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NASA NTRS2010

Altair Navigation During Trans-Lunar Cruise, Lunar Orbit, Descent and Landing

The Altair lunar lander navigation system is driven by a set of requirements that not only specify a need to land within 100 m of a designated spot on the Moon, but also be capable of a safe return to an orbiting Orion capsule in the event of loss of Earth ground support. These requirements lead to the need for a robust and capable on-board navigation system that works in conjunction with an Earth ground navigation system that uses primarily ground-based radiometric tracking. The resulting system relies heavily on combining a multiplicity of data types including navigation state updates from the ground based navigation system, passive optical imaging from a gimbaled camera, a stable inertial measurement unit, and a capable radar altimeter and velocimeter. The focus of this paper is on navigation performance during the trans-lunar cruise, lunar orbit, and descent/landing mission phases with the goal of characterizing knowledge and delivery errors to key mission events, bound the statistical delta V costs for executing the mission, as well as the determine the landing dispersions due to navigation. This study examines the nominal performance that can be obtained using the current best estimate of the vehicle, sensor, and environment models. Performance of the system under a variety sensor outages and parametric trades is also examined.

lunar lander↗

NASA NTRS2018

Orion Ground Test Article Water Impact Tests: Photogrammetric Evaluation of Impact Conditions

The Ground Test Article (GTA) is an early production version of the Orion Crew Module (CM). The structural design of the Orion CM is being developed based on LS-DYNA water landing simulations. As part of the process of confirming the accuracy of LS-DYNA water landing simulations, the GTA water impact test series was conducted at NASA Langley Research Center (LaRC) to gather data for comparison with simulations. The simulation of the GTA water impact tests requires the accurate determination of the impact conditions. To accomplish this, the GTA was outfitted with an array of photogrammetry targets. The photogrammetry system utilizes images from two cameras with a specialized tracking software to determine time histories for the 3-D coordinates of each target. The impact conditions can then be determined from the target location data.

Vassilakos, Gregory J.↗

NASA NTRSDate not supplied

Icing Physics Studies Using the 3D SIDRM Test Article: Ice Crystal Icing Analysis

In-flight icing is an important safety issue and is a factor that affects aircraft design and performance. Newer regulations are driving a need for improvements in airframe and engine icing simulation capability. Experimental data is required for the development of icing physics models and simulation validation. This paper presents the analysis of the ice crystal icing data subset from tests conducted in 2022 at the NASA Icing Research Tunnel that studied both supercooled liquid and ice-crystal icing. The test article that was utilized replicated 3D geometrical features of an inter-compressor duct and strut region of a turbofan engine. The surfaces of the Simulated Inter-compressor Duct Research Model (SIDRM) can be heated to simulate the warm surfaces of the turbofan inter-compressor duct. The test article is instrumented with pressure taps, heaters, heat flux gauges, and thermocouples, while a 3D laser scanner, cameras, and a weighing scale to measure ice mass were utilized to characterize the icing behavior. The aim of these tests was to generate ice accretions on the SIDRM test article under well-characterized icing conditions. To that end, ice crystal cloud characterization tests were conducted that provided cloud property values at the test section. The ice crystal accretion tests investigated how different test condition parameters impacted ice accretion size, location, and characteristics (such as physical attributes). A key finding was that a sufficiently high surface heat flux at the leading edge can provide a continuous supply of liquid melt to critical accretion zones downstream, resulting in elevated ice mass accretions. Another key finding was that warmer heater settings in critical accretion zones can suppress ice accretion. These findings are consistent with icing behavior observed in full-scale engine icing tests conducted previously at the NASA Glenn Research Center. Test runs investigating the contribution of liquid melt generated at the leading edge found that the melt can be transported downstream to critical accretion regions in two forms, via runback and splash. The form of melt supplied downstream affected accretion behavior and features. Sharkteeth-shaped ice accretions were generated at certain test conditions, a physical attribute that has been observed in full-scale engine icing tests. The ice accretion data will be used to develop and validate 3D computational engine icing tools, such as GlennICE, that predictively assesses the onset and growth of ice. One of the goals of the sponsoring NASA project is to develop simulation models and tools that can assist in the design and certification of engines for flight in icing conditions in a cost‑effective way.

