    1995-02-01

    A need for the computer simulation of hydration/dehydration processes in functional aluminosilicate structures has been noted. Full and realistic simulations of these systems can be somewhat ambitious and require the aid of interactive computer graphics to identify key structural/chemical units, both in the devising of suitable water-ion simulation potentials and in the analysis of hydrogen-bonding schemes in the subsequent simulation studies. In this article, the former is demonstrated by the assembling of a range of essential water-ion potentials. These span the range of formal charges from +4e to -2e, and are evaluated in the context of three types of structure: a porous zeolite, calcium silicate cement, and layered clay. As an example of the latter, the computer graphics output from Monte Carlo computer simulation studies of hydration/dehydration in calcium-zeolite A is presented.

  12. Resource Prospector Propulsion System Cold Flow Testing

    NASA Technical Reports Server (NTRS)

    Williams, Hunter; Holt, Kim; Addona, Brad; Trinh, Huu

    2015-01-01

    Resource Prospector (RP) is a NASA mission being led by NASA Ames Research Center with current plans to deliver a scientific payload package aboard a rover to the lunar surface. As part of an early risk reduction activity, Marshall Space Flight Center (MSFC) and Johnson Space Flight Center (JSC) have jointly developed a government-version concept of a lunar lander for the mission. The spacecraft consists of two parts, the lander and the rover which carries the scientific instruments. The lander holds the rover during launch, cruise, and landing on the surface. Following terminal descent and landing the lander portion of the spacecraft become dormant after the rover embarks on the science mission. The lander will be equipped with a propulsion system for lunar descent and landing, as well as trajectory correction and attitude control maneuvers during transit to the moon. Hypergolic propellants monomethyl hydrazine and nitrogen tetroxide will be used to fuel sixteen 70-lbf descent thrusters and twelve 5-lbf attitude control thrusters. A total of four metal-diaphragm tanks, two per propellant, will be used along with a high-pressure composite-overwrapped pressure vessel for the helium pressurant gas. Many of the major propulsion system components are heritage missile hardware obtained by NASA from the Air Force. In parallel with the flight system design activities, a simulated propulsion system based on flight drawings was built for conducting a series of water flow tests to characterize the transient fluid flow of the propulsion system feed lines and to verify the critical operation modes such as system priming, waterhammer, and crucial mission duty cycles. The primary objective of the cold flow testing was to simulate the RP propulsion system fluid flow operation through water flow testing and to obtain data for anchoring analytical models. The models will be used to predict the transient and steady state flow behaviors in the actual flight operations. All design and build efforts, including the analytical modeling, have been performed. The cold flow testing of the propulsion system was set up and conducted at a NASA MSFC test facility. All testing was completed in the summer of 2014, and this paper documents the results of that testing and the associated fluid system modeling efforts.

  13. Nighttime Infrared radiative cooling and opacity inferred by REMS Ground Temperature Sensor Measurements

    NASA Astrophysics Data System (ADS)

    Martín-Torres, Javier; Paz Zorzano, María; Pla-García, Jorge; Rafkin, Scot; Lepinette, Alain; Sebastián, Eduardo; Gómez-Elvira, Javier; REMS Team

    2013-04-01

    Due to the low density of the Martian atmosphere, the temperature of the surface is controlled primarily by solar heating, and infrared cooling to the atmosphere and space, rather than heat exchange with the atmosphere. In the absence of solar radiation the infrared (IR) cooling, and then the nighttime surface temperatures, are directly controlled by soil termal inertia and atmospheric optical thickness (τ) at infrared wavelengths. Under non-wind conditions, and assuming no processes involving latent heat changes in the surface, for a particular site where the rover stands the main parameter controlling the IR cooling will be τ. The minimal ground temperature values at a fixed position may thus be used to detect local variations in the total dust/aerosols/cloud tickness. The Ground Temperature Sensor (GTS) and Air Temperature Sensor (ATS) in the Rover Environmental Monitoring Station (REMS) on board the Mars Science Laboratory (MSL) Curiosity rover provides hourly ground and air temperature measurements respectively. During the first 100 sols of operation of the rover, within the area of low thermal inertia, the minimal nightime ground temperatures reached values between 180 K and 190 K. For this season the expected frost point temperature is 200 K. Variations of up to 10 K have been observed associated with dust loading at Gale at the onset of the dust season. We will use these measurements together with line-by-line radiative transfer simulations using the Full Transfer By Optimized LINe-by-line (FUTBOLIN) code [Martín-Torres and Mlynczak, 2005] to estimate the IR atmospheric opacity and then dust/cloud coverage over the rover during the course of the MSL mission. Monitoring the dust loading and IR nightime cooling evolution during the dust season will allow for a better understanding of the influence of the atmosphere on the ground temperature and provide ground truth to models and orbiter measurements. References Martín-Torres, F. J. and M. G. Mlynczak, Application of FUTBOLIN (FUll Transfer By Ordinary Line-by-Line) to the analysis of the solar system and extrasolar planetary atmospheres, Bulletin of the American Astronomical Society, Vol. 37, p.1566, 2005

  14. Crew Field Notes: A New Tool for Planetary Surface Exploration

    NASA Technical Reports Server (NTRS)

    Horz, Friedrich; Evans, Cynthia; Eppler, Dean; Gernhardt, Michael; Bluethmann, William; Graf, Jodi; Bleisath, Scott

