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At least 253 records · Page 14

CLASS: Coherent Lidar Airborne Shear Sensor. Windshear avoidance

The coherent lidar airborne shear sensor (CLASS) is an airborne CO2 lidar system being designed and developed by Lockheed Missiles and Space Company, Inc. (LMSC) under contract to NASA Langley Research Center. The goal of this program is to develop a system with a 2- to 4-kilometer range that will provide a warning time of 20 to 40 seconds, so that the pilot can avoid the hazards of low-altitude wind shear under all weather conditions. It is a predictive system which will warn the pilot about a hazard that the aircraft will experience at some later time. The ability of the system to provide predictive warnings of clear air turbulence will also be evaluated. A one-year flight evaluation program will measure the line-of-sight wind velocity from a wide variety of wind fields obtained by an airborne radar, an accelerometer-based reactive wind-sensing system, and a ground-based Doppler radar. The success of the airborne lidar system will be determined by its correlation with the windfield as indicated by the onboard reactive system, which indicates the winds actually experienced by the NASA Boeing 737 aircraft.

Targ, Russell↗

An Evaluation of the Measurement Requirements for an In-Situ Wake Vortex Detection System

Results of a numerical simulation are presented to determine the feasibility of estimating the location and strength of a wake vortex from imperfect in-situ measurements. These estimates could be used to provide information to a pilot on how to avoid a hazardous wake vortex encounter. An iterative algorithm based on the method of secants was used to solve the four simultaneous equations describing the two-dimensional flow field around a pair of parallel counter-rotating vortices of equal and constant strength. The flow field information used by the algorithm could be derived from measurements from flow angle sensors mounted on the wing-tip of the detecting aircraft and an inertial navigation system. The study determined the propagated errors in the estimated location and strength of the vortex which resulted from random errors added to theoretically perfect measurements. The results are summarized in a series of charts and a table which make it possible to estimate these propagated errors for many practical situations. The situations include several generator-detector airplane combinations, different distances between the vortex and the detector airplane, as well as different levels of total measurement error.

Fuhrmann, Henri D.↗

Proposed Mars Surveyor Landing Sites in Northern Meridiani Sinus, Southern Elysium Planitia, and Argyre Planitia

