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At least 469 records · Page 26

Summary of Ice Shape Geometric Fidelity Studies on an Iced Swept Wing

Understanding the aerodynamic impact of swept-wing ice accretions is a crucial component of the design of modern aircraft. Computer-simulation tools are commonly used to approximate ice shapes, so the necessary level of detail or fidelity of those simulated ice shapes must be understood relative to high-fidelity representations of the ice. Previous tests were performed in the NASA Icing Research Tunnel to acquire high-fidelity ice shapes. Some of those ice shapes are based on aircraft certification requirements. From this database, full-span artificial ice shapes were designed and manufactured for both an 8.9%-scale and 13.3%-scale semispan wing model of the CRM65 which has been established as the full-scale baseline for this swept-wing project. These models were tested in the Walter H. Beech wind tunnel at Wichita State University and at the ONERA (Office national d'etudes et de recherches aerospatiales) F1 facility, respectively. The data collected in the Wichita State University wind tunnel provided a low-Reynolds number baseline study while the pressurized F1 facility produced data over a wide range of Reynolds and Mach numbers with the highest Reynolds number studied being approximately Re = 11.9 by 10 (sup 6). Three different fidelity representations were created based on three different icing conditions. Lower-fidelity ice shapes were created by lofting a smooth ice shape between cross-section cuts of the high-fidelity ice shape. Grit roughness was attached to this smooth ice shape as another fidelity variant. The data indicates that the geometric fidelity of the ice shapes resulted in significant differences in lift and drag. These results were similar at both facilities over the wide range of test conditions utilized.

Aerodynamics↗

Comparative Analysis of Static and Dynamic Probabilistic Risk Assessment

This study examines three different methodologies for producing loss-of-mission (LOM) and loss-of-crew (LOC) risks estimates for probabilistic risk assessments (PRA) of crewed spacecraft. The three bottom-up, component-based PRA approaches examined are a traditional static fault tree, a dynamic Monte Carlo simulation, and a fault tree hybrid that incorporates some dynamic elements. These approaches were used to model the reaction control system thruster pod of a generic crewed spacecraft and mission, and a comparative analysis of the methods is presented. The methodologies are assessed in terms of the process of modeling a system, the actionable information produced for the design team, and the overall fidelity of the quantitative risk evaluation generated. The system modeling process is compared in terms of the effort required to generate the initial model, update the model in response to design changes, and support mass-versus-risk trade studies. The results are compared by examining the top-level LOM/LOC estimates and the relative risk driver rankings at the failure mode level. The fidelity of each modeling methodology is discussed in terms of its capability to handle real-world system dynamics such as cold-sparing, changes in mission operations due to loss of redundancy, and common cause failure modes. The paper also discusses the applicability of each methodology to different phases of system development and shows that a single methodology may not be suitable for all of the many purposes of a spacecraft PRA. The fault tree hybrid approach is shown to be best suited to the needs of early assessments during conceptual design phases. As the design begins to mature, the level of detail represented in the risk model must go beyond redundancy and nominal mission operations to include dynamic, time- and state-dependent system responses as well as diverse system capabilities. This is best accomplished using the dynamic simulation approach, since these phenomena are not easily captured by static methods. Ultimately, once the design has been finalized and the goal of the PRA is to provide design validation and requirement verification, more traditional, static fault tree approaches may become as appropriate as the simulation method.

Mattenberger, Christopher J.↗

Large Scale Production of Densified Hydrogen to the Triple Point and Below

Recent demonstration of advanced liquid hydrogen storage techniques using Integrated Refrigeration and Storage technology at NASA Kennedy Space Center led to the production of large quantities of densified liquid and slush hydrogen in a 125,000 L tank. Production of densified hydrogen was performed at three different liquid levels and LH2 temperatures were measured by twenty silicon diode temperature sensors. Overall densification performance of the system is explored, and solid mass fractions are calculated. Experimental data reveal hydrogen temperatures dropped well below the triple point during testing, and were continuing to trend downward prior to system shutdown. Sub-triple point temperatures were seen to evolve in a time dependent manner along the length of the horizontal, cylindrical vessel. The phenomenon, observed at two fill levels, is detailed herein. The implications of using IRAS for energy storage, propellant densification, and future cryofuel systems are discussed.

