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Video highlights of first Astrobee free flyer, Bumble, on-orbit commissioning activities. Includes: unpacking, first wake up, nozzle stress test, JEM mapping, IMU calibration, first flight, first autonomous undock, disturbance rejection test, first autonomous docking, crew tumbling alongside the robot, first long (3m) flight, first autonomous flight, and first autonomous survey. (3 minutes and 57 seconds long video).
A coherent Doppler lidar has been developed to address NASA’s need for a high-performance, compact, and cost-effective velocity and altitude sensor onboard its landing vehicles. Future robotic and manned missions to planetary bodies require precise ground-relative velocity vector and altitude data to execute complex descent maneuvers and safe, soft landing at a pre-designated site. This lidar sensor, referred to as a Navigation Doppler Lidar, meets the required performance of landing missions while complying with vehicle size, mass, and power constraints. Operating from over five kilometers altitude, the lidar obtains velocity and range precision measurements with 2 cm/sec and 2 meters, respectively, dominated by the vehicle motion. After a series of flight tests onboard helicopters and rocket-powered free-flyer vehicles, the Navigation Doppler Lidar is now being ruggedized for future missions to various destinations in the solar system.
The presentation introduces students and faculty to air traffic management with focus on air traffic data for data-science. Starting with the common attributes of transportation systems — highway transportation, air transportation and data transportation, the initial set of slides discuss the purpose of data-science in air traffic management, reasons why air traffic management is challenging, and the multidisciplinary nature of air traffic management research. The history of flight from 1903 — Wright Flyer — to 1987 — formation of the National Air Traffic Controllers Association — is briefly discussed. The national airspace system is described in terms of airports in the U. S., air traffic control facilities (flight service stations, terminal, enroute and system command center), airspace geometry (sectors, airways and navaids), governing regulations and directives, airspace classification (Class A through G), special use airspace, visual flight rules and instrument flight rules. The contents of a flight-plan are described. Weather briefing is discussed. The surveillance equipment used for surface, terminal area and enroute are described, and the aircraft states obtained using the surveillance data are listed. Airline operations control functions — schedule development, flight planning, resource scheduling and flight following — are noted. Next, the roles and responsibilities of air traffic controllers and traffic flow managers are discussed. Separation standards and conflict resolution techniques are outlined. Finally, traffic flow management techniques are reviewed with an illustrative example.
The presentation introduces students and faculty to air traffic management with focus on air traffic data for data-science. Starting with the common attributes of transportation systems — highway transportation, air transportation and data transportation, the initial set of slides discuss the purpose of data-science in air traffic management, reasons why air traffic management is challenging, and the multidisciplinary nature of air traffic management research. The history of flight from 1903 — Wright Flyer — to 1987 — formation of the National Air Traffic Controllers Association — is briefly discussed. The national airspace system is described in terms of airports in the U. S., air traffic control facilities (flight service stations, terminal, enroute and system command center), airspace geometry (sectors, airways and navaids), governing regulations and directives, airspace classification (Class A through G), special use airspace, visual flight rules and instrument flight rules. The contents of a flight-plan are described. Weather briefing is discussed. The surveillance equipment used for surface, terminal area and enroute are described, and the aircraft states obtained using the surveillance data are listed. Airline operations control functions — schedule development, flight planning, resource scheduling and flight following — are noted. Next, the roles and responsibilities of air traffic controllers and traffic flow managers are discussed. Separation standards and conflict resolution techniques are outlined. Finally, traffic flow management techniques are reviewed with an illustrative example.
