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All sourcesNASA NTRSDOE OSTI
NASA NTRS2005

Transformational Spaceport and Range Concept of Operations: A Vision to Transform Ground and Launch Operations

The Transformational Concept of Operations (CONOPS) provides a long-term, sustainable vision for future U.S. space transportation infrastructure and operations. This vision presents an interagency concept, developed cooperatively by the Department of Defense (DoD), the Federal Aviation Administration (FAA), and the National Aeronautics and Space Administration (NASA) for the upgrade, integration, and improved operation of major infrastructure elements of the nation s space access systems. The interagency vision described in the Transformational CONOPS would transform today s space launch infrastructure into a shared system that supports worldwide operations for a variety of users. The system concept is sufficiently flexible and adaptable to support new types of missions for exploration, commercial enterprise, and national security, as well as to endure further into the future when space transportation technology may be sufficiently advanced to enable routine public space travel as part of the global transportation system. The vision for future space transportation operations is based on a system-of-systems architecture that integrates the major elements of the future space transportation system - transportation nodes (spaceports), flight vehicles and payloads, tracking and communications assets, and flight traffic coordination centers - into a transportation network that concurrently accommodates multiple types of mission operators, payloads, and vehicle fleets. This system concept also establishes a common framework for defining a detailed CONOPS for the major elements of the future space transportation system. The resulting set of four CONOPS (see Figure 1 below) describes the common vision for a shared future space transportation system (FSTS) infrastructure from a variety of perspectives.

Source record↗
NASA NTRS2007

50 Years of Electronic Check Out and Launch Systems at Kennedy Space Center

When NASA was created in 1958 one of the elements incorporated into this new agency was the Army Ballistic Missile Agency (ABMA) in Huntsville, AL and its subordinate Missile Firing Laboratory (MFL) in Cape Canaveral. Under NASA, the MFL became the Launch Operations Directorate of the George C. Marshall Space Flight Center in Huntsville, but expanding operations in the build up to Apollo dictated that it be given the status of a full fledged Center in July, 1 962[ 1]. The next year it was renamed the John F. Kennedy Space Center (KS C) after the president whose vision transformed its first decade of operation. The ABMA was under the technical leadership of Dr. Werner Von Braun. The MEL was run by his deputy Dr. Kurt Debus, an electrical engineer whose experience in the field began in the early days of V-2 testing in war time Germany. In 1952 a group led by Debus arrived in Cape Canaveral to begin test launches of the new Redstone missile [2]. During the 50's, The MFL built several launch complexes and tested the Redstone, Jupiter and Jupiter C missiles. This small experienced team of engineers and technicians formed the seed from which has grown the KSC team of today. This article briefly reviews the evolution of the KSC electronic technologies for integration, check-out and launch of space vehicles and payloads during NASA's first 50 years.

Starr, Stanley O.↗
NASA NTRSDate not supplied

AIAA Forum 360 Panel

Vision: Accelerate transformation to a digitally-integrated air transportation system that enables access and increases mobility for all users. Goal: Catalyze the community to provide an all-access, safe, and efficient airspace system through innovative solutions that remove barriers.

ATM-X, AIAA↗
NASA NTRS2005

Research Opportunities Supporting the Vision for Space Exploration from the Transformation of the Former Microgravity Materials Science Program

The Microgravity Materials Science Program established a strong research capability through partnerships between NASA and the scientific research community. With the announcement of the vision for space exploration, additional emphasis in strategic materials science areas was necessary. The President's Commission recognized that achieving its exploration objectives would require significant technical innovation, research, and development in focal areas defined as "enabling technologies." Among the 17 enabling technologies identified for initial focus were: advanced structures, advanced power and propulsion; closed-loop life support and habitability; extravehicular activity systems; autonomous systems and robotics; scientific data collection and analysis, biomedical risk mitigation; and planetary in situ resource utilization. Mission success may depend upon use of local resources to fabricate a replacement part to repair a critical system. Future propulsion systems will require materials with a wide range of mechanical, thermophysical, and thermochemical properties, many of them well beyond capabilities of today's materials systems. Materials challenges have also been identified by experts working to develop advanced life support systems. In responding to the vision for space exploration, the Microgravity Materials Science Program aggressively transformed its research portfolio and focused materials science areas of emphasis to include space radiation shielding; in situ fabrication and repair for life support systems; in situ resource utilization for life support consumables; and advanced materials for exploration, including materials science for space propulsion systems and for life support systems. The purpose of this paper is to inform the scientific community of these new research directions and opportunities to utilize their materials science expertise and capabilities to support the vision for space exploration.

