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At least 163 records · Page 9
All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Avionics for a Small Robotic Inspection Spacecraft

A report describes the tentative design of the avionics of the Mini-AERCam -- a proposed 7.5-in. (approximately 19-cm)-diameter spacecraft that would contain three digital video cameras to be used in visual inspection of the exterior of a larger spacecraft (a space shuttle or the International Space Station). The Mini-AERCam would maneuver by use of its own miniature thrusters under radio control by astronauts inside the larger spacecraft. The design of the Mini-AERCam avionics is subject to a number of constraints, most of which can be summarized as severely competing requirements to maximize radiation hardness and maneuvering, image-acquisition, and data-communication capabilities while minimizing cost, size, and power consumption. The report discusses the design constraints, the engineering approach to satisfying the constraints, and the resulting iterations of the design. The report places special emphasis on the design of a flight computer that would (1) acquire position and orientation data from a Global Positioning System receiver and a microelectromechanical gyroscope, respectively; (2) perform all flight-control (including thruster-control) computations in real time; and (3) control video, tracking, power, and illumination systems.

Abbott, Larry↗
NASA NTRS2011

Improved Calibration of Modeled Discharge and Storage Change in the Atchafalaya Floodplain Using SAR Interferometry

This study focuses on the feasibility of using SAR interferometry to support 2D hydrodynamic model calibration and provide water storage change in the floodplain. Two-dimensional (2D) flood inundation modeling has been widely studied using storage cell approaches with the availability of high resolution, remotely sensed floodplain topography. The development of coupled 1D/2D flood modeling has shown improved calculation of 2D floodplain inundation as well as channel water elevation. Most floodplain model results have been validated using remote sensing methods for inundation extent. However, few studies show the quantitative validation of spatial variations in floodplain water elevations in the 2D modeling since most of the gauges are located along main river channels and traditional single track satellite altimetry over the floodplain are limited. Synthetic Aperture Radar (SAR) interferometry recently has been proven to be useful for measuring centimeter-scale water elevation changes over the floodplain. In the current study, we apply the LISFLOOD hydrodynamic model to the central Atchafalaya River Basin, Louisiana, during a 62 day period from 1 April to 1 June 2008 using two different calibration schemes for Manning's n. First, the model is calibrated in terms of water elevations from a single in situ gauge that represents a more traditional approach. Due to the gauge location in the channel, the calibration shows more sensitivity to channel roughness relative to floodplain roughness. Second, the model is calibrated in terms of water elevation changes calculated from ALOS PALSAR interferometry during 46 days of the image acquisition interval from 16 April 2008 to 1 June 2009. Since SAR interferometry receives strongly scatters in floodplain due to double bounce effect as compared to specular scattering of open water, the calibration shows more dependency to floodplain roughness. An iterative approach is used to determine the best-fit Manning's n for the two different calibration approaches. Results suggest similar floodplain roughness but slightly different channel roughness. However, application of SAR interferometry provides a unique view of the floodplain flow gradients, not possible with a single gauge calibration. These gradients, allow improved computation of water storage change over the 46-day simulation period. Overall, the results suggest that the use of 2D SAR water elevation changes in the Atchafalaya basin offers improved understanding and modeling of floodplain hydrodynamics.

Jung, Hahn Chul↗
NASA NTRS2012

The International Space Station (ISS) Education Accomplishments and Opportunities

The International Space Station (ISS) has the unique ability to capture the imaginations of both students and teachers worldwide and thus stands as an invaluable learning platform for the advancement of proficiency in research and development and education. The presence of humans on board ISS for the past ten years has provided a foundation for numerous educational activities aimed at capturing that interest and motivating study in the sciences, technology, engineering and mathematics (STEM) disciplines which will lead to an increase in quality of teachers, advancements in research and development, an increase in the global reputation for intellectual achievement, and an expanded ability to pursue unchartered avenues towards a brighter future. Over 41 million students around the world have participated in ISS-related activities since the year 2000. Projects such as the Amateur Radio on International Space Station (ARISS) and Earth Knowledge Acquired by Middle School Students (EarthKAM), among others, have allowed for global student, teacher, and public access to space through radio contacts with crewmembers and student image acquisition respectively. . With planned ISS operations at least until 2020, projects like the aforementioned and their accompanying educational materials will be available to enable increased STEM literacy around the world. Since the launch of the first ISS element, a wide range of student experiments and educational activities have been performed by each of the international partner agencies: National Aeronautics and Space Administration (NASA), Canadian Space Agency (CSA), European Space Agency (ESA), Japan Aerospace Exploration Agency (JAXA) and Russian Federal Space Agency (Roscosmos). Additionally, a number of non-participating countries, some under commercial agreements, have also participated in Station-related activities. Many of these programs still continue while others are being developed and added to the station crewmembers tasks on a regular basis. These diverse student experiments and programs fall into one of the following categories: student-developed experiments; students performing classroom versions of ISS experiments; students participating in ISS investigator experiments; students participating in ISS engineering education; education demonstrations and cultural activities. This paper summarizes some of the main student experiments and educational activities that have been conducted on the ISS. It also highlights some upcoming projects.

