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At least 667 records · Page 37

Origins, Spectral Interpretation, Resource Identification, Security, Regolith Explorer Planning (OSIRIS-REx)

Scientists at ARES are preparing to curate and analyze samples from the first U.S. mission to return samples from an asteroid. The Origins-Spectral Interpretation- Resource Identification-Security-Regolith Explorer, or OSIRIS-REx, was selected by NASA as the third mission in its New Frontiers Program. The robotic spacecraft will launch in 2016 and rendezvous with the near-Earth asteroid Bennu, in 2020. A robotic arm will collect at least 60 grams of material from the surface of the asteroid to be returned to Earth in 2023 for worldwide distribution by the NASA Astromaterials Curation Facility at ARES.

Nakamura-Messenger, Keiko↗

NASA's Space Launch System Gains Momentum Toward Integration and Testing

NASA's Space Launch System (SLS) entered a new phase in 2017, completing major structural manufacturing on the core stage and delivering the first flight hardware to NASA's Kennedy Space Center (KSC). The program is now transitioning to integration, assembly and testing in preparation for launch readiness in late 2019. Core stage prime contractor Boeing concluded welding of the major core stage components for Exploration Mission 1 (EM-1) with the liquid hydrogen flight tank, following completion of the engine section, liquid oxygen tank, and forward skirt. Technicians also completed assembly of the bolted intertank, and all sections are currently in hardware integration. The engine section structural test article was shipped to NASA's Marshall Space Flight Center (MSFC) and began testing in 2017. The core stage pathfinder shipped to NASA's Michoud Assembly Facility (MAF). Booster prime contractor Orbital ATK made significant progress casting motor segments for SLS, with several segments finishing processing and in storage. Forward and aft sections of the boosters are being refurbished at KSC. RS-25 prime contractor Aerojet Rocketdyne completed SLS adaptation testing and qualification of four new EM-1 controllers. The four EM-1 engines are ready and waiting for shipment from NASA's Stennis Space Center (SSC) to Michoud Assembly Facility (MAF) for core stage integration in preparation for green run testing at SSC. The EM-1 Interim Cryogenic Propulsion System (ICPS) became the first major piece of SLS to arrive at KSC. Welding is complete on the EM-1 Launch Vehicle Stage Adapter (LVSA) and the flight Orion Stage Adapter (OSA). SLS is critical to U.S. leadership in future human and robotic space exploration, including a presence on the moon in preparation for missions deeper into space. This paper will elaborate on 2017 SLS progress and progress envisioned for 2018.

Askins, Bruce R.↗

Collision detection for spacecraft proximity operations

Collision Detection for Spacecraft Proximity Operations This thesis describes the development of a new collision detection algorithm to be used when two spacecraft are operating in the same vicinity. The two spacecraft are modelled as unions of convex polyhedra, where the polyhedron resulting from the union may be either convex or nonconvex. The relative motion of the two spacecraft is assumed to be such that one vehicle is moving with constant linear and angular velocity with respect to the other. The algorithm determines if a collision is possible and, if so, predicts the time when the collision will take place. The theoretical basis for the new collision detection algorithm is the C-function formulation of the configuration space approach recently introduced by researchers in robotics. Three different types of C-functions are defined that model the contacts between the vertices, edges, and faces of the polyhedra representing the two spacecraft. These C-functions are used to formulate three "collision" conditions. The first of these conditions limits the points representing potential collisions to the zeros of the C-functions. The new algorithm is fundamentally a search for the smallest zero of any C-function that satisfies the second and third collision conditions. The C-functions are shown to be transcendental functions of time for the assumed trajectory of the moving spacecraft. The zeros of these functions cannot be expressed in dosed form. Therefore, numerical search procedures are developed to find aLl of the zeros of a C-function in specified bounded intervals of time. These bounded intervals of time are found by examining the second and third collision conditions. The capabilities of the new algorithm are demonstrated for several example cases. These include examples of collisions determined by zeros of each of the three different types of C-functions. In addition to predicting the time of first contact of the polyhedra, the algorithm identifies the features of the two polyhedra that are touching at this time. The new collision detection algorithm is the first such algorithm that is capable of solving the collision detection problem exactly for the case where the moving object has constant linear and angular velocities. This is a significant improvement on previous collision detection algorithms described in the literature. In particular, the ability to handle constant angular velocity represents a more realistic type of rotational motion than those which have been used in other algorithms.

