Results for “building operations” — Page 42

NASA NTRS2005

Vision and "Hand-Eye" Coordination for the Fujitsu HOAP-2 Humanoid Robot

Software was developed for a Fujitsu HOAP-2 humanoid robot to demonstrate that such "human form" robots can be used to perform useful tasks in an unknown environment; specifically, that they can operate with or in the place of humans to carry out construction operations necessary for space exploration, such as building or maintaining planetary surface habitats for humans. This paper describes the autonomous vision and hand-eye coordination software that enables the HOAP-2 to locate and manipulate objects. Simple vision and pattern detection algorithms including color filtering, noise filtering, image segmentation, orientation filters, and a feedback controlled tracking system enable the robot to locate marked building materials in the workspace. Experimentally determined spatial mappings associate locations in the visual field with the arm joint angles and trajectories necessary to reach these locations, allowing the robot to reach for and manipulate the building materials. These capabilities, when combined with locomotion capabilities, enable the robot to operate autonomously in an unknown workspace.

Moore, Jeffrey D.↗

NASA NTRS1992

STS-49 Endeavour/Compiled Video for Editors

Compiled footage includes shots taken of the rollout of Endeavour at Palmdale, CA, the departure and arrival of Endeavour for Kennedy Space Center (KSC), main engine three installation, solid rocket booster (SRB) segment lift and stack at the Vehicle Assembly Building (VAB), external tank mate to SRB, Intelsat rotation at the Vertical Processing Facility (VPF), Endeavour rollover from the Orbiter Processing Facility (OPF) to VAB, rollout to Pad B, and the flight readiness firing (FRF). The crew is seen during the Terminal Countdown and Demonstration Test (TCDT) training activities, at breakfast, suiting up, and exiting the Operations and Checkout (O&C) Building.

Source record↗

DOE OSTI2021

Global Power System Transformation Consortium

The Global Power System Transformation (G-PST) Consortium, an expert- and practitioner-driven initiative, engages key power system operators, research and educational institutes, governments, businesses, and stakeholders in all regions of the world to accelerate clean energy transitions at the ambitious scope and scale that is required. The G-PST Consortium provides coordinated, holistic support and knowledge infusion for system operators pursuing clean energy transitions, including performing cutting-edge research; providing implementation support for world-class engineering and operational solutions; supporting workforce development; building and disseminating open-access data and tools; and accelerating localized technology adoption, standards development, and testing programs.

consortium↗

NASA NTRS2012

Miniaturized Laser Heterodyne Radiometer (LHR) for Measurements of Greenhouse Gases in the Atmospheric Column

This passive laser heterodyne radiometer (LHR) instrument simultaneously measures multiple trace gases in the atmospheric column including carbon dioxide (CO2) and methane (CH4), and resolves their concentrations at different altitudes. This instrument has been designed to operate in tandem with the passive aerosol sensor currently used in AERONET (an established network of more than 450 ground aerosol monitoring instruments worldwide). Because aerosols induce a radiative effect that influences terrestrial carbon exchange, simultaneous detection of aerosols with these key carbon cycle gases offers a uniquely comprehensive measurement approach. Laser heterodyne radiometry is a technique for detecting weak signals that was adapted from radio receiver technology. In a radio receiver, a weak input signal from a radio antenna is mixed with a stronger local oscillator signal. The mixed signal (beat note, or intermediate frequency) has a frequency equal to the difference between the input signal and the local oscillator. The intermediate frequency is amplified and sent to a detector that extracts the audio from the signal. In the LHR instrument described here, sunlight that has undergone absorption by the trace gas is mixed with laser light at a frequency matched to a trace gas absorption feature in the infrared (IR). Mixing results in a beat signal in the RF (radio frequency) region that can be related to the atmospheric concentration. For a one-second integration, the estimated column sensitivities are 0.1 ppmv for CO2, and <1 ppbv for CH4. In addition to producing a standalone ground measurement product, this instrument could be used to calibrate/validate four Earth observing missions: ASCENDS (Active Sensing of CO2 Emissions over Nights, Days, and Seasons), OCO-2 (Orbiting Carbon Observatory), OCO-3, and GOSAT (Greenhouse gases Observational SATellite). The only network that currently measures CO2 and CH4 in the atmospheric column is TCCON (Total Carbon Column Observing Network), and only two of its 16 operational sites are in the United States. TCCON data is used for validation of GOSAT data, and will be used for OCO-2 validation. While these Fourier-transform spectrometers (FTS) can measure the largest range of trace gases, the network is severely limited due to the high cost and extreme size of these instruments (these occupy small buildings and require personnel for operation). The LHR/AERONET instrument offers a significantly smaller (carry-on luggage size) autonomous instrument that can be incorporated into AERONET s much larger (450 instruments) global network.

