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At least 1,045 records · Page 58

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NASA NTRS2000

Space Medicine

The National Academy of Sciences Committee on Space Biology and Medicine points out that space medicine is unique among space sciences, because in addition to addressing questions of fundamental scientific interest, it must address clinical or human health and safety issues as well. Efforts to identify how microgravity affects human physiology began in earnest by the United States in 1960 with the establishment of the National Aeronautics and Space Administration (NASA's) Life Sciences program. Before the first human space missions, prediction about the physiological effects of microgravity in space ranged from extremely severe to none at all. The understanding that has developed from our experiences in space to date allows us to be guardedly optimistic about the ultimate accommodations of humans to space flight. Only by our travels into the microgravity environment of space have we begun to unravel the mysteries associated with gravity's role in shaping human physiology. Space medicine is still at its very earliest stages. Development of this field has been slow for several reasons, including the limited number of space flights, the small number of research subjects, and the competition within the life sciences community and other disciplines for flight opportunities. The physiological changes incurred during space flight may have a dramatic effect on the course of an injury or illness. These physiological changes present an exciting challenge for the field of space medicine: how to best preserve human health and safety while simultaneously deciphering the effects of microgravity on human performance. As the United States considers the future of humans in long-term space travel, it is essential that the many mysteries as to how microgravity affects human systems be addressed with vigor. Based on the current state of our knowledge, the justification is excellent indeed compelling- for NASA to develop a sophisticated capability in space medicine. Teams of physicians and scientists should be actively engaged in fundamental and applied research designed to ensure that it is safe for humans to routinely and repeatedly stay and work in the microgravity environment of space.

Pool, Sam L.↗

NASA NTRS2017

An Unobtrusive System to Measure, Assess, and Predict Cognitive Workload in Real-World Environments

Across many careers, individuals face alternating periods of high and low attention and cognitive workload, which can result in impaired cognitive functioning and can be detrimental to job performance. For example, some professions (e.g., fire fighters, emergency medical personnel, doctors and nurses working in an emergency room, pilots) require long periods of low workload (boredom), followed by sudden, high-tempo operations during which they may be required to respond to an emergency and perform at peak cognitive levels. Conversely, other professions (e.g., air traffic controllers, market investors in financial industries, analysts) require long periods of high workload and multitasking during which the addition of just one more task results in cognitive overload resulting in mistakes. An unobtrusive system to measure, assess, and predict cognitive workload could warn individuals, their teammates, or their supervisors when steps should be taken to augment cognitive readiness. In this talk I will describe an approach to this problem that we have found to be successful across work domains including: (1) a suite of unobtrusive, field-ready neurophysiological, physiological, and behavioral sensors that are chosen to best suit the target environment; (2) custom algorithms and statistical techniques to process and time-align raw data originating from the sensor suite; (3) probabilistic and statistical models designed to interpret the data into the human state of interest (e.g., cognitive workload, attention, fatigue); (4) and machine-learning techniques to predict upcoming performance based on the current pattern of events, and (5) display of each piece of information depending on the needs of the target user who may or may not want to drill down into the functioning of the system to determine how conclusions about human state and performance are determined. I will then focus in on our experimental results from our custom functional near-infrared spectroscopy sensor, designed to operate in real-world environments to be worn comfortably (e.g., positioned into a baseball cap or a surgeons cap) to measure changes in brain blood oxygenation without adding burden to the individual being assessed.

workload collection↗

NASA NTRSDate not supplied

Storm Chasing from Space: Detecting severe weather phenomena from satellite platforms

Severe weather is an awe-inspiring phenomenon that affects the entire globe. Lightning, hail, damaging wind and tornadoes pose threats to society and challenges to the scientific community. Severe weather is annually responsible for tens of billions of dollars in insured losses to property, infrastructure, and agriculture. Satellite platforms offer a globally uniform approach to observing weather phenomena in remote or data-sparse regions and over the oceans. Severe convection exhibits distinct signatures in spaceborne datasets that we use to analyze severe storms. We leverage these signatures create climatologies, improve prediction, and provide a method of detection around the globe where traditional ground-based data (such as ground-based radar or human-spotter reports) are inconsistent or unavailable. Satellites in low-earth, sun-synchronous, and geostationary orbit provide a consistent, global view of severe weather from which we can examine the current global distribution, frequency, and severity of severe storms and establish a baseline to assess their future trend in a changing Earth system.

