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NASA NTRSDate not supplied

Overview and Performance of the LOFTID Instrumentation Suite

NASA’s Hypersonic Inflatable Aerodynamic Decelerator (HIAD) is an enabling technology that facilitates atmospheric entry of heavy payloads to planets such as Earth and Mars using a deployable aeroshell. The deployable nature of the HIAD technology allows it to overcome the size constraints imposed on current rigid aeroshell entry systems. This enables use of larger aeroshells resulting in increased entry system performance (e.g. higher payload mass and/or volume, higher landing altitude at Mars). On November 10th, 2022 the Low-Earth Orbit Flight Test of an Inflatable Decelerator (LOFTID) was launched out of Vandenberg Air Force Base as a secondary payload on an Atlas V rocket. After the primary payload was delivered to its orbit, the LOFTID reentry vehicle was inflated, positioned, and then separated to reenter Earth’s atmosphere at a velocity of 8.1km/s, ultimately splashing down safely in the Pacific Ocean. The flight successfully demonstrated a 6m diameter, 70-deg sphere-cone HIAD on a high-energy orbital reentry. This demonstration has provided invaluable fight data essential to characterize the vehicle performance and support the ongoing effort to further scale the HIAD technology to vehicles of 10m in diameter or greater. Aeroshells of this scale are applicable to near-term commercial applications and future NASA robotic and human exploration missions. LOFTID incorporated an extensive instrumentation suite totaling over 150 science measurements. This included thermocouples, total heat flux sensors, and a radiometer to characterize the aeroheating environment and aeroshell thermal response. An Inertial Measurement Unit (IMU), Global Positioning System (GPS), and flush air data system was included to allow post-flight reconstruction of the vehicle trajectory including a decoupling of the aerodynamics from the atmospheric density. Loadcells were used to measure HIAD structural response during entry, and cameras (both visual-spectrum and infrared) were mounted on the aft segment looking at the aeroshell to monitor structural deflection and surface temperature distribution. Finally, a single up-look camera was included which has provided a surprising amount of science potential from the spectacular footage. In addition to the primary instrumentation suite, a new Fiber Optic Sensing System (FOSS) was used to provide global temperature distributions as a technology demonstration. The system provided over 200 thermal measurements creating a thermal map for the backside of the nose Flexible Thermal Protection System. Another pair of FOSS cables were run along the rigid center structure and measured the temperature response to the vehicle wake environment. The LOFTID instrumentation suite leveraged Agency-wide expertise, with hardware development occurring at Ames Research Center, Langley Research Center, Marshall Space Flight Center, and Armstrong Flight Research Center. This paper will discuss the instrumentation selected for LOFTID, a summary of sensor in-flight performance, and will provide examples of data products from the post-flight analysis effort.

