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At least 829 records · Page 46

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NASA NTRS2016

Fast Kalman Filtering for Relative Spacecraft Position and Attitude Estimation for the Raven ISS Hosted Payload

The Raven ISS Hosted Payload will feature several pose measurement sensors on a pan/tilt gimbal which will be used to autonomously track resupply vehicles as they approach and depart the International Space Station. This paper discusses the derivation of a Relative Navigation Filter (RNF) to fuse measurements from the different pose measurement sensors to produce relative position and attitude estimates. The RNF relies on relative translation and orientation kinematics and careful pose sensor modeling to eliminate dependence on orbital position information and associated orbital dynamics models. The filter state is augmented with sensor biases to provide a mechanism for the filter to estimate and mitigate the offset between the measurements from different pose sensors

estimation↗

NASA NTRSDate not supplied

Lessons Learned from Astrobee Operations on the International Space Station

Since its launch in 2019, NASA has been operating three Astrobee free-flying robots providing an autonomous and adaptable research platform aboard the International Space Station (ISS). These robots have not only facilitated a myriad of national and international research endeavors in microgravity but have also served as a STEM outreach platform for student competitions aboard the ISS. Amidst its extensive operational tenure, spanning over five years and exceeding 1200 hours of cumulative free-flyer operation as of April 2024, the Astrobee robots have encountered software and hardware anomalies. Despite its inherent design for on-orbit repair or replacement, certain anomalies have proven to be complex, necessitating remote resolution via software and firmware updates or, in extreme cases, hardware replacements or the return of faulty units to NASA's ground facilities for repair. Such challenges underscore the delicate balance between the autonomous functionality of Astrobee and the occasional need for human intervention to maintain optimal performance. One recurring point of failure identified during Astrobee's operational lifespan has been the SD card, a critical component utilized by the different Astrobee processors and the Dock Station. The occurrence of SD card anomalies, both on orbit and within ground units, has provided invaluable insights into the improvement of Astrobee's systems and mitigation to future faults. This presentation will focus on four key areas: 1. Overview of Faults and Anomalies: A comprehensive examination of the diverse array of faults and anomalies encountered by Astrobee and its associated systems both in orbit and on the ground. From software glitches to hardware malfunctions, this section provides insights into the challenges faced during Astrobee's operational tenure. 2. Resolution Processes and Procedures: An in-depth discussion of the methodologies and procedures implemented to resolve the encountered anomalies. This includes remote troubleshooting, software patches, firmware updates, and, when necessary, the logistics involved in hardware replacements or down-massing for repair. 3. Implementation of Software Updates and Hardware Upgrades: A detailed exploration of the strategies employed to mitigate the risk of recurring anomalies through the implementation of software updates and hardware upgrades. This section highlights the iterative nature of Astrobee's development, emphasizing the continuous pursuit of robustness and reliability. 4. Lessons Learned and Future Directions: Reflecting on the insights gained from addressing anomalies, this section examines the lessons learned and outlines future directions for enhancing Astrobee's robustness and resilience. It underscores the iterative nature of space exploration and the importance of adaptability and continuous improvement in the pursuit of scientific discovery. Through a nuanced examination of Astrobee's operational challenges and the strategies employed to overcome them, this presentation sheds light on the complexities of operating autonomous robotic systems in the ISS environment. It underscores NASA's commitment to pushing the boundaries of exploration and innovation while navigating the inherent challenges of space exploration.

