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NASA NTRSDate not supplied

The Troupe System: an Autonomous Multi-Agent Rover Swarm

Autonomous cooperative robotic systems are the future of space exploration. The complexity of such systems makes their development, verification and assurance challenging. The Robust Software Engineering group at NASA Ames has developed the Troupe project that aims to explore the design and development of a swarm of autonomous rovers tasked to perform autonomous exploration and mapping of an unknown terrain. In this paper, we showcase the system design, and accompanying verification and validation tools integrated in the Troupe system development life-cycle.

TROUPE↗
NASA NTRS2010

Efficient Bit-to-Symbol Likelihood Mappings

This innovation is an efficient algorithm designed to perform bit-to-symbol and symbol-to-bit likelihood mappings that represent a significant portion of the complexity of an error-correction code decoder for high-order constellations. Recent implementation of the algorithm in hardware has yielded an 8- percent reduction in overall area relative to the prior design.

Moision, Bruce E.↗
NASA NTRS2013

Human and Robotic Mission to Small Bodies: Mapping, Planning and Exploration

This study investigates the requirements, performs a gap analysis and makes a set of recommendations for mapping products and exploration tools required to support operations and scientific discovery for near- term and future NASA missions to small bodies. The mapping products and their requirements are based on the analysis of current mission scenarios (rendezvous, docking, and sample return) and recommendations made by the NEA Users Team (NUT) in the framework of human exploration. The mapping products that sat- isfy operational, scienti c, and public outreach goals include topography, images, albedo, gravity, mass, density, subsurface radar, mineralogical and thermal maps. The gap analysis points to a need for incremental generation of mapping products from low (flyby) to high-resolution data needed for anchoring and docking, real-time spatial data processing for hazard avoidance and astronaut or robot localization in low gravity, high dynamic environments, and motivates a standard for coordinate reference systems capable of describing irregular body shapes. Another aspect investigated in this study is the set of requirements and the gap analysis for exploration tools that support visualization and simulation of operational conditions including soil interactions, environment dynamics, and communications coverage. Building robust, usable data sets and visualisation/simulation tools is the best way for mission designers and simulators to make correct decisions for future missions. In the near term, it is the most useful way to begin building capabilities for small body exploration without needing to commit to specific mission architectures.

Neffian, Ara V.↗
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 NTRS1985

Multi-crop area estimation and mapping on a microprocessor/mainframe network

The data processing system is outlined for a 1985 test aimed at determining the performance characteristics of area estimation and mapping procedures connected with the California Cooperative Remote Sensing Project. The project is a joint effort of the USDA Statistical Reporting Service-Remote Sensing Branch, the California Department of Water Resources, NASA-Ames Research Center, and the University of California Remote Sensing Research Program. One objective of the program was to study performance when data processing is done on a microprocessor/mainframe network under operational conditions. The 1985 test covered the hardware, software, and network specifications and the integration of these three components. Plans for the year - including planned completion of PEDITOR software, testing of software on MIDAS, and accomplishment of data processing on the MIDAS-VAX-CRAY network - are discussed briefly.

Sheffner, E.↗
NASA NTRS2022

Optimizing Terrain Mapping and Landing Site Detection for Autonomous UAVs

The next generation of Mars rotorcrafts requires on-board autonomous hazard avoidance landing. To this end, this work proposes a system that performs continuous multi- resolution height map reconstruction and safe landing spot detection. Structure-from-Motion measurements are aggregated in a pyramid structure using a novel Optimal Mixture of Gaus- sians formulation that provides a comprehensive uncertainty model. Our multiresolution pyramid is built more efficiently and accurately than past work by decoupling pyramid filling from the measurement updates of different resolutions.To detect the safest landing location, after an optimized hazard segmentation, we use a mean shift algorithm on multiple distance transform peaks to account for terrain roughness and uncertainty. The benefits of our contributions are evaluated on real and synthetic flight data.