Gregory T Swanson↗

NASA NTRSDate not supplied

Overview and Performance of the LOFTID Instrumentation Suite

Greg Swanson↗

NASA NTRS2011

NASA Tech Briefs, January 2011

The topics include: 1) Distributed Aerodynamic Sensing and Processing Toolbox; 2) Collaborative Supervised Learning for Sensor Networks; 3) Hazard Detection Software for Lunar Landing; 4) Onboard Nonlinear Engine Sensor and Component Fault Diagnosis and Isolation Scheme; 5) Network-Capable Application Process and Wireless Intelligent Sensors for ISHM; 6) Interface Supports Multiple Broadcast Transceivers for Flight Applications; 7) FPGA Sequencer for Radar Altimeter Applications; 8) Miniature Sapphire Acoustic Resonator - MSAR; 9) Process-Hardened, Multi-Analyte Sensor for Characterizing Rocket Plume Constituents; 10) SAD5 Stereo Correlation Line-Striping in an FPGA; 11) Hybrid Composite Cryogenic Tank Structure; 12) Nanoscale Deformable Optics; 13) Reliability-Based Design Optimization of a Composite Airframe Component; 14) Zinc Oxide Nanowire Interphase for Enhanced Lightweight Polymer Fiber Composites; 15) Plasma Igniter for Reliable Ignition of Combustion in Rocket Engines; 16) Wire Test Grip Fixture; 17) A Sub-Hertz, Low-Frequency Vibration Isolation Platform; 18) Carbon Nanofibers Synthesized on Selective Substrates for Nonvolatile Memory and 3D Electronics; 19) Nanoparticle/Polymer Nanocomposite Bond Coat or Coating; 20) High-Resolution Wind Measurements for Offshore Wind Energy Development; 21) Spring Tire; 22) Marsviewer 2008; 23) Mission Services Evolution Center Message Bus; 24) Major Constituents Analysis for the Vehicle Cabin Atmosphere Monitor; 25) Astronaut Health Participant Summary Application; 26) Adaption of the AMDIS Method to Flight Status on the VCAM Instrument; 27) Natural Language Interface for Safety Certification of Safety-Critical Software; 28) Cryogenic Caging for Science Instrumentation; 29) Wide-Range Neutron Detector for Space Nuclear Applications; 30) In Situ Guided Wave Structural Health Monitoring System; 31) Multiplexed Energy Coupler for Rotating Equipment; 32) Attitude Estimation in Fractionated Spacecraft Cluster Systems; 33) Full Piezoelectric Multilayer-Stacked Hybrid Actuation/Transduction Systems; 34) Active Flow Effectors for Noise and Separation Control; 35) Method and System for Temporal Filtering in Video Compression Systems; 36) Apparatus for Measuring Total Emissivity of Small, Low-Emissivity Samples; 37) Multiple-Zone Diffractive Optic Element for Laser Ranging Applications; 38) Simplified Architecture for Precise Aiming of a Deep-Space Communication Laser Transceiver; 39) Two-Photon-Absorption Scheme for Optical Beam Tracking; 40) High-Sensitivity, Broad-Range Vacuum Gauge Using Nanotubes for Micromachined Cavities; 41) Wide-Field Optic for Autonomous Acquisition of Laser Link; 42) Extracting Zero-Gravity Surface Figure of a Mirror; 43) Modeling Electromagnetic Scattering From Complex Inhomogeneous Objects; 44) Visual Object Recognition and Tracking of Tools; 45) Method for Implementing Optical Phase Adjustment; 46) Visual SLAM Using Variance Grid Maps; 47) Rapid Calculation of Spacecraft Trajectories Using Efficient Taylor Series Integration; 48) Efficient Kriging Algorithms; 49) Predicting Spacecraft Trajectories by the WeavEncke Method; 50) An Augmentation of G-Guidance Algorithms; 51) Comparison of Aircraft Icing Growth Assessment Software; 52) Silicon-Germanium Voltage-Controlled Oscillator at 105 GHz; 53) Estimation of Coriolis Force and Torque Acting on Ares-1; 54) Null Lens Assembly for X-Ray Mirror Segments; and 55) High-Precision Pulse Generator.

Source record↗

NASA NTRS2006

Arc-Heater Facility for Hot Hydrogen Exposure of Nuclear Thermal Rocket Materials

A hyper-thermal environment simulator is described for hot hydrogen exposure of nuclear thermal rocket material specimens and component development. This newly established testing capability uses a high-power, multi-gas, segmented arc-heater to produce high-temperature pressurized hydrogen flows representative of practical reactor core environments and is intended to serve. as a low cost test facility for the purpose of investigating and characterizing candidate fueUstructura1 materials and improving associated processing/fabrication techniques. Design and development efforts are thoroughly summarized, including thermal hydraulics analysis and simulation results, and facility operating characteristics are reported, as determined from a series of baseline performance mapping tests.

