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All sourcesNASA NTRSDOE OSTI
NASA NTRS2012

Autonomous Rover Traverse and Precise Arm Placement on Remotely Designated Targets

This software controls a rover platform to traverse rocky terrain autonomously, plan paths, and avoid obstacles using its stereo hazard and navigation cameras. It does so while continuously tracking a target of interest selected from 10 20 m away. The rover drives and tracks the target until it reaches the vicinity of the target. The rover then positions itself to approach the target, deploys its robotic arm, and places the end effector instrument on the designated target to within 2-3-cm accuracy of the originally selected target. This software features continuous navigation in a fairly rocky field in an outdoor environment and the ability to enable the rover to avoid large rocks and traverse over smaller ones. Using point-and-click mouse commands, a scientist designates targets in the initial imagery acquired from the rover s mast cameras. The navigation software uses stereo imaging, traversability analysis, path planning, trajectory generation, and trajectory execution. It also includes visual target tracking of a designated target selected from 10 m away while continuously navigating the rocky terrain. Improvements in this design include steering while driving, which uses continuous curvature paths. There are also several improvements to the traversability analyzer, including improved data fusion of traversability maps that result from pose estimation uncertainties, dealing with boundary effects to enable tighter maneuvers, and handling a wider range of obstacles. This work advances what has been previously developed and integrated on the Mars Exploration Rovers by using algorithms that are capable of traversing more rock-dense terrains, enabling tight, thread-the-needle maneuvers. These algorithms were integrated on the newly refurbished Athena Mars research rover, and were fielded in the JPL Mars Yard. Forty-three runs were conducted with targets at distances ranging from 5 to 15 m, and a success rate of 93% was achieved for placement of the instrument within 2-3 cm of the target.

Nesnas, Issa A.↗
NASA NTRSDate not supplied

The Global Water Monitor: Wetland surface height dynamics for Ecology, Conservation, and Resource Management

The Global Water Monitor (GWM) offers surface water-related products for lakes, river reaches and wetland zones. The surface elevation change products are derived from satellite radar altimeters, such as the Jason/Sentinel series, and can span multiple decades. While the current instruments are profiling, they offer surface water height at specific locations, thus contributing to parallel observation of wetland surface water extent. GWM wetland products are “operational” with routine updates within 1-2days of satellite overpass. There is also assurance of product continuity to at least the end of 2030. Currently, the GWM holds products for a small selection (~40) of diverse wetlands for objectives that focus on conservation and water/fisheries resource monitoring. These sites have been requested by various organizations also looking to the effects of climate change and anthropogenic influences. Many of the current GWM wetland regions are in National Parks such as the Everglades (USA), the Wasur (Rep. Indonesia), and the Kakadu marshes (Australia). They also include coastal river deltas of the Danube, Mekong, Amazon, Orinoco and Ganges Rivers, and the internal Okavango Delta in Botswana. The preliminary set also ensures a diverse range of wetlands e.g., the shallow pot-hole lake region of the Sand Hills and the coastal Black Swamp of the USA, the peat fields of Malaysia and rice growing fields of Yilinzhen in China. Extensive wetlands in Brazil (the Pantanal), South Sudan (the Sudd Marshes) and Belarus (the Pinsk) are also featured, as are the mangrove regions of the Sundarbans (India) and the Laguna Terminos (Mexico). The Usangu wetland (Tanzania) is also included, a focus region where wetland ecology strongly competes with demands from irrigation, livestock, and the needs of downstream hydro-electric power. The nadir-pointing altimeter instruments record height variations regardless of vegetation or canopy cover, and height dynamics at 10-day or monthly resolution reveal seasonal and inter-annual variations as well as longer-term declining or re-charging trends. These products provide a unique, multi-decadal data set that can stand-alone or serve with cross-validation or image-fusion efforts.

