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Mafic Materials in Scott Crater? A Test for Lunar Reconnaissance Orbiter
Clementine 750 nm and multispectral ratio data, along with Lunar Orbiter and radar data, were used to study the crater Scott in the lunar south polar region. The multispectral data provide evidence for mafic materials, impact melts, anorthositic materials, and a small pyroclastic deposit. High-resolution radar data and Lunar Orbiter photography for this area show differences in color and surface texture that correspond with the locations of the hypothesized mafic and anorthositic areas on the crater floor. This region provides a test case for the upcoming Lunar Reconnaissance Orbiter. Verification of the existence of a mafic deposit at this location is relevant to future lunar resource utilization planning.
Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor
Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.
Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic
A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.
NASA’s Exploration and In-Space Services (NExIS) Division OSAM-1 and Related Propellant Transfer Subsystem Progress through FY 2024 Presentation
NASA’s Exploration and In-Space Services (NExIS) Division has been developing technologies for the on-orbit servicing of satellites for decades (Hubble servicing missions) On-Orbit Servicing, Assembly and Manufacturing mission 1 (OSAM-1) had plans to robotically refuel a heritage satellite on-orbit (a.k.a. non-cooperative) Future plans of the OSAM-1 flight hardware will not be discussed The OSAM-1 Space Infrastructure Dexterious Robot (SPIDER) payload is designed to assemble a 3-meter communications antenna OSAM-1 Propellant Transfer Subsystem (PTS) development supports the nascent in-space refueling ISAM goals Reference “National In-Space Servicing, Assembly, and Manufacturing Implementation Plan” (Dec 2022 from White House Office of Science and Technology Policy) ISAM fluid transfer technology shortfalls still exist and are actively being addressed at NASA
Space Station planning
An overview of NASA Space Station planning activities is given. Among the specific topics addressed are: the role of private contractors in the construction and operation of Space Station; international cooperation in planning Space Station configurations; and optimum management strategies for Space Station planning activities. The division of work packages for the preliminary design definition phase of the Space Station program is described.
Space Station - Opportunity for international cooperation and utilization
In connection with his announcement regarding the development of a permanently manned Space Station, President Reagan invited the United States' friends and allies to join in the Space Station program. The President's invitation was preceded by more than two years of interaction between NASA and some of its potential partners in Space Station planning activities. Attention is given to international participation in Space Station planning, international cooperation on the Space Station, the guidelines for international cooperation, and the key challenges. Questions regarding quid pro quos are considered along with aspects of technology transfer, commercial use, problems of management, and the next steps concerning the Space Station program.
Enhanced Damage-Resistant Optics for Spaceflight Laser Systems: Workshop findings and recommendations
NASA has defined a program to address critical laser-induced damage issues peculiar to its remote sensing systems. The Langley Research Center (LaRC), with input from the Goddard Space Flight Center (GSFC), has developed a program plan focusing on the certification of optical materials for spaceflight applications and the development of techniques to determine the reliability of such materials under extended laser exposures. This plan involves cooperative efforts between NASA and optics manufacturers to quantify the performance of optical materials for NASA systems and to ensure NASA's continued application of the highest quality optics possible for enhanced system reliability. A review panel was organized to assess NASA's optical damage concerns and to evaluate the effectiveness of the LaRC proposed program plan. This panel consisted of experts in the areas of laser-induced damage, optical coating manufacture, and the design and development of laser systems for space. The panel was presented information on NASA's current and planned laser remote sensing programs, laser-induced damage problems already encountered in NASA systems, and the proposed program plan to address these issues. Additionally, technical presentations were made on the state of the art in damage mechanisms, optical materials testing, and issues of coating manufacture germane to laser damage.
