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NASA NTRS2013

Robotics On-Board Trainer (ROBoT)

ROBoT is an on-orbit version of the ground-based Dynamics Skills Trainer (DST) that astronauts use for training on a frequent basis. This software consists of two primary software groups. The first series of components is responsible for displaying the graphical scenes. The remaining components are responsible for simulating the Mobile Servicing System (MSS), the Japanese Experiment Module Remote Manipulator System (JEMRMS), and the H-II Transfer Vehicle (HTV) Free Flyer Robotics Operations. The MSS simulation software includes: Robotic Workstation (RWS) simulation, a simulation of the Space Station Remote Manipulator System (SSRMS), a simulation of the ISS Command and Control System (CCS), and a portion of the Portable Computer System (PCS) software necessary for MSS operations. These components all run under the CentOS4.5 Linux operating system. The JEMRMS simulation software includes real-time, HIL, dynamics, manipulator multi-body dynamics, and a moving object contact model with Tricks discrete time scheduling. The JEMRMS DST will be used as a functional proficiency and skills trainer for flight crews. The HTV Free Flyer Robotics Operations simulation software adds a functional simulation of HTV vehicle controllers, sensors, and data to the MSS simulation software. These components are intended to support HTV ISS visiting vehicle analysis and training. The scene generation software will use DOUG (Dynamic On-orbit Ubiquitous Graphics) to render the graphical scenes. DOUG runs on a laptop running the CentOS4.5 Linux operating system. DOUG is an Open GL-based 3D computer graphics rendering package. It uses pre-built three-dimensional models of on-orbit ISS and space shuttle systems elements, and provides realtime views of various station and shuttle configurations.

Johnson, Genevieve↗
NASA NTRS1997

Remote Sensing of Aircraft Contrails Using a Field Portable Digital Array Scanned Interferometer

With a Digital Array Scanned Interferometer (DASI), we have obtained proof-of-concept observations with which we demonstrate DASI capabilities for the determination of contrail properties. These include the measurement of the cloud and soot microphysical parameters, as well, the abundances of specific pollutant species such as SO(sub x) or NO(sub x). From high quality hyperspectral data and using radiative transfer methods and atmospheric chemistry analysis in the data reduction and interpretation, powerful inferences concerning cloud formation, evolution and dissipation can be made. Under this sub-topic, we will integrate DASI with computer controlled scanning of the field-of-view to direct the sensor towards contrails and exhaust plumes for tracking the emitting vehicles. The optimum DASI wavelength sensitivity range for sensing contrails is 0.35 - 2.5 micron. DASI deploys on the ground or from aircraft to observe contrails in the vicinity. This enables rapid, accurate measurement of the temporal, spatial, and chemical evolution of contrails (or other plumes or exhaust sources) with a low cost, efficient sensor.

Smith, William Hayden↗
NASA NTRS2009

Development of a Portable Oxygen Monitoring System for Operations in the International Space Station Airlock

NASA is currently engaged in an activity to facilitate effective operations on the International Space Station (ISS) after the Space Shuttle retires. Currently, the Space Shuttle delivers crew and cargo to and from ISS. The Space Shuttle provides the only large scale method of hardware return from ISS to the ground. Hardware that needs to be periodically repaired, refurbished, or recalibrated must come back from ISS on the Shuttle. One example of NASA flight hardware that is used on ISS and refurbished on the ground is the Compound Specific Analyzer for Oxygen (CSA-O2). The CSA-O2 is an electrochemical sensor that is used on orbit for about 12 months (depending on Shuttle launch schedules), then returned to the ground for sensor replacement. The shuttle is scheduled to retire in 2010, and the ISS is scheduled to operate until 2016. NASA needs a hand held sensor that measures oxygen in the ISS environment and has a 5-10 year service life. After conducting a survey of oxygen sensor systems, NASA selected a Tunable Diode Laser Absorption Spectrometer (TDLAS) as the method of measurement that best addresses the needs for ISS. These systems are compact, meet ISS accuracy requirements, and because they use spectroscopic techniques, the sensors are not consumed or altered after making a measurement. TDLAS systems have service life ratings of 5-10 years, based on the lifetime of the laser. NASA is engaged in modifying a commercially available sensor, the Vaisala OMT 355, for the ISS application. The Vaisala OMT 355 requires three significant modifications to meet ISS needs. The commercial sensor uses a wall mount power supply, and the ISS sensor needs to use a rechargeable battery as its source of power. The commercial sensor has a pressure correction setpoint: the sensor can be adjusted to operate at reduced pressure conditions, but the sensor does not self correct dynamically and automatically. The ISS sensor needs to operate in the airlock, and make accurate measurements in an environment that can change from 14.7 psia to 10.2 psia in 15 minutes. The commercial sensor needs to be repackaged into a configuration that is more compact, and better suited for ISS airlock operations. NASA has recently completed a prototype of the reconfigured system. The unit has been repackaged in a way that the optical path of the spectrometer is unchanged, but the electronics has been integrated into a case measuring 10.7 X 7.2 X 3.0 inches. Two flight qualified rechargeable batteries have been integrated into system. The batteries can power the sensor for 10 hours on a single charge. A pressure sensor has been added to the system. The modified unit automatically compensates for changes in pressure, and meets 0.2% accuracy requirements for oxygen measurements in an environment with 18 to 32% oxygen across a pressure range of 10.0 to 15.0 psia.

