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This paper presents an overview of the onboard subsystems that will be used in guiding a planetary rover. Particular emphasis is placed on the planning and sensing systems and their associated costs, particularly in computation. Issues that will be used in evaluating trades between the navigation system and mobility system are also presented.
The global dynamic behavior of multiple interacting autonomous mobile robots with simple navigation strategies is studied. Here, the effective spatial domain of each robot is taken to be a closed ball about its mass center. It is assumed that each robot has a specified cone of visibility such that interaction with other robots takes place only when they enter its visibility cone. Based on a particle model for the robots, various simple homing and collision-avoidance navigation strategies are derived. Then, an analysis of the dynamical behavior of the interacting robots in unbounded spatial domains is made. The article concludes with the results of computer simulations studies of two or more interacting robots.
The paper summarizes results of a vehicle antenna program at JPL in support of a developing U.S. mobile satellite services (MSS) designed to provide telephone and data services for the continental United States. Two classes of circularly polarized vehicle antennas have been considered for the MSS: medium-gain, satellite-tracking antennas with 10-12-dBic gain; and low-gain, azimuthally omnidirectional antennas with 3-5-dBic gain. The design and performance of these antennas are described, and the two antennas are shown to have peculiar advantages and disadvantages.
The digital implementation and performance of a multipath fade-tolerant differentially coherent 8-PSK-based modem for a land mobile satellite experiment (MSAT-X) program is described. At the receiver, differential detection using a matched filter arrangement and feedforward Doppler compensation is employed to achieve several operational benefits. For this L-band satellite link, the channel utilization is an efficient 1.0 bps/Hz for raw data and 1.5 bps/Hz for coded data. The experimental data analysis shows that the modem functions over the fading channel and performs within 1 dB of theoretical or simulation estimates.
Simulator replicates, kinematically and dynamically, mating of large, massive mobile structure with similarly large and massive fixed structure. Developed for testing berthing-and-latching mechanism. Fixed section holds active berthing-and-latching mechanism and its motor control system with optical encoder to maintain synchronization among four latches in mechanism. Tripodal load-cell network gathers data on load history of berthing operation, and infrared tracking system including light-emitting diodes produces data for position history.
Some of the technical issues dealing with the feasibility of high power (10 Kw to 100 Kw) mobile manned equipment for settlement, exploration and exploitation of Lunar resources are addressed. Short range mining/construction equipment, a moderate range (50 Km) exploration vehicle, and an unlimited range explorer are discussed.
The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort performed an independent analysis of the Extravehicular Mobility Unit (EMU) hardware and system, generating draft failure modes criticalities and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were than compared to the most recent proposed Post 51-L NASA FMEA/CIL baseline. A resolution of each discrepancy from the comparison was provided through additional analysis as required. This report documents the results of that comparison for the Orbiter EMU hardware.
The results of the Independent Orbiter Assessment (IOA) of the Failure Modes and Effects Analysis (FMEA) and Critical Items List (CIL) are presented. The IOA effort performed an independent analysis of the Extravehicular Mobility Unit (EMU) hardware and system, generating draft failure modes criticalities and potential critical items. To preserve independence, this analysis was accomplished without reliance upon the results contained within the NASA FMEA/CIL documentation. The IOA results were then compared to the most recent proposed Post 51-L NASA FMEA/CIL baseline. A resolution of each discrepancy from the comparison was provided through additional analysis as required. This report documents the results of that comparison for the Orbiter EMU hardware. Volume 2 continues the presentation of IOA analysis worksheets and contains the potential critical items list and NASA FMEA to IOA worksheet cross references and recommendations.
A low profile, low cost, printed circuit, electronically steered, right hand circularly polarized phase array antenna system has been developed for the Mobile Satellite Experiment (MSAT-X) Program. The success of this antenna is based upon the development of a crossed-slot element array and detailed trade-off analyses for both the phased array and pointing system design. The optimized system provides higher gain at low elevation angles (20 degrees above the horizon) and broader frequency coverage (approximately 8 1/2 percent bandwidth) than is possible with a patch array. Detailed analysis showed that optimum performance could be achieved with a 19 element array of a triangular lattice geometry of 3.9 inch element spacing. This configuration has the effect of minimizing grating lobes at large scan angles plus it improves the intersatellite isolation. The array has an aperture 20 inches in diameter and is 0.75 inch thick overall, exclusive of the RF and power connector. The pointing system employs a hybrid approach that operates with both an external rate sensor and an internal error signal as a means of fine tuning the beam acquisition and track. Steering the beam is done electronically via 18, 3-bit diode phase shifters. A nineteenth phase shifter is not required as the center element serves as a reference only. Measured patterns and gain show that the array meets the stipulated performance specifications everywhere except at some low elevation angles.