    2011-01-01

    The Desert Research and Technology Studies (DRATS) field tests of 2010 focused on the simultaneous operation of two rovers, a historical first. The complexity and data volume of two rovers operating simultaneously presented significant operational challenges for the on-site Mission Control Center, including the real time science support function. The latter was split into two "tactical" back rooms, one for each rover, that supported the real time traverse activities; in addition, a "strategic" science team convened overnight to synthesize the day's findings, and to conduct the strategic forward planning of the next day or days as detailed in [1, 2]. Current DRATS simulations and operations differ dramatically from those of Apollo, including the most evolved Apollo 15-17 missions, due to the advent of digital technologies. Modern digital still and video cameras, combined with the capability for real time transmission of large volumes of data, including multiple video streams, offer the prospect for the ground based science support room(s) in Mission Control to witness all crew activities in unprecedented detail and in real time. It was not uncommon during DRATS 2010 that each tactical science back room simultaneously received some 4-6 video streams from cameras mounted on the rover or the crews' backpacks. Some of the rover cameras are controllable PZT (pan, zoom, tilt) devices that can be operated by the crews (during extensive drives) or remotely by the back room (during EVAs). Typically, a dedicated "expert" and professional geologist in the tactical back room(s) controls, monitors and analyses a single video stream and provides the findings to the team, commonly supported by screen-saved images. It seems obvious, that the real time comprehension and synthesis of the verbal descriptions, extensive imagery, and other information (e.g. navigation data; time lines etc) flowing into the science support room(s) constitute a fundamental challenge to future mission operations: how can one analyze, comprehend and synthesize -in real time- the enormous data volume coming to the ground? Real time understanding of all data is needed for constructive interaction with the surface crews, and it becomes critical for the strategic forward planning process.

  15. Artificial Intelligence Support for Landing Site Selection on Mars

    NASA Astrophysics Data System (ADS)

    Rongier, G.; Pankratius, V.

    2017-12-01

    Mars is a key target for planetary exploration; a better understanding of its evolution and habitability requires roving in situ. Landing site selection is becoming more challenging for scientists as new instruments generate higher data volumes. The involved engineering and scientific constraints make site selection and the anticipation of possible onsite actions into a complex optimization problem: there may be multiple acceptable solutions depending on various goals and assumptions. Solutions must also account for missing data, errors, and potential biases. To address these problems, we propose an AI-informed decision support system that allows scientists, mission designers, engineers, and committees to explore alternative site selection choices based on data. In particular, we demonstrate first results of an exploratory case study using fuzzy logic and a simulation of a rover's mobility map based on the fast marching algorithm. Our system computes favorability maps of the entire planet to facilitate landing site selection and allows a definition of different configurations for rovers, science target priorities, landing ellipses, and other constraints. For a rover similar to NASA's Mars 2020 rover, we present results in form of a site favorability map as well as four derived exploration scenarios that depend on different prioritized scientific targets, all visualizing inherent tradeoffs. Our method uses the NASA PDS Geosciences Node and the NASA/ICA Integrated Database of Planetary Features. Under common assumptions, the data products reveal Eastern Margaritifer Terra and Meridiani Planum to be the most favorable sites due to a high concentration of scientific targets and a flat, easily navigable surface. Our method also allows mission designers to investigate which constraints have the highest impact on the mission exploration potential and to change parameter ranges. Increasing the elevation limit for landing, for example, provides access to many additional, more interesting sites on the southern terrains of Mars. The speed of current rovers is another limit to exploration capabilities: our system helps quantify how speed increases can improve the number of reachable targets in the search space. We acknowledge support from NASA AISTNNX15AG84G (PI Pankratius) and NSF ACI1442997 (PI Pankratius).

  16. Mission-directed path planning for planetary rover exploration

    NASA Astrophysics Data System (ADS)

    Tompkins, Paul

    2005-07-01

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

  17. Delivering Images for Mars Rover Science Planning

    NASA Technical Reports Server (NTRS)

    Edmonds, Karina

    2008-01-01

    A methodology has been developed for delivering, via the Internet, images transmitted to Earth from cameras on the Mars Explorer Rovers, the Phoenix Mars Lander, the Mars Science Laboratory, and the Mars Reconnaissance Orbiter spacecraft. The images in question are used by geographically dispersed scientists and engineers in planning Rover scientific activities and Rover maneuvers pertinent thereto.

  18. KSC-03pd0980

    NASA Image and Video Library

    2003-04-04

    KENNEDY SPACE CENTER, FLA. - Workers prepare the shrouded Mars Exploration Rover 2 (MER-2) for mating to the lander. Set to launch in Spring 2003, the MER Mission consists of two identical rovers, landing at different regions of Mars, designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. The first rover has a launch window opening May 30, and the second rover a window opening June 25.

  19. Cutting the Cord

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This animation shows the view from the front hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting off the front lander petal. Before this crucial turn could take place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

  20. Cutting the Cord-2

    NASA Technical Reports Server (NTRS)

    2004-01-01

    This animation shows the view from the rear hazard avoidance cameras on the Mars Exploration Rover Spirit as the rover turns 45 degrees clockwise. This maneuver is the first step in a 3-point turn that will rotate the rover 115 degrees to face west. The rover must make this turn before rolling off the lander because airbags are blocking it from exiting from the front lander petal. Before this crucial turn took place, engineers instructed the rover to cut the final cord linking it to the lander. The turn took around 30 minutes to complete.

