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All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Manipulator control for rover planetary exploration

An anticipated goal of Mars surface exploration missions will be to survey and sample surface rock formations which appear scientifically interesting. In such a mission, a planetary rover would navigate close to a selected sampling site and the remote operator would use a manipulator mounted on the rover to perform a sampling operation. Techniques for accomplishing the necessary manipulation for the sampling components of such a mission have been developed and are presented. We discuss the implementation of a system for controlling a seven (7) degree of freedom Puma manipulator, equipped with a special rock gripper mounted on a planetary rover prototype, intended for the purpose of performing the sampling operation. Control is achieved by remote teleoperation. This paper discusses the real-time force control and supervisory control aspects of the rover manipulation system. Integration of the Puma manipulator with the existing distributed computer architecture is also discussed. The work described is a contribution toward achieving the coordinated manipulation and mobility necessary for a Mars sample acquisition and return scenario.

Cameron, Jonathan M.↗
NASA NTRS2011

Habitat Demonstration Unit Project Leadership and Management Strategies

This paper gives an overview of the National Aeronautics and Space Administration (NASA) led multi-center Habitat Demonstration Unit (HDU) project leadership and management strategies. The HDU project team constructed and tested an analog prototype lunar surface habitat/laboratory called the Pressurized Excursion Module (PEM) during 2010. The prototype unit subsystems were integrated in a short amount of time, utilizing a tiger team approach that brought together over 20 habitation-related technologies and innovations from a variety of NASA centers. This paper describes the leadership and management strategies as well as lessons learned pertaining to leading and managing a multi-center diverse team in a rapid prototype environment. The PEM configuration went from a paper design to an operational surface habitat demonstration unit in less than 12 months. The HDU project is part of the strategic plan from the Exploration Systems Mission Directorate (ESMD) Directorate Integration Office (DIO) and the Exploration Mission Systems Office (EMSO) to test destination elements in analog environments. The 2011 HDU-Deep Space Habitat (DSH) configuration will build upon the PEM work, and emphasize validity of crew operations (remote working and living), EVA operations, mission operations, logistics operations, and science operations that might be required in a deep space context for Near Earth Object (NEO) exploration mission architectures. The 2011 HDU-DSH will be field-tested during the 2011 Desert Research and Technologies Studies (DRaTS) field tests. The HDU project is a "technology-pull" project that integrates technologies and innovations from multiple NASA centers. This project will repurpose the HDU 2010 demo unit that was field tested in the 2010 DRaTS, adding habitation functionality to the prototype unit. This paper will describe the strategy of establishing a multi-center project management team that put in place the key multi-center leadership skills and disciplines to enable a successful tiger team approach. Advocacy was established with key stakeholders and NASA Headquarters (HQ) by defining a strategic vision, mission, goals and objectives for the project and team. As a technology-pull testbed capability the HDU project was able to collaborate and leverage the Exploration Technology Development Program (ETDP) and individual NASA center investments which capitalized on their respective center core competencies and skills. This approach enable the leveraging of over $7.5m of value to create an operational habitat demonstration unit 2010 PEM configuration.

Kennedy, Kriss J.↗
NASA NTRS2011

Habitat Demonstration Unit Project: Leadership and Management Strategies for a Rapid Prototyping Project

This paper gives an overview of the National Aeronautics and Space Administration (NASA) led multi-center Habitat Demonstration Unit (HDU) project leadership and management strategies being used by the NASA HDU team for a rapid prototyping project. The HDU project team constructed and tested an analog prototype lunar surface habitat/laboratory called the Pressurized Excursion Module (PEM) during 2010. The prototype unit subsystems were integrated in a short amount of time, utilizing a tiger team rapid prototyping approach that brought together over 20 habitation-related technologies and innovations from a variety of NASA centers. This paper describes the leadership and management strategies as well as lessons learned pertaining to leading and managing a multi-center diverse team in a rapid prototype environment. The PEM configuration went from a paper design to an operational surface habitat demonstration unit in less than 12 months. The HDU project is part of the strategic plan from the Exploration Systems Mission Directorate (ESMD) Directorate Integration Office (DIO) and the Exploration Mission Systems Office (EMSO) to test destination elements in analog environments. The 2011 HDU-Deep Space Habitat (DSH) configuration will build upon the PEM work, and emphasize validity of crew operations (remote working and living), EVA operations, mission operations, logistics operations, and science operations that might be required in a deep space context for Near Earth Object (NEO) exploration mission architectures. The 2011 HDU-DSH will be field-tested during the 2011 Desert Research and Technologies Studies (DRaTS) field tests. The HDU project is a "technology-pull" project that integrates technologies and innovations from multiple NASA centers. This project will repurpose the HDU 2010 demo unit that was field tested in the 2010 DRaTS, adding habitation functionality to the prototype unit. This paper will describe the strategy of establishing a multi-center project management team that put in place the key multi-center leadership skills and disciplines to enable a successful tiger team approach. Advocacy was established with key stakeholders and NASA Headquarters (HQ) by defining a strategic vision, mission, goals and objectives for the project and team. As a technology-pull testbed capability the HDU project was able to collaborate and leverage the Exploration Technology Development Program (ETDP) and individual NASA center investments which capitalized on their respective center core competencies and skills. This approach enable the leveraging of over $7.5m of value to create an operational habitat demonstration unit 2010 PEM configuration.

