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All sourcesNASA NTRSDOE OSTI
NASA NTRS2019

Seeker 1.0: Prototype Robotic Free Flying Inspector Mission Overview

Seeker 1.0 is a prototype free flying robot that will one day be capable of inspecting human-rated spacecraft. Building off previous free flyer experience, this technology will eventually improve safety of human spacecraft by offering a variety of inspection capabilities for both routine and emergency scenarios providing increased capability and safety over current inspection methods. Seeker 1.0 is capable of 6 degree of freedom flight via a cold gas propulsion system and can operate up to 1 hour via a semi-autonomous guidance, navigation, and control system. The prototype spacecraft is capable of capturing still images at a variety of resolutions up to 13 MP. The initial test flight utilizes a command and data relay box called Kenobi. Kenobi is a derivative of the Seeker design and will communicate between Cygnus and Seeker and store data for post-mission downlink. Seeker and Kenobi have launched inside a NanoRacks External CubeSat Deployer (NRCSD-E) attached to the NG-11 Cygnus ISS resupply vehicle and will operate after Cygnus departs ISS and moves to a safe altitude. Operations will last approximately 30 minutes and will consist of basic vehicle maneuvers while capturing high-resolution still images. With any remaining time and propellant, Seeker will demonstrate additional safety capabilities and maneuvers required for operations around a crewed spacecraft. The Seeker project utilized the Class IE process that allows for streamlined flight hardware development and increased mission risk tolerance.

Spacecraft Inspection↗
NASA NTRS2017

The Intelligent Landing System for Safe and Precise Landing on Europa

Europa, the smallest of Jupiter’s Galilean moons, is thought to harbor a vast liquid water ocean beneath its icy crust, making it one of the most scientifically intriguing targets for a robotic surface sampling mission in our Solar System. However, autonomously landing a spacecraft safely and precisely on Europa poses unique challenges, such as very little existing high-resolution reconnaissance imagery, a surface expected to be very rough and hazardous over a wide range of scales, an extremely intense ionizing radiation environment, and very limited lander resources for mass and volume. To address these challenges, we propose a novel Intelligent Landing System (ILS) combining four Guidance, Navigation & Control (GN&C) sensing functions – velocimetry, altimetry, map-relative localization, and hazard detection – that would together enable safe and precise landing on Europa’s surface. The ILS is a smart sensor system, combining an inertial measurement unit (IMU), a monocular, passive-optical camera, and a light detection and ranging (Li-DAR) sensor with dedicated computing resources as well as an onboard 3D terrain map. The ILS leverages more than a decade of technology development from programs such as the Lander Vision System, currently baselined on the Mars 2020 mission. This paper provides a detailed description of the proposed ILS architecture and concept of operations, as well as select preliminary simulation results to assess performance and robustness.

Trawny, Nikolas↗
NASA NTRS2015

NEA Scout and Lunar Flashlight: Two NearTerm Interplanetary CubeSat Missions

NASA is developing two small satellite missions as part of the Advanced Exploration Systems (AES) Program, both of which will use a solar sail to enable their scientific objectives. Solar sails reflect sunlight from a large, mirror‐like sail made of a lightweight, highly reflective material to provide thrust. This continuous photon pressure provides propellantless thrust, allowing for very high delta V maneuvers in space. Lunar Flashlight, managed by the NASA Jet Propulsion Laboratory, will search for and map volatiles in permanently shadowed lunar craters using a solar sail as a gigantic mirror to steer sunlight into them, then examine the reflected light with a spectrometer. The Lunar Flashlight spacecraft will also use the solar sail to maneuver into a lunar polar orbit. The mission will demonstrate a low‐cost capability to explore, locate and estimate the size and composition of ice deposits on the Moon. The Near Earth Asteroid (NEA) Scout mission, managed by the NASA Marshall Space Flight Center will survey and image a Near Earth Asteroid for possible future human exploration using a smallsat propelled by a solar sail. Detections of NEAs are expected to grow in the near future, offering increasing target opportunities. Obtaining and analyzing relevant data about these bodies via robotic precursors before committing a crew to visit them is essential. The NEA Scout spacecraft is nearly identical to the one being developed for Lunar Flashlight, with the science instrument package being the primary difference. The NEA Scout solar sail will provide the primary propulsion taking the 6U cubesat from near the Earth to its final asteroid destination and the Lunar Flashlight sail will provide the propulsion necessary for its spacecraft to enter lunar orbit. Both projects will use an 85 m2 solar sail developed by NASA MSFC. The NEA Scout and Lunar Flashlight flight systems are based on a 6U cubesat form factor, with a stowed envelope of 10 x 20 x 30 cm and a mass of less than 12 kg. The solar sail for NEA Scout and Lunar Flashlight will be based on the technology developed and flown by the NASA NanoSail‐D and The Planetary Society's Lightsail‐A. Four 7 m stainless steel booms wrapped on two spools (two overlapping booms per spool) will be motor deployed and pull the sail from its stowed volume. The sail material will be 3 micron CP1, an aluminized polyimide that was extensively tested for solar sail applications. The sail will spooled rather than Z‐folded. This paper will describe both the Lunar Flashlight and NEA Scout missions and their solar sails.