  1. Rover Tracks

    NASA Image and Video Library

    1997-07-07

    Tracks made by the Sojourner rover are visible in this image, taken by one of the cameras aboard Sojourner on Sol 3. The tracks represent the rover maneuvering towards the rock dubbed "Barnacle Bill." The rover, having exited the lander via the rear ramp, first traveled towards the right portion of the image, and then moved forward towards the left where Barnacle Bill sits. The fact that the rover was making defined tracks indicates that the soil is made up of particles on a micron scale. http://photojournal.jpl.nasa.gov/catalog/PIA00633

  2. Targeting and Localization for Mars Rover Operations

    NASA Technical Reports Server (NTRS)

    Powell, Mark W.; Crockett, Thomas; Fox, Jason M.; Joswig, Joseph C.; Norris, Jeffrey S.; Rabe, Kenneth J.; McCurdy, Michael; Pyrzak, Guy

    2006-01-01

    In this work we discuss how the quality of localization knowledge impacts the remote operation of rovers on the surface of Mars. We look at the techniques of localization estimation used in the Mars Pathfinder and Mars Exploration Rover missions. We examine the motivation behind the modes of targeting for different types of activities, such as navigation, remote science, and in situ science. We discuss the virtues and shortcomings of existing approaches and new improvements in the latest operations tools used to support the Mars Exploration Rover missions and rover technology development tasks at the Jet Propulsion Laboratory. We conclude with future directions we plan to explore in improving the localization knowledge available for operations and more effective targeting of rovers and their instrument payloads.

  3. Computer Instructional Aids for Undergraduate Control Education.

    ERIC Educational Resources Information Center

    Volz, Richard A.; And Others

    Engineering is coming to rely more and more heavily upon the computer for computations, analyses, and graphic displays which aid the design process. A general purpose simulation system, the Time-shared Automatic Control Laboratory (TACL), and a set of computer-aided design programs, Control Oriented Interactive Graphic Analysis and Design…

  4. Web-Compatible Graphics Visualization Framework for Online Instruction and Assessment of Hardware Concepts

    ERIC Educational Resources Information Center

    Chandramouli, Magesh; Chittamuru, Siva-Teja

    2016-01-01

    This paper explains the design of a graphics-based virtual environment for instructing computer hardware concepts to students, especially those at the beginner level. Photorealistic visualizations and simulations are designed and programmed with interactive features allowing students to practice, explore, and test themselves on computer hardware…

  5. Real-time application of advanced three-dimensional graphic techniques for research aircraft simulation

    NASA Technical Reports Server (NTRS)

    Davis, Steven B.

    1990-01-01

    Visual aids are valuable assets to engineers for design, demonstration, and evaluation. Discussed here are a variety of advanced three-dimensional graphic techniques used to enhance the displays of test aircraft dynamics. The new software's capabilities are examined and possible future uses are considered.

  6. KINPLOT: An Interactive Pharmacokinetics Graphics Program for Digital Computers.

    ERIC Educational Resources Information Center

    Wilson, Robert C.; And Others

    1982-01-01

    Inability to see the relevance of mathematics to understanding the time course of drugs in the body may discourage interest in pharmacokinetics. A UNC-developed computer graphics simulation program helps visualize the nature of pharmacokinetic-patient interactions, generates classroom handouts, and is used in the pharmaceuticals industry to…

  7. KENNEDY SPACE CENTER, FLA. - The second stage of the Delta II rocket is raised off the transporter for its lift up the launch tower on Pad 17-A, Cape Canaveral Air Force Station. It will be mated to the first stage in preparation for the launch of the Mars Exploration Rover 2 (MER-A). The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet’s past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA’s two Mars Exploration Rover missions is scheduled June 5.

    NASA Image and Video Library

    2003-04-28

    KENNEDY SPACE CENTER, FLA. - The second stage of the Delta II rocket is raised off the transporter for its lift up the launch tower on Pad 17-A, Cape Canaveral Air Force Station. It will be mated to the first stage in preparation for the launch of the Mars Exploration Rover 2 (MER-A). The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet’s past. Identical to each other, the rovers will land at different regions of Mars. Launch date for this first of NASA’s two Mars Exploration Rover missions is scheduled June 5.

  8. Working on Mars: Understanding How Scientists, Engineers and Rovers Interacted Across Space and Time during the Mars Exploration Rover (MER) Mission

    NASA Technical Reports Server (NTRS)

    Wales, Roxana C.

    2005-01-01

    This viewgraph presentation summarizes the scheduling and planning difficulties inherent in operating the Mars Exploration Rovers (MER) during the overlapping terrestrial day and Martian sol. The presentation gives special empahsis to communication between the teams controlling the rovers from Earth, and keeping track of time on the two planets.

  9. Rover deployment system for lunar landing mission

    NASA Astrophysics Data System (ADS)

    Sutoh, Masataku; Hoshino, Takeshi; Wakabayashi, Sachiko

    2017-09-01

    For lunar surface exploration, a deployment system is necessary to allow a rover to leave the lander. The system should be as lightweight as possible and stored retracted when launched. In this paper, two types of retractable deployment systems for lunar landing missions, telescopic- and fold-type ramps, are discussed. In the telescopic-type system, a ramp is stored with the sections overlapping and slides out during deployment. In the fold-type system, it is stored folded and unfolds for the deployment. For the development of these ramps, a design concept study and structural analysis were conducted first. Subsequently, ramp deployment and rover release tests were performed using the developed ramp prototypes. Through these tests, the validity of their design concepts and functions have been confirmed. In the rover release test, it was observed that the developed lightweight ramp was sufficiently strong for a 50-kg rover to descend. This result suggests that this ramp system is suitable for the deployment of a 300-kg-class rover on the Moon, where the gravity is about one-sixth that on Earth. The lightweight and sturdy ramp developed in this study will contribute to both safe rover deployment and increase of lander/rover payload.

