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At least 235 records · Page 13

FINESSE Spaceward Bound - Teacher Engagement in NASA Science and Exploration Field Research

The FINESSE (Field Investigations to Enable Solar System Science and Exploration) team of NASA's Solar System Exploration Research Virtual Institute (SSERVI) is focused on a science and exploration field-based research program aimed at generating strategic knowledge in preparation for the human and robotic exploration of the Moon, Near Earth Asteroids, and the moons of Mars. The FINESSE science program is infused with leading edge exploration concepts since "science enables exploration and exploration enables science." The FINESSE education and public outreach program leverages the team's field investigations and educational partnerships to share the excitement of lunar, Near Earth Asteroid, and martian moon science and exploration locally, nationally, and internationally. The FINESSE education plan is in line with all of NASA's Science Mission Directorate science education objectives, particularly to enable STEM (science, technology, engineering, and mathematics) education and leverage efforts through partnerships.

Moon↗

Field and Lab Testing With Trident Drill to Help Prepare for Future Missions

Field work with instrumentation and technologies that are planned for flight missions is an important means to gain understanding that improves mission performance. This paper reports on results from field workin lunar analog volcanic terrain using an engineering model of the Honeybee Robotics TRIDENT (The Regolith and Ice Drill for Exploration of New Terrains)drill[1]. TRIDENT is a rotary percussive 1-meter class drill that is carried on the PRIME-1and VIPER (Volatiles Investigating Polar Exploration Rover)[2] missions to the moon scheduled to launch in 2024. A similar drilling system was planned for the proposed IcebreakerDiscovery class mission to Mars[3]and the Mars Life Explorer mission recommended by the 2020 Decadal Survey of planetary science[4].The field work objectives were (1) to use data collected by the drill for operational purposes as a probe of subsurface material properties in formations that are analogous to those that may be encountered on planetary surfaces; (2) to correlate subsurface structures deduced by drilling with those inferred from interpretations ofGround Penetrating Radar (GPR)data

C R Stoker↗

Automated construction of lightweight, simple, field-erected structures

The feasibility of automation of construction processes which could result in mobile construction robots is examined. The construction of a large photovoltaic power plant with a peak power output of 100 MW is demonstrated. The reasons to automate the construction process, a conventional construction scenario as the reference for evaluation, and a list of potential cost benefits using robots are presented. The technical feasibility of using robots to construct SPS ground stations is addressed.

Leonard, R. S.↗

Pre-Mission Input Requirements to Enable Successful Sample Collection by A Remote Field/EVA Team

The FINESSE (Field Investigations to Enable Solar System Science and Exploration) team, part of the Solar System Exploration Virtual Institute (SSERVI), is a field-based research program aimed at generating strategic knowledge in preparation for human and robotic exploration of the Moon, near-Earth asteroids, Phobos and Deimos, and beyond. In contract to other technology-driven NASA analog studies, The FINESSE WCIS activity is science-focused and, moreover, is sampling-focused with the explicit intent to return the best samples for geochronology studies in the laboratory. We used the FINESSE field excursion to the West Clearwater Lake Impact structure (WCIS) as an opportunity to test factors related to sampling decisions. We examined the in situ sample characterization and real-time decision-making process of the astronauts, with a guiding hypothesis that pre-mission training that included detailed background information on the analytical fate of a sample would better enable future astronauts to select samples that would best meet science requirements. We conducted three tests of this hypothesis over several days in the field. Our investigation was designed to document processes, tools and procedures for crew sampling of planetary targets. This was not meant to be a blind, controlled test of crew efficacy, but rather an effort to explicitly recognize the relevant variables that enter into sampling protocol and to be able to develop recommendations for crew and backroom training in future endeavors.