Charon Birkett↗
NASA NTRS2017

NeMO-Net The Neural Multi-Modal Observation Training Network for Global Coral Reef Assessment

In the past decade, coral reefs worldwide have experienced unprecedented stresses due to climate change, ocean acidification, and anthropomorphic pressures, instigating massive bleaching and die-off of these fragile and diverse ecosystems. Furthermore, remote sensing of these shallow marine habitats is hindered by ocean wave distortion, refraction and optical attenuation, leading invariably to data products that are often of low resolution and signal-to-noise (SNR) ratio. However, recent advances in UAV and Fluid Lensing technology have allowed us to capture multispectral 3D imagery of these systems at sub-cm scales from above the water surface, giving us an unprecedented view of their growth and decay. Exploiting the fine-scaled features of these datasets, machine learning methods such as MAP, PCA, and SVM can not only accurately classify the living cover and morphology of these reef systems (below 8 error), but are also able to map the spectral space between airborne and satellite imagery, augmenting and improving the classification accuracy of previously low-resolution datasets.We are currently implementing NeMO-Net, the first open-source deep convolutional neural network (CNN) and interactive active learning and training software to accurately assess the present and past dynamics of coral reef ecosystems through determination of percent living cover and morphology. NeMO-Net will be built upon the QGIS platform to ingest UAV, airborne and satellite datasets from various sources and sensor capabilities, and through data-fusion determine the coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. To achieve this, we will exploit virtual data augmentation, the use of semi-supervised learning, and active learning through a tablet platform allowing for users to manually train uncertain or difficult to classify datasets. The project will make use of Pythons extensive libraries for machine learning, as well as extending integration to GPU and High-End Computing Capability (HECC) on the Pleiades supercomputing cluster, located at NASA Ames. The project is being supported by NASAs Earth Science Technology Office (ESTO) Advanced Information Systems Technology (AIST-16) Program.

Remote Sensin↗
NASA NTRS2017

NeMO-Net: The Neural Multi-Modal Observation and Training Network for Global Coral Reef Assessment

In the past decade, coral reefs worldwide have experienced unprecedented stresses due to climate change, ocean acidification, and anthropomorphic pressures, instigating massive bleaching and die-off of these fragile and diverse ecosystems. Furthermore, remote sensing of these shallow marine habitats is hindered by ocean wave distortion, refraction and optical attenuation, leading invariably to data products that are often of low resolution and signal-to-noise (SNR) ratio. However, recent advances in UAV and Fluid Lensing technology have allowed us to capture multispectral 3D imagery of these systems at sub-cm scales from above the water surface, giving us an unprecedented view of their growth and decay. Exploiting the fine-scaled features of these datasets, machine learning methods such as MAP, PCA, and SVM can not only accurately classify the living cover and morphology of these reef systems (below 8 percent error), but are also able to map the spectral space between airborne and satellite imagery, augmenting and improving the classification accuracy of previously low-resolution datasets. We are currently implementing NeMO-Net, the first open-source deep convolutional neural network (CNN) and interactive active learning and training software to accurately assess the present and past dynamics of coral reef ecosystems through determination of percent living cover and morphology. NeMO-Net will be built upon the QGIS platform to ingest UAV, airborne and satellite datasets from various sources and sensor capabilities, and through data-fusion determine the coral reef ecosystem makeup globally at unprecedented spatial and temporal scales. To achieve this, we will exploit virtual data augmentation, the use of semi-supervised learning, and active learning through a tablet platform allowing for users to manually train uncertain or difficult to classify datasets. The project will make use of Pythons extensive libraries for machine learning, as well as extending integration to GPU and High-End Computing Capability (HECC) on the Pleiades supercomputing cluster, located at NASA Ames. The project is being supported by NASAs Earth Science Technology Office (ESTO) Advanced Information Systems Technology (AIST-16) Program.

