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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 289 records · Page 16
All sourcesNASA NTRSDOE OSTI
NASA NTRS2000

Comet and Asteroid Missions in NASA's New Millennium Program

NASA's New Millennium Program (NMP) is designed to develop, test, and flight validate new, advanced technologies for planetary and Earth exploration missions, using a series of low cost spacecraft. Two of NMP's current missions include encounters with comets and asteroids. The Deep Space 1 mission was launched on October 24, 1998 and will fly by asteroid 1992 KD on July 29, 1999, and possibly Comet Wilson-Harrington and/or Comet Borrelly in 2001. The Space Technology 4/Champollion mission will be launched in April, 2003 and will rendezvous with, orbit and land on periodic Comet Tempel 1 in 2006. ST-4/Champollion is a joint project with CNES, the French space agency. The DS-1 mission is going well since launch and has already validated several major technologies, including solar electric propulsion (SEP), solar concentrator arrays, a small deep space transponder, and autonomous navigation. The spacecraft carries two scientific instruments: MICAS, a combined visible camera and UV and IR spectrometers, and PEPE, an ion and electron spectrometer. Testing of the science instruments is ongoing. Following the asteroid encounter in July, 1999, DS-1 will go on to encounters with one or both comets if NASA approves funding for an extended mission. The ST-4/Champollion mission will use an advanced, multi-engine SEP system to effect a rendezvous with Comet P/Tempel 1 in February, 2006, after a flight time of 2.8 years. After orbiting the comet for several months in order to map its surface and determine its gravity field, ST-4/Chainpollion will descend to the comet's surface and will anchor itself with a 3-meter long harpoon. Scientific experiments include narrow and wide angle cameras for orbital mapping, panoramic and near-field cameras for landing site mapping, a gas chromatograph/mass spectrometer, a combined microscope and infrared spectrometer, and physical properties probes. Cometary samples will be obtained from depths up to 1.4 meters. The spacecraft is solar powered with rechargeable batteries, thus allowing a long duration mission on the nucleus surface. At the time of this writing, the ST-4/Champollion spacecraft was undergoing a major redesign to fit within NASA cost constraints, and approval of the mission is pending.

Weissman, Paul R.↗
NASA NTRS1997

A Long Range Science Rover For Future Mars Missions

This paper describes the design and implementation currently underway at the Jet Propulsion Laboratory of a long range science rover for future missions to Mars. The small rover prototype, called Rocky 7, is capable of long traverse. autonomous navigation. and science instrument control, carries three science instruments, and can be commanded from any computer platform and any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments. and the ground command and control system.

Hayati, Samad↗
NASA NTRS2001

Geophysical Exploration of Asteroids: The Deep Interior Mission Concept

We describe a possible international multiple-rendezvous mission to probe the interiors representative near-Earth objects. Features include SEP, autonomous navigation, stereo imaging, radio tomography, anchored seismology stations and explosive signal sources. Additional information is contained in the original extended abstract.

Asphaug, E.↗
NASA NTRS2002

Software Construction and Analysis Tools for Future Space Missions

NASA and its international partners will increasingly depend on software-based systems to implement advanced functions for future space missions, such as Martian rovers that autonomously navigate long distances exploring geographic features formed by surface water early in the planet's history. The software-based functions for these missions will need to be robust and highly reliable, raising significant challenges in the context of recent Mars mission failures attributed to software faults. After reviewing these challenges, this paper describes tools that have been developed at NASA Ames that could contribute to meeting these challenges; 1) Program synthesis tools based on automated inference that generate documentation for manual review and annotations for automated certification. 2) Model-checking tools for concurrent object-oriented software that achieve memorability through synergy with program abstraction and static analysis tools.

Lowry, Michael R.↗
NASA NTRS2003

A Robot to Help Make the Rounds

This paper presents a discussion on the Pyxis HelpMate SecurePak (SP) trackless robotic courier designed by Transitions Research Corporation, to navigate autonomously throughout medical facilities, transporting pharmaceuticals, laboratory specimens, equipment, supplies, meals, medical records, and radiology films between support departments and nursing floors.

