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NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematic Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as open CV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: 1. Busy and visually cluttered background 2. Low-textured tracking object with relatively small motions 3. Occlusions and motion by human subject and loose, floating objects 4. Limited number of video cameras with no fixed global references 5. Limited ability to add tags, markers, or visual references to the tracking object 6. Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L Nilsson↗

NASA NTRSDate not supplied

Developing Methods for Exercise System Kinematics Tracking

BACKGROUND How to quantify the load and forces produced by exercise equipment and their Vibration Isolation and Stabilization (VIS) platforms in-flight is an active area of investigation. Kinematic tracking paired with system modeling can provide insights as well as verification and validation of simulations used for system design and development. Traditional motion capture methods can require significant cost in equipment procurement and crew-time, but newer lessons learned can be leveraged [1]. The VIS systems of current and future exercise hardware on the International Space Station (ISS) such as the Cycle Ergometer with Vibration Isolation System (CEVIS) and the European Enhanced Exploration Exercise Device (E4D) are not currently outfitted with IMUs or similar measurement devices. Video-based methods would enable use of multi-purpose, crew-familiar flight equipment. An initial exploration of video-based solutions was performed utilizing 2-camera video from crew cycling on Teal-CEVIS on the ISS. METHODS AND RESULTS Our group has scoped a variety of video-based object tracking methods. To date, we have primarily investigated computer vision toolkits such as openCV. Techniques explored include key-point detection, background subtraction, region-of interest tracking, color-based tracking, tag masking and tracking, and corner detection. Although object-tracking and 6D pose estimation is a rich field, space applications are a unique problem that are challenging for existing software and toolkits. The majority of the existing object-tracking applications involve vehicles/pedestrians and household objects with simple backgrounds. We have identified the following features which pose particular challenges for on-station exercise equipment tracking: Busy and visually cluttered background Low-textured tracking object with relatively small motions Occlusions and motion by human subject and loose, floating objects Limited number of video cameras with no fixed global references Limited ability to add tags, markers, or visual references to the tracking object Lack of training data for Machine Learning (ML) algorithms CONCLUSION We will summarize the efficacy of techniques tested for a ground mock-trial and the on-station exercise trial. It is likely that human-in-loop feedback or a conglomerate of methods is required. ML-based methods, like those implemented for human body tracking [2], may still be a viable option, but more training data and validation is needed.

L B Nilsson↗

NASA NTRS2014

Guidance, Navigation, and Control Performance for the GOES-R Spacecraft

The Geostationary Operational Environmental Satellite-R Series (GOES-R) is the first of the next generation geostationary weather satellites. The series represents a dramatic increase in Earth observation capabilities, with 4 times the resolution, 5 times the observation rate, and 3 times the number of spectral bands. GOES-R also provides unprecedented availability, with less than 120 minutes per year of lost observation time. This paper presents the Guidance Navigation & Control (GN&C) requirements necessary to realize the ambitious pointing, knowledge, and Image Navigation and Registration (INR) objectives of GOES-R. Because the suite of instruments is sensitive to disturbances over a broad spectral range, a high fidelity simulation of the vehicle has been created with modal content over 500 Hz to assess the pointing stability requirements. Simulation results are presented showing acceleration, shock response spectra (SRS), and line of sight (LOS) responses for various disturbances from 0 Hz to 512 Hz. Simulation results demonstrate excellent performance relative to the pointing and pointing stability requirements, with LOS jitter for the isolated instrument platform of approximately 1 micro-rad. Attitude and attitude rate knowledge are provided directly to the instrument with an accuracy defined by the Integrated Rate Error (IRE) requirements. The data are used internally for motion compensation. The final piece of the INR performance is orbit knowledge, which GOES-R achieves with GPS navigation. Performance results are shown demonstrating compliance with the 50 to 75 m orbit position accuracy requirements. As presented in this paper, the GN&C performance supports the challenging mission objectives of GOES-R.

Control↗

NASA NTRS2019

Rotary-motion-extended Array Synthesis (R-MXAS)

R-MXAS is a revolutionary aerospace architecture for realizing a synthetic aperture imaging radiometer (SAIR) with dramatically lower SWaP than existing state-of-the-art (SOTA) methods. The space-based component of the RMXAS system (Figure 1) is a single platform comprising a 1-D sparse / decimated antenna array on a rigid tether (deployed parallel to the horizon) and one or more additional tethered antennas that rotate in a plane orthogonal to the 1-D array.The processing that correlates the data from these two antenna systems and performs image reconstruction has both space-based and ground-based components. The processing exploits the interferometric baselines formed between the rotating tethered antenna at radius R and each of the antennas of the 1-D array on the rigid tether.

