SEARCH · Search NASA

Results for “planetary mobility”

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.

SourceResearch connectionFrom yearThrough year

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

At least 289 records · Page 16

All sources NASA NTRS DOE OSTI

NASA NTRSDate not supplied

JETT3: A Holistic, Integrated Analog for Artemis Lunar Surface Exploration

Since 1972, NASA astronauts have performed hundreds of Extravehicular Activities (EVAs) in support of Skylab, Space Shuttle and International Space Station missions. Not since Apollo, however, have EVAs been driven by discovery-based principles of scientific exploration. Upcoming Artemis missions are challenged to build on lessons learned from Apollo, merging 50 years of EVA experience with the planetary science community’s expertise in the remote surface exploration of Mars. The highest-fidelity preparation for Artemis includes both operational and scientific underpinning to represent the complete, complex picture of lunar surface operations. The Joint EVA & Human Surface Mobility Test Team (JETT) is an interdisciplinary team providing such an environment for collaborative analog testing. JETT builds upon prior analog campaigns (e.g., [1, 2]) to provide high-fidelity environments for hardware and concept of operations development. Sponsored by the NASA EVA & Human Surface Mobility Program (EHP), JETT includes representatives from EHP, NASA Engineering, the Science Mission Directorate (SMD), Human Health & Performance, and the Flight Operations Directorate (FOD). JETT tests evaluate NASA reference designs for EVA (e.g., suits and tools), address gaps and risks for Artemis lunar surface operations, develop capabilities for EVA and science tasks, enable technology maturation, and provide training for Artemis EVA operations. JETT3, the final JETT field test of FY22, occurred Oct 3-11, 2022 in the San Francisco Volcanic Field north of Flagstaff, AZ. The test focused on developing the Artemis concept of operations and systems, including integrating an Artemis-like Science Team into a NASA Flight Control Team (FCT) to plan and execute a series of simulated lunar EVAs in an environment analogous to Artemis 3.

T. E. Caswell↗

NASA NTRS1997

Neural Network Based Sensory Fusion for Landmark Detection

NASA is planning to send numerous unmanned planetary missions to explore the space. This requires autonomous robotic vehicles which can navigate in an unstructured, unknown, and uncertain environment. Landmark based navigation is a new area of research which differs from the traditional goal-oriented navigation, where a mobile robot starts from an initial point and reaches a destination in accordance with a pre-planned path. The landmark based navigation has the advantage of allowing the robot to find its way without communication with the mission control station and without exact knowledge of its coordinates. Current algorithms based on landmark navigation however pose several constraints. First, they require large memories to store the images. Second, the task of comparing the images using traditional methods is computationally intensive and consequently real-time implementation is difficult. The method proposed here consists of three stages, First stage utilizes a heuristic-based algorithm to identify significant objects. The second stage utilizes a neural network (NN) to efficiently classify images of the identified objects. The third stage combines distance information with the classification results of neural networks for efficient and intelligent navigation.

Kumbla, Kishan -K.↗

NASA NTRS1975

The Effect of a Planetary Surface Penetrator on the Soil Column Surrounding the Impacting Body

A prototype penetrator instrument was impacted into a dry lake bed. Laboratory studies of the soil surrounding the penetrator revealed that the soil was contaminated by paint and metal from the penetrator's casing. Paint pigment rich in titanium and sulfur was found in the adjacent soil. The highly mobile paint pigment migrated onto viewing ports in the penetrator's exterior. Bulk analysis of the soil adjacent to the impactor showed a significant increase in both elements, as well as the presence of metal chips from the casing and nose cone. It is recommended that great care be taken in the use of coating materials and the metal alloys selected for the penetrator's exterior, or the accuracy of any experiment requiring an uncontaminated in situ sample may be adversely affected.

Blanchard, Maxwell B.↗

NASA NTRS2015

Mass Wasting In Planetary Environments: Implications For Seismicity

On Earth, mass wasting events such as rock falls and landslides are well known conse-quences of seismic activity. Through a variety of re-mote sensing techniques, tectonic faults have been pos-itively identified on all four of the inner planets, Earth's Moon, several outer planet satellites, and aster-oids. High-resolution imaging has furthermore ena-bled positive identification of mass wasting events on many of these bodies. On Mars, it has been suggested that fallen boulders may be indicative of pale-omarsquakes. On the Moon, meteor impacts and moonquakes have likewise been suggested as potential triggering mechanisms for mass wasting. Indeed, we know from the Apollo era that the Moon experienc-es a wide variety of seismicity. Seismicity estimates play an important role in creat-ing regional geological characterizations, which are useful not only for understanding a planet's formation and evolution, but also of key importance to site selec-tion for landed missions. Here we investigate the re-gional effects of seismicity in planetary environments with the goal of determining whether surface features such as landslides and boulder trails on the Moon, Mars, and Mercury could be triggered by fault motion. We attempt to quantify the amount of near-source ground shaking necessary to mobilize the mate-rial observed in various instances of mass wasting.