Hydrogen↗

Modeling Systems-Of-Systems Interfaces with SysML

Space data systems are inherently complex. They are systems-of-systems, typically composed of spacecraft and mission operations systems (MOS) belonging to one (or more) organizations, and multi-mission communication assets belonging to other organizations. In many cases, the spacecraft contain sub-systems and instruments provided by different organizations, and MOS systems that may be developed and operated by other organizations. The point of greatest leverage in system architecting is at the interfaces. We have developed a set of methods for using SysML to model systems-of-systems and their interfaces. This paper describes how to apply this method to space data systems at a variety of levels of detail, from abstract systems and subsystems down to hardware and software components, including the details of their interfaces and protocol designs.

Shames, Peter M.↗

Experimental Aerodynamic Simulation of Scallop Ice Accretion on a Swept Wing

Understanding the aerodynamic impact of swept-wing ice accretions is a crucial component of the design of modern aircraft. Computer-simulation tools are commonly used to approximate ice shapes, so the necessary level of detail or fidelity of those simulated ice shapes must be understood relative to high-fidelity representations of the ice. Previous tests were performed in the NASA Icing Research Tunnel to acquire high-fidelity ice shapes. From this database, full-span artificial ice shapes were designed and manufactured for both an 8.9%-scale and 13.3%-scale semispan wing model of the CRM65 which has been established as the full-scale baseline for this swept-wing project. These models were tested in the Walter H. Beech wind tunnel at Wichita State University and at the ONERA F1 facility, respectively. The data collected in the Wichita St. University wind tunnel provided a low-Reynolds number baseline study while the pressurized F1 facility produced data over a wide range of Reynolds and Mach numbers with the highest Reynolds number studied being approximately Re=11.9x106. Past work focused on only three different fidelity variations for ice shapes based on multiple icing conditions. This work presents a more detailed investigation into several fidelity representations of a single highly three-dimensional scallop ice accretion. Sensitivity to roughness size and application technique on a low-fidelity smooth ice shape is described. The data indicate that the aerodynamic performance is not especially sensitive to the grit variations. An ice accretion code was also used to generate ice shapes for aerodynamic testing and comparisons. These ice shapes have a general appearance like the low-fidelity smooth ice shapes, but in this case, the computer-generated ice shape is significantly smaller. As such, the impact of that ice shape on the aerodynamic performance of the wing is reduced compared to the smooth ice shape based on the icing experiment for those same conditions. Spanwise discontinuities were also introduced to a low-fidelity ice shape in an attempt to quantify the impact of those variation in the high-fidelity ice shape. While the lift data indicate good agreement between the high-fidelity ice shapes and the low-fidelity ice shapes and the low-fidelity ice shapes with spanwise discontinuities, a closer investigation of the data suggests potential, significant differences in the flowfield. These results were similar at both facilities over the wide range of test conditions utilized.

Woodard, Brian↗

Quantifying the Relative Impact of Model Microphysics Parameterizations and Scattering Models in Simulating Synthetic Radar and Microwave Radiometer Observations

Output from numerical weather models is often used to simulate observations from remote sensing instruments, for purposes ranging from data assimilation, synthetic retrievals of geophysical quantities, and optimization of observing systems. However, when hydrometeors are present, the level of detail provided by the weather model is generally insufficient to fully constrain the input to the radiative transfer model (RTM), and further assumptions must be made by the RTM user in order to produce synthetic observations. Using a hierarchy of models including cloud-resolving, double-moment, bin microphysical, and ice-habit predicting models, along with scattering properties from the OpenSSP, Atmospheric Radiative Transfer Simulator (ARTS) databases, as well as relatively simple geometries (e.g., cylindrical plates and columns), we demonstrate the spread in synthetic observation output and the extent to which it is reduced when microphysics is more strongly constrained by the model. As an intermediate step, an error budget for the RTM simulations was derived and from that we developed and will describe best practices for observation simulation (e.g., optimal number of hydrometeor size bins, truncation of the particle size distribution, angular resolution of scattering phase function). Some statistical comparisons with observations will also be presented.