Alleyne, Camille W.↗
NASA NTRS2012

Acquisition of Long-Duration, Low-Gravity Slosh Data Utilizing Existing ISS Equipment (SPHERES) for Calibration of CFD Models of Coupled Fluid-Vehicle Behavior

Accurate prediction of coupled fluid slosh and launch vehicle or spacecraft dynamics (e.g., nutation/precessional movement about various axes, attitude changes, ect.) requires Computational Fluid Dynamics (CFD) models calibrated with low-gravity, long duration slosh data. Recently completed investigations of reduced gravity slosh behavior have demonstrated the limitations of utilizing parabolic flights on specialized aircraft with respect to the specific objectives of the experiments. Although valuable data was collected, the benefits of longer duration low-gravity environments were clearly established. The proposed research provides the first data set from long duration tests in zero gravity that can be directly used to benchmark CFD models, including the interaction between the sloshing fluid and the tank/vehicle dynamics. To explore the coupling of liquid slosh with the motion of an unconstrained tank in microgravity, NASA's Kennedy Space Center, Launch Services Program has teamed up with the Florida Institute of Technology (FIT), Massachusetts Institute of Technology (MIT) and the Office of the Chief Technologist (OCT) to perform a series of slosh dynamics experiments on the International Space Station using the SPHERES platform. The Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) testbed provides a unique, free-floating instrumented platform on ISS that can be utilized in a manner that would solve many of the limitations of the current knowledge related to propellant slosh dynamics on launch vehicle and spacecraft fuel tanks. The six degree of freedom (6-DOF) motion of the SPHERES free-flyer is controlled by an array of cold-flow C02 thrusters, supplied from a built-in liquid C02 tank. These SPHERES can independently navigate and re-orient themselves within the ISS. The intent of this project is to design an externally mounted tank to be driven inside the ISS by a set of two SPHERES devices (Figure 1 ). The tank geometry simulates a launch vehicle upper stage propellant tank and the maneuvers replicate those of real vehicles. The design includes inertial sensors, data acquisition, image capture and data storage interfaces to the SPHERES VERTIGO computer system on board the flight article assembly. The design also includes mechanical and electronic interfaces to the existing SPHERES hardware, which include self-contained packages that can operate in conjunction with the existing SPHERES electronics.

Schallhorn, Paul↗
NASA NTRS2012

Calibration of Two-dimensional Floodplain Modeling in the Atchafalaya River Basin Using SAR Interferometry

Two-dimensional (2D) satellite imagery has been increasingly employed to improve prediction of floodplain inundation models. However, most focus has been on validation of inundation extent, with little attention on the 2D spatial variations of water elevation and slope. The availability of high resolution Interferometric Synthetic Aperture Radar (InSAR) imagery offers unprecedented opportunity for quantitative validation of surface water heights and slopes derived from 2D hydrodynamic models. In this study, the LISFLOOD-ACC hydrodynamic model is applied to the central Atchafalaya River Basin, Louisiana, during high flows typical of spring floods in the Mississippi Delta region, for the purpose of demonstrating the utility of InSAR in coupled 1D/2D model calibration. Two calibration schemes focusing on Manning s roughness are compared. First, the model is calibrated in terms of water elevations at a single in situ gage during a 62 day simulation period from 1 April 2008 to 1 June 2008. Second, the model is calibrated in terms of water elevation changes calculated from ALOS PALSAR interferometry during 46 days of the image acquisition interval from 16 April 2008 to 1 June 2009. The best-fit models show that the mean absolute errors are 3.8 cm for a single in situ gage calibration and 5.7 cm/46 days for InSAR water level calibration. The optimum values of Manning's roughness coefficients are 0.024/0.10 for the channel/floodplain, respectively, using a single in situ gage, and 0.028/0.10 for channel/floodplain the using SAR. Based on the calibrated water elevation changes, daily storage changes within the size of approx 230 sq km of the model area are also calculated to be of the order of 107 cubic m/day during high water of the modeled period. This study demonstrates the feasibility of SAR interferometry to support 2D hydrodynamic model calibration and as a tool for improved understanding of complex floodplain hydrodynamics

