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All sourcesNASA NTRSDOE OSTI
NASA NTRS2014

Evolution of the Scope and Capabilities of Uplink Support Software for Mars Surface Operations

In January of 2004 both of the Mars Exploration Rover spacecraft landed safely, initiating daily surface operations at the Jet Propulsion Laboratory for what was anticipated to be approximately three months of mobile exploration. The longevity of this mission, still ongoing after ten years, has provided not only a tremendous return of scientific data but also the opportunity to refine and improve the methodology by which robotic Mars surface missions are commanded. Since the landing of the Mars Science Laboratory spacecraft in August of 2012, this methodology has been successfully applied to operate a Martian rover which is both similar to, and quite different from, its predecessors. For MER and MSL, daily uplink operations can be most broadly viewed as converting the combined interests of both the science and engineering teams into a spacecraft-safe set of transmittable command files. In order to accomplish these ends a discrete set of mission-critical software tools were developed which not only allowed for conformation to established JPL standards and practices but also enabled innovative technologies specific to each mission. Although these primary programs provided the requisite capabilities for meeting the high-level goals of each distinct phase of the uplink process, there was little in the way of secondary software to support the smooth flow of data from one phase to the next. In order to address this shortcoming a suite of small software tools was developed to aid in phase transitions, as well as to automate some of the more laborious and error-prone aspects of uplink operations. This paper describes the evolution of this software suite, from its initial attempts to merely shorten the duration of the operator's shift, to its current role as an indispensable tool enforcing workflow of the uplink operations process and agilely responding to the new and unexpected challenges of missions which can, and have, lasted many years longer than originally anticipated.

CoUGAR↗
NASA NTRS2007

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

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

Mitchell, J.↗
NASA NTRS2007

Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

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

Howard, Richard T.↗
NASA NTRS2003

Odyssey in Space Human Factors: The Challenges of Going Where No One has Gone Before

Some human factors challenges for space missions include: 1) Reduced Gravity; 2) Remote Operation; 3) Information; 4) Multi-Purpose Design. This viewgraph presentation addresses each of these topics. It describes how the design and layout of equipment on spacecraft can accomodate human activity in a microgravity environment. It describes the remote operation of robotic arms and robots. Displays, procedures, information sharing, and automation are means of conveying information. Multi-purpose design facilitates accomodating and supporting tasks onboard a single vehicle.

Blume, Jenifer Linda↗
NASA NTRS2009

Virtual Planetary Analysis Environment for Remote Science

All of the data for NASA's current planetary missions and most data for field experiments are collected via orbiting spacecraft, aircraft, and robotic explorers. Mission scientists are unable to employ traditional field methods when operating remotely. We have developed a virtual exploration tool for remote sites with data analysis capabilities that extend human perception quantitatively and qualitatively. Scientists and mission engineers can use it to explore a realistic representation of a remote site. It also provides software tools to "touch" and "measure" remote sites with an immediacy that boosts scientific productivity and is essential for mission operations.

Keely, Leslie↗
NASA NTRS1984

Exact nonlinear command generation and tracking for robot manipulators and spacecraft slewing maneuvers

In connection with the current interest in agile spacecraft maneuvers, it has become necessary to consider the nonlinear coupling effects of multiaxial rotation in the treatment of command generation and tracking problems. Multiaxial maneuvers will be required in military missions involving a fast acquisition of moving targets in space. In addition, such maneuvers are also needed for the efficient operation of robot manipulators. Attention is given to details regarding the direct nonlinear command generation and tracking, an approach which has been successfully applied to the design of control systems for V/STOL aircraft, linearizing transformations for spacecraft controlled with external thrusters, the case of flexible spacecraft dynamics, examples from robot dynamics, and problems of implementation and testing.

