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Cliffbot Maestro permits teleoperation of remote rovers for field testing in extreme environments. The application user interface provides two sets of tools for operations: stereo image browsing and command generation.
NASA s Desert Research and Technology Studies (D-RATS) field test is a demonstration that combines operations development, technology advances and science in analog planetary surface conditions. The focus is testing preliminary operational concepts for extravehicular activity (EVA) systems by providing hands-on experience with simulated surface operations and EVA hardware and procedures. The DRATS activities also develop technical skills and experience for the engineers, scientists, technicians, and astronauts responsible for realizing the goals of the Lunar Surface Systems Program. The 2009 test is the twelfth for the D-RATS team.
This slide presentation reviews the Neutron Imaging Camera. The presentation also includes information about neutron imaging, neutron interactions, and camera field testing.
Lunar Electric Rovers (LER) are currently being developed that are substantially more capable than the Apollo vehicle (LRN ,"). Unlike the LRV, the new LERs provide a pressurized cabin that serves as short-sleeve environment for the crew of two, including sleeping accommodations and other provisions that allow for long tern stays, possibly up to 60 days, on the hear surface, without the need to replenish consumables from some outside source, such as a lander or outpost. As a consequence, significantly larger regions may be explored in the future and traverse distances may be measured in a few hundred kilometers (1, 2). However, crew safety remains an overriding concern, and methods other than "walk back", the major operational constraint of all Apollo traverses, must be implemented to assure -at any time- the safe return of the crew to the lander or outpost. This then causes current Constellation plans to envision long-tern traverses to be conducted with 2 LERs exclusively, each carrying a crew of two: in case one rover fails, the other will rescue the stranded crew and return all 4 astronauts in a single LER to base camp. Recent Desert Research and Technology Studies (DRATS) analog field tests simulated a continuous 14 day traverse (3), covering some 135 km, and included a rescue operation that transferred the crew and diverse consumables from one LER to another these successful tests add substantial realism to the development of long-term, dual rover operations. The simultaneous utilization of 2 LERs is of course totally unlike Apollo and raises interesting issues regarding science productivity and mission operations, the thrust of this note.
NASA's Desert Research and Technology Studies (D-RATS) field test is a demonstration that combines operations development, technology advances and science in analog planetary surface conditions. The focus is testing preliminary operational concepts for extravehicular activity (EVA) systems by providing hands-on experience with simulated surface operations and EVA hardware and procedures. The DRATS activities also develop technical skills and experience for the engineers, scientists, technicians, and astronauts responsible for realizing the goals of the Lunar Surface Systems Program. The 2009 test is the twelfth for the D-RATS team.
This paper describes a research and development effort for a prototype ultra-wideband (UWB) tracking system that is currently under development at NASA Johnson Space Center (JSC). The system is being studied for use in tracking of lunar./Mars rovers and astronauts during early exploration missions when satellite navigation systems are not available. U IATB impulse radio (UWB-IR) technology is exploited in the design and implementation of the prototype location and tracking system. A three-dimensional (3D) proximity tracking prototype design using commercially available UWB products is proposed to implement the Time-Difference- Of-Arrival (TDOA) tracking methodology in this research effort. The TDOA tracking algorithm is utilized for location estimation in the prototype system, not only to exploit the precise time resolution possible with UWB signals, but also to eliminate the need for synchronization between the transmitter and the receiver. Simulations show that the TDOA algorithm can achieve the fine tracking resolution with low noise TDOA estimates for close-in tracking. Field tests demonstrated that this prototype UWB TDOA High Resolution 3D Proximity Tracking System is feasible for providing positioning-awareness information in a 3D space to a robotic control system. This 3D tracking system is developed for a robotic control system in a facility called "Moonyard" at Honeywell Defense & System in Arizona under a Space Act Agreement.