Johnson, Les↗
NASA NTRS2012

Recent Results from the Lunar Reconnaissance Orbiter Mission and Plans for the Extended Mission

The Lunar Reconnaissance Orbiter spacecraft (LRO), launched on June 18, 2009, began with the goal of seeking safe landing sites for future robotic missions or the return of humans to the Moon as part of NASA's Exploration Systems Mission Directorate (ESMD). In addition, LRO's objectives included the search for surface resources and to investigate the Lunar radiation environment. After spacecraft commissioning, this phase of the mission began on September 15, 2009, completed on September 15, 2010 when operational responsibility for LRO was transferred to NASA's Science Mission Directorate (SMD). The SMD mission is scheduled for 2 years and will be completed in 2012 with an opportunity for an extended mission beyond 2012. Under SMD, the mission focuses on a new set of goals related to understanding the geologic history of the Moon, its current state, and what it can tell us about the evolution of the Solar System. Having marked the two year anniversary will review here the major results from the LRO mission for both exploration and science and discuss plans and objectives going forward including a proposed 2-year extended mission. These objectives include: 1) understanding the bombardment history of the Moon, 2) interpreting Lunar geologic processes, 3) mapping the global Lunar regolith, 4) identifying volatiles on the Moon, and 5) measuring the Lunar atmosphere and radiation environment.

Keller, John W.↗
NASA NTRS2012

Recent Results from the Lunar Reconnaissance Orbiter Mission and Plans for the Extended Science Phase

The Lunar Reconnaissance Orbiter spacecraft (LRO), launched on June 18, 2009, began with the goal of seeking safe landing sites for future robotic missions or the return of humans to the Moon as part of NASA's Exploration Systems Mission Directorate (ESMD). In addition, LRO's objectives included the search for surface resources and to investigate the Lunar radiation environment. After spacecraft commissioning, the ESMD phase of the mission began on September 15, 2009 and completed on September 15, 2010 when operational responsibility for LRO was transferred to NASA's Science Mission Directorate (SMD). The SMD mission was scheduled for 2 years and completed in September, 2012. The LRO mission has been extended for two years under SMD. The extended mission focuses on a new set of goals related to understanding the geologic history of the Moon, its current state, and what it can tell us about the evolution Of the Solar System. Here we will review the major results from the LRO mission for both exploration and science and discuss plans and objectives going forward including plans for the extended science phase out to 2014. Results from the LRO mission include but are not limited to the development of comprehensive high resolution maps and digital terrain models of the lunar surface; discoveries on the nature of hydrogen distribution, and by extension water, at the lunar poles; measurement of the day and night time temperature of the lunar surface including temperature down below 30 K in permanently shadowed regions (PSRs); direct measurement of Hg, H2, and CO deposits in the PSRs, evidence for recent tectonic activity on the Moon, and high resolution maps of the illumination conditions as the poles. The objectives for the second and extended science phases of the mission under SMD include: 1) understanding the bombardment history of the Moon, 2) interpreting Lunar geologic processes, 3) mapping the global Lunar regolith, 4) identifying volatiles on the Moon, and 5) measuring the Lunar atmosphere and radiation environment.