FINESSE↗

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include real-time, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identity other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

Real-time detection of moving objects from moving vehicles using dense stereo and optical flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time, dense stereo system to include realtime, dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify & other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6-DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop, computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

egomotion↗

Real-time Detection of Moving Objects from Moving Vehicles Using Dense Stereo and Optical Flow

Dynamic scene perception is very important for autonomous vehicles operating around other moving vehicles and humans. Most work on real-time object tracking from moving platforms has used sparse features or assumed flat scene structures. We have recently extended a real-time. dense stereo system to include realtime. dense optical flow, enabling more comprehensive dynamic scene analysis. We describe algorithms to robustly estimate 6-DOF robot egomotion in the presence of moving objects using dense flow and dense stereo. We then use dense stereo and egomotion estimates to identify other moving objects while the robot itself is moving. We present results showing accurate egomotion estimation and detection of moving people and vehicles under general 6DOF motion of the robot and independently moving objects. The system runs at 18.3 Hz on a 1.4 GHz Pentium M laptop. computing 160x120 disparity maps and optical flow fields, egomotion, and moving object segmentation. We believe this is a significant step toward general unconstrained dynamic scene analysis for mobile robots, as well as for improved position estimation where GPS is unavailable.

moving object detection↗

A multitasking behavioral control system for the Robotic All-Terrain Lunar Exploration Rover (RATLER)

An approach for a robotic control system which implements so called 'behavioral' control within a realtime multitasking architecture is proposed. The proposed system would attempt to ameliorate some of the problems noted by some researchers when implementing subsumptive or behavioral control systems, particularly with regard to multiple processor systems and realtime operations. The architecture is designed to allow synchronous operations between various behavior modules by taking advantage of a realtime multitasking system's intertask communications channels, and by implementing each behavior module and each interconnection node as a stand-alone task. The potential advantages of this approach over those previously described in the field are discussed. An implementation of the architecture is planned for a prototype Robotic All Terrain Lunar Exploration Rover (RATLER) currently under development and is briefly described.

Klarer, Paul↗

Experiments with an EVA Assistant Robot

Human missions to the Moon or Mars will likely be accompanied by many useful robots that will assist in all aspects of the mission, from construction to maintenance to surface exploration. Such robots might scout terrain, carry tools, take pictures, curate samples, or provide status information during a traverse. At NASA/JSC, the EVA Robotic Assistant (ERA) project has developed a robot testbed for exploring the issues of astronaut-robot interaction. Together with JSC's Advanced Spacesuit Lab, the ERA team has been developing robot capabilities and testing them with space-suited test subjects at planetary surface analog sites. In this paper, we describe the current state of the ERA testbed and two weeks of remote field tests in Arizona in September 2002. A number of teams with a broad range of interests participated in these experiments to explore different aspects of what must be done to develop a program for robotic assistance to surface EVA. Technologies explored in the field experiments included a fuel cell, new mobility platform and manipulator, novel software and communications infrastructure for multi-agent modeling and planning, a mobile science lab, an "InfoPak" for monitoring the spacesuit, and delayed satellite communication to a remote operations team. In this paper, we will describe this latest round of field tests in detail.

Burridge, Robert R.↗

Is a Linear or a Walkabout Protocol More Efficient When Using a Rover to Choose Biologically Relevant Samples in a Small Region of Interest?

We conducted a field test at a potential Mars analog site to provide insight into planning for future robotic missions such as Mars 2020, where science operations must facilitate efficient choice of biologically relevant sampling locations. We compared two data acquisition and decision-making protocols currently used by Mars Science Laboratory: (1) a linear approach, where sites are examined as they are encountered and (2) a walkabout approach, in which the field site is first examined with remote rover instruments to gain an understanding of regional context followed by deployment of time- and power-intensive contact and sampling instruments on a smaller subset of locations. The walkabout method was advantageous in terms of both the time required to execute and a greater confidence in results and interpretations, leading to enhanced ability to tailor follow-on observations to better address key science and sampling goals. This advantage is directly linked to the walkabout method's ability to provide broad geological context earlier in the science analysis process. For Mars 2020, and specifically for small regions to be explored (e.g., <1 sq. km), we recommend that the walkabout approach be considered where possible, to provide early context and time for the science team to develop a coherent suite of hypotheses and robust ways to test them.