Litchford, Ron J.↗

NASA NTRSDate not supplied

Astrobee: Completed, Current, and Future Research using Free Flying Robots on the International Space Station

After four years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 130 Test Sessions logging over 1000 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team maintains three identical free-flying Astrobee robots for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Astrobee, propelled by battery-operated fans, is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be teleoperated from the ground or by astronauts. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. Guest Scientists can participate in this research opportunity following the Guest Science Lifecycle (GSL) shown in Figure 1: Guest Science Lifecycle below. The Astrobee Team and Guest Scientists have complete research including Gecko materials studies, RFID and sound sensing capabilities, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots includes Free Flyer self-toss studies, new docking capabilities, advanced mapping resolution capabilities, and high resolution panoramic imagery. Future Guest scientists and Astrobee Team research will focus on robotics applications for future NASA missions such as Gateway and Artemis and potential experiments involving human-robot interactions. This presentation will focus on four main subjects, 1) completed, current, and future planned research using the Astrobee robots, 2) how Guest Scientist get from conception to the ISS, 3) Astrobee Facility resources available for Guest Science ground testing and real-time ISS operations support, and 4) lessons learned from four years of ISS operations.

Astrobee↗

NASA NTRSDate not supplied

Conceptual Design of a Test Section for a Cryogenic Transfer Line Experiment

This project presents the development of a comprehensive computer-aided design (CAD) model for the Transfer Line test section, which is an upcoming test module for the Flow Boiling and Condensation Experiment (FBCE) aboard the International Space Station. The FBCE aims to serve as the primary platform to study two-phase flow in microgravity, and the Transfer Line module aims to utilize its existing hardware to study cryogenic chilldown; a critical component of cryogenic propellant transfer in space. The CAD model was created using SolidWorks software and includes the test section’s main components: a heat transfer line, a flow visualization line, insulation, high-speed visible imaging, and infrared imaging. The heat transfer line primarily consists of a stainless steel tube that will be heated via Joule heating. The flow visualization line consists of segmented Indium-Titanium-Oxide coated sapphire tubes, which allow for visualization of flow regimes by high-speed and infrared cameras, similar thermal properties as the stainless steel tube, and Joule heating via the ITO coating resistance. Polyether Ether Ketone was used to insulate and encapsulate the two sections. High-speed visible imaging and infrared imaging were also incorporated to view the propagation of fluid during inverted annular flow and map out the thermal profile of the ITO-coated sapphire tube. This model serves as the guiding concept design for the Transfer Line project and will assist the project team during future safety reviews and concept design reviews. Overall, this work is significant in two-phase flow research and offers a promising path towards an established facility for cryogenic transfer line research in microgravity.

Flow boiling↗

DOE OSTI2025

Data-Efficient Methods for Determining Flory–Huggins χ Parameters in Multicomponent Polymer Formulations

Polymer formulations are essential in diverse applications including personal care products, coatings, paints, adhesives, and plastic materials. Designing these formulations requires navigating large, complex design spaces, where phase and self-assembly behavior critically impact performance. The Flory–Huggins χ parameter, which quantifies segmental miscibility, is widely used to parametrize the excess free energy of mixing in formulation models. In this work, we introduce two data-efficient, top-down methods for estimating χ parameters using the Random Phase Approximation (RPA): (i) Boundary Nonlinear Regression (Boundary-NLR), which fits theoretical spinodal boundaries to experimental phase boundaries, and (ii) Surrogate Model Inverse Parameter Estimation (SMIPE), which uses a Gaussian Process Classifier to fit sparse phase maps via a surrogate model. Both methods allow rapid parametrization of polymer field-theoretic models without the need for additional experiments. We evaluate these approaches on data sets involving polymer–solvent–nonsolvent ternary mixtures and block copolymer–solvent systems, demonstrating their robustness to experimental noise and their relevance for real-world formulation design.

copolymers↗

DOE OSTI2022

AtomAI framework for deep learning analysis of image and spectroscopy data in electron and scanning probe microscopy

Over the past several decades, electron and scanning probe microscopes have become critical components of condensed matter physics, materials science and chemistry research. At the same time, the infrastructure for establishing a connection between microscopy observations and materials behaviour over a broader parameter space is lacking. In this work, we introduce AtomAI, an open-source software package bridging instrument-specific Python libraries, deep learning and simulation tools into a single ecosystem. AtomAI allows direct applications of deep neural networks for atomic and mesoscopic image segmentation converting image and spectroscopy data into class-based local descriptors for downstream tasks such as statistical and graph analysis. For atomically resolved imaging data, the output is types and positions of atomic species, with an option for subsequent refinement. AtomAI further allows the implementation of a broad range of image and spectrum analysis functions, including invariant variational autoencoders for disentangling structural factors of variation and im2spec type of encoder–decoder models for mapping structure–property relationships. Finally, our framework allows seamless connection to the first principles modelling with a Python interface on the inferred atomic positions.