Robin M Vaughan↗

Self-calibration of robot-sensor system

The process of finding the coordinate transformation between a robot and an external sensor system has been addressed. This calibration is equivalent to solving a nonlinear optimization problem for the parameters that characterize the transformation. A two-step procedure is herein proposed for solving the problem. The first step involves finding a nominal solution that is a good approximation of the final solution. A varational problem is then generated to replace the original problem in the next step. With the assumption that the variational parameters are small compared to unity, the problem that can be more readily solved with relatively small computation effort.

Yeh, Pen-Shu↗

Autonomous robot using infrared thermal camera to discriminate objects in outdoor scene

A complete autonomous legged robot is beig designed at Carnegie Mellon University to perform planetary exploration without human supervision. This robot must traverse unknown and geographically diverse areas in order to collect samples of materials. This paper describes how thermal imaging can be used to identify materials in order to find good footfall positions and collection sites of material. First, a model developed for determining the temperature of materials in an outdoor scene is presented. By applying this model, it is shown that it is possible to determine a physical characteristic of the material: thermal inertia. Second, experimental results are described that consist in recording thermal images of an outdoor scene constituted with sand and rock. Third, results and limitations of applying the model to experimental images are analyzed. Finally, the paper analyzes how basic segmentation algorithms can be combined with the thermal inertia segmentation in order to improve the discrimination of different kinds of materials.

Caillas, C.↗

Robotics and telepresence for moon missions

An integrated moon program has often been proposed as a logical next step for today's space efforts. In the context of preparing for the possibility of launching a moon program, the European Space Agency is currently conducting an internal study effort which is focusing on the assessment of key technologies. Current thinking has this moon program organized into four phases. Phase 1 will deal with lunar resource exploration. The goal would be to produce a complete chemical inventory of the moon, including oxygen, water, other volatiles, carbon, silicon, and other resources. Phase 2 will establish a permanent robotic presence on the moon via a number of landers and surface rovers. Phase 3 will extend the second phase and concentrate on the use and exploitation of local lunar resources. Phase 4 will be the establishment of a first human outpost. Some preliminary work such as the building of the outpost and the installation of scientific equipment will be done by unmanned systems before a human crew is sent to the moon.

Sallaberger, Christian↗

Towards Development of Robotic Aid for Rehabilitation of Locomotion-Impaired Subjects

Manual assistance of therapists to help movement of legs of spinal cord injured (SCI) subjects during stepping on a treadmill for locomotion rehabilitation has severe economic and technical limitations. Scientists at the Department of Physiological Science at the University of California Los Angeles (UCLA) and roboticists at the Jet Propulsion Laboratory (JPL) initiated a joint effort to develop a robotic mechanism capable of performing controlled motions equivalent to the arm and hand motions of therapists assisting the stepping of locomotion impaired subjects on a treadmill, while the subjects' body weight is partially supported by an overhead harness. A first necessary technical step towards this development is to measure and understand the kinematics and dynamics of the therapists' arm and hand motions as they are reflected on the subjects' leg movement. This paper describes an initial measurement system developed for this purpose together with the related measurement results, and outlines the planned future technical work.

