SEARCH · Engineering Papers

Results for “Astrobee”

Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

SourceResearch connectionFrom yearThrough year

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 127 records · Page 7

All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

Unsupervised Change Detection for Space Habitats Using 3D Point Clouds

This work presents an algorithm for scene change detection from point clouds to enable autonomous robotic caretaking in future space habitats. Autonomous robotic systems will help maintain future deep-space habitats, such as the Gateway space station, which will be uncrewed for extended periods. Existing scene analysis software used on the International Space Station (ISS) relies on manually-labeled images for detecting changes. In contrast, the algorithm presented in this work uses raw, unlabeled point clouds as inputs. The algorithm first applies modified Expectation-Maximization Gaussian Mixture Model (GMM) clustering to two input point clouds. It then performs change detection by comparing the GMMs using the Earth Mover’s Distance. The algorithm is validated quantitatively and qualitatively using a test dataset collected by an Astrobee robot in the NASA Ames Granite Lab comprising single frame depth images taken directly by Astrobee and full-scene reconstructed maps built with RGB-D and pose data from Astrobee. The runtimes of the approach are also analyzed in depth. The source code is publicly released to promote further development.

robotics↗

NASA NTRSDate not supplied

Space Center Houston Thought Leader Series - Bualat

I will be speaking on a panel about Human-Robot Interaction for Space Station for the Space Center Houston Thought Leader Series. I will discuss Astrobee HRI and 2 precursor projects: SmartSPHERES and Surface Telerobotics and how they led to the design of Astrobee's interaction.

Astrobee↗

NASA NTRS2020

Kibo Robot Programming Challenge Final Activity Report

On October 8th, 2020 the Kibo Robot Programming Challenge (RPC) Finals Event took place. Student teams from Australia, Indonesia, Japan, Singapore, Taiwan, Thailand, and UAE were the finalists of the competition and became the first students to ever upload APKs to an Astrobee robot (Bumble) on the ISS. This was the culmination of a joint effort between JAXA’s Int-Ball developing team in Tsukuba, Japan and NASA’s Astrobee Facility team at NASA Ames Research Center\ in California, USA. The collaboration between JAXA and NASA started in late 2017. Throughout this time mutual visits by the engineering and management teams were organized. In July 2019 the Kibo RPC concept was formally defined and the competition started. Hundreds of students across the Asia Pacific region participated and during the final event they did so in real time with the participation of NASA’s astronaut, Chris Cassidy. Chris interacted with the students, JAXA personnel and with the robot during the activity. This report aims to summarize the lessons learned from the several crew and non-crew tended activities, the evaluations performed on ground, the coordination of resources both in the ground and at the International Space Station (ISS) as well as operations. It identifies the issues the teams faced and the solutions put in place to mitigate them.

Astrobee↗

NASA NTRSDate not supplied

Space Grant Final Paper

The purpose of this internship was to begin the development of an APK that would subscribe to NavCam and video stream via UDP. This project involved having the Astrobee Robot Software installed, the Astrobee Android Repository, and the use of an android emulator. While the final APK currently cannot stream via UDP, it can still subscribe to the topic, which for me was already a challenge.

Astrobee↗

DOE OSTI2024

The ReSWARM microgravity flight experiments: Planning, control, and model estimation for on‐orbit close proximity operations

Abstract On‐orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on‐orbit assembly, repair, and astronaut assistance. Of these scenarios, on‐orbit assembly is an enabling technology that will allow large space structures to be built in situ, using smaller building block modules. However, like many of these scenarios, robotic on‐orbit assembly involves several technical hurdles, such as changing system models. For instance, grappled modules moved by a free‐flying “assembler” robot can cause significant changes in the combined system inertia, which have cascading impacts on motion planning and control portions of the autonomy stack. Further, on‐orbit assembly and other scenarios require collision‐avoiding motion planning, particularly when operating in a “construction site” scenario of multiple assembler robots and structures. Multiple key technologies that address these complicating factors for autonomous microgravity close proximity operations are detailed in this work, in particular: (1) application of global long‐horizon planning, accomplished using offline and online sampling‐based planner options that consider the system dynamics; (2) adaptation of the recently proposed RATTLE information‐aware planning framework for on‐orbit reconfiguration model learning; and (3) connection with robust control tools to provide low‐level control robustness using current system knowledge. These approaches were demonstrated for an autonomous on‐orbit assembly use case by the RElative Satellite sWarming and Robotic Maneuvering (ReSWARM) experiments using NASA's Astrobee robots on the International Space Station. Results of the ReSWARM experiments are provided along with significant operational and implementation detail discussing the practicalities of hardware implementation and unique aspects of working with the Astrobee free‐flyer robots in microgravity. ReSWARM provides a base set of planning and control tools for robotic close proximity operations, demonstrates them in microgravity, and outlines some of the important hardware aspects that future autonomous free‐flyers will need to consider.