Vondrak, Richard↗
NASA NTRS2005

MIT-NASA Workshop: Transformational Technologies

As a space faring nation, we are at a critical juncture in the evolution of space exploration. NASA has announced its Vision for Space Exploration, a vision of returning humans to the Moon, sending robots and eventually humans to Mars, and exploring the outer solar system via automated spacecraft. However, mission concepts have become increasingly complex, with the potential to yield a wealth of scientific knowledge. Meanwhile, there are significant resource challenges to be met. Launch costs remain a barrier to routine space flight; the ever-changing fiscal and political environments can wreak havoc on mission planning; and technologies are constantly improving, and systems that were state of the art when a program began can quickly become outmoded before a mission is even launched. This Conference Publication describes the workshop and featured presentations by world-class experts presenting leading-edge technologies and applications in the areas of power and propulsion; communications; automation, robotics, computing, and intelligent systems; and transformational techniques for space activities. Workshops such as this one provide an excellent medium for capturing the broadest possible array of insights and expertise, learning from researchers in universities, national laboratories, NASA field Centers, and industry to help better our future in space.

Mankins, J. C.↗
NASA NTRS2012

Results from the Lunar Reconnaissance Orbiter Mission and Plans for the Extended Science Mission

The Lunar Reconnaissance Orbiter spacecraft (LRO), launched on June 18,2009, began with the goal of seeking safe landing sites for future robotic missions or the return of humans to the Moon as part of NASA's Exploration Systems Mission Directorate (ESMD). In addition, LRO's objectives included the search for surface resources and the measurement of the lunar radiation environment. After spacecraft commissioning, the ESMD phase of the mission began on September 15, 2009 and was completed on September 15, 2010 when operational responsibility for LRO was transferred to NASA's Science Mission Directorate (SMD). The SMD mission was scheduled for 2 years and completed in September of 2012. Under SMD, the Science Mission focused on a new set of goals related to understanding the history of the Moon, its current state, and what it can tell us about the evolution of the Solar System. Having recently marked the completion of the two-year Science Mission, we will review here the major results from the LRO for both exploration and science and discuss plans and objectives for the Extended Science that will last until September, 2014. Some results from the LRO mission are: the development of comprehensive high resolution maps and digital terrain models of the lunar surface; discoveries on the nature of hydrogen distribution, and by extension water, at the lunar poles; measurement of the daytime and nighttime temperature of the lunar surface including temperature down below 30 K in permanently shadowed regions (PSRs); direct measurement of Hg, H2, and CO deposits in the PSRs; evidence for recent tectonic activity on the Moon; and high resolution maps of the illumination conditions at the poles.

Vondrak, Richard R.↗
NASA NTRS2013

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free- flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Fong, Terrence↗
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 NTRS2013

Smart SPHERES: A Telerobotic Free-Flyer for Intravehicular Activities in Space

Smart SPHERES is a prototype free-flying space robot based on the SPHERES platform. Smart SPHERES can be remotely operated by astronauts inside a spacecraft, or by mission controllers on the ground. We developed Smart SPHERES to perform a variety of intravehicular activities (IVA), such as operations inside the International Space Station (ISS). These IVA tasks include environmental monitoring surveys (radiation, sound levels, etc.), inventory, and mobile camera work. In this paper, we first discuss the motivation for free-flying space robots. We then describe the development of the Smart SPHERES prototype, including avionics, software, and data communications. Finally, we present results of initial flight tests on-board the ISS.

Fong, Terrence↗
NASA NTRS2007

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, AR&D). The crewed versions may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Mitchell, J.↗
NASA NTRS2007

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as Automated Rendezvous and Docking, (AR&D).) The crewed versions of the spacecraft may also perform AR&D, possibly with a different level of automation and/or autonomy, and must also provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the CEV requirements. The relatively low technology readiness of relative navigation sensors for AR&D has been carried as one of the CEV Projects top risks. The AR&D Sensor Technology Project seeks to reduce this risk by increasing technology maturation of selected relative navigation sensor technologies through testing and simulation, and to allow the CEV Project to assess the relative navigation sensors.