ice crystal icing↗

NASA NTRSDate not supplied

Icing Physics Studies Using the 3D SIDRM Test Article: Ice Crystal Icing Analysis

ice crystal icing↗

DOE OSTI2025

Automation for Electric Vehicle Battery Pack Disassembly

Battery‐electric vehicles (EVs) are growing exponentially. The demand for these batteries is expected to increase sevenfold by 2035. The EV batteries reach their end of life when the capacity fades to 70%–80% of new, with some being removed from the primary applications with even lower levels of degradation. These batteries can be used in less demanding applications. The disassembly process is currently manual, slow, unsafe, and expensive. Automation is needed to increase the throughput. EV battery packs feature various continually changing designs and form factors, which limit the usefulness of deterministically programmed robotic solutions. The conceptual robotic disassembly of EV batteries has attracted the attention of researchers. However, while many approaches have been proposed, practical implementations are lacking. Here, we review proposed concepts for EV battery disassembly and describe the selected approach, with elements of partial solutions validated in a laboratory setting, including the selection of commercial solutions, the development of custom end effectors, and methodologies for detection, localization, and classification of fasteners. The computer vision tasks employed an overhead 2D camera to detect the type of battery pack and approximate localization of fasteners, and a 3D camera mounted on the robotic arm for precise localization (position and tilt) and classification.

Islam, Abu [Rochester Inst. of Technology, Rochest↗

NASA NTRS1972

Photographic summary

The photographic objectives of the Apollo 15 mission were designed to support a wide variety of scientific and operational experiments, to provide high-resolution panoramic photographs and precisely oriented metric photographs of the lunar surface, and to document operational tasks on the lunar surface and in flight. Detailed premission planning integrated the photographic tasks with the other mission objectives to produce a balanced mission that has returned more data than any previous space voyage. The return of photographic data was enhanced by new equipment, the high latitude of the landing site, and greater time in lunar orbit. New camera systems that were mounted in the scientific instrument module (SIM) bay of the service module provided a major photographic capability that was not available on any previous lunar mission, manned or unmanned.

Dietrich, J. W.↗

NASA NTRS1983

The 1982 control network of Mars

Attention is given to a planet-wide control network of Mars that was computed in September 1982 using a large single-block analytical triangulation with 47,524 measurements of 6853 control points on 1054 Mariner 9 and 757 Viking pictures. In all, 19,139 normal equations were solved, with a resulting standard error of measurement of 18.06 microns. The control points identified by name and letter designation are given, as are the aerographic coordinates of the control points. In addition, the coordinates of the Viking I lander site are given: latitude, 22.480 deg; longitude, 47.962 deg (radius, 3389.32 km). This study expands and updates the previously published network (1978). It is noted that the computation differs in many respects from standard aerial mapping photogrammetric practice. In comparison with aerial mapping photography, the television formats are small and the focal lengths are long; stereo coverage is rare, the scale of the pictures varies greatly, and the residual camera distortions are large.

Davies, M. E.↗

NASA NTRS2007

Improving Robotic Operator Performance Using Augmented Reality

The Special Purpose Dexterous Manipulator (SPDM) is a two-armed robot that functions as an extension to the end effector of the Space Station Robotics Manipulator System (SSRMS), currently in use on the International Space Station (ISS). Crew training for the SPDM is accomplished using a robotic hardware simulator, which performs most of SPDM functions under normal static Earth gravitational forces. Both the simulator and SPDM are controlled from a standard robotic workstation using a laptop for the user interface and three monitors for camera views. Most operations anticipated for the SPDM involve the manipulation, insertion, and removal of any of several types of Orbital Replaceable Unit (ORU), modules which control various ISS functions. Alignment tolerances for insertion of the ORU into its receptacle are 0.25 inch and 0.5 degree from nominal values. The pre-insertion alignment task must be performed within these tolerances by using available video camera views of the intrinsic features of the ORU and receptacle, without special registration markings. Since optimum camera views may not be available, and dynamic orbital lighting conditions may limit periods of viewing, a successful ORU insertion operation may require an extended period of time. This study explored the feasibility of using augmented reality (AR) to assist SPDM operations. Geometric graphical symbols were overlaid on one of the workstation monitors to afford cues to assist the operator in attaining adequate pre-insertion ORU alignment. Twelve skilled subjects performed eight ORU insertion tasks using the simulator with and without the AR symbols in a repeated measures experimental design. Results indicated that using the AR symbols reduced pre-insertion alignment error for all subjects and reduced the time to complete pre-insertion alignment for most subjects.