We present data describing a progression of continuing technology development - from expanding the detection capabilities of the current PTS unit to re-outfitting the instrument with a protein microarray increasing the number of detectable compounds. To illustrate the adaptability of the cartridge format, on-orbit operations data from the ISS demonstrate the detection of the fungal cell wall compound beta-glucan using applicable LOCAD-PTS cartridges. LOCAD-PTS is a handheld device consisting of a spectrophotometer, an onboard pumping mechanism, and data storage capabilities. A suite of interchangeable cartridges lined with four distinct capillaries allow a hydrated sample to mix with necessary reagents in the channels before being pumped to the optical well for spectrophotometric analysis. The reagents housed in one type of cartridge trigger a reaction based on the Limulus Amebocyte Lysate (LAL) assay, which results in the release of paranitroaniline dye. The dye is measured using a 395 nm filter. The LAL assay detects the Gram-negative bacterial cell wall molecule, endotoxin or lipopolysaccharide (LPS). The more dye released, the greater the concentration of endotoxin in the sample. Sampling, quantitative analysis, and data retrieval require less than 20 minutes. This is significantly faster than standard culture-based methods, which require at least a 24 hour incubation period.Using modified cartridges, we demonstrate the detection of Gram negative bacteria with protein microarray technology. Additionally, we provide data from multiple field tests where both standard and advanced PTS technologies were used. These tests investigate the transfer of target microbial molecules from one surface to another. Collectively, these data demonstrate that the new cartridges expand the number of compounds detected by LOCAD-PTS, while maintaining the rapid, in situ analysis characteristic of the instrument. The unit provides relevant data for verifying sterile sample collection protocols, which are critical for conducting accurate scientific experiments during future missions to the Moon and Mars.
NASA project managers attempt to manage risk by relying on mature, well-understood process and technology when designing spacecraft. In the case of crewed systems, the margin for error is even tighter and leads to risk aversion. But as we look to future missions to the Moon and Mars, the complexity of the systems will increase as the spacecraft and crew work together with less reliance on Earth-based support. NASA will be forced to look for new ways to do business. Formal methods technologies can help NASA develop complex but cost effective spacecraft in many domains, including requirements and design, software development and inspection, and verification and validation of vehicle subsystems. To realize these gains, the technologies must be matured and field-tested so that they are proven when needed. During this discussion, current activities used to evaluate FM technologies for Orion spacecraft design will be reviewed. Also, suggestions will be made to demonstrate value to current designers, and mature the technology for eventual use in safety-critical NASA missions.
The Exterior Effects Room (EER) at the NASA Langley Research Center is a 39-seat auditorium built for psychoacoustic studies of aircraft community noise. The original reproduction system employed monaural playback and hence lacked sound localization capability. In an effort to more closely recreate field test conditions, a significant upgrade was undertaken to allow simulation of a three-dimensional audio and visual environment. The 3D audio system consists of 27 mid and high frequency satellite speakers and 4 subwoofers, driven by a real-time audio server running an implementation of Vector Base Amplitude Panning. The audio server is part of a larger simulation system, which controls the audio and visual presentation of recorded and synthesized aircraft flyovers. The focus of this work is on the calibration of the 3D audio system, including gains used in the amplitude panning algorithm, speaker equalization, and absolute gain control. Because the speakers are installed in an irregularly shaped room, the speaker equalization includes time delay and gain compensation due to different mounting distances from the focal point, filtering for color compensation due to different installations (half space, corner, baffled/unbaffled), and cross-over filtering.