A method for planning collision free trajectories for two cooperating robots
Robotic systems designed specifically for space applications often exhibit a high level of autonomy to reduce the costs associated with having humans in space. This paper presents a method for autonomously planning collision free paths for two cooperating robots in a static environment. The method performs selective mapping of configuration space while attempting to locate a safe path. The method is based around an algorithm aimed at transversing a space of arbitrary dimension which contains both safe and unsafe regions. While the procedure cannot guarantee finding a solution even if one may exist, it is intended to find a solution to many practical path planning problems within a reasonable amount of time. Results are presented for applying the procedure to two cooperating six degree of freedom manipulators (Puma 560s).
The Summer Robotic Autonomy Course
We offered a first Robotic Autonomy course this summer, located at NASA/Ames' new NASA Research Park, for approximately 30 high school students. In this 7-week course, students worked in ten teams to build then program advanced autonomous robots capable of visual processing and high-speed wireless communication. The course made use of challenge-based curricula, culminating each week with a Wednesday Challenge Day and a Friday Exhibition and Contest Day. Robotic Autonomy provided a comprehensive grounding in elementary robotics, including basic electronics, electronics evaluation, microprocessor programming, real-time control, and robot mechanics and kinematics. Our course then continued the educational process by introducing higher-level perception, action and autonomy topics, including teleoperation, visual servoing, intelligent scheduling and planning and cooperative problem-solving. We were able to deliver such a comprehensive, high-level education in robotic autonomy for two reasons. First, the content resulted from close collaboration between the CMU Robotics Institute and researchers in the Information Sciences and Technology Directorate and various education program/project managers at NASA/Ames. This collaboration produced not only educational content, but will also be focal to the conduct of formative and summative evaluations of the course for further refinement. Second, CMU rapid prototyping skills as well as the PI's low-overhead perception and locomotion research projects enabled design and delivery of affordable robot kits with unprecedented sensory- locomotory capability. Each Trikebot robot was capable of both indoor locomotion and high-speed outdoor motion and was equipped with a high-speed vision system coupled to a low-cost pan/tilt head. As planned, follow the completion of Robotic Autonomy, each student took home an autonomous, competent robot. This robot is the student's to keep, as she explores robotics with an extremely capable tool in the midst of a new community for roboticists. CMU provided undergraduate course credit for this official course, 16-162U, for 13 students, with all other students receiving course credit from National Hispanic University.
The First Seasat-A Industrial Users Workshop
The purpose of this workshop was to begin the process of definition and development of the SEASAT-A Demonstration Program, leading to the implementation of a set of experiments which would begin during the latter part of 1978 following the launch of SEASAT-A (now scheduled for May 1978). NASA through the SEASAT-A program, has encouraged the planning of cooperative experiments by industry and government agencies that operate in areas of ocean activity that could benefit from improved measurements and forecasts of weather and ocean conditions. The objectives of these experiments are to: (1) evaluate the significance of SEASAT-A data to commercial user organizations; (2) assist in identifying those characteristics of follow-on systems that are important to industrial users; (3) obtain experimental evidence that could be used to refine estimates of the economic potential of an operational system; and (4) begin the technology transfer process to the industrial users.
The US planetary exploration program opportunities for international cooperation
Opportunities for international participation in US-sponsored interplanetary missions are discussed on the basis of the recommendations of the Committee on Planetary and Lunar Exploration of the National Academy of Sciences Space Science Board. The initial core missions suggested are a Venus radar mapper, a Mars geoscience/climatology orbiter, a comet-rendezvous/asteroid-flyby mission, and a Titan probe/radar mapper. Subsequent core missions are listed, and the need for cooperation in planning and development stages to facilitate international participation is indicated.
The 1991 EOS reference handbook
The following topics are covered: (1) The Global Change Research Program; (2) The Earth Observing System (EOS) goal and objectives; (3) primary EOS mission requirements; (4) EOS science; (5) EOS Data and Information System (EOSDIS) architecture; (6) data policy; (7) international cooperation; (8) plans and status; (9) the role of the National Oceanic and Atmospheric Administration; (10) The Global Fellowship Program; (11) management of EOS; (12) mission elements; (13) EOS instruments; (14) interdisciplinary science investigations; (15) points of contact; and (16) acronyms and abbreviations.