Graf, John↗
NASA NTRS1995

The effect of sensor spacing on wind measurements at the Shuttle Landing Facility

This document presents results of a field study of the effect of sensor spacing on the validity of wind measurements at the Space Shuttle landing Facility (SLF). Standard measurements are made at one second intervals from 30 foot (9.1m) towers located 500 feet (152m) from the SLF centerline. The centerline winds are not exactly the same as those measured by the towers. This study quantifies the differences as a function of statistics of the observed winds and distance between the measurements and points of interest. The field program used logarithmically spaced portable wind towers to measure wind speed and direction over a range of conditions. Correlations, spectra, moments, and structure functions were computed. A universal normalization for structure functions was devised. The normalized structure functions increase as the 2/3 power of separation distance until an asymptotic value is approached. This occurs at spacings of several hundred feet (about 100m). At larger spacings, the structure functions are bounded by the asymptote. This enables quantitative estimates of the expected differences between the winds at the measurement point and the points of interest to be made from the measured wind statistics. A procedure is provided for making these estimates.

Merceret, Francis J.↗
NASA NTRS2013

The HyMeX Special Observation Period in Central Italy: Precipitation Measurements, Retrieval Techniques and Preliminary Results

The Mediterranean area concentrates the major natural risks related to the water cycle, including heavy precipitation and flash-flooding during the fall season. The capability to predict such high-impact events remains weak because of the contribution of very fine-scale processes and their non-linear interactions with the larger scale processes. These societal and science issues motivate the HyMeX (Hydrological cycle in the Mediterranean Experiment, http://www.hymex.orgl) experimental programme. HyMeX aims at a better quantification and understanding of the water cycle in the Mediterranean with emphasis on intense events. The observation strategy of HyMEX is organized in a long-term (4 years) Enhanced Observation Periods (EOP) and short-term (2 months) Special Observation Periods (SOP). HyMEX has identified 3 main Mediterranean target areas: North-West (NW), Adriatic (A) and South-East (SE). Within each target area several hydrometeorological sites for heavy rainfall and flash flooding have been set up. The hydrometeorological sire in Central Italy (CI) is interested by both western and eastern fronts coming from the Atlantic Ocean and Siberia, respectively. Orographic precipitations play an important role due to the central Apennine range, which reaches nearly 3000 m (Gran Sasso peak). Moreover, convective systems commonly develop in CI during late summer and beginning of autumn, often causing localized hailstorms with cluster organized cells. Western fronts may heavily hit the Tiber basin crossing large urban areas (Rome), whereas eastern fronts can cause flash floods along the Adriatic coastline. Two major basins are involved within Cl region: Tiber basin (1000 km long) and its tributary Aniene and the Aterno-Pescara basin (300 km long). The first HyMeX SOP1.1 was carried out from Sept. till Nov. 2012 in the NW target area The Italian SOP1.1 was coordinated by the Centre of Excellence CETEMPS, University of L'Aquila, a city located in the CI heart. The CI area was covered by a uniquely dense meteorological instrumentation thanks to a synergy between Italian institutions and NASA-GSFC. The following RADARs were operated: a Doppler single-polarization C-band radar located at Mt Midia; the Polar 55C Doppler dual-polarization C-band radar located in Rome; a Doppler C-hand polarimetric radar located at Il Monte (Abnazo); a polarimetric X-band mini-radar in L' Aquila; a polarimetric X-hand portable mini-radar in Rome; a single-polarization X-band mini-radar in Rome. DISDROMETERs were also deployed: 4 Parsivel optical disdrometers in Rome (at Sapienza, CNR-ISAC and CNR-INSEAN); 1 2D-video disdrometer in Rome; 3 Parsivels optical disdrometer respectively in L'Aquila (Abnazo), Avezzano (Abruzzo) and Pescara (Abnazo). Other INSTRUMENTS were available: 1 K-band vertically-pointing micro rain-radar (MRR), 2 Pludix X-band disdrometers, 1 VLF lightning sensor, 1 microwave radiometer at 23-31 GHz in Rome (at Sapienza); the raingauge network with more than 200 stations in Central Italy. Three overpasses in CI were also performed by the Falcon 20 aircraft equipped with the 950Hz cloud radar RASTA Analysis of the SOP1.1 main events in CI will be described by focusing on the raindrop size distribution statistics and its geographical variability. Intercomparison of rainfall estimates from disdrometers, raingauges and radars will be illustrated with the aim to provide a quality-controlled and physically consistent rainfall dataset for meteorological modeling validation and assimilation purposes.

