Search NASA⌕ Search

SEARCH · Search NASA

Results for “robotic surface exploration”

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.

Quote a phrase for an exact phrase match. Source license links do not imply unrestricted reuse.

At least 235 records · Page 13

Intelligence for Human-Assistant Planetary Surface Robots

The central premise in developing effective human-assistant planetary surface robots is that robotic intelligence is needed. The exact type, method, forms and/or quantity of intelligence is an open issue being explored on the ERA project, as well as others. In addition to field testing, theoretical research into this area can help provide answers on how to design future planetary robots. Many fundamental intelligence issues are discussed by Murphy [2], including (a) learning, (b) planning, (c) reasoning, (d) problem solving, (e) knowledge representation, and (f) computer vision (stereo tracking, gestures). The new "social interaction/emotional" form of intelligence that some consider critical to Human Robot Interaction (HRI) can also be addressed by human assistant planetary surface robots, as human operators feel more comfortable working with a robot when the robot is verbally (or even physically) interacting with them. Arkin [3] and Murphy are both proponents of the hybrid deliberative-reasoning/reactive-execution architecture as the best general architecture for fully realizing robot potential, and the robots discussed herein implement a design continuously progressing toward this hybrid philosophy. The remainder of this chapter will describe the challenges associated with robotic assistance to astronauts, our general research approach, the intelligence incorporated into our robots, and the results and lessons learned from over six years of testing human-assistant mobile robots in field settings relevant to planetary exploration. The chapter concludes with some key considerations for future work in this area.

Hirsh, Robert↗

Robotic Missions to Small Bodies and Their Potential Contributions to Human Exploration and Planetary Defense

Introduction: Robotic missions to small bodies will directly address aspects of NASA's Asteroid Initiative and will contribute to future human exploration and planetary defense. The NASA Asteroid Initiative is comprised of two major components: the Grand Challenge and the Asteroid Mission. The first component, the Grand Challenge, focuses on protecting Earth's population from asteroid impacts by detecting potentially hazardous objects with enough warning time to either prevent them from impacting the planet, or to implement civil defense procedures. The Asteroid Mission involves sending astronauts to study and sample a near-Earth asteroid (NEA) prior to conducting exploration missions of the Martian system, which includes Phobos and Deimos. The science and technical data obtained from robotic precursor missions that investigate the surface and interior physical characteristics of an object will help identify the pertinent physical properties that will maximize operational efficiency and reduce mission risk for both robotic assets and crew operating in close proximity to, or at the surface of, a small body. These data will help fill crucial strategic knowledge gaps (SKGs) concerning asteroid physical characteristics that are relevant for human exploration considerations at similar small body destinations. These data can also be applied for gaining an understanding of pertinent small body physical characteristics that would also be beneficial for formulating future impact mitigation procedures. Small Body Strategic Knowledge Gaps: For the past several years NASA has been interested in identifying the key SKGs related to future human destinations. These SKGs highlight the various unknowns and/or data gaps of targets that the science and engineering communities would like to have filled in prior to committing crews to explore the Solar System. An action team from the Small Bodies Assessment Group (SBAG) was formed specifically to identify the small body SKGs under the direction of the Human Exploration and Operations Missions Directorate (HEOMD), given NASA's recent interest in NEAs and the Martian moons as potential human destinations. The action team organized the SKGs into four broad themes: 1) Identify human mission targets; 2) Understand how to work on and interact with the small body surface; 3) Understand the small body environment and its potential risk/benefit to crew, systems, and operational assets; and 4) Understand the small body resource potential. Of these four SKG themes, the first three have significant overlap with planetary defense considerations. The data obtained from investigations of small body physical characteristics under these three themes can be directly applicable to planetary defense initiatives. Conclusions: Missions to investigate small bodies can address small body strategic knowledge gaps and contribute to the overall success for human exploration missions to asteroids and the Martian moons. In addition, such reconnaissance of small bodies can also provide a wealth of information relevant to the science and planetary defense of NEAs.

