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On-board estimation, navigation and control technologies addressing safety problems of robotic flight operations in urban environment with atmospheric hazards and component failures contingencies are presented.
Robots and particularly drones are especially useful in exploring extreme environments that pose hazards to humans. To ensure safe operations in these situations, usually perceptually degraded and without good GNSS, it is critical to have a reliable and robust state estimation solution. The main body of literature in robot state estimation focuses on developing complex algorithms favoring accuracy. Typically, these approaches rely on a strong underlying assumption: the main estimation engine will not fail during operation. In contrast, we propose an architecture that pursues robustness in state estimation by considering redundancy and heterogeneity in both sensing and estimation algorithms. The architecture is designed to expect and detect failures and adapt the behavior of the system to ensure safety. To this end, we present HeRO (Heterogeneous Redundant Odometry): a stack of estimation algorithms running in parallel supervised by a resiliency logic. This logic carries out three main functions: a) perform confidence tests both in data quality and algorithm health; b) re-initialize those algorithms that might be malfunctioning; c) generate a smooth state estimate by multiplexing the inputs based on their quality. The state and quality estimates are used by the guidance and control modules to adapt the mobility behaviors of the system. The validation and utility of the approach are shown with real experiments on a ying robot for the use case of autonomous exploration of subterranean environments, with particular results from the STIX event of the DARPA Subterranean Challenge.
System properties such as “safety” and “dependability” cannot, in practice, be proven, and must be argued in an “assurance case” aimed at supporting risk-acceptance decisions that have to be made by system acquirers and/or regulatory authorities. The paper is concerned with applications of the “assurance case” idea early in design and development of new systems, when (apart from dedicated testing) the only available operating experience information derives from previous (non-identical) systems. Much of the discussion is based on an evolving acquisition model at the US National Aeronautics and Space Administration; previously, most major systems were developed in-house, but some major systems will now be developed by and acquired from commercial providers. Key points discussed include the following. (1) By promoting a particular kind of focused discussion between acquirers and providers, the use of assurance cases should be particularly valuable under the new acquisition model. (2) In principle, objectives-driven (sometimes called “performance-based”) approaches to assurance of performance have significant advantages in cases where they are applicable. (3) For truly novel systems, completeness of the safety analysis is a significant issue; it is important for the assurance case to include a commitment by the provider (or applicant) to seriously pursue analysis of operating experience, so that previously unrecognized hazards can be identified and addressed. (4) Inquiries into major accidents often point to deficiencies in management oversight in all parts of the life cycle; management processes need to be addressed in the formulation and the implementation of an assurance case. Under the new acquisition model, these considerations imply a serious reconsideration of the way in which the development process is managed by both providers and acquirers.
Exploration medical operations to the Moon and Mars present unprecedented challenges for providing in-mission medical care. The greater distance from Earth is the primary hazard that drives the need for a medical operations paradigm shift from low earth orbit mission. Increasingly complex long duration and long distance missions will have resource constraints (ex: mass, power, volume, data), a paucity of resupply or evacuation opportunities, and disruptions in real-time communications. In order to advance a more autonomous medical approach, a multi-faceted strategy will need to optimize all aspects of human health and performance in space. This strategy will include: increasing onboard medical autonomy through the development of novel crew health and performance systems; decision support capabilities to augment astronauts’ abilities in preventing, diagnosing, and treating medical conditions; creating new procedures and training tools for skill maintenance and just-in-time training; and enabling rapid crew access to data from all on-board systems, leading to better-informed, real-time, autonomous decisions. Collectively, this approach can be referred to as “Earth Independent Medical Operations” (EIMO). The Exploration Medical Capability Element of NASA’s Human Research Program has undertaken a longitudinal planning process to consensus around EIMO. Technical interchange meetings will occur with key constituents in late 2022 and again in early 2023 to define EIMO in practical terms and identify key elements of an EIMO system, with greater conceptual articulation and dissemination planned for the second half of 2023. We will share insights into the strategy for internal and external consensus building around EIMO, with a particular focus on the approach to partner stakeholders within NASA as well as commercial agencies.