Astrobee↗

NASA NTRSDate not supplied

Lessons Learned from Astrobee Operations on the International Space Station

Astrobee↗

NASA NTRS2011

Developing a Prototype ALHAT Human System Interface for Landing

The goal of the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project is to safely execute a precision landing anytime/anywhere on the moon. This means the system must operate in any lighting conditions, operate in the presence of any thruster generated regolith clouds, and operate without the help of redeployed navigational aids or prepared landing site at the landing site. In order to reach this ambitious goal, computer aided technologies such as ALHAT will be needed in order to permit these landings to be done safely. Although there will be advanced autonomous capabilities onboard future landers, humans will still be involved (either onboard as astronauts or remotely from mission control) in any mission to the moon or other planetary body. Because many time critical decisions must be made quickly and effectively during the landing sequence, the Descent and Landing displays need to be designed to be as effective as possible at presenting the pertinent information to the operator, and allow the operators decisions to be implemented as quickly as possible. The ALHAT project has established the Human System Interface (HSI) team to lead in the development of these displays and to study the best way to provide operators enhanced situational awareness during landing activities. These displays are prototypes that were developed based on multiple design and feedback sessions with the astronaut office at NASA/ Johnson Space Center. By working with the astronauts in a series of plan/build/evaluate cycles, the HSI team has obtained astronaut feedback from the very beginning of the design process. In addition to developing prototype displays, the HSI team has also worked to provide realistic lunar terrain (and shading) to simulate a "out the window" view that can be adjusted to various lighting conditions (based on a desired date/time) to allow the same terrain to be viewed under varying lighting terrain. This capability will be critical to determining the effect of terrain/lighting on the human pilot, and how they use windows and displays during landing activities. The Apollo missions were limited to about 28 possible launch days a year due to lighting and orbital constraints. In order to take advantage of more landing opportunities and venture to more challenging landing locations, future landers will need to utilize sensors besides human eyes for scanning the surface. The ALHAT HSI system must effectively convey ALHAT produced information to the operator, so that landings can occur during less "optimal" conditions (lighting, surface terrain, slopes, etc) than was possible during Apollo missions. By proving this capability, ALHAT will simultaneously provide more flexible access to the moon, and greater safety margins for future landers. This paper will specifically focus on the development of prototype displays (the Trajectory Profile Display (TPD), Landing Point Designation (LPD), and Crew Camera View (CCV) ), implementation of realistic planetary terrain, human modeling, and future HSI plans.

Hirsh, Robert L.↗

DOE OSTI2023

Autonomous sputter synthesis of thin film nitrides with composition controlled by Bayesian optimization of optical plasma emission

Autonomous experimentation has emerged as an efficient approach to accelerate the pace of material discovery. Although instruments for autonomous synthesis have become popular in molecular and polymer science, solution processing of hybrid materials, and nanoparticles, examples of autonomous tools for physical vapor deposition are scarce yet important for the semiconductor industry. Here, we report the design and implementation of an autonomous workflow for sputter deposition of thin films with controlled composition, leveraging a highly automated sputtering reactor custom-controlled by Python, optical emission spectroscopy (OES), and a Bayesian optimization algorithm. We modeled film composition, measured by x-ray fluorescence, as a linear function of plasma emission lines monitored during co-sputtering from elemental Zn and Ti targets in an N 2 and Ar atmosphere. A Bayesian control algorithm, informed by OES, navigates the space of sputtering power to fabricate films with user-defined compositions by minimizing the absolute error between desired and measured optical emission signals. We validated our approach by autonomously fabricating Zn x Ti 1-x N y films that deviate from the targeted cation composition by a relative ±3.5%, even for 15 nm thin films, demonstrating that the proposed approach can reliably synthesize thin films with a specific composition and minimal human interference. Moreover, the proposed method can be extended to more difficult synthesis experiments where plasma intensity lines depend non-linearly on pressure, or the elemental sticking coefficients strongly depend on the substrate temperature.

36 MATERIALS SCIENCE↗

NASA NTRS1993

The development and flight test of a deployable precision landing system for spacecraft recovery

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic which weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles which resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

Sim, Alex G.↗

NASA NTRS1994

Development and flight test of a deployable precision landing system

A joint NASA Dryden Flight Research Facility and Johnson Space Center program was conducted to determine the feasibility of the autonomous recovery of a spacecraft using a ram-air parafoil system for the final stages of entry from space that included a precision landing. The feasibility of this system was studied using a flight model of a spacecraft in the generic shape of a flattened biconic that weighed approximately 150 lb and was flown under a commercially available, ram-air parachute. Key elements of the vehicle included the Global Positioning System guidance for navigation, flight control computer, ultrasonic sensing for terminal altitude, electronic compass, and onboard data recording. A flight test program was used to develop and refine the vehicle. This vehicle completed an autonomous flight from an altitude of 10,000 ft and a lateral offset of 1.7 miles that resulted in a precision flare and landing into the wind at a predetermined location. At times, the autonomous flight was conducted in the presence of winds approximately equal to vehicle airspeed. Several novel techniques for computing the winds postflight were evaluated. Future program objectives are also presented.

