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NASA NTRS2016

Aerospace Communications Technologies in Support of NASA Mission

NASA is endeavoring in expanding communications capabilities to enable and enhance robotic and human exploration of space and to advance aero communications here on Earth. This presentation will discuss some of the research and technology development work being performed at the NASA Glenn Research Center in aerospace communications in support of NASAs mission. An overview of the work conducted in-house and in collaboration with academia, industry, and other government agencies (OGA) to advance radio frequency (RF) and optical communications technologies in the areas of antennas, ultra-sensitive receivers, power amplifiers, among others, will be presented. In addition, the role of these and other related RF and optical communications technologies in enabling the NASA next generation aerospace communications architecture will be also discussed.

Communications Architectures↗

NASA NTRS2018

TPSAS-NF1676L-31282-DND

Several technology investments, beyond those used for robotic missions, are required to develop Mars human scale Entry, Descent, and Landing (EDL) systems. In a resource-constrained environment, studies play the critical role of identifying the most feasible technical paths and high payoff investments. One such NASA multi-directorate, multi-center study, is called the Entry, Descent and Landing Architecture Study (EDLAS). This paper presents a summary of phase two of the study conducted from October 2016 to September 2017. Study ground rules and assumptions are provided by NASA?s Human Exploration and Operations Mission Directorate (HEOMD) and include a Mars architecture and Mars surface lander payload manifests. Four unique entry technologies with the potential to deliver a specified 20 t human scale payload to the Mars surface are considered for analysis. Two of these techniques are evolutionary rigid vehicles, derived from robotic capsule missions and the space shuttle. Likewise, two revolutionary deployable vehicles are considered, the Adaptable Deployable Entry Placement Technology (ADEPT) and Hypersonic Inflatable Aerodynamic Decelerator (HIAD). This paper summarizes updates to the entry technology designs, the analysis motivation and approach, figures of merit by which the configurations are compared, and results of the analyses. Finally, findings are presented with the recommendation that two of the four configurations, one evolutionary and one revolutionary technology, continue to be studied in future human scale EDL studies.

Alicia Dwyer Cianciolo↗

NASA NTRSDate not supplied

Astrobee Free-Flyer Nozzle Mechanism Summary

The paper summary details the function, design, and lessons learned during the development of the Astrobee Free-Flyer nozzle. The Astrobee Free-Flyer is a free flying robot used aboard the International Space Station (ISS).

Mechanism↗

NASA NTRSDate not supplied

Astrobee Free-Flyer Nozzle Mechanism

This paper describes the development and design of the Astrobee Free-Flyer propulsion nozzle assemblies. As will be illustrated in this paper, the Free-Flyer nozzles are thrust control devices used to propel the Astrobee Free-Flyer robot autonomously inside the International Space Station (ISS). The development process, design evolution, and prototyping methods, are described. Key design features are discussed in greater detail to highlight how a seemingly simple design can present surprisingly large challenges. Several lessons learned are given.

Earl Daley↗

NASA NTRS2020

MAGIK Animation of Robotic Operations for Flight SpaceX-22 to ISS

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-22 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-22 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the ISS Power Augmentation (IPA) Carrier. Robotic operations shown include the Space Station Remote Manipulator System (SSRMS) Trunk extraction of the IPA Carrier and maneuvering to the install position on the Payload ORU (Orbital Replacement Unit) Accommodation (POA). There is no disposal payload for this flight.

Alexander Radford Fryer↗

NASA NTRSDate not supplied

Collision Avoidance Approach Using Deep Reinforcement Learning

A method to enable autonomous robots moving in a 2D space collision free motivates the purposed approach for collision avoidance for autonomous UAM vehicles. Challenges of autonomous collision free navigation for both problems are similar. Agents in each environment do not know the intent, or goal, of the other. Finding the time efficient paths require some level of anticipation with neighboring agents which is computationally expensive. In the original work, these obstacles were overcome with a novel application of deep reinforcement learning which offloads the online computation to an offline learning algorithm. A value network that encodes the estimated time to the goal given the agent’s state and the observable portion of the other agent’s state is trained on a baseline policy and further refined with reinforcement learning to promote time efficient collision free navigation. Online, the value network efficiently informs the agent’s decision making in the face of uncertainty of the other agent’s next move. In this paper, challenges extending this methodology to the 3D environment of autonomous UAM vehicles with kinematic constraints are discussed and initial results shown.