Our objective is to propose two landing sites that the Mars Surveyor 2001 Lander and Athena Rover could go to on Mars that should meet the safety requirements of the spacecraft landing system and optimize surface operations (chiefly driven by power and communications requirements). An additional site within Argyre Planitia, initially proposed by Parker to the Mars Surveyor Landing Site program, is also proposed for potential consideration for post-2001 missions to Mars, as it is well outside the current latitude limits for the Athena Rover. All three sites are designed to be situated as close to a diversity of geologic units within a few kilometers of the landing site so that diversity can be placed in a geologic context. This objective is very different from the Mars Pathfinder requirement to land at a site with a maximum chance for containing a diversity of rocks within a few tens of meters of the lander. That requirement was driven by the Sojourner mobility limit of a few tens of meters. It can be argued that the Athena project, with its much larger mobility capability, might actually want to avoid such a site, because placing collected samples in geologic context would be difficult. While it has been argued, both before and after the Mars Pathfinder landing, that the provenance for local blocks may be determined by orbiter spectra, primarily from the MGS TES instrument, our ability to do so has yet to be demonstrated. Indeed, several months after conclusion of the Pathfinder mission, we have yet to reach a consensus on the composition of local materials. Our primary data set for selecting a landing site within the latitude and elevation constraints of the 2001 mission is the Viking Orbiter image archive. The site must be selected to place the landing ellipse so as to avoid obvious hazards, such as steep slopes, large or numerous craters, or abundant large knobs. For this purpose, we chose a resolution limit of better than 50 m/pixel. This necessarily excludes from the present study images from current and future orbiter spacecraft, until such data does become readily available. Within each proposed region, it may be possible to identify additional sites once these data become available. Second, the fine-component thermal inertia data, should be greater than about 5 or 6 cgs Units (10(exp -3) cal/sq cm s(exp -0.5)/K). Low thermal inertias imply dusty environments, which could pose a mobility hazard. Similarly, the albedo of the site should not be particularly high, which would also suggest dusty surfaces. Low albedos are preferred, as they often coincide with low Viking red:violet ratios and indicate less dusty surfaces. Next, the Modeled Block Abundance should also not be too high or too low. Based on the Viking Lander and Mars Pathfinder experiences, percentages of blocks should be on the order of 5-25%. Too many blocks could pose a hazard to the landing and mobility. Too few blocks could also indicate a dusty surface. Primary Landing Site: Northern Meridiani Sinus (Proposed by T. J. Parker and K., S. Edgett) Vital Statistics: (1) Latitude, Longitude: 0-3 N, 350-2 W. *Elevation (Viking): about0.5-1.5 Ian. (2) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbits 709A and 410B). Possible stereo coverage in region where two orbits overlap (probably small parallax angle, as these orbits are not listed in NASA Contractor Report 3501) (3) Albedo: about .18 -.26 (4) Block Abundance: 5-26% (5)Fine-Component Thermal Inertia: 5-9 cgs units This region consists of bright deposits similar to those described by Edgett et al, that also lie within a prominent dark albedo region. These deposits are flat-lying, to such a degree that they ramp against topography rather than draping over it. This led Edgett and Parker to suggest that they may be subaqueous sediments, possibly lacustrine or marine evaporites, laid down sometime from the late Noachian to middle Hesperian (age determination pending crater counts). A contact between this material and elevated, dissected highlands to the south was identified , and is described by Edgett et al. Our desire in proposing this landing site is to sample the edge of this deposit where it has been exposed through etching, presumably eolian deflation (the deposit, though in the highlands, is itself only lightly to moderately cratered). This should enable access to in situ stratigraphy. The actual landing site will be selected where slopes are not expected to be steep, such that the rover itself should be able to traverse them and sample layered materials on the way, either up or down the slope. Perhaps due to uncertainties at this time as to the friability or meter-scale roughness of the deposit, it might make sense to place the landing ellipse on the exhumed highland surface adjacent to the deflated margin of the deposit and plan on driving to the deposit rather than landing on it and driving downslope. This should also enable imaging the margin for evidence of layering should it prove too difficult to climb. A target ellipse on the highland surface should also allow Athena access to ancient Noachian highland materials, particularly if placed near crater ejecta or an inlier of knobby material. Secondary Landing Site: Southern Elysium Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 1.5-3.5 S, 195-198 W. (2) Elevation (Viking): -1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 15 - 25 m/pixel images (orbit 725). Possible stereo coverage between images from beginning and end of orbit that overlap (probably small parallax angle) (4) Albedo: about .27-.28 (5) Block Abundance: 4-7% (6) Fine-Component Thermal Inertia: about 3 cgs units This region consists of eroded knobby material, probably of Noachian age, though much of the crater population has been destroyed, that is onlapped at a sharp contact by an extensive plains unit in southern Elysium Planitia that is Amazonian in age. The plains materials have been attributed to unusually low-viscosity flood lavas from fissures south of the Elysium volcanic rise, or to lacustrine materials associated with a large, Amazonian lake at the source of Marte Vallis. Parker and Schenk presented evidence in support of the latter interpretation, though they attributed the putative shore morphology to an embayment of a northern plains ocean into the southern Elysium region. Detailed examination of the margin of the deposit, showing erosion, not simply burial, of small crater rims and fluidized ejecta blankets, also points to lacustrine or marine sedimentation rather than volcanic plains burial. The plains surface exhibits a "crusty" appearance that many researchers have attributed to pressure ridges in lava flows. In a lacustrine context, they also resemble pressure ridges in desiccated evaporite deposits and salt-rimmed pools (now dry) similar in scale and morphology to spectacular, hundred meter-scale pool rims in alkaline Lake Natron, East African Rift. The eroded highland margin surface adjacent to these plains appears to be fairly smooth, even at 15 m/pixel. Isolated knob inliers are scattered from a few kilometers to several tens of "kilometers apart. Heights of the knobs have not been measured yet but, based on experience with similar features in the Pathfinder landing ellipse, are probably typically on the order of several tens of meters high and smaller, though some of the largest knobs in the region are probably up to a few hundred meters high. Two craters larger than a kilometer in diameter, with fluidized deposits, lie nearby the proposed landing site. Very high-resolution images from MOC should help to determine whether a landing site navigable by the Athena rover could be placed in this region. The space between knobs and craters is large enough to enable placement of a target landing ellipse between them but still provide access to one or more of them and to the margin of the Elysium plains material. Post-2001 Mars Surveyor Landing Site: Argyre Planitia (Proposed by T. J. Parker) Vital Statistics: (1) Latitude, Longitude: 55-56 S, 41-43 W. (2) Elevation (Viking): 1.0 km. (3) Viking Orbiter Image coverage: Excellent coverage by 40 m/pixel images (orbits 567B, 568B, and 569B). Excellent stereo coverage with large parallax angles over the entire landing site region, and much of central and southern Argyre. (4) Albedo: about .23-.24 (5) Block Abundance: No data (6) Fine-Component Thermal Inertia: No data The floors of both the Argyre and Hellas basins contain etched layered materials that are probably thick accumulations of channel or lacustrine sediments. The deposits in Hellas are much more eroded than those in Argyre, and Hellas lacks a channel outlet. Argyre is unique in that Uzboi Vallis flowed out of the basin, requiring overflow of a standing body of water within Argyre. This makes it the largest impact basin on Mars with channels both draining into it and flowing out from it. Hellas' channels may be catastrophic flood channels, whereas Argyre was fed by modest-scale valley networks, though the outlet at Uzboi Vallis was a catastrophic flood Highland craters and basins of this kind should be high-priority landing targets for missions intended to focus on the search for either prebiotic organic materials or even simple fossil microorganisms. Basins with internally-draining valley networks should be preferred over flood channels, as they could have provided the long-term influx of water favorable to the origin of life. (Catastrophic floods are not conducive to fossil preservation, due to their very short durations and high transportation energies). They also afford an opportunity to study the evolution of the planet's climate and volatiles during the period of time between the late Noachian and early Hesperian, when a drastic change from a proposed early warm, wet climate to one more closely resembling the modern environment is thought to have occurred. Large basin