Dywer, T. A. W., III↗
NASA NTRS2011

Synergistic Activities of Near-Earth Object Exploration

U.S. President Obama stated on April 15, 2010 that the next goal for human spaceflight will be to send human beings to near-Earth asteroids by 2025. Missions to NEOs would undoubtedly provide a great deal of technical and engineering data on spacecraft operations for future human space exploration while conducting in-depth scientific examinations of these primitive objects. Information obtained from a human investigation of a NEO, together with ground-based observations and prior spacecraft investigations of asteroids and comets, will also provide a real measure of ground truth to data obtained from terrestrial meteorite collections. Major advances in the areas of geochemistry, impact history, thermal history, isotope analyses, mineralogy, space weathering, formation ages, thermal inertias, volatile content, source regions, solar system formation, etc. can be expected from human NEO missions. Samples directly returned from a primitive body would lead to the same kind of breakthroughs for understanding NEOs that the Apollo samples provided for understanding the Earth-Moon system and its formation history. In addition, robotic precursor and human exploration missions to NEOs would allow the NASA and its international partners to gain operational experience in performing complex tasks (e.g., sample collection, deployment of payloads, retrieval of payloads, etc.) with crew, robots, and spacecraft under microgravity conditions at or near the surface of a small body. This would provide an important synergy between the worldwide Science and Exploration communities, which will be crucial for development of future international deep space exploration architectures and has potential benefits for future exploration of other destinations beyond low-Earth orbit.

Abell, Paul↗
NASA NTRS2014

Testing Astronaut-Controlled Telerobotic Operation of Rovers From the International Space Station as a Precursor to Lunar Missions

Missions to Earth-Moon libration points can advance capabilities for human exploration and provide unique opportunities to advance scientific knowledge. For example, NASA’s Orion spacecraft, currently under development, could serve as a platform from which astronauts would explore the lunar farside using robots that they remotely operate from a libration point. During Summer 2013, we conducted initial testing of this “surface telerobotics” concept of operations using the International Space Station (ISS) as a proxy for Orion orbiting the Moon. Over the course of three test sessions, Expedition 36 astronauts Chris Cassidy, Luca Parmitano, and Karen Nyberg on the ISS remotely operated NASA’s “K10” planetary rover in an outdoor terrain located at the NASA Ames Research Center (ARC). In this paper, we discuss the motivation for Earth-Moon libration point missions, describe the surface telerobotics tests performed to date, and outline directions for future ISS testing.

Fong, Terrence↗
NASA NTRS2010

Establishing a Robotic, LEO-to-GEO Satellite Servicing Infrastructure as an Economic Foundation for Exploration

The strategy for accomplishing civilian exploration goals and objectives is in the process of a fundamental shift towards a potential new approach called Flexible Path. This paper suggests that a government-industry or public-private partnership in the commercial development of low Earth orbit to geostationary orbit (LEO-to-GEO (LTG)) space, following or in parallel with the commercialization of Earth-to-LEO and International Space Station (ISS) operations, could serve as a necessary, logical step that can be incorporated into the flexible path approach. A LTG satellite-servicing infrastructure and architecture concept is discussed within this new strategic context. The concept consists of a space harbor that serves as a transport facility for a fleet of specialized, fully- or semi-autonomous robotic servicing spacecraft. The baseline, conceptual system architecture is composed of a space harbor equipped with specialized servicer spacecraft; a satellite command, communication, and control system; a parts station; a fuel station or depot; and a fuel/parts replenishment transport. The commercial servicer fleet would consist of several types of spacecraft, each designed with specialized robotic manipulation subsystems to provide services such as refueling, upgrade, repair, inspection, relocation, and removal. The space harbor is conceptualized as an ISS-type, octagonal truss structure equipped with radiation tolerant subsystems. This space harbor would be primarily capable of serving as an operational platform for various commercially owned and operated servicer spacecraft positioned and docked symmetrically on four of the eight sides. Several aspects of this concept are discussed, such as: system-level feasibility in terms of ISS-truss-type infrastructure and subsystems emplacement and maintenance between LEO and GEO; infrastructure components assembly in LEO, derived from ISS assembly experience, and transfer to various higher orbital locations; the evolving Earth-to-orbit (ETO) capability to deliver humans and cargo to LEO for assembly purposes; system architectural definition, optimal orbital parameters, mass estimations, delta velocity ( V) estimations, power and propulsion options, and assessments of various critical technologies. Large-scale, robotic, LTG satellite servicing is considered as an essential economic pre-condition and next parallel or sequential step on the road toward exploration beyond LEO. Such a step might produce the necessary pre-requisite economic value that can be used by future decision makers to justify further investment in exploration beyond LEO.