NeMO-Net↗
NASA NTRS2002

System Description of the Gasdynamic Mirror Propulsion System

Nuclear fusion appears to be a most promising concept for producing extremely high specific impulse rocket engines. One particular fusion concept which seems to be very well suited for fusion propulsion applications is the gasdynamic mirror (GDM). An experimental GDM device has been constructed at the NASA Marshall Space Flight Center to provide an initial assessment of the feasibility of this type of propulsion system. A systems shakedown of the device is currently underway with initial experiments slated to occur in early 2002. The device has been constructed so as to allow a considerable degree of flexibility in its configuration thus permitting the experiment to easily grow over time without necessitating a great deal of additional fabrication. This flexibility is due in large part to the modular nature of the machine wherein additional modules may be added as needed to meet varying experimental objectives. Figure 1 shows the current configuration of the Gasdynamic Mirror Experiment, and Table 1 describes the main features of the device.

Emrich, William Jr.↗
NASA NTRS1972

Practical method for diffusion welding of steel plate in air.

Description of a simple and easily applied method of diffusion welding steel plate in air which does not require a vacuum furnace or hot press. The novel feature of the proposed welding method is that diffusion welds are made in air with deadweight loading. In addition, the use of an autogenous (self-generated) surface-cleaning principle (termed 'auto-vac cleaning') to reduce the effects of surface oxides that normally hinder diffusion welding is examined. A series of nine butt joints were diffusion welded in thick sections of AISI 1020 steel plate. Diffusion welds were attempted at three welding temperatures (1200, 1090, and 980 C) using a deadweight pressure of 34,500 N/sq m (5 psi) and a two-hour hold time at temperature. Auto-vac cleaning operations prior to welding were also studied for the same three temperatures. Results indicate that sound welds were produced at the two higher temperatures when the joints were previously fusion seal welded completely around the periphery. Also, auto-vac cleaning at 1200 C for 2-1/2 hours prior to diffusion welding was highly beneficial, particularly when subsequent welding was accomplished at 1090 C.

Moore, T. J.↗
NASA NTRS2002

Expression of a calpastatin transgene slows muscle wasting and obviates changes in myosin isoform expression during murine muscle disuse

Muscle wasting is a prominent feature of several systemic diseases, neurological damage and muscle disuse. The contribution of calpain proteases to muscle wasting in any instance of muscle injury or disease has remained unknown because of the inability to specifically perturb calpain activity in vivo. We have generated a transgenic mouse with muscle-specific overexpression of calpastatin, which is the endogenous inhibitor of calpains, and induced muscle atrophy by unloading hindlimb musculature for 10 days. Expression of the transgene resulted in increases in calpastatin concentration in muscle by 30- to 50-fold, and eliminated all calpain activity that was detectable on zymograms. Muscle fibres in ambulatory, transgenic mice were smaller in diameter, but more numerous, so that muscle mass did not differ between transgenic and non-transgenic mice. This is consistent with the role of the calpain-calpastatin system in muscle cell fusion that has been observed in vitro. Overexpression of calpastatin reduced muscle atrophy by 30 % during the 10 day unloading period. In addition, calpastatin overexpression completely prevented the shift in myofibrillar myosin content from slow to fast isoforms, which normally occurs in muscle unloading. These findings indicate that therapeutics directed toward regulating the calpain-calpastatin system may be beneficial in preventing muscle mass loss in muscle injury and disease.

Non-NASA Center↗
NASA NTRS2007

SPARTAN: A High-Fidelity Simulation for Automated Rendezvous and Docking Applications