This edition of the QuEST newsletter contains brief articles that discuss the NASA Technology Evaluation for Environmental Risk Mitigation (TEERM) program, and the importance of collaboration, efforts in materials management and substitution for coatings for launch structures, Low volatile organic compound (VOC) Coatings Field Testing, Non-Chrome Coating Systems, Life Cycle Corrosion Testing, Lead-Free Electronics Testing and Corn Based Depainting and efforts in Pollution Control in the area of Hypergolic Propellant Destruction Evaluation, efforts in development of alternative energy in particular Hydrogen Sensors, Energy and Water Management, and efforts in remediation in the removal of Polychlorinated Biphenyl (PCB) contamination
The extraction and use of resources on the Moon, known as In-Situ Resource Utilization (ISRU), can potentially reduce the cost and risk of human lunar exploration while also increasing science achieved. By not having to bring all of the shielding and mission consumables from Earth and being able to make products on the Moon, missions may require less mass to accomplish the same objectives, carry more science equipment, go to more sites of exploration, and/or provide options to recover from failures not possible with delivery of spares and consumables from Earth alone. While lunar ISRU has significant potential for mass, cost, and risk reduction for human lunar missions, it has never been demonstrated before in space. To demonstrate that ISRU can meet mission needs and to increase confidence in incorporating ISRU capabilities into mission architectures, terrestrial laboratory and analog field testing along with robotic precursor missions are required. A stepwise approach with international collaboration is recommended. This paper will outline the role of ISRU in future lunar missions, and define the approach and possible experiments to increase confidence in ISRU applications for future human lunar exploration
Versions of Scheduling and Planning Interface for Exploration (SPIFe) have supported a variety of mission operations across NASA. This software tool has evolved and matured over several years, assisting planners who develop intricate schedules. While initially conceived for surface Mars missions, SPIFe has been deployed in other domains, where people rather than robotic explorers, execute plans. As a result, a diverse set of end-users has compelled growth in a new direction: supporting real-time operations. This paper describes the new needs and challenges that accompany this development. Among the key features that have been built for SPIFe are current time indicators integrated into the interface and timeline, as well as other plan attributes that enable execution of scheduled activities. Field tests include mission support for the Lunar CRater Observation and Sensing Satellite (LCROSS), NASA Extreme Environment Mission Operations (NEEMO) and Desert Research and Technology Studies (DRATS) campaigns.
Earth science research must bridge the gap between the atmosphere and the ocean to foster understanding of Earth s climate and ecology. Ocean sensing is typically done with satellites, buoys, and crewed research ships. The limitations of these systems include the fact that satellites are often blocked by cloud cover, and buoys and ships have spatial coverage limitations. This paper describes a multi-robot science exploration software architecture and system called the Telesupervised Adaptive Ocean Sensor Fleet (TAOSF). TAOSF supervises and coordinates a group of robotic boats, the OASIS platforms, to enable in-situ study of phenomena in the ocean/atmosphere interface, as well as on the ocean surface and sub-surface. The OASIS platforms are extended deployment autonomous ocean surface vehicles, whose development is funded separately by the National Oceanic and Atmospheric Administration (NOAA). TAOSF allows a human operator to effectively supervise and coordinate multiple robotic assets using a sliding autonomy control architecture, where the operating mode of the vessels ranges from autonomous control to teleoperated human control. TAOSF increases data-gathering effectiveness and science return while reducing demands on scientists for robotic asset tasking, control, and monitoring. The first field application chosen for TAOSF is the characterization of Harmful Algal Blooms (HABs). We discuss the overall TAOSF architecture, describe field tests conducted under controlled conditions using rhodamine dye as a HAB simulant, present initial results from these tests, and outline the next steps in the development of TAOSF.
Recent technology developments and a systems engineering design approach have led to the development of a practical battery-free solar refrigerator as a spin-off of NASA's aerospace refrigeration research. Off-grid refrigeration is a good application of solar photovoltaic (PV) power if thermal storage is incorporated and a direct connection is made between the cooling system and the PV panel. This was accomplished by integrating water as a phase-change material into a well insulated refrigerator cabinet and by developing a microprocessor based control system that allows direct connection of a PV panel to a variable speed compressor. This second innovation also allowed peak power-point tracking from the PV panel and elimination of batteries from the system. First a laboratory unit was developed to prove the concept and then a commercial unit was produced and deployed in a field test. The laboratory unit was used to test many different configurations including thermoelectric, Stirling and vapor compression cooling systems. The final configuration used a vapor compression cooling cycle, vacuum insulation, a passive condenser, an integral evaporator/ thermal storage tank, two 77 watt PV panels and the novel controller mentioned above. The system's only moving part was the variable speed BD35 compressor made by Danfoss. The 365 liter cabinet stayed cold with as little as 274 watt-hours per day average PV power. Battery-free testing was conducted for several months with very good results. The amount of thermal storage, size of compressor and power of PV panels connected can all be adjusted to optimize the design for a given application and climate. In the commercial unit, the high cost of the vacuum insulated refrigerator cabinet and the stainless steel thermal storage tank were addressed in an effort to make the technology commercially viable. This unit started with a 142 liter, mass-produced chest freezer cabinet that had the evaporator integrated into its inner walls. Its compressor was replaced with a Danfoss DC compressor slightly larger than the one used in the laboratory unit. The control system was integrated onto a single electronics card and packaged with its starting capacitors. The water for thermal storage was placed behind a liner that was made to fit inside the original factory liner. The original condenser was also augmented with additional surface area to improve performance. PV panels with a total rated power of 180 watts were used. The unit was tested with very successful results in an outside ambient environment, demonstrating its potential for widespread use in many off-grid applications for solar refrigeration.