The goal is to suggest the scheduling and control functions necessary for accomplishing mission objectives of a fairly autonomous interplanetary mobile spacecraft, while maximizing reliability. Goals are to provide an extensible, reliable system conservative in its use of on-board resources, while getting full value from subsystem autonomy, and avoiding the lure of ground micromanagement. A functional layout consisting of four basic elements is proposed: GROUND and SYSTEM EXECUTIVE system functions and RESOURCE CONTROL and ACTIVITY MANAGER subsystem functions. The system executive includes six subfunctions: SYSTEM MANAGER, SYSTEM FAULT PROTECTION, PLANNER, SCHEDULE ADAPTER, EVENT MONITOR and RESOURCE MONITOR. The full configuration is needed for autonomous operation on Moon or Mars, whereas a reduced version without the planning, schedule adaption and event monitoring functions could be appropriate for lower-autonomy use on the Moon. An implementation concept is suggested which is conservative in use of system resources and consists of modules combined with a network communications fabric. A language concept termed a scheduling calculus for rapidly performing essential on-board schedule adaption functions is introduced.
The three legged walker is proposed as a mobile work platform for numerous tasks associated with lunar base site preparation and construction. It is seen as one of several forms of surface transportation, each of which will be best suited for its respective tasks. Utilizing the principle of dynamic stability and taking advantage of the Moon's gravity, it appears to be capable of walking in any radial direction and rotating about a point. Typical curved path walking could involve some combination of the radial and rotational movements. Comprised mainly of a body, six actuators, and six moving parts, it is mechanically quite simple. Each leg connects to the body at a hip joint and has a femur, a knee joint, and a tibia that terminates at a foot. Also capable of enabling or enhancing the dexterity of a series of implements, the walker concept provides a mechanically simple and weight efficient means of drilling, digging, mining, and transporting cargo, and performing other like tasks. A proof of principle machine demonstrated the feasibility of the walking concept.
High-purity MgO exhibits an unexpected giant anomaly of the apparent static dielectric constant and a positive surface charge of the order of 5 x 10 to the 21st/cu cm in the top 15 nm. It is postulated that the MgO matrix contains traces of peroxy defects, O2(2-), associated with Mg(2+) vacancies. Above approximately 400 C the O2(2-) dissociates to vacancy bound O(-) and highly mobile O(-) states, which diffuse to the surface, giving rise to a high surface conductivity.
This paper describes the development of a membrane-based process for dehumidifying the Extravehicular Mobility Unit (EMU). The membrane process promises to be smaller, lighter, and more energy efficient than the other technologies for dehumidification. The dehydration membranes were tested for 90 days at conditions expected to be present in the EMU. The results of these tests indicate that membrane-based technology can effectively control humidity in the EMU.
Regenerable life support (RLS) technologies are being developed for use in the Advanced Extravehicle Mobility Unit (AEMU) aboard Space Station Freedom. This report describes the requirements that these RLS technologies must satisfy in the Space Station application and the significant features of the technologies now being evaluated. Who is developing the equipment and how the subsystems will be integrated are addressed. An overview of the planned test program schedule is given.
An update is given on work to design and build a Fuel Cell Energy Storage System (FCESS) bench-tested unit for the Space Station Freedom Extravehicular Mobility Unit (EMU). Fueled by oxygen and hydride-stored hydrogen, the FCESS is being considered as an alternative to the EMU zinc-silver oxide battery. Superior cycle life and quick recharge are the main attributes of FCESS. The design and performance of a nonventing, 28 V, 34 Ahr system with 7 amp rating are discussed.
A mobile satellite system (MSS) propagation experiment at 1.5 GHz was performed near the east coast of the United States in central Maryland during December 1987 using the Marecs-B2 satellite as a transmitter platform. A receiving system in a vehicle measured signal fades caused by shadowing and multipath from roadside trees and utility poles. The propagation degradations were characterized for a system of three roads previously examined using a helicopter as the transmitter platform. The objectives of the Marecs-B2 MSS tests were to: (1) establish cumulative fade distributions for the particular satellite geometry for both rural and suburban roads; (2) validate the consistency of previous roadside tree measurements which employed a helicopter as the transmitter platform for the same system of roads; (3) obtain an additional set of fade levels at a lower angle hitherto not measured in central Maryland; and (4) combine the satellite-acquired data set with previous helicopter results and establish an analytic, empirically derived function describing the cumulative fade distributions for a family of path angles. An analysis of the satellite data has demonstrated the successful achievement of these objectives.
The hardware for the Mobile Atmospheric Pollutant Mapping System is described. Measurement results using the hardware are reported along with absorption coefficients and measurement sensitivities for a number of molecular species. The factor that limit measurement accuracy and range are considered.
Measurements showing dramatic nonlocal behavior in the four-terminal resistances of a high-mobility quantum Hall conductor are presented. These measurements illustrate that the standard definition of the resistivity tensor is inappropriate, but they are in excellent agreement with a new model of the conductor that treats the edge and bulk conducting pathways independently. This model uses a single intensive parameter, analogous to a local resistivity for the bulk channel only, to characterize the system.