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This paper focuses on new and innovative software for remote, autonomous, space systems flight operation, including distributed autonomous systems, flight test results, and implications and directions for future systems.
An emergency vehicle traffic light preemption system for preemption of traffic lights at an intersection to allow safe passage of emergency vehicles. The system includes a real-time status monitor of an intersection which is relayed to a control module for transmission to emergency vehicles as well as to a central dispatch office. The system also provides for audio warnings at an intersection to protect pedestrians who may not be in a position to see visual warnings or for various reasons cannot hear the approach of emergency vehicles. A transponder mounted on an emergency vehicle provides autonomous control so the vehicle operator can attend to getting to an emergency and not be concerned with the operation of the system. Activation of a priority-code (i.e. Code-3) situation provides communications with each intersection being approached by an emergency vehicle and indicates whether the intersection is preempted or if there is any conflict with other approaching emergency vehicles. On-board diagnostics handle various information including heading, speed, and acceleration sent to a control module which is transmitted to an intersection and which also simultaneously receives information regarding the status of an intersection. Real-time communications and operations software allow central and remote monitoring, logging, and command of intersections and vehicles.
A report discusses the Miniature Autonomous Extravehicular Robotic Camera (Mini AERCam)-- a compact robotic spacecraft intended to be released from a larger spacecraft for exterior visual inspection of the larger spacecraft. The Mini AERCam is a successor to the AERCam Sprint -- a prior miniature robotic inspection spacecraft that was demonstrated in a space-shuttle flight experiment in 1997. The prototype of the Mini AERCam is a demonstration unit having approximately the form and function of a flight system. The Mini AERCam is approximately spherical with a diameter of about 7.5 in. (.19 cm) and a weight of about 10 lb (.4.5 kg), yet it has significant additional capabilities, relative to the 14-in. (36-cm), 35-lb (16-kg) AERCam Sprint. The Mini AERCam includes miniaturized avionics, instrumentation, communications, navigation, imaging, power, and propulsion subsystems, including two digital video cameras and a high-resolution still camera. The Mini AERCam is designed for either remote piloting or supervised autonomous operations, including station keeping and point-to-point maneuvering. The prototype has been tested on an air-bearing table and in a hardware-in-the-loop orbital simulation of the dynamics of maneuvering in proximity to the International Space Station.
Our simulation was able to mimic the results of 30 tests on the actual hardware. This shows that simulations have the potential to enable early design validation - well before actual hardware exists. Although simulations focused around data processing procedures at subsystem and device level, they can also be applied to system level analysis to simulate mission scenarios and consumable tracking (e.g. power, propellant, etc.). Simulation engine plug-in developments are continually improving the product, but handling time for time-sensitive operations (like those of the remote engineering unit and bus controller) can be cumbersome.
The Flat Surface Damage Detection system (FSDDS} is a sensory system that is capable of detecting impact damages to surfaces utilizing a novel sensor system. This system will provide the ability to monitor the integrity of an inflatable habitat during in situ system health monitoring. The system consists of three main custom designed subsystems: the multi-layer sensing panel, the embedded monitoring system, and the graphical user interface (GUI). The GUI LABVIEW software uses a custom developed damage detection algorithm to determine the damage location based on the sequence of broken sensing lines. It estimates the damage size, the maximum depth, and plots the damage location on a graph. Successfully demonstrated as a stand alone technology during 2011 D-RATS. Software modification also allowed for communication with HDU avionics crew display which was demonstrated remotely (KSC to JSC} during 2012 integration testing. Integrated FSDDS system and stand alone multi-panel systems were demonstrated remotely and at JSC, Mission Operations Test using Space Network Research Federation (SNRF} network in 2012. FY13, FSDDS multi-panel integration with JSC and SNRF network Technology can allow for integration with other complementary damage detection systems.
ChemCam is an active remote sensing instrument which has operated successfully on MSL since landing in August, 2012. Its laser pulses remove dust and to profile through weathering coatings of rocks up to 7 m away. Laser-induced breakdown spectroscopy (LIBS) produces emission spectra of materials ablated from the samples in electronically excited states. As the plasma cools, elements can recombine and molecular emission lines are observed. Recent experiments have shown that some of these molecular emissions can be much brighter than the associated atomic lines, especially when halo-gens and rare earth elements are present. We observed these molecular emissions in some of the ChemCam spectra and report the first detection of chlorine and fluorine with ChemCam. It is also the first time ever that fluorine has been detected on the surface of Mars. Among all the F-bearing observations, one third are observed in the Kimberley outcrop. We will dis-cuss the potential mineralogies related to these observations as well as the related elemental correlations and propose interpretations.
