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At least 379 records · Page 21
All sourcesNASA NTRSDOE OSTI
NASA NTRS2008

Desert Research and Technology Studies (RATS) 2007 Field Campaign Objectives and Results

Desert "RATS" (Research and Technology Studies) is a combined, multi-discipline group of inter-NASA center scientists and engineers, net-working and collaborating with representatives of industry and academia, for the purpose of conducting planetary surface exploration-focused remote field exercises. These integrated testing exercises conducted under representative analog Lunar and Mars surface terrain conditions, provide NASA the capability to validate experimental prototype hardware and software systems as well as to evaluate and develop mission operational techniques in order to identify and establish technical requirements and identify potential technology "gaps" applicable for future planetary human exploration. The 2007 D-RATS field campaign test activities were initiated based on the major themes and objectives of a notional 5-year plan developed for conducting relative analog test activities in support of the engineering evaluation and assessment of various system architectural requirements, conceptual prototype support equipment and selected technologies necessary for the establishment of a lunar outpost. Specifically, the major objectives included measuring task efficiency during robot, human, and human-robot interactive tasks associated with lunar outpost site surveying and reconnaissance activities and deployment of a representative solar panel power and distribution system. In addition, technology demonstrations were conducted with a new Lithium-ion battery and autonomous software to coordinate multiple robot activities. Secondary objectives were evaluating airlock concept mockups and prototype removable space suit over-garment elements for dust mitigation, and upgrades to the prototype extravehicular activities (EVA) communication and information system. Dry run test activities, prior to testing at a designated remote field site location, were initially conducted at the Johnson Space Center (JSC) Remote Field Demonstration Test Site. This is a multi-acre external test site located at JSC and has detailed representative terrain features simulating both Lunar and Mars surface characteristics. Both the local JSC and remote field test sites have terrain conditions that are representative and characteristic of both the Moon and Mars, such as strewn rock and volcanic ash fields, craters, rolling plains, hills, gullies, slopes, and outcrops. The D-RATS 2007 field campaign, representing the completion of its tenth year of analog testing, was conducted at the large Cinder Lake volcanic ash bed area adjacent to Flagstaff, Arizona.

Kosmo, Joseph↗
NASA NTRS1993

The 27th Aerospace Mechanisms Symposium

The proceedings of the 27th Aerospace Mechanisms Symposium, which was held at ARC, Moffett Field, California, on 12-14 May 1993, are reported. Technological areas covered include the following: actuators, aerospace mechanism applications for ground support equipment, lubricants, latches, connectors, robotic mechanisms, and other mechanisms for large space structures.

Mancini, Ron↗
NASA NTRS2003

On-Orbit Cross-Calibration of AM Satellite Remote Sensing Instruments using the Moon

On April 14,2003, three Earth remote sensing spacecraft were maneuvered enabling six satellite instruments operating in the visible through shortwave infrared wavelength region to view the Moon for purposes of on-orbit cross-calibration. These instruments included the Moderate Resolution Imaging Spectroradiometer (MODIS), the Multi-angle Imaging SpectroRadiometer (MISR), the Advanced Spaceborne Thermal Emission and Reflection (ASTER) radiometer on the Earth Observing System (EOS) Terra spacecraft, the Advanced Land Imager (ALI) and Hyperion instrument on Earth Observing-1 (EO-1) spacecraft, and the Sea-viewing Wide Field-of-view Sensor (SeaWiFS) on the SeaStar spacecraft. Observations of the Moon were compared using a spectral photometric mode for lunar irradiance developed by the Robotic Lunar Observatory (ROLO) project located at the United States Geological Survey in Flagstaff, Arizona. The ROLO model effectively accounts for variations in lunar irradiance corresponding to lunar phase and libration angles, allowing intercomparison of observations made by instruments on different spacecraft under different time and location conditions. The spacecraft maneuvers necessary to view the Moon are briefly described and results of using the lunar irradiance model in comparing the radiometric calibration scales of the six satellite instruments are presented here.