Steel, Emily↗

DOE OSTI2026

Multi-Split Variable Refrigerant Flow (VRF) System Building Energy Simulations Using Performance Maps

Multi-split variable refrigerant flow (VRF) systems are highly energy-efficient HVAC (heating, ventilation and air conditioning) technologies that connect a single outdoor unit to multiple independent indoor terminal units using a common refrigerant circuit and a variable-speed compressor. Building energy simulations that incorporate VRF systems help model their unique operational characteristics and predict energy consumption in specific building designs. Traditionally, EnergyPlus models these systems by employing multiple sets of performance curves to characterize both individual terminal units and the outdoor unit. However, producing these curves is labor intensive and error prone, and they often do not capture all the key input and output variables. This paper introduces a novel approach that uses multi-dimensional performance maps to model VRF systems in building environments for space cooling. In this approach, performance maps are developed at the component level—separately for the outdoor unit and for each indoor terminal. The new modeling method is validated within EnergyPlus via a Python plug-in that contains a simple solver loop to coordinate the component-level, indoor, and outdoor unit maps. Furthermore, because performance maps can span more variables than traditional performance curves, they offer the opportunity to implement advanced controls, such as enhanced dehumidification and compressor modulation. A VRF air conditioner’s hardware system was modeled using the DOE/ORNL Heat Pump Design Model, which was automated to produce extensive performance maps for both the indoor and outdoor units.

Shen, Bo [ORNL] (ORCID:0000000336600393)↗

DOE OSTI2026

Machine learning-enhanced hybrid modeling approach for better identification of a building thermal network model and improved prediction

The gray-box modeling approach, which uses a semi-physical thermal network model, has been widely used in building prediction applications, such as model predictive control (MPC). However, unmeasured disturbances, such as occupants, lighting, and in/exfiltration loads, make it challenging to apply this approach to practical buildings. In this word, we propose a hybrid modeling approach that integrates the gray-box model with a model for unmeasured disturbance. After reviewing several system identification approaches, we systematically designed the unmeasured disturbance model with a model selection process based on statistical tests to make it robust. We generated data based on the building model calibrated by real operational data and then trained the hybrid model for two different weather conditions. The hybrid model approach demonstrates an RMSE reduction of approximately 0.2–0.9 °C and 0.3–2 °C on 1-day ahead temperature prediction compared to the Conventional approach for mild (Berkeley, CA) and cold (Chicago, IL) climates, respectively. In addition, this approach was applied to experimental data obtained from the laboratory building to be used for the MPC application, showing superior prediction performances.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

DOE OSTI2021

Material Selection and Sizing of a Thermoelectric Generator (TEG) for Power Generation in a Self-Powered Heating System