Source record↗
NASA NTRS2004

Model-based Executive Control through Reactive Planning for Autonomous Rovers

This paper reports on the design and implementation of a real-time executive for a mobile rover that uses a model-based, declarative approach. The control system is based on the Intelligent Distributed Execution Architecture (IDEA), an approach to planning and execution that provides a unified representational and computational framework for an autonomous agent. The basic hypothesis of IDEA is that a large control system can be structured as a collection of interacting agents, each with the same fundamental structure. We show that planning and real-time response are compatible if the executive minimizes the size of the planning problem. We detail the implementation of this approach on an exploration rover (Gromit an RWI ATRV Junior at NASA Ames) presenting different IDEA controllers of the same domain and comparing them with more classical approaches. We demonstrate that the approach is scalable to complex coordination of functional modules needed for autonomous navigation and exploration.

Finzi, Alberto↗
NASA NTRS2005

Life in the Atacama - Year 2: Geologic Reconnaissance Through Long-Range Roving and Implications on the Search for Life

The "Life in the Atacama" (LITA) project included two field trials during the 2004 field season, each of which lasted about a week. The remote science team had no prior knowledge of the local geology, and relied entirely on orbital images and rover-acquired data to make interpretations. The sites for these trials were in different locations, and are designated "Site B" and "Site C" respectively. The primary objective of the experiment is to develop and test the means to locate, characterize, and identify habitats and life remotely through long-range roving, which included field testing the rover, named Zoe. Zoe has onboard autonomous navigation for long-range roving, a plow to overturn rocks and expose near-surface rock materials, and high-resolution imaging, spectral, and fluorescence sampling capabilities. Highlights from the experiment included characterizing the geology in and near the landing ellipse, assessing pre-mission, satellite-based hypotheses, and improving the approach and procedures used by the remote and field teams for upcoming experiments through combined satellite, field-based, and microscopic perspectives and long-range roving.

Dohm, J. M.↗
NASA NTRS2005

Flight Dynamics Analysis Branch End of Fiscal Year 2004 Report

This report summarizes the major activities and accomplishments carried out by the Flight Dynamics Analysis Branch (FDAB), Code 595, in support of flight projects and technology development initiatives in Fiscal Year (FY) 2004. The report is intended to serve as a summary of the type of support carried out by the FDAB, as well as a concise reference of key accomplishments and mission experience derived from the various mission support roles. The primary focus of the FDAB is to provide expertise in the disciplines of flight dynamics including spacecraft navigation (autonomous and ground based); spacecraft trajectory design and maneuver planning; attitude analysis; attitude determination and sensor calibration; and attitude control subsystem (ACS) analysis and design. The FDAB currently provides support for missions and technology development projects involving NASA, other government agencies, academia, and private industry.

DeLion, Anne↗
NASA NTRS2005

Enabling Interoperable Space Robots With the Joint Technical Architecture for Robotic Systems (JTARS)

Robots that operate independently of one another will not be adequate to accomplish the future exploration tasks of long-distance autonomous navigation, habitat construction, resource discovery, and material handling. Such activities will require that systems widely share information, plan and divide complex tasks, share common resources, and physically cooperate to manipulate objects. Recognizing the need for interoperable robots to accomplish the new exploration initiative, NASA s Office of Exploration Systems Research & Technology recently funded the development of the Joint Technical Architecture for Robotic Systems (JTARS). JTARS charter is to identify the interface standards necessary to achieve interoperability among space robots. A JTARS working group (JTARS-WG) has been established comprising recognized leaders in the field of space robotics including representatives from seven NASA centers along with academia and private industry. The working group s early accomplishments include addressing key issues required for interoperability, defining which systems are within the project s scope, and framing the JTARS manuals around classes of robotic systems.