Hahn Chul Jung↗
NASA NTRS2013

Acquisition of Long-Duration, Low-Gravity Slosh Data Utilizing Existing ISS Equipment (SPHERES) for Calibration of CFD Models of Coupled Fluid-Vehicle Behavior

Accurate prediction of coupled fluid slosh and launch vehicle or spacecraft dynamics (e.g., nutation/precessional movement about various axes, attitude changes, ect.) requires Computational Fluid Dynamics (CFD) models calibrated with low-gravity, long duration slosh data. Recently completed investigations of reduced gravity slosh behavior have demonstrated the limitations of utilizing parabolic flights on specialized aircraft with respect to the specific objectives of the experiments. Although valuable data was collected, the benefits of longer duration low-gravity environments were clearly established. The proposed research provides the first data set from long duration tests in zero gravity that can be directly used to benchmark CFD models, including the interaction between the sloshing fluid and the tank/vehicle dynamics. To explore the coupling of liquid slosh with the motion of an unconstrained tank in microgravity, NASA's Kennedy Space Center, Launch Services Program has teamed up with the Florida Institute of Technology (FIT), Massachusetts Institute of Technology (MIT) and the NASA Game Changing Development Program (GCD) to perform a series of slosh dynamics experiments on the International Space Station using the SPHERES platform. The Synchronized Position Hold Engage Reorient Experimental Satellites (SPHERES) testbed provides a unique, free-floating instrumented platform on ISS that can be utilized in a manner that would solve many of the limitations of the current knowledge related to propellant slosh dynamics on launch vehicle and spacecraft fuel tanks. The six degree of freedom (6-DOF) motion of the SPHERES free-flyer is controlled by an array of cold-flow C02 thrusters, supplied from a built-in liquid C02 tank. These SPHERES can independently navigate and re-orient themselves within the ISS. The intent of this project is to design an externally mounted tank to be driven inside the ISS by a set of two SPHERES devices (Figure 1). The tank geometry simulates a launch vehicle upper stage propellant tank and the maneuvers replicate those of real vehicles. The design includes inertial sensors, data acquisition, image capture and data storage interfaces to the SPHERES VERTIGO computer system on board the flight article assembly. The design also includes mechanical and electronic interfaces to the existing SPHERES hardware, which include self-contained packages that can operate in conjunction with the existing SPHERES electronics

Schallhorn, Paul↗
NASA NTRS2002

Goal-Directed Ultrasound for the Diagnosis of Long-Bone Fractures by Crew Medical Officer Analogs

Current construction activities on-board the International space Station (ISS) may increase fracture incidence in space, and ultrasound (US) is the only tm-board diagnostic imaging capability. The clinical utility of US in identifying long-bone fractures is un1aowe, particularly using non-radiologist operators. We sought to determine the accuracy of US in identifying fractures of the humerus and femur, as performed by emergency medicine physicians and surgeons with minimal experience in ultrasound image acquisition and interpretation, after a standardized taming session.

Marshburn, Thomas H.↗
NASA NTRS2015

Low Noise Camera for Suborbital Science Applications

Low-cost, commercial-off-the-shelf- (COTS-) based science cameras are intended for lab use only and are not suitable for flight deployment as they are difficult to ruggedize and repackage into instruments. Also, COTS implementation may not be suitable since mission science objectives are tied to specific measurement requirements, and often require performance beyond that required by the commercial market. Custom camera development for each application is cost prohibitive for the International Space Station (ISS) or midrange science payloads due to nonrecurring expenses (~$2,000 K) for ground-up camera electronics design. While each new science mission has a different suite of requirements for camera performance (detector noise, speed of image acquisition, charge-coupled device (CCD) size, operation temperature, packaging, etc.), the analog-to-digital conversion, power supply, and communications can be standardized to accommodate many different applications. The low noise camera for suborbital applications is a rugged standard camera platform that can accommodate a range of detector types and science requirements for use in inexpensive to mid range payloads supporting Earth science, solar physics, robotic vision, or astronomy experiments. Cameras developed on this platform have demonstrated the performance found in custom flight cameras at a price per camera more than an order of magnitude lower.