  10. KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - An overhead crane lifts the Mars Exploration Rover 2 (MER-2) entry vehicle from its stand to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  11. KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - With help from workers, the overhead crane lowers the Mars Exploration Rover 2 (MER-2) entry vehicle onto a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  12. KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - An overhead crane moves the Mars Exploration Rover 2 (MER-2) entry vehicle across the Payload Hazardous Servicing Facility toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  13. KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - Workers in the Payload Hazardous Servicing Facility help guide the Mars Exploration Rover 2 (MER-2) entry vehicle toward a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  14. KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

    NASA Image and Video Library

    2003-04-30

    KENNEDY SPACE CENTER, FLA. - An overhead crane is in place to lift the Mars Exploration Rover 2 (MER-2) entry vehicle to move it to a spin table for a dry-spin test. The MER Mission consists of two identical rovers designed to cover roughly 110 yards each Martian day over various terrain. Each rover will carry five scientific instruments that will allow it to search for evidence of liquid water that may have been present in the planet's past. Identical to each other, the rovers will land at different regions of Mars. Launch for MER-2 (MER-A) is scheduled for June 5.

  15. Constructing an Educational Mars Simulation

    NASA Technical Reports Server (NTRS)

    Henke, Stephen A.

    2004-01-01

    Working in the Educational Programs Office, my task this summer is to model a 3D habitat that will be part of a future Mars base. With the President's charge to further explore mars by way of robotic-led and human-led missions, there has been a surge in the activity regarding the "red planet". Since all present designs are merely conjecture, I have some creative freedom in deciding what the habitat will look like. To get ideas for what a Mars habitat might be like, I looked at several references including websites and NASA documents. One of these was a NASA Technical Memorandum about Space Transportation Systems that I looked at to get insight on spaceship design. Information about the planet's environment, such as the gravity and the weather, is useful as well when designing the structure. The main software that I am using is Lightwave 3D and Modeler 7.5 that comes along with it. Lightwave is very complex in that it lets you model, surface, and animate so there was a lot to learn. To learn the software I watched a series of instructional videos, looked at online tutorials, and referenced several books. Modeling is like shaping clay with a computer. Every item modeled is made of smaller shapes called polygons. For example, each side of a box would be a different polygon. Modelers must be careful to design with users' systems in mind. Having a model made with too many polygons can slow down a walk-through, but it usually improves the small details on a model. Getting speed and quality proved tricky. An important thing for me to remember when modeling the habitat was to save space. Also, I must consider that technology in the future will be much different than now, so I must be especially creative. My project will be used in an educational walkthough simulation in which users can interact with the environment. I worked closely with intern Stephen Henke who built a Mars Rover, terrain and programmed code for the simulation. This summer's project will help me with future aspirations in computer graphics. Modeling is a valuable skill that I appreciate having the chance to learn and practice.

  16. Design of a wheeled articulating land rover

    NASA Technical Reports Server (NTRS)

    Stauffer, Larry; Dilorenzo, Mathew; Yandle, Barbara

    1994-01-01

    The WALRUS is a wheeled articulating land rover that will provide Ames Research Center with a reliable, autonomous vehicle for demonstrating and evaluating advanced technologies. The vehicle is one component of the Ames Research Center's on-going Human Exploration Demonstration Project. Ames Research Center requested a system capable of traversing a broad spectrum of surface types and obstacles. In addition, this vehicle must have an autonomous navigation and control system on board and its own source of power. The resulting design is a rover that articulates in two planes of motion to allow for increased mobility and stability. The rover is driven by six conical shaped aluminum wheels, each with an independent, internally coupled motor. Mounted on the rover are two housings and a removable remote control system. In the housings, the motor controller board, tilt sensor, navigation circuitry, and QED board are mounted. Finally, the rover's motors and electronics are powered by thirty C-cell rechargeable batteries, which are located in the rover wheels and recharged by a specially designed battery charger.

  17. Robotic Lunar Rover Technologies and SEI Supporting Technologies at Sandia National Laboratories

    NASA Technical Reports Server (NTRS)

    Klarer, Paul R.

    1992-01-01

    Existing robotic rover technologies at Sandia National Laboratories (SNL) can be applied toward the realization of a robotic lunar rover mission in the near term. Recent activities at the SNL-RVR have demonstrated the utility of existing rover technologies for performing remote field geology tasks similar to those envisioned on a robotic lunar rover mission. Specific technologies demonstrated include low-data-rate teleoperation, multivehicle control, remote site and sample inspection, standard bandwidth stereo vision, and autonomous path following based on both internal dead reckoning and an external position location update system. These activities serve to support the use of robotic rovers for an early return to the lunar surface by demonstrating capabilities that are attainable with off-the-shelf technology and existing control techniques. The breadth of technical activities at SNL provides many supporting technology areas for robotic rover development. These range from core competency areas and microsensor fabrication facilities, to actual space qualification of flight components that are designed and fabricated in-house.