bd Systems (a subsidiary of SAIC) has developed the Simulation Package for Autonomous Rendezvous Test and ANalysis (SPARTAN), a high-fidelity on-orbit simulation featuring multiple six-degree-of-freedom (6DOF) vehicles. SPARTAN has been developed in a modular fashion in Matlab/Simulink to test next-generation automated rendezvous and docking guidance, navigation,and control algorithms for NASA's new Vision for Space Exploration. SPARTAN includes autonomous state-based mission manager algorithms responsible for sequencing the vehicle through various flight phases based on on-board sensor inputs and closed-loop guidance algorithms, including Lambert transfers, Clohessy-Wiltshire maneuvers, and glideslope approaches The guidance commands are implemented using an integrated translation and attitude control system to provide 6DOF control of each vehicle in the simulation. SPARTAN also includes high-fidelity representations of a variety of absolute and relative navigation sensors that maybe used for NASA missions, including radio frequency, lidar, and video-based rendezvous sensors. Proprietary navigation sensor fusion algorithms have been developed that allow the integration of these sensor measurements through an extended Kalman filter framework to create a single optimal estimate of the relative state of the vehicles. SPARTAN provides capability for Monte Carlo dispersion analysis, allowing for rigorous evaluation of the performance of the complete proposed AR&D system, including software, sensors, and mechanisms. SPARTAN also supports hardware-in-the-loop testing through conversion of the algorithms to C code using Real-Time Workshop in order to be hosted in a mission computer engineering development unit running an embedded real-time operating system. SPARTAN also contains both runtime TCP/IP socket interface and post-processing compatibility with bdStudio, a visualization tool developed by bd Systems, allowing for intuitive evaluation of simulation results. A description of the SPARTAN architecture and capabilities is provided, along with details on the models and algorithms utilized and results from representative missions.

Turbe, Michael A.↗
NASA NTRS2019

Additive Manufacturing Development and Hot-Fire Testing of Liquid Rocket Channel Wall Nozzles Using Blown Powder Directed Energy Deposition Inconel 625 and JBK-75 Alloys

Additive manufacturing (AM) is being investigated at NASA and across much of the rocket propulsion industry as an alternate fabrication technique to create complex geometries for liquid engine components that offers schedule and cost saving opportunities. The geometries that can be created using AM offer a significant advantage over traditional techniques. Internal complexities, such as internal coolant channels for combustion chambers and nozzles that would typically require several operations to manufacture traditionally can be fabricated in one process. Additionally, the coolant channels are closed out as a part of the AM build process, eliminating the complexities of a traditional process like brazing or plating. The primary additive manufacturing technique that has been evaluated is powder bed fusion (PBF), or selective laser melting (SLM), but there is a scale limitation for this technique. There are several alternate additive manufacturing techniques that are being investigated for large-scale nozzles and chambers including directed energy deposition (DED) processes. A significant advantage of the DED processes is the ability to adapt to a robotic or gantry CNC system with a localized purge or purge chamber, allowing unlimited build volume. This paper will discuss the development and hot-fire testing of channel-cooled nozzles fabricated utilizing one form of DED called blown powder deposition. This initial development work using blown powder DED is being explored to form the entire channel wall nozzle with integral coolant channels within a single AM build. Much of this development is focused on the design and DED-fabrication of complex and thin-walled features and on characterization of the materials properties produced with this techniques in order to evolve this process. Subscale nozzles were fabricated using this DED technique and hot-fire tested in Liquid Oxygen/Hydrogen (LOX/GH2) and LOX/Kerosene (LOX/RP-1) environments accumulating significant development time and cycles. The initial materials that were evaluated during this testing were high-strength nickel-based Inconel 625 and JBK-75. Further process development is being completed to increase the scale of this technology for large-scale nozzles. This paper will summarize the general design considerations for DED, specific channel-cooled nozzle design, manufacturing process development, property development, initial hot-fire testing and future developments to mature this technology for regeneratively-cooled nozzles. An overview of future development at NASA will also be discussed.

Gradl, Paul R.↗
NASA NTRS2018

The Land Surface Data Toolkit (LDT v7.2) - A Data Fusion Environment for Land Data Assimilation Systems