Parker, T. J.↗

The Mission and Operations of the Mars Pathfinder Microrover

The Microrover Flight Experiment (MFEX) is a NASA OACT flight experiment which is planned to be delivered and integrated with the Mars Pathfinder (MPF) lander and spacecraft system for landing on Mars on July 4, 1997.

autonomous mobile robot navigation mobility hazard↗

High gain antenna pointing on the Mars Exploration Rovers

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars Exploration Rovers. The gimballed antennae must track the Earth as it moves across the Martian sky during communication sessions. The algorithm accounts for (1) gimbal range limitations, (2) obstructions both on the rover and in the surrounding environment, (3) kinematic singularities in the gimbal design, and (4) up to two joint-space solutions for a given pointing direction. The algorithm computes the intercept-times for each of the occlusions and chooses the jointspace solution that provides the longest track time before encountering an occlusion. Upon encountering an occlusion, the pointing algorithm automatically switches to the other joint-space solution if it is not also occluded. The algorithm has successfully provided flop-free pointing for both rovers throughout the mission.

motion planning↗

Next Generation Millimeter-Wave Radar for Safe Planetary Landing

Safe, precise landing on planetary bodies requires knowledge of altitude and velocity, and may require active detection and avoidance of hazardous terrain. Radar offers a superior solution to both problems due to its ability to operate at any time of day, through dust and engine plumes, and ability to detect velocity coherently. While previous efforts have focused on providing near term solutions to the safe landing problem, we are designing radar velocimeters and radar imagers for missions beyond the next decade. In this paper we identify the fundamental issues within each approach, at arrive at strawman sensor designs at a center frequency at or around 160 GHz (Gband). We find that a G-band radar velocimeter design is capable of sub-10 cm/s accuracy, and a G-band imager is capable of sub-0.5 degree resolution over a 28 degree field of view. From those designs, we arrive at the key technology requirements for the development of power and low noise amplifiers, signal distribution methods, and antenna arrays that enable the construction of these next generation sensors.

radar velocimetry↗

Control in Unmanned NASA Missions

This viewgraph presentation reviews several general aspects of control for NASA space missions. Included in the review are the Entry, Descent and Landing (EDL) for both Mars Exploration Rover (MER), and Mars Science Laboratory (MSL); and the control of the MER Rover. Also included is discussion about control issues in relation to formation flying, adaptive optics and precision wavefront control, sensors for environmental control- ENose. Essential developments in the areas of control are important for increase in Autonomy/Automation is essential for deep space manned missions. Other areas of concern are robustness and the need to address life support system control issues.

