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At least 937 records · Page 52
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Rover Wheel-Actuated Tool Interface

A report describes an interface for utilizing some of the mobility features of a mobile robot for general-purpose manipulation of tools and other objects. The robot in question, now undergoing conceptual development for use on the Moon, is the All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) rover, which is designed to roll over gentle terrain or walk over rough or steep terrain. Each leg of the robot is a six-degree-of-freedom general purpose manipulator tipped by a wheel with a motor drive. The tool interface includes a square cross-section peg, equivalent to a conventional socket-wrench drive, that rotates with the wheel. The tool interface also includes a clamp that holds a tool on the peg, and a pair of fold-out cameras that provides close-up stereoscopic images of the tool and its vicinity. The field of view of the imagers is actuated by the clamp mechanism and is specific to each tool. The motor drive can power any of a variety of tools, including rotating tools for helical fasteners, drills, and such clamping tools as pliers. With the addition of a flexible coupling, it could also power another tool or remote manipulator at a short distance. The socket drive can provide very high torque and power because it is driven by the wheel motor.

Matthews, Janet↗
NASA NTRS2010

The Proposed Mars Astrobiology Explorer - Cacher [MAX-C] Rover: First Step in a Potential Sample Return Campaign

Sample return from Mars has been advocated by numerous scientific advisory panels for over 30 years, most prominently beginning with the National Research Council s [1] strategy for the exploration of the inner solar system, and most recently by the Mars Exploration Program Analysis Group (MEPAG s) Next Decade Science Analysis Group [2]. Analysis of samples here on Earth would have enormous advantages over in situ analyses in producing the data quality needed to address many of the complex scientific questions the community has posed about Mars. Instead of a small, predetermined set of analytical techniques, state of the art preparative and instrumental resources of the entire scientific community could be applied to the samples. The analytical emphasis could shift as the meaning of each result becomes better appreciated. These arguments apply both to igneous rocks and to layered sedimentary materials, either of which could contain water and other volatile constituents. In 2009 MEPAG formed the Mid-Range Rover Science Analysis Group (MRR-SAG) to formulate a mission concept that would address two general objectives: (1) conduct high-priority in situ science and (2) make concrete steps towards the potential return of samples to Earth. This analysis resulted in a mission concept named the Mars Astrobiology Explorer-Cacher (MAX-C), which was envisioned for launch in the 2018 opportunity. After extensive discussion, this group concluded that by far the most definitive contribution to sample return by this mission would be to collect and cache, in an accessible location, a suite of compelling samples that could potentially be recovered and returned by a subsequent mission. This would have the effect of separating two of the essential functions of MSR, the acquisition of the sample collection and its delivery to martian orbit, into two missions.

Allen, Carlton C.↗
NASA NTRS2007

Robust, Flexible Motion Control for the Mars Explorer Rovers

The Mobility Flight Software, running on computers aboard the Mars Explorer Rover (MER) robotic vehicles Spirit and Opportunity, affords the robustness and flexibility of control to enable safe and effective operation of these vehicles in traversing natural terrain. It can make the vehicles perform specific maneuvers commanded from Earth, and/or can autonomously administer multiple aspects of mobility, including choice of motion, measurement of actual motion, and even selection of targets to be approached. Motion of a vehicle can be commanded by use of multiple layers of control, ranging from motor control at a low level, direct drive operations (e.g., motion along a circular arc, motion along a straight line, or turn in place) at an intermediate level to goal-position driving (that is, driving to a specified location) at a high level. The software can also perform high-level assessment of terrain and selection of safe paths across the terrain: this involves processing of the digital equivalent of a local traversability map generated from images acquired by stereoscopic pairs of cameras aboard the vehicles. Other functions of the software include interacting with the rest of the MER flight software and performing safety checks.

Maimone, Mark↗
NASA NTRS2006

Ground Processing of Data From the Mars Exploration Rovers

A computer program implements the Earth side of the protocol that governs the transfer of data files generated by the Mars Exploration Rovers. It also provides tools for viewing data in these files and integrating data-product files into automated and manual processes. It reconstitutes files from telemetry data packets. Even if only one packet is received, metadata provide enough information to enable this program to identify and use partial data products. This software can generate commands to acknowledge received files and retransmit missed parts of files, or it can feed a manual process to make decisions about retransmission. The software uses an Extensible Markup Language (XML) data dictionary to provide a generic capability for displaying files of basic types, and uses external "plug-in" application programs to provide more sophisticated displays. This program makes data products available with very low latency, and can trigger automated actions when complete or partial products are received. The software is easy to install and use. The only system requirement for installing the software is a Java J2SE 1.4 platform. Several instances of the software can be executed simultaneously on the same machine.