seismicity↗

NASA NTRS2000

Nanorovers and Subsurface Explorers for Mars

Recent advances in microtechnology and mobile robotics have made it feasible to create extremely small automated or remote-controlled vehicles which open new application frontiers. One of these possible applications is the use of nanorovers (robotic vehicles with a mass of order one kilogram or less) in planetary exploration. NASA and Japan's Institute of Space and Astronautical Science (ISAS) are cooperating on the first mission to collect samples from the surface of an asteroid and return them to Earth for in-depth study. The ISAS MUSES-C mission will be launched on a Japanese launch vehicle in July 2002 from Japan toward a rendez-vous with the asteroid 1989ML in September 2003. A NASA-provided nanorover will conduct in-situ measurements on the surface. With a mass of about one kilogram, the rover experiment will be a direct descendant of the technology used to build the Sojourner rover. The rover will carry three science instruments: (1) a visible imaging camera, (2) a near-infrared point spectrometer, and (3) an alpha X ray spectrometer. The solar-powered rover will move around the surface of 1989ML collecting imagery data, which are complimentary to the spacecraft investigation. The imaging system will be capable of making surface texture, composition, and morphology measurements at resolutions better than one millimeter. The rover will transmit this data to the spacecraft for relay back to Earth. Due to the microgravity environment on 1989ML, the rover has been designed to right itself in case it flips over. Solar panels on four sides of the rover will ensure that enough power will always be available to the rover to activate the motors needed to turn over. Posable struts will allow the rover to position its chassis such that the camera can be pointed straight down at the surface or straight up at the sky.

Wilcox, Brian H.↗

NASA NTRS1994

Power generation technology options for a Mars mission

The power requirements and resultant power system performances of an aggressive Mars mission are characterized. The power system technologies discussed will support both cargo and piloted space transport vehicles as well as a six-person crew on the Martian surface for 600 days. The mission uses materials transported by cargo vehicles and materials produced using in-situ planetary feed stock to establish a life-support cache and infrastructure for the follow-on piloted lander. Numerous power system technical options are sized to meet the mission power requirements using conventional and solar, nuclear, and wireless power transmission technologies for stationary, mobile surface, and space applications. Technology selections will depend on key criteria such as mass, volume, area, maturity, and application flexibility.

Bozek, John M.↗

NASA NTRS2012

Curiosity: the Mars Science Laboratory Project

The Curiosity rover landed successfully in Gale Crater, Mars on August 5, 2012. This event was a dramatic high point in the decade long effort to design, build, test and fly the most sophisticated scientific vehicle ever sent to Mars. The real achievements of the mission have only just begun, however, as Curiosity is now searching for signs that Mars once possessed habitable environments. The Mars Science Laboratory Project has been one of the most ambitious and challenging planetary projects that NASA has undertaken. It started in the successful aftermath of the 2003 Mars Exploration Rover project and was designed to take significant steps forward in both engineering and scientific capabilities. This included a new landing system capable of emplacing a large mobile vehicle over a wide range of potential landing sites, advanced sample acquisition and handling capabilities that can retrieve samples from both rocks and soil, and a high reliability avionics suite that is designed to permit long duration surface operations. It also includes a set of ten sophisticated scientific instruments that will investigate both the geological context of the landing site plus analyze samples to understand the chemical & organic composition of rocks & soil found there. The Gale Crater site has been specifically selected as a promising location where ancient habitable environments may have existed and for which evidence may be preserved. Curiosity will spend a minimum of one Mars year (about two Earth years) looking for this evidence. This paper will report on the progress of the mission over the first few months of surface operations, plus look retrospectively at lessons learned during both the development and cruise operations phase of the mission..

project formulation↗

NASA NTRS2017

Mars 2020 Mobility Actuator Thermal Testing and Model Correlation

This paper describes the thermal testing and model correlation of a mobility actuator planned for use on the Mars 2020 Rover. The mobility actuator is identical to those which have been successfully flown and operated on the Mars Science Laboratory (MSL) Curiosity rover since its successful landing on Mars in August of 2012. The actuator consists of a motor, brake, and encoder paired with a four stage planetary gear box. In this thermal test, the actuator was instrumented with a number of thermocouples on both the interior and exterior of the gearbox. Heaters and a cold plate were used to generate thermal gradients across the actuator in vacuum, low pressure GN2, and low pressure CO2 environments in an effort to correlate a thermal model and develop a better understanding of how heat flows through the mechanism. This testing resulted in the successful model correlation of a simplified thermal model, and yielded important insights regarding the conductance of ball bearings and gear-to-gear contact. Ball bearing thermal conductance in a low pressure environment can be estimated by using correlations for vacuum thermal conductance along with a multiplier to account for increased gas conduction, and gear-to-gear conductance can be estimated by accounting for gas and grease conduction between two gears.