R. Aileen Yingst↗

Development and Demonstration of Sustainable Surface Infrastructure for Moon/Mars Exploration

For long-term human exploration of the Moon and Mars to be practical, affordable, and sustainable, future missions must be able to identify and utilize resources at the site of exploration. The ability to characterize, extract, processes, and separate products from local material, known as In-Situ Resource Utilization (ISRU), can provide significant reductions in launch mass, logistics, and development costs while reducing risk through increased mission flexibility and protection as well as increased mission capabilities in the areas of power and transportation. Making mission critical consumables like propellants, fuel cell reagents and life support gases, as well as in-situ crew/hardware protection and energy storage capabilities can significantly enhance robotic and human science and exploration missions, however other mission systems need to be designed to interface with and utilize these in-situ developed products and services from the start or the benefits will be minimized or eliminated. This requires a level of surface and transportation system development coordination not typically utilized during early technology and system development activities. An approach being utilized by the US National Aeronautics and Space Administration and the Canadian Space Agency has been to utilize joint analogue field demonstrations to focus technology development activities to demonstrate and integrate new and potentially game changing. mission critical capabilities that would enable an affordable and sustainable surface infrastructure for lunar and Mars robotic and human exploration. Two analogue field tests performed in November 2008 and February 2010 demonstrated first generation capabilities for lunar resource prospecting, exploration site preparation, and oxygen extraction from regolith while initiating integration with mobility, science, fuel cell power, and propulsion disciplines. A third analogue field test currently planned for June 2012 will continue and expand the fidelity and integration of these surface exploration and infrastructure capabilities while adding Mars exploration technologies, improving remote operations and control of hardware, and promoting the use of common software, interfaces, & standards for control and operation for surface exploration and science. The next field test will also attempt to include greater involvement by industry, academia, and other countries/space agencies. This paper will provide an overview of the development and demonstration approach utilized to date, the results of the previous two ISRU-focused field analogue tests in Hawaii, and the current objectives and plans for the 3rd international Hawaii analogue field test.

Sanders, Gerald B.↗

GeoLab in NASA's Pressurized Excursion Module: First Results from the 2010 Field Trials

Before humans explore other planets, NASA must develop advanced techniques for collection, preservation and return of unique extraterrestrial samples. To help evaluate hardware requirements and operational concepts for future sample-return missions, we designed and built GeoLab our first generation lab for geological samples into NASA s Habitat Demonstration Unit in the Pressurized Excursion Module (HDU1-PEM). The center of GeoLab is a glovebox for the examination of samples in a shirt-sleeve environment. As part of a deployable habitat, GeoLab can participate in NASA s analog missions that simulate planetary exploration activities and support the testing of relevant technologies for collecting and handling geological samples. Over time, these tests will evaluate sample handling environments (field and lab), sampling tools and analytical instruments, and different scenarios involving both robotic and human procedures. The GeoLab design supports evolving tests and configurations. The glovebox is mounted on the habitat bulkhead, with three sample pass-though chambers that allow for direct sample transfer into the glovebox from the outside. The glovebox design and construction (low-particle shedding, minimally off-gassing materials) provides a clean environment to reduce sample contamination; in the future, we will integrate a positive pressure, enriched nitrogen atmosphere. The glovebox is equipped with configurable instrument ports. The 2010 test included a mass balance, a stereomicroscope with a HD camera for detailed imaging of samples, and a handheld XRF analyzer for preliminary geochemical characterization of samples. Network cameras provided context imagery and sample handling activities. We present early results from the initial field trial of GeoLab during the 2010 Desert Research and Technology Studies (D-RATS) planetary analog test near Flagstaff AZ. The 2010 D-RATS mission involved two rovers, the habitat with GeoLab, four crew members, and a team of scientists and flight controllers. The crewed rovers conducted geological traverses and collected samples on the planetary surface. Selected samples were transferred into GeoLab for detailed examination and initial analysis, providing critical data to the science team for evaluation and prioritization of samples.