  18. Curiosity First 14 Rock or Soil Sampling Sites on Mars

    NASA Image and Video Library

    2016-06-13

    This graphic maps locations of the first 14 sites where NASA's Curiosity Mars rover collected rock or soil samples for analysis by laboratory instruments inside the vehicle. It also presents images of the drilled holes where 12 rock-powder samples were acquired. At the other two sites -- Rocknest and Gobabeb -- Curiosity scooped soil samples. The diameter of each drill hole is about 0.6 inch (1.6 centimeters), slightly smaller than a U.S. dime. The images used here are raw color, as recorded by the rover's Mars Hand Lens Imager (MAHLI) camera. Notice the differences in color of the material at different drilling sites. The latest sample site included is "Oudam," where Curiosity drilled into mudstone of the "Murray formation" on June 4, during the 1,361th Martian day, or sol, of the mission. Curiosity landed in August 2012 on the plain (named Aeolis Palus) near Mount Sharp (or Aeolis Mons). Dates when the first 11 drilled-rock samples were collected are: "John Klein" on Feb. 8, 2013 (Sol 182); "Cumberland" on May 19, 2013 (Sol 279); "Windjana" on May 5, 2014 (Sol 621); "Confidence Hills" on Sept. 24, 2014 (Sol 759); "Mojave" on Jan. 29, 2015 (Sol 882); "Telegraph Peak" on Feb. 24, 2015 (Sol 908); "Buckskin" on July 30, 2015 (Sol 1060); "Big Sky" on Sept. 29, 2015 (Sol 1119); "Greenhorn" on Oct. 18, 2015 (Sol 1137); "Lubango" on April 23, 2016 (Sol 1320); and "Okoruso" on May 5, 2016 (Sol 1332). http://photojournal.jpl.nasa.gov/catalog/PIA20748

  19. Two Possible Ways Boron Got into Veins on Mount Sharp

    NASA Image and Video Library

    2016-12-13

    This graphic portrays two hypotheses about how the element boron ended up in calcium sulfate veins found within mudstone layers of the Murray formation on Mars' lower Mount Sharp. Hypothesis A is presented left-to-right in the upper four panels; hypothesis B in the lower four. Note that the two final panels are identical, depicting conditions found by NASA's Curiosity Mars rover. Calcium sulfate is the veins' main ingredient. The mudstone matrix around the veins resulted from deposition of sediments in a lake environment in Mars' Gale Crater billions of years ago. In hypothesis A: (1) Boron dissolved in the lake and was incorporated into the lake bottom clays that became the Murray formation. (2) The lake then dried and the bedrock fractured. (3) Later groundwater interacted with the clays under conditions that released the boron into the groundwater. (4) Then, the boron was deposited along with the calcium sulfate that makes up the bulk of these veins. In hypothesis B: (1) Boron was not incorporated into the clays as the lake was active. (2) Instead, when the lake dried out, it left a layer of boron-containing salts, and likely other types of salts, such as sodium chloride (table salt) and calcium sulfates, in an overlying layer that Curiosity has not yet visited. The bedrock fractured. (3) Groundwater later dissolved this layer of evaporite salts and moved the salts down into the older layers the rover has investigated. (4) The groundwater deposited the evaporite salts with the calcium sulfate that makes up the bulk of these veins. http://photojournal.jpl.nasa.gov/catalog/PIA21253

  20. A system architecture for a planetary rover

    NASA Technical Reports Server (NTRS)

    Smith, D. B.; Matijevic, J. R.

    1989-01-01

    Each planetary mission requires a complex space vehicle which integrates several functions to accomplish the mission and science objectives. A Mars Rover is one of these vehicles, and extends the normal spacecraft functionality with two additional functions: surface mobility and sample acquisition. All functions are assembled into a hierarchical and structured format to understand the complexities of interactions between functions during different mission times. It can graphically show data flow between functions, and most importantly, the necessary control flow to avoid unambiguous results. Diagrams are presented organizing the functions into a structured, block format where each block represents a major function at the system level. As such, there are six blocks representing telecomm, power, thermal, science, mobility and sampling under a supervisory block called Data Management/Executive. Each block is a simple collection of state machines arranged into a hierarchical order very close to the NASREM model for Telerobotics. Each layer within a block represents a level of control for a set of state machines that do the three primary interface functions: command, telemetry, and fault protection. This latter function is expanded to include automatic reactions to the environment as well as internal faults. Lastly, diagrams are presented that trace the system operations involved in moving from site to site after site selection. The diagrams clearly illustrate both the data and control flows. They also illustrate inter-block data transfers and a hierarchical approach to fault protection. This systems architecture can be used to determine functional requirements, interface specifications and be used as a mechanism for grouping subsystems (i.e., collecting groups of machines, or blocks consistent with good and testable implementations).

  1. Multibody dynamics model building using graphical interfaces

    NASA Technical Reports Server (NTRS)

    Macala, Glenn A.

    1989-01-01

    In recent years, the extremely laborious task of manually deriving equations of motion for the simulation of multibody spacecraft dynamics has largely been eliminated. Instead, the dynamicist now works with commonly available general purpose dynamics simulation programs which generate the equations of motion either explicitly or implicitly via computer codes. The user interface to these programs has predominantly been via input data files, each with its own required format and peculiarities, causing errors and frustrations during program setup. Recent progress in a more natural method of data input for dynamics programs: the graphical interface, is described.

  2. After Opportunity's First Drive in Six Weeks

    NASA Technical Reports Server (NTRS)

    2007-01-01

    NASA's Mars Exploration Rover Opportunity used its front hazard-identification camera to obtain this image at the end of a drive on the rover's 1,271st sol, or Martian day (Aug. 21, 2007).

    Due to sun-obscuring dust storms limiting the rover's supply of solar energy, Opportunity had not driven since sol 1,232 (July 12, 2007). On sol 1,271, after the sky above Opportunity had been gradually clearing for more than two weeks, the rover rolled 13.38 meters (44 feet). Wheel tracks are visible in front of the rover because the drive ended with a short test of driving backwards.