Novak, Keith↗

NASA NTRSDate not supplied

Surface Systems and Interface Standardization

Space exploration on planetary surfaces will require the use of various surface systems which will likely need to interface with one another. These systems must communicate and share data, as well as distribute power and transfer fluids for sustainable surface operations. Such systems can range from landers, surface habitats, mobility systems, cargo, and In-Situ Resource Utilizations (ISRUs). Previous and current programs have developed space interoperability standards that help aid in reducing potential risks of interface integration. One example of this is the International Deep Space Interoperability Standards (IDSIS) which focuses on deep space exploration. A goal of the Artemis program is to develop a sustained human presence on the lunar surface that would be a training ground for future Mars exploration. Therefore, it will be beneficial to identify interface standards between the surface assets which will help mitigate risk and reduce complexity in the harsh environments of space exploration. A key contribution to sustainability is commonality between hardware and software interfaces. Generic interfaces for data, power, and fluids will reduce risk, promote interoperability, and define standard interfaces across surface exploration projects and programs. Standardized interfaces would be advantageous for improving efficiency and reducing overall complexity, which are critical considerations for future space exploration. Furthermore, it will provide cost reductions to the Artemis programs over their life cycle (in Operations & Maintenance (O&M) and Logistics). Unique proprietary interfaces if considered or allowed would not only increase complexity but also add cost to the programs. Of course, understanding what will work and not work effectively in these unique environments such as the lunar surface is important. These unique environments require much needed intelligent design, prototyping, comprehensive testing, and field experience, utilizing consensus on common interface solutions.

Jaime Gomez↗

NASA NTRS1993

Planetary rover developments at JPL

Planetary rover research has recently focused on small rovers, which are competent to explore and assist in in-situ analysis of limited areas around a landing site (as opposed to the larger, long range rovers, which have been assumed to accompany sample return missions). Navigation and mobility concepts of these small rovers are, in some cases, somewhat different than what was assumed in the past. The sensing, computing, communication, and power resources of these missions dictate a rethinking of the 'large mission' approach. Recent results and demonstrations along this new direction are described.

Wilcox, Brian↗

NASA NTRS1988

Mars sample collection and preservation

The intensive exploration of Mars is a major step in the systematic exploration of the solar system. Mars, earth, and Venus provide valuable contrasts in planetary evolution. Mars exploration has progressed through the stages of exploration and is now ready for a sample-return mission. About 5 kg of intelligently selected samples will be returned from Mars. A variety of samples are wanted. This requires accurate landing in areas of high interest, surface mobility and analytical capability, a variety of sampling tools, and stringent preservation and isolation measures.

Blanchard, Douglas P.↗

NASA NTRS2012

670-GHz Down- and Up-Converting HEMT-Based Mixers

A large category of scientific investigation takes advantage of the interactions of signals in the frequency range from 300 to 1,000 GHz and higher. This includes astronomy and atmospheric science, where spectral observations in this frequency range give information about molecular abundances, pressures, and temperatures of small-sized molecules such as water. Additionally, there is a minimum in the atmospheric absorption at around 670 GHz that makes this frequency useful for terrestrial imaging, radar, and possibly communications purposes. This is because 670 GHz is a good compromise for imaging and radar applications between spatial resolution (for a given antenna size) that favors higher frequencies, and atmospheric losses that favor lower frequencies. A similar trade-off applies to communications link budgets: higher frequencies allow smaller antennas, but incur a higher loss. All of these applications usually require converting the RF (radio frequency) signal at 670 GHz to a lower IF (intermediate frequency) for processing. Further, transmitting for communication and radar generally requires up-conversion from IF to the RF. The current state-of-the-art device for performing the frequency conversion is based on Schottky diode mixers for both up and down conversion in this frequency range for room-temperature operation. Devices that can operate at room temperature are generally required for terrestrial, military, and planetary applications that cannot tolerate the mass, bulk, and power consumption of cryogenic cooling. The technology has recently advanced to the point that amplifiers in the region up to nearly 1,000 GHz are feasible. Almost all of these have been based on indium phosphide pseudomorphic high-electron mobility transistors (pHEMTs), in the form of monolithic microwave integrated circuits (MMICs). Since the processing of HEMT amplifiers is quite differ en t from that of Schottky diodes, use of Schottky mixers requires separate MMICs for the mixers and amplifiers. Fabrication of all the down-/up-conversion circuitry on single MMICs, using a ll-HEMT circuits, would constitute a major advance in circuit simplicity.