Gatlin, Patrick↗
NASA NTRS1975

Calibration source for remote sensors

The source described was developed as a calibration target for the multispectral scanner (MSS) which was flown on the Earth Resources Technology Satellite A (LANDSAT 1). The wavelength region of interest covered the four (4) MSS bands extending from 0.5 to 1.1 micrometers, although the target was calibrated from 0.32 to 2.5 micrometers. The following characteristics for the target were required: (1) large aperture, sufficient to accommodate an instrument with a 9 inch (23 centimeters(cm)) aperture and 2 1/2 deg field of view (fov), (2) highly diffuse energy from target, (3) high spatial uniformity across aperture area of source, (4) spectrally calibrated in absolute units, (5) stable output over long periods of time (1-2 yrs), and (6) rugged, yet portable enough to be easily transported long distances without detrimental effects on the operational capabilities of the target. Two approaches were considered: a thirty (30) inch (76 cm) diameter integrating sphere with a twelve inch (30.5 cm) exit port, or the use of one hemisphere of a 76 cm sphere in conjunction with a Kodak ektolite screen. The screen has the property of reflecting back uniformly into a well defined area the majority of the light received. After some preliminary trials it seemed that the 76 cm sphere would give the most satisfactory results.

Mclean, J. T.↗
NASA NTRS2007

NIRSS Upgrades: Final Report

This year we were able to further the NIRSS program by re-writing the data ingest and display code from LabVIEW to C++ and Java. This was leveraged by a University of Colorado Computer Science Department Senior Project. The upgrade made the display more portable and upgradeable. Comparisons with research aircraft flights conducted during AIRS-2 were also done and demonstrate reasonable skill in determining cloud altitudes and liquid water distribution. Improvements can still be made to the cloud and liquid logic. The icing hazard index was not evaluated here since that represents work in progress and needs to be made compatible with the new CIP-Severity algorithm. CIP is the Current Icing Potential product that uses a combination decision tree/fuzzy logic algorithm to combine numerical weather model output with operational sensor data (NEXRAD, GOES, METARs and voice pilot reports) to produce an hourly icing diagnosis across the CONUS. The new severity algorithm seeks to diagnose liquid water production through rising, cooling air, and depletion by ice processes. The information used by CIP is very different from that ingested by NIRSS but some common ground does exist. Additionally, the role of NIRSS and the information it both needs and provides needs to be determined in context of the Next Generation Air Traffic System (NGATS). The Weather Integrated Products Team has a plan for an Initial Operating Capability (IOC) to take place in 2012. NIRSS is not explicitly a part of that IOC but should be considered as a follow-on as part of the development path to a 2025 full capability.

Politovich, Marcia K.↗
NASA NTRS1975

Development and testing of a portable wind sensitive directional air sampler

A portable wind-sensitive directional air sampler has been developed as part of an air pollution source identification system. The system is designed to identify sources of air pollution based on the directional collection of field air samples and their analysis for TSP and trace element characteristics. Sources can be identified by analyzing the data on the basis of pattern recognition concepts. Functional testing of a prototype sampler is described; all items exhibited performance and life sufficient to carry out field performance test operations. Life testing of the wind direction sensor and the directional porting valves, which are critical to reliable operation, was emphasized with successful results.