Sarah D. Bang↗

NASA NTRSDate not supplied

Storm Chasing from Space: Detecting Severe Weather Phenomena from Satellite Platforms

Sarah D Bang↗

NASA NTRSDate not supplied

Internal Architecture of the Common Habitat

The core stage liquid oxygen tank of the Space Launch System can be manufactured as a habitat instead of as a propellant tank, with a common design such that it is equally suitable for use in 0g, 1/6g, 3/8g, 1g, or variable artificial gravity. It is capable of sustaining a crew size of eight for missions up to 1200 days in duration. This Common Habitat can be the central element of a human spaceflight architecture that encompasses the Moon, Mars, and other destinations within the inner solar system. Within this archtiecture, the Common Habitat is specifically used as the core habitation element within a Lunar Base Camp, Mars Base Camp, and the Deep Space Exploration Vehicle. The Common Habitat internal architecture applies a design philosophy to separate crew functions according to deck. The lower deck is reserved for private functions. It includes eight private crew quarters and four waste and hygiene clusters – each with a private waste management compartment, private full body hygiene compartment, and private foyer/clothes changing area. The mid deck is primarily allocated to mission-related functions. It includes an exercise facility, fabrication / maintenance / repair facility, physical science laboratory (physics, geology, and remote sensing: astronomy, heliophysics, planetary science, and Earth science), and life science laboratory (biology and human research). The mid deck also has four external hatches, clocked one every 90 degrees, centered on the vehicle vertical centerline. Each hatch has a 60-inch tall by 40-inch wide opening with the mid deck floor 16 inches below the bottom lip of the hatch opening. The upper deck also includes some mission functions, but is primarily allocated to social functions. It includes a large galley, wardroom with projector and display screen, plant growth chambers, bulk stowage, command and control station, medical facility, hygiene compartment, and vehicle subsystems.

Habitability↗

DOE OSTI2024

Enhanced Safety of Heavy-Duty Vehicles on Highways through Automatic Speed Enforcement – A Simulation Study

Highway safety remains a significant concern, especially in mixed traffic scenarios involving heavy-duty vehicles (HDV) and smaller passenger cars. The vulnerability of HDVs following closely behind smaller cars is evident in incidents involving the lead vehicle, potentially leading to catastrophic rear-end collisions. Here, this paper explores how automatic speed enforcement systems, using speed cameras, can mitigate risks for HDVs in such critical situations. While historical crash data consistently demonstrates the reduction of accidents near speed cameras, this paper goes beyond the conventional notion of crash occurrence reduction. Instead, it investigates the profound impact of driver behavior changes within desired travel speed distribution, especially around speed cameras, and their contribution to the safety of trailing vehicles, with a specific focus on heavy-duty trucks in accident-prone scenarios. To conduct this analysis, we utilize SUMO, an open-source microscopic traffic simulator, enabling realistic simulations of real-world driving behaviors with and without speed cameras. The simulations also consider empirical distributions of desired headway gaps and reaction times exhibited by human drivers. This study offers a fresh perspective on highway safety by examining how the influence of automatic speed enforcement systems on driver behavior enhances the safety of HDV when faced with challenging situations. By shedding light on these dynamics, we contribute valuable insights to the ongoing research efforts on using technology to create safer roadways, ultimately promoting safer coexistence between heavy-duty and passenger vehicles.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS2023

Exploration Medical Capability Clinical Decision Support System Architecture Recommendation

A new era in space exploration has arrived with the goal of establishing a long-term presence on the Moon and using those learning to take the next giant leap: sending the first astronauts to Mars. These ambitious goals will require significant changes in in-flight medical care due to constraints on mass, volume, power, crew time, and medical evacuation capabilities. Furthermore, while crews currently rely on real-time communications with ground-based medical providers, as distance from Earth increases, so do communication delays and disruptions. The crew will need to autonomously detect, diagnose, treat, and prevent medical events. These constraints require development of transformative solutions and new technologies. Through participation in the Human Research Program’s (HRP) Exploration Medical Capability (ExMC) research, NASA has developed and demonstrated a Medical Data Architecture (MDA), a platform upon which a robust capability of Clinical Decision Support (CDS) can be built. As a result, NASA is now positioned to build an advanced autonomous CDS System (CDSS) which will aid in crew health decision-making. The CDSS combines data management aspects of a system that would lead to the autonomy required by NASA-STD-3001, Section 3, Health and Medical Care Standards. The project addresses the ExMC gap Medical-701: We need to increase inflight medical capabilities and identify new capabilities that (a) maximize benefit and/or (b) reduce “costs” on human system/mission/vehicle resources. This architecture recommendation document introduces an integrated data architecture that provides self-sufficient medical care for crews on long-duration spaceflight missions.