Hyde, David↗
NASA NTRS2017

High-Accuracy Tidal Flat Digital Elevation Model Construction Using TanDEM-X Science Phase Data

This study explored the feasibility of using TanDEM-X (TDX) interferometric observations of tidal flats for digital elevation model (DEM) construction. Our goal was to generate high-precision DEMs in tidal flat areas, because accurate intertidal zone data are essential for monitoring coastal environment sand erosion processes. To monitor dynamic coastal changes caused by waves, currents, and tides, very accurate DEMs with high spatial resolution are required. The bi- and monostatic modes of the TDX interferometer employed during the TDX science phase provided a great opportunity for highly accurate intertidal DEM construction using radar interferometry with no time lag (bistatic mode) or an approximately 10-s temporal baseline (monostatic mode) between the master and slave synthetic aperture radar image acquisitions. In this study, DEM construction in tidal flat areas was first optimized based on the TDX system parameters used in various TDX modes. We successfully generated intertidal zone DEMs with 57-m spatial resolutions and interferometric height accuracies better than 0.15 m for three representative tidal flats on the west coast of the Korean Peninsula. Finally, we validated these TDX DEMs against real-time kinematic-GPS measurements acquired in two tidal flat areas; the correlation coefficient was 0.97 with a root mean square error of 0.20 m.

Lee, Seung-Kuk↗
NASA NTRS2018

Educación Global

The International Space Station has a unique ability to capture the imaginations of both students and teachers worldwide. The presence of humans aboard the station provides a foundation for numerous educational activities aimed at capturing interest and motivating children towards the study of science, technology, engineering and mathematics (STEM). Projects such as the Amateur Radio on International Space Station (ARISS); Earth Knowledge Acquired by Middle School Students (EarthKAM); and Synchronized Position Hold, Engage, Reorient Experimental Satellites (SPHERES) Zero Robotics competition, among others, have allowed for global student, teacher and public access to space through student image acquisition and radio contacts with crew members. Projects like these and their accompanying educational materials are distributed to students around the world. Through the continued use of the station, we will challenge and inspire the next generation of scientists, engineers, writers, artists, politicians and explorers.

Lopez, Erik↗
NASA NTRS2019

Evaluation of MODIS and VIIRS Cloud-Gap-Filled Snow-Cover Products for Production of an Earth Science Data Record

MODerate resolution Imaging Spectroradiometer (MODIS) cryosphere products have been available since 2000 – following the 1999 launch of the Terra MODIS and the 2002 launch of the Aqua MODIS – and include global snow-cover extent (SCE) (swath, daily, and 8 d composites) at 500 m and ∼5 km spatial resolutions. These products are used extensively in hydrological modeling and climate studies. Reprocessing of the complete snow-cover data record, from Collection 5 (C5) to Collection 6 (C6) and Collection 6.1 (C6.1), has provided improvements in the MODIS product suite. Suomi National Polar-orbiting Partnership (S-NPP) Visible Infrared Imaging Radiometer Suite (VIIRS) Collection 1 (C1) snow-cover products at a 375 m spatial resolution have been available since 2011 and are currently being reprocessed for Collection 2 (C2). Both the MODIS C6.1 and the VIIRS C2 products will be available for download from the National Snow and Ice Data Center beginning in early 2020 with the complete time series available in 2020. To address the need for a cloud-reduced or cloud-free daily SCE product for both MODIS and VIIRS, a daily cloud-gap-filled (CGF) snow-cover algorithm was developed for MODIS C6.1 and VIIRS C2 processing. MOD10A1F (Terra) and MYD10A1F (Aqua) are daily, 500 m resolution CGF SCE map products from MODIS. VNP10A1F is the daily, 375 m resolution CGF SCE map product from VIIRS. These CGF products include quality-assurance data such as cloud-persistence statistics showing the age of the observation in each pixel. The objective of this paper is to introduce the new MODIS and VIIRS standard CGF daily SCE products and to provide a preliminary evaluation of uncertainties in the gap-filling methodology so that the products can be used as the basis for a moderate-resolution Earth science data record (ESDR) of SCE. Time series of the MODIS and VIIRS CGF products have been developed and evaluated at selected study sites in the US and southern Canada. Observed differences, although small, are largely attributed to cloud masking and differences in the time of day of image acquisition. A nearly 3-month time-series comparison of Terra MODIS and S-NPP VIIRS CGF snow-cover maps for a large study area covering all or parts of 11 states in the western US and part of southwestern Canada reveals excellent correspondence between the Terra MODIS and S-NPP VIIRS products, with a mean difference of 11 070 sqkm, which is ∼0.45 % of the study area. According to our preliminary validation of the Terra and Aqua MODIS CGF SCE products in the western US study area, we found higher accuracy of the Terra product compared with the Aqua product. The MODIS CGF SCE data record beginning in 2000 has been extended into the VIIRS era, which should last at least through the early 2030s.