Brockers, Roland↗
NASA NTRS2011

Visual SLAM Using Variance Grid Maps

An algorithm denoted Gamma-SLAM performs further processing, in real time, of preprocessed digitized images acquired by a stereoscopic pair of electronic cameras aboard an off-road robotic ground vehicle to build accurate maps of the terrain and determine the location of the vehicle with respect to the maps. Part of the name of the algorithm reflects the fact that the process of building the maps and determining the location with respect to them is denoted simultaneous localization and mapping (SLAM). Most prior real-time SLAM algorithms have been limited in applicability to (1) systems equipped with scanning laser range finders as the primary sensors in (2) indoor environments (or relatively simply structured outdoor environments). The few prior vision-based SLAM algorithms have been feature-based and not suitable for real-time applications and, hence, not suitable for autonomous navigation on irregularly structured terrain. The Gamma-SLAM algorithm incorporates two key innovations: Visual odometry (in contradistinction to wheel odometry) is used to estimate the motion of the vehicle. An elevation variance map (in contradistinction to an occupancy or an elevation map) is used to represent the terrain. The Gamma-SLAM algorithm makes use of a Rao-Blackwellized particle filter (RBPF) from Bayesian estimation theory for maintaining a distribution over poses and maps. The core idea of the RBPF approach is that the SLAM problem can be factored into two parts: (1) finding the distribution over robot trajectories, and (2) finding the map conditioned on any given trajectory. The factorization involves the use of a particle filter in which each particle encodes both a possible trajectory and a map conditioned on that trajectory. The base estimate of the trajectory is derived from visual odometry, and the map conditioned on that trajectory is a Cartesian grid of elevation variances. In comparison with traditional occupancy or elevation grid maps, the grid elevation variance maps are much better for representing the structure of vegetated or rocky terrain.

Howard, Andrew B.↗
NASA NTRS1973

The 4-8 GHz Microwave Active and Passive Spectrometer (MAPS). Volume 1: Radar section

The performance characteristics of the radar section of the prototype 4-8 GHz Microwave Active and Passive Spectrometer system are reported. Active and passive spectral responses were measured of natural, cultivated, and human-made surfaces over the 4-18 GHz region of frequencies for look angles between zero and 70 degrees and for all possible linear polarization combinations. Soil and plant samples were collected to measure their dielectric properties and moisture content. The FORTRAN program for area calculation is provided.

Ulaby, F. T.↗
NASA NTRS1995

A concept for transition mapping on a 10 deg-cone in the National Transonic Facility using flow-pressure variation

A conceptual study was performed to define a technique for mapping the boundary-layer transition on a 10 deg-Cone in the National Transonic Facility (NTF) as a means of determining this cryogenic-tunnel suitability for laminar flow testing. A major challenge was to devise a test matrix using a fixed surface pitot probe, varying the flow pressure to pr oduce the actual Reynolds numbers for boundary-layer transition. This constraint resulted from a lack of a suitable and reliable electrical motor to drive the probe along the cone's surface under cryogenic flow conditions. The initial phase of this research was performed by the author in collaboration with the late Dr. William B. Igoe from the Aerodynamics Division at NASA Langley Research Center. His comments made during the drafting of this document were invaluable and a source of inspiration.

Gartenberg, Ehud↗
NASA NTRS1995

Mapping Fire Scars in the Brazilian Cerrado Using AVHRR Imagery

The Brazilian cerrado, or savanna, spans an area of 1,800,000 square kilometers on the great plateau of Central Brazil. Large fires covering hundreds of square kilometers, frequently occur in wildland areas of the cerrado, dominated by grasslands or grasslands mixed with shrubs and small trees, and also within area in the cerrado used for agricultural purposes, particularly for grazing. Smaller fires, typically extending over arm of a few square kilometers or less, are associated with the clewing of crops, such as dry land rice. A method for mapping fire scars and differentiating them from extensive areas of bare sod with AVHRR bands 1 (.55 -.68 micrometer) and 3 (3.5 - 3.9 micrometers) and measures of performance based on comparison with maps of fires with Landsat imagery will be presented. Methods of estimating total area burned from the AVHRR fire scar map will be discussed and related to land use and scar size.

