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At least 217 records · Page 12

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NASA NTRS1977

Estimation of terrain iso-gradients from a stochastic range data measurement matrix

The problem of estimating terrain iso-gradients for an autonomous roving vehicle is complicated by the measurement error inherent in the range data matrix. In this paper, the in-path and cross-path slopes at each data point in the multivariable range matrix are expressed in terms of parameters at that data point and those at its surrounding points. The sensitivity in the change of these slopes - due to the errors in measurements in range, elevation angle and azimuth angle are formulated. These sensitivities are used to determine the appropriate statistics of the gradient, which are then used to describe the terrain with a known probability of accuracy.

Shen, C. N.↗

NASA NTRS1978

A stochastic analysis of terrain evaluation variables for path selection

A stochastic analysis was performed on the variables associated with the characteristics of the terrain encountered by a roving system with an autonomous navigation system. A laser rangefinder is employed to detect terrain features at ranges up to 75 m. Analytic expressions and a numerical scheme were developed to calculate the variance of data on these four variables: (1) body clearance, (2) in-path slope, (3) tilt slope, and (4) wheel deviation. The variance is due to noise in the range data. It was found that the standard deviation of these terrain variables is large enough to warrant the use of a safety margin to aid the roving vehicle in avoiding high risk areas.

Donohue, J. G.↗

NASA NTRS1978

Path selection process utilizing rapid estimation scheme

The paper describes the use of a rapid estimation scheme for path selection by a roving vehicle. Essentially, the evaluation procedure simulates movement of the rover over each of several corridors lying radially outward from the scanning position. Two levels of corridors are used, and the path selection scheme selects the optimal primary corridor according to a dynamic programming algorithm. In the present version, the length of the corridors is variable. The rapid estimation scheme provides information to define corridor dimensions. This corridor structure, which varies as a function of the terrain, eliminates the need for backtracking, except in certain extreme cases. Computer results are promising in that obstacles were avoided while corridor lengths were kept to a maximum where safety permitted.

Ring, H.↗

NASA NTRS1979

Neutron-gamma techniques for planetary exploration

Chemical analysis of planetary surfaces is necessary for the understanding of the origin and evolutionary processes of the solar system. Orbital lunar geochemical experiments performed during the Apollo 15 and 16 demonstrated that even with a low neutron flux (fast and thermal), reliable results could be extracted. The possibility of using a compact 14 MeV neutron generator for geochemical analysis of planetary surfaces, comets and asteroids is currently studied. This method allows the determination of bulk chemical composition, even in the presence of an atmosphere. This would be possible on the surface of Venus, for example, where alternate methods such as sample return are impractical. This method can be used for continuous monitoring of elemental abundances from a roving vehicle, for example, on the surface of Mars.

Johnson, R. G.↗

NASA NTRS1980

A propulsion and steering control system for the Mars rover

The design of a propulsion and steering control system for the Rensselaer Polytechnic Institute prototype autonomous Mars roving vehicle is presented. The vehicle is propelled and steered by four independent electric motors. The control system must regulate the speeds of the motors so they work in unison during turns and on irregular terrain. An analysis of the motor coordination problem on irregular terrain, where each motor must supply a different torque at a different speed is presented. A procedure was developed to match the output of each motor to the varying load. A design for the control system is given. The controller uses a microprocessor which interprets speed and steering commands from an off-board computer, and produces the appropriate drive voltages for the motors.

Turner, J. M.↗

NASA NTRS1980

Interpretation of laser/multi-sensor data for short range terrain modeling and hazard detection

A terrain modeling algorithm that would reconstruct the sensed ground images formed by the triangulation scheme, and classify as unsafe any terrain feature that would pose a hazard to a roving vehicle is described. This modeler greatly reduces quantization errors inherent in a laser/sensing system through the use of a thinning algorithm. Dual filters are employed to separate terrain steps from the general landscape, simplifying the analysis of terrain features. A crosspath analysis is utilized to detect and avoid obstacles that would adversely affect the roll of the vehicle. Computer simulations of the rover on various terrains examine the performance of the modeler.