By employing the high temperature heat source to directly generate the electricity needed to power auxiliary systems in a natural gas furnace, boiler or hot water heater, a “self-powered” heating system can provide several benefits. Compared with a traditional furnace, boiler or hot water heater, when overall fuel utilization is kept constant, the self-powered system will have a higher primary energy efficiency, lower operating costs, and dramatically improved building safety and resilience during electric grid outages. Furthermore, a self-powered heating system only has a single utility connection – natural gas, without an electric connection – thus simplifying installation. A thermoelectric generator can be used for direct energy conversion of thermal energy to electricity with no moving parts, which offers a very simple means to provide power for the self-powered heating system, and the operation is without noise or vibration and can thus provide a very long system life. This paper provides an analysis focused on materials selection and the thermal power requirements for a thermoelectric generator (TEG) for use in a self-powered heating system. The dimensionless figure of merit for thermoelectric materials, zT, is used to estimate the optimal efficiency that can be achieved with a TEG to produce the electric power required in such an application. Comparisons of the predicted efficiency, the required heat transfer rate to the TEG and the heat transfer area needed for sustained operation under thermal conditions relevant to the self-powered heating application are made for several potential thermoelectric materials. This analysis was used to develop system requirements for a self-powered hot water heater using a TEG for electric power generation.

Laclair, Tim↗

DOE OSTI2020

Assessing and Reducing Plug and Process Loads in Office Buildings

Plug and process loads (PPLs) account for 33% of U.S. commercial building electricity consumption (McKenney et al. 2010). (See Figure 1.) Minimizing these loads is a significant challenge in the design and operation of an energy-efficient building. Lobato et al. (2011) and Lobato et al. (2012) define PPLs as energy loads that are not related to general lighting, heating, ventilation, cooling, and water heating, and that typically do not provide comfort to the occupants. The percentage of total building energy use from PPLs is increasing. According to the U.S. Department of Energy (DOE), by 2030, commercial building energy consumption is expected to increase by 24%; PPL energy consumption is anticipated to increase by 49% in the same time frame (DOE 2010). These trends illustrate the importance of PPL energy reduction to achieve an overall goal of reducing whole-building energy consumption.

30 DIRECT ENERGY CONVERSION↗

DOE OSTI2020

Assessing and Reducing Plug and Process Loads in Retail Buildings

Plug and process loads (PPLs) account for 33% of U.S. commercial building electricity consumption (McKenney et al. 2010). (See Figure 1.) Minimizing these loads is a significant challenge in the design and operation of an energy-efficient building. Lobato et al. (2011) and Lobato et al. (2012) define PPLs as energy loads that are not related to general lighting, heating, ventilation, cooling, and water heating, and that typically do not provide comfort to the occupants. The percentage of total building energy use from PPLs is increasing. According to the U.S. Department of Energy (DOE), by 2030, commercial building energy consumption is expected to increase by 24%; PPL energy consumption is anticipated to increase by 49% in the same time frame (DOE 2010). These trends illustrate the importance of PPL energy reduction to achieve an overall goal of reducing whole-building energy consumption.

30 DIRECT ENERGY CONVERSION↗

DOE OSTI2023

Analysis of Frost Prevention for Heat Recovery Ventilation in an Arctic Facility

Sub-Arctic environments present a unique challenge for the continuous operation of mechanical ventilation systems in occupied buildings where cold temperatures create complications for maintaining adequate air quality, efficiency, and system operability. Heat recovery ventilation is most difficult at the coldest temperatures, when there is the greatest availability to transfer heat between airstreams, due to the potential for frost accumulation in the exhaust airstream. Frost limits heat transfer and creates the potential for subsequent blockage of airflow. A successful frost prevention strategy is necessary to ensure that recovery ventilation systems function in locations with a large amount of annual heating degree days. Commonly, this is achieved by preheating outdoor air above freezing temperatures via airflow through a glycol-water mix hydronic coil before heat exchange occurs. Preheating the outdoor air proactively inhibits frost formation but is associated with a penalty to recovery efficiency. A commercial-scale heat recovery ventilator in a facility in Fairbanks, Alaska was analyzed for sensible recovery effectiveness and exhaust temperature at different winter conditions. The system utilized the common defrost strategy of preheating the air above-freezing with a static temperature control scheme. The heat transfer efficiency of the recovery ventilator was observed to be poor at various winter conditions with elevated exhaust temperatures indicating lost heat recovery effectiveness. Using prior findings on strategies for sub-freezing temperatures along with observed field conditions it was determined that a dynamic relationship between the coil and the exterior conditions would reduce the energy required to preheat the air and allow the heat exchanger to maximize effectiveness due to temperate difference. This reduction in preheated temperature of the air is achieved by modulating the temperature of the coil to keep the discharge air stream above a certain dewpoint temperature threshold, likely leading to energy savings for other sub-Arctic facilities using this frost control strategy.

ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION↗

DOE OSTI2021

xsacrcfrspccopol (a1)

ARM's scanning cloud radars are fully coherent dual-frequency, dual-polarization Doppler radars mounted on a common scanning pedestal. Each pedestal includes a Ka-band radar (2kW peak power) and the deployment location determines whether the second radar is a W-band (WSACR; 1.7 kW peak power) or X-band (XSACR; 20 kW peak power). At ARM's tropical sites, X-band radars are paired with the Ka-band because they are better suited for the atmospheric attenuation in this region. Beamwidth for the X-band is approximately 1 degree, and the Ka-band beamwidth is roughly 0.3 degrees. Due to the narrow antenna beamwidth, ARM’s scanning cloud radars use scanning strategies unlike typical weather radars. Rather than focusing on plan position indicator, or PPI, scans, the XSACR uses range height indicator, or RHI, scans at numerous azimuths to obtain cloud volume data. For the second ARM Mobile Facility (AMF2), the XSACR can be dismounted from the pedestal it shares with the KASACR and mounted on a separate pedestal. This allows the XSACR to operate more like a weather (precipitation) radar in deployments where such local coverage is lacking. Measurements collected with the XSACR are copolar and cross-polar radar reflectivity, Doppler velocity, spectra width and spectra when not scanning, differential Reflectivity (Zdr), correlation coefficient (rho-hv), and specific differential phase (phi-dp). XSACR data from the 2018–2019 Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign in Argentina are now available as b1-level products. Building on the original CACTI operational data, the b1-level products feature improved data quality resulting from extensive analyses and corrections. The data are cross-calibrated to a common point, datastreams are corrected for operational issues that occurred during the campaign, and several data quality masks and basic derived products are incorporated. For more information, read the CACTI radar b1-level processing report.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

xsacrcfrspcxpol (a1)

ARM's scanning cloud radars are fully coherent dual-frequency, dual-polarization Doppler radars mounted on a common scanning pedestal. Each pedestal includes a Ka-band radar (2kW peak power) and the deployment location determines whether the second radar is a W-band (WSACR; 1.7 kW peak power) or X-band (XSACR; 20 kW peak power). At ARM's tropical sites, X-band radars are paired with the Ka-band because they are better suited for the atmospheric attenuation in this region. Beamwidth for the X-band is approximately 1 degree, and the Ka-band beamwidth is roughly 0.3 degrees. Due to the narrow antenna beamwidth, ARM’s scanning cloud radars use scanning strategies unlike typical weather radars. Rather than focusing on plan position indicator, or PPI, scans, the XSACR uses range height indicator, or RHI, scans at numerous azimuths to obtain cloud volume data. For the second ARM Mobile Facility (AMF2), the XSACR can be dismounted from the pedestal it shares with the KASACR and mounted on a separate pedestal. This allows the XSACR to operate more like a weather (precipitation) radar in deployments where such local coverage is lacking. Measurements collected with the XSACR are copolar and cross-polar radar reflectivity, Doppler velocity, spectra width and spectra when not scanning, differential Reflectivity (Zdr), correlation coefficient (rho-hv), and specific differential phase (phi-dp). XSACR data from the 2018–2019 Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign in Argentina are now available as b1-level products. Building on the original CACTI operational data, the b1-level products feature improved data quality resulting from extensive analyses and corrections. The data are cross-calibrated to a common point, datastreams are corrected for operational issues that occurred during the campaign, and several data quality masks and basic derived products are incorporated. For more information, read the CACTI radar b1-level processing report.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2021

xsacrcfrspccross (a1)