Robotics↗

NASA NTRSDate not supplied

AstroLoc: An Efficient and Robust Localizer for a Free-flying Robot

We present AstroLoc, an efficient and robust monocular visual-inertial graph-based localization system used by the Astrobee free-flying robots onboard the International Space Station (ISS). We provide a novel localization system that limits the traditionally higher computation times for graph-based localization systems and enables the resource constrained Astrobee robots to benefit from their increased accuracy. We also introduce methods for handling cheirality issues for visual odometry and localization factors that further increase localization robustness. We evaluate the performance of AstroLoc on a dataset of ISS activities and show that it greatly improves pose, velocity, and IMU bias estimation accuracy while efficiently running in a limited computation environment. The source code for AstroLoc is released to the public.

Localization↗

NASA NTRS2020

Kibo Robot Programming Challenge 5/21/2020 Checkout Activity Report

This a report on JAXA’s Kibo Robot Programing Challenge (RPC) Checkout activity which took place on 2020-05-21. This activity is an on-orbit test for the upcoming competition organized by JAXA and to be ran by September 2020. It aimed to check the multiple aspects of the operation of Bumble in support of this competition. The activity had three primary objectives: a) verification of four different positions to be visited during the competition, namely Start Position, P1, P2, and P3, b) demonstration of Bumble autonomously moving from the Start Position to P3 without keep-in/keep-out zones and c) demonstration of Bumble autonomously moving from the Start Position to P3 with JAXA’s defined keep-in/keep-out zones. The report emphasizes the confirmation of JAXA’s previously calculated and commanded coordinates for each position and the Astrobee Facilities Team (AFT) estimation of new coordinates in case those coordinates did not match JAXA’s desired target positions per ground and crew procedures. Four estimated coordinates are proposed and various suggestions on operation procedures are given to improve the maneuverability of Bumble during the actual day of the competition.

Astrobee↗

NASA NTRS2021

Integrated System for Autonomous and Adaptive Caretaking (ISAAC) Simulated Cargo Logistics Demo Video

This video shows a simulation of autonomous cargo logistics using ISAAC (Integrated System for Autonomous and Adaptive Caretaking). The video shows autonomous planning and execution of a cargo scenario in which the R2 robot moves a cargo bag from a stowed location to a transfer location in the US Lab on the International Space Station. The Astrobee robot then moves the bag from the transfer location to a new temporary stowage location in the Japanese Experiment Module (JEM).

ISAAC↗

NASA NTRSDate not supplied

Wi-Fi Signal Survey of the International Space Station by Autonomous Free-Flying Robot

This paper analyzes Wi-Fi signal propagation inside pressurized modules of the International Space Station (ISS). Various flight datasets were collected by the Astrobee fleet of autonomous free-flying robots developed by the NASA Ames Research Center (ARC). The enclosed module spaces of the ISS pose unique challenges for Wi-Fi signal propagation, and understanding these challenges is crucial for optimizing connectivity in such environments. The survey data presented are valuable for optimizing wireless access point (WAP) locations and conditions. A computational method is developed to analyze the wireless communication system, RF coverage, and module compositions. The method is both rigorous and practical for assessing the ISS wireless system performance. The computational tools in this paper serve as a complementary approach to direct, on-orbit measurements, which is a complicated and expensive task. In some operational scenarios, ground measurements may be intractable due to the size of the spacecraft. Results from this research will aid future space missions and commercial spacecraft, providing insights into optimal WAP placements and robust wireless communication systems.

Astrobee↗

NASA NTRSDate not supplied

Wi-Fi Signal Survey of the International Space Station by Autonomous Free-Flying Robot

International Space Station↗

NASA NTRS1972

A revised low-frequency cosmic noise spectrum.

Cosmic radio noise spectra obtained from an Astrobee sounding rocket and from more detailed analysis of RAE-1 data are presented. The flux levels measured by the two spacecraft are consistent and fall off more rapidly below 1 MHz than previous data.

Weber, R. R.↗

NASA NTRS1974

High angular resolution cosmic X-ray astronomy observations in the energy range 0.15-2 keV and XUV observations of nearby stars from an attitude controlled rocket

The construction of a two dimensional focusing Wolter Type I mirror system for X-ray and XUV astronomical observations from an Astrobee F sounding rocket is described. The mirror design goal will have a one degree field, a 20-arc seconds resolution, an effective area of about 50 sq cm at 1 keV and 10 sq cm at 0.25 keV on axis. A star camera provides aspect data to about 15-arc seconds. Two detectors are placed at the focus with an interchange mechanism to allow a detector change during flight. The following specific developments are reported: (1) position sensitive proportional counter development; (2) channel plate multiplier development; (3) telescope mirror development and payload structure; (4) Australian rocket flight results; (5) Comet Kohoutek He I observation; and (6) Vela, Puppis A, and Gem-Mon bright patch observations.

