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Reducing software mass through behavior control

Attention is given to the tradeoff between communication and computation as regards a planetary rover (both these subsystems are very power-intensive, and both can be the major driver of the rover's power subsystem, and therefore the minimum mass and size of the rover). Software techniques that can be used to reduce the requirements on both communciation and computation, allowing the overall robot mass to be greatly reduced, are discussed. Novel approaches to autonomous control, called behavior control, employ an entirely different approach, and for many tasks will yield a similar or superior level of autonomy to traditional control techniques, while greatly reducing the computational demand. Traditional systems have several expensive processes that operate serially, while behavior techniques employ robot capabilities that run in parallel. Traditional systems make extensive world models, while behavior control systems use minimal world models or none at all.

Miller, David P.↗

Navy Omni-Directional Vehicle (ODV) development program

The Omni-Directional Vehicle (ODV) development program sponsored by the Office of Naval Research at the Coastal Systems Station has investigated the application of ODV technology for use in the Navy shipboard environment. ODV technology as originally received by the Navy in the form of the Cadillac-Gage Side Mover Vehicle was applicable to the shipboard environment with the potential to overcome conditions of reduced traction, ship motion, decks heeled at high angles, obstacles, and confined spaces. Under the Navy program, ODV technology was investigated and a series of experimental vehicles were built and successfully tested under extremely demanding conditions. The ODV drive system has been found to be applicable to autonomous, remotely, or manually operated vehicles. Potential commercial applications include multi-directional forklift trucks, automatic guided vehicles employed in manufacturing environments, and remotely controlled platforms used in nuclear facilities or for hazardous waste clean up tasks.

Mcgowen, Hillery↗

Dynamic Inversion based Control of a Docking Mechanism

The problem of position and attitude control of the Stewart platform based docking mechanism is considered motivated by its future application in space missions requiring the autonomous docking capability. The control design is initiated based on the framework of the intelligent flight control architecture being developed at NASA Ames Research Center. In this paper, the baseline position and attitude control system is designed using dynamic inversion with proportional-integral augmentation. The inverse dynamics uses a Newton-Euler formulation that includes the platform dynamics, the dynamics of the individual legs along with viscous friction in the joints. Simulation results are presented using forward dynamics simulated by a commercial physics engine that builds the system as individual elements with appropriate joints and uses constrained numerical integration,

Kulkarni, Nilesh V.↗

Fast Paced, Low Cost Projects at MSFC

What does an orbiting microsatellite, a robotic lander and a ruggedized camera and telescope have in common? They are all fast paced, low cost projects managed by Marshall Space Flight Center (MSFC) teamed with successful industry partners. MSFC has long been synonymous with human space flight large propulsion programs, engineering acumen and risk intolerance. However, there is a growing portfolio/product line within MSFC that focuses on these smaller, fast paced projects. While launching anything into space is expensive, using a managed risk posture, holding to schedule and keeping costs low by stopping at egood enough f were key elements to their success. Risk is defined as the possibility of loss or failure per Merriam Webster. The National Aeronautics and Space Administration (NASA) defines risk using procedural requirement 8705.4 and establishes eclasses f to discern the acceptable risk per a project. It states a Class D risk has a medium to significant risk of not achieving mission success. MSFC, along with industry partners, has created a niche in Class D efforts. How did the big, cautious MSFC succeed on these projects that embodied the antithesis of its heritage in human space flight? A key factor toward these successful projects was innovative industry partners such as Dynetics Corporation, University of Alabama in Huntsville (UAHuntsville), Johns Hopkins Applied Physics Laboratory (JHU APL), Teledyne Brown Engineering (TBE), Von Braun Center for Science and Innovation (VCSI), SAIC, and Jacobs. Fast Affordable Satellite Technology (FastSat HSV01) is a low earth orbit microsatellite that houses six instruments with the primary scientific objective of earth observation and technology demonstration. The team was comprised of Dynetics, UAHuntsvile, SAIC, Goddard Space Flight Center (GSFC) and VCSI with the United States Air Force Space Test Program as the customer. The team completed design, development, manufacturing, environmental test and integration in one year. FastSat HSV01 also deployed a Poly Picosatellite Orbital Deployer (PPOD) for a separate nano ]satellite class spacecraft (Cubesat: Nano Sail Demonstration) in partnership with Ames Research Center. The Robotic lunar lander is a MSFC JHU APL partnership that led to the development of a flexible architecture for landers to support robotic missions to a wide range of lunar and asteroid destinations. The team started with the goal of meeting NASA agency directives that led to the creation of a test bed focusing on GN&C and software to demonstrate the descent and landing on any airless body for the final 30 to 60 meters. The team created a complex technology demonstration as well as Guidance Control and Navigation (GN&C) algorithms providing autonomous control of the lander. The team uses a green propellant of 90% hydrogen peroxide and has completed 18 successful test flights. The International Space Station (ISS) SERVIR Environmental Research and Visualization System (ISERV) is a technology demonstration payload to assist the SERVIR project with environmental monitoring for disaster relief and humanitarian efforts. The ISERV project was a partnership with TBE. The ISERV payload consists of a commercial off the shelf camera, telescope, and MSFC developed power distribution box and interfaces on ISS with the Window Observational Research Facility in the US Lab. MSFC has identified three key areas that enabled the low cost mission success to include culture, partnering, and cost/schedule control. This paper will briefly discuss these three Class D efforts, FastSat HSV-01, the Robotic Lunar Lander and the ISERV camera system, the lessons learned, their successes and challenges.

