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Crain, Timothy P.

Publications and source records attributed to Crain, Timothy P..

4 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2016

Approach-Phase Precision Landing with Hazard Relative Navigation: Terrestrial Test Campaign Results of the Morpheus/ALHAT Project

The Morpheus Project began in late 2009 as an ambitious e ort code-named Project M to integrate three ongoing multi-center NASA technology developments: humanoid robotics, liquid oxygen/liquid methane (LOX/LCH4) propulsion and Autonomous Precision Landing and Hazard Avoidance Technology (ALHAT) into a single engineering demonstration mission to be own to the Moon by 2013. The humanoid robot e ort was redirected to a deploy- ment of Robonaut 2 on the International Space Station in February of 2011 while Morpheus continued as a terrestrial eld test project integrating the existing ALHAT Project's tech- nologies into a sub-orbital ight system using the world's rst LOX/LCH4 main propulsion and reaction control system fed from the same blowdown tanks. A series of 33 tethered tests with the Morpheus 1.0 vehicle and Morpheus 1.5 vehicle were conducted from April 2011 - December 2013 before successful, sustained free ights with the primary Vertical Testbed (VTB) navigation con guration began with Free Flight 3 on December 10, 2013. Over the course of the following 12 free ights and 3 tethered ights, components of the ALHAT navigation system were integrated into the Morpheus vehicle, operations, and ight control loop. The ALHAT navigation system was integrated and run concurrently with the VTB navigation system as a reference and fail-safe option in ight (see touchdown position esti- mate comparisons in Fig. 1). Flight testing completed with Free Flight 15 on December 15, 2014 with a completely autonomous Hazard Detection and Avoidance (HDA), integration of surface relative and Hazard Relative Navigation (HRN) measurements into the onboard dual-state inertial estimator Kalman lter software, and landing within 2 meters of the VTB GPS-based navigation solution at the safe landing site target. This paper describes the Mor- pheus joint VTB/ALHAT navigation architecture, the sensors utilized during the terrestrial ight campaign, issues resolved during testing, and the navigation results from the ight tests.

Crain, Timothy P.↗
NASA NTRS2010

Project M: Scale Model of Lunar Landing Site of Apollo 17: Focus on Lighting Conditions and Analysis

This document captures the research and development of a scale model representation of the Apollo 17 landing site on the moon as part of the NASA INSPIRE program. Several key elements in this model were surface slope characteristics, crater sizes and locations, prominent rocks, and lighting conditions. This model supports development of Autonomous Landing and Hazard Avoidance Technology (ALHAT) and Project M for the GN&C Autonomous Flight Systems Branch. It will help project engineers visualize the landing site, and is housed in the building 16 Navigation Systems Technology Lab. The lead mentor was Dr. Timothy P. Crain. The purpose of this project was to develop an accurate scale representation of the Apollo 17 landing site on the moon. This was done on an 8'2.5"X10'1.375" reduced friction granite table, which can be restored to its previous condition if needed. The first step in this project was to research the best way to model and recreate the Apollo 17 landing site for the mockup. The project required a thorough plan, budget, and schedule, which was presented to the EG6 Branch for build approval. The final phase was to build the model. The project also required thorough research on the Apollo 17 landing site and the topography of the moon. This research was done on the internet and in person with Dean Eppler, a space scientist, from JSC KX. This data was used to analyze and calculate the scale of the mockup and the ratio of the sizes of the craters, ridges, etc. The final goal was to effectively communicate project status and demonstrate the multiple advantages of using our model. The conclusion of this project was that the mockup was completed as accurately as possible, and it successfully enables the Project M specialists to visualize and plan their goal on an accurate three dimensional surface representation.

Vanik, Christopher S.↗
NASA NTRS2010

Project M: Scale Model of Lunar Landing Site of Apollo 17

The basis of the project was creating a scale model representation of the Apollo 17 lunar landing site. Vital components included surface slope characteristics, crater sizes and locations, prominent rocks, and lighting conditions. The model was made for Project M support when evaluating approach and terminal descent as well as when planning surface operations with respect to the terrain. The project had five main mi lestones during the length of the project. The first was examining the best method to use to re-create the Apollo 17 landing site and then reviewing research fmdings with Dr. Tim Crain and EO staff which occurred on June 25, 2010 at a meeting. The second step was formulating a construction plan, budget, and schedule and then presenting the plan for authority to proceed which occurred on July 6,2010. The third part was building a prototype to test materials and building processes which were completed by July 13, 2010. Next was assembling the landing site model and presenting a mid-term construction status report on July 29, 2010. The fifth and final milestone was demonstrating the model and presenting an exit pitch which happened on August 4, 2010. The project was very technical: it needed a lot of research about moon topography, lighting conditions and angles of the sun on the moon, Apollo 17, and Autonomous Landing and Hazard Avoidance Technology (ALHAT), before starting the actual building process. This required using Spreadsheets, searching internet sources and conducting personal meetings with project representatives. This information assisted the interns in deciding the scale of the model with respect to cracks, craters and rocks and their relative sizes as the objects mentioned could interfere with any of the Lunar Landers: Apollo, Project M and future Landers. The project concluded with the completion of a three dimensional scale model of the Apollo 17 Lunar landing site. This model assists Project M members because they can now visualize approach phase, terminal descent phase, and surface phase operations on the physical model. The project had an additional requirement that was also satisfied: the granite table the model was placed on must be returnable to its original condition if needed in the future.

O'Brien, Hollie↗