Hall, Dorothy K.↗
NASA NTRS2019

Flow-Field Measurements in a Wing-Fuselage Junction Using an Embedded Particle Image Velocimetry System

A novel, embedded, 2D Particle Image Velocimetry system has been developed and implemented to obtain off-body velocity measurements in the junction of an 8% wing-body configuration in the NASA Langley Research Center 14- by 22-Foot Subsonic Tunnel. Although the initial purpose for implementing the system during this test was to evaluate system performance and identify potential risks, the system worked remarkably well and a considerable amount of data were obtained in the wing-fuselage junction near the trailing edge at a Reynolds Number of 2.4 Million and angle of attack of 5 degrees. In addition to providing notable efficiencies with regard to image acquisition and test operations, the PIV system proved to be quite capable of capturing unique details of the flow separation to complement the extensive suite of measurement techniques applied during the test. Instantaneous PIV vector fields reveal that the flow separation is not stationary but rather highly dynamic. Mean flow statistics calculated from the PIV measurements highlight where reverse flow and Reynolds stresses are concentrated in the separated region and agree well with results from the embedded Laser Doppler Velocimeter system and Computational Fluid Dynamics. The comparisons and additional insight gained during this effort will help guide system improvements for follow-on tests.

Jenkins, Luther N.↗
NASA NTRS2019

Update on the Juncture Flow PIV Results and Future Plans

A novel, embedded, 2D Particle Image Velocimetry system has been developed and implemented to obtain off-body velocity measurements in the junction of an 8% wing-body configuration in the NASA Langley Research Center 14- by 22-Foot Subsonic Tunnel. Although the initial purpose for implementing the system during this test was to evaluate system performance and identify potential risks, a considerable amount of data were obtained in the wing-fuselage junction near the trailing edge at a Reynolds Number of 2.4 Million and angle of attack of 5 degrees. In addition to providing notable efficiencies with regard to image acquisition and test operations, the PIV system captured unique details of the flow separation to complement the extensive suite of measurement techniques applied during the test. Instantaneous PIV vector fields reveal that the flow separation is not stationary but rather highly dynamic. Mean flow statistics calculated from the PIV measurements highlight where reverse flow and Reynolds stresses are concentrated in the separated region and agree well with results from the embedded Laser Doppler Velocimeter system and Computational Fluid Dynamics. The comparisons and ional insight gained during this effort will help guide system improvements for the upcoming entry in 2020.

Jenkins, Luther N.↗
NASA NTRSDate not supplied

Transition measurements of upper and lower rotor blade surfaces in forward flight with thermography

Thermography allows for imaging the location of laminar-to-turbulent boundary layer transition on surfaces in air flows. The determination of BL transition of rotor blades was done in 2017 on the lower surface of a rotor blade in forward flight in the NASA Langley 14- by 22-Foot Subsonic Tunnel Subsonic Wind Tunnel. This article reports on the follow-on experiment in the same facility and the same blades where thermography was performed on both upper and lower surface synchronously, with the upper surface mapped throughout the full azimuthal range. Blade-tracking rotating mirrors were used for each thermal camera and were synchronized for simultaneous image acquisition. Furthermore, the Differential Infrared Thermography (DIT) technique depicts the unsteady nature of the BL transition in forward flight. Results are presented and discussed. These data are the first ever recorded of both surfaces of a rotor in forward flight.