Watson-Morgan, Lisa↗

GN and C Subsystem Concept for Safe Precision Landing of the Proposed Lunar MARE Robotic Science Mission

The Lunar MARE (Moon Age and Regolith Explorer) Discovery Mission concept targets delivery of a science payload to the lunar surface for sample collection and dating. The mission science is within a 100-meter radius region of smooth lunar maria terrain near Aristarchus crater. The location has several small, sharp craters and rocks that present landing hazards to the spacecraft. For successful delivery of the science payload to the surface, the vehicle Guidance, Navigation and Control (GN&C) subsystem requires safe and precise landing capability, so design infuses the NASA Autonomous precision Landing and Hazard Avoidance Technology (ALHAT) and a gimbaled, throttleable LOX/LCH4 main engine. The ALHAT system implemented for Lunar MARE is a specialization of prototype technologies in work within NASA for the past two decades, including a passive optical Terrain Relative Navigation (TRN) sensor, a Navigation Doppler Lidar (NDL) velocity and range sensor, and a Lidar-based Hazard Detection (HD) sensor. The landing descent profile is from a retrograde orbit over lighted terrain with landing near lunar dawn. The GN&C subsystem with ALHAT capabilities will deliver the science payload to the lunar surface within a 20-meter landing ellipse of the target location and at a site having greater than 99% safety probability, which minimizes risk to safe landing and delivery of the MARE science payload to the intended terrain region.

MARE (Moon Age and Regolith Explorer)↗

Advancing Development of Emissions Detection (Final Report)

This document is the final report to the U.S. Department of Energy (DOE for contract DE-FE0031873) awarded to Colorado State University (CSU). CSU and partners at Harrisburg University of Science and Technology, University of Texas Arlington, and University of Texas at Austin organized several testing rounds to provide knowledge focused on advancing the detection capabilities of emissions monitoring devices. With this funding opportunity the research group began by establishing the Advancing the Development of Emission Detection (ADED) program, with the goal focused on enhancing the accuracy, reliability, and field applicability of methane detection technologies. This effort aimed to address the critical challenges of identifying and quantifying methane emissions while enabling industry stakeholders to meet regulatory compliance and environmental sustainability goals. The program engaged with industry, government, and technology stakeholders to promote adoption and consensus on testing techniques for methane detection solutions. Methane, a potent greenhouse gas, contributes significantly to global warming, and the oil and natural gas (O&G) sector is a primary source of methane emissions. Regulatory measures such as leak detection and repair (LDAR) programs have been implemented to address emissions. However, traditional LDAR approaches, reliant on handheld and component-level measurements, are resource-intensive. To address these limitations and move with evolving regulations, advanced methane technologies are emerging. These solutions include ground-based sensors, mobile systems (e.g., drones, vehicles, and aircraft), and satellite-based platforms. They offer innovative capabilities for autonomous monitoring, larger spatial coverage, and emission quantification using methods such as tracer gas techniques and inverse modeling with Gaussian plume analysis. The ADED program began with creating protocols for methane controlled release (CR) testing these continuous monitoring (CM) and survey technologies that detect and monitor methane emissions at O&G facilities. The protocols were then implemented throughout testing of CM and survey devices at CSU’s Methane Emissions Technology Evaluation Center (METEC) facility from 2021 through 2024. As apart of the protocol, solutions that tested under the ADED program installed their solutions at METEC, documented their system under test, and provided detection reports to the METEC team for analysis. The METEC team would provide the solutions with analyzed reports of their emissions and ground truth data of the releases conducted during their testing session. Under the ADED program, CMs were also tested at O&G facilities for a six week test run of challenge release (ChR) releases. The findings from the ADED program underscore the critical role of collaborative research and innovation in tackling methane emissions, offering a pathway for the oil and gas sector to achieve significant environmental and economic benefits. Results from METEC testing saw improvement of performance and accuracy across all solutions over the extent of the ADED experiments. The results also showed a variance in CM solution performance between CRs and ChRs. That variance pushed the team to further analyze the differences between CR testing environments and field conditions. With the drive from regulations and that variance in field conditions, the ADED team began designing a new CR testing protocol and additions to the METEC testing facility. The METEC team is furthering the progress made through the ADED program with awarded funding from DE-FE0032276. This funding pushes the development of METEC’s addition with new equipment, allowing for an updated facility layout. METEC still facilitates for traditional facilities, with a legacy pad, while expanding an new design based on how O&G infrastructure has Final Report - Contract Number: DE-FE0031873 been changed over the last decade. Throughout the ADED program the team has also been working with international partners to ensure staying in the trend globally. International partners have been essential in moving the new protocol forward to implement into CR testing at the METEC facility in Spring 2025.

