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NASA NTRS1992

Advanced communications technology satellite high burst rate link evaluation terminal experiment control and monitor software user's guide, version 1.0

The Experiment Control and Monitor (EC&M) software was developed at NASA Lewis Research Center to support the Advanced Communications Technology Satellite (ACTS) High Burst Rate Link Evaluation Terminal (HBR-LET). The HBR-LET is an experimenter's terminal to communicate with the ACTS for various investigations by government agencies, universities, and industry. The EC&M software is one segment of the Control and Performance Monitoring (C&PM) software system of the HBR-LET. The EC&M software allows users to initialize, control, and monitor the instrumentation within the HBR-LET using a predefined sequence of commands. Besides instrument control, the C&PM software system is also responsible for computer communication between the HBR-LET and the ACTS NASA Ground Station and for uplink power control of the HBR-LET to demonstrate power augmentation during rain fade events. The EC&M Software User's Guide, Version 1.0 (NASA-CR-189160) outlines the commands required to install and operate the EC&M software. Input and output file descriptions, operator commands, and error recovery procedures are discussed in the document.

Reinhart, Richard C.↗

NASA NTRS2020

Driving Curiosity: Mars Rover Mobility Trends During the First Seven Years

NASA’s Mars Science Laboratory (MSL) mission landed the Curiosity rover on Mars on August 6, 2012. As of August 6, 2019 (sol 2488), Curiosity has driven 21,318.5 meters over a variety of terrain types and slopes, employing multiple drive modes with varying amounts of onboard autonomy. Curiosity’s drive distances each sol have ranged from its shortest drive of 2.6 centimeters to its longest drive of 142.5 meters, with an average drive distance of 28.9 meters. Real-time human intervention during Curiosity drives on Mars is not possible due to the latency in uplinking commands and downlinking telemetry, so the operations team relies on the rover’s flight software to prevent an unsafe state during driving. Over the first seven years of the mission, Curiosity has attempted 738 drives. While 622 drives have completed successfully, 116 drives were prevented or stopped early by the rover’s fault protection software. The primary risks to mobility success have been wheel wear, wheel entrapment, progressive wheel sinkage (which can lead to rover embedding), and terrain interactions or hardware or cabling failures that result in an inability to command one or more steer or drive actuators. In this paper, we describe mobility trends over the first 21.3km of the mission, operational aspects of the mobility fault protection, and risk mitigation strategies that will support continued mobility success for the remainder of the mission.

Rankin, Arturo↗

NASA NTRS1987

Onboard multichannel demultiplexer/demodulator

An investigation performed for NASA LeRC by COMSAT Labs, of a digitally implemented on-board demultiplexer/demodulator able to process a mix of uplink carriers of differing bandwidths and center frequencies and programmable in orbit to accommodate variations in traffic flow is reported. The processor accepts high speed samples of the signal carried in a wideband satellite transponder channel, processes these as a composite to determine the signal spectrum, filters the result into individual channels that carry modulated carriers and demodulate these to recover their digital baseband content. The processor is implemented by using forward and inverse pipeline Fast Fourier Transformation techniques. The recovered carriers are then demodulated using a single digitally implemented demodulator that processes all of the modulated carriers. The effort has determined the feasibility of the concept with multiple TDMA carriers, identified critical path technologies, and assessed the potential of developing these technologies to a level capable of supporting a practical, cost effective on-board implementation. The result is a flexible, high speed, digitally implemented Fast Fourier Transform (FFT) bulk demultiplexer/demodulator.