Messing, B. S.↗

NASA NTRS1980

A linear photodiode array employed in a short range laser triangulation obstacle avoidance sensor

An opto-electronic receiver incorporating a multi-element linear photodiode array as a component of a laser-triangulation rangefinder was developed as an obstacle avoidance sensor for a Martian roving vehicle. The detector can resolve the angle of laser return in 1.5 deg increments within a field of view of 30 deg and a range of five meters. A second receiver with a 1024 elements over 60 deg and a 3 meter range is also documented. Design criteria, circuit operation, schematics, experimental results and calibration procedures are discussed.

Odenthal, J. P.↗

NASA NTRS1979

Modeling of terrain gradient for stochastically spaced rows of a measurement matrix

Terrain gradients are employed to evaluate passable regions for unmanned martian roving vehicle. Range data matrix is displaced randomly row wise at the shallow elevation angles near the skyline. The magnitude of the measurement noise in the elevation angles can approach that of the spacing of the same angle. By using a variable incremental data spacing scanning scheme, one can estimate this signal noise ratio. It is found that the error in slope estimate at far distance becomes large for a given elevation angle error. Evaluation of the in-path slopes can be expressed in terms of the inverse of the range slopes. This is because of the fact that the elevation angle is considered as a random variable while the range data are relatively less noisy. An error analysis is performed and it is found that the change of slope is a nonlinear function of the error in elevation angle.

Mediavilla, R.↗

NASA NTRS1979

Guidance of an autonomous planetary rover based on a short-range hazard detection system

The guidance of an autonomous planetary roving vehicle using a scanning laser/multidetector terrain sensor for short-range hazard detection has been simulated. The sensor data are used to model the terrain, thereby providing the information required by a path selection algorithm to control the motion of the rover. These simulation studies are providing the basis for developing both the real-time computer control software and the hardware systems for laboratory and field testing of rover.

Yerazunis, S. W.↗

NASA NTRS1980

A laser rangefinder path selection system for Martian rover using logarithmic scanning scheme

This paper deals with a laser rangefinder path selection scheme for an autonomous Martian roving vehicle. The overall scheme consists of the following interrelated sub-systems; logarithmic scanning sub-system, obstacle detection scheme (Sonalkar and Shen (1975); Kim and Shen (1978)), terrain modeling and estimation (Shen and Stare (1977); Pawlowski (1978)), and path selection algorithm (Netch and Shen (1977)). Independent and separate studies for the last three sub-systems were performed previously. With the introduction of the logarithmic scanning, an integrated study is completed in this paper. This study serves as a possible alternate choice other than TV cameras for navigating the Martian surface. Moreover, if hybrid TV and laser systems are used, a laser-only standby system can be put to work in case the TV part of the hybrid system fails to operate.

Shen, C. N.↗

NASA NTRS1984

Motor/generator and electronic control considerations for energy storage flywheels

A spacecraft electric power supply system is described. Requirements of the system are to accelerate a momentum wheel to a fixed maximum speed when solar energy is available and to maintain a constant voltage on the spacecraft bus under varying loads when solar energy is not available. Candidate motor types, pulse width modulated current control systems, and efficiency considerations are discussed. In addition, the Lunar Roving Vehicle motors are described along with their respective efficiencies.

Nola, F. J.↗

NASA NTRS1985

Designing a Mars surface rover

Only three categories of vehicular configuration are under consideration for the Mars rover geological exploration mission: a six-wheeled 'lunar roving vehicle' (LRV), an elastic loopwheeled mobility system (ELMS), and a 'walking' vehicle. The LRV uses three compliantly coupled modules, each of which is equipped with two powered wheels. The ELMS uses three loopwheels that are reminiscent of tracks mounted on an articulated suspension. Walkers, which use leg-like mechanisms, are the least developed of the three categories. A comparative assessment of the capabilities and economies of the three vehicle types is presented.