ExMC↗

DOE OSTI2021

A permafrost implementation in the simple carbon–climate model Hector v.2.3pf

Abstract. Permafrost currently stores more than a fourth of global soil carbon. A warming climate makes this carbon increasingly vulnerable to decomposition and release into the atmosphere in the form of greenhouse gases. The resulting climate feedback can be estimated using land surface models, but the high complexity and computational cost of these models make it challenging to use them for estimating uncertainty, exploring novel scenarios, and coupling with other models. We have added a representation of permafrost to the simple, open-source global carbon–climate model Hector, calibrated to be consistent with both historical data and 21st century Earth system model projections of permafrost thaw. We include permafrost as a separate land carbon pool that becomes available for decomposition into both methane (CH4) and carbon dioxide (CO2) once thawed; the thaw rate is controlled by region-specific air temperature increases from a preindustrial baseline. We found that by 2100 thawed permafrost carbon emissions increased Hector’s atmospheric CO2 concentration by 5 %–7 % and the atmospheric CH4 concentration by 7 %–12 %, depending on the future scenario, resulting in 0.2–0.25 ∘C of additional warming over the 21st century. The fraction of thawed permafrost carbon available for decomposition was the most significant parameter controlling the end-of-century temperature change in the model, explaining around 70 % of the temperature variance, and was distantly followed by the initial stock of permafrost carbon, which contributed to about 10 % of the temperature variance. The addition of permafrost in Hector provides a basis for the exploration of a suite of science questions, as Hector can be cheaply run over a wide range of parameter values to explore uncertainty and can be easily coupled with integrated assessment and other human system models to explore the economic consequences of warming from this feedback.

54 ENVIRONMENTAL SCIENCES↗

NASA NTRS2021

A permafrost implementation in the simple carbon-climate model Hector v.2.3.pf

Permafrost currently stores more than a fourth of global soil carbon. A warming climate makes this carbon increasingly vulnerable to decomposition and release into the atmosphere in the form of greenhouse gases. The resulting climate feedback can be estimated using land surface models, but the high complexity and computational cost of these models make it challenging to use them for estimating uncertainty, exploring novel scenarios, and coupling with other models. We have added a representation of permafrost to the simple, open-source global carbon–climate model Hector, calibrated to be consistent with both historical data and 21st century Earth system model projections of permafrost thaw. We include permafrost as a separate land carbon pool that becomes available for decomposition into both methane (CH4) and carbon dioxide (CO2) once thawed; the thaw rate is controlled by region-specific air temperature increases from a preindustrial baseline. We found that by 2100 thawed permafrost carbon emissions increased Hector’s atmospheric CO2 concentration by 5 %–7 % and the atmospheric CH4 concentration by 7 %–12 %, depending on the future scenario, resulting in 0.2–0.25 ∘C of additional warming over the 21st century. The fraction of thawed permafrost carbon available for decomposition was the most significant parameter controlling the end-of-century temperature change in the model, explaining around 70 % of the temperature variance, and was distantly followed by the initial stock of permafrost carbon, which contributed to about 10 % of the temperature variance. The addition of permafrost in Hector provides a basis for the exploration of a suite of science questions, as Hector can be cheaply run over a wide range of parameter values to explore uncertainty and can be easily coupled with integrated assessment and other human system models to explore the economic consequences of warming from this feedback.

