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NASA NTRS2007

Slip Validation and Prediction for Mars Exploration Rovers

This paper presents a novel technique to validate and predict the rover slips on Martian surface for NASA's Mars Exploration Rovers. Different from the traditional approach, the proposed method uses the actual velocity profile of the wheels and the digital elevation map (DEM) from the stereo images of the terrain to formulate simplified equations of motion of the rovers. A weighted factor to the wheel-ground speed from the empirical data comprises the velocity equations of the simplified differential-algebraic system of the rover motion. Applying the discretization operator to these equations, the full kinematics state of the rover is then resolved by the configuration kinematics solution in the Robot Sequencing and Visualization Program (RSVP). This method produced accurate simulation of the rover movements compared with these of the earth testing vehicle. Using the telemetry from the onboard Visual Odometry, the simulated rover path also compares well with the actual track of the vehicle. Preliminary results indicated that the proposed computational method is very effective in planning the path of the rovers on the high-slope areas.

Mars Rovers↗

NASA NTRS2014

Intelligent UAS Sense-and-Avoid Utilizing Global Constraints

Sense-and-avoid (SAA) is a critical research topic for enabling the operation of Unmanned Aircraft Systems (UAS) in civilian airspace. SAA involves two planning related problems: 1) plan-recognition to predict the future trajectory of nearby aircraft, and 2) path planning to avoid conflicts with nearby aircraft that pose a threat. We have designed and built components of a novel intelligent sense-and-avoid (iSAA) reasoning framework that takes into account information about aircraft type, transponder code, communications, local routes, airports, airspace, terrain, and weather to more accurately predict near- and medium-term trajectories of nearby aircraft. By using this additional information both the on-board control software and the ground-based UAS operator can make more informed, intelligent decisions to effectively predict and avoid conflicts and maintain separation. While this capability benefits all categories of UASs operating under both Instrument Flight Rules (IFR) and Visual Flight Rules (VFR), it is absolutely essential for allowing smaller UASs to operate VFR at low altitude in uncontrolled airspace for operations such as survey work, wildlife tracking, aerial photography, utilities inspection, crop dusting, and package delivery.

unmanned aircraft systems↗

NASA NTRS1987

Some data processing requirements for precision Nap-Of-the-Earth (NOE) guidance and control of rotorcraft

Nap-Of-the-Earth (NOE) flight in a conventional helicopter is extremely taxing for two pilots under visual conditions. Developing a single pilot all-weather NOE capability will require a fully automatic NOE navigation and flight control capability for which innovative guidance and control concepts were examined. Constrained time-optimality provides a validated criterion for automatically controlled NOE maneuvers if the pilot is to have confidence in the automated maneuvering technique. A second focus was to organize the storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan. A method is presented for using pre-flight geodetic parameter identification to establish guidance commands for planned flight profiles and alternates. A method is then suggested for interpolating this guidance command information with the aid of forward and side looking sensors within the resolution of the stored data base, enriching the data content with real-time display, guidance, and control purposes. A third focus defined a class of automatic anticipative guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles and to address the effects of processing delays in digital guidance and control system candidates. The results of this three-fold research effort offer promising alternatives designed to gain pilot acceptance for automatic guidance and control of rotorcraft in NOE operations.

Clement, Warren F.↗

NASA NTRS2008

Science Activity Planner for the MER Mission

The Maestro Science Activity Planner is a computer program that assists human users in planning operations of the Mars Explorer Rover (MER) mission and visualizing scientific data returned from the MER rovers. Relative to its predecessors, this program is more powerful and easier to use. This program is built on the Java Eclipse open-source platform around a Web-browser-based user-interface paradigm to provide an intuitive user interface to Mars rovers and landers. This program affords a combination of advanced display and simulation capabilities. For example, a map view of terrain can be generated from images acquired by the High Resolution Imaging Science Explorer instrument aboard the Mars Reconnaissance Orbiter spacecraft and overlaid with images from a navigation camera (more precisely, a stereoscopic pair of cameras) aboard a rover, and an interactive, annotated rover traverse path can be incorporated into the overlay. It is also possible to construct an overhead perspective mosaic image of terrain from navigation-camera images. This program can be adapted to similar use on other outer-space missions and is potentially adaptable to numerous terrestrial applications involving analysis of data, operations of robots, and planning of such operations for acquisition of scientific data.