Munchak, S. Joseph↗

Searching for Hyperspectral Optical Proxies to Aid Chesapeake Bay Resource Managers in the Detection of Poor Water Quality

Shellfish aquaculture is a growing industry in the Chesapeake Bay. As population grows near the coast, extreme weather events cause a greater volume of pollutant runoff from impervious surfaces and agricultural lands. Resource managers who monitor shellfish beds need reliable information on a variety of water quality indicators at higher frequency than is possible through field monitoring programs and at a higher level of detail than current satellite products can provide. Although many factors causing degraded water quality that can impact human health are not currently discernable by traditional multispectral techniques, hyperspectral imagery offers a new opportunity to detect phytoplankton communities associated with harmful algal blooms and biotoxin production. Together with resource managers in their routine monitoring of sites around the bay from small boats, we have been exploring remotely sensed optical proxies for the detection of harmful algal blooms and sewage. Early warning by remote sensing could guide sampling and improve the efficiency of shellfish bed closures, ultimately improving health outcomes for humans and animals. An extensive network of routine sampling by Chesapeake Bay Program managers makes this is an ideal location to develop and test future satellite data products to support management decisions. Next generation hyperspectral measurements from the future Plankton Aerosol Cloud ocean Ecosystem (PACE) mission at nearly daily frequency, combined with the potential of higher spatial resolution from the Surface Biology and Geology (SBG) observing system recommended in the recent Decadal Survey, along with high frequency observations from the newly selected Geostationary Littoral Imaging and Monitoring Radiometer (GLIMR) Earth Venture Instrument make this a critical time for defining the needs of the aquaculture and resource management community to save lives, time, and money.

Schollaert Uz, Stephanie↗

Progressive Damage and Failure Analysis of Bonded Composite Joints at High Energy Dynamic Impacts

Both wing and fuselage structures utilize bonded composite joints for structural efficiency in modern commercial and military aircraft. To ensure compliance with certification requirements mechanical fasteners are typically used as a failsafe mechanism for appropriate strength in the event of complete stiffener disbond. However, the use of fasteners decreases the structural efficiency of the structure by adding weight. This establishes the requirement to better exploit the efficiency of bonded structures and fully understand the failure behavior of adhesively bonded composite structures, particularly when subjected to elevated loading rates due to high energy dynamic impacts (HEDI). For this reason, the NASA Advanced Composite Consortium (ACC) HEDI team developed an experimentation and numerical modeling program for high rate loading of composite joints. In the present work, the response of adhesively bonded composite joints subjected to elevated loading rates is studied numerically and validated against experimental results. Due to dynamic considerations of experiments, the idea of wedge insert was extended to use with Split Hopkinson Pressure Bar (SHPB) testing techniques. Mode-I and Mode-II test configurations were simulated to evaluate the capability of two continuum damage material (CDM) models in LS-DYNA, namely MAT162 and MAT261. Three different levels of fidelity were considered to investigate the level of detail required to numerically predict the failure behavior and the results from high fidelity analysis are presented.

MAT261↗

The many faces of the Mars Sample Return mission architecture

The purpose of the Mars Sample Return mission would be to take advantage of the capability to study Mars to the level of detail only possible in Earth laboratories. This paper will attempt to summarize some of the Guidance and Control challenges, even if it succeeds in only scratching the surface.

Mattingly, Richard L.↗

The Cassini Spacecraft: Object Oriented Flight Control Software

The Cassini AACS object-oriented Flight Software is depicted in increasing levels of detail using a Context Diagram, Architecture Diagrams, an Object Diagram for each object, and a Statechart for each object. The detail contained in the diagrams is enhanced and refined during the Requirements and Design Phases of both Subsystem and Software Development. Examples of all the diagrams as well as the criteria for object selection, the advantages of statecharts, and the ease of modifying the design to accommodate changes in scope are described.

object-oriented↗

Preliminary Examination Process of Apollo Core 73002 - Insights and Lessons Learned From ANGSA for Future Sample Return Missions

Apollo Sample 73002 is part of a 2-foot long “drive tube” (73001/73002) of regolith that was collected from a landslide deposit near Lara Crater at the Apollo 17 site, Station 3. The double drive tube is believed to have penetrated a lunar landslide deposit that was transported from the slope of the South Massif into the TLV [1]. As part of the ANGSA (Apollo Next Generation Sample Analyses) initiative, preparing preliminary examination (PE) catalog of 73002 is a crucial first step for the early identification of material types such as rock fragments, and potential stratigraphy within the core. PE of Apollo core 73002 is distinct from science activities with the main goal to produces a sample catalog with a level of detail about sample characterization that is sufficient for the ANGSA PIs (and later on the lunar sample community) to select and request the samples to conduct their individual, scientific studies. Ultimately, the PE catalog of 73002 will help to establish a better understanding of the stratigraphy of the land slide deposit; the processes of the landslide including the trigger(s) and possibly number of landslide events, as well as the role of volatiles [1] and will aid in the careful preservation of the material for future studies [2].