Evans, Cynthia A.↗

Airborne lidar observations of smoke haze during SCAR-B 1995

The Smoke, Clouds, Aerosol, and Radiation Brazil(SCAR-B) field campaign was conducted to study the effects that widespread and persistent biomass burning have upon radiative and chemical processes in the atmosphere. The radiative transfer characteristics of the atmosphere are altered by the introduction of particulate and gaseous materials which are the products of the combustion of vegetative material at ground level. These substances are transported and distributed horizontally and vertically by atmospheric dynamical processes which may be perturbed by the heat energy from the fires. As the pollutants disperse, their physical and chemical properties change substantially. A complete description of the effects of smoke requires that the evolution back to the natural situation be fully examined. A most important component of smoke haze investigation is finding its vertical and horizontal distribution in relation to the driving factors of dynamics and the related horizontal transport. In this presentation, we employ data from the Cloud Lidar System(CLS), carried aboard the NASA ER-2 aircraft, to provide a unique view of the particulate or aerosol loading produced by fires, especially with regard to the geometrical distribution of the aerosols in the vertical plane. The lidar has the ability to measure aerosol optical properties in a continuous fashion at quite fine vertical and horizontal resolution. The results from the lidar provide measurements that are largely independent of influences that corrupt passive instruments and thus it can serve to corroborate their results. The extended horizontal and vertical range of lidar results can also augment ground based and airborne in situ measurements which have limited horizontal and vertical scope. We present the results of our analysis of CLS observations taken during the SCAR-B field campaign. Observations of the the aerosol optical thickness from the Aerosol Robotic Network(AERONET) of solar photometers are employed in conjunction with CLS data to derive extinction to backscatter ratio values which are used to convert the lidar backscatter coefficient into extinction coefficient. The extinction coefficient is integrated vertically to find aerosol optical thickness along ER-2 flight tracks. We use images of the CLS derived extinction coefficient to depict its horizontal and vertical distribution. Multispectral photometer optical thickness is used to compute the Angstrom exponent. With these, we examine the hypothesis that the values of extinction to backscatter ratio can be related to the Anstrom coefficient since both of these would be a function of the refractive index and size distribution of the aerosols.

Hart, William D.↗

The Synergistic Engineering Environment

The Synergistic Engineering Environment (SEE) is a system of software dedicated to aiding the understanding of space mission operations. The SEE can integrate disparate sets of data with analytical capabilities, geometric models of spacecraft, and a visualization environment, all contributing to the creation of an interactive simulation of spacecraft. Initially designed to satisfy needs pertaining to the International Space Station, the SEE has been broadened in scope to include spacecraft ranging from those in low orbit around the Earth to those on deep-space missions. The SEE includes analytical capabilities in rigid-body dynamics, kinematics, orbital mechanics, and payload operations. These capabilities enable a user to perform real-time interactive engineering analyses focusing on diverse aspects of operations, including flight attitudes and maneuvers, docking of visiting spacecraft, robotic operations, impingement of spacecraft-engine exhaust plumes, obscuration of instrumentation fields of view, communications, and alternative assembly configurations. .

Cruz, Jonathan↗

Optimal Routing and Control of Multiple Agents Moving in a Transportation Network and Subject to an Arrival Schedule and Separation Constraints

We address the problem of navigating a set of moving agents, e.g. automated guided vehicles, through a transportation network so as to bring each agent to its destination at a specified time. Each pair of agents is required to be separated by a minimal distance, generally agent-dependent, at all times. The speed range, initial position, required destination, and required time of arrival at destination for each agent are assumed provided. The movement of each agent is governed by a controlled differential equation (state equation). The problem consists in choosing for each agent a path and a control strategy so as to meet the constraints and reach the destination at the required time. This problem arises in various fields of transportation, including Air Traffic Management and train coordination, and in robotics. The main contribution of the paper is a model that allows to recast this problem as a decoupled collection of problems in classical optimal control and is easily generalized to the case when inertia cannot be neglected. Some qualitative insight into solution behavior is obtained using the Pontryagin Maximum Principle. Sample numerical solutions are computed using a numerical optimal control solver.

Sadovsky, A. V.↗

Stereo Vision-Based Obstacle Avoidance for Micro Air Vehicles Using an Egocylindrical Image Space Represntation

Micro air vehicles which operate autonomously at low altitude in cluttered environments require a method for on-board obstacle avoidance for safe operation. Prior approaches can be divided between purely reactive approaches, mapping low-level visual features directly to headings to maneuver the vehicle around the obstacle, and deliberative methods that use on-board 3-D sensors to create a 3-D, voxel-based world model, which is then used to generate collision free 3-D trajectories. In this paper, we use forward-looking stereo vision with a large horizontal and vertical field of view and project range from stereo into a novel robot-centered, cylindrical, inverse range map we call an egocylinder. With this implementation we reduce the complexity of our world representation from a 3D map to a 2.5D image space representation, which supports very efficient motion planning and collision-checking. Configuration space expansion is done very efficiently on the egocylinder as an image processing function. Deploying a fast reactive motion planner directly on the configuration space expanded egocylinder image, we demonstrate the effectiveness of this new approach experimentally in an indoor environment.