Horsham, Gary A. P.↗
NASA NTRS2007

Video Guidance Sensor and Time-of-Flight Rangefinder

A proposed video guidance sensor (VGS) would be based mostly on the hardware and software of a prior Advanced VGS (AVGS), with some additions to enable it to function as a time-of-flight rangefinder (in contradistinction to a triangulation or image-processing rangefinder). It would typically be used at distances of the order of 2 or 3 kilometers, where a typical target would appear in a video image as a single blob, making it possible to extract the direction to the target (but not the orientation of the target or the distance to the target) from a video image of light reflected from the target. As described in several previous NASA Tech Briefs articles, an AVGS system is an optoelectronic system that provides guidance for automated docking of two vehicles. In the original application, the two vehicles are spacecraft, but the basic principles of design and operation of the system are applicable to aircraft, robots, objects maneuvered by cranes, or other objects that may be required to be aligned and brought together automatically or under remote control. In a prior AVGS system of the type upon which the now-proposed VGS is largely based, the tracked vehicle is equipped with one or more passive targets that reflect light from one or more continuous-wave laser diode(s) on the tracking vehicle, a video camera on the tracking vehicle acquires images of the targets in the reflected laser light, the video images are digitized, and the image data are processed to obtain the direction to the target. The design concept of the proposed VGS does not call for any memory or processor hardware beyond that already present in the prior AVGS, but does call for some additional hardware and some additional software. It also calls for assignment of some additional tasks to two subsystems that are parts of the prior VGS: a field-programmable gate array (FPGA) that generates timing and control signals, and a digital signal processor (DSP) that processes the digitized video images. The additional timing and control signals generated by the FPGA would cause the VGS to alternate between an imaging (direction-finding) mode and a time-of-flight (range-finding mode) and would govern operation in the range-finding mode.

Bryan, Thomas↗
NASA NTRS2004

Video Guidance Sensors Using Remotely Activated Targets

Four updated video guidance sensor (VGS) systems have been proposed. As described in a previous NASA Tech Briefs article, a VGS system is an optoelectronic system that provides guidance for automated docking of two vehicles. The VGS provides relative position and attitude (6-DOF) information between the VGS and its target. In the original intended application, the two vehicles would be spacecraft, but the basic principles of design and operation of the system are applicable to aircraft, robots, objects maneuvered by cranes, or other objects that may be required to be aligned and brought together automatically or under remote control. In the first two of the four VGS systems as now proposed, the tracked vehicle would include active targets that would light up on command from the tracking vehicle, and a video camera on the tracking vehicle would be synchronized with, and would acquire images of, the active targets. The video camera would also acquire background images during the periods between target illuminations. The images would be digitized and the background images would be subtracted from the illuminated-target images. Then the position and orientation of the tracked vehicle relative to the tracking vehicle would be computed from the known geometric relationships among the positions of the targets in the image, the positions of the targets relative to each other and to the rest of the tracked vehicle, and the position and orientation of the video camera relative to the rest of the tracking vehicle. The major difference between the first two proposed systems and prior active-target VGS systems lies in the techniques for synchronizing the flashing of the active targets with the digitization and processing of image data. In the prior active-target VGS systems, synchronization was effected, variously, by use of either a wire connection or the Global Positioning System (GPS). In three of the proposed VGS systems, the synchronizing signal would be generated on, and transmitted from, the tracking vehicle. In the first proposed VGS system, the tracking vehicle would transmit a pulse of light. Upon reception of the pulse, circuitry on the tracked vehicle would activate the target lights. During the pulse, the target image acquired by the camera would be digitized. When the pulse was turned off, the target lights would be turned off and the background video image would be digitized. The second proposed system would function similarly to the first proposed system, except that the transmitted synchronizing signal would be a radio pulse instead of a light pulse. In this system, the signal receptor would be a rectifying antenna. If the signal contained sufficient power, the output of the rectifying antenna could be used to activate the target lights, making it unnecessary to include a battery or other power supply for the targets on the tracked vehicle.

Bryan, Thomas C.↗
NASA NTRS2013

Guidance, Navigation, and Control Technology Assessment for Future Planetary Science Missions

Future planetary explorations envisioned by the National Research Council's (NRC's) report titled Vision and Voyages for Planetary Science in the Decade 2013-2022, developed for NASA Science Mission Directorate (SMD) Planetary Science Division (PSD), seek to reach targets of broad scientific interest across the solar system. This goal requires new capabilities such as innovative interplanetary trajectories, precision landing, operation in close proximity to targets, precision pointing, multiple collaborating spacecraft, multiple target tours, and advanced robotic surface exploration. Advancements in Guidance, Navigation, and Control (GN&C) and Mission Design in the areas of software, algorithm development and sensors will be necessary to accomplish these future missions. This paper summarizes the key GN&C and mission design capabilities and technologies needed for future missions pursuing SMD PSD's scientific goals.