NASA Ames Research Center is the leader in developing autonomous nanosatellites or CubeSats to address strategic knowledge gaps about the effects of space travel on biological organisms, including GeneSat, PharmaSat, and EcAMSat. Now that NASA has set its sights on human exploration in deep space, such missions require significant technological and biomedical countermeasures to protect astronauts from chronic radiation exposure. CubeSats can inform these countermeasures by querying relevant space environments with model organisms and/or biosensors. BioSentinel will be the first interplanetary CubeSat to study the biological response to space radiation outside low Earth orbit in almost 50 years. BioSentinel is an autonomous platform able to support biology and to investigate the effects of space radiation on a model organism in interplanetary deep space. It will fly onboard Artemis-1, from which it will be deployed on a lunar fly-by trajectory and into a heliocentric orbit. BioSentinel, a 6U CubeSat (1U = 10-cm cube), will measure the DNA damage response to ambient space radiation in a model organism, which will be compared to information provided by an onboard radiation spectrometer and to data obtained on the ISS and on Earth. Even though the primary objective of the mission is to develop an autonomous spacecraft capable of conducting biological experiments in deep space, the 4U BioSensor science payload contained within the free-flyer is an adaptable instrument that can perform bio measurements with different microorganisms and in multiple space environments, including the ISS, lunar gateway, and on the surface of the Moon. Thus, nanosatellites like BioSentinel can be used to study the effects of both reduced gravity and space radiation and can house different organisms to answer specific science questions. In addition to their flexibility, nanosatellites also provide a low-cost alternative to more complex and larger missions, and require minimal crew support, if any
The following package 2020-09-28 Microbial Air Sampler folders consist of a prototype design of a microbial air sample payload to fit in the bays of Astrobee free-flyer. There are several CAD designs prototypes and documentation about the concept and the current air sampler device.
NASA Ames Research Center is the leader in developing autonomous nanosatellites or CubeSats to address strategic knowledge gaps about the effects of space travel on biological organisms, including GeneSat, PharmaSat, and EcAMSat. Now that NASA has set its sights on human exploration in deep space, such missions require significant technological and biomedical countermeasures to protect astronauts from chronic radiation exposure. CubeSats can inform these countermeasures by querying relevant space environments with model organisms and/or biosensors. BioSentinel will be the first interplanetary CubeSat to study the biological response to space radiation outside low Earth orbit in almost 50 years. BioSentinel is an autonomous platform able to support biology and to investigate the effects of space radiation on a model organism in interplanetary deep space. It will fly onboard Artemis-1, from which it will be deployed on a lunar fly-by trajectory and into a heliocentric orbit. BioSentinel, a 6U CubeSat (1U = 10-cm cube), will measure the DNA damage response to ambient space radiation in a model organism, which will be compared to information provided by an onboard radiation spectrometer and to data obtained on the ISS and on Earth. Even though the primary objective of the mission is to develop an autonomous spacecraft capable of conducting biological experiments in deep space, the 4U BioSensor science payload contained within the free-flyer is an adaptable instrument that can perform bio measurements with different microorganisms and in multiple space environments, including the ISS, lunar gateway, and on the surface of the Moon. Thus, nanosatellites like BioSentinel can be used to study the effects of both reduced gravity and space radiation and can house different organisms to answer specific science questions. In addition to their flexibility, nanosatellites also provide a low-cost alternative to more complex and larger missions, and require minimal crew support, if any.
BioSentinel will be the first interplanetary CubeSat to study the biological response to space radiation outside low Earth orbit in almost 50 years. BioSentinel is an autonomous platform able to support biology and to investigate the effects of space radiation on a model organism in interplanetary deep space. It will fly onboard Artemis-1, from which it will be deployed on a lunar fly-by trajectory and into a heliocentric orbit. BioSentinel, a 6U CubeSat (1U = 10-cm cube), will measure the DNA damage response to ambient space radiation in a model organism, which will be compared to information provided by an onboard radiation spectrometer and to data obtained on the ISS and on Earth. Even though the primary objective of the mission is to develop an autonomous spacecraft capable of conducting biological experiments in deep space, the 4U BioSensor science payload contained within the free-flyer is an adaptable instrument that can perform bio measurements with different microorganisms and in multiple space environments, including the ISS. Thus, nanosatellites like BioSentinel can be used to study the effects of both reduced gravity and space radiation and can house different organisms to answer specific science questions. In addition to their flexibility, nanosatellites also provide a low-cost alternative to more complex and larger missions, and require minimal crew support, if any
The Moon as a venue for remote sensing has certain geometrically-based advantages over free flyers that facilitate reuse of assets: lack of dispersion of emplaced facilities; reduction (compared to space) of the dimension of mobility space from 3 to 2; repetitive lunar-station to Earth-station communications geometry.