Schlecht, Enrich T.↗

NASA NTRS2020

PHALANX: Expendable Projectile Sensor Networks for Planetary Exploration

Technologies enabling long-term, wide-ranging measurement in hard-to-reach areas are a critical need for planetary science inquiry. Phenomena of interest include flows or variations in volatiles, gas composition or concentration, particulate density, or even simply temperature. Improved measurement of these processes enables understanding of exotic geologies and distributions or correlating indicators of trapped water or biological activity. However, such data is often needed in unsafe areas such as caves, lava tubes, or steep ravines not easily reached by current spacecraft and planetary robots. To address this capability gap, we have developed miniaturized, expendable sensors which can be ballistically lobbed from a robotic rover or static lander - or even dropped during a flyover. These projectiles can perform sensing during flight and after anchoring to terrain features. By augmenting exploration systems with these sensors, we can extend situational awareness, perform long-duration monitoring, and reduce utilization of primary mobility resources, all of which are crucial in surface missions. We call the integrated payload that includes a cold gas launcher, smart projectiles, planning software, network discovery, and science sensing: PHALANX. In this paper, we introduce the mission architecture for PHALANX and describe an exploration concept that pairs projectile sensors with a rover “mothership.” Science use cases explored include reconnaissance using ballistic cameras, volatiles detection, and building timelapse maps of temperature and illumination conditions. Strategies to autonomously coordinate constellations of deployed sensors to self-discover and localize with peer ranging (i.e. a “local GPS”) are summarized, thus providing communications infrastructure beyond-line-of-sight (BLOS) of the rover. Capabilities were demonstrated through both simulation and physical testing with a terrestrial prototype. The approach to developing a terrestrial prototype is discussed, including design of the launching mechanism, projectile optimization, micro-electronics fabrication, and sensor selection. Results from early testing and characterization of commercial-off-the-shelf (COTS) components are reported. Nodes were subjected to successful burn-in tests over 48 hours at full logging duty cycle. Integrated field tests were conducted in the Roverscape, a half-acre planetary analog environment at NASA Ames, where we tested up to 10 sensor nodes simultaneously coordinating with an exploration rover. Ranging accuracy has been demonstrated to be within +/-10cm over 20m using commodity radios when compared to high-resolution laser scanner ground truthing. Evolution of the design, including progressive miniaturization of the electronics and iterated modifications of the enclosure housing for streamlining and optimized radio performance are described. Finally, lessons learned to date, gaps toward eventual flight mission implementation, and continuing future development plans are discussed.

Dille, Michael↗

NASA NTRSDate not supplied

Validation of Fitness for Duty Standards Using Pre- and Post-Flight Capsule Egress and Suited Functional Performance Tasks in Simulated Reduced Gravity (Pilot Egress Fitness)

As NASA prepares for exploration missions, it will be critical to understand and build upon known crew capabilities. Specifically, we need to know the functional capacities of crew at different stages of a mission and characterize these profiles so that the appropriate vehicle requirements and mission concepts of operations (ConOps) can be developed. One of the most complex phases of any missions is when there is a transition between gravity environments. For instance, both physiological adaptation to microgravity and subsequent re-entry into a gravity environment result in reduced functional capacity, even with rigorous adherence to inflight countermeasures. Quantification of the astronauts’ post-landing functional performance is necessary to design ConOps for exploration missions. Specifically, these two high-risk tasks may have to be performed soon after gravity transitions: •Unassisted capsule egress task after return to Earth •Planetary extravehicular activity (EVA) soon after landing on Mars or the Moon This study has been broken down into two phases. A pilot phase to assess the overall feasibility and demonstrate the capability to do these tasks shortly after landing and the full Egress Fitness study, which will be part of the CIPHER complement. This study uses a functional task approach to characterize performance of these high-risk tasks in long-duration ISS crewmembers before flight and shortly after return to Earth. Prior to any testing, each astronaut subject completes a suit fit check to ensure adequate sizing and mobility to be able to complete the EVA tasks. Pilot Egress Fitness pre-flight and post-flight testing includes an Earth based emergency egress out of a functional capsule mockup, and a short Mars gravity EVA simulation including suit donning, hatch egress, ladder descent, task board cable operations, baggage transfer over sand/rocky regolith, alignment with a rear entry port, and suit egress. Pre-flight testing can occur almost anytime pre-flight, but post-flight scheduling is much more critical with the capsule egress test occurring 1-4 hours after landing and the planetary EVA approximately 18-36 hours after landing. Data collected for both tasks includes task completion time, photo, and video. The EVA portion also includes collection of metabolic and heart rate. Pilot Egress Fitness study has completed baseline pre-flight testing on 3 astronaut subjects. Post-flight testing of the first two subjects will be completed in November 2021 and the final subject around March 2022. Results and lessons learned from this pilot study will inform the full Egress Fitness study, which will incorporate additional pre-flight sessions, longer EVA tasks, and post-flight testing on R+1, 4, and 7 to characterize the timeframe of recovery