Bradley, Arthur↗
NASA NTRS2002

Navigation of the Deep Space 1 spacecraft at Borrelly

The navigation challenges posed by Deep Space 1's flyby of comet Borrelly were considerable due to the uncertainty in the knowledge of the comet's ephemeris, as well as difficulty in determining the spacecraft's ephemeris caused by relatively large non-gravitational forces acting on the comet. The challenges were met by using a combination of radio, optical, and interferometric data types to obtain a final fly by accuracy of less than 10 km.

comet encounter navigation autonomous navigation n↗
NASA NTRS2001

The Mars exploration rover: an in situ science mission to Mars

In this paper the concept for a mobile vehicle system which performs an in situ science mission to Mars is described. This rover mission with its requirements for driving, positioning at science selected targets, and remote and in situ measurement will utilize the technologies for hazard avoidance and autonomous navigation supported by ground operation tools which use rover-based imagery for position estimation and motion planning.

Mars rover athena instruments hazard detection haz↗
NASA NTRS2006

End-to-end information system concept for the Mars Telecommunications Orbiter

The Mars Telecommunications Orbiter (MTO) was intended to provide high-performance deep space relay links to landers, orbiters, sample-return, missions, and approaching spacecraft in the vicinity of Mars, to demonstrate interplanetary laser communications, to demonstrate autonomous navigation, and to carry out is own science investigations.

EEIS↗
NASA NTRS2006

End-to-end information system concept for the Mars Telecommunications Orbiter

The Mars Telecommunications Orbiter (MTO) was intended to provide high-performance deep space relay links to landers, orbiters, sample-return missions, and approaching spacecraft in the vicinity of Mars, to demostrate interplanetary laser communications, to demonstrate autonomous navigation, and to carry out its own science investigations.

MTO↗
NASA NTRS2006

Flight Dynamics Analysis Branch End of Fiscal Year 2005 Report

This report summarizes the major activities and accomplishments carried out by the Flight Dynamics Analysis Branch (FDAB), Code 595, in support of flight projects and technology development initiatives in Fiscal Year (FY) 2005. The report is intended to serve as a summary of the type of support carried out by the FDAB, as well as a concise reference of key accomplishments and mission experience derived from the various mission support roles. The primary focus of the FDAB is to provide expertise in the disciplines of flight dynamics including spacecraft navigation (autonomous and ground based), spacecraft trajectory design and maneuver planning, attitude analysis, attitude determination and sensor calibration, and attitude control subsystem (ACS) analysis and design. The FDAB currently provides support for missions and technology development projects involving NASA, other government agencies, academia, and private industry.

Source record↗
NASA NTRS2008

Visual Target Tracking on the Mars Exploration Rovers

Visual Target Tracking (VTT) has been implemented in the new Mars Exploration Rover (MER) Flight Software (FSW) R9.2 release, which is now running on both Spirit and Opportunity rovers. Applying the normalized cross-correlation (NCC) algorithm with template image magnification and roll compensation on MER Navcam images, VTT tracks the target and enables the rover to approach the target within a few cm over a 10 m traverse. Each VTT update takes 1/2 to 1 minute on the rovers, 2-3 times faster than one Visual Odometry (Visodom) update. VTT is a key element to achieve a target approach and instrument placement over a 10-m run in a single sol in contrast to the original baseline of 3 sols. VTT has been integrated into the MER FSW so that it can operate with any combination of blind driving, Autonomous Navigation (Autonav) with hazard avoidance, and Visodom. VTT can either guide the rover towards the target or simply image the target as the rover drives by. Three recent VTT operational checkouts on Opportunity were all successful, tracking the selected target reliably within a few pixels.