Runtime assurance (RTA) affords an operational layer of protection against safety hazards to aeronautical products that may include less trusted or untrusted functions. However, any RTA scheme must itself be trusted before it can be deployed into use: i.e., it must be fit for its intended purpose, and it must not itself introduce safety hazards. This report contains preliminary recommendations on the application and integration of RTA into aeronautical products intended for use in civil aviation. The main purpose of these recommendations is to inform regulatory guidance and consensus standards that may be used to meet the safety intent of the applicable regulations.
This project included AS system abandonment activities for a small portion of the LC39B AS system in support of crane operations planned at LC39B. The specific objectives are: •Remove/cap AS system components and abandon AS/monitoring wells (MWs) within identified area in support of critical mission support construction operations; •Photograph, document size, and location of any AS piping to be left in place; •Provide as-builts with survey data of piping that is left in place so it can be provided to the KSC Mater Planning office for recording by RPM; and •Properly transport concrete and other construction debris off site and dispose of at an appropriate facility in accordance with all local and federal regulations. Following completion of abandonment activities, ensure all areas of operation are graded so no trip hazards exist.
The Lunar Vehicle Active Charge Control System (LVACCS) is an instrument in development that will measure the electrical potential of a spacecraft or rover under both positive and negative charge conditions, actively discharge negative charge, and charge the vehicle to a safe positive potential. All surfaces immersed in a plasma charge to non-zero potentials. In very low-density plasma (< 100 cm^-3), space vehicle charging can interfere with plasma probe measurements, degrade avionics performance, or cause a total system failure. LVACCS provides real-time in-situ space situational awareness that overcome these challenges in a small package. LVACCS has been awarded a NASA PICASSO grant to bring the instrument to technology readiness level 5. LVACCS consists of two main components: a collimated photoelectron gun (CPEG) and a Spacecraft Charge Detector (SCD).Monitoring charge build up on the lunar surface isa critical first step to understand hazards for crew, rovers, and instrumentation operating there.The LVACCS instrument will be able to fill in this gap providing robust lunar surface potential measurements and active charge dissipation.
The Space Transportation System (STS) is discussed, including the launch processing system, the thermal protection subsystem, meteorological research, sound supression water system, rotating service structure, improved hypergol or removal systems, fiber optics research, precision positioning, remote controlled solid rocket booster nozzle plugs, ground operations for Centaur orbital transfer vehicle, parachute drying, STS hazardous waste disposal and recycle, toxic waste technology and control concepts, fast analytical densitometry study, shuttle inventory management system, operational intercommunications system improvement, and protective garment ensemble. Terrestrial applications are also covered, including LANDSAT applications to water resources, satellite freeze forecast system, application of ground penetrating radar to soil survey, turtle tracking, evaluating computer drawn ground cover maps, sparkless load pulsar, and coupling a microcomputer and computing integrator with a gas chromatograph.
This technical report presents the results of a case study using a hazard-based approach to develop preliminary design and performance criteria for an unmanned agricultural rotorcraft requiring airworthiness certification. This case study is one of the first in the public domain to examine design and performance criteria for an unmanned aircraft system (UAS) in tandem with its concept of operations. The case study results are intended to support development of airworthiness standards that could form a minimum safety baseline for midsize unmanned rotorcraft performing precision agricultural spraying operations under beyond visual line-of-sight conditions in a rural environment. This study investigates the applicability of current methods, processes, and standards for assuring airworthiness of conventionally piloted (manned) aircraft to assuring the airworthiness of UAS. The study started with the development of a detailed concept of operations for precision agricultural spraying with an unmanned rotorcraft (pp. 5-18). The concept of operations in conjunction with a specimen unmanned rotorcraft were used to develop an operational context and a list of relevant hazards (p. 22). Minimum design and performance requirements necessary to mitigate the hazards provide the foundation of a proposed (or mock) type certification basis. A type certification basis specifies the applicable standards an applicant must show compliance with to receive regulatory approval. A detailed analysis of the current airworthiness regulations for normal-category rotorcraft (14 Code of Federal Regulations, Part 27) was performed. Each Part 27 regulation was evaluated to determine whether it mitigated one of the relevant hazards for the specimen UAS. Those regulations that did were included in the initial core of the type certification basis (pp. 26-31) as written or with some simple modifications. Those regulations that did not mitigate a recognized hazard were excluded from the certification basis. The remaining regulations were applicable in intent, but the text could not be easily tailored. Those regulations were addressed in separate issue papers. Exploiting established regulations avoids the difficult task of generating and interpreting novel requirements, through the use of acceptable, standardized language. The rationale for the disposition of the regulations was assessed and captured (pp. 58-115). The core basis was then augmented by generating additional requirements (pp. 38-47) to mitigate hazards for an unmanned sprayer that are not covered in Part 27.