Norris, Jeffrey S.↗

NASA NTRS1980

Energy potential and early operational experience for large wind turbines

Projections for the total potential output of large wind turbines in the U.S. are reviewed. NASA has developed nine large windpowered generators, of 100 kW, 200 kW, 2 MW, and 2.5 MW capacities, with rotors 100-300 ft in diameter, and all with horizontal axes. Approximately 214,000 sq miles of the U.S. have been determined as having substantial wind regimes and terrain suitable for large wind turbine siting. This translates into 340,000 Mod 2 (2.5 MW) wind turbines producing 4.9 quads of electricity annually, equivalent to saving 2.5 billion barrels of oil/yr. The cost of electricity is seen as the critical factor in utility acceptance of large wind turbines, and the Mod 2 machines are noted to achieve the 2-4 cents/kWh (1977 dollars) COE which is necessary. Problems such as pollution, including visual, auditory, EM, and land use difficulties are considered, and solutions are indicated.

Robbins, W. H.↗

NASA NTRS1991

Dark-ray and dark-floor craters on Ganymede, and the provenance of large impactors in the Jovian system

The dark-floor and dark-ray craters on the icy Jovian satellite, Ganymede, may derive their visual characteristics from impactor contamination. It is presently hypothesized that the rays darken as a result of the near-surface concentration of impactor material; this could occur, first, due to magnetic sputtering while the rays are bright, and subsequently, once a critical albedo is reached, due to thermal sublimation into discrete icy and nonicy patches. Voyager visible spectra of dark rays indicate that most large-ray systems are 'redder' than grooved or cratered terrains, and are among the 'reddest' units on Ganymede. More than half of the recent impactors on Ganymede may have been reddish D-type asteroids or comets, accounting for the albedos and colors of dark terrains on both Ganymede and Callisto.

Schenk, Paul M.↗

NASA NTRS1984

Hypsometric studies of Mars.

Altitude data derived from the 12.6 cm radar measurements obtained at JPL's Goldstone Facility were used to explore the utility of this type of regional analysis and to develop criteria for the interpretation of hypsometric data for planets where no visual images are available. Examination of the radar-derived hypsogram for Mars shows that the unimodal distribution of elevations contains several second order peaks and is skewed toward a modal elevation of about 3.5 km above the 6.1 mb datum. Individual topographic features can be recognized from this hypsogram, but such interpretations are based on the known surface morphology that has been determined from spacecraft images. It is not yet known how, for example, cratered terrain, regional slopes or other morphological features could be identified using the hypsogram if no images were available for ground-truth. The role that large impact craters play in influencing the shape of a hypsogram is being studied.

Blake, P. L.↗

NASA NTRS1994

Lunar rover technology demonstrations with Dante and Ratler

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.

Krotkov, Eric↗

NASA NTRS2008

Pattern-Recognition System for Approaching a Known Target

A closed-loop pattern-recognition system is designed to provide guidance for maneuvering a small exploratory robotic vehicle (rover) on Mars to return to a landed spacecraft to deliver soil and rock samples that the spacecraft would subsequently bring back to Earth. The system could be adapted to terrestrial use in guiding mobile robots to approach known structures that humans could not approach safely, for such purposes as reconnaissance in military or law-enforcement applications, terrestrial scientific exploration, and removal of explosive or other hazardous items. The system has been demonstrated in experiments in which the Field Integrated Design and Operations (FIDO) rover (a prototype Mars rover equipped with a video camera for guidance) is made to return to a mockup of Mars-lander spacecraft. The FIDO rover camera autonomously acquires an image of the lander from a distance of 125 m in an outdoor environment. Then under guidance by an algorithm that performs fusion of multiple line and texture features in digitized images acquired by the camera, the rover traverses the intervening terrain, using features derived from images of the lander truss structure. Then by use of precise pattern matching for determining the position and orientation of the rover relative to the lander, the rover aligns itself with the bottom of ramps extending from the lander, in preparation for climbing the ramps to deliver samples to the lander. The most innovative aspect of the system is a set of pattern-recognition algorithms that govern a three-phase visual-guidance sequence for approaching the lander. During the first phase, a multifeature fusion algorithm integrates the outputs of a horizontal-line-detection algorithm and a wavelet-transform-based visual-area-of-interest algorithm for detecting the lander from a significant distance. The horizontal-line-detection algorithm is used to determine candidate lander locations based on detection of a horizontal deck that is part of the lander.