target approach↗
NASA NTRS2009

Self-Supervised Learning of Terrain Traversability from Proprioceptive Sensors

Robust and reliable autonomous navigation in unstructured, off-road terrain is a critical element in making unmanned ground vehicles a reality. Existing approaches tend to rely on evaluating the traversability of terrain based on fixed parameters obtained via testing in specific environments. This results in a system that handles the terrain well that it trained in, but is unable to process terrain outside its test parameters. An adaptive system does not take the place of training, but supplements it. Whereas training imprints certain environments, an adaptive system would imprint terrain elements and the interactions amongst them, and allow the vehicle to build a map of local elements using proprioceptive sensors. Such sensors can include velocity, wheel slippage, bumper hits, and accelerometers. Data obtained by the sensors can be compared to observations from ranging sensors such as cameras and LADAR (laser detection and ranging) in order to adapt to any kind of terrain. In this way, it could sample its surroundings not only to create a map of clear space, but also of what kind of space it is and its composition. By having a set of building blocks consisting of terrain features, a vehicle can adapt to terrain that it has never seen before, and thus be robust to a changing environment. New observations could be added to its library, enabling it to infer terrain types that it wasn't trained on. This would be very useful in alien environments, where many of the physical features are known, but some are not. For example, a seemingly flat, hard plain could actually be soft sand, and the vehicle would sense the sand and avoid it automatically.

Bajracharya, Max↗
NASA NTRS2010

Progress in Development of the Axel Rovers

Progress has been made in the development of a family of robotic land vehicles having modular and minimalist design features chosen to impart a combination of robustness, reliability, and versatility. These vehicles at earlier stages of development were described in two previous NASA Tech Briefs articles: "Reconfigurable Exploratory Robotic Vehicles" (NPO-20944), Vol. 25, No. 7 (July 2001), page 56; and "More About Reconfigurable Exploratory Robotic Vehicles" (NPO-30890), Vol. 33, No. 8 (August 2009), page 40. Conceived for use in exploration of the surfaces of Mars and other remote planets, these vehicles could also be adapted to terrestrial applications, including exploration of volcanic craters or other hostile terrain, military reconnaissance, inspection of hazardous sites, and searching for victims of earthquakes, landslides, avalanches, or mining accidents. In addition, simplified versions of these vehicles might be marketable as toys. The most basic module in this family of reconfigurable robots is the Axel rover, which has a cylindrical body with two main wheels and a trailing link. Inside its body are three motors and associated mechanisms for driving the two wheels and for rotating the link 360 around its symmetrical body. The actuated link serves several purposes: It is used as a lever arm to react to the wheels thrust to move Axel in multiple directions. It is used to rotate the Axel housing in order to tilt, to the desired angle, any sensors and instruments mounted on or in the Axel housing. It provides an alternative mobility mode, which is primarily used in its tethered configuration. Turn ing the link into the ground in lieu of driving the wheels causes the Axel housing and wheels to roll as a unit and thereby leads to a tumbling motion along the ground. With a tether mounted around Axel s cylindrical body, the link serves as a winch mechanism to reel and unreel the tether raising and lowering Axel over steep and vertical surfaces (Figure 1). Sensors, computation, and communication modules are also housed inside Axel s body. A pair of stereo vision cameras provides three-dimensional view for autonomous navigation and avoiding obstacles. Inertial sensors determine the tilt of the robot and are used for estimating its motion. In a fully developed version, power would be supplied by rechargeable batteries aboard Axel; at the time of reporting the information for this article, power was supplied from an external source via a cable. In and of itself, the Axel rover is fully capable of traversing and sampling terrains on planetary surfaces. By use of only the two main wheel actuators and the caster link actuator, Axel can be made to follow an arbitrary path, turn in place, and operate upside- down or right-side-up. If operated in a tethered configuration, as shown in Figure 1, it can be made to move down and up a steep crater wall, descend from an overhang to a cave, and ascend from the cave back to the overhang, all by use of the same three actuators. Such tethered operation could be useful in searching for accident victims or missing persons in mines, caves, and rubble piles. Running the tether through the caster link enhances the stability of Axel and provides a restoring force that keeps the link off the ground for the most part during operation on a steep slope. In its extended configuration, two Axel modules can dock to either side of a payload module to form the four wheeled Axel2 rover (Figure 2). Additional payload and Axel modules can dock to either side of the Axel2 to form the Axel3 rover, extending its payload capacity and its mobility capabilities.

Nesnas, Issa A.↗