Maida, James C.↗

NASA NTRS2010

A General Closed-Form Solution for the Lunar Reconnaissance Orbiter (LRO) Antenna Pointing System

The National Aeronautics and Space Administration s (NASA) Lunar Reconnaissance Orbiter (LRO) launched on June 18, 2009 from the Cape Canaveral Air Force Station aboard an Atlas V launch vehicle into a direct insertion trajectory to the Moon LRO, designed, built, and operated by the NASA Goddard Space Flight Center in Greenbelt, MD, is gathering crucial data on the lunar environment that will help astronauts prepare for long-duration lunar expeditions. During the mission s nominal life of one year its six instruments and one technology demonstrator will find safe landing site, locate potential resources, characterize the radiation environment and test new technology. To date, LRO has been operating well within the bounds of its requirements and has been collecting excellent science data images taken from the LRO Camera Narrow Angle Camera (LROC NAC) of the Apollo landing sites have appeared on cable news networks. A significant amount of information on LRO s science instruments is provided at the LRO mission webpage. LRO s Attitude Control System (ACS), in addition to controlling the orientation of the spacecraft is also responsible for pointing the High Gain Antenna (HGA). A dual-axis (or double-gimbaled) antenna, deployed on a meter-long boom, is required to point at a selected Earth ground station. Due to signal loss over the distance from the Moon to Earth, pointing precision for the antenna system is very tight. Since the HGA has to be deployed in spaceflight, its exact geometry relative to the spacecraft body is uncertain. In addition, thermal distortions and mechanical errors/tolerances must be characterized and removed to realize the greatest gain from the antenna system. These reasons necessitate the need for an in-flight calibration. Once in orbit around the moon, a series of attitude maneuvers was conducted to provide data needed to determine optimal parameters to load onboard, which would account for the environmental and mechanical errors at any antenna orientation. The nominal geometry for the HGA involves an outer gimbal axis that is exactly perpendicular to the inner gimbal axis, and a target direction that is exactly perpendicular to the outer gimbal axis. For this nominal geometry, closed-form solutions of the desired gimbal angles are simple to get for a desired target direction specified in the spacecraft body fame. If the gimbal axes and the antenna boresight are slightly misaligned, the nominal closed-form solution is not sufficiently accurate for computing the gimbal angles needed to point at a target. In this situation, either a general closed-form solution has to be developed for a mechanism with general geometries, or a correction scheme has to be applied to the nominal closed-form solutions. The latter has been adopted for Solar Dynamics Observatory (SDO) as can be seen in Reference 1, and the former has been used for LRO. The advantage of the general closed-form solution is the use of a small number of parameters for the correction of nominal solutions, especially in the regions near singularities. Singularities here refer to cases when the nominal closed-form solutions have two or more solutions. Algorithm complexity, however, is the disadvantage of the general closed-form solution.