Apollo↗

Nuclear Space System Analysis and Modelling (NSSAM): A Software Tool to Efficiently Analyze the Design Space of Space Reactor Systems

Space reactors have the potential to play a key role in future NASA exploration activities due to their capability to enable sustainable power and advanced propulsion systems. To enable assessment of the space reactor design space, the nuclear space system analysis and modelling (NSSAM) software was developed by Analytical Mechanics Associates. NSSAM leverages a scalable and extensible software architecture which automates reactor analysis to perform coupled engine-reactor and reactor physics-thermal hydraulics calculations. This allows space reactor systems to be evaluated by a wider number of users with a consistent analysis approach to compare designs. NSSAM has been developed with multiple use cases to tailor the analysis to the level of detail desired by the user and computing resources. This summary overviews the NSSAM architecture and development approach, current capabilities (including design variants and use cases) and analysis approach for reactor and system component models.

nuclear thermal propulsion↗

Thermodynamic and Diffusion Model Estimates on Metamorphic Temperatures and Timescales for Basaltic Eucrite GRA 98098

Introduction: HED meteorites are thought to rep-resent igneous rocks from Vesta’s basaltic crust and preserve evidence of early crustal metamorphism. Determining the temperatures and timescales of thermal metamorphism is important for reconstructing crustal evolution in the early solar system. Here, we study basaltic eucrite Graves Nunataks (GRA) 98098, which has been identified as a highly metamorphosed eucrite [1]. We present new estimates on metamorphic temperatures determined via thermodynamic modeling as well as the initial results from diffusion models constraining timescales of thermal metamorphism. Sample Description: GRA 98098 is an unbrecciated eucrite with a granoblastic plagioclase and pyroxene mineralogy. Millimeter to cm-long lathes of tridymite cross-cut and poikilitically enclose plagioclase and pyroxene [1,this work]. Pyroxene grains have exsolved into Ca-rich (~Wo38En29Fs33) and Ca-poor (~Wo4.5En36Fs59.5) lamellae. Both unzoned and zoned plagioclase grains are observed. Unzoned plagioclase grains are found solely with tridymite laths. These grains have ~An92 compositions. The cores of the zoned plagioclase grains have the same composition and thin, relatively sodic rims (~An67), (Fig. 1). The bulk sample is unusually enriched in highly in-compatible elements and has one of the most fractionated REE patterns reported [1]. Maximum metamorphic temperatures of 985±78°C have been estimated using two-pyroxene thermometry [2]. Methods: Thermodynamic modeling. Thermodynamic models were constructed using the software Perple_X, which employs a Gibbs free energy minimization in order to determine the most stable phase assemblage for a given bulk rock composition [3]. Bulk composition was calculated using mineral com-positions acquired via EMPA (this study) and the observed abundancies present in the thin section. Two bulk compositions were estimated; 1) includes all phases present in the thin section, (assumes that all phases are present during metamorphism), 2) excludes tridymite from the bulk calculation (assumes that tridymite was not present during metamorphism). In order to determine whether metamorphic equilibria was achieved and estimate temperatures of metamorphism, we compared measured pyroxene compositions with thermodynamically predicted compositions [4, Fig. 2]. Diffusion Modeling. Several time-temperature de-pendent diffusion profiles were calculated in order to determine the best match for XAn chemical profiles observed at the edges of the zoned plagioclase (Fig. 3). We assumed that the start condition was a stepwise gradient at the plagioclase/pyroxene interface. We also assumed an average diffusion coefficient (D) and a constant temperature using the equation in [5]. D was determined for two temperatures (T = 1060ºC; near eucrite solidus [6] and T = 985ºC; metamorphism reported in [4]) and then