Hlavka, C. A.↗
NASA NTRS2011

The Functional Task Test (FTT): An Interdisciplinary Testing Protocol to Investigate the Factors Underlying Changes in Astronaut Functional Performance

Exposure to space flight causes adaptations in multiple physiological systems including changes in sensorimotor, cardiovascular, and neuromuscular systems. These changes may affect a crewmember s ability to perform critical mission tasks immediately after landing on a planetary surface. The overall goal of this project is to determine the effects of space flight on functional tests that are representative of high priority exploration mission tasks and to identify the key underlying physiological factors that contribute to decrements in performance. To achieve this goal we developed an interdisciplinary testing protocol (Functional Task Test, FTT) that evaluates both astronaut functional performance and related physiological changes. Functional tests include ladder climbing, hatch opening, jump down, manual manipulation of objects and tool use, seat egress and obstacle avoidance, recovery from a fall and object translation tasks. Physiological measures include assessments of postural and gait control, dynamic visual acuity, fine motor control, plasma volume, orthostatic intolerance, upper- and lower-body muscle strength, power, endurance, control, and neuromuscular drive. Crewmembers perform this integrated test protocol before and after short (Shuttle) and long-duration (ISS) space flight. Data are collected on two sessions before flight, on landing day (Shuttle only) and 1, 6 and 30 days after landing. Preliminary results from both Shuttle and ISS crewmembers indicate decrement in performance of the functional tasks after both short and long-duration space flight. On-going data collection continues to improve the statistical power required to map changes in functional task performance to alterations in physiological systems. The information obtained from this study will be used to design and implement countermeasures that specifically target the physiological systems most responsible for the altered functional performance associated with space flight.

Bloomberg, J. J.↗
NASA NTRS1991

Mars Observer trajectory and orbit control

The Mars Observer mission will study Mars from a low-altitude orbit. During interplanetary cruise, propulsive maneuvers are required to ensure capture, with a secondary constraint to satisfy limits on the probability of impact with Mars. After capture, the spacecraft will be brought to a near-circular mapping orbit through a series of maneuvers. Mapping orbit maneuvers will be performed in order to follow a predetermined set of ground tracks and to maintain orbit altitude. This will allow accurate spacecraft command sequence generation and aid science planning throughout the mapping phase. Specific orbit control plans for the open and close of the launch period have been developed to meet these needs. This paper describes the control capabilities and the associated expected velocity changes for the mission.

Halsell, C. A.↗
NASA NTRSDate not supplied

Recent Advances in Discrete Crack Modeling Applied to Laminated Composites with Emphasis on: Floating Node Method, VCCT and Cohesive Zone Modeling

The present talk will provide an overview of the work performed during the Advanced Composites Project (ACP) on the development, and verification and validation of the Floating Node Method (FNM) as well as the Virtual Crack Closure Technique (VCCT) and cohesive zone modeling (CZM). The FNM is a finite element-based technique to represent crack networks. The complex nature of matrix crack-delamination interactions observed in unidirectional (UD) tape laminates suggests that a methodology such as the FNM method may be required to be able to accurately simulate damage progression in these laminates. Simulating crack onset and growth within the context of the FNM relies on techniques such as VCCT and CZM. The talk is organized to provide, via select examples, an overview of the breadth of the Verification & Validation (V&V) exercises performed during the ACP, and how these challenged the state-of-the art and guided further developments in discrete crack modeling, while helping to establish confidence in the progress made and map the challenges ahead. The performance of the VCCT and CZM individually, and in combination with the FNM can be assessed through verification exercises. These exercises typically consist of a comparison of simulation results to known numerical or analytical solutions. Verification is key to identify implementation issues and limitations that, otherwise, may remain undetected and cloud any subsequent validation efforts. Indeed, a subset of these numerical exercises led to further developments of the VCCT and the FNM method as will be illustrated. Before embarking on the subsequent validation of the framework, it is critical to have adequate characterization data. However, the testing campaign conducted revealed material responses that challenged the state-of-the-art and required further developments. The developments in CZM technology associated with the modeling of the responses of hybrid interfaces (fabric/UD) will be given as an example. Finally, the talk will conclude with a summary of the validation exercises performed under quasi-static and fatigue loadings, highlighting some of the key achievements, outstanding challenges and lessons learned.

finite elements↗
NASA NTRS2001

Comparison of the Experimental Performance of Ferroelectric CPW Circuits with Method of Moment Simulations and Conformal Mapping

Experimental measurements of coplanar waveguide (CPW) circuits atop thin films of ferroelectric Ba(x)Sr(1-x)TiO3 (BST) were made as a function bias from 0 to 200 V and frequency from 0.045 to 20 GHz. The resulting phase shifts are compared with method of moments electromagnetic simulations and a conformal mapping analysis to determine the dielectric constant of the BST films. Based on the correlation between the experimental and the modeled data, an analysis of the extent to which the electromagnetic simulators provide reliable values for the dielectric constant of the ferroelectric in these structures has been performed. In addition, to determine how well the modeled data compare with experimental data, the dielectric constant values were also compared to low frequency measurements of interdigitated capacitor circuits on the same films. Results of these comparisons will be presented.