Collision Avoidance↗

NASA NTRSDate not supplied

Collision Avoidance Approach Using Deep Reinforcement Learning

Collision Avoidance↗

NASA NTRS2020

Challenges of Mars Sample Return Lander Entry, Descent, and Landing

The proposed Mars Sample Return (MSR) campaign would be perhaps the most ambitious robotic mission ever attempted in space exploration. The notional cam-paign consists of three Flagship-class missions operating in cooperation for over a decade in order to return samples of the Martian surface and atmosphere to Earth for analysis. The Mars 2020 rover, scheduled to launch in July 2020, will cache samples and place them on the surface for possible return. The second mission would be a Sample Return Lander (SRL) that consists of a small Sample Fetch Rover (SFR) to gather the samples, a Sample Transfer Arm (STA) to load the samples into a Mars Ascent Vehicle (MAV), and the MAV itself to launch the samples into orbit around Mars. The third mission would be an Earth Return Or-biter (ERO) designed to rendezvous and capture the Orbiting Sample (OS), return to Earth, and separate the Earth Entry Vehicle (EEV) for Entry, Descent, and Landing (EDL) at a location to be determined. This paper will focus on the SRL mission concept, specifically the EDL phase. Given the ambitious SRL sample re-trieval baseline surface mission, including a rocket launch of the samples into Mars orbit, it is estimated that the EDL system may be required to deliver as much as 2100 kg of dry mass to the surface. This represents an approximate 20-25% in-crease in mass capability over previous landed Mars missions. Additionally, there is a high probability that SRL would have to land very close to the samples on the surface to expedite retrieval operations; therefore, Pin Point Landing (PPL) accu-racy may be required. To address these challenges, promising EDL configuration augmentations were studied to include larger forebody/higher drag entry capsules, hypersonic/supersonic inflatable/non-inflatable aerodynamic decelerators, hypersonic trim tabs, ballute drag devices, larger parachutes, higher Mach and higher dynamic pressure parachute deployments, lower parachute deployment altitudes having shorter chute timelines necessitating more efficient terrain sensor strategies, and ad-ditional fuel for longer powered descent diverts to the target landing site. Over-arching the entire trade study was an attempt to stay as close to the experience base of past successful missions as possible to reduce implementation cost and risk. This paper will discuss the entire SRL EDL trade study in detail. The information presented about the potential MSR campaign is pre-decisional and is provided for planning and discussion purposes only.

Ivanov, Mark C.↗

NASA NTRS2022

SpaceX-26 Animation - Operations from MAGIK AI-4177: SpX-26 (Launch-6)

The MAGIK Robotic analysis team provides kinematic feasibility assessments for the ISS and has produced an animation to evaluate Extravehicular Robotics (EVR) activities for the SpaceX (SpX)-26 flight. The animation also displays the current ISS configuration at the time of the flight. Flight SpX-26 includes a SpaceX Cargo Dragon vehicle docked to Node 2 Zenith (N2Z) International Docking Adapter (IDA) and consists of the delivery of the ISS Roll Out Solar Array (IROSA) mounted to an ISS Power Augmentation (IPA) Carrier. Robotic operations shown include the Space Station Remote Manipulator System (SSRMS) Trunk extraction of the IPA Carrier and maneuvering to the install position on the Payload ORU (Orbital Replacement Unit) Accommodation (POA). There is no disposal payload for this flight.

ISS↗

NASA NTRSDate not supplied

Trajectory Generation with Load Constraints for Robotic Manipulators

Future large spacecraft will utilize robotic manipulators for in-space servicing, assembly, and manufacturing. Due to launch mass constraints, such manipulators will be designed to be as lightweight as possible. Trajectory generation algorithms will need to factor in load constraints to avoid overexerting and damaging manipulators. This paper investigates an approach that combines optimal Rapidly-exploring Random Trees, spline interpolation, and Model Predictive Control to generate a manipulator trajectory which respects load constraints.