Butler, James J.↗
NASA NTRS2002

Paralysis recovery in humans and model systems

Considerable evidence now demonstrates that extensive functional and anatomical reorganization following spinal cord injury occurs in centers of the brain that have some input into spinal motor pools. This is very encouraging, given the accumulating evidence that new connections formed across spinal lesions may not be initially functionally useful. The second area of advancement in the field of paralysis recovery is in the development of effective interventions to counter axonal growth inhibition. A third area of significant progress is the development of robotic devices to quantify the performance level of motor tasks following spinal cord injury and to 'teach' the spinal cord to step and stand. Advances are being made with robotic devices for mice, rats and humans.

Review↗
NASA NTRS2012

The Montana ALE (Autonomous Lunar Excavator) Systems Engineering Report

On May 2 1-26, 20 12, the third annual NASA Lunabotics Mining Competition will be held at the Kennedy Space Center in Florida. This event brings together student teams from universities around the world to compete in an engineering challenge. Each team must design, build and operate a robotic excavator that can collect artificial lunar soil and deposit it at a target location. Montana State University, Bozeman, is one of the institutions selected to field a team this year. This paper will summarize the goals of MSU's lunar excavator project, known as the Autonomous Lunar Explorer (ALE), along with the engineering process that the MSU team is using to fulfill these goals, according to NASA's systems engineering guidelines.

Lars Osborne↗
NASA NTRS2015

SPHERES: From Ground Development to Operations on ISS

SPHERES (Synchronized Position Hold Engage and Reorient Experimental Satellites) is an internal International Space Station (ISS) Facility that supports multiple investigations for the development of multi-spacecraft and robotic control algorithms. The SPHERES Facility on ISS is managed and operated by the SPHERES National Lab Facility at NASA Ames Research Center (ARC) at Moffett Field California. The SPHERES Facility on ISS consists of three self-contained eight-inch diameter free-floating satellites which perform the various flight algorithms and serve as a platform to support the integration of experimental hardware. To help make science a reality on the ISS, the SPHERES ARC team supports a Guest Scientist Program (GSP). This program allows anyone with new science the possibility to interface with the SPHERES team and hardware. In addition to highlighting the available SPHERES hardware on ISS and on the ground, this presentation will also highlight ground support, facilities, and resources available to guest researchers. Investigations on the ISS evolve through four main phases: Strategic, Tactical, Operations, and Post Operations. The Strategic Phase encompasses early planning beginning with initial contact by the Principle Investigator (PI) and the SPHERES program who may work with the PI to assess what assistance the PI may need. Once the basic parameters are understood, the investigation moves to the Tactical Phase which involves more detailed planning, development, and testing. Depending on the nature of the investigation, the tactical phase may be split into the Lab Tactical Phase or the ISS Tactical Phase due to the difference in requirements for the two destinations. The Operations Phase is when the actual science is performed; this can be either in the lab, or on the ISS. The Post Operations Phase encompasses data analysis and distribution, and generation of summary status and reports. The SPHERES Operations and Engineering teams at ARC is composed of experts who can guide the Payload Developer (PD) and Principle Investigator (PI) in reaching critical milestones to make their science a reality using the SPHERES platform. From performing integrated safety and verification assessments, to assisting in developing crew procedures and operations products, to organizing, planning, and executing all test sessions, to helping manage data products, the SPHERES team at ARC is available to support microgravity research with the SPEHRES Guest Scientist Program.

ISS Research↗
NASA NTRS2016

3-D Flash Lidar Performance in Flight Testing on the Morpheus Autonomous, Rocket-Propelled Lander to a Lunar-Like Hazard Field

For the first time, a 3-D imaging Flash Lidar instrument has been used in flight to scan a lunar-like hazard field, build a 3-D Digital Elevation Map (DEM), identify a safe landing site, and, in concert with an experimental Guidance, Navigation, and Control (GN&C) system, help to guide the Morpheus autonomous, rocket-propelled, free-flying lander to that safe site on the hazard field. The flight tests served as the TRL 6 demo of the Autonomous Precision Landing and Hazard Detection and Avoidance Technology (ALHAT) system and included launch from NASA-Kennedy, a lunar-like descent trajectory from an altitude of 250m, and landing on a lunar-like hazard field of rocks, craters, hazardous slopes, and safe sites 400m down-range. The ALHAT project developed a system capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The Flash Lidar is a second generation, compact, real-time, air-cooled instrument. Based upon extensive on-ground characterization at flight ranges, the Flash Lidar was shown to be capable of imaging hazards from a slant range of 1 km with an 8 cm range precision and a range accuracy better than 35 cm, both at 1-delta. The Flash Lidar identified landing hazards as small as 30 cm from the maximum slant range which Morpheus could achieve (450 m); however, under certain wind conditions it was susceptible to scintillation arising from air heated by the rocket engine and to pre-triggering on a dust cloud created during launch and transported down-range by wind.