Abell, Paul A.↗

SLS-Derived Lab: Precursor to Deep Space Human Exploration

Plans to send humans to Mars are in work and the launch system is being built. Are we ready? Robotic missions have successfully demonstrated transportation, entry, landing and surface operations but for human missions there are significant, potentially show-stopping issues. These issues, called Strategic Knowledge Gaps (SKGs) are the unanswered questions concerning long-duration exploration beyond low-earth-orbit. The gaps represent a risk of loss of life or mission and because they require extended exposure to the weightless environment outside earth's protective geo-magnetic field they cannot be resolved on the earth or on the International Space Station (ISS). Placing a laboratory at the relatively close and stable lunar Distant Retrograde Orbit (DRO) provides an accessible location with the requisite environmental conditions for conducting SKG research and testing mitigation solutions. Configurations comprised of multiple 3 meter and 4.3 meter diameter modules have been studied but the most attractive solution uses elements of the human Mars launch vehicle or Space Launch System (SLS) for a Mars proving ground laboratory. A shortened version of an SLS hydrogen propellant tank creates a Skylab-like pressure vessel that flies fully outfitted on a single launch. This not only offers significant savings by incorporating SLS pressure vessel development costs but avoids the expensive ISS approach using many launches with substantial on-orbit assembly before becoming operational. One of the most challenging SKGs is crew radiation protection; this is why SKG laboratory research is combined with Mars transit Habitat systems development. Fundamentally, the two cannot be divorced because using the habitat systems for protection requires actual hardware geometry and material properties intended to contribute to shielding effectiveness. The SKGs are difficult problems, solutions are not obvious, and require integrated, iterative, and multi-disciplinary development. A lunar DRO lab built from the launch system elements enables an early and representative transit habitat test bed necessary for closing gaps before sending humans on a 1000 day Mars mission.

Griffin, Brand↗

Remote Assessment of Lunar Resource Potential

Assessing the resource potential of the lunar surface requires a well-planned program to determine the chemical and mineralogical composition of the Moon's surface at a range of scales. The exploration program must include remote sensing measurements (from both Earth's surface and lunar orbit), robotic in situ analysis of specific places, and eventually, human field work by trained geologists. Remote sensing data is discussed. Resource assessment requires some idea of what resources will be needed. Studies thus far have concentrated on oxygen and hydrogen production for propellant and life support, He-3 for export as fuel for nuclear fusion reactors, and use of bulk regolith for shielding and construction materials. The measurement requirements for assessing these resources are given and discussed briefly.

Taylor, G. Jeffrey↗

Space Exploration Initiative

An overview of President Bush's Space Exploration Initiative (SEI) and it's three main components, Space Station Freedom, a Permanent Lunar Base, and a Manned Mission to Mars is provided. Computer simulations of the Space Station Freedom and Permanent Lunar Base are shown, and an animated sequence describes a Mars mission where heavy lift vehicle will bring components of a Mars Spacecraft into orbit, where it will be put together by astronauts using a robotic arm. The Mars spacecraft is shown orbiting Mars and discharging a lander to the surface, carrying human explorers. The video also details the SEI's Outreach Program, designed to garner interest in and ideas for Space Exploration.

Source record↗

SLS-Derived Lab- Precursor to Deep Space Human Exploration

Plans to send humans to Mars are in the works and the launch system is being built. Are we ready? Transportation, entry, landing, and surface operations have been successfully demonstrated for robotic missions. However, for human missions, there are significant, potentially show-stopping issues. These issues, called Strategic Knowledge Gaps (SKGs), are the unanswered questions concerning long duration exploration Beyond low Earth Orbit (BEO). The gaps represent a risk of loss of life or mission and because they require extended exposure to the weightless environment outside of earth's protective geo-magnetic field, they cannot be resolved on Earth or on the International Space Station (ISS). Placing a laboratory at a relatively close and stable lunar Distant Retrograde Orbit (DRO) provides an accessible location with the requisite environmental conditions for conducting SKG research and testing mitigation solutions. Configurations comprised of multiple 3 m and 4.3 m diameter modules have been studied but the most attractive solution uses elements of the human Mars launch vehicle or Space Launch System (SLS) for a Mars proving ground laboratory. A shortened version of an SLS hydrogen propellant tank creates a Skylab-like pressure vessel that flies fully outfitted on a single launch. This not only offers significant savings by incorporating SLS pressure vessel development costs but avoids the expensive ISS approach using many launches with substantial on-orbit assembly before becoming operational. One of the most challenging SKGs is crew radiation protection; this is why SKG laboratory research is combined with Mars transit habitat systems development. Fundamentally, the two cannot be divorced because using the habitat systems for protection requires actual hardware geometry and material properties intended to contribute to shielding effectiveness. The SKGs are difficult problems. The solutions to these problems are not obvious; they require integrated, iterative, and multi-disciplinary development. A lunar DRO lab built from SLS elements enables an early and representative transit habitat test bed necessary for closing gaps before sending humans on a 1,000-day Mars mission.