It has been estimated that aviation accidents are typically preceded by numerous minor incidents arising from the same causal factors that ultimately produced the accident. Accident databases provide in-depth information on a relatively small number of occurrences, however incident databases have the potential to provide insights into the human factors of Remotely Piloted Aircraft System (RPAS) operations based on a larger volume of less-detailed reports. Currently, there is a lack of incident data dealing with the human factors of unmanned aircraft systems. An exploratory study is being conducted to examine the feasibility of collecting voluntary critical incident reports from RPAS pilots. Twenty-three experienced RPAS pilots volunteered to participate in focus groups in which they described critical incidents from their own experience. Participants were asked to recall (1) incidents that revealed a system flaw, or (2) highlighted a case where the human operator contributed to system resilience or mission success. Participants were asked to only report incidents that could be included in a public document. During each focus group session, a note taker produced a de-identified written record of the incident narratives. At the end of the session, participants reviewed each written incident report, and made edits and corrections as necessary. The incidents were later analyzed to identify contributing factors, with a focus on design issues that either hindered or assisted the pilot during the events. A total of 90 incidents were reported. Human factor issues included the impact of reduced sensory cues, traffic separation in the absence of an out-the-window view, control latencies, vigilance during monotonous and ultra-long endurance flights, control station design considerations, transfer of control between control stations, the management of lost link procedures, and decision-making during emergencies. Pilots participated willingly and enthusiastically in the study, and generally had little difficulty recalling critical incidents. The results suggest that pilot interviews can be a productive method of gathering information on incidents that might not otherwise be reported. Some of the issues described in the reports have received significant attention in the literature, or are analogous to human factors of manned aircraft. In other cases, incident reports involved human factors that are poorly understood, and have not yet been the subject of extensive study. Although many of the reported incidents were related to pilot error, the participants also provided examples of the positive contribution that humans make to the operation of highly-automated systems.
It has been estimated that aviation accidents are typically preceded by numerous minor incidents arising from the same causal factors that ultimately produced the accident. Accident databases provide in-depth information on a relatively small number of occurrences, however incident databases have the potential to provide insights into the human factors of Remotely Piloted Aircraft System (RPAS) operations based on a larger volume of less-detailed reports. Currently, there is a lack of incident data dealing with the human factors of unmanned aircraft systems. An exploratory study is being conducted to examine the feasibility of collecting voluntary critical incident reports from RPAS pilots. Twenty-three experienced RPAS pilots volunteered to participate in focus groups in which they described critical incidents from their own experience. Participants were asked to recall (1) incidents that revealed a system flaw, or (2) highlighted a case where the human operator contributed to system resilience or mission success. Participants were asked to only report incidents that could be included in a public document. During each focus group session, a note taker produced a de-identified written record of the incident narratives. At the end of the session, participants reviewed each written incident report, and made edits and corrections as necessary. The incidents were later analyzed to identify contributing factors, with a focus on design issues that either hindered or assisted the pilot during the events. A total of 90 incidents were reported. This presentation focuses on incidents that involved the management of the command and control (C2) link. The identified issues include loss of link, interference from undesired transmissions, voice latency, accidental control transfer, and the use of the lost link timer, or lost link OK features.
AirSTAR is the collection of Ground Support Systems, Subscale Flight Vehicles and Operations Expertise required for conducting remotely piloted flight-dynamics and controls research.
The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for SpaceX (SpX)-21 flight. Flight SpX-21 includes a Dragon 2 vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the NanoRacks Airlock Assembly (NRAL). Robotic operations shown include Space Station Remote Manipulator System (SSRMS) Trunk extraction of the NRAL and maneuvering through the ISS Port Corridor to Node 3 Port (N3P). Extravehicular Activities not shown will complete the install to N3P. There is no disposal payload for this flight.
