Application of Stuffed Whipple Shield to Robotic Spacecraft
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Ivonne Rodriguez↗
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Survey of Command Execution Systems for NASA Spacecraft and Robots
NASA spacecraft and robots operate at long distances from Earth Command sequences generated manually, or by automated planners on Earth, must eventually be executed autonomously onboard the spacecraft or robot. Software systems that execute commands onboard are known variously as execution systems, virtual machines, or sequence engines. Every robotic system requires some sort of execution system, but the level of autonomy and type of control they are designed for varies greatly. This paper presents a survey of execution systems with a focus on systems relevant to NASA missions.
Verma, Vandi↗
Application of robots in space.
Robots are defined as electromechanical systems (with local computers) receiving inputs from sensors, and in turn, controlling motors and effectors to do tasks requiring some measure of intelligence and permitting the whole system to interact with the real world. Robot systems for space applications are categorized into three general groups consisting of roving exploration robots, spacecraft robots, and planet development robots. The functions of systems in each category are defined in terms of intended applications, and requirements for operating and decision making are outlined. Further developments which must be achieved in robot technology are summarized.
Johnsen, E. G.↗
Computer-Aided Design (CAD) Tools to Support the Human Factors Design Teams
The scope of this assessment was to develop a library of basic 1-Gravity (G) human posture and motion elements used to construct complex virtual simulations of ground processing and maintenance tasks for spaceflight vehicles, including launch vehicles, crewed spacecraft, robotic spacecraft, satellites, and other payloads. The report herein describes the task, its purpose, performance, findings, NASA Engineering and Safety Center (NESC) recommendations, and conclusions in the definition and assemblage of the postures and motions database (PMD).
Null, Cynthia H.↗
Deployed Electromagnetic Radiation Deflector Shield Creating a Zone of Minimum Radiation and Magnetic/Plasma Effects for Spacecraft
Spaceflight outside of the Earth's protective magnetic field is dangerous from a cosmic radiation perspective. Inside Earth's magnetic field, where the manned International Space Station (ISS) orbits, the radiation encountered is minimal and almost all is deflected by our planet's magnetic fields. However, outside that protective shield, the Sun's solar wind (high energy radiation, solar energetic particles or SEPs) consisting of protons, electrons, alpha particles and plasmas continuously bombards the spacecraft for the months or years of spaceflight. On occasion the Sun produces a CME (Coronal Mass Ejection) that vastly increases the energy and volume of this radiation. These particles damage human DNA as well as living tissue and can destroy sensitive electronics. The Deployed Electromagnetic Radiation Deflector Shield (DERDS) provides a magnetic field that will deflect SEPs and CMEs and other harmful solar and cosmic rays away from a manned spacecraft, robotic spacecraft, or manned extra-planetary base stations using an electromagnet that is deployed between the spacecraft/station and the source of radiation and creates a magnetosphere or zone of minimal radiation in which the spacecraft or base station would reside.
Patent↗
The Challenge of Planning and Execution for Spacecraft Mobile Robots
The need for spacecraft mobile robots continues to grow. These robots offer the potential to increase the capability, productivity, and duration of space missions while decreasing mission risk and cost. Spacecraft Mobile Robots (SMRs) can serve a number of functions inside and outside of spacecraft from simpler tasks, such as performing visual diagnostics and crew support, to more complex tasks, such as performing maintenance and in-situ construction. One of the predominant challenges to deploying SMRs is to reduce the need for direct operator interaction. Teleoperation is often not practical due to the communication latencies incurred because of the distances involved and in many cases a crewmember would directly perform a task rather than teleoperate a robot to do it. By integrating a mixed-initiative constraint-based planner with an executive that supports adjustably autonomous control, we intend to demonstrate the feasibility of autonomous SMRs by deploying one inside the International Space Station (ISS) and demonstrate in simulation one that operates outside of the ISS. This paper discusses the progress made at NASA towards this end, the challenges ahead, and concludes with an invitation to the research community to participate.