The Desert Research and Technology Studies (DRATS) field tests of 2010 focused on the simultaneous operation of two rovers, a historical first. The complexity and data volume of two rovers operating simultaneously presented significant operational challenges for the on-site Mission Control Center, including the real time science support function. The latter was split into two "tactical" back rooms, one for each rover, that supported the real time traverse activities; in addition, a "strategic" science team convened overnight to synthesize the day's findings, and to conduct the strategic forward planning of the next day or days as detailed in [1, 2]. Current DRATS simulations and operations differ dramatically from those of Apollo, including the most evolved Apollo 15-17 missions, due to the advent of digital technologies. Modern digital still and video cameras, combined with the capability for real time transmission of large volumes of data, including multiple video streams, offer the prospect for the ground based science support room(s) in Mission Control to witness all crew activities in unprecedented detail and in real time. It was not uncommon during DRATS 2010 that each tactical science back room simultaneously received some 4-6 video streams from cameras mounted on the rover or the crews' backpacks. Some of the rover cameras are controllable PZT (pan, zoom, tilt) devices that can be operated by the crews (during extensive drives) or remotely by the back room (during EVAs). Typically, a dedicated "expert" and professional geologist in the tactical back room(s) controls, monitors and analyses a single video stream and provides the findings to the team, commonly supported by screen-saved images. It seems obvious, that the real time comprehension and synthesis of the verbal descriptions, extensive imagery, and other information (e.g. navigation data; time lines etc) flowing into the science support room(s) constitute a fundamental challenge to future mission operations: how can one analyze, comprehend and synthesize -in real time- the enormous data volume coming to the ground? Real time understanding of all data is needed for constructive interaction with the surface crews, and it becomes critical for the strategic forward planning process.
Gigapan Voyage (GV) is a self-contained remotely-operable Gigapan capturing system that is currently being developed by the Intelligent Robotics Group (IRG) at NASA Ames Research Center. Gigapan Voyage was primarily designed to be integrated onto Johnson Space Center s Lunar Electric Rovers (LER). While on LER, Gigapan Voyage was used by scientists and astronauts during the 2009 and 2010 Desert RATS field tests. The concept behind Gigapan Voyage is to merge all the sub-components of the commercial GigaPan system into an all-in-one system that can capture, stitch, and display Gigapans in an automated way via a simple web interface. The GV system enables NASA to quickly and easily add remote-controlled Gigapan capturing capability onto rovers with minimal integration effort. Key Words: Geology, NASA, Black Point Lava Flow, Robot, K10, LER, Gigapan Voyage, Desert RATS, Intelligent Robotics Group
Presentation topics include: importance of salinity of coastal waters, habitat switching algorithm, habitat switching module, salinity estimates from Landsat for Sabine Calcasieu Basin, percent of time inundated in 2006, salinity data, prototyping the system, system as packaged for field tests, salinity probe and casing, opening for water flow, cellular antenna used to transmit data, preparing to launch, system is launched in the Pearl River at Stennis Space Center, data are transmitted to Twitter by cell phone modem every 15 minutes, Google spreadsheet I used to import the data from the Twitter feed and to compute salinity (from conductivity) and display charts of salinity and temperature, results are uploaded to NASA's Applied Science and Technology Project Office Webpage.
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.