This paper addresses potential applications of advanced graphical operator interfaces using graphics and graphical user interfaces in space telerobotic operations. Possible applications are illustrated with examples of graphics visualization displays developed for advanced teleoperation and with an example of an operator interface design developed for remote surface inspection at the Jet Propulsion Laboratory
Precipitation modifies atmospheric column thermodynamics through the process of evaporation and serves as a proxy for latent heat modulation. For this reason, a correct precipitation parameterization (especially for low-intensity precipitation) within global scale models is crucial. In addition to improving our modeling of the hydrological cycle, this will reduce the associated uncertainty of global climate models in correctly forecasting future scenarios, and will enable the application of mitigation strategies. In this manuscript we present a proof of concept algorithm to automatically detect precipitation from lidar measurements obtained from the National Aeronautics and Space Administration Micropulse lidar network (MPLNET). The algorithm, once tested and validated against other remote sensing instruments, will be operationally implemented into the network to deliver a near real time (latency <1.5 h) rain masking variable that will be publicly available on MPLNET website as part of the new Version 3 data products. The methodology, based on an image processing technique, detects only light precipitation events (defined by intensity and duration) such as light rain, drizzle, and virga. During heavy rain events, the lidar signal is completely extinguished after a few meters in the precipitation or it is unusable because of water accumulated on the receiver optics. Results from the algorithm, in addition to filling a gap in light rain, drizzle, and virga detection by radars, are of particular interest for the scientific community as they help to fully characterize the aerosol cycle, from emission to deposition, as precipitation is a crucial meteorological phenomenon accelerating atmospheric aerosol removal through the scavenging effect. Algorithm results will also help the understanding of long term aerosol–cloud interactions, exploiting the multi-year database from several MPLNET permanent observational sites across the globe. The algorithm is also applicable to other lidar and/or ceilometer network infrastructures in the framework of the Global Aerosol Watch (GAW) aerosol lidar observation network (GALION).
Sample preparation is a common bottleneck in genetic analysis. Tools that reduce time and effort are of value in a laboratory setting. There is a need for a genetic analysis/detection system that is not only mobile, ruggedized, easy-to-use but also provides an enclosed fluid handling that diminishes the risks of Ribonucleic acid (RNA) contamination and degradation during processing. NASA has developed a novel assay methodology and suite of devices to isolate nucleic acids and prepare samples for real-time (quantitative) polymerase chain reaction (PCR) analysis that solves the problem of contamination and degradation because of the advanced microfluidics which provides better fluid handling. The assay employs an aqueous-based non-alcohol method that yields robust RNA quality. The suite of ready-to-use devices provide pre-loaded reagents in liquid and lyophilized formats to enable rapid, cost effective, and portable manual operation in the laboratory or remote field environments.
Space Mining for resources such as water ice, and regolith, which contain many elements in the form of metals, minerals, volatiles and other compounds, is a necessary step for In-Situ Space Resource Utilization (ISRU). One of the primary goals is to extract propellants from the regolith and water ice, such as oxygen and hydrogen which could then be used for in-space transportation. In addition, the space mining system can be used for various construction tasks that can benefit human and robotic exploration as well as scientific investigations based on excavated exposed topography, such as the side walls of trenches. The National Aeronautics & Space Administration (NASA) “Lunabotics” Robotic Mining Competition (RMC) is a university-level competition designed to engage and retain students in science, technology, engineering and mathematics (STEM). NASA has directly benefited from the competition by encouraging the development of innovative lunar excavation concepts from universities which has resulted in clever ideas and solutions which could be applied to an actual lunar excavation device or payload. The challenge is for students to design and build a remote controlled or autonomous 80 kg mass lightweight excavator, called a “lunabot”, which can collect and deposit a minimum of 10 kilograms of lunar simulant within 15 minutes. In recent years the goal has been changed to excavate a minimum of 1 kg of simulated icy regolith which is found under an overburden of regolith simulant. The complexities of the challenge include the abrasive characteristics of the lunar regolith simulant, the weight and size limitations of the lunabot, and the ability to control the lunabot from a remote mission control center or operate it autonomously. This presentation will summarize the results of the Lunabotics Robotic Mining Competitions held in May 2022. Each year, since 2010, over 50 university teams have attended, resulting in over 500 lunabot designs and subsequent prototypes. Over 6,000 university students have been part of the on-site competition at KSC, and many are employed in the space sector today with thriving careers. Even more students and the public were engaged via internet broadcasting and social networking media. Examples of how this translates to hiring opportunities for commercial sponsors will also be discussed. Overall, this competition has proven to be popular with multi-disciplinary university senior design classes and a valuable tool for NASA and academia in educating and inspiring the next generation of space engineers.