Griffin, Brand M.↗

Heterogeneous Wireless Mesh Network Technology Evaluation for Space Proximity and Surface Applications

NASA has identified standardized wireless mesh networking as a key technology for future human and robotic space exploration. Wireless mesh networks enable rapid deployment, provide coverage in undeveloped regions. Mesh networks are also self-healing, resilient, and extensible, qualities not found in traditional infrastructure-based networks. Mesh networks can offer lower size, weight, and power (SWaP) than overlapped infrastructure-perapplication. To better understand the maturity, characteristics and capability of the technology, we developed an 802.11 mesh network consisting of a combination of heterogeneous commercial off-the-shelf devices and opensource firmware and software packages. Various streaming applications were operated over the mesh network, including voice and video, and performance measurements were made under different operating scenarios. During the testing several issues with the currently implemented mesh network technology were identified and outlined for future work.

DeCristofaro, Michael A.↗

Mars Network: Strategies for Deploying Enabling Telecommunications Capabilities in Support of Mars Exploration

The coming decade of Mars exploration will involve a diverse set of robotic science missions, including in situ and sample return investigations, and ultimately moving towards sustained robotic presence on the Martian surface. In supporting this mission set, NASA must establish a robust telecommunications architecture that meets the specific science needs of near-term missions while enabling new methods of future exploration. This paper will assess the anticipated telecommunications needs of future Mars exploration, examine specific options for deploying capabilities, and quantify the performance of these options in terms of key figures of merit.

Edwards, C. D.↗

Mars: Past, present, and future; Proceedings of the Conference, Williamsburg, VA, July 16-19, 1991

The present conference discusses the terraforming of Mars, the history of the Viking lander efforts, prospective Mars exploration management and research initiatives in view of the Viking Missions, the rationale and constituencies for NASA's Space Exploration Initiative, Mars mission benefits, and a Congressional perspective on the Space Exporation initiative. Also discussed are a risk-based approach to robotic mission requirements, a Mars Environment Survey Mission concept, a Mars network of surface stations, Mars sample-return mission options, an integrated STS for Mars exploration, nuclear propulsion technology development by NASA/DOE, radiation shielding en route to Mars and on the surface, advanced technologies for nuclear propulsion, and 'smart' space suits for space exploration.

Pritchard, E. B.↗

Reducing the Risk of Human Missions to Mars Through Testing

During the summer of 2002 the NASA Deputy Administrator charted an internal NASA planning group to develop the rationale for exploration beyond low-Earth orbit. This team, termed the Exploration Blueprint, performed architecture analyses to develop roadmaps for how to accomplish the first steps beyond Low-Earth Orbit through the human exploration of Mars. The previous NASA Exploration Team (NEXT) activities laid the foundation and framework for development of NASA s Integrated Space Plan. The reference missions resulting from the analysis performed by the Exploration Blueprint team formed the basis for requirement definition, systems development, technology roadmapping, and risk assessments for future human exploration beyond low-Earth orbit. Emphasis was placed on developing recommendations on what could be done now to effect future exploration activities. The Exploration Blueprint team embraced the Stepping Stone approach to exploration where human and robotic activities are conducted through progressive expansion outward beyond low- Earth orbit. Results from this study produced a long-term strategy for exploration with near-term implementation plans, program recommendations, and technology investments. Specific results included the development of a common exploration crew vehicle concept, a unified space nuclear strategy, focused bioastronautics research objectives, and an integrated human and robotic exploration strategy. Recommendations from the Exploration Blueprint included the endorsement of the Nuclear Systems Initiative, augmentation of the bioastronautics research, a focused space transportation program including heavy-lift launch and a common exploration vehicle design for ISS and exploration missions, as well as an integrated human and robotic exploration strategy for Mars. Following the results of the Exploration Blueprint study, the NASA Administrator has asked for a recommendation by June, 2003 on the next steps in human and robotic exploration in order to put into context an updated Integrated Space Transportation Plan (post- Columbia) and guide Agency planning. NASA was on the verge of committing significant funding in programs that would be better served if longer term goals were better known including the Orbital Space Plane, research on the ISS, National Aerospace Initiative, Shuttle Life Extension Program, Project Prometheus, as well as a wide range of technology development throughout the Agency. Much of the focus during this period was on integrating the results from the previous studies into more concrete implementation strategies in order to understand the relationship between NASA programs, timing, and resulting budgetary implications. This resulted in an integrated approach including lunar surface operations to retire risk of human Mars missions, maximum use of common and modular systems including what was termed the exploration transfer vehicle, Earth orbit and lunar surface demonstrations of long-life systems, collaboration of human and robotic missions to vastly increase mission return, and high-efficiency transportation systems (nuclear) for deep-space transportation and power. The data provided in this summary viewgraph presentation was developed to begin to address one of the key elements of the emerging implementation strategy, namely how lunar missions help retire risk of human missions to Mars. During this process the scope of the activity broadened into the issue of how testing in general, in various venues including the Moon, can help reduce the risk for Mars missions.