ARM's scanning cloud radars are fully coherent dual-frequency, dual-polarization Doppler radars mounted on a common scanning pedestal. Each pedestal includes a Ka-band radar (2kW peak power) and the deployment location determines whether the second radar is a W-band (WSACR; 1.7 kW peak power) or X-band (XSACR; 20 kW peak power). At ARM's tropical sites, X-band radars are paired with the Ka-band because they are better suited for the atmospheric attenuation in this region. Beamwidth for the X-band is approximately 1 degree, and the Ka-band beamwidth is roughly 0.3 degrees. Due to the narrow antenna beamwidth, ARM’s scanning cloud radars use scanning strategies unlike typical weather radars. Rather than focusing on plan position indicator, or PPI, scans, the XSACR uses range height indicator, or RHI, scans at numerous azimuths to obtain cloud volume data. For the second ARM Mobile Facility (AMF2), the XSACR can be dismounted from the pedestal it shares with the KASACR and mounted on a separate pedestal. This allows the XSACR to operate more like a weather (precipitation) radar in deployments where such local coverage is lacking. Measurements collected with the XSACR are copolar and cross-polar radar reflectivity, Doppler velocity, spectra width and spectra when not scanning, differential Reflectivity (Zdr), correlation coefficient (rho-hv), and specific differential phase (phi-dp). XSACR data from the 2018–2019 Cloud, Aerosol, and Complex Terrain Interactions (CACTI) field campaign in Argentina are now available as b1-level products. Building on the original CACTI operational data, the b1-level products feature improved data quality resulting from extensive analyses and corrections. The data are cross-calibrated to a common point, datastreams are corrected for operational issues that occurred during the campaign, and several data quality masks and basic derived products are incorporated. For more information, read the CACTI radar b1-level processing report.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2014

Use of Semi-Autonomous Tools for ISS Commanding and Monitoring

As the International Space Station (ISS) has moved into a utilization phase, operations have shifted to become more ground-based with fewer mission control personnel monitoring and commanding multiple ISS systems. This shift to fewer people monitoring more systems has prompted use of semi-autonomous console tools in the ISS Mission Control Center (MCC) to help flight controllers command and monitor the ISS. These console tools perform routine operational procedures while keeping the human operator "in the loop" to monitor and intervene when off-nominal events arise. Two such tools, the Pre-positioned Load (PPL) Loader and Automatic Operators Recorder Manager (AutoORM), are used by the ISS Communications RF Onboard Networks Utilization Specialist (CRONUS) flight control position. CRONUS is responsible for simultaneously commanding and monitoring the ISS Command & Data Handling (C&DH) and Communications and Tracking (C&T) systems. PPL Loader is used to uplink small pieces of frequently changed software data tables, called PPLs, to ISS computers to support different ISS operations. In order to uplink a PPL, a data load command must be built that contains multiple user-input fields. Next, a multiple step commanding and verification procedure must be performed to enable an onboard computer for software uplink, uplink the PPL, verify the PPL has incorporated correctly, and disable the computer for software uplink. PPL Loader provides different levels of automation in both building and uplinking these commands. In its manual mode, PPL Loader automatically builds the PPL data load commands but allows the flight controller to verify and save the commands for future uplink. In its auto mode, PPL Loader automatically builds the PPL data load commands for flight controller verification, but automatically performs the PPL uplink procedure by sending commands and performing verification checks while notifying CRONUS of procedure step completion. If an off-nominal condition occurs during procedure execution, PPL Loader notifies CRONUS through popup messages, allowing CRONUS to examine the situation and choose an option of how PPL loader should proceed with the procedure. The use of PPL Loader to perform frequent, routine PPL uplinks offloads CRONUS to better monitor two ISS systems. It also reduces procedure performance time and decreases risk of command errors. AutoORM identifies ISS communication outage periods and builds commands to lock, playback, and unlock ISS Operations Recorder files. Operation Recorder files are circular buffer files of continually recorded ISS telemetry data. Sections of these files can be locked from further writing, be played back to capture telemetry data that occurred during an ISS loss of signal (LOS) period, and then be unlocked for future recording use. Downlinked Operation Recorder files are used by mission support teams for data analysis, especially if failures occur during LOS. The commands to lock, playback, and unlock Operations Recorder files are encompassed in three different operational procedures and contain multiple user-input fields. AutoORM provides different levels of automation for building and uplinking the commands to lock, playback, and unlock Operations Recorder files. In its automatic mode, AutoORM automatically detects ISS LOS periods, then generates and uplinks the commands to lock, playback, and unlock Operations Recorder files when MCC regains signal with ISS. AutoORM also features semi-autonomous and manual modes which integrate CRONUS more into the command verification and uplink process. AutoORMs ability to automatically detect ISS LOS periods and build the necessary commands to preserve, playback, and release recorded telemetry data greatly offloads CRONUS to perform more high-level cognitive tasks, such as mission planning and anomaly troubleshooting. Additionally, since Operations Recorder commands contain numerical time input fields which are tedious for a human to manually build, AutoORM's ability to automatically build commands reduces operational command errors. PPL Loader and AutoORM demonstrate principles of semi-autonomous operational tools that will benefit future space mission operations. Both tools employ different levels of automation to perform simple and routine procedures, thereby offloading human operators to perform higher-level cognitive tasks. Because both tools provide procedure execution status and highlight off-nominal indications, the flight controller is able to intervene during procedure execution if needed. Semi-autonomous tools and systems that can perform routine procedures, yet keep human operators informed of execution, will be essential in future long-duration missions where the onboard crew will be solely responsible for spacecraft monitoring and control.