Dawn L. Woodard↗

NASA NTRS2012

Challenges for Life Support Systems in Space Environments, Including Food Production

Environmental Control and Life Support Systems (ECLSS) refer to the technologies needed to sustain human life in space environments. Histor ically these technologies have focused on providing a breathable atmo sphere, clean water, food, managing wastes, and the associated monitoring capabilities. Depending on the space agency or program, ELCSS has sometimes expanded to include other aspects of managing space enviro nments, such as thermal control, radiation protection, fire detection I suppression, and habitat design. Other times, testing and providing these latter technologies have been associated with the vehicle engi neering. The choice of ECLSS technologies is typically driven by the mission profile and their associated costs and reliabilities. These co sts are largely defined by the mass, volume, power, and crew time req uirements. For missions close to Earth, e.g., low-Earth orbit flights, stowage and resupply of food, some 0 2, and some water are often the most cost effective option. But as missions venture further into spa ce, e.g., transit missions to Mars or asteroids, or surface missions to Moon or Mars, the supply line economics change and the need to clos e the loop on life support consumables increases. These are often ref erred to as closed loop or regenerative life support systems. Regardless of the technologies, the systems must be capable of operating in a space environment, which could include micro to fractional g setting s, high radiation levels, and tightly closed atmospheres, including perhaps reduced cabin pressures. Food production using photosynthetic o rganisms such as plants by nature also provides atmospheric regenerat ion (e.g., CO2 removal and reduction, and 0 2 production), yet to date such "bioregenerative" technologies have not been used due largely t o the high power requirements for lighting. A likely first step in te sting bioregenerative capabilities will involve production of small a mounts of fresh foods to supplement to crew's diet. As humans venture further into space, regenerative life support technologies will becom e more important, and gathering accurate data on their performance an d reliabilities will require long lead times. As we learn more about sustainable living in space, we almost certainly learn more about sust ainable living on Earth.

Wheeler, Raymond M.↗

NASA NTRS1994

Unique life sciences research facilities at NASA Ames Research Center

The Life Science Division at NASA's Ames Research Center has a suite of specialized facilities that enable scientists to study the effects of gravity on living systems. This paper describes some of these facilities and their use in research. Seven centrifuges, each with its own unique abilities, allow testing of a variety of parameters on test subjects ranging from single cells through hardware to humans. The Vestibular Research Facility allows the study of both centrifugation and linear acceleration on animals and humans. The Biocomputation Center uses computers for 3D reconstruction of physiological systems, and interactive research tools for virtual reality modeling. Psycophysiological, cardiovascular, exercise physiology, and biomechanical studies are conducted in the 12 bed Human Research Facility and samples are analyzed in the certified Central Clinical Laboratory and other laboratories at Ames. Human bedrest, water immersion and lower body negative pressure equipment are also available to study physiological changes associated with weightlessness. These and other weightlessness models are used in specialized laboratories for the study of basic physiological mechanisms, metabolism and cell biology. Visual-motor performance, perception, and adaptation are studied using ground-based models as well as short term weightlessness experiments (parabolic flights). The unique combination of Life Science research facilities, laboratories, and equipment at Ames Research Center are described in detail in relation to their research contributions.

Mulenburg, G. M.↗

NASA NTRS2004

An Ontology for Requesting Distant Robotic Action: A Case Study in Naming and Action Identification for Planning on the Mars Exploration Rover Mission

This paper focuses on the development and use of the abbreviated names as well as an emergent ontology associated with making requests for action of a distant robotic rover during the 2003-2004 NASA Mars Exploration Rover (MER) mission, run by the Jet Propulsion Laboratory. The infancy of the domain of Martian telerobotic science, in which specialists request work from a rover moving through the landscape, as well as the need to consider the interdisciplinary teams involved in the work required an empirical approach. The formulation of this ontology is grounded in human behavior and work practice. The purpose of this paper is to identify general issues for an ontology of action (specifically for requests for action), while maintaining sensitivity to the users, tools and the work system within a specific technical domain. We found that this ontology of action must take into account a dynamic environment, changing in response to the movement of the rover, changes on the rover itself, as well as be responsive to the purposeful intent of the science requestors. Analysis of MER mission events demonstrates that the work practice and even robotic tool usage changes over time. Therefore, an ontology must adapt and represent both incremental change and revolutionary change, and the ontology can never be more than a partial agreement on the conceptualizations involved. Although examined in a rather unique technical domain, the general issues pertain to the control of any complex, distributed work system as well as the archival record of its accomplishments.