position↗
NASA NTRS2016

Technology Development of Automated Rendezvous and Docking/Capture Sensors and Docking Mechanism for the Asteroid Redirect Crewed Mission

This paper will describe the technology development efforts NASA has underway for Automated Rendezvous and Docking/Capture (AR&D/C) sensors and a docking mechanism and the challenges involved. The paper will additionally address how these technologies will be extended to other missions requiring AR&D/C whether robotic or manned. NASA needs AR&D/C sensors for both the robotic and crewed segments of the Asteroid Redirect Mission (ARM). NASA recently conducted a commonality assessment of the concept of operations for the robotic Asteroid Redirect Vehicle (ARV) and the crewed mission segment using the Orion spacecraft. The commonality assessment also considered several future exploration and science missions requiring an AR&D/C capability. Missions considered were asteroid sample return, satellite servicing, and planetary entry, descent, and landing. This assessment determined that a common sensor suite consisting of one or more visible wavelength cameras, a three-dimensional LIDAR along with long-wavelength infrared cameras for robustness and situational awareness could be used on each mission to eliminate the cost of multiple sensor developments and qualifications. By choosing sensor parameters at build-time instead of at design-time and, without having to requalify flight hardware, a specific mission can design overlapping bearing, range, relative attitude, and position measurement availability to suit their mission requirements with minimal non-recurring engineering costs. The resulting common sensor specification provides the union of all performance requirements for each mission and represents an improvement over the current systems used for AR&D/C today. These sensor specifications are tightly coupled to the docking system capabilities and requirements for final docking conditions. The paper will describe NASA's efforts to develop a standard docking system for use across NASA human spaceflight missions to multiple destinations. It will describe the current design status and the considerations and technologies involved in developing this docking mechanism.

Hinkel, Heather↗
NASA NTRS2005

STS-114: Discovery TCDT Flight Crew Test Media Event at Pad 39-B

The STS-114 Space Shuttle Discovery Terminal Countdown Demonstration Test (TCDT) flight crew is shown at Pad 39-B. Eileen Collins, Commander introduces the astronauts. Andrew Thomas, mission specialist talks about his primary responsibility of performing boom inspections, Wendy Lawrence, Mission Specialist 4 (MS4) describes her role as the robotic arm operator supporting Extravehicular Activities (EVA), Stephen Robinson, Mission Specialist 3 (MS3) talks about his role as flight engineer, Charlie Camarda, Mission Specialist 5 (MS5) says that his duties are to perform boom operations, transfer operations from the space shuttle to the International Space Station and spacecraft rendezvous. Soichi Noguchi, Mission Specialist 1 (MS1) from JAXA, introduces himself as Extravehicular Activity 1 (EVA1), and Jim Kelley, Pilot will operate the robotic arm and perform pilot duties. Questions from the news media about the safety of the external tank, going to the International Space Station and returning, EVA training, and thoughts about the Space Shuttle Columbia crew are answered.

Source record↗
NASA NTRS2004

Teleoperated Modular Robots for Lunar Operations

Solar system exploration is currently carried out by special purpose robots exquisitely designed for the anticipated tasks. However, all contingencies for in situ resource utilization (ISRU), human habitat preparation, and exploration will be difficult to anticipate. Furthermore, developing the necessary special purpose mechanisms for deployment and other capabilities is difficult and error prone. For example, the Galileo high gain antenna never opened, severely restricting the quantity of data returned by the spacecraft. Also, deployment hardware is used only once. To address these problems, we are developing teleoperated modular robots for lunar missions, including operations in transit from Earth. Teleoperation of lunar systems from Earth involves a three second speed-of-light delay, but experiment suggests that interactive operations are feasible.' Modular robots typically consist of many identical modules that pass power and data between them and can be reconfigured for different tasks providing great flexibility, inherent redundancy and graceful degradation as modules fail. Our design features a number of different hub, link, and joint modules to simplify the individual modules, lower structure cost, and provide specialized capabilities. Modular robots are well suited for space applications because of their extreme flexibility, inherent redundancy, high-density packing, and opportunities for mass production. Simple structural modules can be manufactured from lunar regolith in situ using molds or directed solar sintering. Software to direct and control modular robots is difficult to develop. We have used genetic algorithms to evolve both the morphology and control system for walking modular robots3 We are currently using evolvable system technology to evolve controllers for modular robots in the ISS glove box. Development of lunar modular robots will require software and physical simulators, including regolith simulation, to enable design and test of robot software and hardware, particularly automation software. Ready access to these simulators could provide opportunities for contest-driven development ala RoboCup (http://www.robocup.org/). Licensing of module designs could provide opportunities in the toy market and for spin-off applications.