Starting with the first attempted flybys of Mars in the 1960s, human exploration of the Red Planet has evolved through ever-more sophisticated means, with the use of orbiters, stationary landers, and more recently rovers that have traveled over distances of tens of kilometers in search of new knowledge. Yet, despite discussion since the early days of space exploration, no mission has so far attempted to unlock the aerial dimension of Mars exploration through the use of atmospheric flyers. This could be about to change, as NASA is currently considering sending a small helicopter to the Martian surface as part of a future mission, as a technology demonstration to verify the feasibility and utility of using helicopters for future Mars exploration. The use of helicopters promises to bridge a resolution gap in current Mars exploration capabilities—betweeen orbiters providing large-area imagery at low resolution, and rovers that provide detailed imagery limited by line-of-sight from the current rover location. Paired with a rover, a helicopter can act as a forward reconnaisance platform, helping to identify promising science targets or mapping the terrain ahead of the rover. Looking further ahead, helicopters may one day carry their own science payloads to areas that are inaccessible to rovers.
NISAR is a multi-disciplinary Earth-observing radar mission that makes global measurements of land surface changes that will greatly improve Earth system models. NISAR data will clarify spatially and temporally complex phenomena, including ecosystem disturbances, ice sheet collapse, and natural hazards including earthquakes, tsunamis, volcanoes, and landslides. It provides societally relevant data that will enable better protection of life and property. The mission, a NASA-ISRO partnership, uses two fully polarimetric SARs, one at L-band (L-SAR) and one at S-band (S-SAR), in exact repeating orbits every 12 days that allows interferometric combination of data on repeated passes. NASA provides the L SAR; a shared deployable reflector; an engineering payload that supports mission-specific data handling, navigation and communication functions; science observation planning and L SAR data processing. ISRO provides the S-SAR, spacecraft, launch vehicle, satellite operations, and S-SAR data processing. The mission will be launched from the Satish Dhawan Space Centre, Sriharikota, India. Mission development has addressed many unique challenges and incorporates many “firsts” for a jointly-developed free-flyer radar science mission.
The BioSensor is a fully autonomous 3-color LED-based spectrophotometer paired with a fluidics system that supports microbes in liquid culture. Originally developed for the BioSentinel CubeSat mission to study the response of a wild type and mutant strain of yeast to the deep space environment, the BioSensor consists of a series of 16-well, independently plumbed fluidics cards. The cards utilize filters to allow the fluidic system to administer reagents while constraining the microbes in their wells. Heaters on each card incubate to the appropriate growth temperature once the experiment begins. During the active experiment, the LED/detector system measures the transmission of light through each well at three specific wavelengths, similar to a standard benchtop spectrophotometer. The transmission/absorbance kinetics curves for each well are telemetered back to Earth, along with temperature data, for analysis on the ground. The BioSensor is being upgraded from its original CubeSat free-flyer interface to be a secondary payload on lunar landers, Gateway, and other BLEO applications, while maintaining the same functionality and science utility for future experiments.
STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission operating picture, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness and common operating picture allow for earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This flyer gives an overview of the STEReO project, to be used a handout given to atteendees of the ARMD Wildfire Management Workshop.
The BioSensor is a fully autonomous 3-color LED-based spectrophotometer paired with a fluidics system that supports microbes in liquid culture. Originally developed for the BioSentinel CubeSat mission to study the response of a wild type and mutant strain of yeast to the deep space environment, the BioSensor consists of a series of 16-well, independently plumbed fluidics cards. The cards utilize filters to allow the fluidic system to administer reagents while constraining the microbes in their wells. Heaters on each card incubate to the appropriate growth temperature once the experiment begins. During the active experiment, the LED/detector system measures the transmission of light through each well at three specific wavelengths, similar to a standard benchtop spectrophotometer. The transmission/ absorbance kinetics curves for each well are telemetered back to Earth, along with temperature data, for analysis on the ground. The BioSensor is being upgraded from its original CubeSat free-flyer interface to be a secondary payload on lunar landers, Gateway, and other BLEO applications, while maintaining the same functionality and science utility for future experiments.