Kennedy, Kriss J.↗
NASA NTRS2014

Comprehension of Spacecraft Telemetry Using Hierarchical Specifications of Behavior

A key challenge in operating remote spacecraft is that ground operators must rely on the limited visibility available through spacecraft telemetry in order to assess spacecraft health and operational status. We describe a tool for processing spacecraft telemetry that allows ground operators to impose structure on received telemetry in order to achieve a better comprehension of system state. A key element of our approach is the design of a domain-specific language that allows operators to express models of expected system behavior using partial specifications. The language allows behavior specifications with data fields, similar to other recent runtime verification systems. What is notable about our approach is the ability to develop hierarchical specifications of behavior. The language is implemented as an internal DSL in the Scala programming language that synthesizes rules from patterns of specification behavior. The rules are automatically applied to received telemetry and the inferred behaviors are available to ground operators using a visualization interface that makes it easier to understand and track spacecraft state. We describe initial results from applying our tool to telemetry received from the Curiosity rover currently roving the surface of Mars, where the visualizations are being used to trend subsystem behaviors, in order to identify potential problems before they happen. However, the technology is completely general and can be applied to any system that generates telemetry such as event logs.

Runtime monitoring↗
NASA NTRS2020

Gateway Lunar Habitat Modules as the Basis for a Modular Mars Transit Habitat

This paper provides a summary of the results from a recent concept study of various configurations for a Mars Transit Habitat. The designs considered are composed of modules based on published contractor concepts proposed for the lunar Gateway through NASA’s NextSTEP program. Using these Gateway concepts as a starting point for the design of a Mars Transit Habitat has potential advantages. Both Gateway and Mars Transit Habitats will have similar requirements for long-term operations in deep space, autonomous and remote operations when the crew is not onboard, and similar requirements for transferring crew to and from a planetary surface—the Moon and Mars respectively. The contractor designs for Gateway were traded against a monolithic transit habitat previously proposed by NASA’s Mars Integration Group. In addition, these concepts were considered for a “shakedown” mission for the transit habitat hardware in cislunar space to build confidence in new systems, including the advanced environmental control and life support systems needed for Mars missions. The results presented include overall vehicle configurations, mass, and volume estimates for the selected design concepts. Two concepts using large expandable modules are identified as leading candidates for a Mars Transit Habitat and the remaining elements are identified as representative of the habitable pressure vessels needed for safe haven configurations, logistics modules, surface habitats, rovers, and descent and ascent crew cabins in the overall Mars Architecture.

Smitherman, David↗
NASA NTRS2006

Targeting and Localization for Mars Rover Operations

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.

remote rover operations↗
NASA NTRS1992

The changing nature of spacecraft operations: From the Vikings of the 1970's to the great observatories of the 1990's and beyond

Four trends in spacecraft flight operations are discussed which will reduce overall program costs. These trends are the use of high-speed, highly reliable data communications systems for distributing operations functions to more convenient and cost-effective sites; the improved capability for remote operation of sensors; a continued rapid increase in memory and processing speed of flight qualified computer chips; and increasingly capable ground-based hardware and software systems, notably those augmented by artificial intelligence functions. Changes reflected by these trends are reviewed starting from the NASA Viking missions of the early 70s, when mission control was conducted at one location using expensive and cumbersome mainframe computers and communications equipment. In the 1980s, powerful desktop computers and modems enabled the Magellan project team to operate the spacecraft remotely. In the 1990s, the Hubble Space Telescope project uses multiple color screens and automated sequencing software on small computers. Given a projection of current capabilities, future control centers will be even more cost-effective.

Ledbetter, Kenneth W.↗
NASA NTRS1991

A space servicing telerobotics technology demonstration

Supervised telerobotic controls provide the key to successful remote servicing, as demonstrated in the telerobot testbed of the jet propulsion laboratory. Such advanced techniques and systems are specially applicable to ground-remote operations for servicing tasks, which are to be performed remotely in space and to be operated under human supervision from the ground. Laboratory demonstrations have successfully proven the utility of such techniques and systems. Instrumental to the success of supervised robotic operations are the techniques called object designate and relative target. In addition, a technique called universal camera calibration was also applied in the telerobot testbed. Generalized compliant control techniques were used in the robotic removal and insertion operations. These techniques were proven successful in task situations where preprogrammed automation cannot be adequately exercised due to errors, changes, or omission in the worksite data base.