Micro air vehicles↗

Integration of In-Situ Resource Utilization Into Lunar/Mars Exploration Through Field Analogs

The NASA project to develop In-Situ Resource Utilization (ISRU) technologies, in partnership with commercial and international collaborators, has achieved full system demonstrations of oxygen production using native regolith simulants. These demonstrations included robotic extraction of material from the terrain, sealed encapsulation of material in a pressurized reactor; chemical extraction of oxygen from the material in the form of water, and the electrolysis of water into oxygen and hydrogen for storage and reuse. These successes have provided growing confidence in the prospects of ISRU oxygen production as a credible source for critical mission consumables in preparation for and during crewed missions to the moon and other destinations. Other ISRU processes, especially relevant to early lunar exploration scenarios, have also been shown to be practical, including the extraction of subsurface volatiles, especially water, and the thermal processing of surface materials for civil engineering uses and for thermal energy storage. This paper describes these recent achievements and current NASA ISRU development and demonstration activity. The ability to extract and process resources at the site of exploration into useful products such as propellants, life support and power system consumables; and radiation and rocket exhaust plume debris shielding, known as In-Situ Resource Utilization or ISRU, has the potential to significantly reduce the launch mass, risk, and cost of robotic and human exploration of space. The incorporation of ISRU into missions can also significantly influence technology selection and system development in other areas such as power, life support, and propulsion. For example. the ability to extract or produce large amounts of oxygen and/or water in-situ could minimize the need to completely close life support air and water processing system cycles, change thermal and radiation protection of habitats, and influence propellant selection for ascent vehicles and surface propulsive hoppers. While concepts and even laboratory work on evaluating and developing ISRU techniques such as oxygen extraction from lunar regolith have been going on since before the Apollo 11 Moon landing, no ISRU system has ever flown in space, and only recently have ISRU technologies been developed at a scale and at a system level that is relevant to actual robotic and human mission applications. Because ISRU hardware and systems have never been demonstrated or utilized before on robotic or human missions, architecture and mission planners and surface system hardware developers are hesitant to rely on ISRU products and services that are critical to mission and system implementation success. To build confidence in ISRU systems for future missions and assess how ISRU systems can best influence and integrate with other surface system elements, NASA, with international partners, are performing analog field tests to understand how to take advantage of ISRU capabilities and benefits with the minimum of risk associated with introducing this game-changing approach to exploration. This paper will describe and review the results of four analog field tests (Moses Lake in 6/08, Mauna Kea in 11/08. Flagstaff in 9/09; and Mauna Kea in 1/10) that have begun the process of integrating ISRU into robotic and human exploration systems and missions, and propose future ISRU-related analog field test activities that can be performed in collaboration with international space agencies.

Sanders, Gerald B.↗

A learning controller for nonrepetitive robotic operation

A practical learning control system is described which is applicable to complex robotic and telerobotic systems involving multiple feedback sensors and multiple command variables. In the controller, the learning algorithm is used to learn to reproduce the nonlinear relationship between the sensor outputs and the system command variables over particular regions of the system state space, rather than learning the actuator commands required to perform a specific task. The learned information is used to predict the command signals required to produce desired changes in the sensor outputs. The desired sensor output changes may result from automatic trajectory planning or may be derived from interactive input from a human operator. The learning controller requires no a priori knowledge of the relationships between the sensor outputs and the command variables. The algorithm is well suited for real time implementation, requiring only fixed point addition and logical operations. The results of learning experiments using a General Electric P-5 manipulator interfaced to a VAX-11/730 computer are presented. These experiments involved interactive operator control, via joysticks, of the position and orientation of an object in the field of view of a video camera mounted on the end of the robot arm.

Miller, W. T., III↗