Clinton, R. G., Jr.↗
NASA NTRS1990

Computation and parallel implementation for early vision

The problem of early vision is to transform one or more retinal illuminance images-pixel arrays-to image representations built out of such primitive visual features such as edges, regions, disparities, and clusters. These transformed representations form the input to later vision stages that perform higher level vision tasks including matching and recognition. Researchers developed algorithms for: (1) edge finding in the scale space formulation; (2) correlation methods for computing matches between pairs of images; and (3) clustering of data by neural networks. These algorithms are formulated for parallel implementation of SIMD machines, such as the Massively Parallel Processor, a 128 x 128 array processor with 1024 bits of local memory per processor. For some cases, researchers can show speedups of three orders of magnitude over serial implementations.

Gualtieri, J. Anthony↗
NASA NTRS2018

An “EPIIC” Vision to Evolve Project Integration, Innovation, and Collaboration with Broad Impact for How NASA Executes Complex Projects

Evolving Project Integration, Innovation, and Collaboration (EPIIC) is a vision defined to transform the way projects manage information to support real-time decisions, capture best practices and lessons learned, perform assessments, and manage risk across a portfolio of projects. The foundational project management needs for data and information will be revolutionized through innovations on how we manage and access that data, implement configuration control, and certify compliance. The embedded intelligence of new interactive data interfaces integrate technical and programmatic data such that near real time analytics can be accomplished to more efficiently and accurately complete systems engineering and project management tasks. The system-wide data analytics that are integrated into customized data interfaces allows the growing team of engineers and managers required to develop and implement major NASA missions the ability to access authoritative source(s) of system information while greatly reducing the labor required to complete system assessments. This would allow, for example, much of what is accomplished in a scheduled design review to take place as needed, between any team members, at any time. An intelligent data interface that rigorously integrates systems engineering and project management information in near real time can provide substantially greater insight for systems engineers, project managers, and the large diverse teams required to complete a complex project. System engineers, programmatic personnel (those who focus on cost, schedule, and risk), the technical engineering disciplines, and project management can realize immediate benefit from the shared vision described herein. Implementation of the vision also enables significant improvements in the performance of the engineered system being developed.

Moreland, Robert J.↗
NASA NTRS1987

The cortex transform - Rapid computation of simulated neural images

With a goal of providing means for accelerating the image processing, machine vision, and testing of human vision models, an image transform was designed, which makes it possible to map an image into a set of images that vary in resolution and orientation. Each pixel in the output may be regarded as the simulated response of a neuron in human visual cortex. The transform is amenable to a number of shortcuts that greatly reduce the amount of computation.

Watson, Andrew B.↗
NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗
NASA NTRS1993

Visual information processing II; Proceedings of the Meeting, Orlando, FL, Apr. 14-16, 1993

Various papers on visual information processing are presented. Individual topics addressed include: aliasing as noise, satellite image processing using a hammering neural network, edge-detetion method using visual perception, adaptive vector median filters, design of a reading test for low-vision image warping, spatial transformation architectures, automatic image-enhancement method, redundancy reduction in image coding, lossless gray-scale image compression by predictive GDF, information efficiency in visual communication, optimizing JPEG quantization matrices for different applications, use of forward error correction to maintain image fidelity, effect of peanoscanning on image compression. Also discussed are: computer vision for autonomous robotics in space, optical processor for zero-crossing edge detection, fractal-based image edge detection, simulation of the neon spreading effect by bandpass filtering, wavelet transform (WT) on parallel SIMD architectures, nonseparable 2D wavelet image representation, adaptive image halftoning based on WT, wavelet analysis of global warming, use of the WT for signal detection, perfect reconstruction two-channel rational filter banks, N-wavelet coding for pattern classification, simulation of image of natural objects, number-theoretic coding for iconic systems.