Deyo, J.↗
NASA NTRS1994

Advanced Biotelemetry Systems for Space Life Sciences

The Sensors 2000! Program at NASA-Ames Research Center is developing an Advanced Biotelemetry System (ABTS) for Space Life Sciences applications. This modular suite of instrumentation is planned to be used in operational spaceflight missions, ground-based research and development experiments, and collaborative, technology transfer and commercialization activities. The measured signals will be transmitted via radio-frequency (RF), electromagnetic or optical carriers and direct-connected leads to a remote ABTS receiver and data acquisition system for data display, storage, and transmission to Earth. Intermediate monitoring and display systems may be hand held or portable, and will allow for personalized acquisition and control of medical and physiological data.

Hines, John W.↗
NASA NTRS2003

New Laboratory Methods for Characterizing the Immersion Factors for Irradiance

The experimental determination of the immersion factor, I(sub f)(lambda), of irradiance collectors is a requirement of any in-water radiometer. The eighth SeaWiFS Intercalibration Round-Robin Experiment (SIRREX-8) showed different implementations, at different laboratories, of the same I(sub f)(lambda) measurement protocol. The different implementations make use of different setups, volumes, and water types. Consequently, they exhibit different accuracies and require different execution times for characterizing an irradiance sensor. In view of standardizing the characterization of I(sub f)(lambda) values for in-water radiometers, together with an increase in the accuracy of methods and a decrease in the execution time, alternative methods are presented, and assessed versus the traditional method. The proposed new laboratory methods include: a) the continuous method, in which optical measurements taken with discrete water depths are substituted by continuous profiles created by removing the water from the water vessel at a constant flow rate (which significantly reduces the time required for the characterization of a single radiometer); and b) the Compact Portable Advanced Characterization Tank (ComPACT) method, in which the commonly used large tanks are replaced by a small water vessel, thereby allowing the determination of I(sub f)(lambda) values with a small water volume, and more importantly, permitting I(sub f)(lambda) characterizations with pure water. Intercomparisons between the continuous and the traditional method showed results within the variance of I(sub f) (lambda) determinations. The use of the continuous method, however, showed a much shorter realization time. Intercomparisons between the ComPACT and the traditional method showed generally higher I(sub f)(lambda) values for the former. This is in agreement with the generalized expectations of a reduction in scattering effects, because of the use of pure water with the ComPACT method versus the use of tap water with the traditional method.

Hooker, Stanford B.↗
NASA NTRS2007

Portable Unit for Metabolic Analysis

The Portable Unit for Metabolic Analysis (PUMA) is an instrument that measures several quantities indicative of human metabolic function. Specifically, this instrument makes time-resolved measurements of temperature, pressure, flow, and the partial pressures of oxygen and carbon dioxide in breath during both inhalation and exhalation. Portable instruments for measuring these quantities have been commercially available, but the response times of those instruments are too long to enable temporal resolution of phenomena on the time scales of human respiration cycles. In contrast, the response time of the PUMA is significantly shorter than characteristic times of human respiration phenomena, making it possible to analyze varying metabolic parameters, not only on sequential breath cycles but also at successive phases of inhalation and exhalation within the same breath cycle. In operation, the PUMA is positioned to sample breath near the subject s mouth. Commercial off-the-shelf sensors are used for three of the measurements: a miniature pressure transducer for pressure, a thermistor for temperature, and an ultrasonic sensor for flow. Sensors developed at Glenn Research Center are used for measuring the partial pressures of oxygen and carbon dioxide: The carbon dioxide sensor exploits the relatively strong absorption of infrared light by carbon dioxide. Light from an infrared source passes through the stream of inhaled or exhaled gas and is focused on an infrared- sensitive photodetector. The oxygen sensor exploits the effect of oxygen in quenching the fluorescence of ruthenium-doped organic molecules in a dye on the tip of an optical fiber. A blue laser diode is used to excite the fluorescence, and the optical fiber carries the fluorescent light to a photodiode, the temporal variation of the output of which bears a known relationship with the rate of quenching of fluorescence and, hence, with the partial pressure of oxygen. The outputs of the sensors are digitized, preprocessed by a small onboard computer, and then sent wirelessly to a desktop computer, where the collected data are analyzed and displayed. In addition to the raw data on temperature, pressure, flow, and mole fractions of oxygen and carbon dioxide, the display can include volumetric oxygen consumption, volumetric carbon dioxide production, respiratory equivalent ratio, and volumetric flow rate of exhaled gas.