Garmire, G. P.↗

NASA NTRS1977

Comparative performance of silicon and gallium arsenide solar cells on a high altitude sounding rocket

The use of sounding rockets for calibrating solar cells offers two principal advantages: (1) there is no effect due to the terrestrial atmosphere, and (2) the cells are recoverable immediately after the calibration. On March 30, 1976, 29 n/p silicon and four p/n gallium arsenide solar cells were calibrated in space and successfully recovered from a NASA-Astrobee F rocket that reached a peak altitude of 230 km. Approximately 75 IV characteristic curves were generated for 32 of the cells to an accuracy of plus or minus 0.2 ma and plus or minus 0.2 mV.

Thomas, N. L.↗

NASA NTRS1976

Proposal to National Aeronautics and Space Administration for continuation of a grazing incidence imaging telescope for X-ray astronomy using sounding rockets

The construction of a high resolution imaging telescope experiment payload suitable for launch on an Astrobee F sounding rocket was proposed. Also integration, launch, and subsequent data analysis effort were included. The payload utilizes major component subassemblies from the HEAO-B satellite program which were nonflight development units for that program. These were the X ray mirror and high resolution imager brassboard detector. The properties of the mirror and detector were discussed. The availability of these items for a sounding rocket experiment were explored with the HEAO-B project office.

Murray, B.↗

NASA NTRS1981

Spectroscopy of the extreme ultraviolet dayglow during active solar conditions

The spectral characteristics of the mid-latitude daytime airglow observed between 530 and 1500 A under conditions of high solar activity are compared with those obtained at the same location during markedly lower solar activity. The spectral observations were made by two scanning spectrometers and an N2 3371 A photometer carried aboard Astrobee-F rockets launched from White Sands Missile Range, NM, on January 9, 1978 and June 27, 1980. The more recent data allow the partial resolution of the emission spectrum between 800 and 1200 A into a large number of weak N I, O I and N2 transitions. Data taken at 220 km altitude suggest an increase in atomic nitrogen density of more than a factor of 3 between the two observations, along with a doubling of the solar EUV flux at wavelengths less than 688 A. No evidence of a corresponding increase in the 10 to 50 eV photoelectron flux is found, however, an ionospheric sounding data indicate the peak electron density to have decreased during this period. The mechanism for this electron flux decrease in the face of increased EUV flux and only a three-fold increase in N concentration remains unknown.

Gentieu, E. P.↗

NASA NTRS1982

High-resolution photographs in the rocket ultraviolet of the Orion Nebula

High-resolution photographs of the Orion Nebula have been obtained in UV bands centered near 1400, 1820, 2240 and 2620 by a 31-cm telescope mounted on an Astrobee sounding rocket. Reduction of the data by image processing, photometric calibration and error analysis steps was used to derive a matrix of values of specific intensity in absolute units. Data indicate that the Orion Nebula is primarily a reflection nebula in the UV, so that morphology is determined by the distribution of dust with respect to the illuminating stars. Ultraviolet color gradients for each color relative to the 1820-A image indicate reddening towards the outer parts of the nebula, as well as fairly symmetric dust scattering in the Theta 1 and Theta 2 Ori region. The color gradients also imply a monotonic change in scattering phase function asymmetry between 2620 and 1400 A. Total nebular flux in each bandpass is observed to be about 2.5 times the stellar flux from the Trapezium, indicating a high scattering efficiency.

Bohlin, R. C.↗

NASA NTRS1982

High-resolution dayglow O I /1304 A/ and O I /989 A/ rocket observations

High-resolution (about 1 A) dayglow observations of the O I(1304) A) and O I(989 A) multiplets were made from an Astrobee-F rocket payload (25.046 CE) launched from White Sands, New Mexico at local noon on June 27, 1980 to an apogee of 260 km. Three components of the O I(1304 A) multiplet were measured at zenith angles of approximately 50 and 140 deg at 1.1 A resolution. Over the entire altitude range of observation, i.e., 100-260 km, the three components were found to be equal to within + or - 15%. The shape of the O I(989 A) multiplet distribution observed on the flight at 1.3 A resolution was indistinguishable from an optically thin source with the energy levels of the excited state populated according to their statistical weights in spite of the large optical depths of the O I(989 A) multiplet at rocket altitudes.

Christensen, A. B.↗

NASA NTRS1984

Rocket observations of the ultraviolet airglow during morning twilight

Rocket-borne (Astrobee) UV measurements were made of the terrestrial airglow at morning twilight from 82 and 90 deg zenith angles at altitudes of 90 and 246 km in September 1979. Data were acquired on the NO gamma and delta bands, the 2470 A O II, 1356 A and the 1304 A O I lines, the Lyman-Berge-Hopfield N2 and the Herzberg 02 lines. The zodiacal contribution was substracted to obtain pure airglow data. Spectral analyses supported a larger nighttime decrease of N(4S) than for NO, the latter being in diffusive equilibrium above 190 km altitude. The NO gamma band was directly related to the thermospheric N(4S) contribution, the latter having a density of 2-8 million/cu cm at 200 km. Finally, self-consistent photoionization and photoelectron impact ionization models were derived for the atomic and ionic oxygen emissions.

Cebula, R. P.↗