XAn was calculated as a function of distance from plagioclase core to rim using an error function solution to Fick’s second law. Results: Thermodynamic model results are summarized in Fig. 2. For a bulk composition that includes all phases in the thin section, pyroxene endmember compositions plot in the following temperature ranges: Fs ~660-860ºC, En~1000ºC & 1150ºC, and Wo~760-900ºC (Fig. 2a). For a bulk composition that excludes tridymite from the peak metamorphic assemblage (i.e., the bulk composition minus the contribution from tridymite), a temperature range could not be determined for the Fs component of pyroxene. For Wo, T~760-900ºC and En, T~1000ºC & 1150ºC (Fig. 2b). Fig. 3 summarizes the diffusion model results. For T = 1060°C & 985°C, the most appropriate time interval was estimated based on which diffusion curve most matched (solid lines, Fig. 3) the EMPA data. For T = 1060°C, the best looking match was t = 500 ka. For T = 985°C, the best match was t = 7 Ma. Discussion and future work: Temperature estimates from thermodynamic models are not conclusive because the temperature ranges determined for pyroxene endmember stability do not overlap (colored fields in Fig. 2), thus implying that there is disequilibrium between pyroxene crystals and the bulk composition considered [4]. Thus, additional exploration is needed to define a metamorphically equilibrated do-main that accurately records peak temperature. The utility of defining metamorphically equilibrated do-mains to improve the accuracy and level of detail elucidated regarding the petrogenetic history of metamorphose samples has been demonstrated previously [4,7]. We suggest that in the case of Fig. 2a, the thin section composition is not representative of the length scales over which metamorphic equilibrium was achieve and in the case of Fig. 2b, the assumption that tridymite was not present during metamorphism was incorrect. However, results from thermodynamic models can provide insight into the relative timing of mineral and compositional textures. For example from texture alone, it is unclear whether tridymite was igneous in origin and represents the last bits of melt in a crystallizing magma chamber, or if it formed during (and possibly initiated) open system thermal metamorphism. The latter could be consistent with a partial melt hypothesis [8,9] while the former implies that simple fractional crystallization can yield the textures present in GRA 98098. The lack of coincidence be-tween pyroxene endmember compositions in Fig. 2b suggest that the bulk composition minus tridymite was not the assemblage in equilibrium with the pyroxene, suggesting that tridymite was present during metamorphism and formed during igneous crystallization. We conclude that the development of the Na-rich plagioclase rims likely occurred during or immediately after peak thermal metamorphism, because eucrites of similar metamorphic grade and texture have unzoned plagioclase (~An92) [2,4,8], and Na zoning is only observed in the plagioclase not included in the tridymite. This suggests that the zoning formed after tridymite formation, and therefore after igneous crystallization. Thus, the timescales calculated via diffusion modeling possibly represent the time interval over which thermal metamorphism occurred. Cooling rates approximated for the Vestan crust predict that the crust cooled below 300°C around 35-40 Ma after formation[10]. This is consistent with our modeling results that predict formation of the Na rich plagioclase rims occurring at higher temperatures over a period of 0.5 to 7 Ma years. Future work. Additional thermodynamic modeling work will focus on selecting an equilibrated bulk rock domain in which to elucidate metamorphic conditions. Diffusion models currently provide a minimum time-scale, since diffusion slows down as the system cools. Future work with will focus on integrating cooling into the diffusion models and constraining the depth at which thermal metamorphism occurs because it could be used to determine whether the range of time-scales calculated for thermal metamorphism are consistent with the geologic environment.