Kan, Edwin P.↗
NASA NTRS2017

Interactive Exploration Robots: Human-Robotic Collaboration and Interactions

For decades, NASA has employed different operational approaches for human and robotic missions. Human spaceflight missions to the Moon and in low Earth orbit have relied upon near-continuous communication with minimal time delays. During these missions, astronauts and mission control communicate interactively to perform tasks and resolve problems in real-time. In contrast, deep-space robotic missions are designed for operations in the presence of significant communication delay - from tens of minutes to hours. Consequently, robotic missions typically employ meticulously scripted and validated command sequences that are intermittently uplinked to the robot for independent execution over long periods. Over the next few years, however, we will see increasing use of robots that blend these two operational approaches. These interactive exploration robots will be remotely operated by humans on Earth or from a spacecraft. These robots will be used to support astronauts on the International Space Station (ISS), to conduct new missions to the Moon, and potentially to enable remote exploration of planetary surfaces in real-time. In this talk, I will discuss the technical challenges associated with building and operating robots in this manner, along with lessons learned from research conducted with the ISS and in the field.

Fong, Terry↗
NASA NTRS1977

Robots and Manipulator Systems. Part 2

This book represents a conference on robots and manipulator systems. Topics discussed include: mathematical modeling systems integrators, the use of TV monitors for remote operation of machinery on earth and in space, an evaluation of various control modes, remotely piloted aircraft, undersea operations, and prosthetic devices for the physically handicapped.

Heer, E.↗
NASA NTRS2024

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Crew time in space is precious – every hour could yield immense scientific discoveries and exploration milestones. However, overhead tasks such as logistics, maintenance, and assembly take a large portion of crew time. Remotely operated robotics capabilities offer a way to free the crew from many overhead tasks, but operating mobile dexterous robots in human-centered environments presents many unknowns and challenges for potential technology providers, limiting adoption for flight missions. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation to space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular (IVA) environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of integrated technologies for missions requiring remote space robotics operations.

iMETRO↗
NASA NTRSDate not supplied

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Exploration crew time in space is precious – every hour could yield immense scientific discovery. However, overhead tasks such as logistics, maintenance, and assembly greatly limit crew time available for science and exploration. Robotic remote operations capabilities offer a solution, but operating mobile dexterous robots in human centered environments presents many unknowns and challenges, therefore testing is needed. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation for space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular task environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of remote space robot operations systems with Earth supervision.

Robotics↗
NASA NTRS1990

Imaging IR spectrometer, phase 2

The development is examined of a prototype multi-channel infrared imaging spectrometer. The design, construction and preliminary performance is described. This instrument is intended for use with JPL Table Mountain telescope as well as the 88 inch UH telescope on Mauna Kea. The instrument is capable of sampling simultaneously the spectral region of 0.9 to 2.6 um at an average spectral resolution of 1 percent using a cooled (77 K) optical bench, a concave holographic grating and a special order sorting filter to allow the acquisition of the full spectral range on a 128 x 128 HgCdTe infrared detector array. The field of view of the spectrometer is 0.5 arcsec/pixel in mapping mode and designed to be 5 arcsec/pixel in spot mode. The innovative optical design has resulted in a small, transportable spectrometer, capable of remote operation. Commercial applications of this spectrometer design include remote sensing from both space and aircraft platforms as well as groundbased astronomical observations.

Gradie, Jonathan↗
NASA NTRS1997

Imaging Fluorescent Combustion Species in Gas Turbine Flame Tubes: On Complexities in Real Systems

Planar laser-induced fluorescence (PLIF) is used to visualize the flame structure via OH, NO, and fuel imaging in kerosene- burning gas turbine combustor flame tubes. When compared to simple gaseous hydrocarbon flames and hydrogen flames, flame tube testing complexities include spectral interferences from large fuel fragments, unknown turbulence interactions, high pressure operation, and the concomitant need for windows and remote operation. Complications of these and other factors as they apply to image analysis are considered. Because both OH and gas turbine engine fuels (commercial and military) can be excited and detected using OH transition lines, a narrowband and a broadband detection scheme are compared and the benefits and drawbacks of each method are examined.