Bejczy, Antal K.↗

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Cordova, Luis↗

Ground Contact Modeling for the Morpheus Test Vehicle Simulation

The Morpheus vertical test vehicle is an autonomous robotic lander being developed at Johnson Space Center (JSC) to test hazard detection technology. Because the initial ground contact simulation model was not very realistic, it was decided to improve the model without making it too computationally expensive. The first development cycle added capability to define vehicle attachment points (AP) and to keep track of their states in the lander reference frame (LFRAME). These states are used with a spring damper model to compute an AP contact force. The lateral force is then overwritten, if necessary, by the Coulomb static or kinetic friction force. The second development cycle added capability to use the PolySurface class as the contact surface. The class can load CAD data in STL (Stereo Lithography) format, and use the data to compute line of sight (LOS) intercepts. A polygon frame (PFRAME) is computed from the facet intercept normal and used to convert the AP state to PFRAME. Three flat plane tests validate the transitions from kinetic to static, static to kinetic, and vertical impact. The hazardous terrain test will be used to test for visual reasonableness. The improved model is numerically inexpensive, robust, and produces results that are reasonable.

Cordova, Luis↗

Lunar Polar In Situ Resource Utilization (ISRU) as a Stepping Stone for Human Exploration

A major emphasis of NASA is to extend and expand human exploration across the solar system. While specific destinations are still being discussed as to what comes first, it is imperative that NASA create new technologies and approaches that make space exploration affordable and sustainable. Critical to achieving affordable and sustainable exploration beyond low Earth orbit (LEO) are the development of technologies and approaches for advanced robotics, power, propulsion, habitats, life support, and especially, space resource utilization systems. Space resources and how to use them, often called In-Situ Resource Utilization (ISRU), can have a tremendous beneficial impact on robotic and human exploration of the Moon, Mars, Phobos, and Near Earth Objects (NEOs), while at the same time helping to solve terrestrial challenges and enabling commercial space activities. The search for lunar resources, demonstration of extraterrestrial mining, and the utilization of resource-derived products, especially from polar volatiles, can be a stepping stone for subsequent human exploration missions to other destinations of interest due to the proximity of the Moon, complimentary environments and resources, and the demonstration of critical technologies, processes, and operations. ISRU and the Moon: There are four main areas of development interest with respect to finding, obtaining, extracting, and using space resources: Prospecting for resources, Production of mission critical consumables like propellants and life support gases, Civil engineering and construction, and Energy production, storage, and transfer. The search for potential resources and the production of mission critical consumables are the primary focus of current NASA technology and system development activities since they provide the greatest initial reduction in mission mass, cost, and risk. Because of the proximity of the Moon, understanding lunar resources and developing, demonstrating, and implementing lunar ISRU provides a near and early opportunity to perform the following that are applicable to other human exploration mission destinations: Identify and characterize resources, how they are distributed, and the material, location and environment in which they are found; Demonstrate concepts, technologies, and hardware that can reduce the cost and risk of human exploration beyond Earth orbit; Use the Moon for operation experience and mission validation for much longer missions that are farther from Earth Develop and evolve ISRU to support sustained, economical human presence beyond Earth's orbit, including promoting space commercialization As Table 1 depicts, the Moon provides environments and resources applicable to Mars and NEOs. Two lunar ISRU resource and product pathways that have notable synergism with NEO, Phobos/Demos, and Mars ISRU are oxygen/metal extraction from regolith, and water/volatile extraction from lunar polar materials. To minimize the risk of developing and incorporating ISRU into human missions, a phased implementation plan is recommended that starts with prospecting and demonstrating critical technologies on robotic and human missions, then performing pilot scale operations (in non-mission critical roles) to enhance exploration mission capabilities, leading to full utilization of space resources in mission critical roles. Which lunar ISRU pathway is followed will depend on the results of early resource prospecting/proof-ofconcept mission(s), and long-term human exploration plans.