Campanella, S. Joseph↗

NASA NTRS2012

Simulation and Flight Test Capability for Testing Prototype Sense and Avoid System Elements

NASA Langley Research Center (LaRC) and The MITRE Corporation (MITRE) have developed, and successfully demonstrated, an integrated simulation-to-flight capability for evaluating sense and avoid (SAA) system elements. This integrated capability consists of a MITRE developed fast-time computer simulation for evaluating SAA algorithms, and a NASA LaRC surrogate unmanned aircraft system (UAS) equipped to support hardware and software in-the-loop evaluation of SAA system elements (e.g., algorithms, sensors, architecture, communications, autonomous systems), concepts, and procedures. The fast-time computer simulation subjects algorithms to simulated flight encounters/ conditions and generates a fitness report that records strengths, weaknesses, and overall performance. Reviewed algorithms (and their fitness report) are then transferred to NASA LaRC where additional (joint) airworthiness evaluations are performed on the candidate SAA system-element configurations, concepts, and/or procedures of interest; software and hardware components are integrated into the Surrogate UAS research systems; and flight safety and mission planning activities are completed. Onboard the Surrogate UAS, candidate SAA system element configurations, concepts, and/or procedures are subjected to flight evaluations and in-flight performance is monitored. The Surrogate UAS, which can be controlled remotely via generic Ground Station uplink or automatically via onboard systems, operates with a NASA Safety Pilot/Pilot in Command onboard to permit safe operations in mixed airspace with manned aircraft. An end-to-end demonstration of a typical application of the capability was performed in non-exclusionary airspace in October 2011; additional research, development, flight testing, and evaluation efforts using this integrated capability are planned throughout fiscal year 2012 and 2013.

Howell, Charles T.↗

NASA NTRS2015

WetLab-2: Providing Quantitative PCR Capabilities on ISS

The objective of NASA Ames Research Centers WetLab-2 Project is to place on the ISS a system capable of conducting gene expression analysis via quantitative real-time PCR (qRT-PCR) of biological specimens sampled or cultured on orbit. The WetLab-2 system is capable of processing sample types ranging from microbial cultures to animal tissues dissected on-orbit. The project has developed a RNA preparation module that can lyse cells and extract RNA of sufficient quality and quantity for use as templates in qRT-PCR reactions. Our protocol has the advantage that it uses non-toxic chemicals, alcohols or other organics. The resulting RNA is transferred into a pipette and then dispensed into reaction tubes that contain all lyophilized reagents needed to perform qRT-PCR reactions. These reaction tubes are mounted on rotors to centrifuge the liquid to the reaction window of the tube using a cordless drill. System operations require simple and limited crew actions including syringe pushes, valve turns and pipette dispenses. The resulting process takes less than 30 min to have tubes ready for loading into the qRT-PCR unit.The project has selected a Commercial-Off-The-Shelf (COTS) qRT-PCR unit, the Cepheid SmartCycler, that will fly in its COTS configuration. The SmartCycler has a number of advantages including modular design (16 independent PCR modules), low power consumption, rapid thermal ramp times and four-color detection. The ability to detect up to four fluorescent channels will enable multiplex assays that can be used to normalize for RNA concentration and integrity, and to study multiple genes of interest in each module. The WetLab-2 system will have the capability to downlink data from the ISS to the ground after a completed run and to uplink new programs. The ability to conduct qRT-PCR on-orbit eliminates the confounding effects on gene expression of reentry stresses and shock acting on live cells and organisms or the concern of RNA degradation of fixed samples. The system can be used to validate terrestrial analyses of samples returned from ISS by providing on-orbit gene expression benchmarking prior to sample return. The ability to get on-orbit data will provide investigators with the opportunity to adjust experimental parameters in real time for subsequent trials, without the need for sample return and re-flight to sample multigenerational changes. The system can also be used for analysis of air, surface, water, and clinical samples to monitor environmental contaminants and crew health. The verification flight of the instrument is scheduled to launch on SpaceX-7 in June 2015. The WetLab-2 Project is supported by NASAs ISS Program at JSC, Code OZ.