VanKeuls, Fred W.↗
NASA NTRS1993

Topographic mapping using a monopulse SAR system

Terrain height variations in mountainous areas cause two problems in the radiometric correction of SAR images: the first being that the wrong elevation angle may be used in correcting for the radiometric variation of the antenna pattern; the second that the local incidence angle used in correcting the projection of the pixel area from slant range to ground range coordinates may vary from that given by the flat earth assumption. We propose a novel design of a SAR system which exploits the monopulse principle to determine the elevation angle and thus the height at the different parts of the image. The key element of such a phase monopulse system is an antenna, which can be divided into a lower and upper half in elevation using a monopulse comparator. In addition to the usual sum pattern, the elevation difference pattern can be generated by a -pi phase shift on one half of the antenna. From the ratios of images radiometrically modulated by the difference and sum antenna pattern in cross-track direction, we can derive the appropriate elevation angle at any point in the image. Together with the slant range we can calculate the height of the platform above this point using information on the antenna pointing and the platform attitude. This operation, repeated at many locations throughout the image, allows us to build up a topographic map of the height of the aircraft above each location. Inversion of this map, using the precisely determined aircraft altitude and the accurate flight path, leads to the actual topography of the imaged surface. The precise elevation of one point in the image could also be used to convert the height map to a topographic map. In this paper, we present design considerations for a corresponding airborne SAR system in X-Band and give estimates of the error due to system noise and azimuth ambiguities as well as the expected performance and precision in topographic mapping.

Zink, M.↗
NASA NTRS1989

First results in terrain mapping for a roving planetary explorer

To perform planetary exploration without human supervision, a complete autonomous rover must be able to model its environment while exploring its surroundings. Researchers present a new algorithm to construct a geometric terrain representation from a single range image. The form of the representation is an elevation map that includes uncertainty, unknown areas, and local features. By virtue of working in spherical-polar space, the algorithm is independent of the desired map resolution and the orientation of the sensor, unlike other algorithms that work in Cartesian space. They also describe new methods to evaluate regions of the constructed elevation maps to support legged locomotion over rough terrain.

Krotkov, E.↗
NASA NTRS1986

Magellan spacecraft - Attitude determination, updates and gyro parameter calibration

A detailed mathematical algorithm for onboard autonomous attitude determination and parameter calibration in the Magellan Venus-orbiting spacecraft has been developed, and its performance has been estimated. This algorithm uses a contamination reduction attitude profile and retractive star scan maneuvers to minimize the interparameter error contamination and to maximize the parameter observability. The details of the underlying theory and strategy are described, and an extensive performance analysis with worst-case parameter errors is reported which indicates that the in-flight attitude determination unit/parameter calibration (ADU/PC) algorithm will be able to meet all the different mission phase requirements with comfortable margins. The problem of nonexact mapping retrace due to uncertain performance of control authority is addressed, and its lack of impact on the system performance is demonstrated.

Huang, W. H.↗
NASA NTRS2021

3D Shape Reconstruction of Small Bodies from Sparse Features

The autonomous approach of spacecraft to a small body (comet or asteroid) relies on using all available information at each phase of the approach. This paper presents new algorithms for global shape reconstructions from sparse tracked surface points. These methods leverage estimates from earlier phases, such as rotation pole, as well as a priori knowledge, such as a genus-0 body (i.e. without boundaries or topological holes). A mapping algorithm is proposed, which performs faithful reconstructions while enforcing genus-0 output through spherical parameterization. To estimate the shape of permanently shadowed regions of the body, a symmetry reconstruction method is added to the reconstruction algorithms. This method is shown to substantially increase the reconstruction accuracy but is subject to the symmetry of the body perpendicular to the rotation pole. The proposed mapping algorithm is compared to stateof- the-practice surface reconstruction algorithms, assessing their accuracy and ability to correctly generate genus-0 shape models for 2400 datasets and three small bodies. The proposed spherical parameterization algorithm performed consistently with the state-of-the-practice while being the only algorithm to always produce genus-0 shape models.

Nesnas, Issa↗