Wales, Roxana C.↗

NASA NTRS1998

Vestibular influences on autonomic cardiovascular control in humans

There is substantial evidence that anatomical connections exist between vestibular and autonomic nuclei. Animal studies have shown functional interactions between the vestibular and autonomic systems. The nature of these interactions, however, is complex and has not been fully defined. Vestibular stimulation has been consistently found to reduce blood pressure in animals. Given the potential interaction between vestibular and autonomic pathways this finding could be explained by a reduction in sympathetic activity. However, rather than sympathetic inhibition, vestibular stimulation has consistently been shown to increase sympathetic outflow in cardiac and splanchnic vascular beds in most experimental models. Several clinical observations suggest that a link between vestibular and autonomic systems may also exist in humans. However, direct evidence for vestibular/autonomic interactions in humans is sparse. Motion sickness has been found to induce forearm vasodilation and reduce baroreflex gain, and head down neck flexion induces transient forearm and calf vasoconstriction. On the other hand, studies using optokinetic stimulation have found either very small, variable, or inconsistent changes in heart rate and blood pressure, despite substantial symptoms of motion sickness. Furthermore, caloric stimulation severe enough to produce nystagmus, dizziness, and nausea had no effect on sympathetic nerve activity measured directly with microneurography. No effect was observed on heart rate, blood pressure, or plasma norepinephrine. Several factors may explain the apparent discordance of these results, but more research is needed before we can define the potential importance of vestibular input to cardiovascular regulation and orthostatic tolerance in humans.

Review↗

NASA NTRS2006

The 'Biologically-Inspired Computing' Column

The field of Biology changed dramatically in 1953, with the determination by Francis Crick and James Dewey Watson of the double helix structure of DNA. This discovery changed Biology for ever, allowing the sequencing of the human genome, and the emergence of a "new Biology" focused on DNA, genes, proteins, data, and search. Computational Biology and Bioinformatics heavily rely on computing to facilitate research into life and development. Simultaneously, an understanding of the biology of living organisms indicates a parallel with computing systems: molecules in living cells interact, grow, and transform according to the "program" dictated by DNA. Moreover, paradigms of Computing are emerging based on modelling and developing computer-based systems exploiting ideas that are observed in nature. This includes building into computer systems self-management and self-governance mechanisms that are inspired by the human body's autonomic nervous system, modelling evolutionary systems analogous to colonies of ants or other insects, and developing highly-efficient and highly-complex distributed systems from large numbers of (often quite simple) largely homogeneous components to reflect the behaviour of flocks of birds, swarms of bees, herds of animals, or schools of fish. This new field of "Biologically-Inspired Computing", often known in other incarnations by other names, such as: Autonomic Computing, Pervasive Computing, Organic Computing, Biomimetics, and Artificial Life, amongst others, is poised at the intersection of Computer Science, Engineering, Mathematics, and the Life Sciences. Successes have been reported in the fields of drug discovery, data communications, computer animation, control and command, exploration systems for space, undersea, and harsh environments, to name but a few, and augur much promise for future progress.

Hinchey, Mike↗

NASA NTRS2010

International Space Station (ISS) Internal Active Thermal Control System (IATCS) New Biocide Selection, Qualification and Implementation

The Internal Active Thermal Control System (IATCS) aboard the International Space Station (ISS) is primarily responsible for the removal of heat loads from payload and system racks. The IATCS is a water based system which works in conjunction with the EATCS (External ATCS), an ammonia based system, which are interfaced through a heat exchanger to facilitate heat transfer. On-orbit issues associated with the aqueous coolant chemistry began to occur with unexpected increases in CO2 levels in the cabin. This caused an increase in total inorganic carbon (TIC), a reduction in coolant pH, increased corrosion, and precipitation of nickel phosphate. These chemical changes were also accompanied by the growth of heterotrophic bacteria that increased risk to the system and could potentially impact crew health and safety. Studies were conducted to select a biocide to control microbial growth in the system based on requirements for disinfection at low chemical concentration (effectiveness), solubility and stability, material compatibility, low toxicity to humans, compatibility with vehicle environmental control and life support systems (ECLSS), ease of application, rapid on-orbit measurement, and removal capability. Based on these requirements, ortho-phthalaldehyde (OPA), an aromatic dialdehyde compound, was selected for qualification testing. This paper presents the OPA qualification test results, development of hardware and methodology to safely apply OPA to the system, development of a means to remove OPA, development of a rapid colorimetric test for measurement of OPA, and the OPA on-orbit performance for controlling the growth of microorganisms in the ISS IATCS since November 3, 2007.