36 MATERIALS SCIENCE↗

NASA NTRS1990

Cophasing segmented mirrors with large surface errors using physical and geometrical ray-based techniques

Phasing an array with steep slopes and large surface errors, such as in NASA's Precision Segmented Reflector (PSR) Program for submillimeter astrophysics, is difficult using conventional optical techniques because the surface errors on the panels are large as compared with optical wavelengths. This paper extrapolates a procedure proposed by the Keck Observatory whereby physical optical techniques phase the edges of the panels, but with this technique they are phased with respect to a reference surface obtained from a high-quality central panel. A full-surface height-map is thereby obtained by integrating slope measurements, and full-surface phasing can be achieved using the modified and conventional Shack-Hartmann camera.

Manhart, Paul K.↗

NASA NTRS2008

Geologic Mapping of MTM -30247, -35247 and -40247 Quadrangles, Reull Vallis Region of Mars

Geologic mapping and stratigraphic analyses of MTM -30247, -35247, and -40247 quadrangles are being used to characterize the Reull Vallis (RV) system and to determine the history of the eastern Hellas region of Mars. Studies of RV examine the roles and timing of volatile-driven erosional and depositional processes and provide constraints on potential associated climatic changes. This study complements earlier investigations of the eastern Hellas region, including regional analyses [1-6], mapping studies of circum-Hellas canyons [7-10], and volcanic studies of Hadriaca and Tyrrhena Paterae [11-13]. Key scientific objectives for these quadrangles include 1) characterization of RV in its "fluvial zone," 2) analysis of channels in the surrounding plains and potential connections to and interactions with RV, 3) examination of young (?), presumably sedimentary plains along RV that embay the surrounding highlands, and 4) determination of the nature of the connection between segments 1 and 2 of RV.

Mest, S. C.↗

NASA NTRSDate not supplied

Astrobee: Five years of Completed, Current, and Future Research on the International Space Station using Free Flying Robots.

After five years on the International Space Station (ISS), the Astrobee Research Facility, has completed over 160 Test Sessions logging over 1200 hours of operations. Managed by the NASA ISS Program OZ office and supported by NASA Ames Research Center (ARC) in California, the Astrobee Team currently maintains two identical free-flying Astrobee robots and a Docking Station for research on the ISS. As a technology demonstration platform, the Astrobee Robots are available for Guest Scientists to use for a spectrum of research capabilities. Using ambient air on the ISS, propelled by battery-operated fans, Astrobee is designed to autonomously operate throughout most of the USOS (US Orbital Segment), with the objective of minimizing the need for astronaut support. Astrobee carries a suite of six cameras, a two degree-of-freedom (DOF) arm with a gripper that can grasp ISS handrails and other objects, and three payload bays that provide power and data for guest science hardware. Astrobee can autonomously execute hours-long flight plans or be tele-operated from the ground. While the Astrobee Team continues to improve mapping and autonomous flight capabilities, one of the main goals of Astrobee Robots is to provide research opportunities for Guest Scientists. The Astrobee Robot Software (ARS) makes extensive use of the open-source Robot Operating System (ROS). The ARS can be used interchangeably with an Astrobee Simulator or as Astrobee’s onboard software. ARS features include autonomous docking and perching, real-time teleoperations from the ground, plan based autonomous tasks, multi Astrobee communication, among other capabilities. Through simulation software and ground testing laboratories, the Astrobee Team is available to support Guest Scientists during development and testing and lead real-time ISS operations. The Astrobee Team and Guest Scientists have completed research including Astrobatics maneuvers, RFID and sound sensing capabilities, Gecko materials studies, student Robotics Programming Challenges, and Free Flyer formation flight investigations. Current science with the Astrobee Robots is investigating new docking capabilities through software only research as well as testing new docking hardware installed on the Astrobees. The Astrobee Team and other researchers at NASA Ames continue to explore robotics applications for future NASA missions such as Gateway and potential experiments involving human-robot interactions. Continued advanced mapping resolution capabilities, and high-resolution panoramic imagery also remains areas of research. Exciting in development research involves docking for rendezvous proximity operation (CLINGERS), multi resolution 3D scanning (MRS), space debris removal in microgravity (REACCH). This presentation will mainly focus on completed research over the past year and current science being performed on the Astrobees. This presentation will also focus on how a Guest Scientist/Researcher progresses from conception to running their science on the Astrobees on the ISS, as well as discuss the Astrobee Facility resources available for supporting ground testing and real-time ISS operations.