The first human mission to Mars will be the farthest distance that humans have traveled from Earth and the first human boots on Martian soil in the Exploration EVA Suit. The primary functions of the Exploration EVA Suit are to provide a habitable, anthropometric, pressurized environment for up to eight hours that allows crewmembers to perform autonomous and robotically assisted extravehicular exploration, science/research, construction, servicing, and repair operations on the exterior of the vehicle, in hazardous external conditions of the Mars local environment. The Exploration EVA Suit has the capability to structurally interface with exploration vehicles via next generation ingress/egress systems. Operational concepts and requirements are dependent on the mission profile, surface assets, and the Mars environment. This paper will discuss the effects and dependencies of the EVA system design with the local Mars environment and Planetary Protection. Of the three study areas listed for the workshop, EVA identifies most strongly with technology and operations for contamination control.
The laser-one hazard detector system, used on the Rensselaer Mars rover, is reviewed briefly with respect to the hardware subsystems, the operation, and the results obtained. A multidetector scanning system was designed to improve on the original system. Interactive support software was designed and programmed to implement real time control of the rover or platform with the elevation scanning mast. The formats of both the raw data and the post-run data files were selected. In addition, the interface requirements were selected and some initial hardware-software testing was completed.
Solar Energetic Particle (SEP) events are interesting from a scientific perspective as they are the product of a broad set of physical processes from the corona out through the extent of the heliosphere, and provide insight into processes of particle acceleration and transport that are widely applicable in astrophysics. From the operations perspective, SEP events pose a radiation hazard for aviation, electronics in space, and human space exploration, in particular for missions outside of the Earth’s protective magnetosphere including to the Moon and Mars. Thus, it is critical to improve the scientific understanding of SEP events and use this understanding to develop and improve SEP forecasting capabilities to support operations. Many SEP models exist or are in development using a wide variety of approaches and with differing goals. These include computationally intensive physics-based models, fast and light empirical models, machine learning-based models, and mixed-model approaches. The aim of this paper is to summarize all of the SEP models currently developed in the scientific community, including a description of model approach, inputs and outputs, free parameters, and any published validations or comparisons with data.
This project will demonstrate a multi-hazard time-dependent probabilistic risk assessment (PRA) approach for nuclear facilities considering aging-related deterioration of structures. A generic pressurized water reactor (PWR) reactor subjected to seismic mainshock-aftershock sequences considering the aging of the containment structure will be used as a case study to demonstrate the multi-hazard PRA approach. Using advanced modeling and simulation, seismic mainshock-aftershock fragility functions will be simulated for the containment structure considering aging effects. A multi-hazard PRA model for a generic PWR reactor will be built to quantify the multi-hazard core damage frequency (CDF) and large early release frequency (LERF) with explicit time-dependent modeling of event sequences. To date, the cascading impacts of multi-hazards are not adequately accounted for in the PRA models for nuclear facilities. In addition, for both initial and periodic evaluation of facilities to withstand natural phenomena hazards (NPH), deterioration of the SSCs due to aging and other effects is not adequately considered. By advancing multi-hazard considerations accounting for aging effects, this project will contribute to improved understanding of the safety of aging nuclear facilities. Project outcomes such as the multi-hazard CDF and LERF will also allow facility owners to optimize upgrade and retrofit protocols. This project is divided into two components: (1) advanced modeling and simulations; and (2) multi-hazard PRA. For the first component, Idaho National Laboratory’s (INL) Multi-hazard Analysis for STOchastic time-DOmaiN phenomena (MASTODON) and BlackBear codes will be used to simulate the seismic response and damage of a containment structure under cascading mainshock-aftershock sequences with aging effects. Uncertainties related to the seismic inputs, material parameters, and environmental factors such as temperature and humidity will be identified and propagated to the fragility functions. These fragility functions, which consider aging effects, will be time dependent. The second component will take the fragility information from the first component to build a multi-hazard time-dependent PRA model starting from a generic PWR model to evaluate the multi-hazard CDF and LERF and characterize the associated consequences. For this component, OpenPRA Web Application and SAPHIRE code will be used. Events such as the Fukushima Daiichi accident have highlighted the importance of considering the cascading impacts of multi-hazards for PRA. Moreover, many of the reactors in the current nuclear fleet in the United States (US) are already operating well beyond their initially planned design life, and applications for further extensions to operating licenses are being considered. Therefore, considering multi-hazard effects and aging deterioration in the NPH risk assessment process will contribute to the safety of both existing and future nuclear facilities. Outcomes of this project will thus directly benefit the standards DOE-STD-1020-16 and DOE-HDBK-1224-18.