Sanders, Gerald B.↗

Extravehicular Activity and Planetary Protection

The first human mission to Mars will be the farthest distance that humans have traveled from Earth and the first human boots on Martian soil in the Exploration EVA Suit. The primary functions of the Exploration EVA Suit are to provide a habitable, anthropometric, pressurized environment for up to eight hours that allows crewmembers to perform autonomous and robotically assisted extravehicular exploration, science/research, construction, servicing, and repair operations on the exterior of the vehicle, in hazardous external conditions of the Mars local environment. The Exploration EVA Suit has the capability to structurally interface with exploration vehicles via next generation ingress/egress systems. Operational concepts and requirements are dependent on the mission profile, surface assets, and the Mars environment. This paper will discuss the effects and dependencies of the EVA system design with the local Mars environment and Planetary Protection. Of the three study areas listed for the workshop, EVA identifies most strongly with technology and operations for contamination control.

Buffington, J. A.↗

Application of a Fully Numerical Guidance to Mars Aerocapture

An advanced guidance algorithm, Fully Numerical Predictor-corrector Aerocapture Guidance (FNPAG), has been developed to perform aerocapture maneuvers in an optimal manner. It is a model-based, numerical guidance that benefits from requiring few adjustments across a variety of different hypersonic vehicle lift-to-drag ratios, ballistic co-efficients, and atmospheric entry conditions. In this paper, FNPAG is first applied to the Mars Rigid Vehicle (MRV) mid lift-to-drag ratio concept. Then the study is generalized to a design map of potential Mars aerocapture missions and vehicles, ranging from the scale and requirements of recent robotic to potential human and precursor missions. The design map results show the versatility of FNPAG and provide insight for the design of Mars aerocapture vehicles and atmospheric entry conditions to achieve desired performance.

Matz, Daniel A.↗

Analysis of A Severe Dust Storm and Its Impact on Air Quality Conditions Using Wrf-Chem Modeling, Satellite Imagery, and Ground Observations

This study presents a comprehensive analysis of an extreme dust event recorded in the Arabian Peninsula and the United Arab Emirates (UAE) between 31 March and 3 April 2015. Simulations of the dust event with the Weather Research and Forecasting model coupled with the Chemistry module (WRF-Chem) were analyzed and verified using MSG-SEVIRI imagery and aerosol optical depth (AOD) from the recent 1-km Multi-Angle Implementation of Atmospheric Correction (MAIAC) algorithm for MODIS Terra/Aqua. Data from the National Centers for Atmospheric Prediction/National Center for Atmospheric Research (NCEP/NCAR) and the upper-air radiosonde observations were used to understand the synoptic of the event. In addition, the impact of the event on atmospheric and air quality conditions is investigated. The Air Quality Index (AQI) was calculated prior, during, and after the event to assess the degradation of air quality conditions. Simulated temperature, relative humidity, wind speed, and surface radiation were compared to observations at six monitoring stations in the UAE giving R2 values of 0.84, 0.63, 0.60, and 0.84, respectively. From 1 to 2 April 2015, both observations and simulations showed an average drop in temperature from 33 to 26 °C and radiance reduction from about 950 to 520 Wm−2. The AOD modeled by WRF-Chem showed a good correlation with Aerosol Robotic Network (AERONET) measurements in the UAE with R2 of 0.83. The AQI over the UAE reached hazardous levels during the peak of the dust event before rapidly decreasing to moderate–good air quality levels. This work is the first attempt to demonstrate the potential of using WRF-Chem to estimate AQI over the UAE along with two satellite products (MODIS-MAIAC and MSG-SEVIRI) for dust detection and tracking.