ISS tools↗

NASA NTRSDate not supplied

Leading University Students to the Edge of Space

For over 16 years, the Louisiana Space Grant Consortium (LaSPACE), the NASA Balloon Program Office (BPO), and the NASA Columbia Scientific Balloon Facility (CSBF) have collaborated in a series of high altitude balloon-based programs involving hands-on authentic learning experiences that expose university students and other participants to technical skills, teamwork dynamics, and effective communication methods. Such programs go beyond what is possible to achieve in a normal classroom and help prepare future engineers and scientists for a successful aerospace workforce career. In our collaborative effort, LaSPACE has focused on the program content and student mentoring while NASA BPO and CSBF provide balloon flight support and operations. The entry-level Louisiana Aerospace Catalyst Experiences for Students (LaACES) builds students’ skills in basic electronics, sensor interfacing, real-time programming, mechanical development, and project management. These skills are then applied to the design, development, fabrication, and flight of a small (∼500 gram) balloon payload. Finally, the payloads are flight-tested to an altitude of ∼30 km using a 2 kg latex sounding balloon. The LaACES program includes a set of lectures, activities, and Arduino Mega based electronic kits that are used for skill building and as a core control system for the student payload. The more advanced High Altitude Student Platform (HASP) is designed to carry ∼twelve 3 to 20 kg student payloads to an altitude of about 36 kilometers with flight durations of 10 to 20 hours using a ∼311,500 cubic meter, zero pressure balloon. HASP provides all student payloads with power, downlink telemetry, uplink commanding, and real-time HD video for instrument control and assessment during the flight. While originally developed for university students, these programs have been adapted to projects focused on high school teachers as well as affecting minorities underrepresented in aerospace related science and engineering fields. We are now in the process of adapting the LaACES materials to a pre-engineering curriculum for high school students as well as for widespread access over the internet. During this presentation, we will provide details of both the LaACES and HASP programs, how these programs have engaged participants from all demographic groups, and our current plans for continuing and expanding upon our success.

University↗

NASA NTRS2011

Hybrid RF / Optical Communication Terminal with Spherical Primary Optics for Optical Reception

Future deep space communications are likely to employ not only the existing RF uplink and downlink, but also a high capacity optical downlink. The Jet Propulsion Laboratory (JPL) is currently investigating the benefits of a ground based hybrid RF and deep space optical terminal based on limited modification of existing 34 meter antenna designs. The ideal design would include as large an optical aperture as technically practical and cost effective, cause minimal impact to RF performance, and remain cost effective even when compared to a separate optical terminal of comparable size. Numerous trades and architectures have been considered, including shared RF and optical apertures having aspheric optics and means to separate RF and optical signals, plus, partitioned apertures in which various zones of the primary are dedicated to optical reception. A design based on the latter is emphasized in this paper, employing spherical primary optics and a new version of a "clamshell" corrector that is optimized to fit within the limited space between the antenna sub-reflector and the existing apex structure that supports the subreflector. The mechanical design of the hybrid accommodates multiple spherical primary mirror panels in the central 11 meters of the antenna, and integrates the clamshell corrector and optical receiver modules with antenna hardware using existing attach points to the maximum extent practical. When an optical collection area is implemented on a new antenna, it is possible to design the antenna structure to accommodate the additional weight of optical mirrors providing an equivalent aperture of several meters diameter. The focus of our near term effort is to use optics with the 34 meter DSS-13 antenna at Goldstone to demonstrate spatial optical acquisition and tracking capability using an optical system that is temporarily integrated into the antenna.