Roback, Vincent E.↗
NASA NTRS2018

Spatial Representativeness Error in the Ground-Level Observation Networks for Black Carbon Radiation Absorption

There is high uncertainty in the direct radiative forcing of black carbon (BC), an aerosol that strongly absorbs solar radiation. The observation-constrained estimate, which is several times larger than the bottom-up estimate, is influenced by the spatial representativeness error due to the mesoscale inhomogeneity of the aerosol fields and the relatively low resolution of global chemistry-transport models. Here we evaluated the spatial representativeness error for two widely used observational networks (AErosol RObotic NETwork and Global Atmosphere Watch) by downscaling the geospatial grid in a global model of BC aerosol absorption optical depth to 0.1° × 0.1°. Comparing the models at a spatial resolution of 2° × 2° with BC aerosol absorption at AErosol RObotic NETwork sites (which are commonly located near emission hot spots) tends to cause a global spatial representativeness error of 30%, as a positive bias for the current top-down estimate of global BC direct radiative forcing. By contrast, the global spatial representativeness error will be 7% for the Global Atmosphere Watch network, because the sites are located in such a way that there are almost an equal number of sites with positive or negative representativeness error.

Wang, Rong↗
NASA NTRS1989

Measurement of hand dynamics in a microsurgery environment: Preliminary data in the design of a bimanual telemicro-operation test bed

Data describing the microsurgeon's hand dynamics was recorded and analyzed in order to provide an accurate model for the telemicrosurgery application of the Bimanual Telemicro-operation Test Bed. The model, in turn, will guide the development of algorithms for the control of robotic systems in bimanual telemicro-operation tasks. Measurements were made at the hand-tool interface and include position, acceleration and force between the tool-finger interface. Position information was captured using an orthogonal pulsed magnetic field positioning system resulting in measurements in all six degrees-of-freedom (DOF). Acceleration data at the hands was obtained using accelerometers positioned in a triaxial arrangement on the back of the hand allowing measurements in all three cartesian-coordinate axes. Force data was obtained by using miniature load cells positioned between the tool and the finger and included those forces experienced perpendicular to the tool shaft and those transferred from the tool-tissue site. Position data will provide a minimum/maximum reference frame for the robotic system's work space or envelope. Acceleration data will define the response times needed by the robotic system in order to emulate and subsequently outperform the human operator's tool movements. The force measurements will aid in designing a force-reflective, force-scaling system as well as defining the range of forces the robotic system will encounter. All analog data was acquired by a 16-channel analog-to-digital conversion system residing in a IBM PC/AT-compatible computer at the Center's laboratory. The same system was also used to analyze and present the data.

Charles, Steve↗
NASA NTRS2016

A Basic Robotic Excavator (the Glenn Digger): Description, Design, and Initial Operation

This paper describes the design, commercial part selections, fabrication, assembly, installation, and initial operation of a two degree of freedom robotic excavator. Colloquially referred to as "the NASA Glenn Digger," it was designed specifically to be mounted onto, and to operate with, the then newly developed Centaur 2 robotic mobility base. The excavator, when mounted to Centaur 2, is designed to scoop loose regolith from the terrain, raise its loaded bucket up and dump the load into a hopper of at least a 1-m-height. The hopper represents the input to a machine that would process the raw material, such as to produce oxygen from lunar regolith as would be required for long-term lunar habitation. This equipment debuted at the annual Research and Technology Studies ("Desert RATS", Ref. 1) event held north of Flagstaff, Arizona, in September of 2010, when the Digger was successfully joined to Centaur 2 and the shoveling articulation was demonstrated. During 2011, the hardware was modified for added strength, strain gauges were added to measure loads, and the controls were improved in preparation for the 2011 Desert RATS event, where additional "field operations" experience was gained.

backhoe↗
NASA NTRS1988

Motion planning for a free-flying robot

An investigation is presented of motion planning combining low level control and obstacle avoidance for a free flying robot. This free flying robot is an outgrowth of the concept of an assistant for astronauts on the U.S. Space Station and Shuttle. A motion planner based on the Khatib potential field approach is described. Because of the uncluttered environment in space, it generates a path from representation of known obstacles rather than from a representation of free space. A global planner supplies the low level controller with interim points between the current position and the desired goal position so that the vehicle does not become trapped by local minima, a phenomenon of the potential field approach. Discussion of the feasibility of this system for space applications is presented.