Huck, Friedrich O.↗
NASA NTRS1990

Hybrid vision activities at NASA Johnson Space Center

NASA's Johnson Space Center in Houston, Texas, is active in several aspects of hybrid image processing. (The term hybrid image processing refers to a system that combines digital and photonic processing). The major thrusts are autonomous space operations such as planetary landing, servicing, and rendezvous and docking. By processing images in non-Cartesian geometries to achieve shift invariance to canonical distortions, researchers use certain aspects of the human visual system for machine vision. That technology flow is bidirectional; researchers are investigating the possible utility of video-rate coordinate transformations for human low-vision patients. Man-in-the-loop teleoperations are also supported by the use of video-rate image-coordinate transformations, as researchers plan to use bandwidth compression tailored to the varying spatial acuity of the human operator. Technological elements being developed in the program include upgraded spatial light modulators, real-time coordinate transformations in video imagery, synthetic filters that robustly allow estimation of object pose parameters, convolutionally blurred filters that have continuously selectable invariance to such image changes as magnification and rotation, and optimization of optical correlation done with spatial light modulators that have limited range and couple both phase and amplitude in their response.

Juday, Richard D.↗
NASA NTRSDate not supplied

NASA R&M Efficiency through Findable, Accessible, Interoperable, and Reusable (FAIR) Digital Assets

At the intersection of mission, technology, and place is NASA’s need to modernize for a digital-forward future. Digitalization, the process of moving toward digital business, is occurring everywhere and remains an ongoing process across the federal government.”[1] Whereas, Digital Transformation is “employing digitization/digital technologies (e.g., Artificial Intelligence (AI), mobile, cloud, data) to change a process, product, or capability so dramatically (e.g., real-time, intelligent, personalized, anywhere, anytime) that it is unrecognizable compared to its traditional form.” [2] In order to facilitate a digital transformation it is essential for NASA to understand and identify where data exists today and which data are value-needed in the future, understand where there are unfulfilled data needs that limit the advancement of NASA work, and ensure NASA efficiency through Findable, Accessible, Interoperable, and Reusable (FAIR) digital assets in the future. Therefore, NASA’s Reliability & Maintainability (R&M) Enterprise Data Sharing team is working to leverage both Digitization and Digital Transformation to achieve their vision of developing an R&M data discovery framework that enables our community, our partners, and our stakeholders with the ability to efficiently, robustly, and seamlessly access information that enables real-time knowledge and model-based, analytics driven, decision-making impacting R&M. As a result the R&M Enterprise Data Sharing team has conducted a survey of its Reliability, Maintainability, and Availability (RMA) community members to identify data existence (created or used) and where there are corresponding barriers to data acquisition and/or R&M or other issues as shown within this presentation.

Digital Transformation↗
NASA NTRSDate not supplied

Trilateral Task Force – Reliability Analysis Supporting Mission Extension/Post Mission Disposal

At the intersection of mission, technology, and place is NASA’s need to modernize for a digital-forward future. Digitalization, the process of moving toward digital business, is occurring everywhere and remains an ongoing process across the federal government.”[1] Whereas, Digital Transformation is “employing digitization/digital technologies (e.g., Artificial Intelligence (AI), mobile, cloud, data) to change a process, product, or capability so dramatically (e.g., real-time, intelligent, personalized, anywhere, anytime) that it is unrecognizable compared to its traditional form.” [2] In order to facilitate a digital transformation it is essential for NASA to understand and identify where data exists today and which data are value-needed in the future, understand where there are unfulfilled data needs that limit the advancement of NASA work, and ensure NASA efficiency through Findable, Accessible, Interoperable, and Reusable (FAIR) digital assets in the future. Therefore, NASA’s Reliability & Maintainability (R&M) Enterprise Data Sharing team is working to leverage both Digitization and Digital Transformation to achieve their vision of developing an R&M data discovery framework that enables our community, our partners, and our stakeholders with the ability to efficiently, robustly, and seamlessly access information that enables real-time knowledge and model-based, analytics driven, decision-making impacting R&M. As a result the R&M Enterprise Data Sharing team has conducted a survey of its Reliability, Maintainability, and Availability (RMA) community members to identify data existence (created or used) and where there are corresponding barriers to data acquisition and/or R&M or other issues as shown within this presentation.