optical communications↗

NASA NTRS2010

AutoGen Version 5.0

Version 5.0 of the AutoGen software has been released. Previous versions, variously denoted Autogen and autogen, were reported in two articles: Automated Sequence Generation Process and Software (NPO-30746), Software Tech Briefs (Special Supplement to NASA Tech Briefs), September 2007, page 30, and Autogen Version 2.0 (NPO- 41501), NASA Tech Briefs, Vol. 31, No. 10 (October 2007), page 58. To recapitulate: AutoGen (now signifying automatic sequence generation ) automates the generation of sequences of commands in a standard format for uplink to spacecraft. AutoGen requires fewer workers than are needed for older manual sequence-generation processes, and greatly reduces sequence-generation times. The sequences are embodied in spacecraft activity sequence files (SASFs). AutoGen automates generation of SASFs by use of another previously reported program called APGEN. AutoGen encodes knowledge of different mission phases and of how the resultant commands must differ among the phases. AutoGen also provides means for customizing sequences through use of configuration files. The approach followed in developing AutoGen has involved encoding the behaviors of a system into a model and encoding algorithms for context-sensitive customizations of the modeled behaviors. This version of AutoGen addressed the MRO (Mars Reconnaissance Orbiter) primary science phase (PSP) mission phase. On previous Mars missions this phase has more commonly been referred to as mapping phase. This version addressed the unique aspects of sequencing orbital operations and specifically the mission specific adaptation of orbital operations for MRO. This version also includes capabilities for MRO s role in Mars relay support for UHF relay communications with the MER rovers and the Phoenix lander.

Gladden, Roy E.↗

NASA NTRS2002

Low Power Transceiver

One of the FREESTAR experiments, the Low Power Transceiver (LPT) experiment is a low-power, lightweight software programmable transceiver prototype technology demonstration that is being developed by NASA as a low-cost S-band spacecraft navigation and communication device. The LPT prototype receives Global Positioning System (GPS) satellite signals for spacecraft navigation support and provides both forward and return, low-rate data communications links to the Merritt Island (MILA) and Dryden Flight Research Facility (DFRC) ground stations and to the Tracking and Data Relay Satellite System (TDRSS). The experiment is designed to demonstrate the system's ability to do simultaneous communications and navigation, as well as multi-mode communications and reconfiguration. LPT is managed by NASA's Goddard Space Flight Center and sponsored by NASA/HQ Code M. The LPT experiment consists of one thermally conductive box containing the electronics stack, three S-band antennas and one L-band antenna. The LPT payload uses general Orbiter services, including power control, command, and telemetry provided through the HHC avionics. On-orbit, the LPT payload will be primarily operated via direct communications between LPT and ground stations (MILA, WLPS, or DFRC) and/or TDRSS, with backup command and telemetry capability provided via the hitchhiker avionics and remote Payload Operations Control Center. During operations, LPT will utilize high Sband frequencies for communications. The LPT TDRSS (and GN) forward link (uplink) frequency is 2106.40625 MHz and their TDRSS (and GN) return link (downlink) frequency is 2287.5 MHz (utilizing Left-handed Circular Polarization to work with the TDRSS MA system). Two standard switch panel switches will be utilized to prohibit inadvertent operation of the antenna. An additional inhibit will be provided through the HH avionics power relay to the LPT.

Source record↗

NASA NTRS2016

On-orbit RNA Purification and qRT-PCR Capabilities of the WetLab-2 System

NASA Ames Research Center’s WetLab-2 system brings new capabilities to the ISS for researchers. The system can lyse cells and extract RNA on-orbit from different sample types ranging from microbial cultures to animal tissues. Our purification method has the advantage of using non-toxic chemicals and does not require alcohols or other organics. The purified RNA can then either be stabilized for return to Earth or can be used to conduct on-orbit quantitative Reverse Transcriptase PCR (qRT-PCR) analysis without the need for sample return. qRT-PCR reactions are performed by dispensing the RNA into reaction tubes that contain all lyophilized reagents needed to perform the analysis. The system uses a Cepheid® SmartCycler that allows for multiplexing of assays, this can be used to normalize for RNA concentration and integrity and to study multiple genes of interest in each tube. There are a total of 16 independent PCR modules each capable of detecting up to four fluorescent channels. The WetLab- 2 system can downlink data from the ISS to the ground after a completed run and uplink new thermal cycling programs. The ability to purify and stabilize RNA on-orbit can eliminate the confounding effects of reentry stresses and shock acting on live cells and organisms or the concern of RNA degradation of some samples. It also has the benefit of minimizing the needed downmass. Conducting qRT-PCR and generating results on-orbit is also an important step towards utilizing the ISS as a National Laboratory facility. Specifically, the ability to get on-orbit data will provide investigators with the opportunity to adjust experimental parameters in real time without the need for sample return and re-flight. On orbit gene expression analysis can also provide benchmarking prior to sample return. The system can also be used for analysis of air, surface, water, and clinical samples to monitor environmental pathogens and crew health. The validation flight of the WetLab-2 system using E. coli bacteria and mouse liver is scheduled to launch on SpaceX-8 this spring. Pending operations, the preliminary results from the validation flight will be presented. To support the needs of future researchers, we are adapting our system to purify RNA from two additional sample types: fibrous tissue such as muscle and mammalian adherent cells grown on alginate beads. Progress of this work will also be presented. The WetLab-2 Project is supported by the Research Integration Office in the ISS Program.