Kaiser, Donald Leo↗
NASA NTRS2004

Power Lander for Support of Long-Term Lunar Presence

Emerging industrial base and the consequent sustained manned Lunar presence will require consistent high power capacities. This paper proposes a first iteration design of a flyable electric power platform which could serve as an enabler of Lunar Development and Exploration. It is intended to support a small facility solo or an emerging industrial base as part of a grid. Lunar Missions, Habitats and Facilities stand to benefit from an expected decade of non-stop operation, the economics of scale, Commercial Off-The-Shelf (COTS) availability, standardization of design, and logistical support for Lunar encampments provided by this architecture. The unattended and unmanned vehicle design is to be man- and robotics-serviceable after delivery by current and proposed heavy-lift boosters. Design continuity within a family of systems will improve reliability through "lessons learned'' in the field. Further, various configurations of the proposed scalable architecture will provide reference platforms for the indigenous construction of similar power plant facilities from in-situ Lunar resources (ISRU). The baseline design should be directed towards those materials available on the Moon and expected to be manufacturable on-site within the first decade of operation.

Joyner, Russ↗
NASA NTRS2007

Mineralogical In-situ Investigation of Acid-Sulfate Samples from the Rio Tinto River, Spain, with a Portable XRD/XRF Instrument

A field campaign was organized in September 2006 by Centro de Astobiologica (Spain) and Washington University (St Louis, USA) for the geological study of the Rio Tinto river bed sediments using a suite of in-situ instruments comprising an ASD reflectance spectrometer, an emission spectrometer, panoramic and close-up color imaging cameras, a life detection system and NASA's CheMin 4 XRD/XRF prototype. The primary objectives of the field campaign were to study the geology of the site and test the potential of the instrument suite in an astrobiological investigation context for future Mars surface robotic missions. The results of the overall campaign will be presented elsewhere. This paper focuses on the results of the XRD/XRF instrument deployment. The specific objectives of the CheMin 4 prototype in Rio Tinto were to 1) characterize the mineralogy of efflorescent salts in their native environments; 2) analyze the mineralogy of salts and oxides from the modern environment to terraces formed earlier as part of the Rio Tinto evaporative system; and 3) map the transition from hematite-dominated terraces to the mixed goethite/salt-bearing terraces where biosignatures are best preserved.

Sarrazin, P.↗
NASA NTRS2008

FIDO-Class Development Rover

A report describes a rover-type robotic wheeled vehicle recently built for use as a testbed for development of software for future rover-type vehicles. This vehicle is a derivative of the Field Integrated Design and Operations (FIDO) rover, which is a prototype Mars-exploration rover that also serves as a terrestrial testbed. The present vehicle was designed to be nearly functionally identical to the FIDO rover but to be built at much lower cost and to incorporate several improvements to increase utility for development work. Accordingly, considerable effort was made to use commercial off-the-shelf parts and other parts that could be fabricated easily and at low cost. Important features of this vehicle include six-wheel drive and six-wheel steering; onboard computer and power, control, and data-communication electronics having flexibility needed for development of software; significantly increased maximum speed (60 cm/s versus 6 cm/s for the FIDO rover); a rocker-bogey suspension with external differential link, functionally equivalent to that of the FIDO rover; and a hand-held remote controller that can be used to control vehicle motion manually without using the computer (or while waiting for the onboard computer to boot up).

