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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 235 records · Page 13
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NASA NTRS1993

Stanford Aerospace Research Laboratory research overview

Over the last ten years, the Stanford Aerospace Robotics Laboratory (ARL) has developed a hardware facility in which a number of space robotics issues have been, and continue to be, addressed. This paper reviews two of the current ARL research areas: navigation and control of free flying space robots, and modelling and control of extremely flexible space structures. The ARL has designed and built several semi-autonomous free-flying robots that perform numerous tasks in a zero-gravity, drag-free, two-dimensional environment. It is envisioned that future generations of these robots will be part of a human-robot team, in which the robots will operate under the task-level commands of astronauts. To make this possible, the ARL has developed a graphical user interface (GUI) with an intuitive object-level motion-direction capability. Using this interface, the ARL has demonstrated autonomous navigation, intercept and capture of moving and spinning objects, object transport, multiple-robot cooperative manipulation, and simple assemblies from both free-flying and fixed bases. The ARL has also built a number of experimental test beds on which the modelling and control of flexible manipulators has been studied. Early ARL experiments in this arena demonstrated for the first time the capability to control the end-point position of both single-link and multi-link flexible manipulators using end-point sensing. Building on these accomplishments, the ARL has been able to control payloads with unknown dynamics at the end of a flexible manipulator, and to achieve high-performance control of a multi-link flexible manipulator.

Ballhaus, W. L.↗
NASA NTRS2006

The JPL roadmap for Deep Space navigation

This paper reviews the tentative set of deep space missions that will be supported by NASA's Deep Space Mission System in the next twenty-five years, and extracts the driving set of navigation capabilities that these missions will require. There will be many challenges including the support of new mission navigation approaches such as formation flying and rendezvous in deep space, low-energy and low-thrust orbit transfers, precise landing and ascent vehicles, and autonomous navigation. Innovative strategies and approaches will be needed to develop and field advanced navigation capabilities.

navigation↗
NASA NTRS2008

Optical Navigation for the Orion Vehicle

The Orion vehicle is being designed to provide nominal crew transport to the lunar transportation stack in low Earth orbit, crew abort prior during transit to the moon, and crew return to Earth once lunar orbit is achieved. One of the design requirements levied on the Orion vehicle is the ability to return to the vehicle and crew to Earth in the case of loss of communications and command with the Mission Control Center. Central to fulfilling this requirement, is the ability of Orion to navigate autonomously. In low-Earth orbit, this may be solved with the use of GPS, but in cis-lunar and lunar orbit this requires optical navigation. This paper documents the preliminary analyses performed by members of the Orion Orbit GN&C System team.

Crain, Timothy↗
NASA NTRS2011

Optimizing Spacecraft Placement for Liaison Constellations

A navigation and communications network is proposed to support an anticipated need for infrastructure in the Earth-Moon system. Periodic orbits will host the constellations while a novel, autonomous navigation strategy will guide the spacecraft along their path strictly based on satellite-to-satellite telemetry. In particular, this paper investigates the second stage of a larger constellation optimization scheme for multi-spacecraft systems. That is, following an initial orbit down-selection process, this analysis provides insights into the ancillary problem of spacecraft placement. Two case studies are presented that consider configurations of up to four spacecraft for a halo orbit and a cycler trajectory.

lunar cycler orbits↗
NASA NTRS1990

A control architecture for a Mars walking vehicle

A design framework for a Mars Rover, intended for missions where a high degree of autonomy is dictated, is presented. The framework provides a logical computing architecture for rover mobility and local navigation subsystem design by defining a set of functional modules and interfaces to facilitate software and hardware specification. The similarities and dissimilarities between the present approach and related architectures for autonomous navigation and robotic control are discussed. An approach is presented for specifying actions to be taken by the mobility and local navigation subsystems of the rover.

Spiessbach, Andrew J.↗
NASA NTRS2001

Algorithms for Autonomous GS Orbit Determination and Formation Flying

This final report for our study of autonomous Global Positioning System (GPS) satellite orbit determination comprises two sections. The first is the Ph.D. dissertation written by Michael C. Moreau entitled, "GPS Receiver Architecture for Autonomous Navigation in High Earth Orbits." Dr. Moreau's work was conducted under both this project and a NASA GSRP. His dissertation describes the key design features of a receiver specifically designed for autonomous operation in high earth orbits (HEO). He focused on the implementation and testing of these features for the GSFC PiVoT receiver. The second part is a memo describing a robust method for autonomous initialization of the orbit estimate given very little a priori information and sparse measurements. This is a key piece missing in the design of receivers for HEO.