The effective applications of land surface models (LSMs) and hydrologic models pose a varied set of data input and processing needs, ranging from ensuring consistency checks to more derived data processing and analytics. This article describes the development of the Land surface Data Toolkit (LDT), which is an integrated framework designed specifically for processing input data to execute LSMs and hydrological models. LDT not only serves as a preprocessor to the NASA Land Information System (LIS), which is an integrated framework designed for multi-model LSM simulations and data assimilation (DA) integrations, but also as a land-surface-based observation and DA input processor. It offers a variety of user options and inputs to processing datasets for use within LIS and stand-alone models. The LDT design facilitates the use of common data formats and conventions. LDT is also capable of processing LSM initial conditions and meteorological boundary conditions and ensuring data quality for inputs to LSMs and DA routines. The machine learning layer in LDT facilitates the use of modern data science algorithms for developing data-driven predictive models. Through the use of an object-oriented framework design, LDT provides extensible features for the continued development of support for different types of observational datasets and data analytics algorithms to aid land surface modeling and data assimilation.

droughts and floods↗
NASA NTRS2000

Structure of Protoplanetary Environments

Our research focused on the structure and composition of the disks in the T Tau and Haro 6-10 multiple star systems and on the nature of the 'infrared companions' that these systems contain. This work has resulted in two papers, one on T Tau, presently under review at the Astrophysical Journal, and the other, on Haro 6-10, about to be submitted to Astronomy and Astrophysics. In the paper 'Evidence for Extinction and Accretion Variability in T Tau S' by Tracy L. Beck, L. Prato, and M. Simon, we present angularly resolved spectra of T Tau N (the visible star) and T Tau S (the infrared companion, IRC) in the three micrometer water ice-feature and the K-band. Most of the water ice absorption lies along the line of sight to T Tau S, confirming it is seen through stronger obscuration. A decrease in the ice-band absorption toward T Tau S between 12/98 and 1/00, significant, at the two-sigma level, was associated with an increase in its near IR flux. Bracket gamma emission is detected in T Tau N and S, and H2 (2.12 micrometer) emission only toward T Tau S, consistent with previous studies of IRCs. Our results suggest that the near IR variability of T Tau S is probably caused by both variations in accretion rate and extinction. Our paper on Haro 6-10, 'The Near IR and Ice Band Variability of Haro, 6-10' by Ch. Leinert, T.L. Beck, S. Ligori, M. Simon, J. Woitas, and R.R. Howell, represents a fusion of originally independent efforts at the Max Planck Institut fur Astronomie (Heidelberg) and Stony Brook. Our combined observations demonstrate that both Haro 6-10 S (the visible star) and Haro 6-10 N (the IRC) vary significantly in near IR flux on time scales as short as a month. The substantial decrease of Haro 6-10 S in the last four years carries the photometric signature of increased extinction. However, a comparable K-band flux increase of the IRC is associated with a dimming at H so cannot be explained by lower extinction. Absorption in the 3.1 micrometer ice band was always greater toward the IRC during our observations indicating a large amount of obscuring material. We detect variable extinction in the ice-band toward Haro 6-10 S and the IRC, significant at the 3.5-sigma and 2.0-sigma levels, respectively.

Simon, Michal↗
NASA NTRS2011

Chromosomal Aberrations in Normal and AT Cells Exposed to High Dose of Low Dose Rate Irradiation