wavefront control↗

High Gain Antenna Pointing on the Mars Exploration Rovers

This paper describes the algorithm used to point the high gain antennae on NASA/JPL's Mars exploration rovers. Each rover's gimballed antenna must track the Earth as it moves across the Martian sky during communication sessions. The pointing algorithm accounts for obstacles to the line-of-sight posed by (1) features on the rover and in the surrounding environment (2) gimbal range limitations, and (3) kinematic singularities in the gimbal mechanism. The algorithm treats all obstacles with a generalized approach that computes the intercept-times to each obstacle. Where possible, the algorithm takes advantage of pairs of joint-space solutions arising from the mechanism design. The algorithm chooses the solution that provides the longest obstruction-free tracking time. Upon encountering an obstacle, the algorithm automatically switches to the other solution if it is not also obstructed. This algorithm has successfully provided obstruction-free pointing for both rovers throughout the mission.

inverse kinematics↗

Pass-transistor very large scale integration

Logic elements are provided that permit reductions in layout size and avoidance of hazards. Such logic elements may be included in libraries of logic cells. A logical function to be implemented by the logic element is decomposed about logical variables to identify factors corresponding to combinations of the logical variables and their complements. A pass transistor network is provided for implementing the pass network function in accordance with this decomposition. The pass transistor network includes ordered arrangements of pass transistors that correspond to the combinations of variables and complements resulting from the logical decomposition. The logic elements may act as selection circuits and be integrated with memory and buffer elements.

Maki, Gary K.↗

Small Autonomous Aircraft Servo Health Monitoring

Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

Quintero, Steven↗

Project M: An Assessment of Mission Assumptions

Project M is a mission Johnson Space Center is working on to send an autonomous humanoid robot to the moon (also known as Robonaut 2) in l000 days. The robot will be in a lander, fueled by liquid oxygen and liquid methane, and land on the moon, avoiding any hazardous obstacles. It will perform tasks like maintenance, construction, and simple student experiments. This mission is also being used as inspiration for new advancements in technology. I am considering three of the design assumptions that contribute to determining the mission feasibility: maturity of robotic technology, launch vehicle determination, and the LOX/Methane fueled spacecraft

Edwards, Alycia↗

Autonomous Operations Planner: A Flexible Platform for Research in Flight-Deck Support for Airborne Self-Separation

The Autonomous Operations Planner (AOP), developed by NASA, is a flexible and powerful prototype of a flight-deck automation system to support self-separation of aircraft. The AOP incorporates a variety of algorithms to detect and resolve conflicts between the trajectories of its own aircraft and traffic aircraft while meeting route constraints such as required times of arrival and avoiding airspace hazards such as convective weather and restricted airspace. This integrated suite of algorithms provides flight crew support for strategic and tactical conflict resolutions and conflict-free trajectory planning while en route. The AOP has supported an extensive set of experiments covering various conditions and variations on the self-separation concept, yielding insight into the system s design and resolving various challenges encountered in the exploration of the concept. The design of the AOP will enable it to continue to evolve and support experimentation as the self-separation concept is refined.