Brzezinski, Amy S.↗

NASA NTRSDate not supplied

Near-Term Policy Considerations for Lunar Missions

Near-Term Policy Considerations for Lunar Missions. Therese Jones1, Gabriel Swiney,1 and Katie McBrayer,2 1NASA HQ, 300 Hidden Figures Way SW, Washington, D.C. 20546, 2NASA Langley Re-search Center, 1 NASA Drive, Hampton, VA, 23666. (Contact: therese.m.jones@nasa.gov) Introduction: More than two dozen lunar missions are planned prior to the Artemis III crewed lunar landing, from Russian, Chinese, Indian, Japanese and U.S. government orbiters and landers to Commercial Lunar Payload Ser-vices missions to commercial crewed flybys. While the Artemis Accords have established an international consortium of countries seeking to mitigate interference between operations on the Moon, a number of unaddressed policy issues remain that may be critical to lunar operations. In this lightning talk, we build upon NASA’s Of-fice of Technology, Policy, and Strategy’s Sep-tember 2022 Report “Lunar Landing and Oper-ations Policy Analysis” [1], to give an overview of policy questions that remain open, including: whether to prioritize certain landing locations or avoid certain scientifically valuable locations, design and coordination of safety zones, notifi-cation of other actors of potential dangers posed by landing, whether to avoid placing equipment in operationally valuable locations, and end-of-life disposal. We will also discuss how these policy implications could apply to planned missions.. References: [1] Swiney, G., and Hernandez, A. Lunar Landing and Operations Policy Analy-sis, NASA Office of Technology, Policy, and Strategy, September 30, 2022 https://www.nasa.gov/sites/default/files/atoms/files/nasa-otps-lunar-landing-and-operations-policy-analysis-final-report_2.pdf

Therese Jones↗

NASA NTRS1964

Study Program to Determine the Acceleration Environment Capability of the GG159C Gas- Bearing Spinmotor Final Report

The goal of this contract was to determine the g environment under which the GC159C Gas-Bearing Spinmotor (GBSM) could reliably operate. This was fulfilled by building and testing of four GBSM's, a test fixture, and a "dummy" gyro. The test program was divided into two phases when a gas bearing improvement was required to withstand JPL shock requirement of 200 g. Phase I determined existing g capabilities and performance of the GC159C GBSM and gimbal-case structure. Phase II increased GBSM capability to meet required JPL g environments. Life tests were run on two GBSM's which were shocked at a high level to obtain bearing contact while rotating at their operating speed of 23,000 rpm. A third (nonoperating) GBSM was exposed to JPL maximum shock levels, and a fourth (nonoperating) GBSM was exposed to random vibration. Both nonoperating GBSM's were then subjected to life testing.