Hicks, Y. R.↗
NASA NTRS2016

Marshall Space Flight Center Ground Systems Development and Integration

Ground Systems Development and Integration performs a variety of tasks in support of the Mission Operations Laboratory (MOL) and other Center and Agency projects. These tasks include various systems engineering processes such as performing system requirements development, system architecture design, integration, verification and validation, software development, and sustaining engineering of mission operations systems that has evolved the Huntsville Operations Support Center (HOSC) into a leader in remote operations for current and future NASA space projects. The group is also responsible for developing and managing telemetry and command configuration and calibration databases. Personnel are responsible for maintaining and enhancing their disciplinary skills in the areas of project management, software engineering, software development, software process improvement, telecommunications, networking, and systems management. Domain expertise in the ground systems area is also maintained and includes detailed proficiency in the areas of real-time telemetry systems, command systems, voice, video, data networks, and mission planning systems.

Wade, Gina↗
NASA NTRS2018

Next-Generation Sensing Technologies for Exploring Ocean Worlds

Dr. Ved Chirayath's plenary presentation will highlight two instrument technologies he invented at NASA including Fluid Lensing, the first remote sensing technology capable of imaging through ocean waves in 3D at sub-cm resolutions, and MiDAR (Multispectral Imaging, Detection and Active Reflectance), a next-generation active hyperspectral remote sensing and optical communications instrument. Fluid Lensing has been used to provide the first 3D multispectral imagery of shallow marine systems from unmanned aerial vehicles (UAVs, or drones), including coral reefs in American Samoa and stromatolite reefs in Hamelin Pool, Western Australia. MiDAR is being deployed on aircraft, and underwater remotely operated vehicles (ROVs) as a new method to remotely sense living and nonliving structures in extreme environments. MiDAR images targets with high-intensity narrowband structured optical radiation to measure an object's non-linear spectral reflectance, image through fluid interfaces such as ocean waves with active fluid lensing, and simultaneously transmit high-bandwidth data. As an active instrument, MiDAR is capable of remotely sensing reflectance at the centimeter (cm) spatial scale with a signal-to-noise ratio (SNR) multiple orders of magnitude higher than passive airborne and spaceborne remote sensing systems with significantly reduced integration time. This allows for rapid video-frame-rate hyperspectral sensing into the far ultraviolet and VNIR wavelengths. Finally, Chirayath will present preliminary results from NASA NeMO-Net (Neural Multi-Modal Observation and Training Network), the first neural network for global coral reef classification using fluid lensing and MiDAR.

Technologies↗
NASA NTRS2020

NASA Next-Generation Sensing Technologies for Earth & Planetary Science

Dr. Ved Chirayath's seminar will highlight new sensing technologies and airborne platforms he is developing for Earth & Space Science as director of the NASA Silicon Valley Laboratory for Advanced Sensing. His talk will feature recent work on Fluid Lensing, the first remote sensing technology capable of imaging through ocean waves in 3D at sub-cm resolutions, MiDAR, a next-generation active hyperspectral remote sensing and optical communications instrument, airborne gas sensing of multipollutant combustion sources, and a plasma actuated unmanned aerial vehicle (UAV) that utilized high-voltage dielectric discharge devices to achieve the first plasma controlled flight in history.Fluid Lensing and the NASA FluidCam instrument have been used extensively to provide distortion-free 3D multispectral imagery from UAVs of shallow marine systems around the world. MiDAR is being deployed on aircraft and underwater remotely operated vehicles (ROVs) as a new method to remotely sense living and nonliving structures in extreme environments as an analog for future Ocean Worlds robotic exploration missions. Finally, Chirayath will present preliminary results from NeMO-Net, a supercomputer-based neural network that uses a citizen science video game for global multimodal coral reef benthic habitat mapping, fusing remote sensing data from Fluid Lensing, MiDAR, NASA's Earth Observing System, and commercial satellites, to better understand the present and past dynamics of shallow marine systems. Together, these maturing technologies present promising new ways in which to explore terrestrial, marine, and aerial systems on Earth, and, ultimately, aid in the search for extraterrestrial life within our solar system and beyond.

Chirayath, Ved↗
NASA NTRS1972

On multidisciplinary research on the application of remote sensing to water resources problems

This research is directed toward development of a practical, operational remote sensing water quality monitoring system. To accomplish this, five fundamental aspects of the problem have been under investigation during the past three years. These are: (1) development of practical and economical methods of obtaining, handling and analyzing remote sensing data; (2) determination of the correlation between remote sensed imagery and actual water quality parameters; (3) determination of the optimum technique for monitoring specific water pollution parameters and for evaluating the reliability with which this can be accomplished; (4) determination of the extent of masking due to depth of penetration, bottom effects, film development effects, and angle falloff, and development of techniques to eliminate or minimize them; and (5) development of operational procedures which might be employed by a municipal, state or federal agency for the application of remote sensing to water quality monitoring, including space-generated data.

Source record↗