Digital Transformation, Reliability Engineering↗
NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗
NASA NTRS2005

Camera Image Transformation and Registration for Safe Spacecraft Landing and Hazard Avoidance

Inherent geographical hazards of Martian terrain may impede a safe landing for science exploration spacecraft. Surface visualization software for hazard detection and avoidance may accordingly be applied in vehicles such as the Mars Exploration Rover (MER) to induce an autonomous and intelligent descent upon entering the planetary atmosphere. The focus of this project is to develop an image transformation algorithm for coordinate system matching between consecutive frames of terrain imagery taken throughout descent. The methodology involves integrating computer vision and graphics techniques, including affine transformation and projective geometry of an object, with the intrinsic parameters governing spacecraft dynamic motion and camera calibration.

Jones, Brandon M.↗
NASA NTRS1984

A production peripheral vision display system

A small number of peripheral vision display systems in three significantly different configurations were evaluated in various aircraft and simulator situations. The use of these development systems enabled the gathering of much subjective and quantitative data regarding this concept of flight deck instrumentation. However, much was also learned about the limitations of this equipment which needs to be addressed prior to wide spread use. A program at Garrett Manufacturing Limited in which the peripheral vision display system is redesigned and transformed into a viable production avionics system is discussed. Modular design, interchangeable units, optical attenuators, and system fault detection are considered with respect to peripheral vision display systems.

Heinmiller, B.↗
NASA NTRS2004

Transformational System Concepts and Technologies for Future Space Applications

The President's VIsion for Space Exploration offers opportunities to seek new paradigms and develop transformational space infrastructures. First steps are being taken to develop transformational system concepts such as modular reconfigurable systems, cryogenic propellant depots to preposition propellants, etc., and to develop other critical technologies.

Mankins, John C.↗
NASA NTRS2008

NASA Langley's Formal Methods Research in Support of the Next Generation Air Transportation System

This talk will provide a brief introduction to the formal methods developed at NASA Langley and the National Institute for Aerospace (NIA) for air traffic management applications. NASA Langley's formal methods research supports the Interagency Joint Planning and Development Office (JPDO) effort to define and develop the 2025 Next Generation Air Transportation System (NGATS). The JPDO was created by the passage of the Vision 100 Century of Aviation Reauthorization Act in Dec 2003. The NGATS vision calls for a major transformation of the nation s air transportation system that will enable growth to 3 times the traffic of the current system. The transformation will require an unprecedented level of safety-critical automation used in complex procedural operations based on 4-dimensional (4D) trajectories that enable dynamic reconfiguration of airspace scalable to geographic and temporal demand. The goal of our formal methods research is to provide verification methods that can be used to insure the safety of the NGATS system. Our work has focused on the safety assessment of concepts of operation and fundamental algorithms for conflict detection and resolution (CD&R) and self- spacing in the terminal area. Formal analysis of a concept of operations is a novel area of application of formal methods. Here one must establish that a system concept involving aircraft, pilots, and ground resources is safe. The formal analysis of algorithms is a more traditional endeavor. However, the formal analysis of ATM algorithms involves reasoning about the interaction of algorithmic logic and aircraft trajectories defined over an airspace. These trajectories are described using 2D and 3D vectors and are often constrained by trigonometric relations. Thus, in many cases it has been necessary to unload the full power of an advanced theorem prover. The verification challenge is to establish that the safety-critical algorithms produce valid solutions that are guaranteed to maintain separation under all possible scenarios. Current research has assumed perfect knowledge of the location of other aircraft in the vicinity so absolute guarantees are possible, but increasingly we are relaxing the assumptions to allow incomplete, inaccurate, and/or faulty information from communication sources.

Butler, Ricky W.↗