Howard, Richard T.↗
NASA NTRS2019

The World Is Not Enough (WINE) - Space Mining Robot with Steam Propulsion

The World Is Not Enough (WINE) is a concept for a new generation of spacecraft that takes advantage of In-Situ Resource Utilization (ISRU) to explore space. WINE mines to extract water from planetary regolith, capturing the water as ice in a cold trap and heating it to create steam for propulsion. By propulsively "hopping" from location to location, WINE can explore Solar System bodies as well as individual bodies (e.g. WINE could cover much greater distances on Europa or the Moon than a rover, and can reach otherwise inaccessible regions). And by refueling itself as it goes, WINE's range is not limited by consumables. This makes WINE particularly well suited to prospecting and reconnaissance missions. A prototype of WINE was designed, fabricated and tested in a large vacuum chamber. The vehicle was used to demonstrate several of the primary operations that would be required of the WINE spacecraft including: mining and heating regolith to extract water; capturing water as ice in a cold trap; reorienting the vehicle to allow for further mining; pushing captured water into a propulsion tank; and heating propellant to create steam for thrust. All systems demonstrated are fully functional. All tests are conducted with regolith simulant in a vacuum chamber.

Propulsion↗
NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

The Gateway Program has made substantial design and development progress toward delivering a small, human-tended lunar space station purposefully designed to enable sustainable human exploration. The Program integrates partners and providers organizationally and physically as part of the spacecraft. The Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO) with the European System Providing Refueling, Infrastructure and Telecommunications (ESPRIT) HALO Lunar Communications System (HLCS) have begun manufacturing the long lead components and will be launched first as a Co-Manifested Vehicle (CMV). The International Habitat (I-Hab) and ESPRIT Refueling Module (ERM) are passing life cycle milestones and include capabilities key for human crewmembers, such as windows, private sleeping quarters, and galley functions. The Logistics Module (LM) may provide a variety of services to Gateway depending on each mission. Requirements for the airlock have been developed, including requests that it support the integrated spacecraft with functions like augmenting heat rejection capabilities, and interfaces with new spacesuits will soon be developed in more detail. As a critical element of the architecture for solar system exploration, Gateway implements key tenets and features of international interoperability standards necessary to operate with multiple visiting vehicles and lunar assets, especially avionics, communications, and docking. Specific choices such as software architecture and standards, power standards, and robotics standards make it possible to utilize heritage or proprietary technology, yet still operate as one spacecraft. Engineering teams are evaluating many possible future missions to be executed at or utilizing the Gateway. The system architecture protects for an evolvable, extensible, and flexible capability. Designing systems robust enough to serve as a cornerstone of exploration activities for decades while remaining adaptable is not without its challenges. The detailed integration activities have revealed challenges and the need to mature key technologies. Refueling is a key component of achieving long life for Gateway, with unique operations to plan, safety concerns to mitigate, and risk reduction activities to conduct to better understand the system. The constraints and impacts of the design of visiting vehicles is also an important concern, with orientation constraints, control of attitude and orbit of the Gateway with docked visiting vehicles. Tradeoffs between robust maintainable systems and lightweight, compact systems must be balanced. Opportunities still exist for adding additional advanced capabilities to increase and extend Gateway’s benefits, such as intravehicular robotics, autonomous Guidance Navigation and Control (GN&C), and augmented control propulsion, heat rejection, or other services.