    Opportunity's turret of four tools at the end of the robotic arm fills the center of the image. Victoria Crater, site of the rover's next science targets, lies ahead.

  3. Computer-Design Drawing for NASA 2020 Mars Rover

    NASA Image and Video Library

    2016-07-15

    NASA's 2020 Mars rover mission will go to a region of Mars thought to have offered favorable conditions long ago for microbial life, and the rover will search for signs of past life there. It will also collect and cache samples for potential return to Earth, for many types of laboratory analysis. As a pioneering step toward how humans on Mars will use the Red Planet's natural resources, the rover will extract oxygen from the Martian atmosphere. This 2016 image comes from computer-assisted-design work on the 2020 rover. The design leverages many successful features of NASA's Curiosity rover, which landed on Mars in 2012, but it adds new science instruments and a sampling system to carry out the new goals for the mission. http://photojournal.jpl.nasa.gov/catalog/PIA20759

  4. Self-Directed Cooperative Planetary Rovers

    NASA Technical Reports Server (NTRS)

    Zilberstein, Shlomo; Morris, Robert (Technical Monitor)

    2003-01-01

    The project is concerned with the development of decision-theoretic techniques to optimize the scientific return of planetary rovers. Planetary rovers are small unmanned vehicles equipped with cameras and a variety of sensors used for scientific experiments. They must operate under tight constraints over such resources as operation time, power, storage capacity, and communication bandwidth. Moreover, the limited computational resources of the rover limit the complexity of on-line planning and scheduling. We have developed a comprehensive solution to this problem that involves high-level tools to describe a mission; a compiler that maps a mission description and additional probabilistic models of the components of the rover into a Markov decision problem; and algorithms for solving the rover control problem that are sensitive to the limited computational resources and high-level of uncertainty in this domain.

  5. The University Rover Challenge: A competition highlighting Human and Robotic partnerships for exploration

    NASA Astrophysics Data System (ADS)

    Smith, Heather; Duncan, Andrew

    2016-07-01

    The University Rover Challenge began in 2006 with 4 American college teams competing, now in it's 10th year there are 63 teams from 12 countries registered to compete for the top rover designed to assist humans in the exploration of Mars. The Rovers compete aided by the University teams in four tasks (3 engineering and 1 science) in the Mars analog environment of the Utah Southern Desert in the United States. In this presentation we show amazing rover designs with videos demonstrating the incredible ingenuity, skill and determination of the world's most talented college students. We describe the purpose and results of each of the tasks: Astronaut Assistant, Rover Dexterity, Terrain maneuvering, and Science. We explain the evolution of the competition and common challenges faced by the robotic explorers

  6. Novel graphical environment for virtual and real-world operations of tracked mobile manipulators

    NASA Astrophysics Data System (ADS)

    Chen, ChuXin; Trivedi, Mohan M.; Azam, Mir; Lassiter, Nils T.

    1993-08-01

    A simulation, animation, visualization and interactive control (SAVIC) environment has been developed for the design and operation of an integrated mobile manipulator system. This unique system possesses the abilities for (1) multi-sensor simulation, (2) kinematics and locomotion animation, (3) dynamic motion and manipulation animation, (4) transformation between real and virtual modes within the same graphics system, (5) ease in exchanging software modules and hardware devices between real and virtual world operations, and (6) interfacing with a real robotic system. This paper describes a working system and illustrates the concepts by presenting the simulation, animation and control methodologies for a unique mobile robot with articulated tracks, a manipulator, and sensory modules.

  7. PIA05044

    NASA Image and Video Library

    2004-01-11

    This mosaic image taken by the navigation camera on the Mars Exploration Rover Spirit represents an overhead view of the rover as it prepares to roll off the lander and onto the martian surface. The yellow arrow illustrates the direction the rover may take to roll safely off the lander. The rover was originally positioned to roll straight forward off the lander (south side of image). However, an airbag is blocking its path. To take this northeastern route, the rover must back up and perform what is likened to a 3-point turn in a cramped parking lot. http://photojournal.jpl.nasa.gov/catalog/PIA05044

  8. Lunar Surface Scenarios: Habitation and Life Support Systems for a Pressurized Rover

    NASA Technical Reports Server (NTRS)

    Anderson, Molly; Hanford, Anthony; Howard, Robert; Toups, Larry

    2006-01-01

    Pressurized rovers will be a critical component of successful lunar exploration to enable safe investigation of sites distant from the outpost location. A pressurized rover is a complex system with the same functions as any other crewed vehicle. Designs for a pressurized rover need to take into account significant constraints, a multitude of tasks to be performed inside and out, and the complexity of life support systems to support the crew. In future studies, pressurized rovers should be given the same level of consideration as any other vehicle occupied by the crew.

  9. Visual Target Tracking on the Mars Exploration Rovers

    NASA Technical Reports Server (NTRS)

    Kim, Won; Biesiadecki, Jeffrey; Ali, Khaled

    2008-01-01

    Visual target tracking (VTT) software has been incorporated into Release 9.2 of the Mars Exploration Rover (MER) flight software, now running aboard the rovers Spirit and Opportunity. In the VTT operation (see figure), the rover is driven in short steps between stops and, at each stop, still images are acquired by actively aimed navigation cameras (navcams) on a mast on the rover (see artistic rendition). The VTT software processes the digitized navcam images so as to track a target reliably and to make it possible to approach the target accurately to within a few centimeters over a 10-m traverse.