Parra, Macarena↗

NASA NTRS2021

Concept of Operations for OSIRIS-REx Optical Navigation Image Planning

Optical navigation (OpNav) is a critical subsystem of the OSIRIS-REx asteroid sample return mission, which operated in the vicinity of near-Earth asteroid (101955) Bennu from August 2018 through April 2021. A substantial amount of mission resources across multiple subsystems and institutions is required to ensure that the OpNav data are successfully acquired. The KinetX OpNav team, part of the Flight Dynamics System (FDS), is responsible for performing required analysis to develop the OpNav operations plans; requesting, reviewing and verifying the plans; and ultimately using the image data for critical navigation operations. The FDS team, responsible for the mission navigation, is operated by KinetX Aerospace with management and operations support from NASA’s Goddard Space Flight Center. The Science Processing and Operations Center (SPOC), located at the University of Arizona’s Lunar and Planetary Laboratory, is responsible for generating the planning products for all science and most OpNav data. These plans are integrated into the spacecraft sequences, tested, and commanded by the Mission Support Area (MSA) at Lockheed Martin Space. To ensure mission-critical navigation image data are successfully acquired, the plan is developed through a waterfall of planning cycles over the course of 3 months prior to onboard plan execution. During the initial strategic planning for a mission phase, detailed analysis is performed by the OpNav team to conceptualize the concept of operations (ConOps) for image data collection. This phase OpNav Narrative is included along with other strategic planning documents for the key ground segment stakeholders to review and provide feedback. The detailed OpNav plans get defined in the tactical planning cycle, which spans 8 to 3 weeks before the week-long integrated sequence is executed on-board the spacecraft. During the tactical cycle, the initial OpNav Request is submitted along with the science requests, kicking off development of the science and OpNav plans. Once the initial plan is drafted, interfaces are exercised so that the plan can be reviewed and iterated, if necessary. A rigorous schedule is followed by the planning teams during the implementation cycle, spanning the last 18 days before uplink, to ensure all the necessary integration, testing, and reviewing can occur on time. The development of the OpNav planning ConOps, including responsibilities, interfaces, timelines, and procedures, took extensive collaboration across mission elements and institutions. The process was robust throughout the 137 weeks of continuous Optical Navigation Operations at Bennu, which concluded on April 9th, 2021.

Coralie D. Adam↗

NASA NTRS2003

Mission interactive scenarion studio for autonomous spacecraft

We propose building a Studio enabling the use of diverse existing mission activity and scenario patterns, the creation of new ones, and the modeling of their effects using existing modeling tools. The core of the Studio is a component-based Type Library, which captures years of mission adaptation patterns in various forms. The Studio works as a content server to capture the developed adaptation knowledge for reuse and provides bridging into different mission uplink implementations, including the Mission Data System [l] (MDS) state/goal machinery. Various activities can be coordinated, controlled, and reused through the Studio's component interface to establish and model a mission scenario. A special component Factory mechanism will be in place to facilitate the adaptation of projects into the Studio. The architecture of the Studio reflects and enforces a division of knowledge and actions into three parts: Model, Controller, Viewer. The Model contains information about (a proposed version of) the spacecraft and mission. The Controller contains logic for constructing scenarios of mission activities. The information in the Model and Controller is principally in the form of reusable patterns. A Viewer can be a simple or complex software system. For example, Apgen [2,3] is one possible viewer, MDS is another. A 3-tiered infrastructure is used for the Studio, reflecting the Model, Controller, Viewer architecture [4,5]. The Studio is useful in pre-phase A of a project by enabling spacecraft design options to be played against desired mission scenarios. In later design phases of a project, the construction and modeling of more detailed scenarios is supported by the Studio.