Manipulators↗

NASA NTRS2001

Video-Based Sensor for Robotic Position and Attitude determination

NASA's Marshall Space Flight Center (MSFC) has, for the last ten years, developed various video-based sensors for use in automated docking systems. The latest generation of sensor will operate at rates of up to 100 Hz, determining the relative position (X, Y, and Z) and attitude (Roll, Pitch, and Yaw) between the sensor and a small 3-dimensional target, making it suitable for applications in robotic sensing. The Advanced Video Guidance Sensor (AVGS) is designed to track multiple targets at different ranges and determine the position and attitude of each one. The previous generation of video sensor, the Video Guidance Sensor (VGS), was flown twice on the Space Shuttle to test its performance on orbit. One of the tests performed was determining the relative positions and attitudes between the VGS and its target, which was moved to various positions using the Remote Manipulator System (RMS). The RMS position data and VGS measured data were analyzed after the flights, with good correlation between the position and attitude data of the two data sets. The test using the RMS gives a good idea of the ability of the use of the AVGS as a sensor for end-effector position and attitude determination.

Howard, Richard T.↗

NASA NTRS2006

Crew Restraint Design for the International Space Station

With permanent human presence onboard the International Space Station (ISS), crews will be living and working in microgravity, dealing with the challenges of a weightless environment. In addition, the confined nature of the spacecraft environment results in ergonomic challenges such as limited visibility and access to the activity areas, as well as prolonged periods of unnatural postures. Without optimum restraints, crewmembers may be handicapped for performing some of the on-orbit tasks. Currently, many of the tasks on ISS are performed with the crew restrained merely by hooking their arms or toes around handrails to steady themselves. This is adequate for some tasks, but not all. There have been some reports of discomfort/calluses on the top of the toes. In addition, this type of restraint is simply insufficient for tasks that require a large degree of stability. Glovebox design is a good example of a confined workstation concept requiring stability for successful use. They are widely used in industry, university, and government laboratories, as well as in the space environment, and are known to cause postural limitations and visual restrictions. Although there are numerous guidelines pertaining to ventilation, seals, and glove attachment, most of the data have been gathered in a 1-g environment, or are from studies that were conducted prior to the early 1980 s. Little is known about how best to restrain a crewmember using a glovebox in microgravity. Another ISS task that requires special consideration with respect to restraints is robotic teleoperation. The Robot Systems Technology Branch at the NASA Johnson Space Center is developing a humanoid robot astronaut, or Robonaut. It is being designed to perform extravehicular activities (EVAs) in the hazardous environment of space. An astronaut located inside the ISS will remotely operate Robonaut through a telepresence control system. Essentially, the robot mimics every move the operator makes. This requires the operator to be stable enough to prevent inadvertent movements, while allowing the flexibility to accomplish the controlled movements of the robot. Some type of special purpose restraint will be required to operate Robonaut and similar devices.