Moreau, Michael C.↗
NASA NTRS2020

Investigating Relationships Between Geochemistry and Physical Grain Characteristics Along a Glacio-Fluvial-Aeolian Sediment Transport Pathway Using µXRF

Iceland’s basaltic volcanic rocks and glacial, fluvial, and aeolian landscapes resemble those studied on Mars, which makes it an ideal location to study the evolution of basaltic landscapes, the weathering and alteration of basaltic sediments in cold and wet environments, and the generation of a basaltic sedimentary record. The SAND-E: Semi-Autonomous Navigation for Detrital Environments project examines physical and chemical changes in sediments transported through basaltic fluvial and aeolian environments, and tests operational scenarios, which include a drone and a robotic rover instrumented with autonomous terrain analysis software. As part of the SAND-E project, we examined a glacial outwash plain at Skjaldbreiðauhraun, in SW Iceland. This study uses micro X-ray fluorescence (μXRF) to examine the chemical and physical properties of unconsolidated sediment-size fractions from 710 μm to < 63 μm along a downstream transect from a glacial sourced watershed. μXRF is ideally suited for this task because it maps elemental distributions at sub-grain scales thereby allowing a direct correlation between grainsize, grain shape, and chemistry. It is also a good analog technique for the Mars 2020 mission equipped with the PIXL (Planetary Instrument for X-ray Lithochemistry) that will be deployed at Jezero Crater, Mars.

Champion, E.↗
NASA NTRS1993

Asteroid approach covariance analysis for the Clementine mission

The Clementine mission is designed to test Strategic Defense Initiative Organization (SDIO) technology, the Brilliant Pebbles and Brilliant Eyes sensors, by mapping the moon surface and flying by the asteroid Geographos. The capability of two of the instruments available on board the spacecraft, the lidar (laser radar) and the UV/Visible camera is used in the covariance analysis to obtain the spacecraft delivery uncertainties at the asteroid. These uncertainties are due primarily to asteroid ephemeris uncertainties. On board optical navigation reduces the uncertainty in the knowledge of the spacecraft position in the direction perpendicular to the incoming asymptote to a one-sigma value of under 1 km, at the closest approach distance of 100 km. The uncertainty in the knowledge of the encounter time is about 0.1 seconds for a flyby velocity of 10.85 km/s. The magnitude of these uncertainties is due largely to Center Finding Errors (CFE). These systematic errors represent the accuracy expected in locating the center of the asteroid in the optical navigation images, in the absence of a topographic model for the asteroid. The direction of the incoming asymptote cannot be estimated accurately until minutes before the asteroid flyby, and correcting for it would require autonomous navigation. Orbit determination errors dominate over maneuver execution errors, and the final delivery accuracy attained is basically the orbit determination uncertainty before the final maneuver.

Ionasescu, Rodica↗
NASA NTRS2008

Terrain-Adaptive Navigation Architecture

A navigation system designed for a Mars rover has been designed to deal with rough terrain and/or potential slip when evaluating and executing paths. The system also can be used for any off-road, autonomous vehicles. The system enables vehicles to autonomously navigate different terrain challenges including dry river channel systems, putative shorelines, and gullies emanating from canyon walls. Several of the technologies within this innovation increase the navigation system s capabilities compared to earlier rover navigation algorithms.

Helmick, Daniel M.↗
NASA NTRS2001

2001 Flight Mechanics Symposium

This conference publication includes papers and abstracts presented at the Flight Mechanics Symposium held on June 19-21, 2001. Sponsored by the Guidance, Navigation and Control Center of Goddard Space Flight Center, this symposium featured technical papers on a wide range of issues related to attitude/orbit determination, prediction and control; attitude simulation; attitude sensor calibration; theoretical foundation of attitude computation; dynamics model improvements; autonomous navigation; constellation design and formation flying; estimation theory and computational techniques; Earth environment mission analysis and design; and, spacecraft re-entry mission design and operations. Government, industry, and the academic community participated in the preparation and presentation of these papers.