Drake, Bret G.↗

iMETRO (Integrated Mobile Evaluation Testbed for Robotics Operations) Facility

Exploration crew time in space is precious – every hour could yield immense scientific discovery. However, overhead tasks such as logistics, maintenance, and assembly greatly limit crew time available for science and exploration. Robotic remote operations capabilities offer a solution, but operating mobile dexterous robots in human centered environments presents many unknowns and challenges, therefore testing is needed. iMETRO is a NASA JSC robotics test facility for terrestrial robotic technology adaptation for space exploration use cases, including logistics, maintenance, and science utilization. iMETRO focuses on Intra-Vehicular task environments, such as surface habitats, pressurized rover cabins, and space station modules (both Gateway & LEO). Its goal is to advance the Technology Readiness Levels (TRL) of remote space robot operations systems with Earth supervision.

Robotics↗

Electrical and Chemical Interactions at Mars Workshop. Part 2: Appendix

The objectives of the workshop were the following: (1) to identify issues related to electrical and chemical interactions between systems and their local environments at Mars; and (2) to recommend means of addressing those issues, including the dispatch of robotic spacecraft to Mars to acquire necessary information. Presentations about Mars' surface and orbital environments, Space Exploration Initiative (SEI) systems, environmental interactions, modeling and analysis, and plans for exploration are presented in viewgraph form.

Source record↗

Lightweight Nonmetallic Thermal Protection Materials Technology

To fulfill President George W. Bush's "Vision for Space Exploration" (2004) - successful human and robotic missions to and from other solar system bodies in order to explore their atmospheres and surfaces - the National Aeronautics and Space Administration (NASA) must reduce the trip time, cost, and vehicle weight so that the payload and scientific experiments' capabilities can be maximized. The new project described in this paper will generate thermal protection system (TPS) product that will enable greater fidelity in mission/vehicle design trade studies, support risk reduction for material selections, assist in the optimization of vehicle weights, and provide materials and processes templates for use in the development of human-rated TPS qualification and certification plans.

Valentine, Peter G.↗

Crewbot Suspension Design

Planetary Surface Robot Work Crews (RWC) represent a new class of construction robots for future deployment in planetary exploration. Rovers currently being used for the RWC platform lack the load carrying capabilities required in regular work. Two new rovers, dubbed CrewBots, being designed in JPL's Planetary Robotics Lab specifically for RWC applications greatly increase the load carrying capabilities of the platform. A major component of the rover design was the design of the rocker type suspension, which increases rover mobility. The design of the suspension for the Crewbots departed from the design of recent rovers. While many previous rovers have used internal bevel gear differentials, the increased load requirements of the Crewbots calls for a more robust system. The solution presented is the use of an external modified three-bar, slider-linkage, rocker-style suspension that increases the moment arm of the differential. The final product is a suspension system capable of supporting the extreme loading cases the RWC platform presents, without consuming a large portion of the Crewbots' internal space.

Wood, Nathan A.↗

Desert Rats 2011 Mission Simulation: Effects of Microgravity Operational Modes on Fields Geology Capabilities

Desert Research and Technology Studies (DRATS) is a multi-year series of NASA tests that deploy planetary surface hardware and exercise mission and science operations in difficult conditions to advance human and robotic exploration capabilities. DRATS 2011 (Aug. 30-Sept. 9, 2011) tested strategies for human exploration of microgravity targets such as near-Earth asteroids (NEAs). Here we report the crew perspective on the impact of simulated microgravity operations on our capability to conduct field geology.

Bleacher, Jacob E.↗