autonomous spacecraft↗

NASA NTRS2014

3D Printing in Zero-G ISS Technology Demonstration

The National Aeronautics and Space Administration (NASA) has a long term strategy to fabricate components and equipment on-demand for manned missions to the Moon, Mars, and beyond. To support this strategy, NASA and Made in Space, Inc. are developing the 3D Printing In Zero-G payload as a Technology Demonstration for the International Space Station. The 3D Printing In Zero-G experiment will be the first machine to perform 3D printing in space. The greater the distance from Earth and the longer the mission duration, the more difficult resupply becomes; this requires a change from the current spares, maintenance, repair, and hardware design model that has been used on the International Space Station up until now. Given the extension of the ISS Program, which will inevitably result in replacement parts being required, the ISS is an ideal platform to begin changing the current model for resupply and repair to one that is more suitable for all exploration missions. 3D Printing, more formally known as Additive Manufacturing, is the method of building parts/ objects/tools layer-by-layer. The 3D Print experiment will use extrusion-based additive manufacturing, which involves building an object out of plastic deposited by a wire-feed via an extruder head. Parts can be printed from data files loaded on the device at launch, as well as additional files uplinked to the device while on-orbit. The plastic extrusion additive manufacturing process is a low-energy, low-mass solution to many common needs on board the ISS. The 3D Print payload will serve as the ideal first step to proving that process in space. It is unreasonable to expect NASA to launch large blocks of material from which parts or tools can be traditionally machined, and even more unreasonable to fly up specialized manufacturing hardware to perform the entire range of function traditionally machining requires. The technology to produce parts on demand, in space, offers unique design options that are not possible through traditional manufacturing methods while offering cost-effective, high-precision, low-unit on-demand manufacturing. Thus, Additive Manufacturing capabilities are the foundation of an advanced manufacturing in space roadmap.

Johnston, Mallory M.↗

NASA NTRS1996

Monolithic Microwave Integrated Circuit (MMIC) Phased Array Demonstrated With ACTS

Monolithic Microwave Integrated Circuit (MMIC) arrays developed by the NASA Lewis Research Center and the Air Force Rome Laboratory were demonstrated in aeronautical terminals and in mobile or fixed Earth terminals linked with NASA's Advanced Communications Technology Satellite (ACTS). Four K/Ka-band experimental arrays were demonstrated between May 1994 and May 1995. Each array had GaAs MMIC devices at each radiating element for electronic beam steering and distributed power amplification. The 30-GHz transmit array used in uplinks to ACTS was developed by Lewis and Texas Instruments. The three 20-GHz receive arrays used in downlinks from ACTS were developed in cooperation with the Air Force Rome Laboratory, taking advantage of existing Air Force integrated-circuit, active-phased-array development contracts with the Boeing Company and Lockheed Martin Corporation. Four demonstrations, each related to an application of high interest to both commercial and Department of Defense organizations, were conducted. The location, type of link, and the data rate achieved for each of the applications is shown. In one demonstration-- an aeronautical terminal experiment called AERO-X--a duplex voice link between an aeronautical terminal on the Lewis Learjet and ACTS was achieved. Two others demonstrated duplex voice links (and in one case, interactive video links as well) between ACTS and an Army high-mobility, multipurpose wheeled vehicle (HMMWV, or "humvee"). In the fourth demonstration, the array was on a fixed mount and was electronically steered toward ACTS. Lewis served as project manager for all demonstrations and as overall system integrator. Lewis engineers developed the array system including a controller for open-loop tracking of ACTS during flight and HMMWV motion, as well as a laptop data display and recording system used in all demonstrations. The Jet Propulsion Laboratory supported the AERO-X program, providing elements of the ACTS Mobile Terminal. The successful performance of experimental, proof-of-concept MMIC K/Ka-band arrays developed with U.S. industry in field demonstrations with ACTS indicates that high density MMIC integration at 20 and 30 GHz is indeed feasible. The successful development and demonstration of the MMIC array systems was possible only because of significant intergovernmental and Government/industry cooperation and the high level of teamwork within Lewis. The results provide a strong incentive for continuing the focused development of MMIC-array technology for satellite communications applications, with emphasis on packaging and cost issues, and for continuing the planning and conducting of other appropriate demonstrations or experiments of phased-array technology with ACTS. Given the present pressures on reducing funding for research and development in Government and industry, the extent to which this can be continued in a cooperative manner will determine whether MMIC array technology will make the transition from the proof-of-concept level to the operational system level.