Flight mechanics↗
NASA NTRS2004

Development of Biomorphic Flyers

Biomorphic flyers have recently been demonstrated that utilize the approach described earlier in "Bio-Inspired Engineering of Exploration Systems" (NPO-21142), NASA Tech Briefs, Vol. 27, No. 5 (May 2003), page 54, to distill the principles found in successful, nature-tested mechanisms of flight control. Two types of flyers are being built, corresponding to the imaging and shepherding flyers for a biomorphic mission described earlier in "Cooperative Lander- Surface/Aerial Microflyer Missions for Mars Exploration" (NPO-30286), NASA Tech Briefs, Vol. 28, No. 5 (May 2004), page 36. The common features of these two types of flyers are that both are delta-wing airplanes incorporating bio-inspired capabilities of control, navigation, and visual search for exploration. The delta-wing design is robust to approx.40 G axial load and offers ease of stowing and packaging. The prototype that we have built recently is shown in the figure. Such levels of miniaturization and autonomous navigation are essential to enable biomorphic microflyers (<1 kg) that can be deployed in large numbers for distributed measurements and exploration of difficult terrain while avoiding hazards. Individual bio-inspired sensors that will be incorporated in a biomorphic flyer have been demonstrated recently. These sensors include a robust, lightweight (~6 g), and low-power (~40 mW) horizon sensor for flight stabilization. It integrates successfully the principles of the dragonfly ocelli. The ocelli are small eyes on the dorsal and forward regions of the heads of many insects. The ocelli are distinct from the compound eyes that are most commonly associated with insect vision. In many insects, the ocelli are little more than single-point detectors of short-wavelength light and behavioral responses to ocelli stimuli are hard to observe. The notable exception is found in dragonflies, where flight control is notably degraded by any interference with the ocellar system. Our team has discovered recently that the ocelli are a dedicated horizon sensor, with substantial optical processing and multiple spectral sensitivity. To our knowledge, this is the world s first demonstrated use of a "biomorphic ocellus" as a flight-stabilization system. The advantage of the ocelli over a similarly sized system of rate gyroscopes is that both attitude control and rate damping can be realized in one device. A full inertial unit and significant processing would otherwise be required to achieve the same effect. As a prelude to full autonomy, substantial stability augmentation is provided to the pilot at very low cost in terms of space, power, and mass. The sensor is about 40 times lighter than a comparable inertial attitude reference system. Other significant features of the biomorphic flyer shown in the figure include its ability to fly at high angles of attack ~30 and a deep wing chord which allows scaling to small size and low Reynold s number situations. Furthermore, the placement of the propulsion system near the center of gravity allows continued control authority at low speeds. These attributes make such biomorphic flyers uniquely suited to planetary and terrestrial exploration where small size and autonomous airborne operation are required.

Thakoor, Sarita↗
NASA NTRS1991

Telecommunications, navigation and information management concept overview for the Space Exploration Initiative program

An overview is provided of the Space Exploration Initiative (SEI) concepts for telecommunications, information systems, and navigation (TISN), and engineering and architecture issues are discussed. The SEI program data system is reviewed to identify mission TISN interfaces, and reference TISN concepts are described for nominal, degraded, and mission-critical data services. The infrastructures reviewed include telecommunications for robotics support, autonomous navigation without earth-based support, and information networks for tracking and data acquisition. Four options for TISN support architectures are examined which relate to unique SEI exploration strategies. Detailed support estimates are given for: (1) a manned stay on Mars; (2) permanent lunar and Martian settlements; short-duration missions; and (4) systematic exploration of the moon and Mars.

Bell, Jerome A.↗
NASA NTRS2012

NASA Tech Briefs, April 2012

Topics include: Computational Ghost Imaging for Remote Sensing; Digital Architecture for a Trace Gas Sensor Platform; Dispersed Fringe Sensing Analysis - DFSA; Indium Tin Oxide Resistor-Based Nitric Oxide Microsensors; Gas Composition Sensing Using Carbon Nanotube Arrays; Sensor for Boundary Shear Stress in Fluid Flow; Model-Based Method for Sensor Validation; Qualification of Engineering Camera for Long-Duration Deep Space Missions; Remotely Powered Reconfigurable Receiver for Extreme Environment Sensing Platforms; Bump Bonding Using Metal-Coated Carbon Nanotubes; In Situ Mosaic Brightness Correction; Simplex GPS and InSAR Inversion Software; Virtual Machine Language 2.1; Multi-Scale Three-Dimensional Variational Data Assimilation System for Coastal Ocean Prediction; Pandora Operation and Analysis Software; Fabrication of a Cryogenic Bias Filter for Ultrasensitive Focal Plane; Processing of Nanosensors Using a Sacrificial Template Approach; High-Temperature Shape Memory Polymers; Modular Flooring System; Non-Toxic, Low-Freezing, Drop-In Replacement Heat Transfer Fluids; Materials That Enhance Efficiency and Radiation Resistance of Solar Cells; Low-Cost, Rugged High-Vacuum System; Static Gas-Charging Plug; Floating Oil-Spill Containment Device; Stemless Ball Valve; Improving Balance Function Using Low Levels of Electrical Stimulation of the Balance Organs; Oxygen-Methane Thruster; Lunar Navigation Determination System - LaNDS; Launch Method for Kites in Low-Wind or No-Wind Conditions; Supercritical CO2 Cleaning System for Planetary Protection and Contamination Control Applications; Design and Performance of a Wideband Radio Telescope; Finite Element Models for Electron Beam Freeform Fabrication Process Autonomous Information Unit for Fine-Grain Data Access Control and Information Protection in a Net-Centric System; Vehicle Detection for RCTA/ANS (Autonomous Navigation System); Image Mapping and Visual Attention on the Sensory Ego-Sphere; HyDE Framework for Stochastic and Hybrid Model-Based Diagnosis; and IMAGESEER - IMAGEs for Education and Research.

