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Quadrelli, Marco

Publications and source records attributed to Quadrelli, Marco.

At least 19 records
All sourcesNASA NTRSDOE OSTI
NASA NTRS2021

Convex Optimization Guidance for Precision Landing on Titan

Precision landing is an anticipated technology for future interplanetary missions. Autonomous spacecraft Entry, Descent and Landing (EDL) on the surface of a planetary body with a degree of precision in the order of meters is highly challenging. In this paper, a successive convexification guidance algorithm is utilized to simulate autonomous precision landing sequences on Saturn’s moon Titan. Due to its unique geophysical features, studying the science of matter within Titan’s atmosphere and beneath its surface is one of NASA’s most important planetary science objectives. As part of the Space Exploration Technology Directorate, a parafoil is proposed for landing on Titan due to its cost effectiveness, ease of deployment, low mass compared to the prospective payload and capabilities of precise autonomous delivery. This paper focuses on path optimization and guidance law development for high-fidelity dynamics parafoil tuning in the dense and adverse wind atmosphere of Titan, defined as a nonlinear and nonconvex optimal control problem. The powerful successive convexification method is used to solve the problem accordingly. The algorithm is designed such that the converged solution adheres to the nonlinear dynamics and kinematics in accordance with the original formulation, while respecting the state and control constraints. The six-degree-of-freedom (6DoF) simulations results show that this robust method is suitable for autonomous interplanetary applications.

Mooij, Edwin↗
NASA NTRS2020

A Concept for the Deployment of a Large Lunar Crater Radio Telescope Using Teams of Tethered Robots

Kilometer-scale craters on the far side of the Moon have unique potential as future locations for large radio telescopes, which can observe the universe at wavelengths and frequencies (> 10 m, < 30 MHz) not possible with conventional Earth or orbital-based approaches. Distinct advantages of building a Lunar Crater Radio Telescope (LCRT) on the far side include i) isolation from radio noise due to the Earth’s ionosphere, orbiting satellites, and the Sun, ii) days of uninterrupted dark/cold sky viewing during lunar night, and iii) terrain geometry naturally suited for constructing the largest mesh antenna structure in the Solar System. A key challenge to constructing LCRT on the Moon is related to the complexity of deploying a 1-km diameter antenna and hanging receiver within a lunar crater whose diameter, depth, and slope are 3-5 km, 1 km, and ~30 degrees respectively. In this paper, we first evaluate the trade space for deploying a large, complex structure within a crater, and then provide a more detailed concept evaluation of our favored approach, which employs coordinated teams of tethered rovers to extract and suspend a folded antenna from a lander at the base of a crater. NASA’s Jet Propulsion Laboratory in collaboration with California Institute of Technology (Caltech) have developed a novel robotic system for accessing extremely steep terrains; the Axel rover is a two-wheeled rugged terrain vehicle that is supported by an electro-mechanical tether that provides power, data, and tensile support from a top-side anchor location. Recently, a pair of Axel robots have been used in a DuAxel configuration that allows for four-wheel driving and repeated passive anchoring at different locations. The DuAxel system has unique advantages for deploying an LCRT antenna, including the ability to deploy from a lander near a crater, drive a distance to the crater rim to deploy an Axel, and later, retract the deployed Axel in order to sequentially lift up sections of the antenna. Our proposed concept involves delivering a packaged antenna and receiver to the bottom-center of a crater floor on a lander, then later sending a team of multiple DuAxel rovers to retrieve guide wires from the lander, which are pulled to the top of the crater. We explore this concept in detail and provide some initial quantitative analysis to demonstrate the feasibility of our system with respect to the spatial and mass properties of the antenna as juxtaposed to DuAxel capabilities. Finally, we outline next steps towards validating our concept on the way to a future lunar deployment opportunity.