Herman, Herman↗
NASA NTRS2012

Mars Science Laboratory Engineering Cameras

NASA's Mars Science Laboratory (MSL) Rover, which launched to Mars in 2011, is equipped with a set of 12 engineering cameras. These cameras are build-to-print copies of the Mars Exploration Rover (MER) cameras, which were sent to Mars in 2003. The engineering cameras weigh less than 300 grams each and use less than 3 W of power. Images returned from the engineering cameras are used to navigate the rover on the Martian surface, deploy the rover robotic arm, and ingest samples into the rover sample processing system. The navigation cameras (Navcams) are mounted to a pan/tilt mast and have a 45-degree square field of view (FOV) with a pixel scale of 0.82 mrad/pixel. The hazard avoidance cameras (Haz - cams) are body-mounted to the rover chassis in the front and rear of the vehicle and have a 124-degree square FOV with a pixel scale of 2.1 mrad/pixel. All of the cameras utilize a frame-transfer CCD (charge-coupled device) with a 1024x1024 imaging region and red/near IR bandpass filters centered at 650 nm. The MSL engineering cameras are grouped into two sets of six: one set of cameras is connected to rover computer A and the other set is connected to rover computer B. The MSL rover carries 8 Hazcams and 4 Navcams.

Maki, Justin N.↗
NASA NTRS2020

Inversion of multiangular polarimetric measurements from the ACEPOL campaign: an application of improving aerosol property and hyperspectral ocean color retrievals

NASA's Plankton, Aerosol, Cloud, ocean Ecosystem (PACE) mission, scheduled for launch in the time frame of late 2022 to early 2023, will carry the Ocean Color Instrument (OCI), a hyperspectral scanning radiometer, and two multiangle polarimeters (MAPs), the UMBC Hyper-Angular Rainbow Polarimeter 2 (HARP2) and the SRON Spectro-Polarimeter for Planetary EXploration one (SPEXone). One purpose of the PACE MAPs is to better characterize aerosol properties, which can then be used to improve atmospheric correction for the retrieval of ocean color in coastal waters. Though this is theoretically promising, the use of MAP data in the atmospheric correction of colocated hyperspectral ocean color measurements have not yet been well demonstrated. In this work, we performed aerosol retrievals using the MAP measurements from the Research Scanning Polarimeter (RSP) and demonstrate its application to the atmospheric correction of hyperspectral radiometric measurements from SPEX airborne. Both measurements were collected on the same aircraft from the Aerosol Characterization from Polarimeter and Lidar (ACEPOL) field campaign in 2017. Two cases over ocean with small aerosol loading (aerosol optical depth ∼0.04) are identified including colocated RSP and SPEX airborne measurements and Aerosol Robotic Network (AERONET) ground-based observations. The aerosol retrievals are performed and compared with two options: one uses reflectance measurement only and the other uses both reflectance and polarization. It is demonstrated that polarization information helps reduce the uncertainties of aerosol microphysical and optical properties. The retrieved aerosol properties are then used to compute the contribution of atmosphere and ocean surface for atmospheric correction over the discrete bands from RSP measurements and the hyperspectral SPEX airborne measurements. The water-leaving signals determined this way are compared with both AERONET and Moderate Resolution Imaging Spectroradiometer (MODIS) ocean color products for performance analysis. The results and lessons learned from this work will provide a basis to fully exploit the information from the unique combination of sensors on PACE for aerosol characterization and ocean ecosystem research.

Meng Gao↗
NASA NTRS2022

Giant Planet Atmospheres: Dynamics and Variability from UV to Near-IR Hubble and Adaptive Optics Imaging

Abstract: Each of the giant planets, Jupiter, Saturn, Uranus, and Neptune, has been observed by at least one robotic spacecraft mission. However, these missions are infrequent; Uranus and Neptune have only had a single flyby by Voyager 2. The Hubble Space Telescope, particularly the Wide Field Camera 3 (WFC3) and Advanced Camera for Surveys (ACS) instruments, and large ground-based telescopes with adaptive optics systems have enabled high spatial resolution imaging at a higher cadence, and over a longer time, than can be achieved with targeted missions to these worlds. These facilities offer a powerful combination of high spatial resolution, often <0.05”, and broad wavelength coverage, from the ultraviolet through the near infrared, resulting in compelling studies of the clouds, winds, and atmospheric vertical structure. This coverage allows comparisons of atmospheric properties between the planets, as well as in different regions across each planet. Temporal variations in winds, cloud structure, and color over time scales of days to years, have been measured for all four planets. With several decades of data already obtained, we can now begin to investigate seasonal influences on dynamics and aerosol properties, despite orbital periods ranging from 12 to 165 years. Future facilities will enable even greater spatial resolution and, combined with our existing long record of data, will continue to advance our understanding of atmospheric evolution on the giant planets.

Amy A Simon↗