Astrobee↗

NASA NTRS1990

Tertiary basin development and tectonic implications, Whipple detachment system, Colorado River extensional corridor, California and Arizona

This paper reports on geologic mapping, stratigraphic and structural observations, and radiometric dating of Miocene deposits of the Whipple detachment system, Colorado River extensional corridor of California and Arizona. From these data, four regions are distinguished in the study area that correspond to four Miocene depositional basins. It is shown that these basins developed in about the same positions, relative to each other and to volcanic sources, as they occupy at present. They formed in the early Miocene from a segmentation of the upper crust into blocks bounded by high-angle faults that trended both parallel and perpendicular to the direction of extension and which were terminated at middle crustal depths by a low-angle detachment fault.

Nielson, J. E.↗

NASA NTRS1997

AOPA Survey Summary of AGATE Concepts Demonstration October 17-19, 1996: Basic Report - Volume 1

An AGATE Concepts Demonstration was conducted at the Annual Aircraft Owners and Pilots Association (AOPA) Convention in 1996. The demonstration consisted of an interactive simulation of a single-pilot, single-engine aircraft in which the participant took off, flew a brief enroute segment and then flew a Global Positioning System (GPS) approach and landing. The participant was provided an advanced 'pathway-in-the-sky' presentation on both a head-up display and a head-down display to follow throughout the flight. A single lever power control and display concept was also provided for control of the engine throughout the flight. A second head-down, multifunction display in the instrument panel provided a moving map display for navigation purposes and monitoring of the status of the aircraft's systems. An estimated 352 people observed or participated in the demonstration, and 144 surveys were collected. The pilot ratings of the participants ranged from student to Air Transport Rating with an average of 1850 hours total flight time. The performance of the participants was surprisingly good, considering the minimal training in a completely new system concept. The overwhelming response was that technologies that simplify piloting tasks are enthusiastically welcomed by pilots of all experience levels. The increase in situation awareness and reduction in pilot workload were universally accepted and lauded as steps in the right direction.

Source record↗

NASA NTRS1997

AOPA Survey Summary of AGATE Concepts Demonstration, October 17-19, 1996: Original Survey Data - Volume 2

An AGATE Concepts Demonstration was conducted at the Annual Aircraft Owners and Pilots Association (AOPA) Convention in 1996. The demonstration consisted of an interactive simulation of a single-pilot, single-engine aircraft in which the participant took off, flew a brief enroute segment and then flew a Global Positioning System (GPS) approach and landing. The participant was provided an advanced 'pathway-in-the-sky' presentation on both a head-up display and a head-down display to follow throughout the flight. A single lever power control and display concept was also provided for control of the engine throughout the flight A second head-down, multifunction display in the instrument panel provided a moving map display for navigation purposes and monitoring of the status of the aircraft's systems. An estimated 352 people observed or participated in the demonstration, and 144 surveys were collected. The pilot ratings of the participants ranged from student to Air Transport Rating with an average of 1850 hours total flight time. The performance of the participants was surprisingly good, considering the minimal training in a completely new system concept. The overwhelming response was that technologies that simplify piloting tasks are enthusiastically welcomed by pilots of all experience levels. The increase in situation awareness and reduction in pilot workload were universally accepted and lauded as steps in the right direction.