Shah, Neerav↗

NASA NTRS1991

Test equipment data package for the KC-135 fiber pulling apparatus

The Fiber Pulling Apparatus (FPA) is a device designed to produce continuous glass fibers from simulated lunar soil, and to determine the effects of reduced gravity, specifically 1/6 g on fiber formation and resultant properties. Briefly, pre-melt simulated lunar soil will be placed in a pint crucible and heated to 1200 C or higher, up to a maximum temperature of 1400 C. At a given temperature, a quartz fiber will be immersed into the melt and then pulled through a chill block and wound onto a cylindrical bobbin using a servo motor control. A high resolution video camera will record the fiber as it is being pulled. This assembly wil be enclosed in Plexiglas. Before fiber pulling commences, the apparatus will be backfilled with dry nitrogen. A separate data acquisition system will support this apparatus. This system will contain a personal computer, video recorder, and monitor. Temperature, acceleration, winding speed, and video images will be controlled and recorded using the data acquisition system. Thus, the FPA will consist of two hardware packages, the fiber production assembly and the data acquisition rack. The primary objective of this test is to determine the effects of 1/6 g on the formation of continuous glass fiber made from simulated lunar soil. Baseline studies using the FPA on the ground will provide a reference for the 1/6 g studies. Of particular interest will be the effect of 1/6 g on the free fluid zone where the fiber exits the crucible. In the fiber spinning parlance this zone is known as the upper jet region, where the boundary slope is greater than one tenth. The properties of the resulting glass fiber will depend on the jet shape as well as distributions of velocity, temperature and tension within the jet. It is unknown at this time how 1/6 g will effect these parameters.

Kosten, Sue↗

NASA NTRS2008

NASA Tech Briefs, June 2008

Topics covered include: Charge-Control Unit for Testing Lithium-Ion Cells; Measuring Positions of Objects Using Two or More Cameras; Lidar System for Airborne Measurement of Clouds and Aerosols; Radiation-Insensitive Inverse Majority Gates; Reduced-Order Kalman Filtering for Processing Relative Measurements; Spaceborne Processor Array; Instrumentation System Diagnoses a Thermocouple; Chromatic Modulator for a High-Resolution CCD or APS; Commercial Product Activation Using RFID; Cup Cylindrical Waveguide Antenna; Aerobraking Maneuver (ABM) Report Generator; ABM Drag_Pass Report Generator; Transformation of OODT CAS to Perform Larger Tasks; Visualization Component of Vehicle Health Decision Support System; Mars Reconnaissance Orbiter Uplink Analysis Tool; Problem Reporting System; G-Guidance Interface Design for Small Body Mission Simulation; DSN Scheduling Engine; Replacement Sequence of Events Generator; Force-Control Algorithm for Surface Sampling; Tool for Merging Proposals Into DSN Schedules; Micromachined Slits for Imaging Spectrometers; Fabricating Nanodots Using Lift-Off of a Nanopore Template; Making Complex Electrically Conductive Patterns on Cloth; Special Polymer/Carbon Composite Films for Detecting SO2; Nickel-Based Superalloy Resists Embrittlement by Hydrogen; Chemical Passivation of Li+-Conducting Solid Electrolytes; Organic/Inorganic Polymeric Composites for Heat-Transfer Reduction; Composite Cathodes for Dual-Rate Li-Ion Batteries; Improved Descent-Rate Limiting Mechanism; Alignment-Insensitive Lower-Cost Telescope Architecture; Micro-Resistojet for Small Satellites; Using Piezoelectric Devices to Transmit Power through Walls; Miniature Latching Valve; Apparatus for Sampling Surface Contamination; Novel Species of Non-Spore-Forming Bacteria; Chamber for Aerosol Deposition of Bioparticles; Hyperspectral Sun Photometer for Atmospheric Characterization and Vicarious Calibrations; Dynamic Stability and Gravitational Balancing of Multiple Extended Bodies; Simulation of Stochastic Processes by Coupled ODE-PDE; Cluster Inter-Spacecraft Communications; Genetic Algorithm Optimizes Q-LAW Control Parameters; Low-Impact Mating System for Docking Spacecraft; Non-Destructive Evaluation of Materials via Ultraviolet Spectroscopy; Gold-on-Polymer-Based Sensing Films for Detection of Organic and Inorganic Analytes in the Air; and Quantum-Inspired Maximizer.