Source record↗
NASA NTRS1996

Modular Software for Spacecraft Navigation Using the Global Positioning System (GPS)

The Goddard Space Flight Center Flight Dynamics and Mission Operations Divisions have jointly investigated the feasibility of engineering modular Global Positioning SYSTEM (GPS) navigation software to support both real time flight and ground postprocessing configurations. The goals of this effort are to define standard GPS data interfaces and to engineer standard, reusable navigation software components that can be used to build a broad range of GPS navigation support applications. The paper discusses the GPS modular software (GMOD) system and operations concepts, major requirements, candidate software architecture, feasibility assessment and recommended software interface standards. In additon, ongoing efforts to broaden the scope of the initial study and to develop modular software to support autonomous navigation using GPS are addressed,

Truong, S. H.↗
NASA NTRS1991

Perception, planning, and control for walking on rugged terrain

The CMU Planetary Rover project is developing a six-legged walking robot capable of autonomously navigating, exploring, and acquiring samples in rugged, unknown environments. To gain experience with the problems involved in walking on rugged terrain, a full-scale prototype leg was built and mounted on a carriage that rolls along overhead rails. Issues addressed in developing the software system to autonomously walk the leg through rugged terrain are described. In particular, the insights gained into perceiving and modeling rugged terrain, controlling the legged mechanism, interacting with the ground, choosing safe yet effective footfalls, and planning efficient leg moves through space are described.

Simmons, Reid↗
NASA NTRSDate not supplied

Autonomous Nanosatellite Swarming (ANS) Using Radio Frequency and Optical Navigation

The Autonomous Nanosatellite Swarming (ANS) subsystem is a dynamics, guidance, navigation, and control software unit based on commercial-off-the-shelf avionics, which is distributed and deployed on a cluster of cooperative nanosatellites to enable future exploration missions to near-Earth objects (NEOs). ANS allows multiple nanosatellites to act together as a single large spacecraft through radio-frequency (RF) cross-links, optical navigation, and low-thrust control. In particular, ANS-equipped nanosatellites can utilize images of a NEO taken from multiple viewpoints to achieve stereo-vision capabilities and characterize the target body’s shape, gravity field, and dynamical properties. All this is enabled by the fusion of major advances to the state of the art in the astrodynamics of relative motion, RF and vision-based navigation, as well as low-thrust control.

Simone D'Amico↗
NASA NTRS1992

Autonomous reconfigurable GPS/INS navigation and pointing system for rendezvous and docking

This paper describes the development of an autonomous integrated spacecraft navigation system which provides multiple modes of navigation, including relative and absolute navigation. The system provides attitude information from GPS or INS, or by tightly integrating the two systems. Interferometric GPS techniques are used when multiple antennas and integrated Doppler measurements are available. An important aspect of this research is the autonomously reconfigurable Kalman filter, controlled by an embedded knowledge base, designed to respond to component degradation and changes in mission goals.

Upadhyay, T. N.↗
NASA NTRS2017

Optical-Based Kinematic Positioning for Deep-Space Navigation

NASA’s Deep Space 1 mission demonstrated that a spacecraft can be navigated autonomously during deep-space cruise operations using only images of distant asteroids as measurements. This paper derives an approximation of the position estimate accuracy that can be achieved with this technique based on the assumption of multiple, simultaneous line-of-sight measurements. This achievable accuracy is computed for locations across the solar system, which can be used to estimate cruise navigation performance as a function of spacecraft trajectory. It is shown that a on-board optical navigation system can achieve kinematic position estimate accuracies of better than 100 km throughout the inner solar system with a highperformance camera and from many hundred to several thousand kilometers with a low-end camera. Beyond the main-asteroid belt, the feasibilty of this approach suffers due to lack of targets. A case-study implementation of this approach for the upcoming InSight mission to Mars is also presented.

Bhaskaran, Shyam↗