  10. 'Bird's Eye' View of Egress

    NASA Technical Reports Server (NTRS)

    2004-01-01

    [figure removed for brevity, see original site]

    This mosaic image taken by the navigation camera on the Mars Exploration Rover Spirit represents an overhead view of the rover as it prepares to roll off the lander and onto the martian surface. The yellow arrow illustrates the direction the rover may take to roll safely off the lander. The rover was originally positioned to roll straight forward off the lander (south side of image). However, an airbag is blocking its path. To take this northeastern route, the rover must back up and perform what is likened to a 3-point turn in a cramped parking lot.

  11. Mars PathFinder Rover Traverse Image

    NASA Technical Reports Server (NTRS)

    1998-01-01

    This figure contains an azimuth-elevation projection of the 'Gallery Panorama.' The original Simple Cylindrical mosaic has been reprojected to the inside of a sphere so that lines of constant azimuth radiate from the center and lines of constant elevation are concentric circles. This projection preserves the resolution of the original panorama. Overlaid onto the projected Martian surface is a delineation of the Sojourner rover traverse path during the 83 Sols (Martian days) of Pathfinder surface operations. The rover path was reproduced using IMP camera 'end of day' and 'Rover movie' image sequences and rover vehicle telemetry data as references.

  12. Path planning and execution monitoring for a planetary rover

    NASA Technical Reports Server (NTRS)

    Gat, Erann; Slack, Marc G.; Miller, David P.; Firby, R. James

    1990-01-01

    A path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.

  13. Real-time simulation of a spiking neural network model of the basal ganglia circuitry using general purpose computing on graphics processing units.

    PubMed

    Igarashi, Jun; Shouno, Osamu; Fukai, Tomoki; Tsujino, Hiroshi

    2011-11-01

    Real-time simulation of a biologically realistic spiking neural network is necessary for evaluation of its capacity to interact with real environments. However, the real-time simulation of such a neural network is difficult due to its high computational costs that arise from two factors: (1) vast network size and (2) the complicated dynamics of biologically realistic neurons. In order to address these problems, mainly the latter, we chose to use general purpose computing on graphics processing units (GPGPUs) for simulation of such a neural network, taking advantage of the powerful computational capability of a graphics processing unit (GPU). As a target for real-time simulation, we used a model of the basal ganglia that has been developed according to electrophysiological and anatomical knowledge. The model consists of heterogeneous populations of 370 spiking model neurons, including computationally heavy conductance-based models, connected by 11,002 synapses. Simulation of the model has not yet been performed in real-time using a general computing server. By parallelization of the model on the NVIDIA Geforce GTX 280 GPU in data-parallel and task-parallel fashion, faster-than-real-time simulation was robustly realized with only one-third of the GPU's total computational resources. Furthermore, we used the GPU's full computational resources to perform faster-than-real-time simulation of three instances of the basal ganglia model; these instances consisted of 1100 neurons and 33,006 synapses and were synchronized at each calculation step. Finally, we developed software for simultaneous visualization of faster-than-real-time simulation output. These results suggest the potential power of GPGPU techniques in real-time simulation of realistic neural networks. Copyright © 2011 Elsevier Ltd. All rights reserved.

  14. A predictive wheel-soil interaction model for planetary rovers validated in testbeds and against MER Mars rover performance data

    NASA Astrophysics Data System (ADS)

    Richter, L.; Ellery, A.; Gao, Y.; Michaud, S.; Schmitz, N.; Weiss, S.

    Successful designs of vehicles intended for operations on planetary objects outside the Earth demand, just as for terrestrial off-the-road vehicles, a careful assessment of the terrain relevant for the vehicle mission and predictions of the mobility performance to allow rational trade-off's to be made for the choice of the locomotion concept and sizing. Principal issues driving the chassis design for rovers are the stress-strain properties of the planetary surface soil, the distribution of rocks in the terrain representing potential obstacles to movement, and the gravity level on the celestial object in question. Thus far, planetary rovers have been successfully designed and operated for missions to the Earth's moon and to the planet Mars, including NASA's Mars Exploration Rovers (MER's) `Spirit' and `Opportunity' being in operation on Mars since their landings in January 2004. Here we report on the development of a wheel-soil interaction model with application to wheel sizes and wheel loads relevant to current and near-term robotic planetary rovers, i.e. wheel diameters being between about 200 and 500 mm and vertical quasistatic wheel loads in operation of roughly 100 to 200 N. Such a model clearly is indispensable for sizings of future rovers to analyse the aspect of rover mobility concerned with motion across soils. This work is presently funded by the European Space Agency (ESA) as part of the `Rover Chassis Evaluation Tools' (RCET) effort which has developed a set of S/W-implemented models for predictive mobility analysis of rovers in terms of movement on soils and across obstacles, coupled with dedicated testbeds to validate the wheel-soil models. In this paper, we outline the details of the wheel-soil modelling performed within the RCET work and present comparisons of predictions of wheel performance (motion resistance, torque vs. slip and drawbar pull vs. slip) for specific test cases with the corresponding measurements performed in the RCET single wheel testbed and in the RCET system-level testbed, the latter permitting drawbar pull vs. slip measurements for complete rover development vehicles under controlled and homogeneous soil conditions. Required modifications of the wheel-soil model, in particular related to modelling the effect of wheel slip, are discussed. To strengthen the model validation base, we have run single wheel measurements using a spare MER Mars rover wheel and have performed comparisons with MER actual mobility performance data, available through one of us (LR) who is a member of the MER Athena science team. Corresponding results will be presented. Keywords: rovers, wheel, soil, mobility, vehicle performance, RCET (Rover Chassis Evaluation Tools), MER (Mars Exploration Rover mission) 2