Dorais, Gregory A.↗
Laser-Camera Vision Sensing for Spacecraft Mobile Robot Navigation
The advent of spacecraft mobile robots-free-flyng sensor platforms and communications devices intended to accompany astronauts or remotely operate on space missions both inside and outside of a spacecraft-has demanded the development of a simple and effective navigation schema. One such system under exploration involves the use of a laser-camera arrangement to predict relative positioning of the mobile robot. By projecting laser beams from the robot, a 3D reference frame can be introduced. Thus, as the robot shifts in position, the position reference frame produced by the laser images is correspondingly altered. Using normalization and camera registration techniques presented in this paper, the relative translation and rotation of the robot in 3D are determined from these reference frame transformations.
Maluf, David A.↗
Automated Constraint Checking of Spacecraft Command Sequences
Robotic Spacecraft are controlled by onboard sets of commands called.
robotic spacecraft languages SAVE system TOPEX/Pos↗
An Evaluation of Ultra-High Pressure Regulator for Robotic Lunar Landing Spacecraft
The Robotic Lunar Lander Development (RLLD) Project Office at NASA Marshall Space Flight Center (MSFC) has studied several lunar surface science mission concepts. These missions focus on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface. Initial trade studies of launch vehicle options for these mission concepts indicate that the spacecraft design will be significantly mass-constrained. To minimize mass and facilitate efficient packaging, the notional propulsion system for these landers has a baseline of an ultra-high pressure (10,000 psig) helium pressurization system that has been used on Defense missiles. The qualified regulator is capable of short duration use; however, the hardware has not been previously tested at NASA spacecraft requirements with longer duration. Hence, technical risks exist in using this missile-based propulsion component for spacecraft applications. A 10,000-psig helium pressure regulator test activity is being carried out as part of risk reduction testing for MSFC RLLD project. The goal of the test activity is to assess the feasibility of commercial off-the-shelf ultra-high pressure regulator by testing with a representative flight mission profile. Slam-start, gas blowdown, water expulsion, lock-up, and leak tests are also performed on the regulator to assess performance under various operating conditions. The preliminary test results indicated that the regulator can regulate helium to a stable outlet pressure of 740 psig within the +/- 5% tolerance band and maintain a lock-up pressure less than +5% for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for internal seat leakage at lock-up and less than10-5 SCCS for external leakage through the regulator ambient reference cavity. The successful tests have shown the potential for 10,000 psig helium systems in NASA spacecraft and have reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.
Burnside, Christopher↗
An Evaluation of a High Pressure Regulator for NASA's Robotic Lunar Lander Spacecraft
The Robotic Lunar Lander (RLL) development project office at NASA Marshall Space Flight Center is currently studying several lunar surface science mission concepts. The focus is on spacecraft carrying multiple science instruments and power systems that will allow extended operations on the lunar surface or other air-less bodies in the solar system. Initial trade studies of launch vehicle options indicate the spacecraft will be significantly mass and volume constrained. Because of the investment by the DOD in low mass, highly volume efficient components, NASA has investigated the potential integration of some of these technologies in space science applications. A 10,000 psig helium pressure regulator test activity has been conducted as part of the overall risk reduction testing for the RLL spacecraft. The regulator was subjected to typical NASA acceptance testing to assess the regulator response to the expected RLL mission requirements. The test results show the regulator can supply helium at a stable outlet pressure of 740 psig within a +/- 5% tolerance band and maintain a lock-up pressure less than the +5% above nominal outlet pressure for all tests conducted. Numerous leak tests demonstrated leakage less than 10-3 standard cubic centimeters per second (SCCS) for the internal seat leakage at lock-up and less than 10-5 SCCS for external leakage through the regulator body. The successful test has shown the potential for 10,000 psig helium systems in NASA spacecraft and has reduced risk associated with hardware availability and hardware ability to meet RLL mission requirements.