Ataxia telangiectasia (A-T) is a human autosomally recessive syndrome characterized by cerebellar ataxia, telangiectases, immune dysfunction, and genomic instability, and high rate of cancer incidence. A-T cell lines are abnormally sensitive to agents that induce DNA double strand breaks, including ionizing radiation. The diverse clinical features in individuals affected by A-T and the complex cellular phenotypes are all linked to the functional inactivation of a single gene (AT mutated). It is well known that cells deficient in ATM show increased yields of both simple and complex chromosomal aberrations after high-dose-rate irradiation, but, less is known on how cells respond to low-dose-rate irradiation. It has been shown that AT cells contain a large number of unrejoined breaks after both low-dose-rate irradiation and high-dose-rate irradiation, however sensitivity for chromosomal aberrations at low-dose-rate are less often studied. To study how AT cells respond to low-dose-rate irradiation, we exposed confluent normal and AT fibroblast cells to up to 3 Gy of gamma-irradiation at a dose rate of 0.5 Gy/day and analyzed chromosomal aberrations in G0 using fusion PCC (Premature Chromosomal Condensation) technique. Giemsa staining showed that 1 Gy induces around 0.36 unrejoined fragments per cell in normal cells and around 1.35 fragments in AT cells, whereas 3Gy induces around 0.65 fragments in normal cells and around 3.3 fragments in AT cells. This result indicates that AT cells can rejoin breaks less effectively in G0 phase of the cell cycle? compared to normal cells. We also analyzed chromosomal exchanges in normal and AT cells after exposure to 3 Gy of low-dose-rate rays using a combination of G0 PCC and FISH techniques. Misrejoining was detected in the AT cells only? When cells irradiated with 3 Gy were subcultured and G2 chromosomal aberrations were analyzed using calyculin-A induced PCC technique, the yield of unrejoined breaks decreased in both normal and AT cells and misrejoined breaks increased in both cell lines. The present study suggests that AT cells begin to rejoin breaks when a certain number of breaks are accumulated and an increased number of exchanges were observed in G0 AT cells, which is similar situation after high-dose-rate irradiation.

Kawata, T.↗
NASA NTRS2017

Isotopic Composition of Carbonates in Antarctic Ordinary Chondrites and Miller Range Nakhlites: Insights into Martian Amazonian Aqueous Alteration

The martian surface contains features of ancient fluvial systems. Stable isotope analysis of carbonates that form in aqueous systems can reveal their formation conditions. The Nakhlite meteorites originally formed on Mars 1.3 Ga and were later exposed to aqueous fluids that left behind carbonate minerals [1], thus analysis of these carbonates can provide data to understand Amazonian climate conditions on Mars. Carbonates found in the Nakhlite meteorites contain a range of delta(sup 13)C values, which may be either martian carbonates or terrestrial contamination. To better under-stand terrestrial weathering products and martian carbonate formation processes, we conducted a set of carbonate isotope analyses on Antarctic meteorites focusing on Miller Range (MIL) Nakhlites as well as Ordinary Chondrites (OCs) (Figure 1)[1-11] [12]. OCs of petrology type H, L, and LL 3-6 were selected since they are not expected to contain preterrestrial carbonates, yet they have visible evaporite minerals on the fusion crust indicating terrestrial alteration. These cryogenically formed terrestrial carbonates may also provide an analog for cryogenic carbonate formation on Mars.

Evans, M. E.↗
NASA NTRS2005

Earth Observing System (EOS) Snow and Ice Products for Observation and Modeling

Snow and ice are the key components of the Earth's cryosphere, and their influence on the Earth's energy balance is very significant due at least in part to the large areal extent and high albedo characterizing these features. Large changes in the cryosphere have been measured over the last century and especially over the past decade, and remote sensing plays a pivotal role in documenting these changes. Many of NASA's Earth Observing System (EOS) products derived from instruments on the Terra, Aqua, and Ice, Cloud and land Elevation Satellite (ICESat) satellites are useful for measuring changes in features that are associated with climate change. The utility of the products is continually enhanced as the length of the time series increases. To gain a more coherent view of the cryosphere and its historical and recent changes, the EOS products may be employed together, in conjunction with other sources of data, and in models. To further this goal, the first EOS Snow and Ice Products Workshop was convened. The specific goals of the workshop were to provide current and prospective users of EOS snow and ice products up-to-date information on the products, their validation status and future enhancements, to help users utilize the data products through hands-on demonstrations, and to facilitate the integration of EOS products into models. Oral and poster sessions representing a wide variety of snow and ice topics were held; three panels were also convened to discuss workshop themes. Panel discussions focused on data fusion and assimilation of the products into models. Approximately 110 people attended, representing a wide array of interests and organizations in the cryospheric community.