Norris, Lena↗

NASA NTRS2014

Asteroid Redirect Crewed Mission Nominal Design and Performance

In 2010, the President announced that, in 2025, the U.S. intended to launch a human mission to an asteroid [1]. This announcement was followed by the idea of a Capability Driven Framework (CDF) [2], which is based on the idea of evolving capabilities from less demanding to more demanding missions to multiple possible destinations and with increased flexibility, cost effectiveness and sustainability. Focused missions, such as a NASA inter-Center study that examined the viability and implications of sending a crew to a Near Earth Asteroid (NEA) [3], provided a way to better understand and evaluate the utility of these CDF capabilities when applied to an actual mission. The long duration of the NEA missions were contrasted with a concept described in a study prepared for the Keck Institute of Space Studies (KISS) [4] where a robotic spacecraft would redirect an asteroid to the Earth-Moon vicinity, where a relatively short duration crewed mission could be conducted to the captured asteroid. This mission concept was included in the National Aeronautics and Space Administration (NASA) fiscal year 2014 budget request, as submitted by the NASA Administrator [5]. NASA studies continued to examine the idea of a crewed mission to a captured asteroid in the Earth-Moon vicinity. During this time was an announcement of NASA's Asteroid Grand Challenge [6]. Key goals for the Asteroid Grand Challenge are to locate, redirect, and explore an asteroid, as well as find and plan for asteroid threats. An Asteroid Redirect Mission (ARM) study was being conducted, which supports this Grand Challenge by providing understanding in how to execute an asteroid rendezvous, capture it, and redirect it to Earth-Moon space, and, in particular, to a distant retrograde orbit (DRO). Subsequent to the returning of the asteroid to a DRO, would be the launch of a crewed mission to rendezvous with the redirected asteroid. This report examines that crewed mission by assessing the Asteroid Redirect Crewed Mission (ARCM) nominal design and performance costs associated with an Orion based crewed rendezvous mission to a captured asteroid in an Earth-Moon DRO. The ARM study includes two fundamental mission phases: 1) The Asteroid Redirect Robotic Mission (ARRM) and 2) the ARCM. The ARRM includes a solar electric propulsion based robotic asteroid return vehicle (ARV) sent to rendezvous with a selected near Earth asteroid, capture it, and return it to a DRO in the Earth-Moon vicinity. The DRO is selected over other possible asteroid parking orbits due to its achievability (by both the robotic and crewed vehicles) and by its stability (e.g., no orbit maintenance is required). After the return of the asteroid to the Earth-Moon vicinity, the ARCM is executed and carries a crew of two astronauts to a DRO to rendezvous with the awaiting ARV with the asteroid. The outbound and inbound transfers employ lunar gravity assist (LGA) flybys to reduce the Orion propellant requirement for the overall nominal mission, which provides a nominal mission with some reserve propellant for possible abort situations. The nominal mission described in this report provides a better understanding of the mission considerations as well as the feasibility of such a crewed mission, particularly with regard to spacecraft currently undergoing development, such as the Orion vehicle and the Space Launch System (SLS).

Condon, Gerald↗

NASA NTRS2013

Autonomous Control of Space Nuclear Reactors

Nuclear reactors to support future robotic and manned missions impose new and innovative technological requirements for their control and protection instrumentation. Long-duration surface missions necessitate reliable autonomous operation, and manned missions impose added requirements for failsafe reactor protection. There is a need for an advanced instrumentation and control system for space-nuclear reactors that addresses both aspects of autonomous operation and safety. The Reactor Instrumentation and Control System (RICS) consists of two functionally independent systems: the Reactor Protection System (RPS) and the Supervision and Control System (SCS). Through these two systems, the RICS both supervises and controls a nuclear reactor during normal operational states, as well as monitors the operation of the reactor and, upon sensing a system anomaly, automatically takes the appropriate actions to prevent an unsafe or potentially unsafe condition from occurring. The RPS encompasses all electrical and mechanical devices and circuitry, from sensors to actuation device output terminals. The SCS contains a comprehensive data acquisition system to measure continuously different groups of variables consisting of primary measurement elements, transmitters, or conditioning modules. These reactor control variables can be categorized into two groups: those directly related to the behavior of the core (known as nuclear variables) and those related to secondary systems (known as process variables). Reliable closed-loop reactor control is achieved by processing the acquired variables and actuating the appropriate device drivers to maintain the reactor in a safe operating state. The SCS must prevent a deviation from the reactor nominal conditions by managing limitation functions in order to avoid RPS actions. The RICS has four identical redundancies that comply with physical separation, electrical isolation, and functional independence. This architecture complies with the safety requirements of a nuclear reactor and provides high availability to the host system. The RICS is intended to interface with a host computer (the computer of the spacecraft where the reactor is mounted). The RICS leverages the safety features inherent in Earth-based reactors and also integrates the wide range neutron detector (WRND). A neutron detector provides the input that allows the RICS to do its job. The RICS is based on proven technology currently in use at a nuclear research facility. In its most basic form, the RICS is a ruggedized, compact data-acquisition and control system that could be adapted to support a wide variety of harsh environments. As such, the RICS could be a useful instrument outside the scope of a nuclear reactor, including military applications where failsafe data acquisition and control is required with stringent size, weight, and power constraints.