Efficient and effective oil spill response requires accurate information regarding slick location, extent, and thickness to direct remediation activities. Of these three, the most challenging to determine is thickness. Ideally, the needed information would be provided by remote sensing instruments, particularly those operating from space. In this study we consider the capability of L-band synthetic aperture radar (SAR) for identifying oil layer thickness for slicks in open water given the range of oil properties and environmental conditions typical in this setting. The goal is to determine layer thickness with precision equivalent to that of the Bonn Agreement Oil Appearance Code. Here we report preliminary results of an ongoing study to determine whether either relative or absolute slick thickness can be determined from L-band SAR. The study has an experimental component, which uses low noise airborne SAR data acquired over slicks to evaluate the capability to determine relative thickness, i.e., to differentiate sheen from zones of varying thicker oil within a slick. The component of the study to evaluate whether absolute thickness can be determined from SAR uses backscatter simulations within a physics- based model of electromagnetic scattering from slicked and unslicked ocean surfaces accounting for oil properties, meteorological conditions, and sea state. As part of the theoretical component of the study, we evaluate the backscatter sensitivity to oil characteristics to determine which properties most influenced the SAR measurements. These results are used to determine whether the oil-to-water ratio or the oil thickness can be quantified with reasonable accuracy based upon SAR backscatter intensities alone or whether it requires calibration to go from relative to absolute thickness. The ratio of the backscatter contrast between clean and slicked ocean surfaces is shown to be sensitive to variations within slicks that well correlate with the oil layer thickness. Determination of absolute thickness is much more challenging given the variation of oil properties as the oil weathers on the sea surface.
Several advancements are necessary before humans can safely explore Mars. One emerging strategy is In-Situ Resource Utilization (ISRU): the process of extracting raw materials found onsite and converting them into usable products to ensure a constant flow of vital resources and greatly reduce overall mission cost. Scientists must confirm the presence and accessibility of these resources for future crewed missions. Our team investigated the feasibility of ISRU in NE Syrtis, a region of Mars with varied geology, mineralogy, and hydrological history. NE Syrtis has abundant subsurface water and a diverse suite of mineral deposits including olivine, phyllosilicates, sulfates, and carbonates–all of which can be leveraged for fuel, medical supplies, and/or construction materials. We conceptualized a joint rover and helicopter expedition to analyze and sample these minerals over a two-year primary mission using Java Mission-planning and Analysis for Remote Sensing (JMARS), Planetary Data Systems (PDS), and Computer-Aided Design (CAD). We plotted a strategic traverse to regions of interest identified from remote sensing data and planned operations at each target. Our mission aimed to prepare for human presence on Mars by demonstrating the utility and viability of ISRU-focused operations.
As marine renewable energy technology is adapted or designed for Blue Economy end-uses, challenges unique to operation at sea and in remote coastal areas must be addressed to meet demands distinct from utility grid electricity generation. Foundational research and development with this end goal is conducted to broadly enable the initiative of Powering the Blue Economy. Determination of distinct R\&D topics is informed by pathways including an engineering design customer-driven approach and feedback from the creation and administration of prize competitions in the Blue Economy technology space. Critical research outcomes, such as determining the performance of small wave energy converters and benchmarking the reliability for power systems at sea, are among the goals of ten foundational R\&D projects currently underway.
As marine renewable energy technology is adapted or designed for Blue Economy end-uses, challenges unique to operation at sea and in remote coastal areas must be addressed to meet demands distinct from utility grid electricity generation. Foundational research and development with this end goal is conducted to broadly enable the initiative of Powering the Blue Economy. Determination of distinct R&D topics is informed by pathways including an engineering design customer-driven approach and feedback from the creation and administration of prize competitions in the Blue Economy technology space. Critical research outcomes, such as determining the performance of small wave energy converters and benchmarking the reliability for power systems at sea, are among the goals of ten foundational R&D projects currently underway.