Source record↗

NASA NTRS2011

Getting around Antarctica: New High-Resolution Mappings of the Grounded and Freely-Floating Boundaries of the Antarctic Ice Sheet Created for the International Polar Year

Two ice-dynamic transitions of the Antarctic ice sheet - the boundary of grounded ice features and the freely-floating boundary - are mapped at 15-m resolution by participants of the International Polar Year project ASAID using customized software combining Landsat-7 imagery and ICESat/GLAS laser altimetry. The grounded ice boundary is 53 610 km long; 74% abuts to floating ice shelves or outlet glaciers, 19% is adjacent to open or sea-ice covered ocean, and 7% of the boundary ice terminates on land. The freely-floating boundary, called here the hydrostatic line, is the most landward position on ice shelves that expresses the full amplitude of oscillating ocean tides. It extends 27 521 km and is discontinuous. Positional (one-sigma) accuracies of the grounded ice boundary vary an order of magnitude ranging from +/- 52m for the land and open-ocean terminating segments to +/- 502m for the outlet glaciers. The hydrostatic line is less well positioned with errors over 2 km. Elevations along each line are selected from 6 candidate digital elevation models based on their agreement with ICESat elevation values and surface shape inferred from the Landsat imagery. Elevations along the hydrostatic line are converted to ice thicknesses by applying a firn-correction factor and a flotation criterion. BEDMAP-compiled data and other airborne data are compared to the ASAID elevations and ice thicknesses to arrive at quantitative (one-sigma) uncertainties of surface elevations of +/-3.6, +/-9.6, +/-11.4, +/-30 and +/-100m for five ASAID-assigned confidence levels. Over one-half of the surface elevations along the grounded ice boundary and over one-third of the hydrostatic line elevations are ranked in the highest two confidence categories. A comparison between ASAID-calculated ice shelf thicknesses and BEDMAP-compiled data indicate a thin-ice bias of 41.2+/-71.3m for the ASAID ice thicknesses. The relationship between the seaward offset of the hydrostatic line from the grounded ice boundary only weakly matches a prediction based on beam theory. The mapped products along with the customized software to generate them and a variety of intermediate products are available from the National Snow and Ice Data Center.

Bindschadler, R.↗

NASA NTRS1986

Sr, Nd, and Pb isotopes in Proterozoic intrusives astride the Grenville Front in Labrador - Implications for crustal contamination and basement mapping

Trace element and Pb, Sr, and Nd isotopic compositions of anorthosites and related rocks, and of younger mafic dikes from Harp Lake and Mealy Mountains in Labrador, Canada are estimated and compared. The effects of crustal component contaminants on the isotopic compositions of the dikes are investigated. The correlation between the isotopic data and the crustal contamination model is studied. It is observed that for Harp Lake the initial Sr ratios are higher and the Nd values are lower than Mealy samples, and the data do not correspond to the crustal contamination model; however, the Pb isotope data favor a crustal contamination model. It is noted that the Labrador segment of the Grenville Front appears to coincide with the southern margin of the Archean North Atlantic craton, and may represent a pre mid-Proterozoic suture.

Ashwal, L. D.↗

NASA NTRS2008

The Chesapeake Bay Impact Crater: An Educational Investigation for Students into the Planetary Impact Process and its Environmental Consequences