Radiometer↗

NASA NTRS1984

Quaternions for Galileo scan platform control

The application of quaternions for the articulation control of the Galileo scan platform is presented in this paper. The purpose of selecting quaternions is to minimize onboard computation time and program size. Attention has been focused on performing inertial pointing while the spacecraft is in a dual spin configuration. Target quaternion and relative target quaternion are introduced and used to specify the target position of the scan platform for point-to-point absolute slews and mosaic relative slews, respectively. The pointing error of the platform is represented by an error quaternion which is converted into gimbal angular errors defining the attitude change. For path control, a moving target quaternion is generated; the corresponding tracking error quaternion and the related spacecraft motion compensation capability are also addressed. A sample slew case is used to demonstrate the implementation of these concepts.

Breckenridge, W. G.↗

NASA NTRS2005

Momentum-Based Dynamics for Spacecraft with Chained Revolute Appendages

An efficient formulation is presented for a sub-class of multi-body dynamics problems that involve a six degree-of-freedom base body and a chain of N rigid linkages connected in series by single degree-of-freedom revolute joints. This general method is particularly well suited for simulations of spacecraft dynamics and control that include the modeling of an orbiting platform with or without internal degrees of freedom such as reaction wheels, dampers, and/or booms. In the present work, particular emphasis is placed on dynamic simulation of multi-linkage robotic manipulators. The differential equations of motion are explicitly given in terms of linear and angular momentum states, which can be evaluated recursively along a serial chain of linkages for an efficient real-time solution on par with the best of the O(N3) methods.

Queen, Steven↗

NASA NTRS2002

Sensorimotor aspects of high-speed artificial gravity: II. The effect of head position on illusory self motion

The effects of cross-coupled stimuli on the semicircular canals are shown to be influenced by the position of the subject's head with respect to gravity and the axis of rotation, but not by the subject's head position relative to the trunk. Seventeen healthy subjects made head yaw movements out of the horizontal plane while lying on a horizontal platform (MIT short radius centrifuge) rotating at 23 rpm about an earth-vertical axis. The subjects reported the magnitude and duration of the illusory pitch or roll sensations elicited by the cross-coupled rotational stimuli acting on the semicircular canals. The results suggest an influence of head position relative to gravity. The magnitude estimation is higher and the sensation decays more slowly when the head's final position is toward nose-up (gravity in the subject's head x-z-plane) compared to when the head is turned toward the side (gravity in the subject's head y-z-plane). The results are discussed with respect to artificial gravity in space and the possible role of pre-adaptation to cross-coupled angular accelerations on earth.

Non-NASA Center↗

NASA NTRS1989

Modeling and control of flexible space platforms with articulated payloads

The first steps in developing a methodology for spacecraft control-structure interaction (CSI) optimization are identification and classification of anticipated missions, and the development of tractable mathematical models in each mission class. A mathematical model of a generic large flexible space platform (LFSP) with multiple independently pointed rigid payloads is considered. The objective is not to develop a general purpose numerical simulation, but rather to develop an analytically tractable mathematical model of such composite systems. The equations of motion for a single payload case are derived, and are linearized about zero steady-state. The resulting model is then extended to include multiple rigid payloads, yielding the desired analytical form. The mathematical models developed clearly show the internal inertial/elastic couplings, and are therefore suitable for analytical and numerical studies. A simple decentralized control law is proposed for fine pointing the payloads and LFSP attitude control, and simulation results are presented for an example problem. The decentralized controller is shown to be adequate for the example problem chosen, but does not, in general, guarantee stability. A centralized dissipative controller is then proposed, requiring a symmetric form of the composite system equations. Such a controller guarantees robust closed loop stability despite unmodeled elastic dynamics and parameter uncertainties.

Graves, Philip C.↗

NASA NTRS1972

Meteorological measurements from satellite platforms

Quantitative exploitation of meteorological data from geosynchronous satellites is starting to move from the laboratory to operational practice. Investigations of the data applications portion of the total meteorological satellite system include: (1) tropospheric wind shear and the related severe storm circulations; (2) kinematic properties of the tropical atmosphere as derived from cloud motion vectors; (3) application of a geostationary satellite rake system to measurements of rainfall; and (4) pointing error analysis of geosynchronous satellites.

Suomi, V. E.↗

NASA NTRS1975

Attitude determination of a high altitude balloon system. Part 2: Development of the parameter determination process

The attitude of the balloon system is determined as a function of time if: (a) a method for simulating the motion of the system is available, and (b) the initial state is known. The initial state is obtained by fitting the system motion (as measured by sensors) to the corresponding output predicted by the mathematical model. In the case of the LACATE experiment the sensors consisted of three orthogonally oriented rate gyros and a magnetometer all mounted on the research platform. The initial state was obtained by fitting the angular velocity components measured with the gyros to the corresponding values obtained from the solution of the math model. A block diagram illustrating the attitude determination process employed for the LACATE experiment is shown. The process consists of three essential parts; a process for simulating the balloon system, an instrumentation system for measuring the output, and a parameter estimation process for systematically and efficiently solving the initial state. Results are presented and discussed.