Hall, D.↗
NASA NTRS2001

Molecular motors and their functions in plants

Molecular motors that hydrolyze ATP and use the derived energy to generate force are involved in a variety of diverse cellular functions. Genetic, biochemical, and cellular localization data have implicated motors in a variety of functions such as vesicle and organelle transport, cytoskeleton dynamics, morphogenesis, polarized growth, cell movements, spindle formation, chromosome movement, nuclear fusion, and signal transduction. In non-plant systems three families of molecular motors (kinesins, dyneins, and myosins) have been well characterized. These motors use microtubules (in the case of kinesines and dyneins) or actin filaments (in the case of myosins) as tracks to transport cargo materials intracellularly. During the last decade tremendous progress has been made in understanding the structure and function of various motors in animals. These studies are yielding interesting insights into the functions of molecular motors and the origin of different families of motors. Furthermore, the paradigm that motors bind cargo and move along cytoskeletal tracks does not explain the functions of some of the motors. Relatively little is known about the molecular motors and their roles in plants. In recent years, by using biochemical, cell biological, molecular, and genetic approaches a few molecular motors have been isolated and characterized from plants. These studies indicate that some of the motors in plants have novel features and regulatory mechanisms. The role of molecular motors in plant cell division, cell expansion, cytoplasmic streaming, cell-to-cell communication, membrane trafficking, and morphogenesis is beginning to be understood. Analyses of the Arabidopsis genome sequence database (51% of genome) with conserved motor domains of kinesin and myosin families indicates the presence of a large number (about 40) of molecular motors and the functions of many of these motors remain to be discovered. It is likely that many more motors with novel regulatory mechanisms that perform plant-specific functions are yet to be discovered. Although the identification of motors in plants, especially in Arabidopsis, is progressing at a rapid pace because of the ongoing plant genome sequencing projects, only a few plant motors have been characterized in any detail. Elucidation of function and regulation of this multitude of motors in a given species is going to be a challenging and exciting area of research in plant cell biology. Structural features of some plant motors suggest calcium, through calmodulin, is likely to play a key role in regulating the function of both microtubule- and actin-based motors in plants.

Non-NASA Center↗
NASA NTRSDate not supplied

Autonomous Navigation, Guidance, and Control Software in a Low SWaP Box

Onboard autonomy is a necessity for responsive space operations. Autonomous navigation, guidance, and control (NGC) enables space missions to reduce their dependence on high demand ground assets and costly ground personnel. It also allows for in-situ decision making and higher return on mission data. A flight software and hardware system providing this capability, called “autoNGC,” is currently being developed at NASA Goddard Space Flight Center for infusion into multiple future missions. The autoNGC flight software is built on the plug-and-play architecture of the core Flight System (cFS) consisting of the standard cFS apps and newly developed autoNGC interface apps and libraries. The various apps cooperate through communication over the message-based software bus. With the plug-and-play architecture of autoNGC, cFS apps can easily be added and replaced to meet the needs of different missions, even after launch. The first flight software release of autoNGC is targeted for Summer 2024 to provide autonomous navigation at the Moon and beyond. It can perform sensor fusion of multiple measurement types including pseudo-range from a Global Navigation Satellite System (GNSS) receiver (including weak signal), 1-way and 2-way range and Doppler from ground stations (i.e., direct to Earth (DTE)), bearing and range from optical camera images, and accelerometer data. Accurate onboard navigation and timing is obtained through the Goddard Enhanced Onboard Navigation System (GEONS) software library which fuses different measurement types through an extended Kalman filter (EKF) framework. Optical measurements that are ingested in GEONS are first extracted from optical images by the cFS Goddard Image Analysis and Navigation Tool (cGIANT) app. If the imaged body is far enough away that it appears as a pixel or cluster of pixels, then bearing angles to the body centroid can be provided. If the body is close enough and the shape is known coarsely, then bearing angles and range to the body centroid can be derived from the limb. Bearing angles to individual surface features can also be extracted (i.e., terrain relative navigation (TRN)). Onboard guidance and control capabilities are being developed for a future release to perform autonomous station-keeping and trajectory correction maneuvers in multiple orbital regimes. Capabilities to enable distributed systems missions and constellations, such as crosslink measurements, and onboard time management are being developed as well. The first hardware implementation of autoNGC is a minimal size, weight, and power (SWaP) design allowing for inclusion into CubeSats and SmallSat-size buses. Advancements in miniaturized space processors, such as the SpaceCube 3.0 Mini and the SpaceCube Mini-Z are utilized for low SWaP while maintaining a high level of performance. The current enclosure design is 12 cm x 17 cm x 13.5 cm. The box mass is expected to be less than 2 kg, and the nominal power is 21 W. In order to accommodate a wide range of missions, the hardware interfaces are designed for flexibility with a variety of sensor inputs. Through comprehensive testing in the software-in-the-loop, processor-in-the-loop, and hardware-in-the-loop test beds that are concurrently being developed, autoNGC is expected to achieve TRL 6 by late 2024.