42 ENGINEERING↗

0g Climbing - The Challenge of Walking in Space

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall -- an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Ambrose, Robert O.↗

0g Climbing - The Challenge of Walking in Space

Space walking is poorly named, as it has little in common with how animals walk on Earth. Space walking is more akin to mountain climbing in scuba gear, while parachuting in a freefall-an odd combination of effects and equipment to help people do a demanding job. Robots are now being studied for service in this same domain, working on large scale space structures like the Space Station, servicing science or military platforms in high orbit, or riding on the outside of a space craft in transit to Mars, the Moon or other destinations. What have we learned about climbing in 0g? How should machines be controlled for serving in this role? What can they do to overcome the problems that humans have faced? In order to move about in this environment, a robot must be able to climb autonomously, using gaits that smoothly manage its momentum and that minimize contact forces (walking lightly) while providing for safety in the event of an emergency requiring the system to stop. All three of these objectives are now being explored at NASA's Johnson Space Center, using the Robonaut system and a set of mockups that emulate the 0g condition. NASA's goal for Robonaut is to develop the control technology that will allow it to climb on the outside of the Space Shuttle, the Space Station, and satellite mockups at JSC, enabling the robot to perform EVA task setups or serve as an Astronaut's assistant.

Ambrose, Robert O.↗

NASA Tech Briefs, February 2004

Topics include: Simulation Testing of Embedded Flight Software; Improved Indentation Test for Measuring Nonlinear Elasticity; Ultraviolet-Absorption Spectroscopic Biofilm Monitor; Electronic Tongue for Quantitation of Contaminants in Water; Radar for Measuring Soil Moisture Under Vegetation; Modular Wireless Data-Acquisition and Control System; Microwave System for Detecting Ice on Aircraft; Routing Algorithm Exploits Spatial Relations; Two-Finger EKG Method of Detecting Evasive Responses; Updated System-Availability and Resource-Allocation Program; Routines for Computing Pressure Drops in Venturis; Software for Fault-Tolerant Matrix Multiplication; Reproducible Growth of High-Quality Cubic-SiC Layers; Nonlinear Thermoelastic Model for SMAs and SMA Hybrid Composites; Liquid-Crystal Thermosets, a New Generation of High-Performance Liquid-Crystal Polymers; Formulations for Stronger Solid Oxide Fuel-Cell Electrolytes; Simulation of Hazards and Poses for a Rocker-Bogie Rover; Autonomous Formation Flight; Expandable Purge Chambers Would Protect Cryogenic Fittings; Wavy-Planform Helicopter Blades Make Less Noise; Miniature Robotic Spacecraft for Inspecting Other Spacecraft; Miniature Ring-Shaped Peristaltic Pump; Compact Plasma Accelerator; Improved Electrohydraulic Linear Actuators; A Software Architecture for Semiautonomous Robot Control; Fabrication of Channels for Nanobiotechnological Devices; Improved Thin, Flexible Heat Pipes; Miniature Radioisotope Thermoelectric Power Cubes; Permanent Sequestration of Emitted Gases in the Form of Clathrate Hydrates; Electrochemical, H2O2-Boosted Catalytic Oxidation System; Electrokinetic In Situ Treatment of Metal-Contaminated Soil; Pumping Liquid Oxygen by Use of Pulsed Magnetic Fields; Magnetocaloric Pumping of Liquid Oxygen; Tailoring Ion-Thruster Grid Apertures for Greater Efficiency; and Lidar for Guidance of a Spacecraft or Exploratory Robot.