Source record↗

NASA NTRS2018

Simultaneous Two-Way Doppler and Ranging for Multiple Spacecraft at Mars: Flight Radio Tracking System Design and Performance Simulations

Mars exploration requires multiple orbiters and surface infrastructures on Mars. Location determination is essential to support various human and robotic activities on the Mars surface and in orbits. Robust communication coverage is required for data transmission between assets on Mars surface and orbiters in addition to the communication between orbiters and Earth. We proposed a notional Mars Regional Navigation Satellite System (MRNSS) that provides continuous or near-continuous in-situ navigation and timing services for the robotic and human missions in the vicinity of a Mars landing site. For such a system, the Earth’s deep space stations have to perform orbit determination (OD) for the Mars orbiters so that their locations are known to a reasonable degree of accuracy. This provides the surface and orbiting user vehicles the ability to estimate their locations using the orbiter-vehicle range measurements. Two important inputs for accurate OD are 2-way Doppler and ranging measurements derived from the transmitted and received radio signals. We also introduced a new flight-ground collaborative architecture that provides simultaneous Doppler and ranging measurements for multiple spacecraft in the Mars vicinity, using an example of the Mars landing site Utopia Planitia and four Mars orbiters, all communicating with Earth via twoway communications in the X-band frequency range. One key component of this architecture is that each spacecraft uses a smart frequency sweeping algorithm that acquires and tracks the uplink signals with high Doppler and Doppler rate residuals. In this paper, we simulate the Doppler and Doppler rate profiles of the Mars orbiters of the MRNSS and assessed the acquisition and tracking performances.

Divsalar, Dariush↗

NASA NTRS2014

Human-Robot Interaction Directed Research Project

Human-robot interaction (HRI) is a discipline investigating the factors affecting the interactions between humans and robots. It is important to evaluate how the design of interfaces and command modalities affect the human's ability to perform tasks accurately, efficiently, and effectively when working with a robot. By understanding the effects of interface design on human performance, workload, and situation awareness, interfaces can be developed to appropriately support the human in performing tasks with minimal errors and with appropriate interaction time and effort. Thus, the results of research on human-robot interfaces have direct implications for the design of robotic systems. This DRP concentrates on three areas associated with interfaces and command modalities in HRI which are applicable to NASA robot systems: 1) Video Overlays, 2) Camera Views, and 3) Command Modalities. The first study focused on video overlays that investigated how Augmented Reality (AR) symbology can be added to the human-robot interface to improve teleoperation performance. Three types of AR symbology were explored in this study, command guidance (CG), situation guidance (SG), and both (SCG). CG symbology gives operators explicit instructions on what commands to input, whereas SG symbology gives operators implicit cues so that operators can infer the input commands. The combination of CG and SG provided operators with explicit and implicit cues allowing the operator to choose which symbology to utilize. The objective of the study was to understand how AR symbology affects the human operator's ability to align a robot arm to a target using a flight stick and the ability to allocate attention between the symbology and external views of the world. The study evaluated the effects type of symbology (CG and SG) has on operator tasks performance and attention allocation during teleoperation of a robot arm. The second study expanded on the first study by evaluating the effects of the type of navigational guidance (CG and SG) on operator task performance and attention allocation during teleoperation of a robot arm through uplinked commands. Although this study complements the first study on navigational guidance with hand controllers, it is a separate investigation due to the distinction in intended operators (i.e., crewmembers versus ground-operators). A third study looked at superimposed and integrated overlays for teleoperation of a mobile robot using a hand controller. When AR is superimposed on the external world, it appears to be fixed onto the display and internal to the operators' workstation. Unlike superimposed overlays, integrated overlays often appear as three-dimensional objects and move as if part of the external world. Studies conducted in the aviation domain show that integrated overlays can improve situation awareness and reduce the amount of deviation from the optimal path. The purpose of the study was to investigate whether these results apply to HRI tasks, such as navigation with a mobile robot. HRP GAPS This HRI research contributes to closure of HRP gaps by providing information on how display and control characteristics - those related to guidance, feedback, and command modalities - affect operator performance. The overarching goals are to improve interface usability, reduce operator error, and develop candidate guidelines to design effective human-robot interfaces.