Source record↗

NASA NTRS2012

Human-Robot Interaction

Risk of Inadequate Design of Human and Automation/Robotic Integration (HARI) is a new Human Research Program (HRP) risk. HRI is a research area that seeks to understand the complex relationship among variables that affect the way humans and robots work together to accomplish goals. The DRP addresses three major HRI study areas that will provide appropriate information for navigation guidance to a teleoperator of a robot system, and contribute to the closure of currently identified HRP gaps: (1) Overlays -- Use of overlays for teleoperation to augment the information available on the video feed (2) Camera views -- Type and arrangement of camera views for better task performance and awareness of surroundings (3) Command modalities -- Development of gesture and voice command vocabularies

Rochlis-Zumbado, Jennifer↗

NASA NTRS2012

Performance of Magnetic Penetration Thermometers for X-Ray Astronomy

The ideal X-ray camera for astrophysics would have more than a million pixels and provide an energy resolution of better than leV FWHM for energies up to 10 keY. We have microfabricated and characterized thin-film magnetic penetration thermometers (MPTs) that show great promise towards meeting these capabilities. MPTs operate in similar fashion to metallic magnetic calorimeters (MMCs), except that a superconducting sensor takes the place of a paramagnetic sensor and it is the temperature dependence of the superconductor's diamagnetic response that provides the temperature sensitivity. We present a description of the design and performance of our prototype thin-film MPTs with MoAu bilayer sensors, which have demonstrated an energy resolution of approx 2 eV FWHM at 1.5 keY and 4.3 eV FWHM at 5.9 keY.

Nagler, P. C.↗

NASA NTRS2014

A Curious Year on Mars - Long-Term Thermal Trends for Mars Science Laboratory Rover's First Martian Year

By the time of this writing, Curiosity, the Mars Science Laboratory (MSL) Rover, has weathered four seasons in Gale Crater, just south of and approaching the foothills of the 5-km high Aeolis Mons, known as "Mount Sharp," at 4.59 deg south latitude. The mission design included a much broader latitude range of 30 deg north to 30 deg south constraining some of the Rover environmental requirements and operations. To date, Curiosity has relayed over 150 MB of thermal telemetry. Curiosity has relayed over 150 MB of thermal telemetry through four seasons. The trends and idiosyncrasies revealed through four seasons of telemetry from Mars are discussed. The better-characterized thermal environment allows for less conservatism in operational models and increases the amount of science data collection. Examples include: the elimination of overheating concerns for some cameras and the use of the previous sol's temperature telemetry along with the conservative soak temperature curve from the winter thermal model, to produce a custom heating prescription for the upcoming weeks thus increasing operation time and reducing heating times. This paper discusses the lessons learned for Rover operation as well as general idiosyncrasies discovered about the local environment-such as the effect of orientation on subsystem temperature variation, a regular morning and afternoon wind, ground and air microclimates with distinct temperature differences from other terrain, and how the Rover affects the local environment. This paper further documents and explains some of the interesting highs and lows of the temperature telemetry data as well as offers explanations for sudden temperature changes on board the Rover.

HRS↗

NASA NTRS2010

Lessons Learned from the Wide Field Camera 3 Flight Correlation

The Wide Field Camera 3 (WFC3) instrument was installed into the Hubble Space Telescope (HST) as part of the activities for STS (Space Transportation System)-125 (HST Servicing Mission 4). Initial model predictions for power and radiator temperature were not in good agreement with flight data during a relatively hot, stable period, with the flight power and temperatures being significantly higher than predictions. Significant efforts were undertaken to identify the causes of the discrepancies and to resolve the flight model correlation problems as the thermal vacuum test correlation indicated good agreement. The WFC3 thermal design performance has proven difficult to accurately predict, since the power dissipation on the radiator typically increases as the radiator temperature increases, due to a Thermo Electric Cooler (TEC) attached to the this radiator. This self beating continues until the radiative emissive capability is met for a given temperature, and only then does the system find a quasi-steady regime. Various other factors may also contribute to the radiator temperature, such as backloadlng from the observatory itself and the planet, local high-absorptivity regions near fasteners/holes, and temperature varying parasitic heat leaks from the instrument itself to the radiator. Each of these effects in turn may increase the radiator temperature, and furthermore the demand on the TEC.

Peabody, Hume L.↗

NASA NTRS2017

The Infrared Sensor Suite for SnowEx 2017

SnowEx is a winter airborne and field campaign designed to measure snow-water equivalent in forested landscapes. A major focus of Year 1 (2016-17) of NASA's SnowEx campaign will be an extensive field program involving dozens of participants from U.S. government agencies and from many universities and institutions, both domestic and foreign. Along with other instruments, two infrared (IR) sensors will be flown on a Naval Research Laboratory P-3 aircraft. Surface temperature is a critical input to hydrologic models and will be measured during the SnowEx mission. A Quantum Well Infrared Photodetector (QWIP) IR imaging camera system will be flown along with a KT-15 remote thermometer to aid in the calibration of the IR image data. Together, these instruments will measure surface temperature of snow and ice targets to an expected accuracy of less than 1C.