Huntsberger, Terrance↗

NASA NTRS2005

NASA Tech Briefs, July 2005

Thin-Film Resistance Heat-Flux Sensors Circuit Indicates that Voice-Recording Disks are Nearly Full Optical Sensing of Combustion Instabilities in Gas Turbines Topics include: Crane-Load Contact Sensor; Hexagonal and Pentagonal Fractal Multiband Antennas; Multifunctional Logic Gate Controlled by Temperature; Multifunctional Logic Gate Controlled by Supply Voltage; Power Divider for Waveforms Rich in Harmonics; SCB Quantum Computers Using iSWAP and 1-Qubit Rotations; CSAM Metrology Software Tool; Update on Rover Sequencing and Visualization Program; Selecting Data from a Star Catalog; Rotating Desk for Collaboration by Two Computer Programmers; Variable-Pressure Washer; Magnetically Attached Multifunction Maintenance Rover; Improvements in Fabrication of Sand/Binder Cores for Casting; Solid Freeform Fabrication of Composite-Material Objects; Efficient Computational Model of Hysteresis; Gauges for Highly Precise Metrology of a Compound Mirror; Improved Electrolytic Hydrogen Peroxide Generator; High-Power Fiber Lasers Using Photonic Band Gap Materials; Ontology-Driven Information Integration; Quantifying Traversability of Terrain for a Mobile Robot; More About Arc-Welding Process for Making Carbon Nanotubes; Controlling Laser Spot Size in Outer Space; or Software-Reconfigurable Processors for Spacecraft.

Source record↗

NASA NTRS1987

High resolution thermal infrared mapping of Martian channels

Viking Infrared Thermal Mapper (IRTM) high resolution (2 to 5 km) data were compiled and compared to Viking Visual Imaging Subsystem (VIS) data and available 1:5M geologic maps for several Martian channels including Dao, Harmakhis, Mangala, Shalbatana, and Simud Valles in an effort to determine the surface characteristics and the processes active during and after the formation of these channels. Results show a dominance of aeolian processes active in and around the channels. These processes have left materials thick enough to mask any genuine channel deposits. Results also indicate that very comparable Martian channels and their surrounding terrain are blanketed by deposits which are homogeneous in their thermal inertia values. However, optimum IRTM data does not cover the entire Martian surface and because local deposits of high thermal inertia material may not be large enough in areal extent or may be in an unfavorable location on the planet, a high resolution data track may not always occur over these deposits. Therefore, aeolian processes may be even more active than the IRTM data tracts can always show.

Craddock, R. A.↗

NASA NTRS2017

Minerva: User-Centered Science Operations Software Capability for Future Human Exploration

In June of 2016, the Biologic Analog Science Associated with Lava Terrains (BASALT) research project conducted its first field deployment, which we call BASALT-1. BASALT-1 consisted of a science-driven field campaign in a volcanic field in Idaho as a simulated human mission to Mars. Scientists and mission operators were provided a suite of ground software tools that we refer to collectively as Minerva to carry out their work. Minerva provides capabilities for traverse planning and route optimization, timeline generation and display, procedure management, execution monitoring, data archiving, visualization, and search. This paper describes the Minerva architecture, constituent components, use cases, and some preliminary findings from the BASALT-1 campaign.