TRT-EXPERIMENTAL↗

NASA NTRS1992

Achieving safe autonomous landings on Mars using vision-based approaches

Autonomous landing capabilities will be critical to the success of planetary exploration missions, and in particular to the exploration of Mars. Past studies have indicated that the probability of failure associated with open-loop landings is unacceptably high. Two approaches to achieving autonomous landings with higher probabilities of success are currently under analysis. If a landing site has been certified as hazard free, then navigational aids can be used to facilitate a precision landing. When only limited surface knowledge is available and landing areas cannot be certified as hazard free, then a hazard detection and avoidance approach can be used, in which the vehicle selects hazard free landing sites in real-time during its descent. Issues pertinent to both approaches, including sensors and algorithms, are presented. Preliminary results indicate that one promising approach to achieving high accuracy precision landing is to correlate optical images of the terrain acquired during the terminal descent phase with a reference image. For hazard detection scenarios, a sensor suite comprised of a passive intensity sensor and a laser ranging sensor appears promising as a means of achieving robust landings.

Pien, Homer↗

NASA NTRS2005

Equipping an FPGA-Based Mars Rover With an LN-200 IMU

The Mars Exploration Rovers (MER) currently navigating the surface of Mars are outfitted with an advanced stereovision correlation algorithm which allows them to "see" three-dimensionally and autonomously avoid obstac'les in their path. A bottleneck of this system is that it is computationally intense and requires 3 minutes of processing for every correlated image and path choice. Taking advantage of the optimization and reprogrammability of FPGAs, the Mobility Avionics lab has reduced this process to under a second. The lab is demonstrating the advancement with a prototype rover, complete with an LN-200 inertial measurement unit (IMU), which is a flight spare from MER. The LN-200 is a space-grade, six degrees-of-freedom IMU using three fiber-optic gyroscopes and three silicon accelerometers and no moving parts. It has particular power-sequencing needs and communicates with a specialized serial protocol (SDLC over RS-422), requiring specific hardware and software for proper functionality and interfacing with an FPGA. The process of incorporating the LN-200 into the system is described herein.

Zola, Nicholas J.↗

NASA NTRS2011

The Space Operations Simulation Center (SOSC) and Closed-loop Hardware Testing for Orion Rendezvous System Design

The Space Operations Simulation Center (SOSC) at the Lockheed Martin (LM) Waterton Campus in Littleton, Colorado is a dynamic test environment focused on Autonomous Rendezvous and Docking (AR&D) development testing and risk reduction activities. The SOSC supports multiple program pursuits and accommodates testing Guidance, Navigation, and Control (GN&C) algorithms for relative navigation, hardware testing and characterization, as well as software and test process development. The SOSC consists of a high bay (60 meters long by 15.2 meters wide by 15.2 meters tall) with dual six degree-of-freedom (6DOF) motion simulators and a single fixed base 6DOF robot. The large testing area (maximum sensor-to-target effective range of 60 meters) allows for large-scale, flight-like simulations of proximity maneuvers and docking events. The facility also has two apertures for access to external extended-range outdoor target test operations. In addition, the facility contains four Mission Operations Centers (MOCs) with connectivity to dual high bay control rooms and a data/video interface room. The high bay is rated at Class 300,000 (. 0.5 m maximum particles/m3) cleanliness and includes orbital lighting simulation capabilities.

D'Souza, Christopher↗

NASA NTRS2022

IRIS: High-fidelity Perception Sensor Modeling for Closed-Loop Planetary Simulations

Perception plays a key role in autonomous and semi-autonomous planetary exploration vehicles. For instance, landers can use computer vision techniques for identifying safe landing locations, aerial vehicles use cameras as navigation sensors, and planetary rovers use them for localization and hazard detection. Engineering simulations of such systems requires the accurate modeling of perception and vision sensors for simulating autonomy scenarios. In addition, the modeling of sensors for landers, aerial and ground vehicles requires the ability to handle large and high-resolution terrains, the accurate modeling of illumination, hi-fidelity rendering via ray/path tracing and the inclusion of sensor characteristics. Vision sensor models strive to simulate sensor reality by using physics principles to model the interaction of light and objects. Furthermore, high frame rate performance is highly desirable for in-the-loop simulations involving vehicle dynamics and control software. In this paper we describe a new sensor modeling capability called Inter-planetary Rendering for Imaging and Sensors (IRIS) that meets these requirements for the real-time and high-fidelity simulation of vision sensors for planetary aerospace and robotics applications.