Source record↗

Development of a First-of-a-Kind Deterministic Decision-Making Tool for Supervisory Control System

Decision-making is the process of identifying and choosing alternatives where each alternative offers a different approach or path to move from a given state or condition to a desired state or condition. The generation of consistent decisions requires that a structured, coherent process be defined, immediately leading to a decision-making framework. The overall objective of the generalized framework is for it to be adopted into an autonomous decision-making framework and tailored to specific requirements for various applications. In this context, automation is the use of computing resources to make decisions and implement a structured decision-making process with limited or no human intervention. The overriding goal of automation is to replace or supplement human decision makers with reconfigurable decision- making modules that can perform a given set of tasks reliably. Risk-informed decision making requires a probabilistic assessment of the likelihood of success given the status of the plant/systems and component health, and a deterministic assessment between plant operating parameters and reactor protection parameters to prevent unnecessary trips and challenges to plant safety systems. The implementation of the probabilistic portion of the decision-making engine of the proposed supervisory control system was detailed in previous milestone reports. Once the control options are identified and ranked based on the likelihood of success, the supervisory control system transmits the options to the deterministic portion of the platform. The deterministic multi-attribute decision-making framework uses variable sensor data (e.g., outlet temperature) and calculates where it is within the challenge state, its trajectory, and margin within the controllable domain using utility functions to evaluate current and projected plant state space for different control decisions. Metrics to be evaluated include stability, cost, time to complete (action), power level, etc. The integration of deterministic calculations using multi-physics analyses (i.e., neutronics, thermal, and thermal-hydraulics) and probabilistic safety calculations allows for the examination and quantification of margin recovery strategies. This also provides validation of the control options identified from the probabilistic assessment. Thus, the thermal-hydraulics analyses are used to validate the control options identified from the probabilistic assessment. Future work includes evaluating other possible metrics and computational efficiencies.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

On Periodic Solutions of Autonomous Systems

We propose a method for the investigation of periodic solutions of autonomous dynamical systems described by ordinary differential equations with phase and integral restrictions. We formulate the general problem of periodic solutions as a boundary-value problem with restrictions. By introducing a fictitious control, we transform the boundary-value problem into a control problem for dynamical systems with phase and integral restrictions. The control problem is solved by reducing it to an integral Fredholm equation of the first kind. We establish necessary and sufficient conditions for the existence of periodic solutions and propose an algorithm for finding periodic solution according to the limit points of the minimizing sequences.

97 MATHEMATICS AND COMPUTING↗

Seasonal Cost-Benefit Analysis of Automated Distribution Feeder Upgrades with Advanced Mitigation Technologies