SPIN↗

DOE OSTI2025

Thermal Resilience of Buildings and Communities: A Multistakeholder Review of Metrics and Approaches

Increasing temperature-related hazards require a collective effort to assess and enhance the thermal resilience of buildings and communities to protect occupants’ safety and minimize property or infrastructure damage. However, limited coordination across stakeholders and lack of standardized procedures for resilience assessment undermine the effectiveness of extreme temperature mitigation and adaptation strategies across the building life cycle. This review examines the current literature on resilience metrics to address thermal stress and risk due to extreme indoor environments. Stakeholders of thermal resilience include architects and engineers, occupants, property owners, real estate developers, urban planners, and policymakers. Additionally, motivations for measuring thermal resilience are emphasized, such as safeguarding occupant health and survivability, protecting property, and ensuring business continuity during extreme weather events. This review provides actionable insights and identifies future research needs for enhancing resilience through tailored metrics for stakeholders during the planning, design, construction, operation, and retrofitting phases of buildings and communities.

building life cycle↗

NASA NTRS2022

Simulating Mars: Enabling Testing of the Perseverance Rover Sampling and Caching Subsystem on Earth

The development of the Sampling and Caching Subsystem (SCS) on the JPL Perseverance Rover lies at the intersection of testing, robotics, and geology. The SCS team established three primary system test campaigns and venues to aid in the development of SCS through verification and validation testing – Qualification Model Dirty Testing (QMDT) to provide a venue for testing in a Martian environment, Vehicle System Testbed (VSTB) for testing while integrated with the mobility subsystem on Martian-like terrain, and the Flight Software Testbed (FSWTB) for conducting tests using the flight motor controllers and software system on a hexapod which had the ability to simulate rover tilt. Each venue contributed a vital piece to the SCS building blocks. However, the QMDT venue operating within a 10-ft diameter Thermal Vacuum chamber to simulate Martian environment provided a sui generis opportunity to fine tune the entire sampling and caching process while building the team’s knowledge base about rock drillability, system life, and target selection. On Earth, because Martian rocks are not readily available, the development team must utilize geoanalogs to the rocks and regolith on Mars. Geologists on the team helped establish a set of standard rock types to use for Mars missions, like Basalt, Sandstone, Mudstone, Gypsum, and other related geoanalogs. These geoanalogs are characterized with a standard suite of tests for density, compressibility, and other characteristics to categorize potential drillability. This concept of drillability is what links the geoanalogs on Earth to the samples we collect on Mars. With the simulant characteristics defined, these geoanalog rocks are ready to be drilled into as we do on the Martian surface. A key aspect of interacting with the surface on Mars is rock target identification and selection. The Perseverance robotic system uses the on-board cameras, instrumentation, and software to collect enough information to identify potential scientific targets. With the targets identified, SCS can place the Corer and abrade the surface or collect a sample. For a ground test activity like QMDT, the test team did not have all of the camera and instrumentation systems that the rover does, so the team developed ground test equivalents to process a rock, build a target map, and define the target. The team constructed a Rock Scanning Station to build a 3D point cloud of the rock. This point cloud was then processed and evaluated with predefined and programmed criteria in a Target Downselect Tool. A primary output of the Target Downselect Tool is a defined target that can be uploaded directly to the robotic software system to simulate and build the robotic sequences used in tests. With these insights and programmatic definition of targets, the QMDT test team was able to make the same decisions that the Perseverance surface operations team does. In addition, valuable lessons learned from developing the target selection ground tools and using them were implemented into the tools used for surface operations.

Kim, Junggon↗