Burnside, Christopher G.↗
Attenuation of the Cassini Spacecraft Vibroacoustic Environment
Cassini is a robotic spacecraft currently under development at the Jet Propulsion Laboratory (JPL) whose interplanetary scientific mission is to explore Saturn, its rings, and its moons. Cassini is scheduled to launce on a Titan IV rocket with a Centaur upper stage booster, and will be protected during ascent through the atmosphere by a lightweight aluminum payload fairing (PLF).
robotic↗
The instant sequencing task: Toward constraint-checking a complex spacecraft command sequence interactively
Robotic spacecraft are controlled by sets of commands called 'sequences.' These sequences must be checked against mission constraints. Making our existing constraint checking program faster would enable new capabilities in our uplink process. Therefore, we are rewriting this program to run on a parallel computer. To do so, we had to determine how to run constraint-checking algorithms in parallel and create a new method of specifying spacecraft models and constraints. This new specification gives us a means of representing flight systems and their predicted response to commands which could be used in a variety of applications throughout the command process, particularly during anomaly or high-activity operations. This commonality could reduce operations cost and risk for future complex missions. Lessons learned in applying some parts of this system to the TOPEX/Poseidon mission will be described.
Horvath, Joan C.↗
An Efficient and Effective Light Gas Gun Design for Millimeter-Scale Hypervelocity Testing
This paper serves to document a design for a light gas gun that was used for 3 decades at NASA’s Langley Research Center. By adapting readily-available equipment and supplies, this apparatus was capable of accelerating projectiles at up to 9 kilometers per second. The lack of a projectile-carrying sabot sacrifices some adaptability in projectile size, but results in a design that can be cleaned and cycled with far less labor input. Overall limitation on the projectile impact energies attainable effectively limit the applications to assessing the relatively thin shields employed for robotic spacecraft (as opposed to manned missions). The original gun has been decommissioned, but it is believed that this design has application for robotic spacecraft shield testing in the modern world, allowing cost-effective generation of larger sample sizes than with conventional sabot-based light gas guns.
Hypervelocity↗
An Efficient and Effective Light Gas Gun Design for Millimeter-scale Hypervelocity Testing
This paper serves to document a design for a light gas gun that was used for 3 decades at NASA’s Langley Research Center. By adapting readily-available equipment and supplies, this apparatus was capable of accelerating projectiles at up to 9 kilometers per second. The lack of a projectile-carrying sabot sacrifices some adaptability in projectile size, but results in a design that can be cleaned and cycled with far less labor input. Overall limitation on the projectile impact energies attainable effectively limit the applications to assessing the relatively thin shields employed for robotic spacecraft (as opposed to manned missions). The original gun has been decommissioned, but it is believed that this design has application for robotic spacecraft shield testing in the modern world, allowing cost-effective generation of larger sample sizes than with conventional sabot-based light gas guns.
Hypervelocity↗
An Efficient and Effective Light Gas Gun Design for Millimeter-Scale Hypervelocity Testing
This paper serves to document a design for a light gas gun that was used for 3 decades at NASA’s Langley Research Center. By adapting readily-available equipment and supplies, this apparatus was capable of accelerating projectiles at up to 9 kilometers per second. The lack of a projectile-carrying sabot sacrifices some adaptability in projectile size, but results in a design that can be cleaned and cycled with far less labor input. Overall limitation on the projectile impact energies attainable effectively limit the applications to assessing the relatively thin shields employed for robotic spacecraft (less useful for those used for manned missions). The original gun has been decommissioned, but it is believed that this design has application for robotic spacecraft shield testing in the modern world, allowing cost-effective generation of larger sample sizes than with conventional sabot-based light gas guns.
Scott Hull↗
An Efficient and Effective Light Gas Gun Design for Millimeter-scale Hypervelocity Testing
This paper serves to document a design for a light gas gun that was used for 3 decades at NASA’s Langley Research Center. By adapting readily-available equipment and supplies, this apparatus was capable of accelerating projectiles at up to 9 kilometers per second (when new). The lack of a projectile-carrying sabot sacrifices some adaptability in projectile size, but results in a design that can be cleaned and cycled with far less labor input. Overall limitation on the projectile impact energies attainable effectively limit the applications to assessing the relatively thin shields employed for robotic spacecraft (less useful for those used for manned missions). The original gun has been decommissioned, but it is believed that this design has application for robotic spacecraft shield testing in the modern world, allowing cost-effective generation of larger sample sizes than with conventional sabot-based light gas guns.