The increasing deployment of distributed solar photovoltaics (DPV) to meet clean energy goals can trigger adverse grid operation issues, such as voltage excursions and the violation of thermal loading constraints of the power delivery elements (e.g., lines and transformers) on the evolving electricity infrastructure. Such integration issues would require distribution upgrades with associated costs to mitigate them and to maintain reliable and resilient grid operating conditions. Traditional distribution network upgrade approaches use a specific single snapshot analysis that is overly conservative. This study considers a multi-time point analysis to capture both moderate (probable bounds) and extreme grid operating conditions using time points such as minimum load with minimum photovoltaics (PV), maximum load with maximum PV, maximum load with minimum PV, and minimum load with maximum PV. Further, this study investigates seasonal variation impacts and associated distribution upgrade costs for a spring season case (March, representing a low load and high PV scenario) and a summer case (July, representing a high load and high PV scenario). Such seasonal analysis will allow system operators to characterize upgrade requirements and associated costs across various periods. Because the spatial distribution of DPV can impact upgrade and associated costs, this study investigates three common DPV deployment scenarios - randomly deployed, close to the substation, and far from the substation - at different penetration levels. Apart from spatial distribution impacts, this project evaluates the techno-economic impacts of the nodal photovoltaic penetration factor (NPPF) for generating the various DPV deployment scenarios at increasing penetration levels. This project investigates the impact of varying nodal PV-to-load ratios using conservative and extreme NPPF values of 3 and 10, respectively. This study investigates the deployment of traditional infrastructure upgrade strategies, such as installing new voltage regulating equipment, transformers and lines replacements, and the activation of advanced inverter functionality (e.g., autonomous volt/VAR) in expanding PV hosting capacity. Existing DPV systems are assumed to operate with the legacy unity power factor, and we considered the possibility of retrofitting such systems with the activation of volt/VAR control as integration standards and regulations continue to evolve to allow such functions. The cost-benefit analysis metrics used in study include distribution upgrade costs, average cost per watt of the upgrade cost, average marginal cost per watt of the upgrade cost, and power losses.

14 SOLAR ENERGY↗

A Long Range Science Rover For Future Mars Missions

This paper describes the design and implementation currently underway at the Jet Propulsion Laboratory of a long range science rover for future missions to Mars. The small rover prototype, called Rocky 7, is capable of long traverse. autonomous navigation. and science instrument control, carries three science instruments, and can be commanded from any computer platform and any location using the World Wide Web. In this paper we describe the mobility system, the sampling system, the sensor suite, navigation and control, onboard science instruments. and the ground command and control system.

Hayati, Samad↗

Demonstration of Two Extended Visual Line of Sight Methods for Urban UAV Operations

This report describes two extended visual line of sight (EVLOS) methods developed and utilized during two flight campaigns over the campus of NASA Langley Research Center (LaRC): a chase vehicle method and a radio controlled (RC) pilot handoff method. These campaigns were performed to (a) evaluate small unmanned aerial system (sUAS) flight beyond the visual line of sight (BVLOS) of the ground control station operator and (b) test technologies under development to enable a transition from EVLOS to BVLOS operations. While an autonomous waypoint-based operational approach enabled minimal pilot intervention in both methods, range containment was enforced (a) manually via continual pilot visual monitoring and (b) autonomously via on-board contingency landing autonomy triggerable at the boundary of stay-in geofences. In the thirty-nine flights which utilized the chase vehicle, the pilot followed the sUAS flying a 1.2 km path at 40m altitude over urban streets. In the fifteen flights which utilized pilot handoff, a pilot at one end of a 1.5 km path initiated the flight at 120m altitude over buildings and trees, and at the midway point of the path transferred radio control to a pilot at the other end. In comparison, the chase vehicle method requires less ground crew and simpler avionics, while the pilot handoff method avoids schedule risk arising from street traffic congestion but better replicates actual direct routing for BVLOS flights. Collision risk with another aircraft was introduced in both campaigns and mitigated with the same manual and autonomous methods. Results from these campaigns serve as a basis for planned BVLOS operations at NASA LaRC.

Nicholas Rymer↗

Enhanced Formation Flying for the Earth Observing-1 (EO-1) New Millennium Mission

With scientific objectives for Earth observation programs becoming more ambitious and spacecraft becoming more autonomous, the need for new technical approaches on the feasibility of achieving and maintaining formations of spacecraft has come to the forefront. The trend to develop small low cost spacecraft has led many scientists to recognize the advantage of flying several spacecraft in formation, an example of which is shown in the figure below, to achieve the correlated instrument measurements formerly possible only by flying many instruments on a single large platform. Yet, formation flying imposes additional complications on orbit maintenance, especially when each spacecraft has its own orbit requirements. However, advances in automation proposed by GSFC Codes 550 and 712 allow more of the burden in maneuver planning and execution to be placed onboard the spacecraft, mitigating some of the associated operational concerns. The purpose of this analysis is to develop the fundamentals of formation flying mechanics, concepts for understanding the relative motion of free flying spacecraft, and an operational control theory for formation maintenance of the Earth Observing-1 (EO-l) spacecraft that is part of the New Millennium. Results of this development can be used to determine the appropriateness of formation flying for a particular case as well as the operational impacts. Applications to the Mission to Planet Earth (MTPE) Earth Observing System (EOS) and New Millennium (NM) were highly considered in analysis and applications. This paper presents the proposed methods for the guidance and control of the EO-1 spacecraft to formation fly with the Landsat-7 spacecraft using an autonomous closed loop three axis navigation control, GPS, and Cross link navigation support. Simulation results using various fidelity levels of modeling, algorithms developed and implemented in MATLAB, and autonomous 'fuzzy logic' control using AutoCon will be presented. The results of these analysis on the ability to meet mission and formation flying requirements will be presented.