Deans, Matthew↗

NASA NTRS2017

Minerva: User-Centered Science Operations Software Capability for Future Human Exploration

Deans, Matthew↗

NASA NTRS1988

Helicopter human factors research

Helicopter flight is among the most demanding of all human-machine integrations. The inherent manual control complexities of rotorcraft are made even more challenging by the small margin for error created in certain operations, such as nap-of-the-Earth (NOE) flight, by the proximity of the terrain. Accident data recount numerous examples of unintended conflict between helicopters and terrain and attest to the perceptual and control difficulties associated with low altitude flight tasks. Ames Research Center, in cooperation with the U.S. Army Aeroflightdynamics Directorate, has initiated an ambitious research program aimed at increasing safety margins for both civilian and military rotorcraft operations. The program is broad, fundamental, and focused on the development of scientific understandings and technological countermeasures. Research being conducted in several areas is reviewed: workload assessment, prediction, and measure validation; development of advanced displays and effective pilot/automation interfaces; identification of visual cues necessary for low-level, low-visibility flight and modeling of visual flight-path control; and pilot training.

Nagel, David C.↗

NASA NTRS1975

Evaluation of Skylab earth laser beacon imagery

During the Skylab 3 and 4 missions the Skylab spacecraft was illuminated by a low power argon ion and dye laser. The earth laser beacon was studied visually by the astronauts. In addition, they collected 35 mm hand-held color photographs of the beacons. Photographs are shown that were obtained on Skylab 3 and Skylab 4. The imagery collected during the Skylab mission was analyzed to evaluate the utility of beacon lasers as terrestial 'artificial stars' for space navigation. The analyses of the imagery revealed two unusual features of the earth laser beacon: (1) The beacon, even though of a low power (approximately 1 watt), is considerably brighter than any other terrain feature and is readily visible on imagery at a distance in excess of 1500 km (900 miles). (2) Another feature of the beacon is its large size. The typical beacon extends over about 5 resolution areas with a characteristic dimension of about 200 m.

Piech, K. R.↗

NASA NTRS2004

Accessing and visualizing scientific spatiotemporal data

This paper discusses work done by JPL's Parallel Applications Technologies Group in helping scientists access and visualize very large data sets through the use of multiple computing resources, such as parallel supercomputers, clusters, and grids.

rendering↗

NASA NTRS1976

Visual/motion simulation of CTOL flare and touchdown comparing data obtained from two model board display systems

Acquisition of a modern terrain model board display system for 'out-the-window' scene presentation has allowed for the repetition of an evaluation study of combined visual/motion cues for CTOL flare and touchdown control that was originally carried out on a 1965 vintage landing display system. The motion drive system used in both studies was a nonlinear coordinated adaptive washout based on the method of continuous steepest descent optimization. Comparisons of the results of the studies present flare and touchdown data, as well as dynamic response data, from the two visual landing systems. The new visual system also allowed for the repetition, under visual conditions, of a subjective comparison of a linear and a nonlinear motion washout method done previously under instrument conditions.

Parrish, R. V.↗

NASA NTRS1992

Sensor fusion IV: Control paradigms and data structures; Proceedings of the Meeting, Boston, MA, Nov. 12-15, 1991

Various papers on control paradigms and data structures in sensor fusion are presented. The general topics addressed include: decision models and computational methods, sensor modeling and data representation, active sensing strategies, geometric planning and visualization, task-driven sensing, motion analysis, models motivated biology and psychology, decentralized detection and distributed decision, data fusion architectures, robust estimation of shapes and features, application and implementation. Some of the individual subjects considered are: the Firefly experiment on neural networks for distributed sensor data fusion, manifold traversing as a model for learning control of autonomous robots, choice of coordinate systems for multiple sensor fusion, continuous motion using task-directed stereo vision, interactive and cooperative sensing and control for advanced teleoperation, knowledge-based imaging for terrain analysis, physical and digital simulations for IVA robotics.

Schenker, Paul S.↗