Wright, Jesse↗
NASA NTRS2006

Architecture for Control of the K9 Rover

Software featuring a multilevel architecture is used to control the hardware on the K9 Rover, which is a mobile robot used in research on robots for scientific exploration and autonomous operation in general. The software consists of five types of modules: Device Drivers - These modules, at the lowest level of the architecture, directly control motors, cameras, data buses, and other hardware devices. Resource Managers - Each of these modules controls several device drivers. Resource managers can be commanded by either a remote operator or the pilot or conditional-executive modules described below. Behaviors and Data Processors - These modules perform computations for such functions as planning paths, avoiding obstacles, visual tracking, and stereoscopy. These modules can be commanded only by the pilot. Pilot - The pilot receives a possibly complex command from the remote operator or the conditional executive, then decomposes the command into (1) more-specific commands to the resource managers and (2) requests for information from the behaviors and data processors. Conditional Executive - This highest-level module interprets a command plan sent by the remote operator, determines whether resources required for execution of the plan are available, monitors execution, and, if necessary, selects an alternate branch of the plan.

Bresina, John L.↗
NASA NTRS2010

Design and Demonstration of a Miniature Lidar System for Rover Applications

A basic small and portable lidar system for rover applications has been designed. It uses a 20 Hz Nd:YAG pulsed laser, a 4-inch diameter telescope receiver, a custom-built power distribution unit (PDU), and a custom-built 532 nm photomultiplier tube (PMT) to measure the lidar signal. The receiving optics have been designed, but not constructed yet. LabVIEW and MATLAB programs have also been written to control the system, acquire data, and analyze data. The proposed system design, along with some measurements, is described. Future work to be completed is also discussed.

Robinson, Benjamin↗
NASA NTRS2010

Principal Components Analysis of Reflectance Spectra from the Mars Exploration Rover Opportunity

In the summer of 2007 a global dust storm on Mars effectively disabled Opportunity's Miniature Thermal Emission Spectrometer (Mini-TES), the primary instrument used by the Athena Science Team to identify locally unique rocks on the Martian surface. The science team needs another way to distinguish interesting rocks from their surroundings on a tactical timescale. This study was designed to develop the ability to identify locally unique rocks on the Martian surface remotely using the Mars Exploration Rovers' Panoramica Camera (PanCam) instrument. Meridiani bedrock observed by Opportunity is largely characterized by sulfate-rich sandstones and hematite spherules. Additionally, loose fragments of bedrock and "cobbles" of foreign origin collet on the surface, some of which are interpreted as meteorites.

Mercer, C. M.↗
NASA NTRS2010

Why Haven't Mars Rovers Landed Where They Were Expected to?

In a recent study (Desai, 2008) of the actual landing sites for the Mars Pathfinder, Mars Exploration Rovers and the Phoenix Mars Lander, data collected indicates that these missions landed at least 13 km downrange of their targeted landing sites. A direct reason is that density measurements taken during entry, descent and landing were consistently found to be lower than those predicted by Mars atmospheric models. The basis of this study is to further investigate this problem to see if certain aspects of current Mars atmospheric models need to be reevaluated. This study compared four different atmospheric profiles at nine pairs of comparable sites around Mars. The comparable sites are similar in location and Local True Solar Time; however they are from different Mars years. One year had normal conditions, while the other year experienced a global dust storm. Three of the atmospheric profiles were obtained by the Mars Global Surveyor (MGS); these data sets include a Radio Science profile and Thermal Emission Spectrometer data in limb and nadir projections. The three MGS data sets were selected from large observational databases to allow the sites to have data observed at nearcoincident times. The last atmospheric profile is from the Mars Global Reference Atmospheric Model (Mars-GRAM), an engineering level atmospheric model widely used for mission applications. Through careful data evaluation, several conclusions were drawn. Ratios among the data show that the three observed MGS profiles were consistent with each other, although they were recorded by three different methods. Mars-GRAM data had larger differences from the observed data. Mars-GRAM particularly had issues with consistently overestimating upper atmosphere atmospheric density, as noted in Desai s study. Differences between the observed atmospheric density profiles from the Mars-GRAM atmospheric density profile could be attributed to a temperature bias in the model, especially in the upper atmosphere.