dust storm↗

History of Ultrasonic Inspection of High-Level Waste Tanks at SRS - 20220

The Liquid Waste Disposition Projects (LWDP) Structural Authority and Inspection Engineering Support Group has teamed with the Materials Science and Technology Non-destructive Evaluation Group of Savannah River National Laboratory (SRNL) to implement a comprehensive In-Service Inspection (ISI) program for the High-Level Waste (HLW) tanks in the sites tank farms. The purpose of this program is to demonstrate the structural and leak integrity of the tanks to maintain the function of waste containment throughout the desired service life. Four types of waste tanks were constructed at Savannah River Site (SRS) from 1951 thru 1981 to store radioactive nuclear waste from the separations process. The Type I, II and III are carbon steel cylindrical tanks with varying degrees of access to the side walls and very limited access to the tank bottom. The tanks contain 750,000 to 1.3 million gallons of waste and are buried or backfilled with soil. The tanks are 75'-85' in diameter and 24'-33' from tank bottom to the tank roof. Inspection of the HLW tanks is made difficult by radiation, contamination, and small access openings. Through the years these challenges have been overcome by progressive improvements to programs and equipment resulting in the sophisticated wall crawler Ultrasonic Testing (UT) technology of today. A formal inspection program was developed and put in service in 1972. UT thickness measurements were first made in 1967 and 1969 of selected waste tanks using an analog-type instrument to measure the thickness of the carbon steel walls. Routine inspections for thinning were performed from 1972-1985 and then discontinued because no thinning had been observed and this technique could not detect pitting or cracking. UT inspections resumed in 1994 using a sophisticated robotic wall crawler with UT technology capable of detecting thinning, cracking and pitting. The current program focuses on the newer Type III tanks that are used primarily for storage. The program was upgraded in 2003 to include selected regions of the tank wall, secondary wall and annulus floor on a 7 to 10-year frequency. The facility is currently in its third cycle of tank inspections. Thus far, there have been no reportable indications of service induced degradation. This result provides assurance that the chemistry control program has been effective at mitigating corrosion and that the tanks remain structurally sound even after more than 40 years of service. This paper will present the UT technology first used at SRS and the evolution to the current systems and their capabilities. Additionally, plans for equipment upgrades that will improve the extent of inspection will be discussed. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Multi-Sensor Testing for 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 AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must 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 requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.

Brewster, L.↗

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

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 AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

Brewster, Linda L.↗

Development of techniques required for the application of a laser to three dimensional visual sensing

The ongoing vision research at the Center for Intelligent Robotic Systems for Space Exploration (CIRSSE) is directed toward identifying and addressing the relevant issues involved in applying visual sensing to space assembly tasks. A considerable amount of effort has been devoted to passive sensing techniques such as using multiple cameras to identify objects in a scene. To compliment the capabilities of the passive visual system in the CIRSSE robotics testbed, research is being conducted in active sensing techniques. This report is description of the research associated with the testbed's laser scanner and its application as an active sensing device. The report is comprised of five major topics. First is a brief description of the CIRSSE visual system and a summary of the active sensing research that has been conducted up to this point. Second, some of the methods currently used to calibrate CIRSSE's laser scanner are described as well as an appraisal of the effectiveness of these methods. Third, is a discussion of how the laser scanner can be employed in concert with a camera to provide a three dimensional point estimation capability. Fourth, there is a description of methods that can be used to detect the presence of the laser beam in a cluttered camera image. Finally, there is a summary of the current state of this research and a description of research planned for the future.

Ryan, Arthur M.↗

STS-72 Post Flight Presentation

In this post flight presentation video for the STS-72 mission, the flight crew, Cmdr. Brian Duffy, Pilot Brent Jett, and Mission Specialists Daniel T. Barry, Winston E. Scott, Leroy Chiao, and Koichi Wakata (NASDA), discuss their mission using flight footage and slides. The pre-launch and launching activities are shown. Using the robot arm inside the space shuttle's cargo bay, the Japanese Space Flyer Unit (SFU) is retrieved and berthed and the Office of Aeronautics and Space Technology (OAST) Flyer satellite is deployed, retrieved, and reberthed. Chiao and Barry performed the first of the two 6 1/2 hour EVAs and Chiao and Scott performed the second. In both EVAs, the thermal properties of the new space suits were tested, along with new tools and equipment that will eventually be used to build the International Space Station. Space shuttle landing activities are also shown. Earth views include cloud shadows, Africa, Brazil, Australia, and Mt. Kilimanjaro.

Peterson, Glen↗