Elmquist, Asher↗

DOE OSTI2026

Data for Autonomous Transportation Awareness: Data Exchange Use Cases, Standards, and Barriers

This report examines the critical data exchanges between automated vehicle (AV) service providers and the cities and municipalities they serve. It assists municipal authorities in navigating the often complex and real-time digital data exchanges needed to support AV mobility services, with emphasis in three areas: (1) critical safety data for broad-area situational awareness of hazards typically associated emergency dispatch or roadway work zones; (2) performance metrics of AV services that inform the quantity, quality, spatial extents, and impact on the roadway network; and (3) regulatory and policy information, particularly dynamic information that governs how AV services interact with the roadway network, with emphasis on curb space. The report reviews existing practices and emerging protocols and standards and identifies key gaps to address moving forward.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS2024

Search Technology for Optimal Rescue Missions (STORM)

Natural disasters, such as earthquakes, hurricanes, and wildfires are responsible for the deaths of 60,000 to 90,000 people per year. Today, search and rescue (SAR) operations heavily rely on humans to find and deliver life-saving supplies to those affected by these disasters. However, these operations have limits in visibility, navigation, communication systems, and data availability in the area affected, as well as endangering the SAR personnel. Search Technology for Optimal Rescue Missions (STORM) discusses a new system for SAR teams using autonomous drones able to find and deliver supplies to people, without risking more lives in the process. The concept includes the use of two drone types, STORM Search and STORM Rescue, which will survey and locate survivors and be able to drop equipment to the survivors identified, respectively. These two types of drones were optimized in drone design and durability (such as the use of dihedral wings and a toroidal propeller), detection and navigation systems (sturdy thermal and Light Detection and Ranging [LiDAR] cameras), automation and system design (Machine Learning and Computer Vision), server-drone communication (Meshnets), weight, and cost. Once implemented, the STORM concept is expected to improve, ease, and speed up SAR operations, and most important of all, rescue lives that would have never been currently possible to find.

Astha Ingole↗

NASA NTRS2021

Weather Intelligent Navigation Data and Models for Aviation Planning (WINDMAP)

WINDMAP addresses the emerging needs in the aviation community of providing real-time weather forecasting to improve the safety of low altitude aircraft operations. This is accomplished through the integration of real-time observations from autonomous systems, such as drones and urban air taxis, with numerical weather prediction models and flight management and safety systems. To solve this problem, several technical challenges have been identified. These include (1) developing autonomous UAS capable of conducting observations accurately and reliably; (2) determining the number and frequency of required observations and the sensitivity of these observations in data sparse regions of the lower atmosphere;(3) assimilating dense observational data into models in real-time with sufficient resolution and accuracy; (4) developing novel physics-based reduced order models capable of incorporating diverse data sets; and (5)integrating real-time forecasting into UTM and DAA (detect-and-avoid) architectures for path planning and navigation. The goal of this proposed effort is to demonstrate the value of using small UAS to collect measurements of the dynamic and thermodynamic properties of the lower atmosphere at scales that match or exceed the spatio-temporal resolution of today’s best numerical weather prediction models

Koushik Datta↗

DOE OSTI2025

Autonomous platform for solution processing of electronic polymers

The manipulation of electronic polymers’ solid-state properties through processing is crucial in electronics and energy research. Yet, efficiently processing electronic polymer solutions into thin films with specific properties remains a formidable challenge. We introduce Polybot, an artificial intelligence (AI) driven automated material laboratory designed to autonomously explore processing pathways for achieving high-conductivity, low-defect electronic polymers films. Leveraging importance-guided Bayesian optimization, Polybot efficiently navigates a complex 7-dimensional processing space. In particular, the automated workflow and algorithms effectively explore the search space, mitigate biases, employ statistical methods to ensure data repeatability, and concurrently optimize multiple objectives with precision. The experimental campaign yields scale-up fabrication recipes, producing transparent conductive thin films with averaged conductivity exceeding 4500 S/cm. Feature importance analysis and morphological characterizations reveal key design factors. This work signifies a significant step towards transforming the manufacturing of electronic polymers, highlighting the potential of AI-driven automation in material science.