Globus, Al↗
NASA NTRS2001

SHARP Demonstration Flight: Video Broadcast System for Research in Intelligent Flight Characterization and Control

The NASA Ames Research Center (Thermal Protection Materials and Systems Branch) is investigating new ceramic materials for the thermal protection of atmospheric entry vehicles. An incremental approach to proving the capabilities of these materials calls for a lifting entry flight test of a sharp leading edge component on the proposed SHARP (Slender Hypervelocity Aerothermodynamic Research Probe) vehicle. This flight test will establish the aerothermal performance constraint under real lifting entry conditions. NASA Ames has been developing the SHARP test flight with SSDL (responsible for the SHARP S I vehicle avionics), Montana State University (responsible for the SHARP S I vehicle airframe), the Wickman Spacecraft and Propulsion Company (responsible for the sounding rocket and launch operations), and with the SCU Intelligent Robotics Program, The SCU team was added well after the rest of the development team had formed. The SCU role was to assist with the development of a real-time video broadcast system which would relay onboard flight video to a communication groundstation. The SCU team would also assist with general vehicle preparation as well as flight operations. At the time of the submission of the original SCU proposal, a test flight in Wyoming was originally targeted for September 2000. This date was moved several times into the Fall of 2000. It was then postponed until the Spring of 2001, and later pushed into late Summer 2001. To date, the flight has still not taken place. These project delays resulted in SCU requesting several no-cost extensions to the project. Based on the most recent conversations with the project technical lead, Paul Kolodjiez, the current plan is for the overall SHARP team to assemble what exists of the vehicle, to document the system, and to 'mothball' the vehicle in anticipation of future flight and funding opportunities.

Kitts, Christopher↗
NASA NTRS2020

Design Variants of a Common Habitat for Moon and Mars Exploration

The Common Habitat is a long-duration habitat concept based on the Skylab II architecture that leverages a single, multi-destination design applicable to microgravity Mars transit, 1/6 g lunar surface, 3/8 g Mars surface, and 1 g Earth. A trade study for the Common Habitat will address vertical versus horizontal internal orientation and a crew size of four or eight crew. This has resulted in the creation of four variants of the Common Habitat: Four Crew Horizontal Configuration, Four Crew Vertical Configuration, Eight Crew Horizontal Configuration, and Eight Crew Vertical Configuration. Design guidelines that shaped the four configurations are discussed, including: mission duration, destinations/missions, pressure vessel, hatches and docking, subsystems and utilities, lander integration and offloading, and eight-crew extensibility. Functional capabilities for crew-related systems are also discussed, including: private habitation, meal preparation, meal consumption, medical operations, exercise, group socialization and recreation, human waste collection, hygiene, logistics, spacecraft monitoring and commanding, mission planning, robotics and teleoperation, scientific research, maintenance and fabrication, and EVA. Each of the four Common Habitat designs will be presented, with a deck-by-deck description of each workstation, crew station, or subsystem along with an assessment of its degree of compliance with the guidelines and functional capabilities. Finally, forward work will be identified that will down-select a single Common Habitat. This includes multiple analyses that will be performed on the four variants, a down-selection process, and design refinement goals for the selected variant.

Habitability↗
NASA NTRS2017

Initial Validation of Robotic Operations for In-Space Assembly of a Large Solar Electric Propulsion Transport Vehicle

Developing a capability for the assembly of large space structures has the potential to increase the capabilities and performance of future space missions and spacecraft while reducing their cost. One such application is a megawatt-class solar electric propulsion (SEP) tug, representing a critical transportation ability for the NASA lunar, Mars, and solar system exploration missions. A series of robotic assembly experiments were recently completed at Langley Research Center (LaRC) that demonstrate most of the assembly steps for the SEP tug concept. The assembly experiments used a core set of robotic capabilities: long-reach manipulation and dexterous manipulation. This paper describes cross-cutting capabilities and technologies for in-space assembly (ISA), applies the ISA approach to a SEP tug, describes the design and development of two assembly demonstration concepts, and summarizes results of two sets of assembly experiments that validate the SEP tug assembly steps.

Komendera, Erik E.↗