Badger, Andrew M.↗
NASA NTRS2008

The Effects of the Mars Exploration Rovers (MER) Work Schedule Regime on Locomotor Activity Circadian Rhythms, Sleep and Fatigue

This study assessed human adaptation to a Mars sol by evaluating sleep metrics obtained by actigraphy and subjective responses in 22 participants, and circadian rhythmicity in locomotor activity in 9 participants assigned to Mars Exploration Rover (MER) operational work schedules (24.65 hour days) at the Jet Propulsion Laboratory in 2004. During MER operations, increased work shift durations and reduced sleep durations and time in bed were associated with the appearance of pronounced 12-hr (circasemidian) rhythms with reduced activity levels. Sleep duration, workload, and circadian rhythm stability have important implications for adaptability and maintenance of operational performance not only of MER operations personnel but also in space crews exposed to a Mars sol of 24.65 hours during future Mars missions.

DeRoshia, Charles W.↗
NASA NTRS2010

In-Situ Pointing Correction and Rover Microlocalization

Two software programs, marstie and marsnav, work together to generate pointing corrections and rover micro-localization for in-situ images. The programs are based on the PIG (Planetary Image Geometry) library, which handles all mission dependencies. As a result, there is no mission-specific code in either of these programs. This software corrects geometric seams in images as much as possible.

Deen, Robert G.↗
NASA NTRS2011

NEEMO 14: Evaluation of Human Performance for Rover, Cargo Lander, Crew Lander, and Exploration Tasks in Simulated Partial Gravity

The ultimate success of future human space exploration missions is dependent on the ability to perform extravehicular activity (EVA) tasks effectively, efficiently, and safely, whether those tasks represent a nominal mode of operation or a contingency capability. To optimize EVA systems for the best human performance, it is critical to study the effects of varying key factors such as suit center of gravity (CG), suit mass, and gravity level. During the 2-week NASA Extreme Environment Mission Operations (NEEMO) 14 mission, four crewmembers performed a series of EVA tasks under different simulated EVA suit configurations and used full-scale mockups of a Space Exploration Vehicle (SEV) rover and lander. NEEMO is an underwater spaceflight analog that allows a true mission-like operational environment and uses buoyancy effects and added weight to simulate different gravity levels. Quantitative and qualitative data collected during NEEMO 14, as well as from spacesuit tests in parabolic flight and with overhead suspension, are being used to directly inform ongoing hardware and operations concept development of the SEV, exploration EVA systems, and future EVA suits. OBJECTIVE: To compare human performance across different weight and CG configurations. METHODS: Four subjects were weighed out to simulate reduced gravity and wore either a specially designed rig to allow adjustment of CG or a PLSS mockup. Subjects completed tasks including level ambulation, incline/decline ambulation, standing from the kneeling and prone position, picking up objects, shoveling, ladder climbing, incapacitated crewmember handling, and small and large payload transfer. Subjective compensation, exertion, task acceptability, and duration data as well as photo and video were collected. RESULTS: There appear to be interactions between CG, weight, and task. CGs nearest the subject s natural CG are the most predictable in terms of acceptable performance across tasks. Future research should focus on understanding the interactions between CG, mass, and subject differences.

Chappell, Steven P.↗
NASA NTRS2010

Evaluation of Dual Pressurized Rover Operations During Simulated Planetary Surface Exploration