Dietrich, Daniel L.↗
NASA NTRS2017

Portable Medical Diagnosis Instrument

A system that integrates several technologies into a single, portable medical diagnostic apparatus for analyzing a sample body fluid (liquid and/or gas): (1) a mechanism to capture airborne microdroplets and to separate the body fluid into a first fluid component (primarily gas) and a second fluid component (primarily liquid); (2) a volatilizer to convert a portion of the second fluid component into a third fluid component that is primarily a gas; (3) a functionalized nanostructure (NS) array configured to receive, identify, and estimate concentration of at least one constituent in the first and/or third fluid components; (4) a miniaturized differential mobility spectrometer (DMS) module; and (5) a biomarker sensor, to detect volatile and non-volatile molecules in a sample fluid, which may contain one or more components of blood, breath, perspiration, saliva, and urine.

Straume, Tore↗
NASA NTRS2016

Design and Development Comparison of Rapid Cycle Amine 1.0, 2.0, and 3.0

The development of the Rapid Cycle Amine (RCA) swing-bed technology for carbon dioxide (CO2) removal has been in progress since favorable results were published in 1996. Shortly thereafter, a prototype was designed, developed, and tested successfully and delivered to Johnson Space Center in 1999. An improved prototype was delivered to NASA in 2006 and was notated as RCA 1.0 and sized for the extravehicular activity (EVA). The new RCA swing-bed technology is a regenerative system which employs two alternating solid-amine sorbent beds to remove CO2 and water. The two- bed design employs a chemisorption process whereby the beds alternate between adsorbtion and desorbsion. This process provides for an efficient operation of the RCA so that while one bed is in adsorb (uptake) mode, the other is in the desorb (regeneration) mode. The RCA has now progressed through several iterations of technology readiness levels. Test articles have now been designed, developed, and tested for the advanced space suit portable life support system (PLSS) including RCA 1.0, RCA 2.0, and RCA 3.0. The RCA 3.0 was the most recent RCA fabrication and was delivered to NASA-JSC in June 2015. The RCA 1.0 test article was designed with a pneumatically actuated linear motion spool valve. The RCA 2.0 and 3.0 test articles were designed with a valve assembly which allows for switching between uptake and regeneration modes while minimizing gas volume losses to the vacuum source. RCA 2.0 and 3.0 also include an embedded controller design to control RCA operation and provide the capability of interfacing with various sensors and other ventilation loop components. The RCA technology is low power, small, and has fulfilled all test requirements levied upon the technology during development testing thus far. This paper will provide an overreview of the design and development of RCA 1.0, 2.0 and 3.0 including detail differences between the design specifications of each.

Chullen, Cinda↗
NASA NTRS2016

Design and Development Comparison of Rapid Cycle Amine 1.0, 2.0, and 3.0

The development of the Rapid Cycle Amine (RCA) swing-bed technology for carbon dioxide (CO2) removal has been in progress since favorable results were published in 1996. Shortly thereafter, a prototype was designed, developed, and tested successfully and delivered to Johnson Space Center in 1999. An improved prototype (RCA 1.0) was delivered to NASA in 2006 and sized for the extravehicular activity (EVA). The RCA swing-bed technology is a regenerative system which employs two alternating solid-amine sorbent beds to remove CO2 and water. The two-bed design employs a chemisorption process whereby the beds alternate between adsorption and desorption. This process provides for an efficient RCA operation that enables one bed to be in adsorb (uptake) mode, while the other is in the desorb (regeneration) mode. The RCA has progressed through several iterations of technology readiness levels. Test articles have now been designed, developed, and tested for the advanced space suit portable life support system (PLSS) including RCA 1.0, RCA 2.0, and RCA 3.0. The RCA 3.0 was the most recent RCA fabrication and was delivered to NASA-JSC in June 2015. The RCA 1.0 test article was designed with a pneumatically actuated linear motion spool valve. The RCA 2.0 and 3.0 test articles were designed with a valve assembly which allows for switching between uptake and regeneration modes while minimizing gas volume losses to the vacuum source. RCA 2.0 and 3.0 also include an embedded controller design to control RCA operation and provide the capability of interfacing with various sensors and other ventilation loop components. The RCA technology is low power, small, and has fulfilled all test requirements levied upon the technology during development testing thus far. This paper will provide an overview of the design and development of RCA 1.0, 2.0 and 3.0 including detail differences between the design specifications of each. Nomenclature.