J S Gorce↗

High-Resolution Imaging of Supraglacial Hydrological Features on the Greenland Ice Sheet with NASA’s Airborne Topographic Mapper (ATM) Instrument Suite

Seasonal meltwater pools on the surface of the Greenland Ice Sheet (GrIS) during late spring and summer in lakes on the surface and transforms the ice sheet's surface into a wet environment in the ablation zone below the equilibrium line. These supraglacial lakes in topographic lows on the ice surface are connected by a dendritic pattern of meandering streams and channels that together form a hydrological system consisting of supra-, en-, and subglacial components. Here, we use lidar data from NASA's Airborne Topographic Mapper (ATM) instrument suite and high-resolution optical imagery collected as part of Operation IceBridge (OIB) in spring 2019 over the GrIS to develop methods for the study of supraglacial hydrological features. While airborne surveys have a limited temporal and spatial coverage compared to imaging spaceborne sensors, their high footprint density and high-resolution imagery reveal a level of detail that is currently not obtainable from spaceborne measurements. The accuracy and resolution of airborne measurements complement spaceborne measurements, can support calibration and validation of spaceborne methods, and provide information necessary for high-resolution process studies of the supraglacial hydrological system on the GrIS that currently cannot be achieved from spaceborne observations alone.

ATM↗

VULCAN-CFD Theory Manual: Ver. 7.2.0

VULCAN-CFD offers a comprehensive set of capabilities to enable the simulation of continuum flowfields from subsonic to hypersonic conditions. The governing equations that are employed include allowances for both chemical and thermal nonequilibrium processes, coupled with a wide variety of turbulence models for both Reynolds-averaged and large eddy simulations. A description of the physical and numerical models available in the software are presented in this document. However, it is emphasized that the descriptions provided are not intended to fully document every aspect of the models employed. Instead, the governing equations, and the models required to simulate them numerically, are presented with the goal of providing a sufficient level of detail to understand their strengths and limitations. The reader is encouraged to access the references provided throughout this document for a more complete explanation of the formulations presented.

VULCAN-CFD Theory Manual↗

DLES Unreal Simulation Tool (DUST)

NASA’s future Artemis missions to the Moon seek to explore areas around the Lunar South Pole. Though humans have previously set foot on the lunar surface, the proposed region provides unique and challenging environments that require insight and investigation prior to arrival. Several teams throughout the agency are performing this site and mission planning, design, and analysis to support areas like the Human Landing System (HLS), surface mobility, habitation elements, and scientific exploration. The NASA Exploration Systems Simulation (NExSyS) team at Johnson Space Center is developing a graphical environment of the Lunar South Pole region. Lunar terrain information collected from the Lunar Reconnaissance Orbiter (LRO) is compiled and made available through Johnson Space Center’s Digital Lunar Exploration Sites (DLES) data sets. The DLES data is used to build this graphic environment. The process of ingesting and accurately modeling this information in a meaningful way for analysis creates its own challenges such as generating a performant model from the source data and the application of curvature. Additionally, the area around the Lunar South Pole experiences different lighting conditions than those observed from the Apollo missions. The need to use the lunar environmental data products provided by DLES combined with the capability to calculate date specific ephemerides in real-time has given rise to the development of the DLES Unreal Simulation Tool (DUST). DUST incorporates augmented terrain from the DLES product into a desktop application that allows exploration of the Lunar South Pole region and its complex lighting conditions. DUST leverages advanced capabilities in the recently released Unreal Engine 5 renderer by Epic Games such as double precision for positioning of planetary bodies and surface elements, multiple infinite light sources to represent the Sun and eventually Earthshine, high resolution shadow maps for dynamic shadow accuracy, real-time software ray-tracing for multi-surface bounce lighting to render sunlight reflected off surface elements and terrain features, and performance optimized level of detail shifting as the eyepoint changes in a scene. This paper details the DUST application, the technologies of the engine platform that enable scientific and engineering analysis, the unique techniques and processes developed to consume the DLES data sets, and how the tool is being used to support the Artemis program.

Lunar Visualization↗

Perspective on Satellite-Based Land Data Assimilation to Estimate Water Cycle Components in an Era of Advanced Data Availability and Model Sophistication

The beginning of the 21st century is marked by a rapid growth of land surface satellite data and model sophistication. This offers new opportunities to estimate multiple components of the water cycle via satellite-based land data assimilation (DA) across multiple scales. By resolving more processes in land surface models and by coupling the land, the atmosphere, and other Earth system compartments, the observed information can be propagated to constrain additional unobserved variables. Furthermore, access to more satellite observations enables the direct constraint of more and more components of the water cycle that are of interest to end users. However, the finer level of detail in models and data is also often accompanied by an increase in dimensions, with more state variables, parameters, or boundary conditions to estimate, and more observations to assimilate. This requires advanced DA methods and efficient solutions. One solution is to target specific observations for assimilation based on a sensitivity study or coupling strength analysis, because not all observations are equally effective in improving subsequent forecasts of hydrological variables, weather, agricultural production, or hazards through DA. This paper offers a perspective on current and future land DA development, and suggestions to optimally exploit advances in observing and modeling systems.

Data Assimilation↗

Multi-Resolution Elevation Mapping and Safe Landing Site Detection with Applications to Planetary Rotorcraft

In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired from a sequence of monocular images by a Structure-from-Motion approach into a local, robot-centric, multi-resolution elevation map of the overflown terrain, which fuses depth measurements according to their lateral surface resolution (pixel-footprint) in a probabilistic framework based on the concept of dynamic Level of Detail. Map aggregation only requires depth maps and the associated poses, which are obtained from an on-board Visual Odometry algorithm. An efficient landing site detection method then exploits the features of the underlying multi-resolution map to detect safe landing sites based on the slope, roughness, and quality of the reconstructed terrain surface. The evaluation of the performance of the mapping and landing site detection modules are analyzed independently and jointly in simulated and realworld experiments in order to establish the efficacy of the proposed approach.

Brockers, Roland↗