Folta, David↗

Digital system for structural dynamics simulation

State-of-the-art digital hardware and software for the simulation of complex structural dynamic interactions, such as those which occur in rotating structures (engine systems). System were incorporated in a designed to use an array of processors in which the computation for each physical subelement or functional subsystem would be assigned to a single specific processor in the simulator. These node processors are microprogrammed bit-slice microcomputers which function autonomously and can communicate with each other and a central control minicomputer over parallel digital lines. Inter-processor nearest neighbor communications busses pass the constants which represent physical constraints and boundary conditions. The node processors are connected to the six nearest neighbor node processors to simulate the actual physical interface of real substructures. Computer generated finite element mesh and force models can be developed with the aid of the central control minicomputer. The control computer also oversees the animation of a graphics display system, disk-based mass storage along with the individual processing elements.

Krauter, A. I.↗

Analysis of the Impact of Radiation on Cameras and Robotic Perception - 19242

Robotic systems are increasingly used for inspection, maintenance, and disaster assistance for nuclear power plants. These robots utilize increasingly high levels of autonomy to operate in environments that are unsafe for humans to operate the robot in or require more precise control over the robot than a human can offer. In these cases, the robot must include perception and computation components to autonomously sense and navigate through the environment to fulfill its mission. This difficult task is complicated by radiation interfering with sensors' operation. The impact of this interference is largely unexplored, as existing works on radiation interference on sensors focus on estimating the incident radiation, rather than how it impacts a robotic system using the sensor. In this work, we seek to quantify and describe the impact of radiation on cameras, and how the radiation affects robotic performance. In this paper we study cameras that are suitable for small, lightweight unmanned aerial vehicles (UAVs) that are increasingly deployed to fly in confined areas in emergencies, where the surrounding environment is unsafe for workers to operate. These small UAVs lack the payload capacity to carry significant radiation shielding, so any onboard sensors will be affected by radiation. In the case of cameras, this radiation appears as noise in the camera imagery. This noise will interfere with the UAV's operation, by obscuring obstacles and interfering with localization and optical flow algorithms that detect detailed features in the environment. To date, there is a lack of information on how the radiation noise in the camera image impacts the overall robot system performance Existing work focuses on estimating the amount of incident radiation by measuring the corruption in the images. However, these works suffer several shortcomings for robotic systems. First, a robot must be able to successfully navigate its environment during a successful mission, and merely quantifying the amount of radiation noise in an image does not adequately explain how it may interfere with higher level navigation and perception tasks. Second, radiation estimation procedures rely on focusing the camera on a known and static background. This is unsuitable for robotic exploration tasks, where the robot frequently moves around an unknown environment that may be dynamically changing. Our work contains two contributions that address these shortcomings. First, we conduct a detailed analysis of the noise radiation causes in cameras by exposing cameras that are commonly used on UAVs [e.g., small form factor complementary metal-oxide-semiconductor (CMOS) cameras] to varying levels of radiation that may be present in emergency scenarios. From this exposure, we quantify not only how much noise is present, but quantify its appearance. By quantifying the appearance and amount of noise in a camera image, researchers can design mitigation strategies for the corruption, so that their robotic systems can operate in these challenging environments. Second, we demonstrate how to leverage this experimental data in robotic simulations. Using data from the first set of experiments allows us to test and verify the robots in simulation. Using simulators allows us to verify the robots will perform as expected during critical times without needing expensive test equipment or damaging valuable robot prototypes. Other researchers using robots for exploration of irradiated environments will benefit from our research by incorporating similar noise models in their research. 1 Southwest Research Institute{sup R} is a registered trademark of Southwest Research Institute in the United States and/or other countries. This will increase the reliability of robotic systems prior to deployment in emergency situations, which will in turn increase their effectiveness and speed the development of robots that would otherwise need expensive and time-consuming test procedures to validate. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