Introduction: A pair of small pressurized rovers (Space Exploration Vehicles, or SEVs) is at the center of the Global Point-of-Departure architecture for future human planetary exploration. Simultaneous operation of multiple crewed surface assets should maximize productive crew time, minimize overhead, and preserve contingency return paths. Methods: A 14-day mission simulation was conducted in the Arizona desert as part of NASA?s 2010 Desert Research and Technology Studies (DRATS). The simulation involved two SEV concept vehicles performing geological exploration under varied operational modes affecting both the extent to which the SEVs must maintain real-time communications with mission control ("Continuous" vs. "Twice-a-Day") and their proximity to each other ("Lead-and-Follow" vs. "Divide-and-Conquer"). As part of a minimalist lunar architecture, no communications relay satellites were assumed. Two-person crews consisting of an astronaut and a field geologist operated each SEV, day and night, throughout the entire 14-day mission, only leaving via the suit ports to perform simulated extravehicular activities. Standard metrics enabled quantification of the habitability and usability of all aspects of the SEV concept vehicles throughout the mission, as well as comparison of the extent to which the operating modes affected crew productivity and performance. Practically significant differences in the relevant metrics were prospectively defined for the testing of all hypotheses. Results and Discussion: Data showed a significant 14% increase in available science time (AST) during Lead-and-Follow mode compared with Divide-and-Conquer, primarily because of the minimal overhead required to maintain communications during Lead-and-Follow. In Lead-and-Follow mode, there was a non-significant 2% increase in AST during Twice-a-Day vs. Continuous communications. Situational awareness of the other vehicle?s location, activities, and contingency return constraints were enhanced during Lead-and-Follow and Twice-a-Day communications modes due to line-of-sight and direct SEV-to-SEV communication. Preliminary analysis of Scientific Data Quality and Observation Quality metrics showed no significant differences between modes.

Abercromby, Andrew F. J.↗
NASA NTRS2010

Discovery of Carbonate-Rich Outcrops in the Gusev Crater Columbia Hills by the MER Rover Spirit

The chemical composition, global abundance, distribution, and formation pathways of carbonates are central to understanding aqueous processes, climate, and habitability of early Mars. The Mars Exploration Rover (MER) Spirit analyzed a series of olivine-rich outcrops while descending from the summit region of Husband Hill into the Inner Basin of the Columbia Hills of Gusev Crater to the eastern edge of the El Dorado ripple field in late 2005. Reanalysis of Spirit s mineralogical data from the Moessbauer Spectrometer (MB) and the Miniature Thermal Emission Spectrometer (Mini-TES) and chemical data from the Alpha Particle X-Ray Spectrometer (APXS) in 2010, coupled with new laboratory data for carbonate-bearing samples, lead to identification of carbonate in one of the outcrops (Comanche) [Morris, R.V., et al., Science, 329, 421-424]. The carbonate is rich in magnesium and iron (Mc62Sd25Cc11Rh2, assuming all Ca and Mn is associated with the carbonate) and is a major component of the Comanche outcrops (16 to 34 wt.%). The mineralogical, chemical, and abundance data are constrained in multiple, mutually consistent ways by the MER analyses. For example, a low-Ca carbonate is required by the MB and APXS data and is consistent with Mini-TES data. Three spectral features attributable to fundamental infrared vibrational modes of low-Ca carbonate are present in the Mini-TES spectra of Comanche outcrops. The average composition of Comanche carbonate approximates the average composition of the carbonate globules in Martian meteorite ALH 84001. Analogy with ALH 84001, terrestrial, and synthetic carbonate globules suggests that Comanche carbonate precipitated from aqueous solutions under hydrothermal conditions at near neutral pH in association with volcanic activity during the Noachian era. Comanche outcrop morphology suggests they are remnants of a larger carbonate-bearing formation that evolved in ultramafic rock and then preferentially eroded by a combination of aeolian abrasion and chemical decomposition by exposure to acid-sulfate vapors/solutions. The high carbonate concentration in the Comanche outcrops supports climate models involving a CO2 greenhouse gas on a wet and warm early Mars and subsequent sequestering of at least part of that atmosphere in carbonate minerals.

Morris, Richard V.↗
NASA NTRS2010

Quick Attach Docking Interface for Lunar Electric Rover

The NASA Lunar Electric Rover (LER) has been developed at Johnson Space Center as a next generation mobility platform. Based upon a twelve wheel omni-directional chassis with active suspension the LER introduces a number of novel capabilities for lunar exploration in both manned and unmanned scenarios. Besides being the primary vehicle for astronauts on the lunar surface, LER will perform tasks such as lunar regolith handling (to include dozing, grading, and excavation), equipment transport, and science operations. In an effort to support these additional tasks a team at the Kennedy Space Center has produced a universal attachment interface for LER known as the Quick Attach. The Quick Attach is a compact system that has been retro-fitted to the rear of the LER giving it the ability to dock and undock on the fly with various implements. The Quick Attach utilizes a two stage docking approach; the first is a mechanical mate which aligns and latches a passive set of hooks on an implement with an actuated cam surface on LER. The mechanical stage is tolerant to misalignment between the implement and the LER during docking and once the implement is captured a preload is applied to ensure a positive lock. The second stage is an umbilical connection which consists of a dust resistant enclosure housing a compliant mechanism that is optionally actuated to mate electrical and fluid connections for suitable implements. The Quick Attach system was designed with the largest foreseen input loads considered including excavation operations and large mass utility attachments. The Quick Attach system was demonstrated at the Desert Research And Technology Studies (D-RA TS) field test in Flagstaff, AZ along with the lightweight dozer blade LANCE. The LANCE blade is the first implement to utilize the Quick Attach interface and demonstrated the tolerance, speed, and strength of the system in a lunar analog environment.