Wilson, Mark E.↗

NASA NTRS2011

International Space Station (ISS) Internal Active Thermal Control System (IATCS) New Biocide Selection, Qualification and Implementation

Wilson, Mark E.↗

NASA NTRSDate not supplied

Crew Performance Support System to Aid in Anomaly Resolution: Concept of Operations

As missions progress into deep space, communication delays and disruptions will disenable the crew’s reliance on Earth experts. There are also limitations in the amount of data that can be downlinked to the ground. It is prudent to assume that critical, complex vehicle or habitat sub-systems will malfunction at a time when a lunar or Mars’ crew cannot rely on the Earth-Support team to detect, diagnose and resolve the problem and it is impractical to expect a small crew to step-in with the same level of expertise as 50+ authorities. The crew will need novel processes and advanced technological support to independently identify and resolve safety- and time-critical anomalies. That a self-reliant crew is unable to respond appropriately to time-critical anomalies is a significant risk to crew safety and mission success. This risk is driven by several factors; novel and unanticipated anomalies would not have been trained pre-flight, the crew could forget their pre-flight training or spaceflight stressors could impair the crew’s problem-solving ability. At last year’s IWS, Beard reported that a single spaceflight stressor (elevated CO2) could undermine the crew’s ability to independently respond to emergencies. Concept of Operations (ConOps) provide a common view of future system functions to all stakeholders. For the current project, a ConOps was developed that describes the operational processes, practices and capabilities needed by a crew of astronauts on deep space missions to autonomously respond to anticipated and unanticipated anomalies. It is crucial to recognize that, as of August 2018 existing technologies are unable to effectively support crew anomaly response to unanticipated events. “Intelligent technology” has not reached a maturity level that permits generalizing a solution to novel situations. For example, to train intelligent technology requires volumes of data that do not exist. The complexities involved in a manned mission to Mars cannot be compared to sending rovers to Mars using scripted software. This ConOps proposes a Crew Performance Support System (CPSS) that will push NASA and its industry partners toward what will be required for a safe and successful manned mission to Mars. Anomaly resolution during a deep space mission will take place within a dynamic, or changing, context. The figure to the left shows five broad contextual variables: the organizational culture, mission context, system characteristics, team characteristics and individual characteristics. The yellow arrow indicates that spaceflight and task-related stressors can affect system, team and individual crewmember characteristics and therefore anomaly response potential. The figure depicts a protective umbrella of Human-System Integration (HSI) principles that should be instituted during CPSS development including a balanced workload, shared situation awareness and building an appropriate level of trust in the automation. The figure also depicts two interrelated and cooperative components, an HSI Data System and other Enabling Capabilities will be required to support crew anomaly response and Earth-Support situation awareness. As we journey from ISS to Gateway to Mars, multiple, simultaneous and integrated research and development efforts (i.e., support systems co-evolution) must be implemented to meet the problem-solving challenges a self-reliant crew will face on a Mars’ mission. The crossovers between the capabilities are just as important as the discrete capabilities themselves. As the capabilities mature, the lines between the support subdomains will blur and an integrated system will emerge. The ConOps summarizes current knowledge about how highly trained people solve anomalies in safety- and time-critical situations, describes a group of capabilities that could help to reduce the extant risk and documents requirements levied on additional systems that provides critical inputs to the CPSS. Scenarios are used to promote a shared understanding of processes, practices and technological goals needed for safe and productive manned missions beyond LEO.

HSIA risk↗

NASA NTRS2022

Robust Semantic Mapping and Localization on a Free-Flying Robot in Microgravity

We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, semantics remain invariant to changes up to the robustness of the detection algorithm and motion of the semantic objects. In this work, we describe our approaches for both offline semantic map generation as well as online localization against a semantic map, intended to run in real-time on the robot. We additionally demonstrate how our semantic localizer outperforms image-feature matching in some cases, and show the robustness of the algorithm to environmental changes. Crucially, we show in our experiments that when semantics are used to supplement point features, localization is always improved. To our knowledge, these experiments demonstrate the first use of learned semantics for localization on a free-flying robot in microgravity.

Localization↗