Karr, David A.↗

Design for the Structure and the Mechanics of Moballs

The moball is envisioned to be a round, self-powered, and wind-driven multifunctioning sensor used in the Gone with the Wind ON-Mars (GOWON) [http://www.lpi.usra.edu/meetings/ marsconcepts2012/pdf/4238.pdf]: A Wind-Driven Networked System of Mobile sensors on Mars. The moballs would have sensing, processing, and communication capabilities. The moballs would perform in situ detection of key environmental elements such as vaporized water, trace gases, wind, dust, clouds, light and UV exposure, temperature, as well as minerals of interest, possible biosignatures, surface magnetic and electric fields, etc. The embedded various low-power micro instruments could include a Multispectral Microscopic Imager (to detect various minerals), a compact curved focal plane array camera (UV/Vis/NIR) with a large field of view, a compact UV/Visible spectrometer, a micro-weather station, etc. The moballs could communicate with each other and an orbiter. Their wind- or gravity-driven rolling movement could be used to harvest and store electric energy. They could also generate and store energy using the sunlight, when available, and the diurnal temperature variations on Mars. The moballs would be self-aware of their (and their neighbors ) positions, energy storage, and memory availability; they would have processing power and could intelligently cooperate with neighboring moballs by distributing tasks, sharing data, and fusing information. The major advantages of using the wind-driven and spherical moball network over rovers or other fixed sensor webs to explore Mars would be: (1) moballs could explore a much larger expanse of Mars in a much faster fashion, (2) they could explore the difficult terrains such as steep slopes and sand dunes, and (3) they would be self-energy- generating and could work together and move around autonomously. The challenge in designing the structure and the mechanics of the moball would be that it should be sturdy enough to withstand the impact of its initial fall, as well as other impacts from obstacles in its way. A mechanism would be needed that could enable hundreds of moballs to be carried while they would be deflated and compact, then would inflate them just after deploying them to their drop site. Furthermore, the moballs should also be light enough to allow them to move easily over obstacles by force of the wind. They also should have some kind of maneuvering mechanism in place to help them avoid very hazardous sharp objects or events, and to enable them to get closer to the objects of interest. The structure of the moballs was designed so that they would have different layers. The outer layer should comprise a sturdy, yet light, polymer that could withstand both the impact of the initial drop, as well as the impact of the different obstacles it would encounter while traversing the surface of Mars. This polymer should not deteriorate with the 100 K daily temperature swings on Mars. The inner layer should consist of a very light gas such as nitrogen or helium. In terms of maneuvering, six very light weights placed at strategic locations would give moballs the ability to turn, or even hop, over hazardous (e.g., sharp) obstacles, or even initiate a movement (before getting more help from the wind to be carried around) when stuck. Maneuvering would be necessary in order to get closer to objects of interest. If the weights would be allowed to move freely, they could also be used to generate energy.

Davoodi, Faranak↗

The Lander Vision System for Mars 2020 Entry Descent and Landing

In January 2016, the Mars 2020 project added Terrain Relative Navigation to the project baseline. This new capability helps the mission avoid large hazards in the landing ellipse, which enables the consideration of landing sites that more geologically diverse than before. This diversity should improve the quality of the samples collected by Mars 2020 for possible future return to earth. The Lander Vision System (LVS) is the sensor that provides the position fix that is used to determine where to land between hazards identified in orbital data prior to landing. This paper describes the LVS flight design for Mars 2020, a high-fidelity simulation used as a design tool and the expected LVS performance for Mars 2020.

Johnson, Andrew↗

NOR Flash Memory Scrubbing Application for Boot File Preservation of NASA’s Descent and Landing Computer (DLC)

Progress on NASA’s Safe and Precise Landing Integrated Capabilities Evolution (SPLICE) project continues, specifically with this development of the Descent and Landing Computer (DLC). One of the DLC’s primary contributions as a SPLICE technology is its implementation of algorithms and operation of sensors to autonomously guide a spacecraft in performing more precise and safer landings on celestial bodies such as the Moon and Mars [1]. The second iteration of the DLC is known as the Engineering Test Unit (ETU) and one of its desired functionalities is the ability to preserve the fidelity of the system’s boot file through the use of memory scrubbing [2]. The ETU has two primary boards, one for housing a Multi-Processor System on a Chip (MPSoC) and the other for housing a Xilinx Kintex Ultrascale FPGA*. To emulate a memory scrubbing function implemented on the ETU’s FPGA board, the design and testing of a software application was performed on a Xilinx KCU105 FPGA evaluation board. The memory scrubbing application had to meet certain key criteria such as (1) properly utilize with the flash memory’s Serial Peripheral Interface (SPI) to read, write, and erase flash memory properly, (2) be able to detect arbitrarily large or small amounts of bit-errors, (3) be able to correct all detected errors, and (4) perform memory scrubbing indefinitely and autonomously. A prototype implementation was constructed and tested, demonstrating successful detection and correction of bit errors in multiple configurations. In the form of burst errors or singular bit flips, and in amounts of errors ranging from one to fifteen (per 256 Bytes), the application was successful in preserving memory fidelity.

Flash memory↗