Sun Hur-Diaz↗
NASA NTRS2003

Thermo-Mechanical Processing in Friction Stir Welds

Friction stir welding is a solid-phase joining, or welding process that was invented in 1991 at The Welding Institute (TWI). The process is potentially capable of joining a wide variety of aluminum alloys that are traditionally difficult to fusion weld. The friction stir welding (FSW) process produces welds by moving a non-consumable rotating pin tool along a seam between work pieces that are firmly clamped to an anvil. At the start of the process, the rotating pin is plunged into the material to a pre-determined load. The required heat is produced by a combination of frictional and deformation heating. The shape of the tool shoulder and supporting anvil promotes a high hydrostatic pressure along the joint line as the tool shears and literally stirs the metal together. To produce a defect free weld, process variables (RPM, transverse speed, and downward force) and tool pin design must be chosen carefully. An accurate model of the material flow during the process is necessary to guide process variable selection. At MSFC a plastic slip line model of the process has been synthesized based on macroscopic images of the resulting weld material. Although this model appears to have captured the main features of the process, material specific interactions are not understood. The objective of the present research was to develop a basic understanding of the evolution of the microstructure to be able to relate it to the deformation process variables of strain, strain rate, and temperature.

Schneider, Judy↗
NASA NTRS2005

Development and Application of Non-Linear Image Enhancement and Multi-Sensor Fusion Techniques for Hazy and Dark Imaging

The purpose of this research was to develop enhancement and multi-sensor fusion algorithms and techniques to make it safer for the pilot to fly in what would normally be considered Instrument Flight Rules (IFR) conditions, where pilot visibility is severely restricted due to fog, haze or other weather phenomenon. We proposed to use the non-linear Multiscale Retinex (MSR) as the basic driver for developing an integrated enhancement and fusion engine. When we started this research, the MSR was being applied primarily to grayscale imagery such as medical images, or to three-band color imagery, such as that produced in consumer photography: it was not, however, being applied to other imagery such as that produced by infrared image sources. However, we felt that it was possible by using the MSR algorithm in conjunction with multiple imaging modalities such as long-wave infrared (LWIR), short-wave infrared (SWIR), and visible spectrum (VIS), we could substantially improve over the then state-of-the-art enhancement algorithms, especially in poor visibility conditions. We proposed the following tasks: 1) Investigate the effects of applying the MSR to LWIR and SWIR images. This consisted of optimizing the algorithm in terms of surround scales, and weights for these spectral bands; 2) Fusing the LWIR and SWIR images with the VIS images using the MSR framework to determine the best possible representation of the desired features; 3) Evaluating different mixes of LWIR, SWIR and VIS bands for maximum fog and haze reduction, and low light level compensation; 4) Modifying the existing algorithms to work with video sequences. Over the course of the 3 year research period, we were able to accomplish these tasks and report on them at various internal presentations at NASA Langley Research Center, and in presentations and publications elsewhere. A description of the work performed under the tasks is provided in Section 2. The complete list of relevant publications during the research periods is provided in Section 5. This research also resulted in the generation of intellectual property.

Rahman, Zia-ur↗