J R Norcross↗

NASA NTRS2014

Z-2 Prototype Space Suit Development

NASA's Z-2 prototype space suit is the highest fidelity pressure garment from both hardware and systems design perspectives since the Shuttle Extravehicular Mobility Unit (EMU) was developed in the late 1970's. Upon completion it will be tested in the 11' humanrated vacuum chamber and the Neutral Buoyancy Laboratory (NBL) at the NASA Johnson Space Center to assess the design and to determine applicability of the configuration to micro-, low- (asteroid), and planetary- (surface) gravity missions. This paper discusses the 'firsts' the Z-2 represents. For example, the Z-2 sizes to the smallest suit scye bearing plane distance for at least the last 25 years and is being designed with the most intensive use of human models with the suit model. The paper also provides a discussion of significant Z-2 configuration features, and how these components evolved from proposal concepts to final designs.

Ross, Amy↗

NASA NTRS2016

WindBots: A Concept for Persistent In-Situ Science Explorers for Gas Giants

This report summarizes the study of a mission concept to Jupiter with one or multiple Wind Robots able to operate in the Jovian atmosphere, above and below the clouds - down to 10 bar, for long durations and using energy obtained from local sources. This concept would be a step towards persistent exploration of gas giants by robots performing in-situ atmospheric science, powered by locally harvested energy. The Wind Robots, referred in this report as WindBots (WBs), would ride the planetary winds and transform aeolian energy into kinetic energy of flight, and electrical energy for on-board equipment. Small shape adjustments modify the aerodynamic characteristics of their surfaces, allowing for changes in direction and a high movement autonomy. Specifically, we sought solutions to increase survivability to strong/turbulent winds, and mobility and autonomy compared to passive balloons.

WindBots↗

NASA NTRSDate not supplied

The Kinematic Navigation and Cartography Knapsack (KNaCK): Demonstrating SlLAM (Simultaneous Localization and Mapping) LiDAR as a Tool for Exploration and Mapping of Lunar Pits and Caves

KNaCK (Kinematic Navigation and Cartography Knapsack) is a backpack-mounted mobile LiDAR (Light Detection and Ranging) system. It can map its surroundings in 3 dimensions and localize itself in space. The project is exploring how LiDAR can advance terrain mapping and navigation at the lunar south pole. KNaCK is lead by Dr. Michael Zanetti of NASA MSFC’s Heliophysics and Planetary Science Branch. - KNaCK serves as - A test article for GPS denied mapping and navigation. - A test bed for SLAM (Simultaneous Localization and Mapping) algorithms. - A test bed for commercial LiDAR units. - A tool for terrestrial science.

LiDAR↗

NASA NTRS2014

Z-2 Prototype Space Suit Development

NASA's Z‐2 prototype space suit is the highest fidelity pressure garment from both hardware and systems design perspectives since the Shuttle Extravehicular Mobility Unit (EMU) was developed in the late 1970's. Upon completion it will be tested in the 11' human‐rated vacuum chamber and the Neutral Buoyancy Laboratory (NBL) at the NASA Johnson Space Center to assess the design and to determine applicability of the configuration to micro‐, low‐ (asteroid), and planetary‐ (surface) gravity missions. This paper discusses the 'firsts' the Z‐2 represents. For example, the Z‐2 sizes to the smallest suit scye bearing plane distance for at least the last 25 years and is being designed with the most intensive use of human models with the suit model. The paper also provides a discussion of significant Z‐2 configuration features, and how these components evolved from proposal concepts to final designs.

Ross, Amy↗