Scott Hull↗
Science Benefits of Onboard Spacecraft Navigation
Primitive bodies (asteroids and comets), which have remained relatively unaltered since their formation, are important targets for scientific missions that seek to understand the evolution of the solar system. Often the first step is to fly by these bodies with robotic spacecraft. The key to maximizing data returns from these flybys is to determine the spacecraft trajectory relative to the target body-in short, navigate the spacecraft- with sufficient accuracy so that the target is guaranteed to be in the instruments' field of view. The most powerful navigation data in these scenarios are images taken by the spacecraft of the target against a known star field (onboard astrometry). Traditionally, the relative trajectory of the spacecraft must be estimated hours to days in advance using images collected by the spacecraft. This is because of (1)!the long round-trip light times between the spacecraft and the Earth and (2)!the time needed to downlink and process navigation data on the ground, make decisions based on the result, and build and uplink instrument pointing sequences from the results. The light time and processing time compromise navigation accuracy considerably, because there is not enough time to use more accurate data collected closer to the target-such data are more accurate because the angular capability of the onboard astrometry is essentially constant as the distance to the target decreases, resulting in better "plane-of- sky" knowledge of the target. Excellent examples of these timing limitations are high-speed comet encounters. Comets are difficult to observe up close; their orbits often limit scientists to brief, rapid flybys, and their coma further restricts viewers from seeing the nucleus in any detail, unless they can view the nucleus at close range. Comet nuclei details are typically discernable for much shorter durations than the roundtrip light time to Earth, so robotic spacecraft must be able to perform onboard navigation. This onboard navigation can be accomplished through a self- contained system that by eliminating light time restrictions dramatically improves the relative trajectory knowledge and control and subsequently increases the amount of quality data collected. Flybys are one-time events, so the system's underlying algorithms and software must be extremely robust. The autonomous software must also be able to cope with the unknown size, shape, and orientation of the previously unseen comet nucleus. Furthermore, algorithms must be reliable in the presence of imperfections and/or damage to onboard cameras accrued after many years of deep-space operations. The AutoNav operational flight software packages, developed by scientists at the Jet Propulsion Laboratory (JPL) under contract with NASA, meet all these requirements. They have been directly responsible for the successful encounters on all of NASA's close-up comet-imaging missions (see Figure !1). AutoNav is the only system to date that has autonomously tracked comet nuclei during encounters and performed autonomous interplanetary navigation. AutoNav has enabled five cometary flyby missions (Table!1) residing on four NASA spacecraft provided by three different spacecraft builders. Using this software, missions were able to process a combined total of nearly 1000 images previously unseen by humans. By eliminating the need to navigate spacecraft from Earth, the accuracy gained by AutoNav during flybys compared to ground-based navigation is about 1!order of magnitude in targeting and 2!orders of magnitude in time of flight. These benefits ensure that pointing errors do not compromise data gathered during flybys. In addition, these benefits can be applied to flybys of other solar system objects, flybys at much slower relative velocities, mosaic imaging campaigns, and other proximity activities (e.g., orbiting, hovering, and descent/ascent).
Autonomy↗
Martian Chronology and Atmospheric Composition: In Situ Measurements versus Sample Return
I examine two significant issues of martian science from the point of view of in situ measurements by robotic spacecraft versus sample return and analysis in terrestrial labs. (1) To define martian history, ages of geological processes and surface features are required. Estimated ages from surface crater densities have limitations, and the ages measured for martian meteorites cannot be associated with specific martian locales. Whereas returned martian rocks could be accurately dated, some have suggested sending a robotic spacecraft to Mars to measure rock ages using the classical K- Ar-40 technique, considered the easiest to implement. (2) To understand the evolution of the martian atmosphere and its interactions with the surface, requires precise measurements of atmospheric composition. A significant amount of information has derived from measurements by Viking and of martian meteorites. Instrumentation on the Mars Science Lander (MSL) spacecraft to be launched in the near future promises to determine atmospheric composition even more precisely. If MSL is successful, which questions about atmospheric composition will remain and thus will require atmospheric sample return to answer?
Bogard, Donald D.↗