Planetary impact craters are a common surface feature of many planetary bodies, including the Earth, the Moon, Mars, Mercury, Venus, and Jupiter s moons, Ganymede and Callisto. The NASA Langley Research Center in Hampton, VA, is located about 5 km inside the outer rim of the Chesapeake Bay Impact Crater. The Chesapeake Bay Impact Crater, with a diameter of 85 km is the sixth largest impact crater on our planet. The U.S. Geological Survey (USGS), in collaboration with the NASA Langley Research Center, the Virginia Department of Environmental Quality (VDEQ), the Hampton Roads Planning District Commission (HRPDC), and the Department of Geology of the College of William and Mary (WM) drilled into and through the crater at the NASA Langley Research Center and obtained a continuous core to a depth of 2075.9 ft (632.73 meters) from the Chesapeake Bay Impact Crater. At the NASA Langley location, the granite basement depth was at 2046 ft (623.87 meters). This collaborative drilling activity provided a unique educational opportunity and ongoing educational partnership between USGS, NASA Langley and the other collaborators. NASA Langley has a decade-long, ongoing educational partnership with the Colonial Coast Council of the Girl Scouts. The core drilling and on site analysis and cataloguing of the core segments provided a unique opportunity for the Girl Scouts to learn how geologists work in the field, their tools for scientific investigation and evaluation, how they perform geological analyses of the cores in an on-site tent and learn about the formation of impact craters and the impact of impacting bodies on the sub-surface, the surface, the oceans and atmosphere of the target body. This was accomplished with a two-part activity. Girl Scout day camps and local Girl Scout troops were invited to Langley Research Center Conference Center, where more than 300 Girl Scouts, their leaders and adult personnel were given briefings by scientists and educators from the USGS, NASA, VDEQ, HRPDC and WM on the principles of geology, the formation of impact craters, the consequences of the impacting body on the atmosphere, ocean, surface and sub-surface, the geological, chemical and biological analyses of the core and the cataloguing and storage of the core segments, etc. After the briefings, the Girl Scouts visited the drilling site where they inspected the core drilling rig, examined the core samples and discussed the drilling procedures, cores and interpretation of the cores with scientists and educators from the organizations conducting the core drilling. Demonstrations at the drilling site included demonstrations of impacting objects hitting multi-colored layered mud targets at different angles of entry. The multi-colored layers of mud were instructive in mapping out the distribution of impact-ejected material around the impact crater. The presentation will include a series of photographs of the Girl Scout participating in activities at the Chesapeake Bay Impact Crater drill site, including retrieving cores from the drilling rig, inspecting the core samples and participating in the impact-crater formation demonstrations.

Levine, Arlene S.↗

NASA NTRS2004

Hybrid Image-Plane/Stereo Manipulation

Hybrid Image-Plane/Stereo (HIPS) manipulation is a method of processing image data, and of controlling a robotic manipulator arm in response to the data, that enables the manipulator arm to place an end-effector (an instrument or tool) precisely with respect to a target (see figure). Unlike other stereoscopic machine-vision-based methods of controlling robots, this method is robust in the face of calibration errors and changes in calibration during operation. In this method, a stereoscopic pair of cameras on the robot first acquires images of the manipulator at a set of predefined poses. The image data are processed to obtain image-plane coordinates of known visible features of the end-effector. Next, there is computed an initial calibration in the form of a mapping between (1) the image-plane coordinates and (2) the nominal three-dimensional coordinates of the noted end-effector features in a reference frame fixed to the main robot body at the base of the manipulator. The nominal three-dimensional coordinates are obtained by use of the nominal forward kinematics of the manipulator arm that is, calculated by use of the currently measured manipulator joint angles and previously measured lengths of manipulator arm segments under the assumption that the arm segments are rigid, that the arm lengths are constant, and that there is no backlash. It is understood from the outset that these nominal three-dimensional coordinates are likely to contain possibly significant calibration errors, but the effects of the errors are progressively reduced, as described next. As the end-effector is moved toward the target, the calibration is updated repeatedly by use of data from newly acquired images of the end-effector and of the corresponding nominal coordinates in the manipulator reference frame. By use of the updated calibration, the coordinates of the target are computed in manipulator-reference-frame coordinates and then used to the necessary manipulator joint angles to position and orient the end-effector at the target with respect to the same kinematic model from the calibration step. As the end-effector/target distance decreases, the computed coordinates of the end-effector and target become more nearly affected by the same errors, so that the differences between their coordinates become increasingly precise. When the end-effector reaches the target, the remaining effective position error is the distance that corresponds to more than about one pixel in the stereoscopic images of the target.

Baumgartner, Eric↗