Cryogenic fuels evaluated for operational safety in space environment simulation laboratory /SESL/
CloudSat safety operations at Vendenberg AFB is given. The topics include: 1) CloudSat Project Overview; 2) Vandenberg Ground Operations; 3) Delta II Launch Vehicle; 4) The A-Train; 5) System Safety Management; 6) CALIPSO Hazards Assessment; 7) CALIPSO Supplemental Safeguards; 8) Joint System Safety Operations; 9) Extended Stand-down; 10) Launch Delay Safety Concerns; and 11) Lessons Learned.
Today’s airports are complex multi-faceted ecosystems. Currently, of the 517certificatedairports, 270arerequired to use safety management systems (SMSs) to identify and mitigate known hazards and emergent risks and to voluntarily share safety data with commercial operators and tenants. Airports manage a wide variety of hazards. These traffic hubs have direct responsibilities, such as removing foreign object debris from runways and taxiways and configuring runways to help prevent against incursions and tail strikes during takeoff. To ensure safety in the future NAS, the National Academies recommended an In-time Aviation Safety Management System (IASMS). An IASMS will employ services, functions, and capabilities (SFCs) to identify and mitigate hazards that are proactively and predictively managed based on data analytics of detected anomalies, precursors, and trends. SFCs would scale with airport complexity and environmental conditions using increasingly automated systems to respond proactively to hazards and, by using integrated data sources and predictive safety analytical methods, discover new, never before seen risks.
Understanding and preventing fire hazards is necessary when designing, maintaining, and operating oxygen systems. Ignition risks can be minimized by controlling heat sources and using materials that will not ignite or will not support burning in the end-use environment. Because certain materials are more susceptible to ignition in oxygen-enriched environments, a compatibility assessment should be performed before the component is introduced into an oxygen system. This document provides an overview of oxygen fire hazards and procedures that are consistent with the latest versions of American Society for Testing and Materials (ASTM) Standards G63 (1999) and G94 (2005) to address fire hazards associated with oxygen systems. This document supersedes the previous edition, NASA Technical Memorandum 104823, Guide for Oxygen Hazards Analyses on Components and Systems (1996). The step-by-step oxygen compatibility assessment method described herein (see Section 4) enables oxygen-system designers, system engineers, and facility managers to determine areas of concern with respect to oxygen compatibility and, ultimately, prevent damage to a system or injury to personnel.
A NASA/USDA funded program offers satellite-derived products for lakes, reservoirs, river reaches, and wetland zones. These are currently being derived from the 10-day and monthly-resolution radar altimeter series. However, observational parameters from the laser based ICESat-2 mission, and the enhanced SWOT KaRIn instrument will also be integrated to meet various end user requirements. The resulting measurements will ultimately be a combination of surface water level and slope, surface water extent, water storage and basin bathymetry, plus a suite of Status Indicators which highlight deviations from long-term and seasonal averages. The main stakeholders are the USDA/Foreign Agricultural Service, the US Geological Survey, USACE/NGA, and various Wetland-related organizations. Applications centre on water and energy resources and fish-catch potential, and on natural hazards (floods and droughts). There is a demand for a global monitoring service, but primary focus is on regions where gauge measurement access is restricted or delayed, or where gauge deployment is hazardous. Ongoing surface acquisition checks and feedback to CNES focusses on the success or failure of the on-board DEM’s on a case-by-case basis. Multiple projects are also underway to improve the surface elevations measurements and the along track resolution (minimum water body width) via exploration of the high resolution (Doppler) Range estimates, the FF-SAR technique, and the high- resolution radiometer based wet tropospheric correction. And while Level3+4 surface water products are being directed by end user requirements, the overriding NASA objectives are the formation of high quality Earth Data Records with high accuracy and uniformity across multiple decades.