Hallinan, Greg↗
NASA NTRS2020

Terrain Relative Navigation for Guided Descent on Titan

Titan’s dense atmosphere, low gravity, and high winds at high altitudes create descent times of >90 minutes with standard entry/descent/landing (EDL) architectures and result in large unguided landing ellipses, with 99% values of 110x110 km and 149x72 km in recent Titan lander proposals. Enabling precision landing on Titan could increase science return for the types of missions proposed to date and make additional types of landing sites accessible, opening up new possibilities for science investigations. Precision landing on Titan has unique challenges, because the hazy atmosphere makes it difficult to see the surface and because it requires guided descent with divert ranges that are one to two orders of magnitude larger than needed for other target bodies, i.e. up to on the order of 100 km. It is conceivable that such a divert capability could be provided economically by a parafoil or other steerable aerodynamic decelerator deployed several 10s of km above the surface. The long descent times lead to large inertial navigation errors, hence a need for terrain relative navigation (TRN). This would require a TRN capability that can operate at such altitudes, despite challenges of seeing the surface sufficiently clearly and of depending on map products that are two orders of magnitude lower in spatial resolution than those for Mars and airless bodies. We then develop algorithms for map matching and feature tracking with descent images and test these with synthetic images created from Cassini/Huygens data sets and our radiative transfer model. We also introduce new possibilities for TRN based on the potential to discriminate some specific types of terrain onboard in descent imagery, such as lake vs adjacent ground and dune vs interdune. We use sensor measurement noise models in simulations of state estimation with an extended Kalman filter that includes coordinates of a set of tracked features in the state vector. Case studies were done for two notional landing sites, one in a site with only dry ground and one in a Titan lake district. In both cases, the filter error model shows 3 position error at touchdown on the order of 2 km. More work is needed to validate these results with higher fidelity camera models and larger data sets, but this is very promising.

Matthies, Larry↗
NASA NTRS2020

Experimental Validation of Swarm Array Results Using Mars Cube One (MarCO) A,B Downlink Signals

In this paper, we investigate the feasibility of calibrating an orbiting phaased array composed of CubeSat class spacecraft together with a larger reference (or “chief”) spacecraft, comprising an overall Swarm Array. Considered as an analog to the Deep Space Network (DSN) Uplink Arraying problem [1], a spaceborne Swarm Array that can potentially deliver comparable or even greater operational performance than large monolithic spacecraft (such as increased datarates for telecommunications, or greater baselines for improved spatial resolution), thus increasing future mission capability but with significantly enhanced flexibility, evolvability and robustness.

Vilnrotter, Victor↗
NASA NTRS2019

Further Development Of Aperture: A Precise Extremely Large Reflective Telescope Using Re-Configurable Elements: NASA Innovative Advanced Concepts (NIAC) - Phase II

One of the pressing needs for space ultraviolet-visible astronomy is a design to allow larger mirrors than the James Webb Space Telescope primary. The diameter of the rocket fairing limits the mirror diameter such that all future missions calling for mirrors up to 16 meters in diameter or larger will require a mirror that is deployed post-launch. In response to the deployment requirement, we address the issues of this concept called "A Precise Extremely Large Reflective Telescope Using Reconfigurable Elements (APERTURE) with both hardware experiments and software simulations... We designed and built several fixtures with O-rings to hold a membrane. We established a coating process to make a membrane that was coated on one side with Cr and the other side with Cr-Terfenol-D-NiCo. The Terfenol-D (T-D hereafter) is the MSM (Magnetic Smart Memory) we use. We bought and established a procedure for measuring a deformation over time and purchased a Shack Hartmann system from Imagine Optic (https://www.imagine-optic.com). The first substrate we used was DuPont (TM) Kapton® polyimide film. Due to material creep, we found the stability over a 48-hour period with a Kapton substrate was not as good as desired (greater than 1 micron). We then switched to CP1 Polyimide. We found the CP1 much more stable to creep, being stable from about 3 hours to 48 hours to within a measurement error to below approximately 0.1 micron. We produced a 13 micron maximum deviation on a 50-millimeter-diameter piece of CP1 (25 microns thick). The T-D coating was about 2 microns, and the other layers, about 10 nanometers. The magnetic field at the base was about 0.1 teslas. We can make the T-D film at least 5 times thicker and the magnetic field at least 5 times stronger, and hence make deformations as much as 25 times larger. We have a formed a collaboration produced at the NIAC (NASA Innovative Advanced Concepts) mid-term review with Dr. Ron Shiri of Goddard Space Flight Center (GSFC) to explore making controlled deviations on lambda/14-lambda/20 scales which are required to bring a surface to the diffraction limit. We carried out only preliminary work on Si using a Coordinate Measuring Machine (CMM), which produced deviations on the 1 micron level. We are still working on a program to bring to GSFC a flat enough (radius of curvature greater than 10 microns) -coated a Si piece with Cr, T-D, NiCo. Then we plan to carry out tests with an interferometer. Further, we formed a new collaboration with Prof. Rajan Vaidyanathan of the University of Central Florida to replace the CP1 with a shape memory alloy (SMA). With his collaboration, we acquired new Federal funding outside of NASA to explore the use of SMAs (we use NiTi). Our preliminary results indicate that we can produce deformations greater than 1 micron on approximately 100 microns thick. Furthermore we have shown that the NiTi can deploy to better than 1 micron of its set original and then trained shape.

Re-Configurable Elements↗