Modeling Advance Life Support Systems
Activities this summer consisted of two projects that involved computer simulation of bioregenerative life support systems for space habitats. Students in the Space Life Science Training Program (SLSTP) used the simulation, space station, to learn about relationships between humans, fish, plants, and microorganisms in a closed environment. One student complete a six week project to modify the simulation by converting the microbes from anaerobic to aerobic, and then balancing the simulation's life support system. A detailed computer simulation of a closed lunar station using bioregenerative life support was attempted, but there was not enough known about system restraints and constants in plant growth, bioreactor design for space habitats and food preparation to develop an integrated model with any confidence. Instead of a completed detailed model with broad assumptions concerning the unknown system parameters, a framework for an integrated model was outlined and work begun on plant and bioreactor simulations. The NASA sponsors and the summer Fell were satisfied with the progress made during the 10 weeks, and we have planned future cooperative work.
STS-107 Crew Interviews: William McCool, Pilot
STS-107 Pilot William McCool is seen during this preflight interview, where he gives a quick overview of the mission before answering questions about his inspiration to become an astronaut and his background. McCool outlines his role in the mission in general, and discusses the scientific experiments which comprise the primary payloads for the mission. He provides details on the following instruments and experiments: MEIDEX (Mediterranean Israeli Dust Experiment), BIOPACK (Bacterial Physiology and Virulence on Earth and in Microgravity) and SOLSE (Shuttle Ozone Limb Sounding Experiment). McCool talks about the new SPACEHAB research module which doubles the amount of space available for scientific research projects. He also mentions the training for the mission, the astronauts working in dual shifts on the shuttle, and the importance of international cooperation in planning the mission.
Tornado Mechanics
The Nimbus and other weather satellites are helping determine why and how tornadoes form their structure and dynamics and ultimately how they can be prevented or artificially dissipated. NASA's Marshall Space Flight Center is also planning a cooperative research program later this year with the University of Arkansas to investigate how tornado damage occurs, and to develop tornado resistant building designs. Hardware and field-data collection are funded by the Technology Utilization Office while data reduction is being performed by the National Oceanic and Atmospheric Administration.
Carbon Fiber Reinforced Ceramic Composites for Propulsion Applications
Fiber reinforced ceramic composites are materials of choice for gas turbine engines because of their high thermal efficiency, thrust/weight ratio, and operating temperatures. However, the successful introduction of ceramic composites to hot structures is limited because of excessive cost of manufacturing, reproducibility, nonuniformity, and reliability. Intense research is going on around the world to address some of these issues. The proposed effort is to develop a comprehensive status report of the technology on processing, testing, failure mechanics, and environmental durability of carbon fiber reinforced ceramic composites through extensive literature study, vendor and end-user survey, visits to facilities doing this type of work, and interviews. Then develop a cooperative research plan between NASA GRC and NCA&T (Center for Composite Materials Research) for processing, testing, environmental protection, and evaluation of fiber reinforced ceramic composites.
Mission Level Autonomy for USSV
On-water demonstration of a wide range of mission-proven, advanced technologies at TRL 5+ that provide a total integrated, modular approach to effectively address the majority of the key needs for full mission-level autonomous, cross-platform control of USV s. Wide baseline stereo system mounted on the ONR USSV was shown to be an effective sensing modality for tracking of dynamic contacts as a first step to automated retrieval operations. CASPER onboard planner/replanner successfully demonstrated realtime, on-water resource-based analysis for mission-level goal achievement and on-the-fly opportunistic replanning. Full mixed mode autonomy was demonstrated on-water with a seamless transition between operator over-ride and return to current mission plan. Autonomous cooperative operations for fixed asset protection and High Value Unit escort using 2 USVs (AMN1 & 14m RHIB) were demonstrated during Trident Warrior 2010 in JUN 2010