Boundary layer transition↗
NASA NTRS2022

Unique Observational Constraints on the Seasonal and Longitudinal Variability of the Earth’s Planetary Albedo and Cloud Distribution Inferred From EPIC Measurements

Thorough comparison to observations is key to developing a credible climate model forecasting capability. Deep Space Climate Observatory (DSCOVR) measurements of Earth’s reflected solar and emitted thermal radiation provide a unique observational perspective that permits a more reliable model/data comparison than is possible with the otherwise available satellite data. The uniqueness is in the DSCOVR satellite’s viewing geometry, which enables continuous viewing of the Earth’s sunlit hemisphere from its Lissajous orbit around the Lagrangian L1 point. The key instrument is the Earth Polychromatic Imaging Camera (EPIC), which views the Earth’s sunlit hemisphere with 1024-by-1024-pixel imagery in 10 narrow spectral bands from 317 to 780 nm, acquiring up to 22 high spatial resolution images per day. The additional feature is that the frequency of EPIC image acquisition is nearly identical to that of the climate GCM data generation scheme where climate data for the entire globe are ‘instantaneously’ calculated at 1-h radiation time-step intervals. Implementation of the SHS (Sunlit Hemisphere Sampling) EPIC-view geometry for the in-line GCM output data sampling establishes a precise self-consistency in the space-time data sampling between EPIC observational and GCM output data generation and sampling. The remaining problem is that the GCM generated data are radiative fluxes, while the EPIC measurements are backscatter-dependent radiances. Radiance to flux conversion is a complex problem with no simple way to convert GCM radiative fluxes into spectral radiances. The more expedient approach is to convert the EPIC spectral radiances into broadband radiances by MODIS/CERES-based regression relationships and then into solar radiative fluxes using the CERES angular distribution models. Averaging over the sunlit hemisphere suppresses the meteorological weather noise, but preserves the intra-seasonal larger scale variability. Longitudinal slicing by the Earth’s rotation permits a self-consistent model/data comparison of the longitudinal model/data differences in the variability of the reflected solar radiation. Ancillary EPIC Composite data provide additional cloud property information for climate model diagnostics. Comparison of EPIC-derived seasonal and longitudinal variability of the Earth’s planetary albedo with the GISS ModelE2 results shows systematic overestimate of cloud reflectivity over the Pacific Ocean with corresponding underestimates over continental land areas.

DSCOVR↗
NASA NTRSDate not supplied

Astrobee's Multi-year Activities at the International Space Station's Japanese Experimental Module

The Astrobee free-flying robots recently completed their third successful year of operations, housed in the Japanese Experimental Module (JEM) on the International Space Station. We summarize the three years of operation, giving special attention to JAXA's 1st and 2nd Kibo Robot Programming Challenge (RPC) and the mapping processes and tools that make Astrobees' autonomous operation possible. The JEM is an ever changing, dynamic environment where light settings, cargo, payloads, and crew members constantly move and interact with one another. The 1st JAXA Kibo RPC event, a collaboration between JAXA and NASA, was held in 2020. Students from several countries in the Asia-Pacific region competed in programming challenges with a simulated Astrobee. The finalists were then invited to run their code on an actual Astrobee in the JEM. For the final round, students programmed Astrobee to visit three different locations to obtain data that would instruct the robot to complete a final task with the participation of ISS crew. The first competition was a tremendous success, leading to an equally successful 2nd JAXA Kibo RPC in 2021 with even larger participation. The 3rd JAXA Kibo RPC will occur in 2022 expanding further to incorporate US participants. These activities led to several firsts in Astrobee’s history: operation of an Astrobee free-flying robot without crew supervision in preparation for on-orbit operations, autonomous image acquisition towards updates of the navigation map, non-NASA code running on the robot (both from JAXA and participating students), two heterogeneous free-flying robots from two different space agencies working together (Int-Ball and Astrobee) during the final event in 2020, the first payload using Astrobee, and having Astrobee controlled from a non-NASA location (Tsukuba Space Center). The preparation towards these activities involved constant evaluation of the different components of Astrobee's systems, specially mapping and localization. The paper describes the evolution of these systems such as the improvements made in localization to reduce localization drift by using graph-based optimization instead of the extended Kalman Filter localizer. Additionally, it reports on the mapping process and analysis tools created to validate map consistency across different activities in the constantly changing JEM environment. These enhancements have enabled the Astrobee facility to successfully execute over 100 ISS activities supporting over a dozen researchers and partners around the world.

Astrobee↗