The Integrated System for Autonomous and Adaptive Caretaking (ISAAC) project is developing technology for autonomous caretaking of spacecraft, primarily during uncrewed mission phases. ISAAC aims to integrate autonomous intra-vehicular robots (IVR) with spacecraft infrastructure (power, life support, etc.) and ground control. It focuses on capabilities required for NASA’s Gateway cis-lunar outpost that also apply to human missions to Mars and beyond. Its development strategy is to test using existing IVR on the ISS (the Astrobee free-flyer and Robonaut dextrous manipulator) as an analog for future IVR on Gateway.
Human space exploration was never intended to stop within low Earth orbit (LEO). Although nearly all of biological research in space has taken place in LEO, on the Space Shuttle, International Space Station (ISS), and free-flyer CubeSat missions, NASA's recent shift in emphasis toward human exploration of the Moon and ultimately Mars necessitates a shift in the focus of its research in the biological sciences [1]. Specifically, in 2022 and beyond, the Division of Biological and Physical Sciences seeks to pivot toward a focus on Thriving In DEep Space (TIDES), furthering the fundamental research necessary for understanding risks and mitigation strategies for deep-space stressors on human crew, plants, and their microbiomes. This effort entails both research on model organisms to elucidate the molecular processes underlying the biological consequences of deep-space exposure, and research on the organisms that will be necessary companions to sustain life and facilitate resource utilization in long-duration missions.
In this paper we present the overall architecture of a ”Science Station”, a robotically assembled and serviced persistent platform that can host multiple payloads for Earth observations. Recent decadal survey findings motivate the need to have spatial and temporal concurrency in measurements from multiple instruments. We have architected the science station to simultaneously host up to twelve Earth Venture class instruments at a time. These instruments can be replaced by newer instruments periodically to take advantage of evolving science needs and technology capabilities. The Science Station can also concurrently host science, commercial, defense and other national interest payloads. The Science Station may provide a cost-effective paradigm by mitigating some of the risks and costs associated with multiple free-flyers that may otherwise be needed for the various instruments. It leverages emergent and existent technologies in robotic assembly and servicing, lower cost commercial launch vehicles, secondary launch vehicles, and rendezvous and proximity operations. In this paper, we report the findings of a survey we conducted on the desired performance of the Science Station from various instrument hosting perspectives. We report the various trade studies that we conducted to developed a feasible architecture that meets the goals of the Science Station while also meeting the constraints of a space system. We also report the various considerations in the configuration, thermal system, pointing system, overall concept of operations, and the robotic system of the Science Station architecture. The paper then describes a testbed activity we are undertaking to evaluate the supervised autonomy robotics needed for the Science Station as well as to conduct a riskreduction demonstration of the end-to-end robotics behaviors.
We propose a system that uses semantic object detections to localize a microgravity free-flyer. Many applications require absolute localization in a known reference frame, such as the execution of waypoint trajectories defined by human operators. Classical geometric methods build a map of point features, which may not be able to be associated after lighting or environmental changes. By contrast, semantics remain invariant to changes up to the robustness of the detection algorithm and motion of the semantic objects. In this work, we describe our approaches for both offline semantic map generation as well as online localization against a semantic map, intended to run in real-time on the robot. We additionally demonstrate how our semantic localizer outperforms image-feature matching in some cases, and show the robustness of the algorithm to environmental changes. Crucially, we show in our experiments that when semantics are used to supplement point features, localization is always improved. To our knowledge, these experiments demonstrate the first use of learned semantics for localization on a free-flying robot in microgravity.