Schuler, Jason M.↗
NASA NTRS2005

Magnetically Attached Multifunction Maintenance Rover

A versatile mobile telerobot, denoted the magnetically attached multifunction maintenance rover (MAGMER), has been proposed for use in the inspection and maintenance of the surfaces of ships, tanks containing petrochemicals, and other large ferromagnetic structures. As its name suggests, this robot would utilize magnetic attraction to adhere to a structure. As it moved along the surface of the structure, the MAGMER would perform tasks that could include close-up visual inspection by use of video cameras, various sensors, and/or removal of paint by water-jet blasting, laser heating, or induction heating. The water-jet nozzles would be mounted coaxially within compressed-air-powered venturi nozzles that would collect the paint debris dislodged by the jets. The MAGMER would be deployed, powered, and controlled from a truck, to which it would be connected by hoses for water, compressed air, and collection of debris and by cables for electric power and communication (see Figure 1). The operation of the MAGMER on a typical large structure would necessitate the use of long cables and hoses, which can be heavy. To reduce the load of the hoses and cables on the MAGMER and thereby ensure its ability to adhere to vertical and overhanging surfaces, the hoses and cables would be paid out through telescopic booms that would be parts of a MAGMER support system. The MAGMER would move by use of four motorized, steerable wheels, each of which would be mounted in an assembly that would include permanent magnets and four pole pieces (see Figure 2). The wheels would protrude from between the pole pieces by only about 3 mm, so that the gap between the pole pieces and the ferromagnetic surface would be just large enough to permit motion along the surface but not so large as to reduce the magnetic attraction excessively. In addition to the wheel assemblies, the MAGMER would include magnetic adherence enhancement fixtures, which would comprise arrays of permanent magnets and pole pieces that could be adjusted to maximize or minimize the overall attractive magnetic force. Even with a paint thickness of 2 mm, a preliminary design provides a safety factor of 5 in the magnetic force in the upside- down, water-jets-operating condition, in which the total load (including the weight of the MAGMER and cables and the water-jet force) would be about 260 lb (the weight of 118 kg). Optionally, the MAGMER could carry magnetic shielding and/or could be equipped with a demagnetizing module to remove residual magnetism from the structure. The MAGMER would carry four charge-coupled-device cameras for visual inspection, monitoring of operation, navigation, and avoidance of collisions with obstacles. The control system of the MAGMER would include navigation and collision-avoidance subsystems that would utilize surface features as landmarks, in addition to direct images of obstacles.

Bar-Cohen, Yoseph↗
NASA NTRS2011

Using a Multicore Processor for Rover Autonomous Science

Multicore processing promises to be a critical component of future spacecraft. It provides immense increases in onboard processing power and provides an environment for directly supporting fault-tolerant computing. This paper discusses using a state-of-the-art multicore processor to efficiently perform image analysis onboard a Mars rover in support of autonomous science activities.

Mars↗
NASA NTRS2012

A Comparison Between The NORCAT Rover Test Results and the ISRU Excavation System Model Predictions Results

An Excavation System Model has been written to simulate the collection and transportation of regolith on the moon. The calculations in this model include an estimation of the forces on the digging tool as a result of excavation into the regolith. Verification testing has been performed and the forces recorded from this testing were compared to the calculated theoretical data. The Northern Centre for Advanced Technology Inc. rovers were tested at the NASA Glenn Research Center Simulated Lunar Operations facility. This testing was in support of the In-Situ Resource Utilization program Innovative Partnership Program. Testing occurred in soils developed at the Glenn Research Center which are a mixture of different types of sands and whose soil properties have been well characterized. This testing is part of an ongoing correlation of actual field test data to the blade forces calculated by the Excavation System Model. The results from this series of tests compared reasonably with the predicted values from the code.

Gallo, Christopher A.↗