Nigro, N. J.↗

NASA NTRS1991

Servo Reduces Friction In Flexure Bearing

Proposed servocontrol device reduces such resistive torques as stiction, friction, ripple, and cogging in flexure bearing described in LAR-14348, "Flexure Bearing Reduces Startup Friction". Reduces frictional "bump" torque encountered when bearing ball runs into buildup of grease on bearing race. Also used as cable follower to reduce torque caused by cable and hoses when they bend because of motion of bearing. New device includes torquer across ball race. Torquer controlled by servo striving to keep flexure at null, removing torque to outer ring. In effect, device is inner control loop reducing friction, but does not control platforms or any outer-control-loop functions.

Clingman, W. Dean↗

NASA NTRS1979

Automatic in-orbit assembly of large space structures

The automated assembly of a large number of components required for the on-orbit erection of large tetrahedral space platforms is described. The assembly machine is a huge jig in which a multitude of mechanisms must operated continuously in the thermo vacuum environment of space and under the control of computers programmed to command every step of each motion. The concepts are presented to determine the most reliable solution. Continuous operation of mechanisms in space presents many unresolved problems, with regard to lubrication of unprotected devices, such as chain drives, which must maintain reasonable positioning tolerances.

Jacquemin, G. G.↗

NASA NTRS1986

A mirror transport mechanism for use at cryogenic temperatures

The Mirror Transport Mechanism (MTM), which supports a pair of dihedral mirrors and moves them in a very smooth and uniform scanning motion normal to a beamsplitter is described. Each scan is followed by a quick flyback and repeat. Material selection, design, and testing of all major components of the MTM are discussed. Flex pivot failures during vibration testing, excessive dihedral platform sag under one g operation, electronic and fiber optic characteristics, and tolerancing considerations are covered. Development of the mechanism has reached the final phase of thermal and vibration qualification. Environmental testing of the complete FIRAS experiment is just beginning.

Stark, Kenneth W.↗

NASA NTRS2007

Establishing a Near Term Lunar Farside Gravity Model via Inexpensive Add-on Navigation Payload

The Space Communications and Navigation, Constellation Integration Project (SCIP) is tasked with defining, developing, deploying and operating an evolving multi-decade communications and navigation (C/N) infrastructure including services and subsystems that will support both robotic and human exploration activities at the Moon. This paper discusses an early far side gravitational mapping service and related telecom subsystem that uses an existing spacecraft (WIND) and the Lunar Reconnaissance Orbiter (LRO) to collect data that would address several needs of the SCIP. An important aspect of such an endeavor is to vastly improve the current lunar gravity model while demonstrating the navigation and stationkeeping of a relay spacecraft. We describe a gravity data acquisition activity and the trajectory design of the relay orbit in an Earth-Moon L2 co-linear libration orbit. Several phases of the transfer from an Earth-Sun to the Earth-Moon region are discussed along with transfers within the Earth-Moon system. We describe a proposed, but not integrated, add-on to LRO scheduled to be launched in October of 2008. LRO provided a real host spacecraft against which we designed the science payload and mission activities. From a strategic standpoint, LRO was a very exciting first flight opportunity for gravity science data collection. Gravity Science data collection requires the use of one or more low altitude lunar polar orbiters. Variations in the lunar gravity field will cause measurable variations in the orbit of a low altitude lunar orbiter. The primary means to capture these induced motions is to monitor the Doppler shift of a radio signal to or from the low altitude spacecraft, given that the signal is referenced to a stable frequency reference. For the lunar far side, a secondary orbiting radio signal platform is required. We provide an in-depth look at link margins, trajectory design, and hardware implications. Our approach posed minimum risk to a host mission while maintaining a very low implementation and operations cost.