SnowEx↗

NASA NTRS1999

Tracker: Image-Processing and Object-Tracking System Developed

Tracker is an object-tracking and image-processing program designed and developed at the NASA Lewis Research Center to help with the analysis of images generated by microgravity combustion and fluid physics experiments. Experiments are often recorded on film or videotape for analysis later. Tracker automates the process of examining each frame of the recorded experiment, performing image-processing operations to bring out the desired detail, and recording the positions of the objects of interest. It can load sequences of images from disk files or acquire images (via a frame grabber) from film transports, videotape, laser disks, or a live camera. Tracker controls the image source to automatically advance to the next frame. It can employ a large array of image-processing operations to enhance the detail of the acquired images and can analyze an arbitrarily large number of objects simultaneously. Several different tracking algorithms are available, including conventional threshold and correlation-based techniques, and more esoteric procedures such as "snake" tracking and automated recognition of character data in the image. The Tracker software was written to be operated by researchers, thus every attempt was made to make the software as user friendly and self-explanatory as possible. Tracker is used by most of the microgravity combustion and fluid physics experiments performed by Lewis, and by visiting researchers. This includes experiments performed on the space shuttles, Mir, sounding rockets, zero-g research airplanes, drop towers, and ground-based laboratories. This software automates the analysis of the flame or liquid s physical parameters such as position, velocity, acceleration, size, shape, intensity characteristics, color, and centroid, as well as a number of other measurements. It can perform these operations on multiple objects simultaneously. Another key feature of Tracker is that it performs optical character recognition (OCR). This feature is useful in extracting numerical instrumentation data that are embedded in images. All the results are saved in files for further data reduction and graphing. There are currently three Tracking Systems (workstations) operating near the laboratories and offices of Lewis Microgravity Science Division researchers. These systems are used independently by students, scientists, and university-based principal investigators. The researchers bring their tapes or films to the workstation and perform the tracking analysis. The resultant data files generated by the tracking process can then be analyzed on the spot, although most of the time researchers prefer to transfer them via the network to their offices for further analysis or plotting. In addition, many researchers have installed Tracker on computers in their office for desktop analysis of digital image sequences, which can be digitized by the Tracking System or some other means. Tracker has not only provided a capability to efficiently and automatically analyze large volumes of data, saving many hours of tedious work, but has also provided new capabilities to extract valuable information and phenomena that was heretofore undetected and unexploited.

Klimek, Robert B.↗

NASA NTRS2019

Rapid Development of the Seeker Free-Flying Inspector Guidance, Navigation, and Control System

Seeker is an automated extravehicular free-flying inspector CubeSat designed and built in-house at the Johnson Space Center (JSC). As a Class 1E project funded by the International Space Station (ISS) Program, Seeker had a streamlined process to flight certification, but the vehicle had to be designed, developed, tested, and delivered within approximately one year after authority to pro-ceed (ATP) and within a $1.8 million budget. These constraints necessitated an expedited Guidance, Navigation, and Control (GNC) development schedule, development began with a navigation sensor trade study using Linear Covariance (LinCov) analysis and a rapid sensor downselection process, resulting in the use of commercial off-the-shelf (COTS) sensors which could be procured quickly and subjected to in-house environmental testing to qualify them for flight. A neural network was used to enable a COTS camera to provide bearing measurements for visual navigation. The GNC flight software (FSW) algorithms utilized lean development practices and leveraged the Core Flight Software (CFS) architecture to rapidly develop the GNC system, tune the system parameters, and verify performance in simulation. This pace was anchored by several Hardware-Software Integration (HSI) milestones, which forced the Seeker GNC team to develop the interfaces both between hardware and software and between the GNC domains early in the project and to enable a timely delivery.

Sullivan, Jacob↗