  15. The Myths and Realities of Simulations in Performance Technology.

    ERIC Educational Resources Information Center

    Thiagarajan, Sivasailam

    1998-01-01

    Examines misconceptions about simulations for performance technology concerning what they reflect, varieties, uses (instruction, awareness, performance assessment, team building, transfer, research, therapy), levels of fidelity, design approaches, formats (graphic models; card, race, and cyclical games; interactive fiction; production simulations;…

  16. Opportunity's 'Rub al Khali' Panorama

    NASA Technical Reports Server (NTRS)

    2005-01-01

    [figure removed for brevity, see original site] Click on the image for Opportunity's 'Rub al Khali' Panorama (QTVR)

    This panoramic image, dubbed 'Rub al Khali,' was acquired by NASA's Mars Exploration Rover Opportunity on the plains of Meridiani during the period from the rover's 456th to 464th sols on Mars (May 6 to May 14, 2005). Opportunity was about 2 kilometers (1.2 miles) south of 'Endurance Crater' at a place known informally as 'Purgatory Dune.'

    The rover was stuck in the dune's deep fine sand for more than a month. 'Rub al Khali' (Arabic translation: 'the empty quarter') was chosen as the name for this panorama because it is the name of a similarly barren, desolate part of the Saudi Arabian desert on Earth.

    The view spans 360 degrees. It consists of images obtained in 97 individual pointings of the panoramic camera. The camera took images with five camera filters at each pointing. This 22,780-by-6,000-pixel mosaic is an approximately true-color rendering generated using the images acquired through filters admitting light wavelengths of 750, 530, and 480 nanometers.

    Lighting varied during the nine sols it took to acquire this panorama, resulting in some small image seams within the mosaic. These seams have been smoothed in sky parts of the mosaic to better simulate the vista that a person would see if able to view it all at the same time on Mars.

    Opportunity's tracks leading back to the north (center of the panorama) are a reminder of the rover's long trek from Endurance Crater. The deep ruts dug by Opportunity's wheels as it became stuck in the sand appear in the foreground. The crest and trough of the last ripple the rover crossed before getting stuck is visible in the center. These wind-formed sand features are only about 10 to 15 centimeters (4 to 6 inches) tall. The crest of the actual ripple where the rover got stuck can be seen just to the right of center. The tracks and a few other places on and near ripple crests can be seen in this color image to be dustier than the undisturbed or 'normal' plains soils in Meridiani. Since the time these ruts were made, some of the dust there has been blown away by the wind, reaffirming the dynamic nature of the martian environment, even in this barren, ocean-like desert of sand.

  17. Instructional authoring by direct manipulation of simulations: Exploratory applications of RAPIDS. RAPIDS 2 authoring manual

    NASA Technical Reports Server (NTRS)

    1990-01-01

    RAPIDS II is a simulation-based intelligent tutoring system environment. It is a system for producing computer-based training courses that are built on the foundation of graphical simulations. RAPIDS II simulations can be animated and they can have continuously updating elements.

  18. A graphics-card implementation of Monte-Carlo simulations for cosmic-ray transport

    NASA Astrophysics Data System (ADS)

    Tautz, R. C.

    2016-05-01

    A graphics card implementation of a test-particle simulation code is presented that is based on the CUDA extension of the C/C++ programming language. The original CPU version has been developed for the calculation of cosmic-ray diffusion coefficients in artificial Kolmogorov-type turbulence. In the new implementation, the magnetic turbulence generation, which is the most time-consuming part, is separated from the particle transport and is performed on a graphics card. In this article, the modification of the basic approach of integrating test particle trajectories to employ the SIMD (single instruction, multiple data) model is presented and verified. The efficiency of the new code is tested and several language-specific accelerating factors are discussed. For the example of isotropic magnetostatic turbulence, sample results are shown and a comparison to the results of the CPU implementation is performed.

  19. Graphics enhanced computer emulation for improved timing-race and fault tolerance control system analysis. [of Centaur liquid-fuel booster

    NASA Technical Reports Server (NTRS)

    Szatkowski, G. P.

    1983-01-01

    A computer simulation system has been developed for the Space Shuttle's advanced Centaur liquid fuel booster rocket, in order to conduct systems safety verification and flight operations training. This simulation utility is designed to analyze functional system behavior by integrating control avionics with mechanical and fluid elements, and is able to emulate any system operation, from simple relay logic to complex VLSI components, with wire-by-wire detail. A novel graphics data entry system offers a pseudo-wire wrap data base that can be easily updated. Visual subsystem operations can be selected and displayed in color on a six-monitor graphics processor. System timing and fault verification analyses are conducted by injecting component fault modes and min/max timing delays, and then observing system operation through a red line monitor.

  20. Stereoscopic 3D graphics generation

    NASA Astrophysics Data System (ADS)

    Li, Zhi; Liu, Jianping; Zan, Y.

    1997-05-01

    Stereoscopic display technology is one of the key techniques of areas such as simulation, multimedia, entertainment, virtual reality, and so on. Moreover, stereoscopic 3D graphics generation is an important part of stereoscopic 3D display system. In this paper, at first, we describe the principle of stereoscopic display and summarize some methods to generate stereoscopic 3D graphics. Secondly, to overcome the problems which came from the methods of user defined models (such as inconvenience, long modifying period and so on), we put forward the vector graphics files defined method. Thus we can design more directly; modify the model simply and easily; generate more conveniently; furthermore, we can make full use of graphics accelerator card and so on. Finally, we discuss the problem of how to speed up the generation.

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