Folta, David↗

NASA NTRS2021

Teleoperation and Visualization Interfaces for Remote Intervention in Space

Approaches to robotic manufacturing, assembly, and servicing of in-space assets range from autonomous operation to direct teleoperation, with many forms of semi-autonomous teleoperation in between. Because most approaches require one or more human operators at some level, it is important to explore the control and visualization interfaces available to those operators, taking into account the challenges due to significant telemetry time delay. We consider one motivating application of remote teleoperation, which is ground-based control of a robot on-orbit for satellite servicing. This paper presents a model-based architecture that: 1) improves visualization and situation awareness, 2) enables more effective human/robot interaction and control, and 3) detects task failures based on anomalous sensor feedback. We illustrate elements of the architecture by drawing on 10 years of our research in this area. The paper further reports the results of several multi-user experiments to evaluate the model-based architecture, on ground-based test platforms, for satellite servicing tasks subject to round-trip communication latencies of several seconds. The most significant performance gains were obtained by enhancing the operators’ situation awareness via improved visualization and by enabling them to precisely specify intended motion. In contrast, changes to the control interface, including model-mediated control or an immersive 3D environment, often reduced the reported task load but did not significantly improve task performance. Considering the challenges of fully autonomous intervention, we expect that some form of teleoperation will continue to be necessary for robotic in-situ servicing, assembly, and manufacturing tasks for the foreseeable future. We propose that effective teleoperation can be enabled by modeling the remote environment, providing operators with a fused view of the real environment and virtual model, and incorporating interfaces and control strategies that enable interactive planning, precise operation, and prompt detection of errors.

space robotics↗

NASA NTRS2015

Planetary Science with Balloon-Borne Telescopes

The National Aeronautics and Space Administration (NASA) and the planetary science community have recently been exploring the potential contributions of stratospheric balloons to the planetary science field. A study that was recently concluded explored the roughly 200 or so science questions raised in the Planetary Decadal Survey report and found that about 45 of those questions are suited to stratospheric balloon based observations. In September of 2014, a stratospheric balloon mission called BOPPS (which stands for Balloon Observation Platform for Planetary Science) was flown out of Fort Sumner, New Mexico. The mission had two main objectives, first, to observe a number of planetary targets including one or more Oort cloud comets and second, to demonstrate the applicability and performance of the platform, instruments, and subsystems for making scientific measurements in support planetary science objectives. BOPPS carried two science instruments, BIRC and UVVis. BIRC is a cryogenic infrared multispectral imager which can image in the.6-5 m range using an HgCdTe detector. Narrow band filters were used to allow detection of water and CO2 emission features of the observed targets. The UVVis is an imager with the science range of 300 to 600 nm. A main feature of the UVVis instrument is the incorporation of a guide camera and a Fine Steering Mirror (FSM) system to reduce image jitter to less than 100 milliarcseconds. The BIRC instrument was used to image targets including Oort cloud comets Siding Spring and Jacques, and the dwarf planet 1 Ceres. BOPPS achieved the first ever earth based CO2 observation of a comet and the first images of water and CO2 of an Oort cloud comet (Jacques). It also made the first ever measurement of 1Ceres at 2.73 m to refine the shape of the infrared water absorption feature on that body. The UVVis instrument, mounted on its own optics bench, demonstrated the capability for image correction both from atmospheric disturbances as well as some of the residual motion from the gondola that was not addressed by the gondolas coarse pointing systems. The mission met its primary science and engineering objectives. The results of the BOPPS mission will feed into the body of science knowledge but also feed into future planning for more science from balloon-borne platforms. A notional platform called Gondola for High-Altitude Planetary Science (GHAPS) has been explored and this concept platform can address a number of important decadal questions. This paper provides a summary of the assessment of potential balloon borne observations for planetary science purposes including where potential science contributions can be expected, the necessary performance characteristics of the platform, and other features required or desired. The BOPPS mission is summarized including descriptions of the main elements and key science and engineering results. The paper then briefly describes GHAPS, and the salient features that can make it a valuable tool for future planetary observations.

Telescope↗

NASA NTRS1980

Control of a large flexible platform in orbit

The dynamics and attitude and shape control of a large thin flexible platform in orbit are studied. Attitude and shape control is assumed to result from actuators placed perpendicular to the main surface and one edge and their effect on the rigid body and elastic modes is modelled to first order. The equations of motion are linearized about nominal orientations where the undeformed plate follows either the local vertical or local horizontal. The stability of the uncontrolled system is investigated analytically. Once controllability is established for a set of actuator locations, control law development is based on pole placement, decoupling, and linear optimal control theory.

Reddy, A. S. S. R.↗

NASA NTRS1983

Tethers open new space options

Several examples of possible applications of the tethering concept in space are examined. In particular, attention is given to a practical design of a 500-kg satellite system to be tethered at a distance of 100 km from the Space Shuttle. The satellite body has the form of a sphere, aerodynamically stabilized and fitted with a dockline adapter that mates with a capture mechanism at the tip of an extendable boom; the tether is a very flexible synthetic line 1-2 mm in diameter. Other applications include a wholly passive stable platform created by tethering two rows of empty Shuttle External Tanks or similar masses 10-20 km apart, a remote docking port for a space station, and constellations of space objects, with tethers used to tie them together and constrain their relative motions.

Bekey, I.↗