Chullen, Cinda↗
NASA NTRS2015

Nanoscale Test Strips for Multiplexed Blood Analysis

A critical component of the DNA Medicine Institute's Reusable Handheld Electrolyte and Lab Technology for Humans (rHEALTH) sensor are nanoscale test strips, or nanostrips, that enable multiplexed blood analysis. Nanostrips are conceptually similar to the standard urinalysis test strip, but the strips are shrunk down a billionfold to the microscale. Each nanostrip can have several sensor pads that fluoresce in response to different targets in a sample. The strips carry identification tags that permit differentiation of a specific panel from hundreds of other nanostrip panels during a single measurement session. In Phase I of the project, the company fabricated, tested, and demonstrated functional parathyroid hormone and vitamin D nanostrips for bone metabolism, and thrombin aptamer and immunoglobulin G antibody nanostrips. In Phase II, numerous nanostrips were developed to address key space flight-based medical needs: assessment of bone metabolism, immune response, cardiac status, liver metabolism, and lipid profiles. This unique approach holds genuine promise for space-based portable biodiagnostics and for point-of-care (POC) health monitoring and diagnostics here on Earth.

Chan, Eugene↗
NASA NTRS1991

Detection of small molecules with a flow immunosensor

We describe the development of an easy-to-use sensor with widespread applications for detecting small molecules. The flow immunosensor can analyze discrete samples in under one minute or continuously monitor a flowing stream for the presence of specific analytes. This detection system is extremely specific, and achieves a level of sensitivity which meets or exceeds the detection limits reported for rival assays. Because the system is also compact, transportable, and automated, it has the potential to impact diverse areas. For example, the flow immunosensor has successfully detected drugs of abuse and explosives, and may well address many of the needs of the environmental community with respect to continuous monitoring for pollutants. Efforts are underway to engineer a portable device in the field.

Kusterbeck, Anne W.↗
NASA NTRS2016

Coastal High-resolution Observations and Remote Sensing of Ecosystems (C-HORSE)

Coastal benthic marine ecosystems, such as coral reefs, seagrass beds, and kelp forests are highly productive as well as ecologically and commercially important resources. These systems are vulnerable to degraded water quality due to coastal development, terrestrial run-off, and harmful algal blooms. Measurements of these features are important for understanding linkages with land-based sources of pollution and impacts to coastal ecosystems. Challenges for accurate remote sensing of coastal benthic (shallow water) ecosystems and water quality are complicated by atmospheric scattering/absorption (approximately 80+% of the signal), sun glint from the sea surface, and water column scattering (e.g., turbidity). Further, sensor challenges related to signal to noise (SNR) over optically dark targets as well as insufficient radiometric calibration thwart the value of coastal remotely-sensed data. Atmospheric correction of satellite and airborne remotely-sensed radiance data is crucial for deriving accurate water-leaving radiance in coastal waters. C-HORSE seeks to optimize coastal remote sensing measurements by using a novel airborne instrument suite that will bridge calibration, validation, and research capabilities of bio-optical measurements from the sea to the high altitude remote sensing platform. The primary goal of C-HORSE is to facilitate enhanced optical observations of coastal ecosystems using state of the art portable microradiometers with 19 targeted spectral channels and flight planning to optimize measurements further supporting current and future remote sensing missions.

Coasts↗
NASA NTRS2012

Lunar Navigation Determination System - LaNDS

A portable comprehensive navigational system has been developed that both robotic and human explorers can use to determine their location, attitude, and heading anywhere on the lunar surface independent of external infrastructure (needs no Lunar satellite network, line of sight to the Sun or Earth, etc.). The system combines robust processing power with an extensive topographical database to create a real-time atlas (GIS Geospatial Information System) that is able to autonomously control and monitor both single unmanned rovers and fleets of rovers, as well as science payload stations. The system includes provisions for teleoperation and tele-presence. The system accepts (but does not require) inputs from a wide range of sensors. A means was needed to establish a location when the search is taken deep in a crater (looking for water ice) and out of view of Earth or any other references. A star camera can be employed to determine the user's attitude in menial space and stellar map in body space. A local nadir reference (e.g., an accelerometer that orients the nadir vector in body space) can be used in conjunction with a digital ephemeris and gravity model of the Moon to isolate the latitude, longitude, and azimuth of the user on the surface. That information can be used in conjunction with a Lunar GIS and advanced navigation planning algorithms to aid astronauts (or other assets) to navigate on the Lunar surface.

Quinn, David↗