Merk, John↗

NASA NTRS2013

Robotics for Human Exploration

Robots can do a variety of work to increase the productivity of human explorers. Robots can perform tasks that are tedious, highly repetitive or long-duration. Robots can perform precursor tasks, such as reconnaissance, which help prepare for future human activity. Robots can work in support of astronauts, assisting or performing tasks in parallel. Robots can also perform "follow-up" work, completing tasks designated or started by humans. In this paper, we summarize the development and testing of robots designed to improve future human exploration of space.

human-robot interaction↗

NASA NTRS1993

Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program (update to automatic flight trajectory design, performance prediction, and vehicle sizing for support of Shuttle and Shuttle derived vehicles) engineering manual

The Minimum Hamiltonian Ascent Trajectory Evaluation (MASTRE) program and its predecessors, the ROBOT and the RAGMOP programs, have had a long history of supporting MSFC in the simulation of space boosters for the purpose of performance evaluation. The ROBOT program was used in the simulation of the Saturn 1B and Saturn 5 vehicles in the 1960's and provided the first utilization of the minimum Hamiltonian (or min-H) methodology and the steepest ascent technique to solve the optimum trajectory problem. The advent of the Space Shuttle in the 1970's and its complex airplane design required a redesign of the trajectory simulation code since aerodynamic flight and controllability were required for proper simulation. The RAGMOP program was the first attempt to incorporate the complex equations of the Space Shuttle into an optimization tool by using an optimization method based on steepest ascent techniques (but without the min-H methodology). Development of the complex partial derivatives associated with the Space Shuttle configuration and using techniques from the RAGMOP program, the ROBOT program was redesigned to incorporate these additional complexities. This redesign created the MASTRE program, which was referred to as the Minimum Hamiltonian Ascent Shuttle TRajectory Evaluation program at that time. Unique to this program were first-stage (or booster) nonlinear aerodynamics, upper-stage linear aerodynamics, engine control via moment balance, liquid and solid thrust forces, variable liquid throttling to maintain constant acceleration limits, and a total upgrade of the equations used in the forward and backward integration segments of the program. This modification of the MASTRE code has been used to simulate the new space vehicles associated with the National Launch Systems (NLS). Although not as complicated as the Space Shuttle, the simulation and analysis of the NLS vehicles required additional modifications to the MASTRE program in the areas of providing additional flexibility in the use of the program, allowing additional optimization options, and providing special options for the NLS configuration.

Lyons, J. T.↗

NASA NTRS2009

Human-rating Automated and Robotic Systems - (How HAL Can Work Safely with Astronauts)

Long duration human space missions, as planned in the Vision for Space Exploration, will not be possible without applying unprecedented levels of automation to support the human endeavors. The automated and robotic systems must carry the load of routine housekeeping for the new generation of explorers, as well as assist their exploration science and engineering work with new precision. Fortunately, the state of automated and robotic systems is sophisticated and sturdy enough to do this work - but the systems themselves have never been human-rated as all other NASA physical systems used in human space flight have. Our intent in this paper is to provide perspective on requirements and architecture for the interfaces and interactions between human beings and the astonishing array of automated systems; and the approach we believe necessary to create human-rated systems and implement them in the space program. We will explain our proposed standard structure for automation and robotic systems, and the process by which we will develop and implement that standard as an addition to NASA s Human Rating requirements. Our work here is based on real experience with both human system and robotic system designs; for surface operations as well as for in-flight monitoring and control; and on the necessities we have discovered for human-systems integration in NASA's Constellation program. We hope this will be an invitation to dialog and to consideration of a new issue facing new generations of explorers and their outfitters.

Baroff, Lynn↗

NASA NTRS2010

Robotic Lunar Landers for Science and Exploration

NASA Marshall Space Flight Center (MSFC) and The Johns Hopkins University Applied Physics Laboratory (APL) have been conducting mission studies and performing risk reduction activities for NASA s robotic lunar lander flight projects. This paper describes some of the lunar lander concepts derived from these studies conducted by the MSFC/APL Robotic Lunar Lander Development Project team. In addition, the results to date of the lunar lander development risk reduction efforts including high pressure propulsion system testing, structure and mechanism development and testing, long cycle time battery testing and combined GN&C and avionics testing will be addressed. The most visible elements of the risk reduction program are two autonomous lander flight test vehicles: a compressed air system with limited flight durations and a second version using hydrogen peroxide propellant to achieve significantly longer flight times and the ability to more fully exercise flight sensors and algorithms.

Chavers, D. G.↗