Molly S Anderson↗
NASA NTRSDate not supplied

Gateway at the Crossroads of Sustainable Lunar Exploration

The Gateway Program has made substantial design and development progress toward delivering a small, human-tended lunar space station purposefully designed to enable sustainable human exploration. The Program integrates partners and providers organizationally and physically as part of the spacecraft. The Power and Propulsion Element (PPE) and the Habitation and Logistics Outpost (HALO) with the European System Providing Refueling, Infrastructure and Telecommunications (ESPRIT) HALO Lunar Communications System (HLCS) have begun manufacturing the long lead components and will be launched first as a Co-Manifested Vehicle (CMV). The International Habitat (I-Hab) and ESPRIT Refueling Module (ERM) are passing life cycle milestones and include capabilities key for human crewmembers, such as windows, private sleeping quarters, and galley functions. The Logistics Module (LM) may provide a variety of services to Gateway depending on each mission. Requirements for the airlock have been developed, including requests that it support the integrated spacecraft with functions like augmenting heat rejection capabilities, and interfaces with new spacesuits will soon be developed in more detail. As a critical element of the architecture for solar system exploration, Gateway implements key tenets and features of international interoperability standards necessary to operate with multiple visiting vehicles and lunar assets, especially avionics, communications, and docking. Specific choices such as software architecture and standards, power standards, and robotics standards make it possible to utilize heritage or proprietary technology, yet still operate as one spacecraft. Engineering teams are evaluating many possible future missions to be executed at or utilizing the Gateway. The system architecture protects for an evolvable, extensible, and flexible capability. Designing systems robust enough to serve as a cornerstone of exploration activities for decades while remaining adaptable is not without its challenges. The detailed integration activities have revealed challenges and the need to mature key technologies. Refueling is a key component of achieving long life for Gateway, with unique operations to plan, safety concerns to mitigate, and risk reduction activities to conduct to better understand the system. The constraints and impacts of the design of visiting vehicles is also an important concern, with orientation constraints, control of attitude and orbit of the Gateway with docked visiting vehicles. Tradeoffs between robust maintainable systems and lightweight, compact systems must be balanced. Opportunities still exist for adding additional advanced capabilities to increase and extend Gateway’s benefits, such as intravehicular robotics, autonomous Guidance Navigation and Control (GN&C), and augmented control propulsion, heat rejection, or other services.

Molly S Anderson↗
NASA NTRS2005

Comparison of Coincident Multiangle Imaging Spectroradiometer and Moderate Resolution Imaging Spectroradiometer Aerosol Optical Depths over Land and Ocean Scenes Containing Aerosol Robotic Network Sites

The Multiangle Imaging Spectroradiometer (MISR) and the Moderate Resolution Imaging Spectroradiometer (MODIS), launched on 18 December 1999 aboard the Terra spacecraft, are making global observations of top-of-atmosphere (TOA) radiances. Aerosol optical depths and particle properties are independently retrieved from these radiances using methodologies and algorithms that make use of the instruments corresponding designs. This paper compares instantaneous optical depths retrieved from simultaneous and collocated radiances measured by the two instruments at locations containing sites within the Aerosol Robotic Network (AERONET). A set of 318 MISR and MODIS images, obtained during the months of March, June, and September 2002 at 62 AERONET sites, were used in this study. The results show that over land, MODIS aerosol optical depths at 470 and 660 nm are larger than those retrieved from MISR by about 35% and 10% on average, respectively, when all land surface types are included in the regression. The differences decrease when coastal and desert areas are excluded. For optical depths retrieved over ocean, MISR is on average about 0.1 and 0.05 higher than MODIS in the 470 and 660 nm bands, respectively. Part of this difference is due to radiometric calibration and is reduced to about 0.01 and 0.03 when recently derived band-to-band adjustments in the MISR radiometry are incorporated. Comparisons with AERONET data show similar patterns.

Moderate Resolution Imaging Spectroradiometer (MOD↗
NASA NTRS2013

Precursor Asteroid Missions and Synergies to Human Exploration of Phobos and Deimos

U.S. President Obama stated on April 15, 2010 that the next goal for human spaceflight will be to send human beings to a near-Earth asteroid by 2025 and then on to the Martian system in the 2030s. Given this direction from the White House, NASA has been involved in studying various strategies for near-Earth object (NEO) exploration in order to follow U.S. space exploration policy. These missions would be the first human expeditions to interplanetary bodies beyond the Earth-Moon system and would prove useful for testing technologies required for human missions to Mars and its moons, as well as other Solar System destinations. Robotic precursor missions to NEOs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific investigations of these primitive objects. In addition, the resulting scientific investigations would refine designs for future extraterrestrial resource extraction and utilization, which may play a vital role in leveraging potential resources from the Martian moons that in turn could enable robotic and human exploration of Mars.

Abell, Paul↗