Sandor, Aniko↗

NASA NTRS2014

Human-Robot Interaction Directed Research Project

Sandor, Aniko↗

NASA NTRS2010

A Comparison Between Orion Automated and Space Shuttle Rendezvous Techniques

The Orion spacecraft will replace the space shuttle and will be the first human spacecraft since the Apollo program to leave low earth orbit. This vehicle will serve as the cornerstone of a complete space transportation system with a myriad of mission requirements necessitating rendezvous to multiple vehicles in earth orbit, around the moon and eventually beyond . These goals will require a complex and robust vehicle that is, significantly different from both the space shuttle and the command module of the Apollo program. Historically, orbit operations have been accomplished with heavy reliance on ground support and manual crew reconfiguration and monitoring. One major difference with Orion is that automation will be incorporated as a key element of the man-vehicle system. The automated system will consist of software devoted to transitioning between events based on a master timeline. This effectively adds a layer of high level sequencing that moves control of the vehicle from one phase to the next. This type of automated control is not entirely new to spacecraft since the shuttle uses a version of this during ascent and entry operations. During shuttle orbit operations however many of the software modes and hardware switches must be manually configured through the use of printed procedures and instructions voiced from the ground. The goal of the automation scheme on Orion is to extend high level automation to all flight phases. The move towards automation represents a large shift from current space shuttle operations, and so these new systems will be adopted gradually via various safeguards. These include features such as authority-to-proceed, manual down modes, and functional inhibits. This paper describes the contrast between the manual and ground approach of the space shuttle and the proposed automation of the Orion vehicle. I will introduce typical orbit operations that are common to all rendezvous missions and go on to describe the current Orion automation architecture and contrast it with shuttle rendezvous techniques and circumstances. The shuttle rendezvous profile is timed to take approximately 3 days from orbit insertion to docking at the International Space Station (ISS). This process can be divided into 3 phases: far-field, mid-field and proximity operations. The far-field stage is characterized as the most quiescent phase. The spacecraft is usually too far to navigate using relative sensors and uses the Inertial Measurement Units (IMU s) to numerically solve for its position. The maneuvers are infrequent, roughly twice per day, and are larger than other burns in the profile. The shuttle uses this opportunity to take extensive ground based radar updates and keep high fidelity orbit states on the ground. This state is then periodically uplinked to the shuttle computers. The targeting solutions for burn maneuvers are also computed on the ground and uplinked. During the burn the crew is responsible for setting the shuttle attitude and configuring the propulsion system for ignition. Again this entire process is manually driven by both crew and ground activity. The only automatic processes that occur are associated with the real-time execution of the burn. The Orion automated functionality will seek to relieve the workload of both the crew and ground during this phase

Ruiz, Jose O,↗