Ruoff, C.↗

NASA NTRS1986

Rover technology for manned Mars missions

A set of roving vehicle design requirements were postulated, corresponding to an idealized Mars transport vehicle operational scenario which could serve as a reference for a manned Mars mission. The ability of conventional vehicles to satisfy these requirements were examined. The study indicated that no conventional vehicle could satisfy all of the requirements, as the vehicles are presently configured. Consequently, the requirements have to either be relaxed and/or an alternative, less conventional vehicle design will have to be developed. A possible unconventional vehicle design which has received considerable attention for DARPA and the Army is the walker vehicle. The design issues associated with this vehicle are presented, along with a comparison of the performance capabilities of this technology vs. conventional vehicle technology.

Gail Klein↗

NASA NTRS1987

Martian terrains

Terrain studies of candidate landing sites for a future rover/sample-return mission to Mars are being conducted to evaluate the geologic and trafficability aspects of each site. An optimum site should have geologic units of widely diverse ages and chemical compositions occurring in close enough proximity and in smooth enough terrain so that a roving vehicle of limited traverse ability (+ or - 100 km) could collect representative samples. In FY 1986, geologic maps were compiled at 1:500,000 and 1:2 million scales of the Mangala Valles, Kasei Valles, Chasma Boreale (north polar), and Planum Australe (south polar) areas, and a study was begun of the topography and surface roughness characteristics of the Mangala Valles site. Geologic mapping has been greatly facilitated by specially enhanced, high-resolution Viking photographs, which clarify stratigraphic relations of units unrecognized earlier. Photoclinometric profiles of topographic features provide width and depth measurements of four classes of channels, the thickness of some volcanic units, and the throw on some faults. Estimates of the surface roughness of units are calculated using a newly developed USGS computer program and using measurements derived from Earth-based radar.

Masursky, Harold↗

NASA NTRS1986

More missions to explore the solar system

Various JPL space missions are discussed. Consideration is given to the objectives and capabilities of the Hubble Telescope, the SIR-B, the Magellan spacecraft, and the Mars Observer missions. The planned Topex and Comet Rendezvous Asteroid Flyby mission are described. The development of an autonomous surface roving vehicle to collect samples on Mars is proposed.

French, J. R.↗

NASA NTRS1988

Present imaging limitations to providing a geological assessment of potential sample return sites on Mars

A Mars sample return mission will provide a huge increase in knowledge about the region explored by the roving vehicle. However, presently there are some important limitations on the extent to which the geology of a potential site can be understood prior to landing the sample return vehicle on Mars. These limitations could affect not only the potential science return of the mission but also the safety of the vehicle. These limitations are examined.

Zimbelman, James R.↗

NASA NTRS1989

The 'sample experiment' on the Mars Rover/Sample Return mission

Sample Experiment denotes the set of all operations that include collection, analysis, packaging, and environmental control of atmospheric and geologic samples of Mars. Various functions may be distributed among surface roving vehicles, stationary landers, and spacecraft but the Sample Experiment remains an integrated mission activity that extends from Mars landing through delivery of the sample payload to the recieving facility on Earth. Technological challenges not faced in previous planetary missions include development of robotic systems to manipulate and characterize samples and to reliably seal them in containers with minimal contamination or degradation.

Gooding, James L.↗

NASA NTRS1989

Geologic setting of an unusual Martian channel - Hypotheses on origin

Several areas within the Memnonia region of Mars have been proposed as candidate sites for a Mars sample return mission. Geologic studies of these areas made from computer-enhanced high-resolution Viking images show that an assemblage of rocks having different ages and compositions are accessible to a roving vehicle. In addition, evidence of recent fluvial episodes is indicated by small channels that incises materials emplaced during the Amazonian Period. The channel discussed in this paper is located near the highland-lowland boundary in the Memnonia MC-16SW quadrangle of Mars. It is of particular interest because of distinctive morphologic characteristics compared to other Martian channels. Although several hypotheses are advanced to explain the origin of the channel, none of the arguments are completely satisfactory. However, it is believed that water mobilized from ice in the subjacent regolith (hypothesis 1) or that condensate water from highly volatile ash flows (hypothesis 2) are the most likely origins for the channel.

Scott, D. H.↗