Wang, Chengshi [Argonne National Laboratory (ANL),↗

NASA NTRS1979

Application of satellite time transfer in autonomous spacecraft clocks

The conceptual design of a spacecraft clock that will provide a standard time scale for experimenters in future spacecraft., and can be sychronized to a time scale without the need for additional calibration and validation is described. The time distribution to the users is handled through onboard computers, without human intervention for extended periods. A group parallel binary code, under consideration for onboard use, is discussed. Each group in the code can easily be truncated. The autonomously operated clock not only achieves simpler procedures and shorter lead times for data processing, but also contributes to spacecraft autonomy for onboard navigation and data packetization. The clock can be used to control the sensor in a spacecraft, compare another time signal such as that from the global positioning system, and, if the cost is not a consideration, can be used on the ground in remote sites for timekeeping and control.

Chi, A. R.↗

NASA NTRS1990

Ridge Regression Signal Processing

The introduction of the Global Positioning System (GPS) into the National Airspace System (NAS) necessitates the development of Receiver Autonomous Integrity Monitoring (RAIM) techniques. In order to guarantee a certain level of integrity, a thorough understanding of modern estimation techniques applied to navigational problems is required. The extended Kalman filter (EKF) is derived and analyzed under poor geometry conditions. It was found that the performance of the EKF is difficult to predict, since the EKF is designed for a Gaussian environment. A novel approach is implemented which incorporates ridge regression to explain the behavior of an EKF in the presence of dynamics under poor geometry conditions. The basic principles of ridge regression theory are presented, followed by the derivation of a linearized recursive ridge estimator. Computer simulations are performed to confirm the underlying theory and to provide a comparative analysis of the EKF and the recursive ridge estimator.

Kuhl, Mark R.↗

NASA NTRS2007

X-Band Radar for Studies of Tropical Storms from High Altitude UAV Platform

The increased role of unmanned aerial vehicles (UAV) in NASA's suborbital program has created a strong interest in the development of instruments with new capabilities, more compact sizes and reduced weights than the instruments currently operated on manned aircrafts. There is a strong demand and tremendous potential for using high altitude UAV (HUAV) to carry weather radars for measurements of reflectivity and wind fields from tropical storms. Tropical storm genesis frequently occurs in ocean regions that are inaccessible to piloted aircraft due to the long off shore range and the required periods of time to gather significant data. Important factors of interest for the study of hurricane genesis include surface winds, profiled winds, sea surface temperatures, precipitation, and boundary layer conditions. Current satellite precipitation and surface wind sensors have resolutions that are too large and revisit times that are too infrequent to study this problem. Furthermore, none of the spaceborne sensors measure winds within the storm itself. A dual beam X-band Doppler radar, UAV Radar (URAD), is under development at the NASA Goddard Space Flight Center for the study of tropical storms from HUAV platforms, such as a Global Hawk. X-band is the most desirable frequency for airborne weather radars since these can be built in a relatively compact size using off-the-shelf components which cost significantly less than other higher frequency radars. Furthermore, X-band radars provide good sensitivity with tolerable attenuation in storms. The low-cost and light-weight URAD will provide new capabilities for studying hurricane genesis by analyzing the vertical structure of tropical cyclones as well as 3D reflectivity and wind fields in clouds. It will enable us to measure both the 3D precipitation structure and surface winds by using two antenna beams: fixed nadir and conical scanning each produced by its associated subsystem. The nadir subsystem is a magnetron based radar modified from a marine radar transceiver. It is capable of measuring vertical reflectivity and velocity profile while being a lower-cost, smaller size, and lighter weight version of the NASA ER-2 Doppler Radar (EDOP), which has flown during many NASA field campaigns and has provided valuable scientific information on hurricanes and weather phenomena. Unfortunately, EDOP is too large and heavy for most UAV platforms, but the experience gained with this instrument provided us with the heritage to build a new low-cost, light-weight, smaller system that will be capable of flying on UAVs. The scanning subsystem uses a TWT transmitter and provides measurements of 3D reflectivity/wind fields in-clouds. Conical scanning of the radar beam at a 35 deg. incidence angle will also provide information of surface wind speed and direction derived from the surface return over a single 360 deg. sweep. URAD data system will be Linux based with the capability of autonomous operation. It will utilize cutting edge digital receiver and FPGA technologies to carry out the data acquisition and processing tasks. High speed navigation data from the aircraft will also be captured and saved along with radar data for 3D measurement field reconstruction and aircraft motion correction. There is a tremendous potential for UAVs to carry down-looking weather radars for measurements of reflectivity, horizontal and vertical winds from tropical storms. With operation from HUAV platforms, the dual beam X-band radar under development promises to provide greatly needed information for tropical storm research.

Rodriquez, Shannon↗